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Code Issues Releases Activity

Added UAVTalkSendBuf function and added locking in UAVTalkSendAck and UAVTalkSendNack.

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This commit is contained in:
Brian Webb 2012-08-24 19:42:10 -07:00
parent b1c88628f6
commit 34b433e074
2 changed files with 51 additions and 2 deletions
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1
flight/UAVTalk/inc/uavtalk.h
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@ -56,6 +56,7 @@ int32_t UAVTalkSendObjectTimestamped(UAVTalkConnection connectionHandle, UAVObjH
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId);
int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId);
int32_t UAVTalkSendBuf(UAVTalkConnection connectionHandle, uint8_t *buf, uint16_t len);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);

52
flight/UAVTalk/uavtalk.c
View File

@ -570,7 +570,15 @@ int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uin
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
return sendObject(connection, obj, instId, UAVTALK_TYPE_ACK);
// Lock
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
int32_t ret = sendObject(connection, obj, instId, UAVTALK_TYPE_ACK);
// Release lock
xSemaphoreGiveRecursive(connection->lock);
return ret;
}
/**
@ -585,7 +593,47 @@ int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId)
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
return sendNack(connection, objId);
// Lock
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
int32_t ret = sendNack(connection, objId);
// Release lock
xSemaphoreGiveRecursive(connection->lock);
return ret;
}
/**
* Send a buffer containing a UAVTalk message through the telemetry link.
* This function locks the connection prior to sending.
* \param[in] connection UAVTalkConnection to be used
* \param[in] buf The data buffer containing the UAVTalk message
* \param[in] len The number of bytes to send from the data buffer
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVTalkSendBuf(UAVTalkConnection connectionHandle, uint8_t *buf, uint16_t len)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection, return -1);
// Lock
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
// Output the buffer
int32_t rc = (*connection->outStream)(buf, len);
// Update stats
connection->stats.txBytes += len;
// Release lock
xSemaphoreGiveRecursive(connection->lock);
// Done
if (rc != len)
return -1;
return 0;
}
/**