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Code Issues Releases Activity

Final updates to throttled mode and further memeory reduction in the object manager and event dispatcher to reflect smaller data sizes in metadata.

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This commit is contained in:
Brian Webb 2012-04-22 14:56:26 -07:00
parent eb6f175af4
commit aab47d6ed4
6 changed files with 66 additions and 64 deletions
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16
flight/Modules/Telemetry/telemetry.c
View File

@ -195,21 +195,15 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_THROTTLED) {
// If we received a periodic update, we can change back to update on change
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
// If we received a periodic update, we can change back to update on change
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
// Set update period on initialization and metadata change
if (eventType == EV_NONE)
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
} else {
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
}
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
@ -277,7 +271,7 @@ static void processObjEvent(UAVObjEvent * ev)
}
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj), ev->event); // linked object will be the actual object the metadata are for
updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE); // linked object will be the actual object the metadata are for
}
}
if((updateMode == UPDATEMODE_THROTTLED) && !UAVObjIsMetaobject(ev->obj)) {

24
flight/UAVObjects/eventdispatcher.c
View File

@ -59,7 +59,7 @@ typedef struct {
*/
struct PeriodicObjectListStruct {
EventCallbackInfo evInfo; /** Event callback information */
int32_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
uint16_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
int32_t timeToNextUpdateMs; /** Time delay to the next update */
struct PeriodicObjectListStruct* next; /** Needed by linked list library (utlist.h) */
};
@ -75,9 +75,9 @@ static EventStats stats;
// Private functions
static int32_t processPeriodicUpdates();
static void eventTask();
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
static uint32_t randomizePeriod(uint32_t periodMs);
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs);
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs);
static uint16_t randomizePeriod(uint16_t periodMs);
/**
@ -151,7 +151,7 @@ int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb)
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs)
{
return eventPeriodicCreate(ev, cb, 0, periodMs);
}
@ -163,7 +163,7 @@ int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs)
{
return eventPeriodicUpdate(ev, cb, 0, periodMs);
}
@ -175,7 +175,7 @@ int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs)
{
return eventPeriodicCreate(ev, 0, queue, periodMs);
}
@ -187,7 +187,7 @@ int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t pe
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs)
{
return eventPeriodicUpdate(ev, 0, queue, periodMs);
}
@ -200,7 +200,7 @@ int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t pe
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs)
{
PeriodicObjectList* objEntry;
// Get lock
@ -244,7 +244,7 @@ static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQue
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs)
{
PeriodicObjectList* objEntry;
// Get lock
@ -372,7 +372,7 @@ static int32_t processPeriodicUpdates()
* Based on the Park-Miller-Carta Pseudo-Random Number Generator
* http://www.firstpr.com.au/dsp/rand31/
*/
static uint32_t randomizePeriod(uint32_t periodMs)
static uint16_t randomizePeriod(uint16_t periodMs)
{
static uint32_t seed = 1;
uint32_t hi, lo;
@ -382,6 +382,6 @@ static uint32_t randomizePeriod(uint32_t periodMs)
lo += hi >> 15;
if (lo > 0x7FFFFFFF) lo -= 0x7FFFFFFF;
seed = lo;
return (uint32_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
return (uint16_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
}

8
flight/UAVObjects/inc/eventdispatcher.h
View File

@ -39,9 +39,9 @@ int32_t EventDispatcherInitialize();
void EventGetStats(EventStats* statsOut);
void EventClearStats();
int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb);
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs);
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs);
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs);
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs);
#endif // EVENTDISPATCHER_H

4
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -196,9 +196,9 @@ void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val)
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb);
void UAVObjRequestUpdate(UAVObjHandle obj);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId);

76
flight/UAVObjects/uavobjectmanager.c
View File

@ -38,7 +38,13 @@
// Private types
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & !(mask << shift)) | (value << shift);
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
#define OLGetIsMetaobject(olp) ((olp)->flags & OL_IS_METAOBJECT)
#define OLSetIsMetaobject(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_METAOBJECT) : ((olp)->flags | OL_IS_METAOBJECT)))
#define OLGetIsSingleInstance(olp) ((olp)->flags & OL_IS_SINGLE_INSTANCE)
#define OLSetIsSingleInstance(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SINGLE_INSTANCE) : ((olp)->flags | OL_IS_SINGLE_INSTANCE)))
#define OLGetIsSettings(olp) ((olp)->flags & OL_IS_SETTINGS)
#define OLSetIsSettings(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SETTINGS) : ((olp)->flags | OL_IS_SETTINGS)))
/**
* List of event queues and the eventmask associated with the queue.
@ -46,7 +52,7 @@
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
int32_t eventMask;
uint8_t eventMask;
struct ObjectEventListStruct *next;
};
typedef struct ObjectEventListStruct ObjectEventList;
@ -61,6 +67,12 @@ struct ObjectInstListStruct {
};
typedef struct ObjectInstListStruct ObjectInstList;
typedef enum {
OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */
} ObjectListFlags;
/**
* List of objects registered in the object manager
*/
@ -69,12 +81,8 @@ struct ObjectListStruct {
/** The object ID */
const char *name;
/** The object name */
int8_t isMetaobject;
/** Set to 1 if this is a metaobject */
int8_t isSingleInstance;
/** Set to 1 if this object has a single instance */
int8_t isSettings;
/** Set to 1 if this object is a settings object */
ObjectListFlags flags;
/** The object list mode flags */
uint16_t numBytes;
/** Number of data bytes contained in the object (for a single instance) */
uint16_t numInstances;
@ -96,7 +104,7 @@ static int32_t sendEvent(ObjectList * obj, uint16_t instId,
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask);
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb);
@ -198,9 +206,9 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
}
objEntry->id = id;
objEntry->name = name;
objEntry->isMetaobject = (int8_t) isMetaobject;
objEntry->isSingleInstance = (int8_t) isSingleInstance;
objEntry->isSettings = (int8_t) isSettings;
OLSetIsMetaobject(objEntry, isMetaobject);
OLSetIsSingleInstance(objEntry, isSingleInstance);
OLSetIsSettings(objEntry, isSettings);
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
@ -237,11 +245,11 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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 (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
}
// If this is a settings object, attempt to load from SD card
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
@ -397,7 +405,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSingleInstance;
return OLGetIsSingleInstance((ObjectList *) obj);
}
/**
@ -407,7 +415,7 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isMetaobject;
return OLGetIsMetaobject((ObjectList *) obj);
}
/**
@ -417,7 +425,7 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSettings;
return OLGetIsSettings((ObjectList *) obj);
}
/**
@ -533,7 +541,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
&bytesWritten);
// Write the instance ID
if (!objEntry->isSingleInstance) {
if (!OLGetIsSingleInstance(objEntry)) {
PIOS_FWRITE(file, &instEntry->instId,
sizeof(instEntry->instId), &bytesWritten);
}
@ -652,7 +660,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
// Get the instance ID
instId = 0;
if (!objEntry->isSingleInstance) {
if (!OLGetIsSingleInstance(objEntry)) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
@ -816,7 +824,7 @@ int32_t UAVObjSaveSettings()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
@ -845,7 +853,7 @@ int32_t UAVObjLoadSettings()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
@ -874,7 +882,7 @@ int32_t UAVObjDeleteSettings()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
@ -903,7 +911,7 @@ int32_t UAVObjSaveMetaobjects()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
@ -932,7 +940,7 @@ int32_t UAVObjLoadMetaobjects()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
@ -961,7 +969,7 @@ int32_t UAVObjDeleteMetaobjects()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
@ -1041,7 +1049,7 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
@ -1088,7 +1096,7 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
objEntry = (ObjectList*)obj;
// Check access level
if ( !objEntry->isMetaobject )
if ( !OLGetIsMetaobject(objEntry) )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
@ -1217,7 +1225,7 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList *) obj;
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
dataIn);
} else {
@ -1244,7 +1252,7 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
// Get metadata
objEntry = (ObjectList *) obj;
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
@ -1403,7 +1411,7 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
@ -1421,7 +1429,7 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
int32_t eventMask)
uint8_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1454,7 +1462,7 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
int32_t eventMask)
uint8_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1591,7 +1599,7 @@ static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
int32_t n;
// For single instance objects, only instance zero is allowed
if (obj->isSingleInstance && instId != 0) {
if (OLGetIsSingleInstance(obj) && instId != 0) {
return NULL;
}
// Make sure that the instance ID is within limits
@ -1665,7 +1673,7 @@ static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask)
UAVObjEventCallback cb, uint8_t eventMask)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;

2
ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
View File

@ -39,7 +39,7 @@
#define UAVOBJ_UPDATE_MODE_MASK 0x3
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & !(mask << shift)) | (value << shift);
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/**
* Constructor