ABI - Revision history

Lida2003: change abi.h #include location

2022-04-13T07:37:00Z

change abi.h #include location

← Older revision		Revision as of 01:37, 13 April 2022
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	Include header of course.		Include header of course.

	#include "~~subsystems~~/abi.h"		#include "modules/core/abi.h"

	In any function, call the send function. Sender id 0 is reserved (broadcast address).		In any function, call the send function. Sender id 0 is reserved (broadcast address).

Lida2003: change abi.h #include location

2022-04-13T07:36:33Z

change abi.h #include location

← Older revision		Revision as of 01:36, 13 April 2022
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	Include header and declare an abi_event as a global variable. Write the callback function with the proper prototype.		Include header and declare an abi_event as a global variable. Write the callback function with the proper prototype.

	#include "~~subsystems~~/abi.h"		#include "modules/core/abi.h"

	abi_event ev;		abi_event ev;

Lida2003: change abi.h #include location

2022-04-13T07:35:53Z

change abi.h #include location

← Older revision		Revision as of 01:35, 13 April 2022
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	#define ABI_C 1		#define ABI_C 1

	#include "~~subsystems~~/abi.h"		#include "modules/core/abi.h"

	== Airborne code for subscriber ==		== Airborne code for subscriber ==

Lida2003: change abi_common.h include location

2022-04-13T07:34:18Z

change abi_common.h include location

← Older revision		Revision as of 01:34, 13 April 2022
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	// Code generated in var/include/abi_messages.h		// Code generated in var/include/abi_messages.h
	#include "~~subsystems~~/abi_common.h		#include "modules/core/abi_common.h"
	// Message IDs		// Message IDs
	#define DATA_ID 0		#define DATA_ID 0

Lida2003: abi is now in modules/core, there is no subsystems anymore

2022-04-13T07:29:07Z

abi is now in modules/core, there is no subsystems anymore

← Older revision		Revision as of 01:29, 13 April 2022
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	== Code generation ==		== Code generation ==

	The generated code will be in var/include/abi_messages.h and include some structure definition from sw/airborne/~~subsystems~~/abi_common.h (sw/airborne/~~subsystems~~/abi.h is a convenience header that only includes var/include/abi_messages.h). Bind and Send functions are generated, as well as callback type definition. A linked list is used to store the binded callbacks for each message. The head of the list is in an array to allow a fast access.		The generated code will be in var/include/abi_messages.h and include some structure definition from sw/airborne/modules/core/abi_common.h (sw/airborne/modules/core/abi.h is a convenience header that only includes var/include/abi_messages.h). Bind and Send functions are generated, as well as callback type definition. A linked list is used to store the binded callbacks for each message. The head of the list is in an array to allow a fast access.

	// Code in abi_common.h		// Code in abi_common.h

Flixr at 09:19, 20 April 2015

2015-04-20T09:19:04Z

← Older revision		Revision as of 03:19, 20 April 2015
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	That's it !		That's it !

			[[Category:Developer_Documentation]]

Flixr: /* Message definition */

2014-11-26T13:15:29Z

Message definition

← Older revision		Revision as of 07:15, 26 November 2014
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	== Message definition ==		== Message definition ==

	The messages are ~~describe~~ in conf/~~messages~~.xml ~~like any~~ other messages in paparazzi. Name are unique, IDs starts from 0. "type" field should be a real C type. Field name might be useless.		The messages are described in ''conf/abi.xml'' analoguous to other messages in paparazzi. Name are unique, IDs starts from 0. "type" field should be a real C type. Field name might be useless.

	<class name="airborne">		<class name="airborne">

Flixr: move from Abi page

2014-11-26T13:11:39Z

move from Abi page

← Older revision		Revision as of 07:11, 26 November 2014
Line 1:		Line 1:
	#~~REDIRECT~~ [[~~Abi~~]]		This page presents some idea for an embedded middleware named ABI based on publish/subscribe like Ivy.

			= General idea =

			*Give an easy way to allow software components to exchange data with minimum delay nor execution overhead.
			*The components don't need to know each other, they only need the message format.
			*Each subscriber set a callback function that will be called when new data are sent.

			= Implementation =

			== Message definition ==

			The messages are describe in conf/messages.xml like any other messages in paparazzi. Name are unique, IDs starts from 0. "type" field should be a real C type. Field name might be useless.

			<class name="airborne">
			<message name="DATA" id="0">
			<field name="a" type="float"/>
			<field name="b" type="struct bla"/>
			</message>
			...
			</class>

			== Code generation ==

			The generated code will be in var/include/abi_messages.h and include some structure definition from sw/airborne/subsystems/abi_common.h (sw/airborne/subsystems/abi.h is a convenience header that only includes var/include/abi_messages.h). Bind and Send functions are generated, as well as callback type definition. A linked list is used to store the binded callbacks for each message. The head of the list is in an array to allow a fast access.

			// Code in abi_common.h
			// Here, include header custom structures you may want to use in ABI messages
			// Default is to include pprz algebra libraries

			typedef void (*abi_callback)(void); // Generic callback definition

			struct _abi_event_struct {
			uint8_t id;
			abi_callback cb;
			struct _abi_event_struct * next;
			};
			typedef struct _abi_event_struct abi_event;

			#ifdef ABI_C
			#define ABI_EXTERN
			#else
			#define ABI_EXTERN extern
			#endif

			#define ABI_FOREACH(head,el) for(el=head; el; el=el->next)
			#define ABI_PREPEND(head,new) { (add)->next = head; head = add; }


			// Code generated in var/include/abi_messages.h
			#include "subsystems/abi_common.h
			// Message IDs
			#define DATA_ID 0

			// Callbacks
			typedef void (abi_callbackDATA)(uint8_t sender_id, const float a, const struct bla * b); // Specific callback for DATA message (arguments are const to prevent modifying them)

			// Array and linked list
			#define ABI_MESSAGE_NB <highest id of the messages in airborne class + 1>

			EXTERN abi_event abi_queues[ABI_MESSAGE_NB]; // Magic trick to avoid generating .c file

			// Bind and Send for each messages
			static inline void AbiBindMsgDATA(uint8_t sender_id, abi_event * ev, abi_callbackDATA cb) {
			ev->id = sender_id; // Store sender ID
			ev->cb = (abi_callback)cb; // Store callback
			ABI_PREPEND(abi_queues[DATA_ID],ev); // add to the head of the list (because I'm lazy)
			}

			static inline void AbiSendMsgDATA(uint8_t sender_id, const float * a, const struct bla * b) {
			// Call all callback functions
			abi_event* e;
			ABI_FOREACH(abi_queues[DATA_ID],e) {
			if (e->id == ABI_BROADCAST \|\| e->id == sender_id) { // call function only if selected source or broadcast address
			abi_callbackDATA cb = (abi_callbackDATA)(e->cb); // C black magic
			cb(sender_id, a, b);
			}
			}
			}

			== Airborne code for main AP ==

			This part of the code should be written and called only once in a .c file (like main.c, but it can be somewhere else)

			#define ABI_C 1

			#include "subsystems/abi.h"

			== Airborne code for subscriber ==

			Include header and declare an abi_event as a global variable. Write the callback function with the proper prototype.

			#include "subsystems/abi.h"

			abi_event ev;

			void data_cb(uint8_t sender_id, const float * a, const struct bla * b) {
			// do something here
			}

			In the initialization function (or later) call the binding functions for the message you want to receive. ABI_BROADCAST is a macro equals to 0 and is used as a broadcast address, which means that input values will be received from all sources for this message.

			AbiBindMsgDATA(ABI_BROADCAST, &ev, data_cb);

			== Airborne code for publisher ==

			Include header of course.

			#include "subsystems/abi.h"

			In any function, call the send function. Sender id 0 is reserved (broadcast address).

			#define SENDER_ID 1
			float var = 2.;
			struct bla s;
			AbiSendMsgDATA(SENDER_ID, &var, &s);


			That's it !

Flixr: Redirected page to Abi

2014-11-26T13:10:20Z

Redirected page to Abi

New page

#REDIRECT [[Abi]]