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UavObjectmanager: Squeeze UAVObject instances closer together and eliminate unneeded id's and pointers - frees again >512 byte on next
This commit is contained in:
Corvus Corax
Stacey Sheldon
parent
da539b2b27
commit
42041ef68c
@ -58,15 +58,24 @@ struct ObjectEventListStruct {
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typedef struct ObjectEventListStruct ObjectEventList;
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/**
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* List of object instances, holds the actual data structure and instance ID
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* List of object instances, holds a pointer to the next instance and some UAVObjectData
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*/
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struct ObjectInstListStruct {
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void *data;
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uint16_t instId;
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struct ObjectInstListStruct *next;
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};
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} __attribute__((packed));
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typedef struct ObjectInstListStruct ObjectInstList;
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/** fake structure for arbitrary sizes **/
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struct ObjectInstanceStruct {
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ObjectInstList header;
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uint32_t data;
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} __attribute__((packed));
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typedef struct ObjectInstanceStruct ObjectInstance;
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#define ObjectInstanceSize(numBytes) (offsetof(ObjectInstance,data)+(numBytes))
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/** anonymous type for instances **/
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typedef void* InstanceHandle;
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typedef enum {
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OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
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OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
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@ -100,10 +109,6 @@ struct ObjectListStruct {
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/** The object ID */
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uint16_t numBytes;
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/** Number of data bytes contained in the object (for a single instance) */
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uint16_t numInstances;
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/** Number of instances */
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ObjectInstList instances;
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/** List of object instances, instance 0 always exists */
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MetaObject metaObj;
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/** Meta object of the UAVObject */
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struct ObjectListStruct *next;
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@ -111,6 +116,31 @@ struct ObjectListStruct {
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} __attribute__((packed));
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typedef struct ObjectListStruct ObjectList;
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/** fake structure for arbitrary sizes **/
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struct ObjectListInstanceStruct {
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ObjectList header;
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uint32_t data;
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} __attribute__((packed));
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typedef struct ObjectListInstanceStruct ObjectListInstance;
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#define ObjectListInstanceSize(numBytes) (offsetof(ObjectListInstance,data)+(numBytes))
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struct ObjectListMultiStruct {
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ObjectList header;
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uint16_t numInstances;
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/** Number of instances */
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ObjectInstList instances;
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/** List of object instances, instance 0 always exists */
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} __attribute__((packed));
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typedef struct ObjectListMultiStruct ObjectListMulti;
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/** fake structure for arbitrary sizes **/
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struct ObjectListMultiInstanceStruct {
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ObjectListMulti header;
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uint32_t data;
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} __attribute__((packed));
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typedef struct ObjectListMultiInstanceStruct ObjectListMultiInstance;
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#define ObjectListMultiInstanceSize(numBytes) (offsetof(ObjectListMultiInstance,data)+(numBytes))
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/** all information about a metaobject are hardcoded constants **/
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#define MetaNumBytes sizeof(UAVObjMetadata)
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#define MetaBaseObjectPtr(obj) ((ObjectList *)((obj)-offsetof(ObjectList, metaObj)))
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@ -120,11 +150,17 @@ typedef struct ObjectListStruct ObjectList;
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#define MetaObjectId(id) (id+1)
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#define MetaNumInstances 1
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/** all information about instances are dependant on object type **/
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#define ObjNumInstances(obj) (OLGetIsSingleInstance((GenericObject*)(obj))?1:((ObjectListMulti *)(obj))->numInstances)
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#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (ObjectListInstance*)obj )->data)))
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#define InstanceDataOffset(inst) ((void*)&(( (ObjectInstance*)inst )->data))
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#define InstanceData(instance) (void*)instance
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// Private functions
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static int32_t sendEvent(GenericObject * obj, uint16_t instId,
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UAVObjEventType event);
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static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
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static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
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static InstanceHandle createInstance(ObjectList * obj, uint16_t instId);
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static InstanceHandle getInstance(ObjectList * obj, uint16_t instId);
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static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
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UAVObjEventCallback cb, uint8_t eventMask);
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static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
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@ -205,7 +241,6 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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UAVObjInitializeCallback initCb)
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{
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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// Get lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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@ -220,22 +255,30 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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}
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// Create and append entry
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objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
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if (isSingleInstance) {
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objEntry = (ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) );
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} else {
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objEntry = (ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) );
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}
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if (objEntry == NULL) {
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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((GenericObject*) objEntry)->name = name;
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((GenericObject*) objEntry)->events = NULL;
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( (GenericObject*)objEntry )->name = name;
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( (GenericObject*)objEntry )->events = NULL;
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OLSetIsMetaobject( (GenericObject*)objEntry, 0);
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OLSetIsSingleInstance( (GenericObject*)objEntry, isSingleInstance);
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OLSetIsSettings( (GenericObject*)objEntry, isSettings);
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objEntry->id = id;
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objEntry->numBytes = numBytes;
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objEntry->numInstances = 0;
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objEntry->instances.data = NULL;
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objEntry->instances.instId = 0xFFFF;
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objEntry->instances.next = NULL;
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// Create instance
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if (isSingleInstance) {
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memset(ObjSingleInstanceDataOffset(objEntry), 0, numBytes);
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} else {
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( (ObjectListMulti*)objEntry )->numInstances = 1;
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( (ObjectListMulti*)objEntry )->instances.next = NULL;
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memset(InstanceDataOffset(&(( (ObjectListMulti*)objEntry )->instances)), 0, numBytes);
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}
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// Create metaobject
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memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes);
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( (GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE;
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@ -243,14 +286,9 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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( (GenericObject*)MetaObjectPtr(objEntry) )->events = NULL;
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LL_APPEND(objList, objEntry);
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// Create instance zero
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instEntry = createInstance(objEntry, 0);
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if (instEntry == NULL) {
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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// fire events
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UAVObjInstanceUpdated((UAVObjHandle) objEntry, 0);
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// create metadata "instance"
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UAVObjInstanceUpdated((UAVObjHandle) MetaObjectPtr(objEntry), 0);
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// Initialize object fields and metadata to default values
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@ -409,7 +447,7 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
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}
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uint32_t numInstances;
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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numInstances = ((ObjectList *) obj)->numInstances;
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numInstances = ObjNumInstances(obj);
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xSemaphoreGiveRecursive(mutex);
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return numInstances;
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}
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@ -427,26 +465,26 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
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return -1;
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}
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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InstanceHandle instEntry;
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uint16_t instId;
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Create new instance
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objEntry = (ObjectList *) obj;
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instEntry = createInstance(objEntry, objEntry->numInstances);
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instId = ObjNumInstances(obj);
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instEntry = createInstance( (ObjectList*)obj, instId);
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if (instEntry == NULL) {
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xSemaphoreGiveRecursive(mutex);
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return -1;
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}
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// Initialize instance data
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if (initCb != NULL) {
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initCb(obj, instEntry->instId);
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initCb(obj, instId);
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}
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// Unlock
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xSemaphoreGiveRecursive(mutex);
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return instEntry->instId;
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return instId;
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}
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/**
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@ -505,7 +543,7 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
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memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes);
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} else {
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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InstanceHandle instEntry;
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// Cast handle to object
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objEntry = (ObjectList *) obj;
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@ -523,7 +561,7 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
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}
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}
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// Set the data
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memcpy(instEntry->data, dataIn, objEntry->numBytes);
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memcpy(InstanceData(instEntry), dataIn, objEntry->numBytes);
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}
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// Fire event
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@ -556,7 +594,7 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
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memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes);
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} else {
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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InstanceHandle instEntry;
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// Cast handle to object
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objEntry = (ObjectList *) obj;
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@ -569,7 +607,7 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
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return -1;
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}
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// Pack data
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memcpy(dataOut, instEntry->data, objEntry->numBytes);
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memcpy(dataOut, InstanceData(instEntry), objEntry->numBytes);
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}
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// Unlock
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@ -619,7 +657,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
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}
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} else {
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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InstanceHandle instEntry;
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// Cast to object
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objEntry = (ObjectList *) obj;
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@ -636,11 +674,11 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
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// Write the instance ID
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if (!OLGetIsSingleInstance((GenericObject*)obj)) {
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PIOS_FWRITE(file, &instEntry->instId,
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sizeof(instEntry->instId), &bytesWritten);
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PIOS_FWRITE(file, &instId,
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sizeof(instId), &bytesWritten);
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}
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// Write the data and check that the write was successful
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PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
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PIOS_FWRITE(file, InstanceData(instEntry), objEntry->numBytes,
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&bytesWritten);
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if (bytesWritten != objEntry->numBytes) {
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xSemaphoreGiveRecursive(mutex);
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@ -674,22 +712,20 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
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if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) != 0)
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return -1;
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} else {
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ObjectList *objEntry = (ObjectList *) obj;
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ObjectInstList *instEntry = getInstance(objEntry, instId);
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InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId);
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if (instEntry == NULL)
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return -1;
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if (instEntry->data == NULL)
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if (InstanceData(instEntry) == NULL)
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return -1;
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if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
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if (PIOS_FLASHFS_ObjSave(obj, instId, InstanceData(instEntry)) != 0)
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return -1;
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}
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#endif
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#if defined(PIOS_INCLUDE_SDCARD)
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FILEINFO file;
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GenericObject *objEntry;
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uint8_t filename[14];
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// Check for file system availability
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@ -699,9 +735,6 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Cast to object
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objEntry = (GenericObject *) obj;
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// Get filename
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objectFilename(obj, filename);
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@ -733,7 +766,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
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#if defined(PIOS_INCLUDE_SDCARD)
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uint32_t bytesRead;
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GenericObject *objEntry;
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ObjectInstList *instEntry;
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InstanceHandle instEntry;
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uint32_t objId;
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uint16_t instId;
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UAVObjHandle obj;
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@ -797,7 +830,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
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}
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// Read the instance data
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if (PIOS_FREAD
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(file, instEntry->data, ((ObjectList *)objEntry)->numBytes, &bytesRead)) {
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(file, InstanceData(instEntry), ((ObjectList *)objEntry)->numBytes, &bytesRead)) {
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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@ -838,17 +871,13 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
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return -1;
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} else {
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ObjectList *objEntry = (ObjectList *) obj;
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ObjectInstList *instEntry = getInstance(objEntry, instId);
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InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId);
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if (instEntry == NULL)
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return -1;
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if (instEntry->data == NULL)
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return -1;
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// Fire event on success
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if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
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if (PIOS_FLASHFS_ObjLoad(obj, instId, InstanceData(instEntry)) == 0)
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sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
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else
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return -1;
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@ -858,7 +887,6 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
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#if defined(PIOS_INCLUDE_SDCARD)
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FILEINFO file;
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GenericObject *objEntry;
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UAVObjHandle loadedObj;
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uint8_t filename[14];
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@ -869,9 +897,6 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Cast to object
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objEntry = (GenericObject *) obj;
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// Get filename
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objectFilename(obj, filename);
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@ -913,7 +938,6 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
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PIOS_FLASHFS_ObjDelete(obj, instId);
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#endif
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#if defined(PIOS_INCLUDE_SDCARD)
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GenericObject *objEntry;
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uint8_t filename[14];
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// Check for file system availability
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@ -923,9 +947,6 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Cast to object
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objEntry = (GenericObject *) obj;
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// Get filename
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objectFilename(obj, filename);
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@ -1164,14 +1185,12 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
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// Check access level
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if (!OLGetIsMetaobject((GenericObject *)obj)) {
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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UAVObjMetadata *mdata;
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InstanceHandle instEntry;
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// Cast to object info
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objEntry = (ObjectList *) obj;
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mdata = LinkedMetaDataPtr(objEntry);
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if (UAVObjGetAccess(mdata) == ACCESS_READONLY) {
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if (UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY) {
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xSemaphoreGiveRecursive(mutex);
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return -1;
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}
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@ -1183,7 +1202,7 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
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return -1;
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}
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// Set data
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memcpy(instEntry->data, dataIn, objEntry->numBytes);
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memcpy(InstanceData(instEntry), dataIn, objEntry->numBytes);
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} else {
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// Get instance information
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if (instId != 0) {
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@ -1220,14 +1239,12 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
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if ( !OLGetIsMetaobject( (GenericObject*) obj ) )
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{
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ObjectList* objEntry;
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ObjectInstList* instEntry;
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UAVObjMetadata* mdata;
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InstanceHandle instEntry;
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// Cast to object info
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objEntry = (ObjectList*)obj;
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mdata = LinkedMetaDataPtr(objEntry);
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if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
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if ( UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY )
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{
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xSemaphoreGiveRecursive(mutex);
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return -1;
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@ -1250,7 +1267,7 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
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}
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// Set data
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memcpy(instEntry->data + offset, dataIn, size);
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memcpy(InstanceData(instEntry) + offset, dataIn, size);
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} else {
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// Get instance information
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if ( instId != 0 )
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@ -1297,7 +1314,7 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
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if ( !OLGetIsMetaobject( (GenericObject*) obj) )
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{
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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InstanceHandle instEntry;
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// Cast to object info
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objEntry = (ObjectList *) obj;
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@ -1310,7 +1327,7 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
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return -1;
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}
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// Set data
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memcpy(dataOut, instEntry->data, objEntry->numBytes);
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memcpy(dataOut, InstanceData(instEntry), objEntry->numBytes);
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} else {
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// Get instance information
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if (instId != 0) {
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@ -1343,7 +1360,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
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if ( !OLGetIsMetaobject( (GenericObject*) obj ) )
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{
|
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ObjectList* objEntry;
|
||||
ObjectInstList* instEntry;
|
||||
InstanceHandle instEntry;
|
||||
|
||||
// Cast to object info
|
||||
objEntry = (ObjectList*)obj;
|
||||
@ -1366,7 +1383,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
|
||||
}
|
||||
|
||||
// Set data
|
||||
memcpy(dataOut, instEntry->data + offset, size);
|
||||
memcpy(dataOut, InstanceData(instEntry) + offset, size);
|
||||
} else {
|
||||
// Get instance information
|
||||
if ( instId != 0)
|
||||
@ -1402,15 +1419,13 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
|
||||
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
|
||||
{
|
||||
PIOS_Assert(obj);
|
||||
ObjectList *objEntry;
|
||||
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
// Set metadata (metadata of metaobjects can not be modified)
|
||||
objEntry = (ObjectList *) obj;
|
||||
if (!OLGetIsMetaobject((GenericObject*)obj)) {
|
||||
UAVObjSetData((UAVObjHandle) MetaObjectPtr(objEntry),
|
||||
UAVObjSetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
|
||||
dataIn);
|
||||
} else {
|
||||
return -1;
|
||||
@ -1430,17 +1445,15 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
|
||||
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
|
||||
{
|
||||
PIOS_Assert(obj);
|
||||
ObjectList *objEntry;
|
||||
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
// Get metadata
|
||||
objEntry = (ObjectList *) obj;
|
||||
if (OLGetIsMetaobject((GenericObject*)obj)) {
|
||||
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
|
||||
} else {
|
||||
UAVObjGetData((UAVObjHandle) MetaObjectPtr(objEntry),
|
||||
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
|
||||
dataOut);
|
||||
}
|
||||
|
||||
@ -1604,14 +1617,7 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
|
||||
{
|
||||
PIOS_Assert(obj);
|
||||
if (!OLGetIsMetaobject( (GenericObject *)obj)) {
|
||||
ObjectList *objEntry;
|
||||
UAVObjMetadata *mdata;
|
||||
|
||||
// Cast to object info
|
||||
objEntry = (ObjectList *) obj;
|
||||
|
||||
mdata = LinkedMetaDataPtr(objEntry);
|
||||
return UAVObjGetAccess(mdata) == ACCESS_READONLY;
|
||||
return UAVObjGetAccess( LinkedMetaDataPtr( (ObjectList*)obj ) ) == ACCESS_READONLY;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
@ -1801,16 +1807,14 @@ static int32_t sendEvent(GenericObject * obj, uint16_t instId,
|
||||
/**
|
||||
* Create a new object instance, return the instance info or NULL if failure.
|
||||
*/
|
||||
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
|
||||
static InstanceHandle createInstance(ObjectList * obj, uint16_t instId)
|
||||
{
|
||||
ObjectInstList *instEntry;
|
||||
int32_t n;
|
||||
|
||||
// DO NOT EVER CALL FOR METAOBJECTS
|
||||
PIOS_Assert(!OLGetIsMetaobject((GenericObject*)obj));
|
||||
|
||||
// For single instance objects, only instance zero is allowed
|
||||
if (OLGetIsSingleInstance((GenericObject*)obj) && instId != 0) {
|
||||
// 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
|
||||
@ -1818,60 +1822,54 @@ static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
|
||||
return NULL;
|
||||
}
|
||||
// Check if the instance already exists
|
||||
if (getInstance(obj, instId) != NULL) {
|
||||
if ( instId< ObjNumInstances(obj) ) {
|
||||
return NULL;
|
||||
}
|
||||
// Create any missing instances (all instance IDs must be sequential)
|
||||
for (n = obj->numInstances; n < instId; ++n) {
|
||||
for (n = ObjNumInstances(obj); n < instId; ++n) {
|
||||
if (createInstance(obj, n) == NULL) {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
if (instId == 0) { /* Instance 0 ObjectInstList allocated with ObjectList element */
|
||||
instEntry = &obj->instances;
|
||||
instEntry->data = pvPortMalloc(obj->numBytes);
|
||||
if (instEntry->data == NULL)
|
||||
return NULL;
|
||||
memset(instEntry->data, 0, obj->numBytes);
|
||||
instEntry->instId = instId;
|
||||
} else {
|
||||
// Create the actual instance
|
||||
instEntry =
|
||||
(ObjectInstList *)
|
||||
pvPortMalloc(sizeof(ObjectInstList));
|
||||
if (instEntry == NULL)
|
||||
return NULL;
|
||||
instEntry->data = pvPortMalloc(obj->numBytes);
|
||||
if (instEntry->data == NULL)
|
||||
return NULL;
|
||||
memset(instEntry->data, 0, obj->numBytes);
|
||||
instEntry->instId = instId;
|
||||
LL_APPEND(obj->instances.next, instEntry);
|
||||
}
|
||||
++obj->numInstances;
|
||||
// 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++;
|
||||
|
||||
// Fire event
|
||||
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
|
||||
|
||||
// Done
|
||||
return instEntry;
|
||||
return InstanceDataOffset(instEntry);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the instance information or NULL if the instance does not exist
|
||||
*/
|
||||
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
|
||||
static InstanceHandle getInstance(ObjectList * obj, uint16_t instId)
|
||||
{
|
||||
ObjectInstList *instEntry;
|
||||
|
||||
// DO NOT EVER CALL FOR METAOBJECTS
|
||||
PIOS_Assert(!OLGetIsMetaobject((GenericObject*)obj));
|
||||
// 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
|
||||
LL_FOREACH(&(obj->instances), instEntry) {
|
||||
if (instEntry->instId == instId) {
|
||||
return instEntry;
|
||||
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
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user