FeatureInterface.h

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/*
 * Copyright (C) 2012 iCub Facility, Istituto Italiano di Tecnologia
 * Author:  Alberto Cardellino, Marco Accame
 * email:   alberto.cardellino@iit.it, marco.accame@iit.it
 * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 *
 */
 
// - include guard ----------------------------------------------------------------------------------------------------
 
#ifndef _FEATUREINTERFACE_H_
#define _FEATUREINTERFACE_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
// -- this .h file can be included also by C modules. it provides interface to C++ classes by means of its functions.
//    these c funtions are used inside the callbacks in reception of particular ROPs.
//    for instance, function feat_signal_network_onsay() is used inside eoprot_fun_ONSAY_mc() to unlock the wait
//    of embObjMotionControl.
 
// - external dependencies --------------------------------------------------------------------------------------------
 
#include "EoCommon.h"
#include "EoProtocol.h"
#include "EOYtheSystem.h"
 
 
// - public #define  --------------------------------------------------------------------------------------------------
// empty-section
 
 
// - declaration of public user-defined types -------------------------------------------------------------------------
// empty-section
 
// - declaration of extern public functions ---------------------------------------------------------------------------
 
 
void feat_Initialise(void *handleOfTheEthManager);
 
void feat_DeInitialise();
 
const eOysystem_cfg_t * feat_getSYSconfig();
 
eObool_t feat_manage_motioncontrol_data(eOipv4addr_t ipv4, eOprotID32_t id32, void* rxdata);
 
eObool_t feat_manage_motioncontrol_addinfo_multienc(eOipv4addr_t ipv4, eOprotID32_t id32, void* rxdata);
 
eObool_t feat_manage_skin_data(eOipv4addr_t ipv4, eOprotID32_t id32, void *arrayofcandata);
 
eObool_t feat_manage_analogsensors_data(eOipv4addr_t ipv4, eOprotID32_t id32, void *data);
 
void * feat_MC_handler_get(eOipv4addr_t ipv4, eOprotID32_t id32);
 
double feat_yarp_time_now(void);
 
eObool_t feat_signal_network_onsay(eOipv4addr_t ipv4, eOprotID32_t id32, uint32_t signature);
 
eObool_t feat_signal_network_onsig(eOipv4addr_t ipv4, eOprotID32_t id32, uint32_t signature);
 
eObool_t feat_CANprint(eOipv4addr_t ipv4, eOmn_info_basic_t* infobasic);
 
const char * feat_GetBoardName(eOipv4addr_t ipv4);
 
void feat_PrintTrace(char *string);
 
void feat_PrintDebug(char *string);
 
void feat_PrintInfo(char *string);
 
void feat_PrintWarning(char *string);
 
void feat_PrintError(char *string);
 
void feat_PrintFatal(char *string);
 
void feat_manage_diagnostic(eOmn_info_basic_t* infobasic, uint8_t * extra, const EOnv* nv, const eOropdescriptor_t* rd);
 
 
void* ace_mutex_new(void);
 
// returns 0 on success to take mutex, -3 on failure upon timeout, -2 on failure upon null pointer. m is pointer obtained w/ ace_mutex_new(), tout_usec is in microsec (no timeout is 0xffffffff).
int8_t ace_mutex_take(void* m, uint32_t tout_usec);
 
// returns 0 on success to take mutex, -1 on genric failure of releasing mutex, -2 on failure upon null pointer. m is pointer obtained w/ ace_mutex_new(),
int8_t ace_mutex_release(void* m);
 
void ace_mutex_delete(void* m);
 
 
 
#ifdef __cplusplus
}       // closing brace for extern "C"
#endif
 
#endif  // include-guard
 
 
// - end-of-file (leave a blank line after)----------------------------------------------------------------------------