Update from PSI
r1040 | ffr | 2006-08-03 10:05:34 +1000 (Thu, 03 Aug 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
074f1cb3cd
commit
dbc07ee639
242
sicshipadaba.h
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242
sicshipadaba.h
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/**
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* This is a set of helper functions for SICS to work with the hierarchical parameter
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* database hipadaba. In SICS, the calldata associated with any callback will always
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* be the connection object.
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*
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* copyright: GPL
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*
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* Mark Koennecke, June 2006
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*/
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#ifndef SICSHIPADABA_H_
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#define SICSHIPADABA_H_
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#include <hipadaba.h>
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#include <sics.h>
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#include <dynstring.h>
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/*======================== callback error codes ===============================*/
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#define SICSCBRO -607
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#define SICSCBPERM -608
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#define SICSCBRANGE -609
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#define SICSCBBADFIXED -610
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#define SICSNOPAR -611
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/*======================== data structure for automatic parameter update =======*/
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typedef struct {
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SConnection *pCon;
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int updateList;
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int iEnd;
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}hdbUpdateTask, *pHdbUpdateTask;
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/*======================== common callbacks =====================================*/
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/**
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* make a callback which checks permissions. To be used on write
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* @param priv The privilege to check against
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* @return a suitably initialized callback structure for
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* checking permissions.
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*/
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pHdbCallback MakeCheckPermissionCallback(int priv);
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/**
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* make a callback which directly updates a
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* paramter after setting. Usefule for program parameters.
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* @return a suitably initialized callback structure setting
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* program parameters
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*/
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pHdbCallback MakeSetUpdateCallback();
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/**
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* make a callback which starts a parameter driving.
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* @param sicsObject The SICS object to drive.
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* @return a suitably initialized callback structure for
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* starting a parameter driving.
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*/
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pHdbCallback MakeSICSDriveCallback(void *sicsObject);
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/**
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* make a callback which reads a SICS drivable object
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* @param sicsObject The SICS drivable object to read.
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* @return a suitably initialized callback structure for
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* reading a drivable parameter
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*/
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pHdbCallback MakeSICSReadDriveCallback(void *sicsObject);
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/**
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* make a callback which enables automatically
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* notification of pCon on parameter updates.
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* @param pCon The connection to notify. The notification
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* is issued in the context of this connection.
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* @param id An integer id which can later on be used to remove the
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* callback.
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* @return a suitably initialized callback structure for
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* automatic notification.
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*/
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pHdbCallback MakeNotifyCallback(SConnection *pCon, int id);
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/**
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* make a callback for checking if a parameter is within a given
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* range of integers
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* @param min The minimum value of the range
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* @param max The maximum value of the range
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* @return a suitably configured callback or NULL
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* when out of memory
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*/
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pHdbCallback MakeIntRangeCallback(int min, int max);
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/**
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* make a callback for checking if a parameter is one out
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* of a series of permitted integers
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* @param data An array of permitted integers
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* @param length The length of the data array.
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* @return a suitably configured callback or NULL
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* when out of memory
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*/
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pHdbCallback MakeIntFixedCallback(long *data, int length);
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/**
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* make a callback for checking if a parameter is within a given
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* range of floats
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* @param min The minimum value of the range
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* @param max The maximum value of the range
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* @return a suitably configured callback or NULL
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* when out of memory
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*/
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pHdbCallback MakeFloatRangeCallback(double min, double max);
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/*======================== parameter creation ===================================*/
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/**
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* make a simple SICS hdb parameter. Setting it will call update immediately. Use
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* this for program parameters.
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* @param name The name of the parameter
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* @param priv The privilege required to change that parameter
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* @param v The initial value and datatype of this parameter
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* @return A new suitably configured Hdb parameter or NULL when out of memory.
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*/
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pHdb MakeSICSHdbPar(char *name, int priv, hdbValue v);
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/**
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* make a SICS hdb drivable parameter. Setting it will start the motor,
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* virtual motor or environment parameter. This will call StartDevice
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* eventually
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* @param name The name of the parameter
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* @param priv The privilege required to change that parameter
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* @param sicsObject The object corresponding to this parameter.
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* @param dataType The datatype of this variable
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* @return A new suitably configured Hdb parameter or NULL when out of memory.
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*/
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pHdb MakeSICSHdbDriv(char *name, int priv,void *sicsObject, int datatype);
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/**
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* makes a SICS Hdb read only parameter. Setting such a parameter causes an error.
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* @param name The name of the parameter
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* @param v The initial value and datatype of this parameter
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* @return A new suitably configured Hdb parameter or NULL when out of memory.
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*/
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pHdb MakeSICSROPar(char *name, hdbValue v);
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/**
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* make a SICS scriptable parameter. I.e. when this parameter is set or read,
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* appropriate scripts are invoked.
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* @param name The name of the parameter
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* @param setScript The script to call when this parameter is being set
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* @param readScript The script to call when this parameter is being read.
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* @param v The initial value and datatype of this parameter
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* @return A new suitably configured Hdb parameter or NULL when out of memory.
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*/
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pHdb MakeSICSScriptPar(char *name, char *setScript, char *readScript, hdbValue v);
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/**
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* remove a SICS paramameter node and its children. In contrast to the
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* normal DeletHipadabaNode, this function also takes care of
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* clearing scipted nodes out of the update tasks watch list.
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* @param node The node to delete
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*/
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void RemoveSICSPar(pHdb node);
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/*============== access support functions =================================*/
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/**
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* SICSHdbGetFloat returns the float value of a parameter. Integers are
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* automatically converted.
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* @param parent The parent node where to start searching for the parameter
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* @param pCon The optional connection object to use for reporting errors.
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* @param path The path to the parameter.
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* @param value The value of the parameter
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* @return 1 on success, a negative error code else.
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*/
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int SICSHdbGetFloat(pHdb parent, SConnection *pCon,
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char *path, float *value);
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/**
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* SICSHdbSetFloat sets the value of a parameter. Integers are
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* automatically converted.
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* @param parent The parent node where to start searching for the parameter
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* @param pCon The optional connection object to use for reporting errors.
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* @param path The path to the parameter.
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* @param value The new value of the parameter
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* @return 1 on success, a negative error code else.
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*/
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int SICSHdbSetFloat(pHdb parent, SConnection *pCon,
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char *path, float value);
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/*============= common SICS Interactions ===================================*/
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/**
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* Install a SICS automatic notification callback on the node. This is
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* a default callback using the current connection with its current
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* context for notification.
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* @param node The parameter on which to install the callback
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* @param pCon The connection to which this callback is linked.
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* @param id An int associated with this notification callback. A
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* precaution for later removal.
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* @param recurse a flag 0 or 1 which determines if callbacks are
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* installed to all nodes recursively.
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* @return 1 on success, 0 when out of memory.
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*/
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int InstallSICSNotify(pHdb node, SConnection *pCon, int id, int recurse);
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/**
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* handles the common task of checking for, and processing a SICS parameter.
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* @param root The node at which to search for parameters
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* @param pCon The connection in whichs context the parameter is processed.
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* @param printPrefix A prefix to prepend before printing this parameter.
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* Will be ignored if NULL.
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* @param argc number of arguments to process.
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* @param argv The arguments to process. argv[0] should be the parameter
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* name.
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* @return -1 when argv[0] is no parameter, 0 on failure, 1 on success.
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*/
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int ProcessSICSHdbPar(pHdb root, SConnection *pCon, char *printPrefix,
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int argc, char *argv[]);
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/**
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* A SICS task which scans a Hipadaba and reads and updates all parameters,
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* one per invocation. TODO: how to distinguish between automatic pars which
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* do not need this and pars which need this? Idea 1: make a root point at an
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* artificial tree of parameters which need to be checked like this.
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* @param pData The root to start scanning at.
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* @return 0 when ends, 1 else
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*/
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int SICSHipadabaTask(void *pData);
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void SICSHipadabaSignal(void *pData, int iSignal, void *pSigData);
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/*================== value helpers ========================================*/
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/**
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* format a Hdb Value into a string using SICS defaults.
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* @param v The Hdb value to format
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* @return a dynamic string holding the formatted data. NULL when
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* out of memory
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*/
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pDynString formatValue(hdbValue v);
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/**
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* read values for a Hdb value from a string.
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* @param v The hdbValue to read data into. Datatype and arraylength must
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* already have been initialised before this call in order to allow for
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* checks. Arrays should also have been allocated in the right size.
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* @param data The string to parse and convert.
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* @param error A string to copy failure reasons too
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* @param errlen The length of the error string
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* @return 0 on failure, 1 on success
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*/
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int readHdbValue(hdbValue *v, char *data, char *error, int errlen);
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/*================= SICS Interpreter Interface ===========================*/
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/**
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* InstallHipadaba installs the Hipadaba commands into the SICS interpreter.
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* The actual command implementation is in sicshipadaba.c.
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* @param pCon The connection object
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* @param pSics The SICS interpreter
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* @param pData The object data structure
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* @param argc The number of arguments
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* @param argv[] The text arguments
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* @return 0 on filaure, 1 on success
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*/
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int InstallSICSHipadaba(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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/**
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* get the root of the SICS Hipadaba tree
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* @return The root node of the hipdaba
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*/
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pHdb GetHipadabaRoot();
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/**
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* kill the SICS hierarchical database
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* Only to be called when shutting down the SICServer
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*/
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void killSICSHipadaba(void);
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#endif /*SICSHIPADABA_H_*/
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