Persistent Storage

Macros

The following macros are used for persistent memory access:

Persistent Values

Table of Contents

The persistent values come from the following sources:

Purpose	Class	Source File	Initialization File
shared memory		persistent.cpp	ram.ini
waypoints	mission_profile	mission_profile.cpp	waypoint.ini
Map	OGrid	occupancy_grid.cpp	map.ini
Invariant	invariant	invariant.cpp	oomrm.ini

Adding Values

To add values to persistent. You will need to modify the following places:

• shared.h - update the needed PID/SIM value.
• wcos/hardware.h - update the simulator memory structure with those values. Be sure to keep in same order as shared.h.
• persistent.cpp/persistent.h - Update if not simulator value only. Add accessor and set methods.
• m3.cpp - [maybe first time only] Usually because the RAM.ini is bad after changing the value. manually assign values to some simulator values because of cyclical dependencies. This will initialize a good RAM.ini.