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[modules] clean some remaining traces of subsystems

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This commit is contained in:
Gautier Hattenberger
2021-11-13 00:40:02 +01:00
parent dbf6396a58
commit 1e14fd5bde
62 changed files with 90 additions and 151 deletions
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doc/sphinx/source/developer_guide/abi.rst
+10 -10
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@@ -41,7 +41,7 @@ Include header and declare an ``abi_event`` as a global ``static`` variable (but
.. code-block:: C
#include "subsystems/abi.h"
#include "modules/core/abi.h"
static abi_event ev;
@@ -60,7 +60,7 @@ The first parameter is the sender ID you want to receive the message from.
* ``ABI_BROADCAST`` is used to receive messages from all senders.
* ``ABI_DISABLE`` disable the callback (it will never be called).
* Senders IDs can be found in the file ``sw/airborne/subsystems/abi_sender_ids.h``
* Senders IDs can be found in the file ``sw/airborne/modules/core/abi_sender_ids.h``
The second parameter is a pointer to the global ``abi_event`` you declared. This variable **can't** be reused for another bind. You must declare one abi_event per bind.
@@ -80,7 +80,7 @@ Include header, then call the send function with the appropriate parameters
struct foo f;
AbiSendMsgDATA(SENDER_ID, var, s, &f);
Replace ``SENDER_ID`` by your sender ID defined in ``sw/airborne/subsystems/abi_sender_ids.h``.
Replace ``SENDER_ID`` by your sender ID defined in ``sw/airborne/modules/core/abi_sender_ids.h``.
Your sender ID identifier should be constructed as the concatenation of the name of the message and the name of your module, suffixed with ``_ID``.
@@ -98,7 +98,7 @@ Your sender ID identifier should be constructed as the concatenation of the name
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``).
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.
@@ -110,16 +110,16 @@ In depth
Generated code
______________
Here is the code of ``sw/airborne/subsystems/abi_common.h``:
Here is the code of ``sw/airborne/modules/core/abi_common.h``:
.. code-block:: C
/* Include here headers with structure definition you may want to use with ABI
* Ex: '#include "subsystems/gps.h"' in order to use the GpsState structure
* Ex: '#include "modules/gps/gps.h"' in order to use the GpsState structure
*/
#include "subsystems/gps.h"
#include "modules/gps/gps.h"
#include "subsystems/abi_sender_ids.h"
#include "modules/core/abi_sender_ids.h"
#ifdef ABI_C
#define ABI_EXTERN
@@ -156,7 +156,7 @@ The generated code in ``var/include/abi_messages.h`` for the message defined abo
.. code-block:: C
// Code generated in var/include/abi_messages.h
#include "subsystems/abi_common.h
#include "modules/core/abi_common.h
// Message IDs
#define ABI_DATA_ID 0
@@ -195,5 +195,5 @@ If you want to use ABI outside of one of the Paparazzi firmwares (``rotorcraft``
.. code-block:: C
#define ABI_C 1
#include "subsystems/abi.h"
#include "modules/core/abi.h"