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Merge branch 'OP-499_216_Saving'

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This commit is contained in:
James Cotton 2011-05-15 10:09:29 -05:00
commit eb2d094a66
8 changed files with 1981 additions and 1743 deletions
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1
flight/CopterControl/Makefile
View File

@ -205,6 +205,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
SRC += $(PIOSCOMMON)/pios_flash_w25x.c
SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSCOMMON)/pios_com.c

4
flight/CopterControl/System/pios_board.c
View File

@ -678,8 +678,10 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Assert(0);
}
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
PIOS_FLASHFS_Init();
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */

8
flight/PiOS/Common/pios_flash_w25x.c
View File

@ -222,6 +222,14 @@ int8_t PIOS_Flash_W25X_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
return 0;
}
/**
* @brief Read data from a location in flash memory
* @param[in] addr Address in flash to write to
* @param[in] data Pointer to data to write from flash
* @param[in] len Length of data to write (max 256 bytes)
* @return Zero if success or error code
* @retval -1 Unable to claim SPI bus
*/
int8_t PIOS_Flash_W25X_ReadData(uint32_t addr, uint8_t * data, uint16_t len)
{
if(PIOS_Flash_W25X_ClaimBus() == -1)

294
flight/PiOS/Common/pios_flashfs_objlist.c Normal file
View File

@ -0,0 +1,294 @@
/**
******************************************************************************
*
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
* @{
*
* @file pios_flashfs_objlist.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief A file system for storing UAVObject in flash chip
* @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 "uavobjectmanager.h"
// Private functions
static int32_t PIOS_FLASHFS_CleabObjectTableHeader();
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
// Private variables
static int32_t numObjects = -1;
// Private structures
// Header for objects in the file system table
struct objectHeader {
uint32_t objMagic;
uint32_t objId;
uint32_t instId;
uint32_t address;
} __attribute__((packed));;
struct fileHeader {
uint32_t id;
uint16_t instId;
uint16_t size;
} __attribute__((packed));
#define OBJECT_TABLE_MAGIC 0x85FB3C33
#define OBJ_MAGIC 0x3015AE71
#define OBJECT_TABLE_START 0x00000010
#define OBJECT_TABLE_END 0x00001000
#define SECTOR_SIZE 0x00001000
/**
* @brief Initialize the flash object setting FS
* @return 0 if success, -1 if failure
*/
int32_t PIOS_FLASHFS_Init()
{
// Check for valid object table or create one
uint32_t object_table_magic;
if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
return -1;
if(object_table_magic != OBJECT_TABLE_MAGIC) {
if(PIOS_FLASHFS_CleabObjectTableHeader() < 0)
return -1;
}
int32_t addr = OBJECT_TABLE_START;
struct objectHeader header;
numObjects = 0;
// Loop through header area while objects detect to count how many saved
while(addr < OBJECT_TABLE_END) {
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
return -1;
// Counting number of valid headers
if(header.objMagic != OBJ_MAGIC)
break;
numObjects++;
addr += sizeof(header);
}
return 0;
}
/**
* @brief Erase the headers for all objects in the flash chip
* @return 0 if successful, -1 if not
*/
static int32_t PIOS_FLASHFS_CleabObjectTableHeader()
{
if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0)
return -1;
uint32_t object_table_magic = OBJECT_TABLE_MAGIC;
if (PIOS_Flash_W25X_WriteData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
return -1;
return 0;
}
/**
* @brief Get the address of an object
* @param obj UAVObjHandle for that object
* @parma instId Instance id for that object
* @return address if successful, -1 if not found
*/
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
{
int32_t addr = OBJECT_TABLE_START;
struct objectHeader header;
// Loop through header area while objects detect to count how many saved
while(addr < OBJECT_TABLE_END) {
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -1;
if(header.objMagic != OBJ_MAGIC)
break; // stop searching once hit first non-object header
else if (header.objId == objId && header.instId == instId)
break;
addr += sizeof(header);
}
if (header.objId == objId && header.instId == instId)
return header.address;
return -1;
}
/**
* @brief Returns an address for a new object and creates entry into object table
* @param[in] obj Object handle for object to be saved
* @param[in] instId The instance id of object to be saved
* @return 0 if success or error code
* @retval -1 Object not found
* @retval -2 No room in object table
* @retval -3 Unable to write entry into object table
* @retval -4 FS not initialized
*/
int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
{
struct objectHeader header;
if(numObjects < 0)
return -4;
// Don't worry about max size of flash chip here, other code will catch that
header.objMagic = OBJ_MAGIC;
header.objId = objId;
header.instId = instId;
header.address = OBJECT_TABLE_END + SECTOR_SIZE * numObjects;
int32_t addr = OBJECT_TABLE_START + sizeof(header) * numObjects;
// No room for this header in object table
if((addr + sizeof(header)) > OBJECT_TABLE_END)
return -2;
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// This numObejcts value must stay consistent or there will be a break in the table
// and later the table will have bad values in it
numObjects++;
return header.address;
}
/**
* @brief Saves one object instance per sector
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or -1 if failure
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
// Could not allocate a sector
if(addr < 0)
return -1;
struct fileHeader header = {
.id = objId,
.instId = instId,
.size = UAVObjGetNumBytes(obj)
};
if(PIOS_Flash_W25X_EraseSector(addr) != 0)
return -2;
// Save header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// Save data
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
return -4;
return 0;
}
/**
* @brief Load one object instance per sector
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or error code
* @retval -1 if object not in file table
* @retval -2 if unable to retrieve object header
* @retval -3 if loaded data instId or objId don't match
* @retval -4 if unable to retrieve instance data
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
return -1;
struct fileHeader header;
// Load header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -2;
if((header.id != objId) || (header.instId != instId))
return -3;
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
return -4;
return 0;
}
/**
* @brief Delete object from flash
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or error code
* @retval -1 if object not in file table
* @retval -2 Erase failed
* @note To avoid buffering the file table (1k ram!) the entry in the file table
* remains but destination sector is erased. This will make the load fail as the
* file header won't match the object. At next save it goes back there.
*/
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
{
uint32_t objId = UAVObjGetID(obj);
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
return -1;
if(PIOS_Flash_W25X_EraseSector(addr) != 0)
return -2;
return 0;
}

37
flight/PiOS/inc/pios_flashfs_objlist.h Normal file
View File

@ -0,0 +1,37 @@
/**
******************************************************************************
*
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
* @{
*
* @file pios_flashfs_objlist.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief A file system for storing UAVObject in flash chip
* @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 "uavobjectmanager.h"
int32_t PIOS_FLASHFS_Init();
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);

271
flight/PiOS/pios.h
View File

@ -1,135 +1,136 @@
/**
******************************************************************************
*
* @file pios.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main PiOS header.
* - Central header for the project.
* @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
*/
#ifndef PIOS_H
#define PIOS_H
/* PIOS Feature Selection */
#include "pios_config.h"
#if defined(PIOS_INCLUDE_FREERTOS)
/* FreeRTOS Includes */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#endif
/* C Lib Includes */
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
/* STM32 Std Perf Lib */
#include <stm32f10x.h>
#include <stm32f10x_conf.h>
#if defined(PIOS_INCLUDE_SDCARD)
/* Dosfs Includes */
#include <dosfs.h>
/* Mass Storage Device Includes */
#include <msd.h>
#endif
/* Generic initcall infrastructure */
#include "pios_initcall.h"
/* PIOS Board Specific Device Configuration */
#include "pios_board.h"
/* PIOS Hardware Includes (STM32F10x) */
#include <pios_sys.h>
#include <pios_delay.h>
#include <pios_led.h>
#include <pios_sdcard.h>
#include <pios_usart.h>
#include <pios_irq.h>
#include <pios_adc.h>
#include <pios_servo.h>
#include <pios_i2c.h>
#include <pios_spi.h>
#include <pios_ppm.h>
#include <pios_pwm.h>
#include <pios_spektrum.h>
#include <pios_usb_hid.h>
#include <pios_debug.h>
#include <pios_gpio.h>
#if defined(PIOS_INCLUDE_EXTI)
#include <pios_exti.h>
#endif
#include <pios_wdg.h>
/* PIOS Hardware Includes (Common) */
#include <pios_sdcard.h>
#include <pios_com.h>
#if defined(PIOS_INCLUDE_BMP085)
#include <pios_bmp085.h>
#endif
#if defined(PIOS_INCLUDE_HCSR04)
#include <pios_hcsr04.h>
#endif
#if defined(PIOS_INCLUDE_HMC5843)
#include <pios_hmc5843.h>
#endif
#if defined(PIOS_INCLUDE_HMC5883)
#include <pios_hmc5883.h>
#endif
#if defined(PIOS_INCLUDE_I2C_ESC)
#include <pios_i2c_esc.h>
#endif
#if defined(PIOS_INCLUDE_IMU3000)
#include <pios_imu3000.h>
#endif
#include <pios_iap.h>
#if defined(PIOS_INCLUDE_ADXL345)
#include <pios_adxl345.h>
#endif
#if defined(PIOS_INCLUDE_BMA180)
#include <pios_bma180.h>
#endif
#if defined(PIOS_INCLUDE_FLASH)
#include <pios_flash_w25x.h>
#endif
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_bl_helper.h>
#endif
#if defined(PIOS_INCLUDE_USB)
/* USB Libs */
#include <usb_lib.h>
#endif
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
#endif /* PIOS_H */
/**
******************************************************************************
*
* @file pios.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main PiOS header.
* - Central header for the project.
* @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
*/
#ifndef PIOS_H
#define PIOS_H
/* PIOS Feature Selection */
#include "pios_config.h"
#if defined(PIOS_INCLUDE_FREERTOS)
/* FreeRTOS Includes */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#endif
/* C Lib Includes */
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
/* STM32 Std Perf Lib */
#include <stm32f10x.h>
#include <stm32f10x_conf.h>
#if defined(PIOS_INCLUDE_SDCARD)
/* Dosfs Includes */
#include <dosfs.h>
/* Mass Storage Device Includes */
#include <msd.h>
#endif
/* Generic initcall infrastructure */
#include "pios_initcall.h"
/* PIOS Board Specific Device Configuration */
#include "pios_board.h"
/* PIOS Hardware Includes (STM32F10x) */
#include <pios_sys.h>
#include <pios_delay.h>
#include <pios_led.h>
#include <pios_sdcard.h>
#include <pios_usart.h>
#include <pios_irq.h>
#include <pios_adc.h>
#include <pios_servo.h>
#include <pios_i2c.h>
#include <pios_spi.h>
#include <pios_ppm.h>
#include <pios_pwm.h>
#include <pios_spektrum.h>
#include <pios_usb_hid.h>
#include <pios_debug.h>
#include <pios_gpio.h>
#if defined(PIOS_INCLUDE_EXTI)
#include <pios_exti.h>
#endif
#include <pios_wdg.h>
/* PIOS Hardware Includes (Common) */
#include <pios_sdcard.h>
#include <pios_com.h>
#if defined(PIOS_INCLUDE_BMP085)
#include <pios_bmp085.h>
#endif
#if defined(PIOS_INCLUDE_HCSR04)
#include <pios_hcsr04.h>
#endif
#if defined(PIOS_INCLUDE_HMC5843)
#include <pios_hmc5843.h>
#endif
#if defined(PIOS_INCLUDE_HMC5883)
#include <pios_hmc5883.h>
#endif
#if defined(PIOS_INCLUDE_I2C_ESC)
#include <pios_i2c_esc.h>
#endif
#if defined(PIOS_INCLUDE_IMU3000)
#include <pios_imu3000.h>
#endif
#include <pios_iap.h>
#if defined(PIOS_INCLUDE_ADXL345)
#include <pios_adxl345.h>
#endif
#if defined(PIOS_INCLUDE_BMA180)
#include <pios_bma180.h>
#endif
#if defined(PIOS_INCLUDE_FLASH)
#include <pios_flash_w25x.h>
#include <pios_flashfs_objlist.h>
#endif
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_bl_helper.h>
#endif
#if defined(PIOS_INCLUDE_USB)
/* USB Libs */
#include <usb_lib.h>
#endif
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
#endif /* PIOS_H */

4
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -3171,6 +3171,8 @@
65FF4BE913791C3300146BE4 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
65FF4BEA13791C3300146BE4 /* op_dfu.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = op_dfu.c; sourceTree = "<group>"; };
65FF4BEB13791C3300146BE4 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_flashfs_objlist.c; sourceTree = "<group>"; };
65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_flashfs_objlist.h; sourceTree = "<group>"; };
/* End PBXFileReference section */
/* Begin PBXGroup section */
@ -7657,6 +7659,7 @@
65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
6528CCB412E406B800CF5144 /* pios_adxl345.c */,
6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
);
name = Common;
path = ../../PiOS/Common;
@ -7681,6 +7684,7 @@
65E8F03E11EFF25C00BBF654 /* pios_debug.h */,
65E8F03F11EFF25C00BBF654 /* pios_delay.h */,
65E8F04011EFF25C00BBF654 /* pios_exti.h */,
65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
65E8F04311EFF25C00BBF654 /* pios_i2c.h */,

3105
flight/UAVObjects/uavobjectmanager.c
View File

@ -1,1607 +1,1498 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @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"
// Constants
// Private types
/**
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
int32_t eventMask;
struct ObjectEventListStruct* next;
};
typedef struct ObjectEventListStruct ObjectEventList;
/**
* List of object instances, holds the actual data structure and instance ID
*/
struct ObjectInstListStruct {
void* data;
uint16_t instId;
struct ObjectInstListStruct* next;
};
typedef struct ObjectInstListStruct ObjectInstList;
/**
* List of objects registered in the object manager
*/
struct ObjectListStruct {
uint32_t id; /** 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 */
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 */
struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
};
typedef struct ObjectListStruct ObjectList;
// Private functions
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);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(ObjectList* obj, uint8_t* filename);
static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
#endif
// Private variables
static ObjectList* objList;
static xSemaphoreHandle mutex;
static UAVObjMetadata defMetadata;
static UAVObjStats stats;
/**
* Initialize the object manager
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVObjInitialize()
{
// Initialize variables
objList = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Initialize default metadata structure (metadata of metaobjects)
defMetadata.access = ACCESS_READWRITE;
defMetadata.gcsAccess = ACCESS_READWRITE;
defMetadata.telemetryAcked = 1;
defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.telemetryUpdatePeriod = 0;
defMetadata.gcsTelemetryAcked = 1;
defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.gcsTelemetryUpdatePeriod = 0;
defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.loggingUpdatePeriod = 0;
// Done
return 0;
}
/**
* Get the statistics counters
* @param[out] statsOut The statistics counters will be copied there
*/
void UAVObjGetStats(UAVObjStats* statsOut)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Clear the statistics counters
*/
void UAVObjClearStats()
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Register and new object in the object manager.
* \param[in] id Unique object ID
* \param[in] name Object name
* \param[in] nameName Metaobject name
* \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
* \param[in] isSingleInstance Is this a single instance or multi-instance object
* \param[in] isSettings Is this a settings object
* \param[in] numBytes Number of bytes of object data (for one instance)
* \param[in] initCb Default field and metadata initialization function
* \return Object handle, or NULL if failure.
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
ObjectList* metaObj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check that the object is not already registered
LL_FOREACH(objList, objEntry)
{
if (objEntry->id == id)
{
// Already registered, ignore
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Create and append entry
objEntry = (ObjectList*)pvPortMalloc(sizeof(ObjectList));
if (objEntry == NULL)
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry->id = id;
objEntry->name = name;
objEntry->isMetaobject = (int8_t)isMetaobject;
objEntry->isSingleInstance = (int8_t)isSingleInstance;
objEntry->isSettings = (int8_t)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
LL_APPEND(objList, objEntry);
// Create instance zero
instEntry = createInstance(objEntry, 0);
if ( instEntry == NULL )
{
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;
}
// 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 ( !objEntry->isMetaobject )
{
UAVObjLoad( (UAVObjHandle)objEntry->linkedObj, 0 );
}
// If this is a settings object, attempt to load from SD card
if ( objEntry->isSettings )
{
UAVObjLoad( (UAVObjHandle)objEntry, 0 );
}
// Release lock
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle)objEntry;
}
/**
* Retrieve an object from the list given its id
* \param[in] The object ID
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByID(uint32_t id)
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry)
{
if (objEntry->id == id)
{
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle)objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Retrieve an object from the list given its name
* \param[in] name The name of the object
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByName(char* name)
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry)
{
if (objEntry->name != NULL && strcmp(objEntry->name, name) == 0)
{
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle)objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Get the object's ID
* \param[in] obj The object handle
* \return The object ID
*/
uint32_t UAVObjGetID(UAVObjHandle obj)
{
return ((ObjectList*)obj)->id;
}
/**
* Get the object's name
* \param[in] obj The object handle
* \return The object's name
*/
const char* UAVObjGetName(UAVObjHandle obj)
{
return ((ObjectList*)obj)->name;
}
/**
* Get the number of bytes of the object's data (for one instance)
* \param[in] obj The object handle
* \return The number of bytes
*/
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
return ((ObjectList*)obj)->numBytes;
}
/**
* Get the object this object is linked to. For regular objects, the linked object
* is the metaobject. For metaobjects the linked object is the parent object.
* This function is normally only needed by the telemetry module.
* \param[in] obj The object handle
* \return The object linked object handle
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
{
return (UAVObjHandle)(((ObjectList*)obj)->linkedObj);
}
/**
* Get the number of instances contained in the object.
* \param[in] obj The object handle
* \return The number of instances
*/
uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
{
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ((ObjectList*)obj)->numInstances;
xSemaphoreGiveRecursive(mutex);
return numInstances;
}
/**
* Create a new instance in the object.
* \param[in] obj The object handle
* \return The instance ID or 0 if an error
*/
uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Create new instance
objEntry = (ObjectList*)obj;
instEntry = createInstance(objEntry, objEntry->numInstances);
if ( instEntry == NULL )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Initialize instance data
if ( initCb != NULL )
{
initCb(obj, instEntry->instId);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return instEntry->instId;
}
/**
* Does this object contains a single instance or multiple instances?
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
return ((ObjectList*)obj)->isSingleInstance;
}
/**
* Is this a metaobject?
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
return ((ObjectList*)obj)->isMetaobject;
}
/**
* Is this a settings object?
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
return ((ObjectList*)obj)->isSettings;
}
/**
* Unpack an object from a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[in] dataIn The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList*)obj;
// 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);
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Pack an object to a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[out] dataOut The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Save the data of the specified object instance to the file system (SD card).
* The object will be appended and the file will not be closed.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
ObjectList* objEntry;
ObjectInstList* instEntry;
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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 (!objEntry->isSingleInstance)
{
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);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
struct fileHeader {
uint32_t id;
uint16_t instId;
uint16_t size;
} __attribute__((packed));
#define FLASH_MASK 0x001ff000 /* Select a sector */
/**
* Save the data of the specified object to the file system (SD card).
* If the object contains multiple instances, all of them will be saved.
* A new file with the name of the object will be created.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList* objEntry = (ObjectList*)obj;
if(objEntry == NULL)
return -1;
ObjectInstList* instEntry = getInstance(objEntry, instId);
if(instEntry == NULL)
return -1;
if(instEntry->data == NULL)
return -1;
struct fileHeader header = {
.id = objEntry->id,
.instId = instId,
.size = objEntry->numBytes
};
uint32_t addr = (objEntry->id & FLASH_MASK);
PIOS_Flash_W25X_EraseSector(addr);
PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
PIOS_Flash_W25X_WriteData(addr + sizeof(header), instEntry->data,objEntry->numBytes);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList* objEntry;
uint8_t filename[14];
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList*)obj;
// Get filename
objectFilename(objEntry, filename);
// Open file
if ( PIOS_FOPEN_WRITE(filename,file) )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if ( UAVObjSaveToFile(obj, instId, &file) == -1 )
{
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Load an object from the file system (SD card).
* @param[in] file File to read from
* @return The handle of the object loaded or NULL if a failure
*/
UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
ObjectList* objEntry;
ObjectInstList* instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj;
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return NULL;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Read the object ID
if ( PIOS_FREAD(file,&objId,sizeof(objId),&bytesRead) )
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj = UAVObjGetByID(objId);
if ( obj == 0 )
{
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (ObjectList*)obj;
// Get the instance ID
instId = 0;
if ( !objEntry->isSingleInstance )
{
if ( PIOS_FREAD(file,&instId,sizeof(instId),&bytesRead) )
{
xSemaphoreGiveRecursive(mutex);
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;
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
#endif
}
/**
* Load an object from the file system (SD card).
* A file with the name of the object will be opened.
* The object data can be saved using the UAVObjSave function.
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList* objEntry = (ObjectList*)obj;
if(objEntry == NULL)
return -1;
ObjectInstList* instEntry = getInstance(objEntry, instId);
if(instEntry == NULL)
return -1;
if(instEntry->data == NULL)
return -1;
struct fileHeader header;
uint32_t addr = (objEntry->id & FLASH_MASK);
PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header));
if(header.id != objEntry->id)
return -1;
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr + sizeof(header) ,instEntry->data, objEntry->numBytes) != 0)
return -1;
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList* objEntry;
UAVObjHandle loadedObj;
ObjectList* loadedObjEntry;
uint8_t filename[14];
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList*)obj;
// Get filename
objectFilename(objEntry, filename);
// Open file
if ( PIOS_FOPEN_READ(filename,file) )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0)
{
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
loadedObjEntry = (ObjectList*)loadedObj;
if ( loadedObjEntry->id != objEntry->id )
{
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Delete an object from the file system (SD card).
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList* objEntry = (ObjectList*)obj;
if(objEntry == NULL)
return -1;
uint32_t addr = (objEntry->id & FLASH_MASK);
PIOS_Flash_W25X_EraseSector(addr);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
ObjectList* objEntry;
uint8_t filename[14];
// Check for file system availability
if ( PIOS_SDCARD_IsMounted() == 0 )
{
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList*)obj;
// Get filename
objectFilename(objEntry, filename);
// Delete file
PIOS_FUNLINK(filename);
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Save all settings objects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveSettings()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isSettings )
{
// Save object
if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Load all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadSettings()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isSettings )
{
// Load object
if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Delete all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteSettings()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isSettings )
{
// Save object
if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Save all metaobjects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveMetaobjects()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isMetaobject )
{
// Save object
if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Load all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadMetaobjects()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isMetaobject )
{
// Load object
if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Delete all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteMetaobjects()
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry)
{
// Check if this is a settings object
if ( objEntry->isMetaobject )
{
// Load object
if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn)
{
return UAVObjSetInstanceData(obj, 0, dataIn);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut)
{
return UAVObjGetInstanceData(obj, 0, dataOut);
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
UAVObjMetadata* mdata;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList*)obj;
// Check access level
if ( !objEntry->isMetaobject )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
if ( mdata->access == 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);
// Fire event
sendEvent(objEntry, instId, EV_UPDATED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object metadata
* \param[in] obj The object handle
* \param[in] dataIn The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
{
ObjectList* objEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList*)obj;
if (!objEntry->isMetaobject)
{
UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
}
else
{
return -1;
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the object metadata
* \param[in] obj The object handle
* \param[out] dataOut The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut)
{
ObjectList* objEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
objEntry = (ObjectList*)obj;
if (objEntry->isMetaobject)
{
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
}
else
{
UAVObjGetData((UAVObjHandle)objEntry->linkedObj, dataOut);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Check if an object is read only
* \param[in] obj The object handle
* \return
* \arg 0 if not read only
* \arg 1 if read only
* \arg -1 if unable to get meta data
*/
int8_t UAVObjReadOnly(UAVObjHandle obj)
{
ObjectList* objEntry;
UAVObjMetadata* mdata;
// Cast to object info
objEntry = (ObjectList*)obj;
// Check access level
if ( !objEntry->isMetaobject )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
return mdata->access == ACCESS_READONLY;
}
return -1;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* All events matching the event mask will be pushed to the event queue.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \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 UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event queue from the object.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
* The supplied callback will be invoked on all events matching the event mask.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \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 UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event callback from the object.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
*/
void UAVObjRequestUpdate(UAVObjHandle obj)
{
UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
* \param[in] instId Object instance ID to update
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList*)obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
*/
void UAVObjUpdated(UAVObjHandle obj)
{
UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
* \param[in] instId The object instance ID
*/
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList*)obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
/**
* Iterate through all objects in the list.
* \param iterator This function will be called once for each object,
* the object will be passed as a parameter
*/
void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
{
ObjectList* objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
LL_FOREACH(objList, objEntry)
{
(*iterator)((UAVObjHandle)objEntry);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
}
/**
* Send an event to all event queues registered on the object.
*/
static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
{
ObjectEventList* eventEntry;
UAVObjEvent msg;
// Setup event
msg.obj = (UAVObjHandle)obj;
msg.event = event;
msg.instId = instId;
// Go through each object and push the event message in the queue (if event is activated for the queue)
LL_FOREACH(obj->events, eventEntry)
{
if ( eventEntry->eventMask == 0 || (eventEntry->eventMask & event) != 0 )
{
// Send to queue if a valid queue is registered
if (eventEntry->queue != 0)
{
if ( xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE ) // will not block
{
++stats.eventErrors;
}
}
// Invoke callback (from event task) if a valid one is registered
if (eventEntry->cb != 0)
{
if ( EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE ) // invoke callback from the event task, will not block
{
++stats.eventErrors;
}
}
}
}
// Done
return 0;
}
/**
* Create a new object instance, return the instance info or NULL if failure.
*/
static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
{
ObjectInstList* instEntry;
int32_t n;
// For single instance objects, only instance zero is allowed
if (obj->isSingleInstance && instId != 0)
{
return NULL;
}
// Make sure that the instance ID is within limits
if (instId >= UAVOBJ_MAX_INSTANCES)
{
return NULL;
}
// Check if the instance already exists
if ( getInstance(obj, instId) != NULL )
{
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (n = obj->numInstances; n < instId; ++n)
{
if ( createInstance(obj, n) == NULL )
{
return NULL;
}
}
if(instId == 0) /* Instance 0 ObjectInstList allocated with ObjectList element */
{
instEntry = &obj->instances;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL) return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
} else
{
// Create the actual instance
instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
if (instEntry == NULL) return NULL;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL) return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
LL_APPEND(obj->instances.next, instEntry);
}
++obj->numInstances;
// Fire event
UAVObjInstanceUpdated((UAVObjHandle)obj, instId);
// Done
return instEntry;
}
/**
* Get the instance information or NULL if the instance does not exist
*/
static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
{
ObjectInstList* instEntry;
// Look for specified instance ID
LL_FOREACH(&(obj->instances), instEntry)
{
if (instEntry->instId == instId)
{
return instEntry;
}
}
// If this point is reached then instance id was not found
return NULL;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \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
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask)
{
ObjectEventList* eventEntry;
ObjectList* objEntry;
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (ObjectList*)obj;
LL_FOREACH(objEntry->events, eventEntry)
{
if ( eventEntry->queue == queue && eventEntry->cb == cb )
{
// Already connected, update event mask and return
eventEntry->eventMask = eventMask;
return 0;
}
}
// Add queue to list
eventEntry = (ObjectEventList*)pvPortMalloc(sizeof(ObjectEventList));
if (eventEntry == NULL)
{
return -1;
}
eventEntry->queue = queue;
eventEntry->cb = cb;
eventEntry->eventMask = eventMask;
LL_APPEND(objEntry->events, eventEntry);
// Done
return 0;
}
/**
* Disconnect an event queue from the object
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
{
ObjectEventList* eventEntry;
ObjectList* objEntry;
// Find queue and remove it
objEntry = (ObjectList*)obj;
LL_FOREACH(objEntry->events, eventEntry)
{
if ( ( eventEntry->queue == queue && eventEntry->cb == cb ) )
{
LL_DELETE(objEntry->events, eventEntry);
vPortFree(eventEntry);
return 0;
}
}
// If this point is reached the queue was not found
return -1;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* Wrapper for the sprintf function
*/
static void customSPrintf(uint8_t* buffer, uint8_t* format, ...)
{
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
}
/**
* Get an 8 character (plus extension) filename for the object.
*/
static void objectFilename(ObjectList* obj, uint8_t* filename)
{
customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
}
#endif /* PIOS_INCLUDE_SDCARD */
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @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"
// Constants
// Private types
/**
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
int32_t eventMask;
struct ObjectEventListStruct *next;
};
typedef struct ObjectEventListStruct ObjectEventList;
/**
* List of object instances, holds the actual data structure and instance ID
*/
struct ObjectInstListStruct {
void *data;
uint16_t instId;
struct ObjectInstListStruct *next;
};
typedef struct ObjectInstListStruct ObjectInstList;
/**
* List of objects registered in the object manager
*/
struct ObjectListStruct {
uint32_t id;
/** 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 */
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 */
struct ObjectListStruct *next;
/** Needed by linked list library (utlist.h) */
};
typedef struct ObjectListStruct ObjectList;
// Private functions
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);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(ObjectList * obj, uint8_t * filename);
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
// Private variables
static ObjectList *objList;
static xSemaphoreHandle mutex;
static UAVObjMetadata defMetadata;
static UAVObjStats stats;
/**
* Initialize the object manager
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVObjInitialize()
{
// Initialize variables
objList = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Initialize default metadata structure (metadata of metaobjects)
defMetadata.access = ACCESS_READWRITE;
defMetadata.gcsAccess = ACCESS_READWRITE;
defMetadata.telemetryAcked = 1;
defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.telemetryUpdatePeriod = 0;
defMetadata.gcsTelemetryAcked = 1;
defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.gcsTelemetryUpdatePeriod = 0;
defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.loggingUpdatePeriod = 0;
// Done
return 0;
}
/**
* Get the statistics counters
* @param[out] statsOut The statistics counters will be copied there
*/
void UAVObjGetStats(UAVObjStats * statsOut)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Clear the statistics counters
*/
void UAVObjClearStats()
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Register and new object in the object manager.
* \param[in] id Unique object ID
* \param[in] name Object name
* \param[in] nameName Metaobject name
* \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
* \param[in] isSingleInstance Is this a single instance or multi-instance object
* \param[in] isSettings Is this a settings object
* \param[in] numBytes Number of bytes of object data (for one instance)
* \param[in] initCb Default field and metadata initialization function
* \return Object handle, or NULL if failure.
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
const char *metaName, int32_t isMetaobject,
int32_t isSingleInstance, int32_t isSettings,
uint32_t numBytes,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
ObjectList *metaObj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check that the object is not already registered
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Already registered, ignore
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Create and append entry
objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry->id = id;
objEntry->name = name;
objEntry->isMetaobject = (int8_t) isMetaobject;
objEntry->isSingleInstance = (int8_t) isSingleInstance;
objEntry->isSettings = (int8_t) 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
LL_APPEND(objList, objEntry);
// Create instance zero
instEntry = createInstance(objEntry, 0);
if (instEntry == NULL) {
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;
}
// 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 (!objEntry->isMetaobject) {
UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
}
// If this is a settings object, attempt to load from SD card
if (objEntry->isSettings) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) objEntry;
}
/**
* Retrieve an object from the list given its id
* \param[in] The object ID
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByID(uint32_t id)
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Retrieve an object from the list given its name
* \param[in] name The name of the object
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByName(char *name)
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->name != NULL
&& strcmp(objEntry->name, name) == 0) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Get the object's ID
* \param[in] obj The object handle
* \return The object ID
*/
uint32_t UAVObjGetID(UAVObjHandle obj)
{
return ((ObjectList *) obj)->id;
}
/**
* Get the object's name
* \param[in] obj The object handle
* \return The object's name
*/
const char *UAVObjGetName(UAVObjHandle obj)
{
return ((ObjectList *) obj)->name;
}
/**
* Get the number of bytes of the object's data (for one instance)
* \param[in] obj The object handle
* \return The number of bytes
*/
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
return ((ObjectList *) obj)->numBytes;
}
/**
* Get the object this object is linked to. For regular objects, the linked object
* is the metaobject. For metaobjects the linked object is the parent object.
* This function is normally only needed by the telemetry module.
* \param[in] obj The object handle
* \return The object linked object handle
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
{
return (UAVObjHandle) (((ObjectList *) obj)->linkedObj);
}
/**
* Get the number of instances contained in the object.
* \param[in] obj The object handle
* \return The number of instances
*/
uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
{
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ((ObjectList *) obj)->numInstances;
xSemaphoreGiveRecursive(mutex);
return numInstances;
}
/**
* Create a new instance in the object.
* \param[in] obj The object handle
* \return The instance ID or 0 if an error
*/
uint16_t UAVObjCreateInstance(UAVObjHandle obj,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Create new instance
objEntry = (ObjectList *) obj;
instEntry = createInstance(objEntry, objEntry->numInstances);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Initialize instance data
if (initCb != NULL) {
initCb(obj, instEntry->instId);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return instEntry->instId;
}
/**
* Does this object contains a single instance or multiple instances?
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSingleInstance;
}
/**
* Is this a metaobject?
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isMetaobject;
}
/**
* Is this a settings object?
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSettings;
}
/**
* Unpack an object from a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[in] dataIn The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
const uint8_t * dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList *) obj;
// 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);
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Pack an object to a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[out] dataOut The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Save the data of the specified object instance to the file system (SD card).
* The object will be appended and the file will not be closed.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
ObjectList *objEntry;
ObjectInstList *instEntry;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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 (!objEntry->isSingleInstance) {
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);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Save the data of the specified object to the file system (SD card).
* If the object contains multiple instances, all of them will be saved.
* A new file with the name of the object will be created.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
if (objEntry == NULL)
return -1;
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
return -1;
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList *objEntry;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(objEntry, filename);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if (UAVObjSaveToFile(obj, instId, &file) == -1) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Load an object from the file system (SD card).
* @param[in] file File to read from
* @return The handle of the object loaded or NULL if a failure
*/
UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
ObjectList *objEntry;
ObjectInstList *instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return NULL;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Read the object ID
if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj = UAVObjGetByID(objId);
if (obj == 0) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (ObjectList *) obj;
// Get the instance ID
instId = 0;
if (!objEntry->isSingleInstance) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
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;
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
#endif
}
/**
* Load an object from the file system (SD card).
* A file with the name of the object will be opened.
* The object data can be saved using the UAVObjSave function.
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
if (objEntry == NULL)
return -1;
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
sendEvent(objEntry, instId, EV_UNPACKED);
else
return -1;
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList *objEntry;
UAVObjHandle loadedObj;
ObjectList *loadedObjEntry;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(objEntry, filename);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
loadedObjEntry = (ObjectList *) loadedObj;
if (loadedObjEntry->id != objEntry->id) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Delete an object from the file system (SD card).
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
PIOS_FLASHFS_ObjDelete(obj, instId);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
ObjectList *objEntry;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(objEntry, filename);
// Delete file
PIOS_FUNLINK(filename);
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Save all settings objects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveSettings()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Load all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadSettings()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Delete all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteSettings()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Save all metaobjects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveMetaobjects()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Load all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadMetaobjects()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Delete all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteMetaobjects()
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
// Load object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
{
return UAVObjSetInstanceData(obj, 0, dataIn);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
{
return UAVObjGetInstanceData(obj, 0, dataOut);
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
const void *dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
UAVObjMetadata *mdata;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
if (mdata->access == 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);
// Fire event
sendEvent(objEntry, instId, EV_UPDATED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
void *dataOut)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// 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);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object metadata
* \param[in] obj The object handle
* \param[in] dataIn The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
{
ObjectList *objEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList *) obj;
if (!objEntry->isMetaobject) {
UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
dataIn);
} else {
return -1;
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the object metadata
* \param[in] obj The object handle
* \param[out] dataOut The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
{
ObjectList *objEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
objEntry = (ObjectList *) obj;
if (objEntry->isMetaobject) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
dataOut);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Check if an object is read only
* \param[in] obj The object handle
* \return
* \arg 0 if not read only
* \arg 1 if read only
* \arg -1 if unable to get meta data
*/
int8_t UAVObjReadOnly(UAVObjHandle obj)
{
ObjectList *objEntry;
UAVObjMetadata *mdata;
// Cast to object info
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
return mdata->access == ACCESS_READONLY;
}
return -1;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* All events matching the event mask will be pushed to the event queue.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \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 UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
int32_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event queue from the object.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
* The supplied callback will be invoked on all events matching the event mask.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \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 UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
int32_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event callback from the object.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
*/
void UAVObjRequestUpdate(UAVObjHandle obj)
{
UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
* \param[in] instId Object instance ID to update
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList *) obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
*/
void UAVObjUpdated(UAVObjHandle obj)
{
UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
* \param[in] instId The object instance ID
*/
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList *) obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
/**
* Iterate through all objects in the list.
* \param iterator This function will be called once for each object,
* the object will be passed as a parameter
*/
void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
LL_FOREACH(objList, objEntry) {
(*iterator) ((UAVObjHandle) objEntry);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
}
/**
* Send an event to all event queues registered on the object.
*/
static int32_t sendEvent(ObjectList * obj, uint16_t instId,
UAVObjEventType event)
{
ObjectEventList *eventEntry;
UAVObjEvent msg;
// Setup event
msg.obj = (UAVObjHandle) obj;
msg.event = event;
msg.instId = instId;
// Go through each object and push the event message in the queue (if event is activated for the queue)
LL_FOREACH(obj->events, eventEntry) {
if (eventEntry->eventMask == 0
|| (eventEntry->eventMask & event) != 0) {
// Send to queue if a valid queue is registered
if (eventEntry->queue != 0) {
if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE) // will not block
{
++stats.eventErrors;
}
}
// Invoke callback (from event task) if a valid one is registered
if (eventEntry->cb != 0) {
if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE) // invoke callback from the event task, will not block
{
++stats.eventErrors;
}
}
}
}
// Done
return 0;
}
/**
* Create a new object instance, return the instance info or NULL if failure.
*/
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
{
ObjectInstList *instEntry;
int32_t n;
// For single instance objects, only instance zero is allowed
if (obj->isSingleInstance && instId != 0) {
return NULL;
}
// Make sure that the instance ID is within limits
if (instId >= UAVOBJ_MAX_INSTANCES) {
return NULL;
}
// Check if the instance already exists
if (getInstance(obj, instId) != NULL) {
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (n = obj->numInstances; n < instId; ++n) {
if (createInstance(obj, n) == NULL) {
return NULL;
}
}
if (instId == 0) { /* Instance 0 ObjectInstList allocated with ObjectList element */
instEntry = &obj->instances;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL)
return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
} else {
// Create the actual instance
instEntry =
(ObjectInstList *)
pvPortMalloc(sizeof(ObjectInstList));
if (instEntry == NULL)
return NULL;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL)
return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
LL_APPEND(obj->instances.next, instEntry);
}
++obj->numInstances;
// Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
// Done
return instEntry;
}
/**
* Get the instance information or NULL if the instance does not exist
*/
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
{
ObjectInstList *instEntry;
// Look for specified instance ID
LL_FOREACH(&(obj->instances), instEntry) {
if (instEntry->instId == instId) {
return instEntry;
}
}
// If this point is reached then instance id was not found
return NULL;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \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
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (ObjectList *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if (eventEntry->queue == queue && eventEntry->cb == cb) {
// Already connected, update event mask and return
eventEntry->eventMask = eventMask;
return 0;
}
}
// Add queue to list
eventEntry =
(ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
if (eventEntry == NULL) {
return -1;
}
eventEntry->queue = queue;
eventEntry->cb = cb;
eventEntry->eventMask = eventMask;
LL_APPEND(objEntry->events, eventEntry);
// Done
return 0;
}
/**
* Disconnect an event queue from the object
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;
// Find queue and remove it
objEntry = (ObjectList *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if ((eventEntry->queue == queue
&& eventEntry->cb == cb)) {
LL_DELETE(objEntry->events, eventEntry);
vPortFree(eventEntry);
return 0;
}
}
// If this point is reached the queue was not found
return -1;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* Wrapper for the sprintf function
*/
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
{
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
}
/**
* Get an 8 character (plus extension) filename for the object.
*/
static void objectFilename(ObjectList * obj, uint8_t * filename)
{
customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
}
#endif /* PIOS_INCLUDE_SDCARD */