Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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telemetry.c
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
31 
38 bool_t register_periodic_telemetry(struct pprz_telemetry * _pt, const char * _msg, telemetry_cb _cb) {
39  // look for message name
40  uint8_t i;
41  for (i = 0; i < _pt->nb; i++) {
42  if (str_equal(_pt->msgs[i].msg, _msg)) {
43  // register callback if not already done
44  if (_pt->msgs[i].cb == NULL) {
45  _pt->msgs[i].cb = _cb;
46  return TRUE;
47  }
48  else { return FALSE; }
49  }
50  }
51  // message name is not in telemetry file
52  return FALSE;
53 }
54 
55 #if USE_PERIODIC_TELEMETRY_REPORT
56 
58 
65  uint8_t process = _process;
66  uint8_t mode = _mode;
67  uint8_t id = _id;
68  DOWNLINK_SEND_PERIODIC_TELEMETRY_ERR(DefaultChannel, DefaultDevice, &process, &mode, &id);
69 }
70 
71 #endif
telemetry_cb cb
callback funtion
struct telemetry_msg * msgs
the list of (msg name, callbacks)
Common tools for periodic telemetry interface Allows subsystem to register callback functions...
bool_t register_periodic_telemetry(struct pprz_telemetry *_pt, const char *_msg, telemetry_cb _cb)
Register a telemetry callback function.
Definition: telemetry.c:38
#define FALSE
Definition: imu_chimu.h:141
uint8_t nb
number of messages
void(* telemetry_cb)(void)
Telemetry callback definition.
void periodic_telemetry_err_report(uint8_t _process, uint8_t _mode, uint8_t _id)
Send an error report when trying to send message that as not been register.
Definition: telemetry.c:64
char msg[64]
name in telemetry xml file
#define TRUE
Definition: imu_chimu.h:144
unsigned char uint8_t
Definition: types.h:14
Telemetry structure.