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Code Issues Releases Activity

UavObjectmanager: Squeeze UAVObject instances closer together and eliminate unneeded id's and pointers - frees again >512 byte on next

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Corvus Corax 2012-05-18 13:10:27 +02:00 committed by Stacey Sheldon
parent da539b2b27
commit 42041ef68c
1 changed files with 128 additions and 130 deletions
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258
flight/UAVObjects/uavobjectmanager.c
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@ -58,15 +58,24 @@ struct ObjectEventListStruct {
typedef struct ObjectEventListStruct ObjectEventList; typedef struct ObjectEventListStruct ObjectEventList;
/** /**
* List of object instances, holds the actual data structure and instance ID * List of object instances, holds a pointer to the next instance and some UAVObjectData
*/ */
struct ObjectInstListStruct { struct ObjectInstListStruct {
void *data;
uint16_t instId;
struct ObjectInstListStruct *next; struct ObjectInstListStruct *next;
}; } __attribute__((packed));
typedef struct ObjectInstListStruct ObjectInstList; typedef struct ObjectInstListStruct ObjectInstList;
/** fake structure for arbitrary sizes **/
struct ObjectInstanceStruct {
ObjectInstList header;
uint32_t data;
} __attribute__((packed));
typedef struct ObjectInstanceStruct ObjectInstance;
#define ObjectInstanceSize(numBytes) (offsetof(ObjectInstance,data)+(numBytes))
/** anonymous type for instances **/
typedef void* InstanceHandle;
typedef enum { typedef enum {
OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */ OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */ OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
@ -100,10 +109,6 @@ struct ObjectListStruct {
/** The object ID */ /** The object ID */
uint16_t numBytes; uint16_t numBytes;
/** Number of data bytes contained in the object (for a single instance) */ /** Number of data bytes contained in the object (for a single instance) */
uint16_t numInstances;
/** Number of instances */
ObjectInstList instances;
/** List of object instances, instance 0 always exists */
MetaObject metaObj; MetaObject metaObj;
/** Meta object of the UAVObject */ /** Meta object of the UAVObject */
struct ObjectListStruct *next; struct ObjectListStruct *next;
@ -111,6 +116,31 @@ struct ObjectListStruct {
} __attribute__((packed)); } __attribute__((packed));
typedef struct ObjectListStruct ObjectList; typedef struct ObjectListStruct ObjectList;
/** fake structure for arbitrary sizes **/
struct ObjectListInstanceStruct {
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 */
} __attribute__((packed));
typedef struct ObjectListMultiStruct ObjectListMulti;
/** fake structure for arbitrary sizes **/
struct ObjectListMultiInstanceStruct {
ObjectListMulti header;
uint32_t data;
} __attribute__((packed));
typedef struct ObjectListMultiInstanceStruct ObjectListMultiInstance;
#define ObjectListMultiInstanceSize(numBytes) (offsetof(ObjectListMultiInstance,data)+(numBytes))
/** all information about a metaobject are hardcoded constants **/ /** all information about a metaobject are hardcoded constants **/
#define MetaNumBytes sizeof(UAVObjMetadata) #define MetaNumBytes sizeof(UAVObjMetadata)
#define MetaBaseObjectPtr(obj) ((ObjectList *)((obj)-offsetof(ObjectList, metaObj))) #define MetaBaseObjectPtr(obj) ((ObjectList *)((obj)-offsetof(ObjectList, metaObj)))
@ -120,11 +150,17 @@ typedef struct ObjectListStruct ObjectList;
#define MetaObjectId(id) (id+1) #define MetaObjectId(id) (id+1)
#define MetaNumInstances 1 #define MetaNumInstances 1
/** all information about instances are dependant on object type **/
#define ObjNumInstances(obj) (OLGetIsSingleInstance((GenericObject*)(obj))?1:((ObjectListMulti *)(obj))->numInstances)
#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (ObjectListInstance*)obj )->data)))
#define InstanceDataOffset(inst) ((void*)&(( (ObjectInstance*)inst )->data))
#define InstanceData(instance) (void*)instance
// Private functions // Private functions
static int32_t sendEvent(GenericObject * obj, uint16_t instId, static int32_t sendEvent(GenericObject * obj, uint16_t instId,
UAVObjEventType event); UAVObjEventType event);
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId); static InstanceHandle createInstance(ObjectList * obj, uint16_t instId);
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId); static InstanceHandle getInstance(ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, 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, static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
@ -205,7 +241,6 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
UAVObjInitializeCallback initCb) UAVObjInitializeCallback initCb)
{ {
ObjectList *objEntry; ObjectList *objEntry;
ObjectInstList *instEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -220,22 +255,30 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
} }
// Create and append entry // Create and append entry
objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList)); if (isSingleInstance) {
objEntry = (ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) );
} else {
objEntry = (ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) );
}
if (objEntry == NULL) { if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return NULL; return NULL;
} }
((GenericObject*) objEntry)->name = name; ( (GenericObject*)objEntry )->name = name;
((GenericObject*) objEntry)->events = NULL; ( (GenericObject*)objEntry )->events = NULL;
OLSetIsMetaobject( (GenericObject*)objEntry, 0); OLSetIsMetaobject( (GenericObject*)objEntry, 0);
OLSetIsSingleInstance( (GenericObject*)objEntry, isSingleInstance); OLSetIsSingleInstance( (GenericObject*)objEntry, isSingleInstance);
OLSetIsSettings( (GenericObject*)objEntry, isSettings); OLSetIsSettings( (GenericObject*)objEntry, isSettings);
objEntry->id = id; objEntry->id = id;
objEntry->numBytes = numBytes; objEntry->numBytes = numBytes;
objEntry->numInstances = 0; // Create instance
objEntry->instances.data = NULL; if (isSingleInstance) {
objEntry->instances.instId = 0xFFFF; memset(ObjSingleInstanceDataOffset(objEntry), 0, numBytes);
objEntry->instances.next = NULL; } else {
( (ObjectListMulti*)objEntry )->numInstances = 1;
( (ObjectListMulti*)objEntry )->instances.next = NULL;
memset(InstanceDataOffset(&(( (ObjectListMulti*)objEntry )->instances)), 0, numBytes);
}
// Create metaobject // Create metaobject
memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes); memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes);
( (GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE; ( (GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE;
@ -243,14 +286,9 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
( (GenericObject*)MetaObjectPtr(objEntry) )->events = NULL; ( (GenericObject*)MetaObjectPtr(objEntry) )->events = NULL;
LL_APPEND(objList, objEntry); LL_APPEND(objList, objEntry);
// Create instance zero // fire events
instEntry = createInstance(objEntry, 0); UAVObjInstanceUpdated((UAVObjHandle) objEntry, 0);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// create metadata "instance"
UAVObjInstanceUpdated((UAVObjHandle) MetaObjectPtr(objEntry), 0); UAVObjInstanceUpdated((UAVObjHandle) MetaObjectPtr(objEntry), 0);
// Initialize object fields and metadata to default values // Initialize object fields and metadata to default values
@ -409,7 +447,7 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
} }
uint32_t numInstances; uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ((ObjectList *) obj)->numInstances; numInstances = ObjNumInstances(obj);
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return numInstances; return numInstances;
} }
@ -427,26 +465,26 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
return -1; return -1;
} }
ObjectList *objEntry; InstanceHandle instEntry;
ObjectInstList *instEntry; uint16_t instId;
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Create new instance // Create new instance
objEntry = (ObjectList *) obj; instId = ObjNumInstances(obj);
instEntry = createInstance(objEntry, objEntry->numInstances); instEntry = createInstance( (ObjectList*)obj, instId);
if (instEntry == NULL) { if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return -1; return -1;
} }
// Initialize instance data // Initialize instance data
if (initCb != NULL) { if (initCb != NULL) {
initCb(obj, instEntry->instId); initCb(obj, instId);
} }
// Unlock // Unlock
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return instEntry->instId; return instId;
} }
/** /**
@ -505,7 +543,7 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes); memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes);
} else { } else {
ObjectList *objEntry; ObjectList *objEntry;
ObjectInstList *instEntry; InstanceHandle instEntry;
// Cast handle to object // Cast handle to object
objEntry = (ObjectList *) obj; objEntry = (ObjectList *) obj;
@ -523,7 +561,7 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
} }
} }
// Set the data // Set the data
memcpy(instEntry->data, dataIn, objEntry->numBytes); memcpy(InstanceData(instEntry), dataIn, objEntry->numBytes);
} }
// Fire event // Fire event
@ -556,7 +594,7 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes); memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes);
} else { } else {
ObjectList *objEntry; ObjectList *objEntry;
ObjectInstList *instEntry; InstanceHandle instEntry;
// Cast handle to object // Cast handle to object
objEntry = (ObjectList *) obj; objEntry = (ObjectList *) obj;
@ -569,7 +607,7 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
return -1; return -1;
} }
// Pack data // Pack data
memcpy(dataOut, instEntry->data, objEntry->numBytes); memcpy(dataOut, InstanceData(instEntry), objEntry->numBytes);
} }
// Unlock // Unlock
@ -619,7 +657,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
} }
} else { } else {
ObjectList *objEntry; ObjectList *objEntry;
ObjectInstList *instEntry; InstanceHandle instEntry;
// Cast to object // Cast to object
objEntry = (ObjectList *) obj; objEntry = (ObjectList *) obj;
@ -636,11 +674,11 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
// Write the instance ID // Write the instance ID
if (!OLGetIsSingleInstance((GenericObject*)obj)) { if (!OLGetIsSingleInstance((GenericObject*)obj)) {
PIOS_FWRITE(file, &instEntry->instId, PIOS_FWRITE(file, &instId,
sizeof(instEntry->instId), &bytesWritten); sizeof(instId), &bytesWritten);
} }
// Write the data and check that the write was successful // Write the data and check that the write was successful
PIOS_FWRITE(file, instEntry->data, objEntry->numBytes, PIOS_FWRITE(file, InstanceData(instEntry), objEntry->numBytes,
&bytesWritten); &bytesWritten);
if (bytesWritten != objEntry->numBytes) { if (bytesWritten != objEntry->numBytes) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
@ -674,22 +712,20 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) != 0) if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) != 0)
return -1; return -1;
} else { } else {
ObjectList *objEntry = (ObjectList *) obj; InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId);
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) if (instEntry == NULL)
return -1; return -1;
if (instEntry->data == NULL) if (InstanceData(instEntry) == NULL)
return -1; return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0) if (PIOS_FLASHFS_ObjSave(obj, instId, InstanceData(instEntry)) != 0)
return -1; return -1;
} }
#endif #endif
#if defined(PIOS_INCLUDE_SDCARD) #if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file; FILEINFO file;
GenericObject *objEntry;
uint8_t filename[14]; uint8_t filename[14];
// Check for file system availability // Check for file system availability
@ -699,9 +735,6 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (GenericObject *) obj;
// Get filename // Get filename
objectFilename(obj, filename); objectFilename(obj, filename);
@ -733,7 +766,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
#if defined(PIOS_INCLUDE_SDCARD) #if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead; uint32_t bytesRead;
GenericObject *objEntry; GenericObject *objEntry;
ObjectInstList *instEntry; InstanceHandle instEntry;
uint32_t objId; uint32_t objId;
uint16_t instId; uint16_t instId;
UAVObjHandle obj; UAVObjHandle obj;
@ -797,7 +830,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
} }
// Read the instance data // Read the instance data
if (PIOS_FREAD if (PIOS_FREAD
(file, instEntry->data, ((ObjectList *)objEntry)->numBytes, &bytesRead)) { (file, InstanceData(instEntry), ((ObjectList *)objEntry)->numBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return NULL; return NULL;
} }
@ -838,17 +871,13 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
return -1; return -1;
} else { } else {
ObjectList *objEntry = (ObjectList *) obj; InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId);
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) if (instEntry == NULL)
return -1; return -1;
if (instEntry->data == NULL)
return -1;
// Fire event on success // Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0) if (PIOS_FLASHFS_ObjLoad(obj, instId, InstanceData(instEntry)) == 0)
sendEvent((GenericObject*)obj, instId, EV_UNPACKED); sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
else else
return -1; return -1;
@ -858,7 +887,6 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
#if defined(PIOS_INCLUDE_SDCARD) #if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file; FILEINFO file;
GenericObject *objEntry;
UAVObjHandle loadedObj; UAVObjHandle loadedObj;
uint8_t filename[14]; uint8_t filename[14];
@ -869,9 +897,6 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (GenericObject *) obj;
// Get filename // Get filename
objectFilename(obj, filename); objectFilename(obj, filename);
@ -913,7 +938,6 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
PIOS_FLASHFS_ObjDelete(obj, instId); PIOS_FLASHFS_ObjDelete(obj, instId);
#endif #endif
#if defined(PIOS_INCLUDE_SDCARD) #if defined(PIOS_INCLUDE_SDCARD)
GenericObject *objEntry;
uint8_t filename[14]; uint8_t filename[14];
// Check for file system availability // Check for file system availability
@ -923,9 +947,6 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (GenericObject *) obj;
// Get filename // Get filename
objectFilename(obj, filename); objectFilename(obj, filename);
@ -1164,14 +1185,12 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
// Check access level // Check access level
if (!OLGetIsMetaobject((GenericObject *)obj)) { if (!OLGetIsMetaobject((GenericObject *)obj)) {
ObjectList *objEntry; ObjectList *objEntry;
ObjectInstList *instEntry; InstanceHandle instEntry;
UAVObjMetadata *mdata;
// Cast to object info // Cast to object info
objEntry = (ObjectList *) obj; objEntry = (ObjectList *) obj;
mdata = LinkedMetaDataPtr(objEntry); if (UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY) {
if (UAVObjGetAccess(mdata) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return -1; return -1;
} }
@ -1183,7 +1202,7 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
return -1; return -1;
} }
// Set data // Set data
memcpy(instEntry->data, dataIn, objEntry->numBytes); memcpy(InstanceData(instEntry), dataIn, objEntry->numBytes);
} else { } else {
// Get instance information // Get instance information
if (instId != 0) { if (instId != 0) {
@ -1220,14 +1239,12 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
if ( !OLGetIsMetaobject( (GenericObject*) obj ) ) if ( !OLGetIsMetaobject( (GenericObject*) obj ) )
{ {
ObjectList* objEntry; ObjectList* objEntry;
ObjectInstList* instEntry; InstanceHandle instEntry;
UAVObjMetadata* mdata;
// Cast to object info // Cast to object info
objEntry = (ObjectList*)obj; objEntry = (ObjectList*)obj;
mdata = LinkedMetaDataPtr(objEntry); if ( UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY )
if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
{ {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return -1; return -1;
@ -1250,7 +1267,7 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
} }
// Set data // Set data
memcpy(instEntry->data + offset, dataIn, size); memcpy(InstanceData(instEntry) + offset, dataIn, size);
} else { } else {
// Get instance information // Get instance information
if ( instId != 0 ) if ( instId != 0 )
@ -1297,7 +1314,7 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
if ( !OLGetIsMetaobject( (GenericObject*) obj) ) if ( !OLGetIsMetaobject( (GenericObject*) obj) )
{ {
ObjectList *objEntry; ObjectList *objEntry;
ObjectInstList *instEntry; InstanceHandle instEntry;
// Cast to object info // Cast to object info
objEntry = (ObjectList *) obj; objEntry = (ObjectList *) obj;
@ -1310,7 +1327,7 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
return -1; return -1;
} }
// Set data // Set data
memcpy(dataOut, instEntry->data, objEntry->numBytes); memcpy(dataOut, InstanceData(instEntry), objEntry->numBytes);
} else { } else {
// Get instance information // Get instance information
if (instId != 0) { if (instId != 0) {
@ -1343,7 +1360,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
if ( !OLGetIsMetaobject( (GenericObject*) obj ) ) if ( !OLGetIsMetaobject( (GenericObject*) obj ) )
{ {
ObjectList* objEntry; ObjectList* objEntry;
ObjectInstList* instEntry; InstanceHandle instEntry;
// Cast to object info // Cast to object info
objEntry = (ObjectList*)obj; objEntry = (ObjectList*)obj;
@ -1366,7 +1383,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
} }
// Set data // Set data
memcpy(dataOut, instEntry->data + offset, size); memcpy(dataOut, InstanceData(instEntry) + offset, size);
} else { } else {
// Get instance information // Get instance information
if ( instId != 0) 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) int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
ObjectList *objEntry;
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata (metadata of metaobjects can not be modified) // Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList *) obj;
if (!OLGetIsMetaobject((GenericObject*)obj)) { if (!OLGetIsMetaobject((GenericObject*)obj)) {
UAVObjSetData((UAVObjHandle) MetaObjectPtr(objEntry), UAVObjSetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
dataIn); dataIn);
} else { } else {
return -1; return -1;
@ -1430,17 +1445,15 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut) int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
ObjectList *objEntry;
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata // Get metadata
objEntry = (ObjectList *) obj;
if (OLGetIsMetaobject((GenericObject*)obj)) { if (OLGetIsMetaobject((GenericObject*)obj)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata)); memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else { } else {
UAVObjGetData((UAVObjHandle) MetaObjectPtr(objEntry), UAVObjGetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
dataOut); dataOut);
} }
@ -1604,14 +1617,7 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
if (!OLGetIsMetaobject( (GenericObject *)obj)) { if (!OLGetIsMetaobject( (GenericObject *)obj)) {
ObjectList *objEntry; return UAVObjGetAccess( LinkedMetaDataPtr( (ObjectList*)obj ) ) == ACCESS_READONLY;
UAVObjMetadata *mdata;
// Cast to object info
objEntry = (ObjectList *) obj;
mdata = LinkedMetaDataPtr(objEntry);
return UAVObjGetAccess(mdata) == ACCESS_READONLY;
} }
return -1; 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. * 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; ObjectInstList *instEntry;
int32_t n; int32_t n;
// DO NOT EVER CALL FOR METAOBJECTS // For single instance objects, only instance zero is allowed (and zero gets created in RegisterObject)
PIOS_Assert(!OLGetIsMetaobject((GenericObject*)obj)); if (OLGetIsSingleInstance((GenericObject*)obj)) {
PIOS_Assert(0);
// For single instance objects, only instance zero is allowed
if (OLGetIsSingleInstance((GenericObject*)obj) && instId != 0) {
return NULL; return NULL;
} }
// Make sure that the instance ID is within limits // Make sure that the instance ID is within limits
@ -1818,60 +1822,54 @@ static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
return NULL; return NULL;
} }
// Check if the instance already exists // Check if the instance already exists
if (getInstance(obj, instId) != NULL) { if ( instId< ObjNumInstances(obj) ) {
return NULL; return NULL;
} }
// Create any missing instances (all instance IDs must be sequential) // 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) { if (createInstance(obj, n) == NULL) {
return NULL; return NULL;
} }
} }
if (instId == 0) { /* Instance 0 ObjectInstList allocated with ObjectList element */ // Create the actual instance
instEntry = &obj->instances; instEntry =
instEntry->data = pvPortMalloc(obj->numBytes); (ObjectInstList *)
if (instEntry->data == NULL) pvPortMalloc(sizeof(ObjectInstList)+obj->numBytes);
return NULL; if (instEntry == NULL)
memset(instEntry->data, 0, obj->numBytes); return NULL;
instEntry->instId = instId; memset(InstanceDataOffset(instEntry), 0, obj->numBytes);
} else { LL_APPEND(( (ObjectListMulti*)obj )->instances.next, instEntry);
// Create the actual instance
instEntry = ( (ObjectListMulti*)obj )->numInstances++;
(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;
// Fire event // Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId); UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
// Done // Done
return instEntry; return InstanceDataOffset(instEntry);
} }
/** /**
* Get the instance information or NULL if the instance does not exist * 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; ObjectInstList *instEntry;
// quick solutions
// DO NOT EVER CALL FOR METAOBJECTS if (OLGetIsSingleInstance((GenericObject*)(obj))) {
PIOS_Assert(!OLGetIsMetaobject((GenericObject*)obj)); if (instId!=0)
return NULL;
return ObjSingleInstanceDataOffset(obj);
}
if (instId>=ObjNumInstances(obj))
return NULL;
// Look for specified instance ID // Look for specified instance ID
LL_FOREACH(&(obj->instances), instEntry) { uint16_t instance=0;
if (instEntry->instId == instId) { LL_FOREACH(&(( (ObjectListMulti*)obj )->instances), instEntry) {
return instEntry; if (instance++ == instId) {
return InstanceDataOffset(instEntry);
} }
} }
// If this point is reached then instance id was not found // If this point is reached then instance id was not found