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Code Issues Releases Activity

flight/UAVObjectManager: Represent Metadata as a property of each Object-type as opposed to separate UAVObjects - saves over 700 byte of RAM on next!

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This commit is contained in:
Corvus Corax 2012-05-17 19:47:18 +02:00 committed by Stacey Sheldon
parent a7da3b14ba
commit da539b2b27
3 changed files with 509 additions and 298 deletions
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2
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -148,7 +148,7 @@ typedef struct {
int32_t UAVObjInitialize();
void UAVObjGetStats(UAVObjStats* statsOut);
void UAVObjClearStats();
UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName,
int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
UAVObjHandle UAVObjGetByID(uint32_t id);
UAVObjHandle UAVObjGetByName(char* name);

803
flight/UAVObjects/uavobjectmanager.c
View File

@ -71,35 +71,57 @@ 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;
} ObjectFlags;
/**
* List of objects registered in the object manager
*/
struct GenericObjectStruct {
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 */
} __attribute__((packed));
typedef struct MetaObjectStruct MetaObject;
struct ObjectListStruct {
GenericObject header;
uint32_t id;
/** The object ID */
const char *name;
/** The object name */
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;
/** Number of instances */
struct ObjectListStruct *linkedObj;
/** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
ObjectInstList instances;
/** List of object instances, instance 0 always exists */
ObjectEventList *events;
/** Event queues registered on the object */
MetaObject metaObj;
/** Meta object of the UAVObject */
struct ObjectListStruct *next;
/** Needed by linked list library (utlist.h) */
};
} __attribute__((packed));
typedef struct ObjectListStruct ObjectList;
/** all information about a metaobject are hardcoded constants **/
#define MetaNumBytes sizeof(UAVObjMetadata)
#define MetaBaseObjectPtr(obj) ((ObjectList *)((obj)-offsetof(ObjectList, metaObj)))
#define MetaObjectPtr(obj) ((MetaObject*) &((obj)->metaObj))
#define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->data))
#define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.data))
#define MetaObjectId(id) (id+1)
#define MetaNumInstances 1
// Private functions
static int32_t sendEvent(ObjectList * obj, uint16_t instId,
static int32_t sendEvent(GenericObject * obj, uint16_t instId,
UAVObjEventType event);
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
@ -109,7 +131,7 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(ObjectList * obj, uint8_t * filename);
static void objectFilename(UAVObjHandle obj, uint8_t * filename);
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
@ -177,14 +199,13 @@ void UAVObjClearStats()
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
const char *metaName, int32_t isMetaobject,
const char *metaName,
int32_t isSingleInstance, int32_t isSettings,
uint32_t numBytes,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
ObjectList *metaObj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -204,18 +225,22 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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->name = name;
OLSetIsMetaobject(objEntry, isMetaobject);
OLSetIsSingleInstance(objEntry, isSingleInstance);
OLSetIsSettings(objEntry, isSettings);
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
objEntry->instances.data = NULL;
objEntry->instances.instId = 0xFFFF;
objEntry->instances.next = NULL;
objEntry->linkedObj = NULL; // will be set later
// 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 instance zero
@ -224,32 +249,20 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Create metaobject and update linkedObj
if (isMetaobject) {
objEntry->linkedObj = NULL; // will be set later
} else {
// Create metaobject
metaObj =
(ObjectList *) UAVObjRegister(id + 1, metaName,
NULL, 1, 1, 0,
sizeof
(UAVObjMetadata),
NULL);
// Link two objects
objEntry->linkedObj = metaObj;
metaObj->linkedObj = objEntry;
}
// create metadata "instance"
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(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
if (!OLGetIsMetaobject((GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0);
}
// If this is a settings object, attempt to load from SD card
if (OLGetIsSettings(objEntry)) {
if (OLGetIsSettings((GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
@ -277,6 +290,12 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
// 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
@ -298,13 +317,20 @@ UAVObjHandle UAVObjGetByName(char *name)
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->name != NULL
&& strcmp(objEntry->name, name) == 0) {
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
&& strcmp(( (GenericObject*)MetaObjectPtr(objEntry) )->name, name) == 0) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) MetaObjectPtr(objEntry);
}
}
// Object not found, release lock and return error
@ -319,7 +345,12 @@ UAVObjHandle UAVObjGetByName(char *name)
*/
uint32_t UAVObjGetID(UAVObjHandle obj)
{
return ((ObjectList *) obj)->id;
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return MetaObjectId( MetaBaseObjectPtr(obj)->id );
} else {
return ((ObjectList *) obj)->id;
}
}
/**
@ -329,7 +360,8 @@ uint32_t UAVObjGetID(UAVObjHandle obj)
*/
const char *UAVObjGetName(UAVObjHandle obj)
{
return ((ObjectList *) obj)->name;
PIOS_Assert(obj);
return ((GenericObject *) obj)->name;
}
/**
@ -339,7 +371,12 @@ const char *UAVObjGetName(UAVObjHandle obj)
*/
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
return ((ObjectList *) obj)->numBytes;
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return MetaNumBytes;
} else {
return ((ObjectList *) obj)->numBytes;
}
}
/**
@ -351,7 +388,12 @@ uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
{
return (UAVObjHandle) (((ObjectList *) obj)->linkedObj);
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return (UAVObjHandle) MetaBaseObjectPtr(obj);
} else {
return (UAVObjHandle) MetaObjectPtr( (ObjectList*) obj);
}
}
/**
@ -361,6 +403,10 @@ 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 = ((ObjectList *) obj)->numInstances;
@ -376,6 +422,11 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
uint16_t UAVObjCreateInstance(UAVObjHandle obj,
UAVObjInitializeCallback initCb)
{
PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) {
return -1;
}
ObjectList *objEntry;
ObjectInstList *instEntry;
@ -405,7 +456,8 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
return OLGetIsSingleInstance((ObjectList *) obj);
PIOS_Assert(obj);
return OLGetIsSingleInstance((GenericObject *) obj);
}
/**
@ -415,7 +467,8 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
return OLGetIsMetaobject((ObjectList *) obj);
PIOS_Assert(obj);
return OLGetIsMetaobject((GenericObject *) obj);
}
/**
@ -425,7 +478,8 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
return OLGetIsSettings((ObjectList *) obj);
PIOS_Assert(obj);
return OLGetIsSettings((GenericObject *) obj);
}
/**
@ -438,32 +492,42 @@ int32_t UAVObjIsSettings(UAVObjHandle obj)
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
const uint8_t * dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList *) obj;
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes);
} else {
ObjectList *objEntry;
ObjectInstList *instEntry;
// Get the instance
instEntry = getInstance(objEntry, instId);
// Cast handle to object
objEntry = (ObjectList *) obj;
// 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;
}
// 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(instEntry->data, dataIn, objEntry->numBytes);
}
// Set the data
memcpy(instEntry->data, dataIn, objEntry->numBytes);
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
@ -479,24 +543,34 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
*/
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList *) obj;
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes);
} else {
ObjectList *objEntry;
ObjectInstList *instEntry;
// Get the instance
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
// 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, instEntry->data, objEntry->numBytes);
}
// Pack data
memcpy(dataOut, instEntry->data, objEntry->numBytes);
// Unlock
xSemaphoreGiveRecursive(mutex);
@ -515,11 +589,9 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
FILEINFO * file)
{
PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
ObjectList *objEntry;
ObjectInstList *instEntry;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
@ -527,30 +599,53 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
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);
// 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 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;
ObjectInstList *instEntry;
// Write the instance ID
if (!OLGetIsSingleInstance(objEntry)) {
PIOS_FWRITE(file, &instEntry->instId,
sizeof(instEntry->instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
&bytesWritten);
if (bytesWritten != objEntry->numBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
// 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);
// Write the instance ID
if (!OLGetIsSingleInstance((GenericObject*)obj)) {
PIOS_FWRITE(file, &instEntry->instId,
sizeof(instEntry->instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
&bytesWritten);
if (bytesWritten != objEntry->numBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
xSemaphoreGiveRecursive(mutex);
@ -570,26 +665,31 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
*/
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
if (OLGetIsMetaobject( (GenericObject *) obj )) {
if (instId != 0)
return -1;
if (objEntry == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) != 0)
return -1;
} else {
ObjectList *objEntry = (ObjectList *) obj;
ObjectInstList *instEntry = getInstance(objEntry, instId);
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL)
return -1;
if (instEntry == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
return -1;
}
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList *objEntry;
GenericObject *objEntry;
uint8_t filename[14];
// Check for file system availability
@ -600,10 +700,10 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
objEntry = (GenericObject *) obj;
// Get filename
objectFilename(objEntry, filename);
objectFilename(obj, filename);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
@ -632,7 +732,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
ObjectList *objEntry;
GenericObject *objEntry;
ObjectInstList *instEntry;
uint32_t objId;
uint16_t instId;
@ -656,7 +756,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (ObjectList *) obj;
objEntry = (GenericObject *) obj;
// Get the instance ID
instId = 0;
@ -667,24 +767,43 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
return NULL;
}
}
// Get the instance information
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 NULL;
}
}
// Read the instance data
if (PIOS_FREAD
(file, instEntry->data, objEntry->numBytes, &bytesRead)) {
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)) {
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;
}
}
// Read the instance data
if (PIOS_FREAD
(file, instEntry->data, ((ObjectList *)objEntry)->numBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
@ -706,33 +825,41 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
*/
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
if (OLGetIsMetaobject( (GenericObject*) obj )) {
if (instId != 0)
return -1;
if (objEntry == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) == 0)
sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
else
return -1;
} else {
ObjectInstList *instEntry = getInstance(objEntry, instId);
ObjectList *objEntry = (ObjectList *) obj;
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL)
return -1;
if (instEntry == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
else
return -1;
}
// Fire event on success
int32_t retval;
if ((retval = PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data)) == 0)
sendEvent(objEntry, instId, EV_UNPACKED);
else
return retval;
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList *objEntry;
GenericObject *objEntry;
UAVObjHandle loadedObj;
ObjectList *loadedObjEntry;
uint8_t filename[14];
// Check for file system availability
@ -743,10 +870,10 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
objEntry = (GenericObject *) obj;
// Get filename
objectFilename(objEntry, filename);
objectFilename(obj, filename);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
@ -761,8 +888,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
return -1;
}
// Check that the IDs match
loadedObjEntry = (ObjectList *) loadedObj;
if (loadedObjEntry->id != objEntry->id) {
if (UAVObjGetID(loadedObj) != UAVObjGetID(obj)) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
@ -782,11 +908,12 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
*/
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
PIOS_FLASHFS_ObjDelete(obj, instId);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
ObjectList *objEntry;
GenericObject *objEntry;
uint8_t filename[14];
// Check for file system availability
@ -797,10 +924,10 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
objEntry = (GenericObject *) obj;
// Get filename
objectFilename(objEntry, filename);
objectFilename(obj, filename);
// Delete file
PIOS_FUNLINK(filename);
@ -825,7 +952,7 @@ int32_t UAVObjSaveSettings()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings(objEntry)) {
if (OLGetIsSettings((GenericObject*)objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
@ -854,7 +981,7 @@ int32_t UAVObjLoadSettings()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings(objEntry)) {
if (OLGetIsSettings((GenericObject *)objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
@ -883,7 +1010,7 @@ int32_t UAVObjDeleteSettings()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings(objEntry)) {
if (OLGetIsSettings((GenericObject *)objEntry)) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
@ -911,15 +1038,12 @@ int32_t UAVObjSaveMetaobjects()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsMetaobject(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(objEntry), 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
@ -940,15 +1064,12 @@ int32_t UAVObjLoadMetaobjects()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
@ -969,15 +1090,12 @@ int32_t UAVObjDeleteMetaobjects()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(objEntry), 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
@ -1039,38 +1157,46 @@ int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uin
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
const void *dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
UAVObjMetadata *mdata;
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList *) obj;
// Check access level
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
if (!OLGetIsMetaobject((GenericObject *)obj)) {
ObjectList *objEntry;
ObjectInstList *instEntry;
UAVObjMetadata *mdata;
// Cast to object info
objEntry = (ObjectList *) obj;
mdata = LinkedMetaDataPtr(objEntry);
if (UAVObjGetAccess(mdata) == 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(instEntry->data, 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);
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(instEntry->data, dataIn, objEntry->numBytes);
// Fire event
sendEvent(objEntry, instId, EV_UPDATED);
sendEvent((GenericObject *)obj, instId, EV_UPDATED);
// Unlock
xSemaphoreGiveRecursive(mutex);
@ -1086,48 +1212,68 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
*/
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
UAVObjMetadata* mdata;
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList*)obj;
// Check access level
if ( !OLGetIsMetaobject(objEntry) )
if ( !OLGetIsMetaobject( (GenericObject*) obj ) )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
ObjectList* objEntry;
ObjectInstList* instEntry;
UAVObjMetadata* mdata;
// Cast to object info
objEntry = (ObjectList*)obj;
mdata = LinkedMetaDataPtr(objEntry);
if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// return if we set too much of what we have
if ( (size + offset) > objEntry->numBytes) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(instEntry->data + offset, dataIn, size);
} else {
// Get instance information
if ( instId != 0 )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// return if we set too much of what we have
if ( (size + offset) > MetaNumBytes) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(MetaDataPtr((MetaObject *)obj) + offset, dataIn, size);
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// return if we set too much of what we have
if ( (size + offset) > objEntry->numBytes) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(instEntry->data + offset, dataIn, size);
// Fire event
sendEvent(objEntry, instId, EV_UPDATED);
sendEvent((GenericObject *)obj, instId, EV_UPDATED);
// Unlock
xSemaphoreGiveRecursive(mutex);
@ -1144,24 +1290,37 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
void *dataOut)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList *) obj;
if ( !OLGetIsMetaobject( (GenericObject*) obj) )
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
// 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, instEntry->data, 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);
}
// Set data
memcpy(dataOut, instEntry->data, objEntry->numBytes);
// Unlock
xSemaphoreGiveRecursive(mutex);
@ -1177,34 +1336,57 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
*/
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
PIOS_Assert(obj);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList*)obj;
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
if ( !OLGetIsMetaobject( (GenericObject*) obj ) )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
ObjectList* objEntry;
ObjectInstList* instEntry;
// return if we request too much of what we can give
if ( (size + offset) > objEntry->numBytes)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
// 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;
}
// return if we request too much of what we can give
if ( (size + offset) > objEntry->numBytes)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(dataOut, instEntry->data + offset, size);
} else {
// Get instance information
if ( instId != 0)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// return if we request too much of what we can give
if ( (size + offset) > MetaNumBytes)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(dataOut, MetaDataPtr((MetaObject *)obj) + offset, size);
}
// Set data
memcpy(dataOut, instEntry->data + offset, size);
// Unlock
xSemaphoreGiveRecursive(mutex);
@ -1219,6 +1401,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
{
PIOS_Assert(obj);
ObjectList *objEntry;
// Lock
@ -1226,8 +1409,8 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList *) obj;
if (!OLGetIsMetaobject(objEntry)) {
UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
if (!OLGetIsMetaobject((GenericObject*)obj)) {
UAVObjSetData((UAVObjHandle) MetaObjectPtr(objEntry),
dataIn);
} else {
return -1;
@ -1246,6 +1429,7 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
{
PIOS_Assert(obj);
ObjectList *objEntry;
// Lock
@ -1253,10 +1437,10 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
// Get metadata
objEntry = (ObjectList *) obj;
if (OLGetIsMetaobject(objEntry)) {
if (OLGetIsMetaobject((GenericObject*)obj)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
UAVObjGetData((UAVObjHandle) MetaObjectPtr(objEntry),
dataOut);
}
@ -1271,6 +1455,7 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
*/
void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
{
PIOS_Assert(metadata);
metadata->flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
@ -1290,6 +1475,7 @@ void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
*/
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* metadata)
{
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_ACCESS_SHIFT) & 1;
}
@ -1300,6 +1486,7 @@ UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* metadata)
*/
void UAVObjSetAccess(UAVObjMetadata* metadata, UAVObjAccessType mode)
{
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
@ -1310,6 +1497,7 @@ void UAVObjSetAccess(UAVObjMetadata* metadata, UAVObjAccessType mode)
*/
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* metadata)
{
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1;
}
@ -1319,6 +1507,7 @@ UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* metadata)
* \param[in] mode The access mode
*/
void UAVObjSetGcsAccess(UAVObjMetadata* metadata, UAVObjAccessType mode) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
@ -1328,6 +1517,7 @@ void UAVObjSetGcsAccess(UAVObjMetadata* metadata, UAVObjAccessType mode) {
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
@ -1337,6 +1527,7 @@ uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* metadata) {
* \param[in] val The telemetry acked boolean
*/
void UAVObjSetTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
@ -1346,6 +1537,7 @@ void UAVObjSetTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
@ -1355,6 +1547,7 @@ uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* metadata) {
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
@ -1364,6 +1557,7 @@ void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
* \return the telemetry update mode
*/
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
@ -1373,6 +1567,7 @@ UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* metadata) {
* \param[in] val The telemetry update mode
*/
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
@ -1382,6 +1577,7 @@ void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val
* \return the GCS telemetry update mode
*/
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
@ -1391,6 +1587,7 @@ UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* metadata)
* \param[in] val The GCS telemetry update mode
*/
void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
@ -1405,17 +1602,15 @@ void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode
*/
int8_t UAVObjReadOnly(UAVObjHandle obj)
{
ObjectList *objEntry;
UAVObjMetadata *mdata;
PIOS_Assert(obj);
if (!OLGetIsMetaobject( (GenericObject *)obj)) {
ObjectList *objEntry;
UAVObjMetadata *mdata;
// Cast to object info
objEntry = (ObjectList *) obj;
// Cast to object info
objEntry = (ObjectList *) obj;
// Check access level
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
mdata = LinkedMetaDataPtr(objEntry);
return UAVObjGetAccess(mdata) == ACCESS_READONLY;
}
return -1;
@ -1432,6 +1627,8 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
uint8_t eventMask)
{
PIOS_Assert(obj);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
@ -1447,6 +1644,8 @@ 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);
@ -1465,6 +1664,7 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
uint8_t eventMask)
{
PIOS_Assert(obj);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
@ -1480,6 +1680,7 @@ 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);
@ -1505,8 +1706,9 @@ void UAVObjRequestUpdate(UAVObjHandle obj)
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList *) obj, instId, EV_UPDATE_REQ);
sendEvent((GenericObject *) obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
@ -1526,8 +1728,9 @@ void UAVObjUpdated(UAVObjHandle obj)
*/
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
{
PIOS_Assert(obj);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList *) obj, instId, EV_UPDATED_MANUAL);
sendEvent((GenericObject *) obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
@ -1538,6 +1741,7 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
*/
void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
{
PIOS_Assert(iterator);
ObjectList *objEntry;
// Get lock
@ -1546,6 +1750,7 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
// Iterate through the list and invoke iterator for each object
LL_FOREACH(objList, objEntry) {
(*iterator) ((UAVObjHandle) objEntry);
(*iterator) ((UAVObjHandle) MetaObjectPtr(objEntry));
}
// Release lock
@ -1555,7 +1760,7 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
/**
* Send an event to all event queues registered on the object.
*/
static int32_t sendEvent(ObjectList * obj, uint16_t instId,
static int32_t sendEvent(GenericObject * obj, uint16_t instId,
UAVObjEventType event)
{
ObjectEventList *eventEntry;
@ -1601,8 +1806,11 @@ static ObjectInstList *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(obj) && instId != 0) {
if (OLGetIsSingleInstance((GenericObject*)obj) && instId != 0) {
return NULL;
}
// Make sure that the instance ID is within limits
@ -1657,6 +1865,9 @@ static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
{
ObjectInstList *instEntry;
// DO NOT EVER CALL FOR METAOBJECTS
PIOS_Assert(!OLGetIsMetaobject((GenericObject*)obj));
// Look for specified instance ID
LL_FOREACH(&(obj->instances), instEntry) {
if (instEntry->instId == instId) {
@ -1679,10 +1890,10 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;
GenericObject *objEntry;
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (ObjectList *) obj;
objEntry = (GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if (eventEntry->queue == queue && eventEntry->cb == cb) {
// Already connected, update event mask and return
@ -1717,10 +1928,10 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;
GenericObject *objEntry;
// Find queue and remove it
objEntry = (ObjectList *) obj;
objEntry = (GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if ((eventEntry->queue == queue
&& eventEntry->cb == cb)) {
@ -1748,8 +1959,8 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
/**
* Get an 8 character (plus extension) filename for the object.
*/
static void objectFilename(ObjectList * obj, uint8_t * filename)
static void objectFilename(UAVObjHandle obj, uint8_t * filename)
{
customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
customSPrintf(filename, (uint8_t *) "%X.obj", UAVObjGetID(obj));
}
#endif /* PIOS_INCLUDE_SDCARD */

2
flight/UAVObjects/uavobjecttemplate.c
View File

@ -54,7 +54,7 @@ int32_t $(NAME)Initialize(void)
return -2;
// Register object with the object manager
handle = UAVObjRegister($(NAMEUC)_OBJID, $(NAMEUC)_NAME, $(NAMEUC)_METANAME, 0,
handle = UAVObjRegister($(NAMEUC)_OBJID, $(NAMEUC)_NAME, $(NAMEUC)_METANAME,
$(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
// Done