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Code Issues Releases Activity

uavobjectmanager: simplify new embedded metadata objects

Browse Source 
Simplifies some of the code that handles the
metadata objects which are now embedded within
the data UAVOs.
This commit is contained in:
Stacey Sheldon 2012-05-26 00:28:05 -04:00
parent eef9b5f61e
commit 2396eaef5a
4 changed files with 801 additions and 649 deletions
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12
flight/PiOS.posix/inc/pios_struct_helper.h Normal file
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@ -0,0 +1,12 @@
/* Taken from include/linux/kernel.h from the Linux kernel tree */
/**
* container_of - cast a member of a structure out to the containing structure
* @ptr: the pointer to the member.
* @type: the type of the container struct this is embedded in.
* @member: the name of the member within the struct.
*
*/
#define container_of(ptr, type, member) ({ \
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
(type *)( (char *)__mptr - offsetof(type,member) );})

12
flight/PiOS/inc/pios_struct_helper.h Normal file
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@ -0,0 +1,12 @@
/* Taken from include/linux/kernel.h from the Linux kernel tree */
/**
* container_of - cast a member of a structure out to the containing structure
* @ptr: the pointer to the member.
* @type: the type of the container struct this is embedded in.
* @member: the name of the member within the struct.
*
*/
#define container_of(ptr, type, member) ({ \
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
(type *)( (char *)__mptr - offsetof(type,member) );})

55
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -133,7 +133,7 @@ typedef void (*UAVObjEventCallback)(UAVObjEvent* ev);
/**
* Callback used to initialize the object fields to their default values.
*/
typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj, uint16_t instId);
typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj_handle, uint16_t instId);
/**
* Event manager statistics
@ -157,16 +157,16 @@ const char* UAVObjGetName(UAVObjHandle obj);
uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb);
int32_t UAVObjIsSingleInstance(UAVObjHandle obj);
int32_t UAVObjIsMetaobject(UAVObjHandle obj);
int32_t UAVObjIsSettings(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn);
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut);
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file);
uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle, UAVObjInitializeCallback initCb);
bool UAVObjIsSingleInstance(UAVObjHandle obj);
bool UAVObjIsMetaobject(UAVObjHandle obj);
bool UAVObjIsSettings(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t* dataIn);
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t* dataOut);
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId, FILEINFO* file);
UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
int32_t UAVObjSaveSettings();
int32_t UAVObjLoadSettings();
@ -174,18 +174,17 @@ int32_t UAVObjDeleteSettings();
int32_t UAVObjSaveMetaobjects();
int32_t UAVObjLoadMetaobjects();
int32_t UAVObjDeleteMetaobjects();
int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn);
int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut);
int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn);
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut);
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn);
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut);
int32_t UAVObjSetData(UAVObjHandle obj_handle, const void* dataIn);
int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetData(UAVObjHandle obj_handle, void* dataOut);
int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn);
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId, void* dataOut);
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata* dataIn);
int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata* dataOut);
uint8_t UAVObjGetMetadataAccess(const UAVObjMetadata* dataOut);
void UAVObjMetadataInitialize(UAVObjMetadata* dataOut);
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* dataOut);
void UAVObjSetAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* dataOut);
@ -199,14 +198,14 @@ void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val)
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb);
int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb);
void UAVObjRequestUpdate(UAVObjHandle obj);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId);
void UAVObjUpdated(UAVObjHandle obj);
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId);
void UAVObjInstanceUpdated(UAVObjHandle obj_handle, uint16_t instId);
void UAVObjIterate(void (*iterator)(UAVObjHandle obj));
#endif // UAVOBJECTMANAGER_H

1371
flight/UAVObjects/uavobjectmanager.c
View File

@ -32,6 +32,7 @@
*/
#include "openpilot.h"
#include "pios_struct_helper.h"
// Constants
@ -39,123 +40,145 @@
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
#define OLGetIsMetaobject(olp) ((olp)->flags & OL_IS_METAOBJECT)
#define OLSetIsMetaobject(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_METAOBJECT) : ((olp)->flags | OL_IS_METAOBJECT)))
#define OLGetIsSingleInstance(olp) ((olp)->flags & OL_IS_SINGLE_INSTANCE)
#define OLSetIsSingleInstance(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SINGLE_INSTANCE) : ((olp)->flags | OL_IS_SINGLE_INSTANCE)))
#define OLGetIsSettings(olp) ((olp)->flags & OL_IS_SETTINGS)
#define OLSetIsSettings(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SETTINGS) : ((olp)->flags | OL_IS_SETTINGS)))
/**
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventList {
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventList *next;
};
/**
* List of object instances, holds a pointer to the next instance and some UAVObjectData
*/
struct ObjectInstList {
struct ObjectInstList *next;
} __attribute__((packed));
/** fake structure for arbitrary sizes **/
struct ObjectInstance {
struct ObjectInstList header;
uint32_t data;
} __attribute__((packed));
#define ObjectInstanceSize(numBytes) (offsetof(struct ObjectInstance,data)+(numBytes))
/** anonymous type for instances **/
/** opaque type for instances **/
typedef void* InstanceHandle;
enum ObjectFlags {
OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */
struct ObjectEventEntry {
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventEntry * next;
};
/**
* List of objects registered in the object manager
/*
MetaInstance == [UAVOBase [UAVObjMetadata]]
SingleInstance == [UAVOBase [UAVOData [InstanceData]]]
MultiInstance == [UAVOBase [UAVOData [NumInstances [InstanceData0 [next]]]]
____________________/
\-->[InstanceData1 [next]]
_________...________/
\-->[InstanceDataN [next]]
*/
struct GenericObject {
enum ObjectFlags flags; /* The object list mode flags */
const char *name; /* The object name */
struct ObjectEventList *events; /* Event queues registered on the object */
} __attribute__((packed));
/*
* UAVO Base Type
* - All Types of UAVObjects are of this base type
* - The flags determine what type(s) this object
*/
struct UAVOBase {
/* Let these objects be added to an event queue */
struct ObjectEventEntry * next_event;
struct MetaObject {
struct GenericObject header;
UAVObjMetadata data; /* the actual metadata */
/* Describe the type of object that follows this header */
struct UAVOInfo {
bool isMeta : 1;
bool isSingle : 1;
bool isSettings : 1;
} flags;
const char * name;
} __attribute__((packed));
struct ObjectList {
struct GenericObject header;
uint32_t id; /* The object ID */
uint16_t numBytes; /* Number of data bytes contained in the object (for a single instance) */
struct MetaObject metaObj; /* Meta object of the UAVObject */
struct ObjectList *next; /* Needed by linked list library (utlist.h) */
/* Augmented type for Meta UAVO */
struct UAVOMeta {
struct UAVOBase base;
UAVObjMetadata instance0;
} __attribute__((packed));
/** fake structure for arbitrary sizes **/
struct ObjectListInstance {
struct ObjectList header;
uint32_t data;
} __attribute__((packed));
#define ObjectListInstanceSize(numBytes) (offsetof(struct ObjectListInstance,data)+(numBytes))
struct ObjectListMulti {
struct ObjectList header;
uint16_t numInstances; /** Number of instances */
struct ObjectInstList instances; /** List of object instances, instance 0 always exists */
/* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
struct UAVOData {
struct UAVOBase base;
uint32_t id;
/*
* Embed the Meta object as another complete UAVO
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
struct UAVOData * next;
uint16_t instance_size;
} __attribute__((packed));
/** fake structure for arbitrary sizes **/
struct ObjectListMultiInstance {
struct ObjectListMulti header;
uint32_t data;
/* Augmented type for Single Instance Data UAVO */
struct UAVOSingle {
struct UAVOData uavo;
uint8_t instance0[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Part of a linked list of instances chained off of a multi instance UAVO. */
struct UAVOMultiInst {
struct UAVOMultiInst * next;
uint8_t instance[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Augmented type for Multi Instance Data UAVO */
struct UAVOMulti {
struct UAVOData uavo;
uint16_t num_instances;
struct UAVOMultiInst instance0;
/*
* Additional space will be malloc'd here to hold the
* the data for instance 0.
*/
} __attribute__((packed));
#define ObjectListMultiInstanceSize(numBytes) (offsetof(struct ObjectListMultiInstance,data)+(numBytes))
/** all information about a metaobject are hardcoded constants **/
#define MetaNumBytes sizeof(UAVObjMetadata)
#define MetaBaseObjectPtr(obj) ((struct ObjectList *)((obj)-offsetof(struct ObjectList, metaObj)))
#define MetaObjectPtr(obj) ((struct MetaObject*) &((obj)->metaObj))
#define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->data))
#define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.data))
#define MetaObjectId(id) (id+1)
#define MetaNumInstances 1
#define MetaBaseObjectPtr(obj) ((struct UAVOData *)((obj)-offsetof(struct UAVOData, metaObj)))
#define MetaObjectPtr(obj) ((struct UAVODataMeta*) &((obj)->metaObj))
#define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->instance0))
#define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.instance0))
#define MetaObjectId(id) ((id)+1)
/** all information about instances are dependant on object type **/
#define ObjNumInstances(obj) (OLGetIsSingleInstance((struct GenericObject*)(obj))?1:((struct ObjectListMulti *)(obj))->numInstances)
#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (struct ObjectListInstance*)obj )->data)))
#define InstanceDataOffset(inst) ((void*)&(( (struct ObjectInstance*)inst )->data))
#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (struct UAVOSingle*)obj )->instance0)))
#define InstanceDataOffset(inst) ((void*)&(( (struct UAVOMultiInst*)inst )->instance))
#define InstanceData(instance) (void*)instance
// Private functions
static int32_t sendEvent(struct GenericObject * obj, uint16_t instId,
static int32_t sendEvent(struct UAVOBase * obj, uint16_t instId,
UAVObjEventType event);
static InstanceHandle createInstance(struct ObjectList * obj, uint16_t instId);
static InstanceHandle getInstance(struct ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId);
static InstanceHandle getInstance(struct UAVOData * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(UAVObjHandle obj, uint8_t * filename);
static void objectFilename(UAVObjHandle obj_handle, uint8_t * filename);
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
// Private variables
static struct ObjectList *objList;
static struct UAVOData * uavo_list;
static xSemaphoreHandle mutex;
static UAVObjMetadata defMetadata;
static const UAVObjMetadata defMetadata = {
.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT),
.telemetryUpdatePeriod = 0,
.gcsTelemetryUpdatePeriod = 0,
.loggingUpdatePeriod = 0,
};
static UAVObjStats stats;
/**
@ -166,7 +189,7 @@ static UAVObjStats stats;
int32_t UAVObjInitialize()
{
// Initialize variables
objList = NULL;
uavo_list = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Create mutex
@ -174,13 +197,14 @@ int32_t UAVObjInitialize()
if (mutex == NULL)
return -1;
// Initialize default metadata structure (metadata of metaobjects)
UAVObjMetadataInitialize(&defMetadata);
// Done
return 0;
}
/*****************
* Statistics
****************/
/**
* Get the statistics counters
* @param[out] statsOut The statistics counters will be copied there
@ -202,12 +226,84 @@ void UAVObjClearStats()
xSemaphoreGiveRecursive(mutex);
}
/************************
* Object Initialization
***********************/
static void UAVObjInitMetaData (struct UAVOMeta * obj_meta)
{
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(obj_meta->base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isMeta = true;
uavo_base->flags.isSingle = true;
uavo_base->name = name;
uavo_base->next_event = NULL;
/* Clear the instance data carried in the UAVO */
memset(&(obj_meta->instance0), 0, sizeof(obj_meta->instance0));
}
static struct UAVOData * UAVObjAllocSingle(uint32_t num_bytes, const char * name)
{
/* Compute the complete size of the object, including the data for a single embedded instance */
uint32_t object_size = sizeof(struct UAVOSingle) + num_bytes;
/* Allocate the object from the heap */
struct UAVOSingle * uavo_single = (struct UAVOSingle *) pvPortMalloc(object_size);
if (!uavo_single)
return (NULL);
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(uavo_single->uavo.base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isSingle = true;
uavo_base->name = name;
uavo_base->next_event = NULL;
/* Clear the instance data carried in the UAVO */
memset(&(uavo_single->instance0), 0, num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_single->uavo));
}
static struct UAVOData * UAVObjAllocMulti(uint32_t num_bytes, const char * name)
{
/* Compute the complete size of the object, including the data for a single embedded instance */
uint32_t object_size = sizeof(struct UAVOMulti) + num_bytes;
/* Allocate the object from the heap */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) pvPortMalloc(object_size);
if (!uavo_multi)
return (NULL);
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(uavo_multi->uavo.base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isSingle = false;
uavo_base->name = name;
uavo_base->next_event = NULL;
/* Set up the type-specific part of the UAVO */
uavo_multi->num_instances = 1;
/* Clear the instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_multi->uavo));
}
/**************************
* UAVObject Database APIs
*************************/
/**
* Register and new object in the object manager.
* \param[in] id Unique object ID
* \param[in] name Object name
* \param[in] nameName Metaobject name
* \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
* \param[in] isSingleInstance Is this a single instance or multi-instance object
* \param[in] isSettings Is this a settings object
* \param[in] numBytes Number of bytes of object data (for one instance)
@ -218,75 +314,58 @@ void UAVObjClearStats()
UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
const char *metaName,
int32_t isSingleInstance, int32_t isSettings,
uint32_t numBytes,
uint32_t num_bytes,
UAVObjInitializeCallback initCb)
{
struct ObjectList *objEntry;
struct UAVOData * uavo_data = NULL;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check that the object is not already registered
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Already registered, ignore
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
/* Don't allow duplicate registrations */
if (UAVObjGetByID(id))
goto unlock_exit;
// Create and append entry
/* Map the various flags to one of the UAVO types we understand */
if (isSingleInstance) {
objEntry = (struct ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) );
uavo_data = UAVObjAllocSingle (num_bytes, name);
} else {
objEntry = (struct ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) );
uavo_data = UAVObjAllocMulti (num_bytes, name);
}
if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
( (struct GenericObject*)objEntry )->name = name;
( (struct GenericObject*)objEntry )->events = NULL;
OLSetIsMetaobject( (struct GenericObject*)objEntry, 0);
OLSetIsSingleInstance( (struct GenericObject*)objEntry, isSingleInstance);
OLSetIsSettings( (struct GenericObject*)objEntry, isSettings);
objEntry->id = id;
objEntry->numBytes = numBytes;
// Create instance
if (isSingleInstance) {
memset(ObjSingleInstanceDataOffset(objEntry), 0, numBytes);
} else {
( (struct ObjectListMulti*)objEntry )->numInstances = 1;
( (struct ObjectListMulti*)objEntry )->instances.next = NULL;
memset(InstanceDataOffset(&(( (struct ObjectListMulti*)objEntry )->instances)), 0, numBytes);
}
// Create metaobject
memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes);
( (struct GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE;
( (struct GenericObject*)MetaObjectPtr(objEntry) )->name = metaName;
( (struct GenericObject*)MetaObjectPtr(objEntry) )->events = NULL;
LL_APPEND(objList, objEntry);
// fire events
UAVObjInstanceUpdated((UAVObjHandle) objEntry, 0);
if (!uavo_data)
goto unlock_exit;
UAVObjInstanceUpdated((UAVObjHandle) MetaObjectPtr(objEntry), 0);
/* Fill in the details about this UAVO */
uavo_data->id = id;
uavo_data->instance_size = num_bytes;
if (isSettings) {
uavo_data->base.flags.isSettings = true;
}
// Initialize object fields and metadata to default values
if (initCb != NULL) {
initCb((UAVObjHandle) objEntry, 0);
}
// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
if (!OLGetIsMetaobject((struct GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0);
}
// If this is a settings object, attempt to load from SD card
if (OLGetIsSettings((struct GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
/* Initialize the embedded meta UAVO */
UAVObjInitMetaData (&uavo_data->metaObj, metaName);
/* Add the newly created object to the global list of objects */
LL_APPEND(uavo_list, uavo_data);
/* Initialize object fields and metadata to default values */
if (initCb)
initCb((UAVObjHandle) uavo_data, 0);
/* Always try to load the meta object from flash */
UAVObjLoad((UAVObjHandle) &(uavo_data->metaObj), 0);
/* Attempt to load settings object from flash */
if (uavo_data->base.flags.isSettings)
UAVObjLoad((UAVObjHandle) uavo_data, 0);
// fire events for outer object and its embedded meta object
UAVObjInstanceUpdated((UAVObjHandle) uavo_data, 0);
UAVObjInstanceUpdated((UAVObjHandle) &(uavo_data->metaObj), 0);
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) objEntry;
return (UAVObjHandle) uavo_data;
}
/**
@ -296,30 +375,27 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
*/
UAVObjHandle UAVObjGetByID(uint32_t id)
{
struct ObjectList *objEntry;
UAVObjHandle * found_obj = (UAVObjHandle *) NULL;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
struct UAVOData * tmp_obj;
LL_FOREACH(uavo_list, tmp_obj) {
if (tmp_obj->id == id) {
found_obj = (UAVObjHandle *)tmp_obj;
goto unlock_exit;
}
if (MetaObjectId(objEntry->id) == id) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) MetaObjectPtr(objEntry);
if (MetaObjectId(tmp_obj->id) == id) {
found_obj = (UAVObjHandle *)&(tmp_obj->metaObj);
goto unlock_exit;
}
}
// Object not found, release lock and return error
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return NULL;
return found_obj;
}
/**
@ -329,32 +405,31 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
*/
UAVObjHandle UAVObjGetByName(char *name)
{
struct ObjectList *objEntry;
UAVObjHandle * found_obj = (UAVObjHandle *) NULL;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if ( ( (struct GenericObject*)objEntry )->name != NULL
&& strcmp(( (struct GenericObject*)objEntry )->name, name) == 0) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
struct UAVO * tmp_obj;
LL_FOREACH(uavo_list, tmp_obj) {
if ((tmp_obj->common.name) &&
strcmp(tmp_obj->common.name, name) == 0) {
found_obj = (UAVObjHandle) tmp_obj;
goto unlock_exit;
}
if ( ( (struct GenericObject*)MetaObjectPtr(objEntry) )->name != NULL
&& strcmp(( (struct GenericObject*)MetaObjectPtr(objEntry) )->name, name) == 0) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) MetaObjectPtr(objEntry);
if ((tmp_obj->metaObj.common.name) &&
strcmp(tmp_obj->metaObj.common.name, name) == 0) {
found_obj = (UAVObjHandle) &(tmp_obj->metaObj);
goto unlock_exit;
}
}
// Object not found, release lock and return error
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return NULL;
return found_obj;
}
/**
@ -362,13 +437,23 @@ UAVObjHandle UAVObjGetByName(char *name)
* \param[in] obj The object handle
* \return The object ID
*/
uint32_t UAVObjGetID(UAVObjHandle obj)
uint32_t UAVObjGetID(UAVObjHandle obj_handle)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return MetaObjectId( MetaBaseObjectPtr(obj)->id );
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
if (UAVObjIsMetaobject(obj_handle)) {
/* We have a meta object, find our containing UAVO */
struct UAVOData * uavo_data = container_of ((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
return MetaObjectId (uavo_data->id);
} else {
return ((struct ObjectList *) obj)->id;
/* We have a data object, augment our pointer */
struct UAVOData * uavo_data = (struct UAVOData *) uavo_base;
return (uavo_data->id);
}
}
@ -380,7 +465,11 @@ uint32_t UAVObjGetID(UAVObjHandle obj)
const char *UAVObjGetName(UAVObjHandle obj)
{
PIOS_Assert(obj);
return ((struct GenericObject *) obj)->name;
/* Recover the common object header */
struct UAVObjectCommon * uavo_common = (struct UAVObjectCommon *) obj;
return (uavo_common->name);
}
/**
@ -391,11 +480,22 @@ const char *UAVObjGetName(UAVObjHandle obj)
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return MetaNumBytes;
uint32_t instance_size;
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj;
if (uavo_base->flags.isMeta) {
instance_size = MetaNumBytes;
} else {
return ((struct ObjectList *) obj)->numBytes;
/* We have a data object, augment our pointer */
struct UAVOData * uavo = (struct UAVOData *) uavo_base;
instance_size = uavo->instance_size;
}
return (instance_size);
}
/**
@ -405,13 +505,23 @@ uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
* \param[in] obj The object handle
* \return The object linked object handle
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj_handle)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return (UAVObjHandle) MetaBaseObjectPtr(obj);
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
if (UAVObjIsMetaobject(obj_handle)) {
/* We have a meta object, find our containing UAVO. */
struct UAVOData * uavo_data = container_of ((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
return (UAVObjHandle) uavo_data;
} else {
return (UAVObjHandle) MetaObjectPtr( (struct ObjectList*) obj);
/* We have a data object, augment our pointer */
struct UAVOData * uavo_data = (struct UAVOData *) uavo_base;
return (UAVObjHandle) &(uavo_data->metaObj);
}
}
@ -420,17 +530,19 @@ UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
* \param[in] obj The object handle
* \return The number of instances
*/
uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
uint16_t UAVObjGetNumInstances(UAVObjHandle obj_handle)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return MetaNumInstances;
PIOS_Assert(obj_handle);
if (UAVObjIsSingleInstance(obj_handle)) {
/* Only one instance is allowed */
return 1;
} else {
/* Multi-instance object. Inspect the object */
/* Augment our pointer to reflect the proper type */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) obj_handle;
return uavo_multi->num_instances;
}
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ObjNumInstances(obj);
xSemaphoreGiveRecursive(mutex);
return numInstances;
}
/**
@ -438,33 +550,36 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
* \param[in] obj The object handle
* \return The instance ID or 0 if an error
*/
uint16_t UAVObjCreateInstance(UAVObjHandle obj,
uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle,
UAVObjInitializeCallback initCb)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return -1;
}
PIOS_Assert(obj_handle);
InstanceHandle instEntry;
uint16_t instId;
if (UAVObjIsMetaobject(obj_handle)) {
return 0;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
InstanceHandle instEntry;
uint16_t instId = 0;
// Create new instance
instId = ObjNumInstances(obj);
instEntry = createInstance( (struct ObjectList*)obj, instId);
instId = UAVObjGetNumInstances(obj_handle);
instEntry = createInstance( (struct UAVOData *)obj_handle, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
// Initialize instance data
if (initCb != NULL) {
initCb(obj, instId);
if (initCb) {
initCb(obj_handle, instId);
}
// Unlock
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return instId;
}
@ -473,10 +588,14 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
bool UAVObjIsSingleInstance(UAVObjHandle obj_handle)
{
PIOS_Assert(obj);
return OLGetIsSingleInstance((struct GenericObject *) obj);
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isSingle;
}
/**
@ -484,10 +603,14 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
bool UAVObjIsMetaobject(UAVObjHandle obj_handle)
{
PIOS_Assert(obj);
return OLGetIsMetaobject((struct GenericObject *) obj);
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isMeta;
}
/**
@ -495,10 +618,14 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
bool UAVObjIsSettings(UAVObjHandle obj_handle)
{
PIOS_Assert(obj);
return OLGetIsSettings((struct GenericObject *) obj);
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isSettings;
}
/**
@ -508,49 +635,49 @@ int32_t UAVObjIsSettings(UAVObjHandle obj)
* \param[in] dataIn The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId,
const uint8_t * dataIn)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
memcpy(MetaDataPtr((struct MetaObject *)obj), dataIn, MetaNumBytes);
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle), dataIn, MetaNumBytes);
} else {
struct ObjectList *objEntry;
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast handle to object
objEntry = (struct ObjectList *) obj;
obj = (struct UAVOData *) obj_handle;
// Get the instance
instEntry = getInstance(objEntry, instId);
instEntry = getInstance(obj, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(objEntry, instId);
instEntry = createInstance(obj, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
}
// Set the data
memcpy(InstanceData(instEntry), dataIn, objEntry->numBytes);
memcpy(InstanceData(instEntry), dataIn, obj->instance_size);
}
// Fire event
sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
rc = 0;
// Unlock
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -560,40 +687,41 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
* \param[out] dataOut The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t * dataOut)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes);
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes);
} else {
struct ObjectList *objEntry;
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast handle to object
objEntry = (struct ObjectList *) obj;
obj = (struct UAVOData *) obj_handle;
// Get the instance
instEntry = getInstance(objEntry, instId);
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
// Pack data
memcpy(dataOut, InstanceData(instEntry), objEntry->numBytes);
memcpy(dataOut, InstanceData(instEntry), obj->instance_size);
}
// Unlock
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -605,10 +733,11 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
FILEINFO * file)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
// Check for file system availability
@ -618,50 +747,50 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
if (UAVObjIsMetaobject(obj_handle)) {
// Get the instance information
if (instId != 0) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
uint32_t objId = UAVObjGetID(obj);
uint32_t objId = UAVObjGetID(obj_handle);
PIOS_FWRITE(file, &objId, sizeof(objId),
&bytesWritten);
// Write the data and check that the write was successful
PIOS_FWRITE(file, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes,
PIOS_FWRITE(file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes,
&bytesWritten);
if (bytesWritten != MetaNumBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
} else {
struct ObjectList *objEntry;
struct UAVOData * uavo;
InstanceHandle instEntry;
// Cast to object
objEntry = (struct ObjectList *) obj;
uavo = (struct UAVOData *) obj_handle;
// Get the instance information
instEntry = getInstance(objEntry, instId);
instEntry = getInstance(uavo, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
PIOS_FWRITE(file, &uavo->id, sizeof(uavo->id),
&bytesWritten);
// Write the instance ID
if (!OLGetIsSingleInstance((struct GenericObject*)obj)) {
if (!UAVObjIsSingleInstance(obj_handle)) {
PIOS_FWRITE(file, &instId,
sizeof(instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, InstanceData(instEntry), objEntry->numBytes,
PIOS_FWRITE(file, InstanceData(instEntry), uavo->instance_size,
&bytesWritten);
if (bytesWritten != objEntry->numBytes) {
if (bytesWritten != uavo->instance_size) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
@ -682,18 +811,19 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((struct MetaObject *)obj)) != 0)
if (PIOS_FLASHFS_ObjSave(obj_handle, instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle)) != 0)
return -1;
} else {
InstanceHandle instEntry = getInstance( (struct ObjectList*)obj, instId);
InstanceHandle instEntry = getInstance( (struct UAVOData *)obj_handle, instId);
if (instEntry == NULL)
return -1;
@ -701,7 +831,7 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
if (InstanceData(instEntry) == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, InstanceData(instEntry)) != 0)
if (PIOS_FLASHFS_ObjSave(obj_handle, instId, InstanceData(instEntry)) != 0)
return -1;
}
#endif
@ -717,7 +847,7 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj, filename);
objectFilename(obj_handle, filename);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
@ -725,7 +855,7 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
return -1;
}
// Append object
if (UAVObjSaveToFile(obj, instId, &file) == -1) {
if (UAVObjSaveToFile(obj_handle, instId, &file) == -1) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
@ -746,11 +876,11 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
struct GenericObject *objEntry;
struct UAVOBase *objEntry;
InstanceHandle instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj;
UAVObjHandle obj_handle;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
@ -765,16 +895,16 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
return NULL;
}
// Get the object
obj = UAVObjGetByID(objId);
if (obj == 0) {
obj_handle = UAVObjGetByID(objId);
if (obj_handle == 0) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (struct GenericObject *) obj;
objEntry = (struct UAVOBase *) obj_handle;
// Get the instance ID
instId = 0;
if (!OLGetIsSingleInstance(objEntry)) {
if (!UAVObjIsSingleInstance(obj_handle)) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
@ -782,7 +912,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
}
}
if (OLGetIsMetaobject( objEntry )) {
if (UAVObjIsMetaobject(obj_handle)) {
// If the instance does not exist create it and any other instances before it
if (instId != 0) {
// Error, unlock and return
@ -791,18 +921,18 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
}
// Read the instance data
if (PIOS_FREAD
(file, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes, &bytesRead)) {
(file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
} else {
// Get the instance information
instEntry = getInstance((struct ObjectList *)objEntry, instId);
instEntry = getInstance((struct UAVOData *)objEntry, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance((struct ObjectList *)objEntry, instId);
instEntry = createInstance((struct UAVOData *)objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
@ -811,7 +941,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
}
// Read the instance data
if (PIOS_FREAD
(file, InstanceData(instEntry), ((struct ObjectList *)objEntry)->numBytes, &bytesRead)) {
(file, InstanceData(instEntry), ((struct UAVOData *)objEntry)->instance_size, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
@ -823,7 +953,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj;
return obj_handle;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
#endif
@ -837,29 +967,30 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
if (OLGetIsMetaobject( (struct GenericObject*) obj )) {
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, (uint8_t*) MetaDataPtr((struct MetaObject *)obj)) == 0)
sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
if (PIOS_FLASHFS_ObjLoad(obj_handle, instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle)) == 0)
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
else
return -1;
} else {
InstanceHandle instEntry = getInstance( (struct ObjectList*)obj, instId);
InstanceHandle instEntry = getInstance( (struct UAVOData *)obj_handle, instId);
if (instEntry == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, InstanceData(instEntry)) == 0)
sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
if (PIOS_FLASHFS_ObjLoad(obj_handle, instId, InstanceData(instEntry)) == 0)
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
else
return -1;
}
@ -879,7 +1010,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj, filename);
objectFilename(obj_handle, filename);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
@ -894,7 +1025,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
return -1;
}
// Check that the IDs match
if (UAVObjGetID(loadedObj) != UAVObjGetID(obj)) {
if (UAVObjGetID(loadedObj) != UAVObjGetID(obj_handle)) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
@ -912,11 +1043,11 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
PIOS_FLASHFS_ObjDelete(obj, instId);
PIOS_FLASHFS_ObjDelete(obj_handle, instId);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
uint8_t filename[14];
@ -929,7 +1060,7 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj, filename);
objectFilename(obj_handle, filename);
// Delete file
PIOS_FUNLINK(filename);
@ -946,27 +1077,30 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
*/
int32_t UAVObjSaveSettings()
{
struct ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(objList, objEntry) {
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (OLGetIsSettings((struct GenericObject*)objEntry)) {
if (UAVObjIsSettings(obj)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
if (UAVObjSave((UAVObjHandle) obj, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
}
}
// Done
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -975,27 +1109,30 @@ int32_t UAVObjSaveSettings()
*/
int32_t UAVObjLoadSettings()
{
struct ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(objList, objEntry) {
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (OLGetIsSettings((struct GenericObject *)objEntry)) {
if (UAVObjIsSettings(obj)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
if (UAVObjLoad((UAVObjHandle) obj, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
}
}
// Done
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1004,27 +1141,30 @@ int32_t UAVObjLoadSettings()
*/
int32_t UAVObjDeleteSettings()
{
struct ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(objList, objEntry) {
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (OLGetIsSettings((struct GenericObject *)objEntry)) {
if (UAVObjIsSettings(obj)) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
if (UAVObjDelete((UAVObjHandle) obj, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
}
}
// Done
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1033,24 +1173,27 @@ int32_t UAVObjDeleteSettings()
*/
int32_t UAVObjSaveMetaobjects()
{
struct ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(objList, objEntry) {
LL_FOREACH(uavo_list, obj) {
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(objEntry), 0) ==
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
}
// Done
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1059,24 +1202,27 @@ int32_t UAVObjSaveMetaobjects()
*/
int32_t UAVObjLoadMetaobjects()
{
struct ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(objList, objEntry) {
LL_FOREACH(uavo_list, obj) {
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0) ==
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
}
// Done
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1085,24 +1231,27 @@ int32_t UAVObjLoadMetaobjects()
*/
int32_t UAVObjDeleteMetaobjects()
{
struct ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(objList, objEntry) {
LL_FOREACH(uavo_list, obj) {
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(objEntry), 0)
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
}
// Done
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1111,9 +1260,9 @@ int32_t UAVObjDeleteMetaobjects()
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
int32_t UAVObjSetData(UAVObjHandle obj_handle, const void *dataIn)
{
return UAVObjSetInstanceData(obj, 0, dataIn);
return UAVObjSetInstanceData(obj_handle, 0, dataIn);
}
/**
@ -1122,9 +1271,9 @@ int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset, uint32_t size)
int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void* dataIn, uint32_t offset, uint32_t size)
{
return UAVObjSetInstanceDataField(obj, 0, dataIn, offset, size);
return UAVObjSetInstanceDataField(obj_handle, 0, dataIn, offset, size);
}
/**
@ -1133,9 +1282,9 @@ int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
int32_t UAVObjGetData(UAVObjHandle obj_handle, void *dataOut)
{
return UAVObjGetInstanceData(obj, 0, dataOut);
return UAVObjGetInstanceData(obj_handle, 0, dataOut);
}
/**
@ -1144,9 +1293,9 @@ int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uint32_t size)
int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void* dataOut, uint32_t offset, uint32_t size)
{
return UAVObjGetInstanceDataField(obj, 0, dataOut, offset, size);
return UAVObjGetInstanceDataField(obj_handle, 0, dataOut, offset, size);
}
/**
@ -1156,51 +1305,48 @@ int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uin
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
const void *dataIn)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check access level
if (!OLGetIsMetaobject((struct GenericObject *)obj)) {
struct ObjectList *objEntry;
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle), dataIn, MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast to object info
objEntry = (struct ObjectList *) obj;
obj = (struct UAVOData *) obj_handle;
if (UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex);
return -1;
// Check access level
if (UAVObjReadOnly(obj_handle)) {
goto unlock_exit;
}
// Get instance information
instEntry = getInstance(objEntry, instId);
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
// Set data
memcpy(InstanceData(instEntry), dataIn, objEntry->numBytes);
} else {
// Get instance information
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(MetaDataPtr((struct MetaObject *)obj), dataIn, MetaNumBytes);
memcpy(InstanceData(instEntry), dataIn, obj->instance_size);
}
// Fire event
sendEvent((struct GenericObject *)obj, instId, EV_UPDATED);
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UPDATED);
rc = 0;
// Unlock
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1210,72 +1356,63 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size)
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check access level
if ( !OLGetIsMetaobject( (struct GenericObject*) obj ) )
{
struct ObjectList* objEntry;
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > MetaNumBytes) {
goto unlock_exit;
}
// Set data
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle) + offset, dataIn, size);
} else {
struct UAVOData * obj;
InstanceHandle instEntry;
// Cast to object info
objEntry = (struct ObjectList*)obj;
obj = (struct UAVOData *)obj_handle;
if ( UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
return -1;
// Check access level
if (UAVObjReadOnly(obj_handle)) {
goto unlock_exit;
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// return if we set too much of what we have
if ( (size + offset) > objEntry->numBytes) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
// Check for overrun
if ((size + offset) > obj->instance_size) {
goto unlock_exit;
}
// Set data
memcpy(InstanceData(instEntry) + offset, dataIn, size);
} else {
// Get instance information
if ( instId != 0 )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// return if we set too much of what we have
if ( (size + offset) > MetaNumBytes) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(MetaDataPtr((struct MetaObject *)obj) + offset, dataIn, size);
}
// Fire event
sendEvent((struct GenericObject *)obj, instId, EV_UPDATED);
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UPDATED);
rc = 0;
// Unlock
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1285,44 +1422,44 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
void *dataOut)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if ( !OLGetIsMetaobject( (struct GenericObject*) obj) )
{
struct ObjectList *objEntry;
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast to object info
objEntry = (struct ObjectList *) obj;
obj = (struct UAVOData *) obj_handle;
// Get instance information
instEntry = getInstance(objEntry, instId);
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
goto unlock_exit;
}
// Set data
memcpy(dataOut, InstanceData(instEntry), objEntry->numBytes);
} else {
// Get instance information
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes);
memcpy(dataOut, InstanceData(instEntry), obj->instance_size);
}
// Unlock
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1332,63 +1469,55 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size)
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if ( !OLGetIsMetaobject( (struct GenericObject*) obj ) )
{
struct ObjectList* objEntry;
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > MetaNumBytes) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle) + offset, size);
} else {
struct UAVOData * obj;
InstanceHandle instEntry;
// Cast to object info
objEntry = (struct ObjectList*)obj;
obj = (struct UAVOData *)obj_handle;
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// return if we request too much of what we can give
if ( (size + offset) > objEntry->numBytes)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
// Check for overrun
if ((size + offset) > obj->instance_size) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, InstanceData(instEntry) + offset, size);
} else {
// Get instance information
if ( instId != 0)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// return if we request too much of what we can give
if ( (size + offset) > MetaNumBytes)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj) + offset, size);
}
// Unlock
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
@ -1397,22 +1526,19 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
* \param[in] dataIn The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata * dataIn)
{
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
PIOS_Assert(obj_handle);
// Set metadata (metadata of metaobjects can not be modified)
if (!OLGetIsMetaobject((struct GenericObject*)obj)) {
UAVObjSetData((UAVObjHandle) MetaObjectPtr( (struct ObjectList*)obj ),
dataIn);
} else {
if (UAVObjIsMetaobject(obj_handle)) {
return -1;
}
// Unlock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
UAVObjSetData((UAVObjHandle) MetaObjectPtr((struct UAVOData *)obj_handle), dataIn);
xSemaphoreGiveRecursive(mutex);
return 0;
}
@ -1423,18 +1549,18 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
* \param[out] dataOut The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata * dataOut)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
if (OLGetIsMetaobject((struct GenericObject*)obj)) {
if (UAVObjIsMetaobject(obj_handle)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (struct ObjectList*)obj ),
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (struct UAVOData *)obj_handle ),
dataOut);
}
@ -1443,24 +1569,9 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
return 0;
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
*/
void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
{
PIOS_Assert(metadata);
metadata->flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata->telemetryUpdatePeriod = 0;
metadata->gcsTelemetryUpdatePeriod = 0;
metadata->loggingUpdatePeriod = 0;
}
/*******************************
* Object Metadata Manipulation
******************************/
/**
* Get the UAVObject metadata access member
@ -1594,11 +1705,11 @@ void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode
* \arg 1 if read only
* \arg -1 if unable to get meta data
*/
int8_t UAVObjReadOnly(UAVObjHandle obj)
int8_t UAVObjReadOnly(UAVObjHandle obj_handle)
{
PIOS_Assert(obj);
if (!OLGetIsMetaobject( (struct GenericObject *)obj)) {
return UAVObjGetAccess( LinkedMetaDataPtr( (struct ObjectList*)obj ) ) == ACCESS_READONLY;
PIOS_Assert(obj_handle);
if (!UAVObjIsMetaobject(obj_handle)) {
return UAVObjGetAccess(LinkedMetaDataPtr( (struct UAVOData *)obj_handle)) == ACCESS_READONLY;
}
return -1;
}
@ -1611,14 +1722,14 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue,
uint8_t eventMask)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
res = connectObj(obj_handle, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
@ -1629,13 +1740,13 @@ int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
* \param[in] queue The event queue
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, queue, 0);
res = disconnectObj(obj_handle, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
}
@ -1648,13 +1759,13 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb,
uint8_t eventMask)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
res = connectObj(obj_handle, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
@ -1665,12 +1776,12 @@ int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, 0, cb);
res = disconnectObj(obj_handle, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
}
@ -1680,9 +1791,9 @@ int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
*/
void UAVObjRequestUpdate(UAVObjHandle obj)
void UAVObjRequestUpdate(UAVObjHandle obj_handle)
{
UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
UAVObjRequestInstanceUpdate(obj_handle, UAVOBJ_ALL_INSTANCES);
}
/**
@ -1691,11 +1802,11 @@ void UAVObjRequestUpdate(UAVObjHandle obj)
* \param[in] obj The object handle
* \param[in] instId Object instance ID to update
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((struct GenericObject *) obj, instId, EV_UPDATE_REQ);
sendEvent((struct UAVOBase *) obj_handle, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
@ -1703,9 +1814,9 @@ void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
*/
void UAVObjUpdated(UAVObjHandle obj)
void UAVObjUpdated(UAVObjHandle obj_handle)
{
UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
UAVObjInstanceUpdated(obj_handle, UAVOBJ_ALL_INSTANCES);
}
/**
@ -1713,11 +1824,11 @@ void UAVObjUpdated(UAVObjHandle obj)
* \param[in] obj The object handle
* \param[in] instId The object instance ID
*/
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
void UAVObjInstanceUpdated(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj);
PIOS_Assert(obj_handle);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((struct GenericObject *) obj, instId, EV_UPDATED_MANUAL);
sendEvent((struct UAVOBase *) obj_handle, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
@ -1729,15 +1840,15 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
{
PIOS_Assert(iterator);
struct ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
LL_FOREACH(objList, objEntry) {
(*iterator) ((UAVObjHandle) objEntry);
(*iterator) ((UAVObjHandle) MetaObjectPtr(objEntry));
struct UAVOData *obj;
LL_FOREACH(uavo_list, obj) {
(*iterator) ((UAVObjHandle) obj);
(*iterator) ((UAVObjHandle) &obj->metaObj);
}
// Release lock
@ -1745,35 +1856,36 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
}
/**
* Send an event to all event queues registered on the object.
* Send a triggered event to all event queues registered on the object.
*/
static int32_t sendEvent(struct GenericObject * obj, uint16_t instId,
UAVObjEventType event)
static int32_t sendEvent(struct UAVOBase * obj, uint16_t instId,
UAVObjEventType triggered_event)
{
struct ObjectEventList *eventEntry;
UAVObjEvent msg;
// Setup event
msg.obj = (UAVObjHandle) obj;
msg.event = event;
msg.instId = instId;
/* Set up the message that will be sent to all registered listeners */
UAVObjEvent msg = {
.obj = (UAVObjHandle) obj,
.event = triggered_event,
.instId = instId,
};
// Go through each object and push the event message in the queue (if event is activated for the queue)
LL_FOREACH(obj->events, eventEntry) {
if (eventEntry->eventMask == 0
|| (eventEntry->eventMask & event) != 0) {
struct ObjectEventEntry *event;
LL_FOREACH(obj->next_event, event) {
if (event->eventMask == 0
|| (event->eventMask & triggered_event) != 0) {
// Send to queue if a valid queue is registered
if (eventEntry->queue != 0) {
if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE) // will not block
{
if (event->queue) {
// will not block
if (xQueueSend(event->queue, &msg, 0) != pdTRUE) {
stats.lastQueueErrorID = UAVObjGetID(obj);
++stats.eventQueueErrors;
}
}
// Invoke callback (from event task) if a valid one is registered
if (eventEntry->cb != 0) {
if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE) // invoke callback from the event task, will not block
{
if (event->cb) {
// invoke callback from the event task, will not block
if (EventCallbackDispatch(&msg, event->cb) != pdTRUE) {
++stats.eventCallbackErrors;
stats.lastCallbackErrorID = UAVObjGetID(obj);
}
@ -1781,48 +1893,47 @@ static int32_t sendEvent(struct GenericObject * obj, uint16_t instId,
}
}
// Done
return 0;
}
/**
* Create a new object instance, return the instance info or NULL if failure.
*/
static InstanceHandle createInstance(struct ObjectList * obj, uint16_t instId)
static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId)
{
struct ObjectInstList *instEntry;
int32_t n;
struct UAVOMultiInst *instEntry;
// For single instance objects, only instance zero is allowed (and zero gets created in RegisterObject)
if (OLGetIsSingleInstance((struct GenericObject*)obj)) {
/* Don't allow more than one instance for single instance objects */
if (UAVObjIsSingleInstance(&(obj->base))) {
PIOS_Assert(0);
return NULL;
}
// Make sure that the instance ID is within limits
/* Don't create more than the allowed number of instances */
if (instId >= UAVOBJ_MAX_INSTANCES) {
return NULL;
}
// Check if the instance already exists
if ( instId< ObjNumInstances(obj) ) {
/* Don't allow duplicate instances */
if (instId < UAVObjGetNumInstances(&(obj->base))) {
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (n = ObjNumInstances(obj); n < instId; ++n) {
for (uint16_t n = UAVObjGetNumInstances(&(obj->base)); n < instId; ++n) {
if (createInstance(obj, n) == NULL) {
return NULL;
}
}
// Create the actual instance
instEntry =
(struct ObjectInstList *)
pvPortMalloc(sizeof(struct ObjectInstList)+obj->numBytes);
if (instEntry == NULL)
/* Create the actual instance */
instEntry = (struct UAVOMultiInst *) pvPortMalloc(sizeof(struct UAVOMultiInst)+obj->instance_size);
if (!instEntry)
return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->numBytes);
LL_APPEND(( (struct ObjectListMulti*)obj )->instances.next, instEntry);
memset(InstanceDataOffset(instEntry), 0, obj->instance_size);
LL_APPEND(( (struct UAVOMulti*)obj )->instance0.next, instEntry);
( (struct ObjectListMulti*)obj )->numInstances++;
( (struct UAVOMulti*)obj )->num_instances++;
// Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
@ -1834,27 +1945,46 @@ static InstanceHandle createInstance(struct ObjectList * obj, uint16_t instId)
/**
* Get the instance information or NULL if the instance does not exist
*/
static InstanceHandle getInstance(struct ObjectList * obj, uint16_t instId)
static InstanceHandle getInstance(struct UAVOData * obj, uint16_t instId)
{
struct ObjectInstList *instEntry;
// quick solutions
if (OLGetIsSingleInstance((struct GenericObject*)(obj))) {
if (instId!=0)
return NULL;
return ObjSingleInstanceDataOffset(obj);
}
if (instId>=ObjNumInstances(obj))
return NULL;
if (UAVObjIsMetaobject(&obj->base)) {
/* Metadata Instance */
// Look for specified instance ID
uint16_t instance=0;
LL_FOREACH(&(( (struct ObjectListMulti*)obj )->instances), instEntry) {
if (instance++ == instId) {
return InstanceDataOffset(instEntry);
if (instId != 0)
return NULL;
/* Augment our pointer to reflect the proper type */
struct UAVOMeta * uavo_meta = (struct UAVOMeta *) obj;
return (&(uavo_meta->instance0));
} else if (UAVObjIsSingleInstance(&(obj->base))) {
/* Single Instance */
if (instId != 0)
return NULL;
/* Augment our pointer to reflect the proper type */
struct UAVOSingle * uavo_single = (struct UAVOSingle *) obj;
return (&(uavo_single->instance0));
} else {
/* Multi Instance */
/* Augment our pointer to reflect the proper type */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) obj;
if (instId >= uavo_multi->num_instances)
return NULL;
// Look for specified instance ID
uint16_t instance = 0;
struct UAVOMultiInst *instEntry;
LL_FOREACH(&(uavo_multi->instance0), instEntry) {
if (instance++ == instId) {
/* Found it */
return &(instEntry->instance);
}
}
/* Instance was not found */
return NULL;
}
// If this point is reached then instance id was not found
return NULL;
}
/**
@ -1865,32 +1995,31 @@ static InstanceHandle getInstance(struct ObjectList * obj, uint16_t instId)
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask)
{
struct ObjectEventList *eventEntry;
struct GenericObject *objEntry;
struct ObjectEventEntry *event;
struct UAVOBase *obj;
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (struct GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if (eventEntry->queue == queue && eventEntry->cb == cb) {
obj = (struct UAVOBase *) obj_handle;
LL_FOREACH(obj->next_event, event) {
if (event->queue == queue && event->cb == cb) {
// Already connected, update event mask and return
eventEntry->eventMask = eventMask;
event->eventMask = eventMask;
return 0;
}
}
// Add queue to list
eventEntry =
(struct ObjectEventList *) pvPortMalloc(sizeof(struct ObjectEventList));
if (eventEntry == NULL) {
event = (struct ObjectEventEntry *) pvPortMalloc(sizeof(struct ObjectEventEntry));
if (event == NULL) {
return -1;
}
eventEntry->queue = queue;
eventEntry->cb = cb;
eventEntry->eventMask = eventMask;
LL_APPEND(objEntry->events, eventEntry);
event->queue = queue;
event->cb = cb;
event->eventMask = eventMask;
LL_APPEND(obj->next_event, event);
// Done
return 0;
@ -1903,19 +2032,19 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb)
{
struct ObjectEventList *eventEntry;
struct GenericObject *objEntry;
struct ObjectEventEntry *event;
struct UAVOBase *obj;
// Find queue and remove it
objEntry = (struct GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if ((eventEntry->queue == queue
&& eventEntry->cb == cb)) {
LL_DELETE(objEntry->events, eventEntry);
vPortFree(eventEntry);
obj = (struct UAVOBase *) obj_handle;
LL_FOREACH(obj->next_event, event) {
if ((event->queue == queue
&& event->cb == cb)) {
LL_DELETE(obj->next_event, event);
vPortFree(event);
return 0;
}
}
@ -1938,8 +2067,8 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
/**
* Get an 8 character (plus extension) filename for the object.
*/
static void objectFilename(UAVObjHandle obj, uint8_t * filename)
static void objectFilename(UAVObjHandle obj_handle, uint8_t * filename)
{
customSPrintf(filename, (uint8_t *) "%X.obj", UAVObjGetID(obj));
customSPrintf(filename, (uint8_t *) "%X.obj", UAVObjGetID(obj_handle));
}
#endif /* PIOS_INCLUDE_SDCARD */