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91 lines
2.7 KiB
91 lines
2.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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support for external modules |
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****************************************************************** |
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PLEASE NOTE: module hooks are called synchronously from |
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ArduPilot. They must not block or make any IO calls. If anything |
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could take more than a few 10s of microseconds then you must defer |
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it to another thread. Modules are responsible for their own thread |
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handling |
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****************************************************************** |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if AP_MODULE_SUPPORTED |
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#include <AP_AHRS/AP_AHRS.h> |
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#ifndef AP_MODULE_DEFAULT_DIRECTORY |
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#define AP_MODULE_DEFAULT_DIRECTORY "/usr/lib/ardupilot/modules" |
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#endif |
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class AP_Module { |
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public: |
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// initialise AP_Module, looking for shared libraries in the given module path |
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static void init(const char *module_path); |
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// call any setup_start hooks |
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static void call_hook_setup_start(void); |
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// call any setup_complete hooks |
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static void call_hook_setup_complete(void); |
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// call any AHRS_update hooks |
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static void call_hook_AHRS_update(const AP_AHRS &ahrs); |
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// call any gyro_sample hooks |
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static void call_hook_gyro_sample(uint8_t instance, float dt, const Vector3f &gyro); |
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// call any accel_sample hooks |
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static void call_hook_accel_sample(uint8_t instance, float dt, const Vector3f &accel, bool fsync_set); |
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private: |
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enum ModuleHooks { |
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HOOK_SETUP_START = 0, |
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HOOK_SETUP_COMPLETE, |
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HOOK_AHRS_UPDATE, |
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HOOK_GYRO_SAMPLE, |
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HOOK_ACCEL_SAMPLE, |
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NUM_HOOKS |
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}; |
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// singly linked list per hook |
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struct hook_list { |
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struct hook_list *next; |
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void *symbol; // from dlsym() |
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}; |
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// currently installed hooks |
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static struct hook_list *hooks[NUM_HOOKS]; |
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// table giving the name of the hooks in the external |
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// modules. These are passed to dlsym(). The table order must |
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// match the ModuleHooks enum |
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static const char *hook_names[NUM_HOOKS]; |
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// scan a module for hooks |
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static void module_scan(const char *path); |
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}; |
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#endif // AP_MODULE_SUPPORTED
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