pdserv.h

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/*****************************************************************************
 *
 *  vim:ft=c:tw=78
 *
 *  Copyright 2010 - 2016  Richard Hacker (lerichi at gmx dot net)
 *                   2025  Florian Pose <fp@igh.de>
 *
 *  This file is part of the pdserv library.
 *
 *  The pdserv library is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License as published
 *  by the Free Software Foundation, either version 3 of the License, or (at
 *  your option) any later version.
 *
 *  The pdserv library is distributed in the hope that it will be useful, but
 *  WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 *  or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public
 *  License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with the pdserv library. If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************************/

 
#ifndef PDSERV_H
#define PDSERV_H

 
#include <stddef.h>
 
#ifdef pdserv_EXPORTS
#  define PDSERV_EXPORT __attribute__((__visibility__("default")))
#else
#  define PDSERV_EXPORT
#endif


#define PDSERV_VERSION(major, minor, patchlevel) \
    (((major) << 16) + ((minor) << 8) + (patchlevel))
 
#define PDSERV_VERSION_MAJOR 3
#define PDSERV_VERSION_MINOR 4
#define PDSERV_VERSION_PATCH 1
 
#define PDSERV_VERSION_CODE PDSERV_VERSION( \
        PDSERV_VERSION_MAJOR, PDSERV_VERSION_MINOR, PDSERV_VERSION_PATCH)
 
#ifdef __cplusplus
extern "C" {
#endif

#define HAS_VERSION_CODE
PDSERV_EXPORT extern const char* const pdserv_version_str;
PDSERV_EXPORT extern const char* const pdserv_full_version;
 
/* Data type definitions. */
/* Let the enumeration start at 1 so that an unset data type could be
 * detected.*/
#define pd_double_T      1
#define pd_single_T      2
#define pd_uint8_T       3
#define pd_sint8_T       4
#define pd_uint16_T      5
#define pd_sint16_T      6
#define pd_uint32_T      7
#define pd_sint32_T      8
#define pd_uint64_T      9
#define pd_sint64_T     10
#define pd_boolean_T    11
#define pd_schar_T      12
#define pd_char_T       13
#define pd_uchar_T      14
#define pd_short_T      15
#define pd_ushort_T     16
#define pd_int_T        17
#define pd_uint_T       18
#define pd_long_T       19
#define pd_ulong_T      20
#define pd_longlong_T   21
#define pd_ulonglong_T  22
#define pd_ssize_T      23
#define pd_size_T       24
#define pd_datatype_end 25
 
struct timespec;

 
/* Structure declarations.
 */
struct pdserv;          
struct pdtask;          
struct pdvariable;      
struct pdevent;         

typedef int (*gettime_t)(struct timespec*);

PDSERV_EXPORT struct pdserv* pdserv_create(
        const char *name,       
        const char *version,    
        gettime_t gettime_cb    
        );

PDSERV_EXPORT void pdserv_config_file(
        struct pdserv* pdserv,  
        const char *file        
        );

PDSERV_EXPORT void pdserv_set_parameter_writelock_cb(
        struct pdserv* pdserv,  
        void (*fn)(int lock, void* priv_data),
        void* priv_data         
        );

PDSERV_EXPORT struct pdtask* pdserv_create_task(
        struct pdserv* pdserv,  
        double tsample,         
        const char *name        
        );

PDSERV_EXPORT void pdserv_set_signal_readlock_cb(
        struct pdtask* pdtask,  
        void (*fn)(int lock, void* priv_data),
        void* priv_data         
        );

PDSERV_EXPORT int pdserv_create_compound(
        const char *name,       
        size_t size             
        );

PDSERV_EXPORT void pdserv_compound_add_field(
        int compound,           
        const char *name,       
        int data_type,          
        size_t offset,          
        size_t ndim,            
        const size_t *dim       
        );

PDSERV_EXPORT struct pdvariable *pdserv_signal(
        struct pdtask* pdtask,    
        unsigned int decimation,  
        const char *path,       
        int datatype,           
        const void *addr,       
        size_t n,               
        const size_t *dim       
        );

typedef int (*read_signal_t)(const struct pdvariable *signal, void *dst,
        const void *src, size_t len, struct timespec* time, void *priv_data);
 
PDSERV_EXPORT void pdserv_signal_set_read_cb(struct pdvariable* signal,
        read_signal_t read_signal_cb, void* priv_data
        ) __attribute__((deprecated("use pdserv_signal() instead")));
 
PDSERV_EXPORT struct pdvariable *pdserv_signal_cb( struct pdtask* pdtask,
        unsigned int decimation, const char *path, int datatype,
        const void *addr, size_t n, const size_t *dim,
        read_signal_t read_signal_cb, void* priv_data
        ) __attribute__((deprecated("use pdserv_signal() instead")));;

#define RESET_EVENT     0
#define EMERG_EVENT     1
#define ALERT_EVENT     2
#define CRIT_EVENT      3
#define ERROR_EVENT     4
#define WARN_EVENT      5
#define NOTICE_EVENT    6
#define INFO_EVENT      7
#define DEBUG_EVENT     8

PDSERV_EXPORT struct pdevent *pdserv_event(
        struct pdserv* pdserv,  
        const char *path,       
        size_t n                
        );

PDSERV_EXPORT void pdserv_event_set_text(
        struct pdevent* event,  
        const char * const *text 
        );

PDSERV_EXPORT void pdserv_event_set(
        const struct pdevent *event,  
        size_t element,         
        int priority,           
        const struct timespec *t 
        );

PDSERV_EXPORT void pdserv_event_reset(
        const struct pdevent *event,  
        size_t element,         
        const struct timespec *t 
        );

PDSERV_EXPORT void pdserv_event_set_all(
        const struct pdevent *event,  
        const unsigned int * level,  
        const struct timespec *t 
        );

PDSERV_EXPORT int pdserv_event_export(
        const struct pdserv* pdserv, 
        const char *path 
        );

typedef int (*write_parameter_t)(
        const struct pdvariable *param,
        void *dst,
        const void *src,
        size_t len,
        struct timespec* time,
        void *priv_data
        );

PDSERV_EXPORT struct pdvariable *pdserv_parameter(
        struct pdserv* pdserv,    
        const char *path,         
        unsigned int mode,        
        int datatype,             
        void *addr,               
        size_t n,                 
        const size_t *dim,        
        write_parameter_t write_cb, 
        void *priv_data           
        );

PDSERV_EXPORT void pdserv_set_alias(
        struct pdvariable *variable, 
        const char *alias       
        );

PDSERV_EXPORT void pdserv_set_unit(
        struct pdvariable *variable, 
        const char *unit        
        );

PDSERV_EXPORT void pdserv_set_comment(
        struct pdvariable *variable, 
        const char *comment     
        );

PDSERV_EXPORT const char *pdserv_get_variable_path(
        const struct pdvariable *variable 
        );

PDSERV_EXPORT int pdserv_prepare(
        struct pdserv* pdserv     
        );

PDSERV_EXPORT void pdserv_update_statistics(
        struct pdtask* pdtask,  
        double exec_time,       
        double cycle_time,      
        unsigned int overrun    
        );

PDSERV_EXPORT void pdserv_update(
        struct pdtask* pdtask,  
        const struct timespec *t  
        );

PDSERV_EXPORT void pdserv_exit(
        struct pdserv*           
        );
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* PDSERV_H */