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Code Issues Releases Activity

Flight/UAVObjects: Test harness and bug fixes

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@423 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-04-04 02:11:51 +00:00 committed by vassilis
parent 23026d6c84
commit e2871a24e7
19 changed files with 296 additions and 101 deletions
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1
flight/OpenPilot/Makefile
View File

@ -125,6 +125,7 @@ SRC += $(OPUAVOBJ)/eventdispatcher.c
##
#SRC += $(OPTESTS)/test_I2c_PCF8570.c
#SRC += $(OPTESTS)/test_BMP085.c
#SRC += $(OPTESTS)/test_uavobjects.c
## UAVOBJECTS

4
flight/OpenPilot/Modules/Example/examplemodevent.c
View File

@ -56,7 +56,7 @@
// Private variables
// Private functions
void ObjectUpdatedCb(UAVObjEvent* ev);
static void ObjectUpdatedCb(UAVObjEvent* ev);
/**
* Initialise the module, called on startup.
@ -80,7 +80,7 @@ int32_t ExampleModEventInitialize(void)
* important since all callbacks are executed from the same thread, so other
* queued events can not be executed until the currently active callback returns.
*/
void ObjectUpdatedCb(UAVObjEvent* ev)
static void ObjectUpdatedCb(UAVObjEvent* ev)
{
ExampleSettingsData settings;
ExampleObject1Data data1;

4
flight/OpenPilot/Modules/Example/examplemodperiodic.c
View File

@ -50,7 +50,7 @@
// Private constants
#define STACK_SIZE 200
#define TASK_PRIORITY (tskIDLE_PRIORITY)
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
@ -75,7 +75,7 @@ int32_t ExampleModPeriodicInitialize(void)
/**
* Module thread, should not return.
*/
void exampleTask(void* parameters)
static void exampleTask(void* parameters)
{
ExampleSettingsData settings;
ExampleObject1Data data;

4
flight/OpenPilot/Modules/Example/examplemodthread.c
View File

@ -51,7 +51,7 @@
// Private constants
#define MAX_QUEUE_SIZE 20
#define STACK_SIZE 200
#define TASK_PRIORITY (tskIDLE_PRIORITY)
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
@ -83,7 +83,7 @@ int32_t ExampleModThreadInitialize(void)
/**
* Module thread, should not return.
*/
void exampleTask(void* parameters)
static void exampleTask(void* parameters)
{
UAVObjEvent ev;
ExampleSettingsData settings;

6
flight/OpenPilot/Modules/Telemetry/telemetry.c
View File

@ -28,7 +28,7 @@
// Private constants
#define MAX_QUEUE_SIZE 20
#define STACK_SIZE 100
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define REQ_TIMEOUT_MS 500
#define MAX_RETRIES 3
@ -78,7 +78,7 @@ int32_t TelemetryInitialize(void)
* telemetry settings.
* \param[in] obj Object to connect
*/
void registerObject(UAVObjHandle obj)
static void registerObject(UAVObjHandle obj)
{
// Setup object for periodic updates
addObject(obj);
@ -91,7 +91,7 @@ void registerObject(UAVObjHandle obj)
* Update object's queue connections and timer, depending on object's settings
* \param[in] obj Object to updates
*/
void updateObject(UAVObjHandle obj)
static void updateObject(UAVObjHandle obj)
{
UAVObjMetadata metadata;
int32_t eventMask;

6
flight/OpenPilot/System/openpilot.c
View File

@ -26,6 +26,7 @@
/* OpenPilot Includes */
#include "openpilot.h"
#include "uavobjectsinit.h"
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
@ -82,6 +83,11 @@ int main()
}
}
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
/* Call LoadSettings which populates global variables so the rest of the hardware can be configured. */
PIOS_Settings_Load();

173
flight/OpenPilot/Tests/test_uavobjects.c Normal file
View File

@ -0,0 +1,173 @@
/**
******************************************************************************
*
* @file test_uavobjects.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Tests for the UAVObject libraries
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "exampleobject1.h"
#include "uavobjectsinit.h"
// Local functions
static void testTask(void *pvParameters);
static void eventCallback(UAVObjEvent* ev);
static void eventCallbackPeriodic(UAVObjEvent* ev);
// Variables
int testDelay = 0;
int main()
{
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Delay system */
PIOS_DELAY_Init();
/* SPI Init */
PIOS_SPI_Init();
/* Enables the SDCard */
PIOS_SDCARD_Init();
PIOS_SDCARD_MountFS(0);
// Turn on both LEDs
PIOS_LED_On(LED1);
PIOS_LED_On(LED2);
// Create test task
xTaskCreate(testTask, (signed portCHAR *)"ObjTest", 1000 , NULL, 1, NULL);
// Start the FreeRTOS scheduler
vTaskStartScheduler();
return 0;
}
static void testTask(void *pvParameters)
{
ExampleObject1Data data;
// Initialize object and manager
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
// Set data
ExampleObject1Get(&data);
data.Field1 = 1;
data.Field2 = 2;
ExampleObject1Set(&data);
// Get data
memset(&data, 0, sizeof(data));
ExampleObject1Get(&data);
// Benchmark time is takes to get and set data (both operations)
int tickStart = xTaskGetTickCount();
for (int n = 0; n < 10000; ++n)
{
ExampleObject1Set(&data);
ExampleObject1Get(&data);
}
int delay = xTaskGetTickCount() - tickStart;
// Create a new instance and get/set its data
uint16_t instId = ExampleObject1CreateInstance();
ExampleObject1InstSet(instId, &data);
memset(&data, 0, sizeof(data));
ExampleObject1InstGet(instId, &data);
// Test pack/unpack
uint8_t buffer[EXAMPLEOBJECT1_NUMBYTES];
memset(buffer, 0, EXAMPLEOBJECT1_NUMBYTES);
UAVObjPack(ExampleObject1Handle(), 0, buffer);
memset(&data, 0, sizeof(data));
ExampleObject1Set(&data);
UAVObjUnpack(ExampleObject1Handle(), 0, buffer);
ExampleObject1Get(&data);
// Test object saving/loading to SD card
UAVObjSave(ExampleObject1Handle(), 0);
memset(&data, 0, sizeof(data));
ExampleObject1Set(&data);
UAVObjLoad(ExampleObject1Handle(), 0);
ExampleObject1Get(&data);
// Retrieve object handle by ID
UAVObjHandle handle = UAVObjGetByID(EXAMPLEOBJECT1_OBJID);
const char* name = UAVObjGetName(handle);
// Get/Set the metadata
UAVObjMetadata mdata;
ExampleObject1GetMetadata(&mdata);
mdata.gcsTelemetryAcked = 0;
ExampleObject1SetMetadata(&mdata);
memset(&mdata, 0, sizeof(mdata));
ExampleObject1GetMetadata(&mdata);
// Test callbacks
ExampleObject1ConnectCallback(eventCallback);
ExampleObject1Set(&data);
// Test periodic callback
UAVObjEvent ev;
ev.event = 0;
ev.instId = 0;
ev.obj = ExampleObject1Handle();
EventPeriodicCreate(&ev, eventCallbackPeriodic, 500);
// Test queue events
xQueueHandle queue;
queue = xQueueCreate(10, sizeof(UAVObjEvent));
ExampleObject1ConnectQueue(queue);
// Done testing
while (1)
{
if(xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE)
{
name = UAVObjGetName(ev.obj);
PIOS_LED_Toggle(LED2);
}
}
}
static void eventCallback(UAVObjEvent* ev)
{
const char* name = UAVObjGetName(ev->obj);
}
static void eventCallbackPeriodic(UAVObjEvent* ev)
{
static int lastUpdate;
testDelay = xTaskGetTickCount() - lastUpdate;
lastUpdate = xTaskGetTickCount();
const char* name = UAVObjGetName(ev->obj);
PIOS_LED_Toggle(LED1);
ExampleObject1Updated();
}
void vApplicationIdleHook(void)
{
/* Called when the scheduler has no tasks to run */
}

52
flight/OpenPilot/UAVObjects/eventdispatcher.c
View File

@ -27,11 +27,10 @@
#include "openpilot.h"
// Private constants
#define MAX_QUEUE_SIZE 10
#define STACK_SIZE 100
#define TASK_PRIORITY 100
#define MAX_QUEUE_SIZE 20
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define MAX_UPDATE_PERIOD_MS 1000
#define MIN_UPDATE_PERIOD_MS 1
// Private types
@ -56,14 +55,14 @@ struct PeriodicObjectListStruct {
typedef struct PeriodicObjectListStruct PeriodicObjectList;
// Private variables
PeriodicObjectList* objList;
xQueueHandle queue;
xTaskHandle eventTaskHandle;
xSemaphoreHandle mutex;
static PeriodicObjectList* objList;
static xQueueHandle queue;
static xTaskHandle eventTaskHandle;
static xSemaphoreHandle mutex;
// Private functions
int32_t processPeriodicUpdates();
void eventTask();
static int32_t processPeriodicUpdates();
static void eventTask();
/**
* Initialize the dispatcher
@ -80,7 +79,7 @@ int32_t EventDispatcherInitialize()
return -1;
// Create event queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo));
// Create task
xTaskCreate( eventTask, (signed char*)"Event", STACK_SIZE, NULL, TASK_PRIORITY, &eventTaskHandle );
@ -132,6 +131,7 @@ int32_t EventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t per
objEntry = (PeriodicObjectList*)pvPortMalloc(sizeof(PeriodicObjectList));
if (objEntry == NULL) return -1;
memcpy(&objEntry->evInfo.ev, ev, sizeof(UAVObjEvent));
objEntry->evInfo.cb = cb;
objEntry->updatePeriodMs = periodMs;
objEntry->timeToNextUpdateMs = 0;
// Add to list
@ -202,7 +202,7 @@ int32_t EventPeriodicDelete(UAVObjEvent* ev, UAVObjEventCallback cb)
/**
* Event task, responsible of invoking callbacks.
*/
void eventTask()
static void eventTask()
{
int32_t timeToNextUpdateMs;
int32_t delayMs;
@ -240,50 +240,42 @@ void eventTask()
* Handle periodic updates for all objects.
* \return The system time until the next update (in ms) or -1 if failed
*/
int32_t processPeriodicUpdates()
static int32_t processPeriodicUpdates()
{
static int32_t timeOfLastUpdate = 0;
PeriodicObjectList* objEntry;
int32_t delaySinceLastUpdateMs;
int32_t minDelay = MAX_UPDATE_PERIOD_MS;
int32_t timeNow;
int32_t timeToNextUpdate;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through each object and update its timer, if zero then transmit object.
// Also calculate smallest delay to next update.
delaySinceLastUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS - timeOfLastUpdate;
timeToNextUpdate = xTaskGetTickCount()*portTICK_RATE_MS + MAX_UPDATE_PERIOD_MS;
LL_FOREACH(objList, objEntry)
{
// If object is configured for periodic updates
if (objEntry->updatePeriodMs > 0)
{
objEntry->timeToNextUpdateMs -= delaySinceLastUpdateMs;
// Check if time for the next update
if (objEntry->timeToNextUpdateMs <= 0)
timeNow = xTaskGetTickCount()*portTICK_RATE_MS;
if (objEntry->timeToNextUpdateMs <= timeNow)
{
// Reset timer
objEntry->timeToNextUpdateMs = objEntry->updatePeriodMs;
objEntry->timeToNextUpdateMs = timeNow + objEntry->updatePeriodMs;
// Invoke callback
objEntry->evInfo.cb(&objEntry->evInfo.ev); // the function is expected to copy the event information
}
// Update minimum delay
if (objEntry->timeToNextUpdateMs < minDelay)
if (objEntry->timeToNextUpdateMs < timeToNextUpdate)
{
minDelay = objEntry->timeToNextUpdateMs;
timeToNextUpdate = objEntry->timeToNextUpdateMs;
}
}
}
// Check if delay for the next update is too short
if (minDelay < MIN_UPDATE_PERIOD_MS)
{
minDelay = MIN_UPDATE_PERIOD_MS;
}
// Done
timeOfLastUpdate = xTaskGetTickCount()*portTICK_RATE_MS;
xSemaphoreGiveRecursive(mutex);
return timeOfLastUpdate + minDelay;
return timeToNextUpdate;
}

2
flight/OpenPilot/UAVObjects/exampleobject1.c
View File

@ -32,7 +32,7 @@
#include "exampleobject1.h"
// Private variables
UAVObjHandle handle;
static UAVObjHandle handle;
/**
* Initialize object.

2
flight/OpenPilot/UAVObjects/exampleobject2.c
View File

@ -32,7 +32,7 @@
#include "exampleobject2.h"
// Private variables
UAVObjHandle handle;
static UAVObjHandle handle;
/**
* Initialize object.

2
flight/OpenPilot/UAVObjects/examplesettings.c
View File

@ -32,7 +32,7 @@
#include "examplesettings.h"
// Private variables
UAVObjHandle handle;
static UAVObjHandle handle;
/**
* Initialize object.

11
flight/OpenPilot/UAVObjects/inc/exampleobject1.h
View File

@ -41,11 +41,20 @@
#define EXAMPLEOBJECT1_ISSETTINGS 0
#define EXAMPLEOBJECT1_NUMBYTES sizeof(ExampleObject1Data)
// Data access macros
// Object access macros
#define ExampleObject1Get(dataOut) UAVObjGetData(ExampleObject1Handle(), dataOut)
#define ExampleObject1Set(dataIn) UAVObjSetData(ExampleObject1Handle(), dataIn)
#define ExampleObject1InstGet(instId, dataOut) UAVObjGetInstanceData(ExampleObject1Handle(), instId, dataOut)
#define ExampleObject1InstSet(instId, dataIn) UAVObjSetInstanceData(ExampleObject1Handle(), instId, dataIn)
#define ExampleObject1ConnectQueue(queue) UAVObjConnectQueue(ExampleObject1Handle(), queue, EV_MASK_ALL_UPDATES)
#define ExampleObject1ConnectCallback(cb) UAVObjConnectCallback(ExampleObject1Handle(), cb, EV_MASK_ALL_UPDATES)
#define ExampleObject1CreateInstance() UAVObjCreateInstance(ExampleObject1Handle())
#define ExampleObject1RequestUpdate() UAVObjRequestUpdate(ExampleObject1Handle())
#define ExampleObject1RequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ExampleObject1Handle(), instId)
#define ExampleObject1Updated() UAVObjUpdated(ExampleObject1Handle())
#define ExampleObject1InstUpdated(instId) UAVObjUpdated(ExampleObject1Handle(), instId)
#define ExampleObject1GetMetadata(dataOut) UAVObjGetMetadata(ExampleObject1Handle(), dataOut)
#define ExampleObject1SetMetadata(dataIn) UAVObjSetMetadata(ExampleObject1Handle(), dataIn)
// Object data
typedef struct {

11
flight/OpenPilot/UAVObjects/inc/exampleobject2.h
View File

@ -41,11 +41,20 @@
#define EXAMPLEOBJECT2_ISSETTINGS 0
#define EXAMPLEOBJECT2_NUMBYTES sizeof(ExampleObject2Data)
// Data access macros
// Object access macros
#define ExampleObject2Get(dataOut) UAVObjGetData(ExampleObject2Handle(), dataOut)
#define ExampleObject2Set(dataIn) UAVObjSetData(ExampleObject2Handle(), dataIn)
#define ExampleObject2InstGet(instId, dataOut) UAVObjGetInstanceData(ExampleObject2Handle(), instId, dataOut)
#define ExampleObject2InstSet(instId, dataIn) UAVObjSetInstanceData(ExampleObject2Handle(), instId, dataIn)
#define ExampleObject2ConnectQueue(queue) UAVObjConnectQueue(ExampleObject2Handle(), queue, EV_MASK_ALL_UPDATES)
#define ExampleObject2ConnectCallback(cb) UAVObjConnectCallback(ExampleObject2Handle(), cb, EV_MASK_ALL_UPDATES)
#define ExampleObject2CreateInstance() UAVObjCreateInstance(ExampleObject2Handle())
#define ExampleObject2RequestUpdate() UAVObjRequestUpdate(ExampleObject2Handle())
#define ExampleObject2RequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ExampleObject2Handle(), instId)
#define ExampleObject2Updated() UAVObjUpdated(ExampleObject2Handle())
#define ExampleObject2InstUpdated(instId) UAVObjUpdated(ExampleObject2Handle(), instId)
#define ExampleObject2GetMetadata(dataOut) UAVObjGetMetadata(ExampleObject2Handle(), dataOut)
#define ExampleObject2SetMetadata(dataIn) UAVObjSetMetadata(ExampleObject2Handle(), dataIn)
// Object data
typedef struct {

11
flight/OpenPilot/UAVObjects/inc/examplesettings.h
View File

@ -41,11 +41,20 @@
#define EXAMPLESETTINGS_ISSETTINGS 1
#define EXAMPLESETTINGS_NUMBYTES sizeof(ExampleSettingsData)
// Data access macros
// Object access macros
#define ExampleSettingsGet(dataOut) UAVObjGetData(ExampleSettingsHandle(), dataOut)
#define ExampleSettingsSet(dataIn) UAVObjSetData(ExampleSettingsHandle(), dataIn)
#define ExampleSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(ExampleSettingsHandle(), instId, dataOut)
#define ExampleSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(ExampleSettingsHandle(), instId, dataIn)
#define ExampleSettingsConnectQueue(queue) UAVObjConnectQueue(ExampleSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define ExampleSettingsConnectCallback(cb) UAVObjConnectCallback(ExampleSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
#define ExampleSettingsCreateInstance() UAVObjCreateInstance(ExampleSettingsHandle())
#define ExampleSettingsRequestUpdate() UAVObjRequestUpdate(ExampleSettingsHandle())
#define ExampleSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ExampleSettingsHandle(), instId)
#define ExampleSettingsUpdated() UAVObjUpdated(ExampleSettingsHandle())
#define ExampleSettingsInstUpdated(instId) UAVObjUpdated(ExampleSettingsHandle(), instId)
#define ExampleSettingsGetMetadata(dataOut) UAVObjGetMetadata(ExampleSettingsHandle(), dataOut)
#define ExampleSettingsSetMetadata(dataIn) UAVObjSetMetadata(ExampleSettingsHandle(), dataIn)
// Object data
typedef struct {

5
flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
View File

@ -96,13 +96,12 @@ UAVObjHandle UAVObjGetByName(char* name);
uint32_t UAVObjGetID(UAVObjHandle obj);
const char* UAVObjGetName(UAVObjHandle obj);
uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
uint32_t UAVObjGetNumInstances(UAVObjHandle obj);
uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
int32_t UAVObjCreateInstance(UAVObjHandle obj);
uint16_t UAVObjCreateInstance(UAVObjHandle obj);
int32_t UAVObjIsSingleInstance(UAVObjHandle obj);
int32_t UAVObjIsMetaobject(UAVObjHandle obj);
int32_t UAVObjIsSettings(UAVObjHandle obj);
int32_t UAVObjInitData(UAVObjHandle obj, const char* init);
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn);
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut);
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId);

11
flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h
View File

@ -41,11 +41,20 @@
#define $(NAMEUC)_ISSETTINGS $(ISSETTINGS)
#define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
// Data access macros
// Object access macros
#define $(NAME)Get(dataOut) UAVObjGetData($(NAME)Handle(), dataOut)
#define $(NAME)Set(dataIn) UAVObjSetData($(NAME)Handle(), dataIn)
#define $(NAME)InstGet(instId, dataOut) UAVObjGetInstanceData($(NAME)Handle(), instId, dataOut)
#define $(NAME)InstSet(instId, dataIn) UAVObjSetInstanceData($(NAME)Handle(), instId, dataIn)
#define $(NAME)ConnectQueue(queue) UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES)
#define $(NAME)ConnectCallback(cb) UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES)
#define $(NAME)CreateInstance() UAVObjCreateInstance($(NAME)Handle())
#define $(NAME)RequestUpdate() UAVObjRequestUpdate($(NAME)Handle())
#define $(NAME)RequestInstUpdate(instId) UAVObjRequestInstanceUpdate($(NAME)Handle(), instId)
#define $(NAME)Updated() UAVObjUpdated($(NAME)Handle())
#define $(NAME)InstUpdated(instId) UAVObjUpdated($(NAME)Handle(), instId)
#define $(NAME)GetMetadata(dataOut) UAVObjGetMetadata($(NAME)Handle(), dataOut)
#define $(NAME)SetMetadata(dataIn) UAVObjSetMetadata($(NAME)Handle(), dataIn)
// Object data
typedef struct {

52
flight/OpenPilot/UAVObjects/uavobjectmanager.c
View File

@ -70,16 +70,16 @@ struct ObjectListStruct {
typedef struct ObjectListStruct ObjectList;
// Private functions
int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event);
ObjectInstList* createInstance(ObjectList* obj, uint16_t instId);
ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event);
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);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
// Private variables
ObjectList* objList;
xSemaphoreHandle mutex;
UAVObjMetadata defMetadata;
static ObjectList* objList;
static xSemaphoreHandle mutex;
static UAVObjMetadata defMetadata;
/**
* Initialize the object manager
@ -299,7 +299,7 @@ UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
* \param[in] obj The object handle
* \return The number of instances
*/
uint32_t UAVObjGetNumInstances(UAVObjHandle obj)
uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
{
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -311,9 +311,9 @@ uint32_t UAVObjGetNumInstances(UAVObjHandle obj)
/**
* Create a new instance in the object.
* \param[in] obj The object handle
* \return The instance ID or -1 if an error
* \return The instance ID or 0 if an error
*/
int32_t UAVObjCreateInstance(UAVObjHandle obj)
uint16_t UAVObjCreateInstance(UAVObjHandle obj)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
@ -365,18 +365,6 @@ int32_t UAVObjIsSettings(UAVObjHandle obj)
return ((ObjectList*)obj)->isSettings;
}
/**
* Initialize object data from a string (usually stored as a settings file)
* \param[in] obj The object handle
* \param[in] init Text with initialization information (settings file)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjInitData(UAVObjHandle obj, const char* init)
{
// TODO: Implement object data initialization from string (settings)
return -1;
}
/**
* Unpack an object from a byte array
* \param[in] obj The object handle
@ -784,15 +772,15 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList*)obj;
if (objEntry->isMetaobject)
if (!objEntry->isMetaobject)
{
memcpy(&defMetadata, dataIn, sizeof(UAVObjMetadata));
UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
}
else
{
UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
return -1;
}
// Unlock
@ -963,7 +951,7 @@ void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
/**
* Send an event to all event queues registered on the object.
*/
int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
{
ObjectQueueList* queueEntry;
UAVObjEvent msg;
@ -998,7 +986,7 @@ int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
/**
* Create a new object instance, return the instance info or NULL if failure.
*/
ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
{
ObjectInstList* instEntry;
int32_t n;
@ -1050,7 +1038,7 @@ ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
/**
* Get the instance information or NULL if the instance does not exist
*/
ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
{
ObjectInstList* instEntry;
@ -1074,7 +1062,7 @@ ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask)
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask)
{
ObjectQueueList* queueEntry;
ObjectList* objEntry;
@ -1113,7 +1101,7 @@ int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb,
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
{
ObjectQueueList* queueEntry;
ObjectList* objEntry;

2
flight/OpenPilot/UAVObjects/uavobjecttemplate.c
View File

@ -32,7 +32,7 @@
#include "$(NAMELC).h"
// Private variables
UAVObjHandle handle;
static UAVObjHandle handle;
/**
* Initialize object.

38
flight/OpenPilot/UAVTalk/uavtalk.c
View File

@ -44,21 +44,21 @@
typedef enum {STATE_SYNC, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxState;
// Private variables
UAVTalkOutputStream outStream;
xSemaphoreHandle lock;
xSemaphoreHandle respSema;
UAVObjHandle respObj;
uint16_t respInstId;
uint8_t rxBuffer[MAX_PACKET_LENGTH];
uint8_t txBuffer[MAX_PACKET_LENGTH];
static UAVTalkOutputStream outStream;
static xSemaphoreHandle lock;
static xSemaphoreHandle respSema;
static UAVObjHandle respObj;
static uint16_t respInstId;
static uint8_t rxBuffer[MAX_PACKET_LENGTH];
static uint8_t txBuffer[MAX_PACKET_LENGTH];
// Private functions
uint16_t updateChecksum(uint16_t cs, uint8_t* data, int32_t length);
int32_t objectTransaction(uint32_t objectId, uint16_t instId, uint8_t type, int32_t timeout);
int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t* data, int32_t length);
void updateAck(UAVObjHandle obj, uint16_t instId);
static uint16_t updateChecksum(uint16_t cs, uint8_t* data, int32_t length);
static int32_t objectTransaction(uint32_t objectId, uint16_t instId, uint8_t type, int32_t timeout);
static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
static int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t* data, int32_t length);
static void updateAck(UAVObjHandle obj, uint16_t instId);
/**
* Initialize the UAVTalk library
@ -121,7 +121,7 @@ int32_t UAVTalkSendObject(UAVObjHandle obj, uint16_t instId, uint8_t acked, int3
* \return 0 Success
* \return -1 Failure
*/
int32_t objectTransaction(UAVObjHandle obj, uint16_t instId, uint8_t type, int32_t timeoutMs)
static int32_t objectTransaction(UAVObjHandle obj, uint16_t instId, uint8_t type, int32_t timeoutMs)
{
int32_t respReceived;
@ -303,7 +303,7 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
* \return 0 Success
* \return -1 Failure
*/
int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t* data, int32_t length)
static int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t* data, int32_t length)
{
int32_t ret = 0;
@ -369,7 +369,7 @@ int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t*
/**
* Check if an ack is pending on an object and give response semaphore
*/
void updateAck(UAVObjHandle obj, uint16_t instId)
static void updateAck(UAVObjHandle obj, uint16_t instId)
{
if (respObj == obj && (respInstId == instId || respInstId == UAVOBJ_ALL_INSTANCES))
{
@ -386,7 +386,7 @@ void updateAck(UAVObjHandle obj, uint16_t instId)
* \return 0 Success
* \return -1 Failure
*/
int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
{
uint32_t numInst;
uint32_t n;
@ -445,7 +445,7 @@ int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
* \return 0 Success
* \return -1 Failure
*/
int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
{
int32_t length;
int32_t dataOffset;
@ -517,7 +517,7 @@ int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
* \param[in] length Length of buffer
* \return Updated checksum
*/
uint16_t updateChecksum(uint16_t cs, uint8_t* data, int32_t length)
static uint16_t updateChecksum(uint16_t cs, uint8_t* data, int32_t length)
{
int32_t n;
for (n = 0; n < length; ++n)