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mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00

uavobjectmanager: fixup indentation

No functional changes.
This commit is contained in:
Stacey Sheldon 2012-05-25 22:27:12 -04:00
parent 42041ef68c
commit 2a2eb47a2a

View File

@ -1,20 +1,20 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@ -50,10 +50,10 @@
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventListStruct *next;
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventListStruct *next;
};
typedef struct ObjectEventListStruct ObjectEventList;
@ -61,14 +61,14 @@ typedef struct ObjectEventListStruct ObjectEventList;
* List of object instances, holds a pointer to the next instance and some UAVObjectData
*/
struct ObjectInstListStruct {
struct ObjectInstListStruct *next;
struct ObjectInstListStruct *next;
} __attribute__((packed));
typedef struct ObjectInstListStruct ObjectInstList;
/** fake structure for arbitrary sizes **/
struct ObjectInstanceStruct {
ObjectInstList header;
uint32_t data;
ObjectInstList header;
uint32_t data;
} __attribute__((packed));
typedef struct ObjectInstanceStruct ObjectInstance;
#define ObjectInstanceSize(numBytes) (offsetof(ObjectInstance,data)+(numBytes))
@ -87,56 +87,56 @@ typedef enum {
*/
struct GenericObjectStruct {
ObjectFlags flags;
/** The object list mode flags */
const char *name;
/** The object name */
ObjectEventList *events;
/** Event queues registered on the object */
ObjectFlags flags;
/** The object list mode flags */
const char *name;
/** The object name */
ObjectEventList *events;
/** Event queues registered on the object */
} __attribute__((packed));
typedef struct GenericObjectStruct GenericObject;
struct MetaObjectStruct {
GenericObject header;
UAVObjMetadata data;
/** the actual metadata */
GenericObject header;
UAVObjMetadata data;
/** the actual metadata */
} __attribute__((packed));
typedef struct MetaObjectStruct MetaObject;
struct ObjectListStruct {
GenericObject header;
uint32_t id;
/** The object ID */
uint16_t numBytes;
/** Number of data bytes contained in the object (for a single instance) */
MetaObject metaObj;
/** Meta object of the UAVObject */
struct ObjectListStruct *next;
/** Needed by linked list library (utlist.h) */
GenericObject header;
uint32_t id;
/** The object ID */
uint16_t numBytes;
/** Number of data bytes contained in the object (for a single instance) */
MetaObject metaObj;
/** Meta object of the UAVObject */
struct ObjectListStruct *next;
/** Needed by linked list library (utlist.h) */
} __attribute__((packed));
typedef struct ObjectListStruct ObjectList;
/** fake structure for arbitrary sizes **/
struct ObjectListInstanceStruct {
ObjectList header;
uint32_t data;
ObjectList header;
uint32_t data;
} __attribute__((packed));
typedef struct ObjectListInstanceStruct ObjectListInstance;
#define ObjectListInstanceSize(numBytes) (offsetof(ObjectListInstance,data)+(numBytes))
struct ObjectListMultiStruct {
ObjectList header;
uint16_t numInstances;
/** Number of instances */
ObjectInstList instances;
/** List of object instances, instance 0 always exists */
ObjectList header;
uint16_t numInstances;
/** Number of instances */
ObjectInstList instances;
/** List of object instances, instance 0 always exists */
} __attribute__((packed));
typedef struct ObjectListMultiStruct ObjectListMulti;
/** fake structure for arbitrary sizes **/
struct ObjectListMultiInstanceStruct {
ObjectListMulti header;
uint32_t data;
ObjectListMulti header;
uint32_t data;
} __attribute__((packed));
typedef struct ObjectListMultiInstanceStruct ObjectListMultiInstance;
#define ObjectListMultiInstanceSize(numBytes) (offsetof(ObjectListMultiInstance,data)+(numBytes))
@ -158,13 +158,13 @@ typedef struct ObjectListMultiInstanceStruct ObjectListMultiInstance;
// Private functions
static int32_t sendEvent(GenericObject * obj, uint16_t instId,
UAVObjEventType event);
UAVObjEventType event);
static InstanceHandle createInstance(ObjectList * obj, uint16_t instId);
static InstanceHandle getInstance(ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask);
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb);
UAVObjEventCallback cb);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(UAVObjHandle obj, uint8_t * filename);
@ -184,20 +184,20 @@ static UAVObjStats stats;
*/
int32_t UAVObjInitialize()
{
// Initialize variables
objList = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Initialize variables
objList = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Initialize default metadata structure (metadata of metaobjects)
UAVObjMetadataInitialize(&defMetadata);
// Initialize default metadata structure (metadata of metaobjects)
UAVObjMetadataInitialize(&defMetadata);
// Done
return 0;
// Done
return 0;
}
/**
@ -206,9 +206,9 @@ int32_t UAVObjInitialize()
*/
void UAVObjGetStats(UAVObjStats * statsOut)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
@ -216,9 +216,9 @@ void UAVObjGetStats(UAVObjStats * statsOut)
*/
void UAVObjClearStats()
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
@ -235,77 +235,77 @@ void UAVObjClearStats()
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
const char *metaName,
int32_t isSingleInstance, int32_t isSettings,
uint32_t numBytes,
UAVObjInitializeCallback initCb)
const char *metaName,
int32_t isSingleInstance, int32_t isSettings,
uint32_t numBytes,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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;
}
}
// Check that the object is not already registered
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Already registered, ignore
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Create and append entry
if (isSingleInstance) {
objEntry = (ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) );
} else {
objEntry = (ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) );
}
if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
( (GenericObject*)objEntry )->name = name;
( (GenericObject*)objEntry )->events = NULL;
OLSetIsMetaobject( (GenericObject*)objEntry, 0);
OLSetIsSingleInstance( (GenericObject*)objEntry, isSingleInstance);
OLSetIsSettings( (GenericObject*)objEntry, isSettings);
objEntry->id = id;
objEntry->numBytes = numBytes;
// Create instance
if (isSingleInstance) {
memset(ObjSingleInstanceDataOffset(objEntry), 0, numBytes);
} else {
( (ObjectListMulti*)objEntry )->numInstances = 1;
( (ObjectListMulti*)objEntry )->instances.next = NULL;
memset(InstanceDataOffset(&(( (ObjectListMulti*)objEntry )->instances)), 0, numBytes);
}
// Create metaobject
memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes);
( (GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE;
( (GenericObject*)MetaObjectPtr(objEntry) )->name = metaName;
( (GenericObject*)MetaObjectPtr(objEntry) )->events = NULL;
LL_APPEND(objList, objEntry);
// Create and append entry
if (isSingleInstance) {
objEntry = (ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) );
} else {
objEntry = (ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) );
}
if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
( (GenericObject*)objEntry )->name = name;
( (GenericObject*)objEntry )->events = NULL;
OLSetIsMetaobject( (GenericObject*)objEntry, 0);
OLSetIsSingleInstance( (GenericObject*)objEntry, isSingleInstance);
OLSetIsSettings( (GenericObject*)objEntry, isSettings);
objEntry->id = id;
objEntry->numBytes = numBytes;
// Create instance
if (isSingleInstance) {
memset(ObjSingleInstanceDataOffset(objEntry), 0, numBytes);
} else {
( (ObjectListMulti*)objEntry )->numInstances = 1;
( (ObjectListMulti*)objEntry )->instances.next = NULL;
memset(InstanceDataOffset(&(( (ObjectListMulti*)objEntry )->instances)), 0, numBytes);
}
// Create metaobject
memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes);
( (GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE;
( (GenericObject*)MetaObjectPtr(objEntry) )->name = metaName;
( (GenericObject*)MetaObjectPtr(objEntry) )->events = NULL;
LL_APPEND(objList, objEntry);
// fire events
UAVObjInstanceUpdated((UAVObjHandle) objEntry, 0);
// fire events
UAVObjInstanceUpdated((UAVObjHandle) objEntry, 0);
UAVObjInstanceUpdated((UAVObjHandle) MetaObjectPtr(objEntry), 0);
UAVObjInstanceUpdated((UAVObjHandle) MetaObjectPtr(objEntry), 0);
// 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((GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0);
}
// If this is a settings object, attempt to load from SD card
if (OLGetIsSettings((GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) objEntry;
// 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((GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0);
}
// If this is a settings object, attempt to load from SD card
if (OLGetIsSettings((GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) objEntry;
}
/**
@ -315,30 +315,30 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
*/
UAVObjHandle UAVObjGetByID(uint32_t id)
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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;
}
if (MetaObjectId(objEntry->id) == id) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) MetaObjectPtr(objEntry);
}
}
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
if (MetaObjectId(objEntry->id) == id) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) MetaObjectPtr(objEntry);
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
@ -348,32 +348,32 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
*/
UAVObjHandle UAVObjGetByName(char *name)
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if ( ( (GenericObject*)objEntry )->name != NULL
// Look for object
LL_FOREACH(objList, objEntry) {
if ( ( (GenericObject*)objEntry )->name != NULL
&& strcmp(( (GenericObject*)objEntry )->name, name) == 0) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
if ( ( (GenericObject*)MetaObjectPtr(objEntry) )->name != NULL
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
if ( ( (GenericObject*)MetaObjectPtr(objEntry) )->name != NULL
&& strcmp(( (GenericObject*)MetaObjectPtr(objEntry) )->name, name) == 0) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) MetaObjectPtr(objEntry);
}
}
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) MetaObjectPtr(objEntry);
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
@ -383,12 +383,12 @@ UAVObjHandle UAVObjGetByName(char *name)
*/
uint32_t UAVObjGetID(UAVObjHandle obj)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return MetaObjectId( MetaBaseObjectPtr(obj)->id );
} else {
return ((ObjectList *) obj)->id;
}
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return MetaObjectId( MetaBaseObjectPtr(obj)->id );
} else {
return ((ObjectList *) obj)->id;
}
}
/**
@ -398,8 +398,8 @@ uint32_t UAVObjGetID(UAVObjHandle obj)
*/
const char *UAVObjGetName(UAVObjHandle obj)
{
PIOS_Assert(obj);
return ((GenericObject *) obj)->name;
PIOS_Assert(obj);
return ((GenericObject *) obj)->name;
}
/**
@ -409,12 +409,12 @@ const char *UAVObjGetName(UAVObjHandle obj)
*/
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return MetaNumBytes;
} else {
return ((ObjectList *) obj)->numBytes;
}
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return MetaNumBytes;
} else {
return ((ObjectList *) obj)->numBytes;
}
}
/**
@ -426,12 +426,12 @@ uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return (UAVObjHandle) MetaBaseObjectPtr(obj);
} else {
return (UAVObjHandle) MetaObjectPtr( (ObjectList*) obj);
}
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return (UAVObjHandle) MetaBaseObjectPtr(obj);
} else {
return (UAVObjHandle) MetaObjectPtr( (ObjectList*) obj);
}
}
/**
@ -441,15 +441,15 @@ UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
*/
uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return MetaNumInstances;
}
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ObjNumInstances(obj);
xSemaphoreGiveRecursive(mutex);
return numInstances;
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return MetaNumInstances;
}
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ObjNumInstances(obj);
xSemaphoreGiveRecursive(mutex);
return numInstances;
}
/**
@ -458,33 +458,33 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
* \return The instance ID or 0 if an error
*/
uint16_t UAVObjCreateInstance(UAVObjHandle obj,
UAVObjInitializeCallback initCb)
UAVObjInitializeCallback initCb)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return -1;
}
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return -1;
}
InstanceHandle instEntry;
uint16_t instId;
InstanceHandle instEntry;
uint16_t instId;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Create new instance
instId = ObjNumInstances(obj);
instEntry = createInstance( (ObjectList*)obj, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Initialize instance data
if (initCb != NULL) {
initCb(obj, instId);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return instId;
// Create new instance
instId = ObjNumInstances(obj);
instEntry = createInstance( (ObjectList*)obj, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Initialize instance data
if (initCb != NULL) {
initCb(obj, instId);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return instId;
}
/**
@ -494,8 +494,8 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
PIOS_Assert(obj);
return OLGetIsSingleInstance((GenericObject *) obj);
PIOS_Assert(obj);
return OLGetIsSingleInstance((GenericObject *) obj);
}
/**
@ -505,8 +505,8 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
PIOS_Assert(obj);
return OLGetIsMetaobject((GenericObject *) obj);
PIOS_Assert(obj);
return OLGetIsMetaobject((GenericObject *) obj);
}
/**
@ -516,8 +516,8 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
PIOS_Assert(obj);
return OLGetIsSettings((GenericObject *) obj);
PIOS_Assert(obj);
return OLGetIsSettings((GenericObject *) obj);
}
/**
@ -528,48 +528,48 @@ int32_t UAVObjIsSettings(UAVObjHandle obj)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
const uint8_t * dataIn)
const uint8_t * dataIn)
{
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes);
} else {
ObjectList *objEntry;
InstanceHandle instEntry;
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes);
} else {
ObjectList *objEntry;
InstanceHandle instEntry;
// Cast handle to object
objEntry = (ObjectList *) obj;
// Cast handle to object
objEntry = (ObjectList *) obj;
// Get the instance
instEntry = getInstance(objEntry, instId);
// Get the instance
instEntry = getInstance(objEntry, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Set the data
memcpy(InstanceData(instEntry), dataIn, objEntry->numBytes);
}
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Set the data
memcpy(InstanceData(instEntry), dataIn, objEntry->numBytes);
}
// Fire event
sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
// Fire event
sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -581,38 +581,38 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
*/
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
{
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes);
} else {
ObjectList *objEntry;
InstanceHandle instEntry;
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes);
} else {
ObjectList *objEntry;
InstanceHandle instEntry;
// Cast handle to object
objEntry = (ObjectList *) obj;
// Cast handle to object
objEntry = (ObjectList *) obj;
// Get the instance
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Pack data
memcpy(dataOut, InstanceData(instEntry), objEntry->numBytes);
}
// Get the instance
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Pack data
memcpy(dataOut, InstanceData(instEntry), objEntry->numBytes);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -625,70 +625,70 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
FILEINFO * file)
FILEINFO * file)
{
PIOS_Assert(obj);
PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
uint32_t bytesWritten;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (GenericObject *) obj )) {
// Get the instance information
if (instId != 0) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
uint32_t objId = UAVObjGetID(obj);
PIOS_FWRITE(file, &objId, sizeof(objId),
&bytesWritten);
if (OLGetIsMetaobject( (GenericObject *) obj )) {
// Get the instance information
if (instId != 0) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
uint32_t objId = UAVObjGetID(obj);
PIOS_FWRITE(file, &objId, sizeof(objId),
&bytesWritten);
// Write the data and check that the write was successful
PIOS_FWRITE(file, MetaDataPtr((MetaObject *)obj), MetaNumBytes,
&bytesWritten);
if (bytesWritten != MetaNumBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
} else {
ObjectList *objEntry;
InstanceHandle instEntry;
// Write the data and check that the write was successful
PIOS_FWRITE(file, MetaDataPtr((MetaObject *)obj), MetaNumBytes,
&bytesWritten);
if (bytesWritten != MetaNumBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
} else {
ObjectList *objEntry;
InstanceHandle instEntry;
// Cast to object
objEntry = (ObjectList *) obj;
// Cast to object
objEntry = (ObjectList *) obj;
// Get the instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
&bytesWritten);
// Get the instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
&bytesWritten);
// Write the instance ID
if (!OLGetIsSingleInstance((GenericObject*)obj)) {
PIOS_FWRITE(file, &instId,
sizeof(instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, InstanceData(instEntry), objEntry->numBytes,
&bytesWritten);
if (bytesWritten != objEntry->numBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
xSemaphoreGiveRecursive(mutex);
// Write the instance ID
if (!OLGetIsSingleInstance((GenericObject*)obj)) {
PIOS_FWRITE(file, &instId,
sizeof(instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, InstanceData(instEntry), objEntry->numBytes,
&bytesWritten);
if (bytesWritten != objEntry->numBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
return 0;
}
/**
@ -703,57 +703,57 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
*/
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0)
return -1;
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) != 0)
return -1;
} else {
InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId);
if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) != 0)
return -1;
} else {
InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId);
if (instEntry == NULL)
return -1;
if (instEntry == NULL)
return -1;
if (InstanceData(instEntry) == NULL)
return -1;
if (InstanceData(instEntry) == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, InstanceData(instEntry)) != 0)
return -1;
}
if (PIOS_FLASHFS_ObjSave(obj, instId, InstanceData(instEntry)) != 0)
return -1;
}
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
uint8_t filename[14];
FILEINFO file;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj, filename);
// Get filename
objectFilename(obj, filename);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if (UAVObjSaveToFile(obj, instId, &file) == -1) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if (UAVObjSaveToFile(obj, instId, &file) == -1) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
return 0;
}
/**
@ -764,87 +764,87 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
GenericObject *objEntry;
InstanceHandle instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj;
uint32_t bytesRead;
GenericObject *objEntry;
InstanceHandle instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return NULL;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return NULL;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Read the object ID
if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj = UAVObjGetByID(objId);
if (obj == 0) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (GenericObject *) obj;
// Read the object ID
if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj = UAVObjGetByID(objId);
if (obj == 0) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (GenericObject *) obj;
// Get the instance ID
instId = 0;
if (!OLGetIsSingleInstance(objEntry)) {
if (PIOS_FREAD
// Get the instance ID
instId = 0;
if (!OLGetIsSingleInstance(objEntry)) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
if (OLGetIsMetaobject( objEntry )) {
// If the instance does not exist create it and any other instances before it
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Read the instance data
if (PIOS_FREAD
(file, MetaDataPtr((MetaObject *)obj), MetaNumBytes, &bytesRead)) {
if (OLGetIsMetaobject( objEntry )) {
// If the instance does not exist create it and any other instances before it
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Read the instance data
if (PIOS_FREAD
(file, MetaDataPtr((MetaObject *)obj), MetaNumBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
} else {
// Get the instance information
instEntry = getInstance((ObjectList *)objEntry, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance((ObjectList *)objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
} else {
}
}
// Read the instance data
if (PIOS_FREAD
(file, InstanceData(instEntry), ((ObjectList *)objEntry)->numBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the instance information
instEntry = getInstance((ObjectList *)objEntry, instId);
}
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance((ObjectList *)objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Read the instance data
if (PIOS_FREAD
(file, InstanceData(instEntry), ((ObjectList *)objEntry)->numBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj;
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
return NULL;
#endif
}
@ -860,7 +860,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
if (OLGetIsMetaobject( (GenericObject*) obj )) {
if (OLGetIsMetaobject( (GenericObject*) obj )) {
if (instId != 0)
return -1;
@ -886,43 +886,43 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
UAVObjHandle loadedObj;
uint8_t filename[14];
FILEINFO file;
UAVObjHandle loadedObj;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj, filename);
// Get filename
objectFilename(obj, filename);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
if (UAVObjGetID(loadedObj) != UAVObjGetID(obj)) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
if (UAVObjGetID(loadedObj) != UAVObjGetID(obj)) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
return 0;
}
/**
@ -933,30 +933,30 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
*/
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
PIOS_FLASHFS_ObjDelete(obj, instId);
PIOS_FLASHFS_ObjDelete(obj, instId);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
uint8_t filename[14];
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj, filename);
// Get filename
objectFilename(obj, filename);
// Delete file
PIOS_FUNLINK(filename);
// Delete file
PIOS_FUNLINK(filename);
// Done
xSemaphoreGiveRecursive(mutex);
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
return 0;
}
/**
@ -965,27 +965,27 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
*/
int32_t UAVObjSaveSettings()
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings((GenericObject*)objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings((GenericObject*)objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -994,27 +994,27 @@ int32_t UAVObjSaveSettings()
*/
int32_t UAVObjLoadSettings()
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings((GenericObject *)objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings((GenericObject *)objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1023,27 +1023,27 @@ int32_t UAVObjLoadSettings()
*/
int32_t UAVObjDeleteSettings()
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings((GenericObject *)objEntry)) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings((GenericObject *)objEntry)) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1052,24 +1052,24 @@ int32_t UAVObjDeleteSettings()
*/
int32_t UAVObjSaveMetaobjects()
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(objEntry), 0) ==
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(objEntry), 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1078,24 +1078,24 @@ int32_t UAVObjSaveMetaobjects()
*/
int32_t UAVObjLoadMetaobjects()
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0) ==
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1104,24 +1104,24 @@ int32_t UAVObjLoadMetaobjects()
*/
int32_t UAVObjDeleteMetaobjects()
{
ObjectList *objEntry;
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(objEntry), 0)
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(objEntry), 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1132,7 +1132,7 @@ int32_t UAVObjDeleteMetaobjects()
*/
int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
{
return UAVObjSetInstanceData(obj, 0, dataIn);
return UAVObjSetInstanceData(obj, 0, dataIn);
}
/**
@ -1154,7 +1154,7 @@ int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset
*/
int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
{
return UAVObjGetInstanceData(obj, 0, dataOut);
return UAVObjGetInstanceData(obj, 0, dataOut);
}
/**
@ -1176,50 +1176,50 @@ int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uin
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
const void *dataIn)
const void *dataIn)
{
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check access level
if (!OLGetIsMetaobject((GenericObject *)obj)) {
ObjectList *objEntry;
InstanceHandle instEntry;
// Check access level
if (!OLGetIsMetaobject((GenericObject *)obj)) {
ObjectList *objEntry;
InstanceHandle instEntry;
// Cast to object info
objEntry = (ObjectList *) obj;
// Cast to object info
objEntry = (ObjectList *) obj;
if (UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// 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((MetaObject *)obj), dataIn, MetaNumBytes);
}
if (UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// 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((MetaObject *)obj), dataIn, MetaNumBytes);
}
// Fire event
sendEvent((GenericObject *)obj, instId, EV_UPDATED);
// Fire event
sendEvent((GenericObject *)obj, instId, EV_UPDATED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1305,43 +1305,43 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
void *dataOut)
void *dataOut)
{
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if ( !OLGetIsMetaobject( (GenericObject*) obj) )
{
ObjectList *objEntry;
InstanceHandle instEntry;
if ( !OLGetIsMetaobject( (GenericObject*) obj) )
{
ObjectList *objEntry;
InstanceHandle instEntry;
// Cast to object info
objEntry = (ObjectList *) obj;
// Cast to object info
objEntry = (ObjectList *) obj;
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// 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((MetaObject *)obj), MetaNumBytes);
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// 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((MetaObject *)obj), MetaNumBytes);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1418,22 +1418,22 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
{
PIOS_Assert(obj);
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata (metadata of metaobjects can not be modified)
if (!OLGetIsMetaobject((GenericObject*)obj)) {
UAVObjSetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
dataIn);
} else {
return -1;
}
// Set metadata (metadata of metaobjects can not be modified)
if (!OLGetIsMetaobject((GenericObject*)obj)) {
UAVObjSetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
dataIn);
} else {
return -1;
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1444,22 +1444,22 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
{
PIOS_Assert(obj);
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
if (OLGetIsMetaobject((GenericObject*)obj)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
dataOut);
}
// Get metadata
if (OLGetIsMetaobject((GenericObject*)obj)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
dataOut);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1615,11 +1615,11 @@ void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode
*/
int8_t UAVObjReadOnly(UAVObjHandle obj)
{
PIOS_Assert(obj);
if (!OLGetIsMetaobject( (GenericObject *)obj)) {
return UAVObjGetAccess( LinkedMetaDataPtr( (ObjectList*)obj ) ) == ACCESS_READONLY;
}
return -1;
PIOS_Assert(obj);
if (!OLGetIsMetaobject( (GenericObject *)obj)) {
return UAVObjGetAccess( LinkedMetaDataPtr( (ObjectList*)obj ) ) == ACCESS_READONLY;
}
return -1;
}
/**
@ -1631,15 +1631,15 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
uint8_t eventMask)
uint8_t eventMask)
{
PIOS_Assert(obj);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
PIOS_Assert(obj);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
@ -1650,13 +1650,13 @@ int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
*/
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
{
PIOS_Assert(obj);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
PIOS_Assert(obj);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
@ -1668,14 +1668,14 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
uint8_t eventMask)
uint8_t eventMask)
{
PIOS_Assert(obj);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
PIOS_Assert(obj);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
@ -1686,12 +1686,12 @@ int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
*/
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
{
PIOS_Assert(obj);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
PIOS_Assert(obj);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
@ -1701,7 +1701,7 @@ int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
*/
void UAVObjRequestUpdate(UAVObjHandle obj)
{
UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
}
/**
@ -1712,10 +1712,10 @@ void UAVObjRequestUpdate(UAVObjHandle obj)
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((GenericObject *) obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
PIOS_Assert(obj);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((GenericObject *) obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
/**
@ -1724,7 +1724,7 @@ void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
*/
void UAVObjUpdated(UAVObjHandle obj)
{
UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
}
/**
@ -1734,10 +1734,10 @@ void UAVObjUpdated(UAVObjHandle obj)
*/
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((GenericObject *) obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
PIOS_Assert(obj);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((GenericObject *) obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
/**
@ -1747,61 +1747,61 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
*/
void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
{
PIOS_Assert(iterator);
ObjectList *objEntry;
PIOS_Assert(iterator);
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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));
}
// Iterate through the list and invoke iterator for each object
LL_FOREACH(objList, objEntry) {
(*iterator) ((UAVObjHandle) objEntry);
(*iterator) ((UAVObjHandle) MetaObjectPtr(objEntry));
}
// Release lock
xSemaphoreGiveRecursive(mutex);
// Release lock
xSemaphoreGiveRecursive(mutex);
}
/**
* Send an event to all event queues registered on the object.
*/
static int32_t sendEvent(GenericObject * obj, uint16_t instId,
UAVObjEventType event)
UAVObjEventType event)
{
ObjectEventList *eventEntry;
UAVObjEvent msg;
ObjectEventList *eventEntry;
UAVObjEvent msg;
// Setup event
msg.obj = (UAVObjHandle) obj;
msg.event = event;
msg.instId = instId;
// Setup event
msg.obj = (UAVObjHandle) obj;
msg.event = event;
msg.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
// 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) {
// Send to queue if a valid queue is registered
if (eventEntry->queue != 0) {
if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE) // will not block
{
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
{
++stats.eventCallbackErrors;
stats.lastCallbackErrorID = UAVObjGetID(obj);
}
}
}
}
// Send to queue if a valid queue is registered
if (eventEntry->queue != 0) {
if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE) // will not block
{
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
{
++stats.eventCallbackErrors;
stats.lastCallbackErrorID = UAVObjGetID(obj);
}
}
}
}
// Done
return 0;
// Done
return 0;
}
/**
@ -1809,45 +1809,45 @@ static int32_t sendEvent(GenericObject * obj, uint16_t instId,
*/
static InstanceHandle createInstance(ObjectList * obj, uint16_t instId)
{
ObjectInstList *instEntry;
int32_t n;
ObjectInstList *instEntry;
int32_t n;
// For single instance objects, only instance zero is allowed (and zero gets created in RegisterObject)
if (OLGetIsSingleInstance((GenericObject*)obj)) {
PIOS_Assert(0);
return NULL;
}
// Make sure that the instance ID is within limits
if (instId >= UAVOBJ_MAX_INSTANCES) {
return NULL;
}
// Check if the instance already exists
if ( instId< ObjNumInstances(obj) ) {
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (n = ObjNumInstances(obj); n < instId; ++n) {
if (createInstance(obj, n) == NULL) {
return NULL;
}
}
// For single instance objects, only instance zero is allowed (and zero gets created in RegisterObject)
if (OLGetIsSingleInstance((GenericObject*)obj)) {
PIOS_Assert(0);
return NULL;
}
// Make sure that the instance ID is within limits
if (instId >= UAVOBJ_MAX_INSTANCES) {
return NULL;
}
// Check if the instance already exists
if ( instId< ObjNumInstances(obj) ) {
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (n = ObjNumInstances(obj); n < instId; ++n) {
if (createInstance(obj, n) == NULL) {
return NULL;
}
}
// Create the actual instance
instEntry =
(ObjectInstList *)
pvPortMalloc(sizeof(ObjectInstList)+obj->numBytes);
if (instEntry == NULL)
return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->numBytes);
LL_APPEND(( (ObjectListMulti*)obj )->instances.next, instEntry);
// Create the actual instance
instEntry =
(ObjectInstList *)
pvPortMalloc(sizeof(ObjectInstList)+obj->numBytes);
if (instEntry == NULL)
return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->numBytes);
LL_APPEND(( (ObjectListMulti*)obj )->instances.next, instEntry);
( (ObjectListMulti*)obj )->numInstances++;
( (ObjectListMulti*)obj )->numInstances++;
// Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
// Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
// Done
return InstanceDataOffset(instEntry);
// Done
return InstanceDataOffset(instEntry);
}
/**
@ -1855,25 +1855,25 @@ static InstanceHandle createInstance(ObjectList * obj, uint16_t instId)
*/
static InstanceHandle getInstance(ObjectList * obj, uint16_t instId)
{
ObjectInstList *instEntry;
// quick solutions
if (OLGetIsSingleInstance((GenericObject*)(obj))) {
if (instId!=0)
return NULL;
return ObjSingleInstanceDataOffset(obj);
}
if (instId>=ObjNumInstances(obj))
return NULL;
ObjectInstList *instEntry;
// quick solutions
if (OLGetIsSingleInstance((GenericObject*)(obj))) {
if (instId!=0)
return NULL;
return ObjSingleInstanceDataOffset(obj);
}
if (instId>=ObjNumInstances(obj))
return NULL;
// Look for specified instance ID
uint16_t instance=0;
LL_FOREACH(&(( (ObjectListMulti*)obj )->instances), instEntry) {
if (instance++ == instId) {
return InstanceDataOffset(instEntry);
}
}
// If this point is reached then instance id was not found
return NULL;
// Look for specified instance ID
uint16_t instance=0;
LL_FOREACH(&(( (ObjectListMulti*)obj )->instances), instEntry) {
if (instance++ == instId) {
return InstanceDataOffset(instEntry);
}
}
// If this point is reached then instance id was not found
return NULL;
}
/**
@ -1885,34 +1885,34 @@ static InstanceHandle getInstance(ObjectList * obj, uint16_t instId)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask)
UAVObjEventCallback cb, uint8_t eventMask)
{
ObjectEventList *eventEntry;
GenericObject *objEntry;
ObjectEventList *eventEntry;
GenericObject *objEntry;
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if (eventEntry->queue == queue && eventEntry->cb == cb) {
// Already connected, update event mask and return
eventEntry->eventMask = eventMask;
return 0;
}
}
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if (eventEntry->queue == queue && eventEntry->cb == cb) {
// Already connected, update event mask and return
eventEntry->eventMask = eventMask;
return 0;
}
}
// Add queue to list
eventEntry =
(ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
if (eventEntry == NULL) {
return -1;
}
eventEntry->queue = queue;
eventEntry->cb = cb;
eventEntry->eventMask = eventMask;
LL_APPEND(objEntry->events, eventEntry);
// Add queue to list
eventEntry =
(ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
if (eventEntry == NULL) {
return -1;
}
eventEntry->queue = queue;
eventEntry->cb = cb;
eventEntry->eventMask = eventMask;
LL_APPEND(objEntry->events, eventEntry);
// Done
return 0;
// Done
return 0;
}
/**
@ -1923,24 +1923,24 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
* \return 0 if success or -1 if failure
*/
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb)
UAVObjEventCallback cb)
{
ObjectEventList *eventEntry;
GenericObject *objEntry;
ObjectEventList *eventEntry;
GenericObject *objEntry;
// Find queue and remove it
objEntry = (GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if ((eventEntry->queue == queue
&& eventEntry->cb == cb)) {
LL_DELETE(objEntry->events, eventEntry);
vPortFree(eventEntry);
return 0;
}
}
// Find queue and remove it
objEntry = (GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if ((eventEntry->queue == queue
&& eventEntry->cb == cb)) {
LL_DELETE(objEntry->events, eventEntry);
vPortFree(eventEntry);
return 0;
}
}
// If this point is reached the queue was not found
return -1;
// If this point is reached the queue was not found
return -1;
}
#if defined(PIOS_INCLUDE_SDCARD)
@ -1949,9 +1949,9 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
*/
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
{
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
}
/**
@ -1959,6 +1959,6 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
*/
static void objectFilename(UAVObjHandle obj, uint8_t * filename)
{
customSPrintf(filename, (uint8_t *) "%X.obj", UAVObjGetID(obj));
customSPrintf(filename, (uint8_t *) "%X.obj", UAVObjGetID(obj));
}
#endif /* PIOS_INCLUDE_SDCARD */