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https://bitbucket.org/librepilot/librepilot.git
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uavobjectmanager: drop typedefs and extra "Struct" in names
Readability improvements.
This commit is contained in:
Stacey Sheldon
parent
2a2eb47a2a
commit
eef9b5f61e
@ -49,118 +49,99 @@
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/**
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* List of event queues and the eventmask associated with the queue.
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*/
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struct ObjectEventListStruct {
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struct ObjectEventList {
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xQueueHandle queue;
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UAVObjEventCallback cb;
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uint8_t eventMask;
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struct ObjectEventListStruct *next;
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struct ObjectEventList *next;
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};
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typedef struct ObjectEventListStruct ObjectEventList;
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/**
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* List of object instances, holds a pointer to the next instance and some UAVObjectData
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*/
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struct ObjectInstListStruct {
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struct ObjectInstListStruct *next;
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struct ObjectInstList {
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struct ObjectInstList *next;
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} __attribute__((packed));
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typedef struct ObjectInstListStruct ObjectInstList;
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/** fake structure for arbitrary sizes **/
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struct ObjectInstanceStruct {
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ObjectInstList header;
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struct ObjectInstance {
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struct ObjectInstList header;
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uint32_t data;
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} __attribute__((packed));
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typedef struct ObjectInstanceStruct ObjectInstance;
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#define ObjectInstanceSize(numBytes) (offsetof(ObjectInstance,data)+(numBytes))
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#define ObjectInstanceSize(numBytes) (offsetof(struct ObjectInstance,data)+(numBytes))
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/** anonymous type for instances **/
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typedef void* InstanceHandle;
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typedef enum {
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enum ObjectFlags {
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OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
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OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
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OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */
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} ObjectFlags;
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};
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/**
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* List of objects registered in the object manager
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*/
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struct GenericObjectStruct {
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ObjectFlags flags;
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/** The object list mode flags */
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const char *name;
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/** The object name */
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ObjectEventList *events;
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/** Event queues registered on the object */
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struct GenericObject {
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enum ObjectFlags flags; /* The object list mode flags */
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const char *name; /* The object name */
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struct ObjectEventList *events; /* Event queues registered on the object */
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} __attribute__((packed));
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typedef struct GenericObjectStruct GenericObject;
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struct MetaObjectStruct {
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GenericObject header;
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UAVObjMetadata data;
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/** the actual metadata */
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struct MetaObject {
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struct GenericObject header;
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UAVObjMetadata data; /* the actual metadata */
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} __attribute__((packed));
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typedef struct MetaObjectStruct MetaObject;
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struct ObjectListStruct {
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GenericObject header;
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uint32_t id;
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/** The object ID */
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uint16_t numBytes;
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/** Number of data bytes contained in the object (for a single instance) */
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MetaObject metaObj;
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/** Meta object of the UAVObject */
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struct ObjectListStruct *next;
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/** Needed by linked list library (utlist.h) */
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struct ObjectList {
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struct GenericObject header;
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uint32_t id; /* The object ID */
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uint16_t numBytes; /* Number of data bytes contained in the object (for a single instance) */
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struct MetaObject metaObj; /* Meta object of the UAVObject */
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struct ObjectList *next; /* Needed by linked list library (utlist.h) */
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} __attribute__((packed));
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typedef struct ObjectListStruct ObjectList;
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/** fake structure for arbitrary sizes **/
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struct ObjectListInstanceStruct {
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ObjectList header;
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struct ObjectListInstance {
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struct ObjectList header;
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uint32_t data;
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} __attribute__((packed));
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typedef struct ObjectListInstanceStruct ObjectListInstance;
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#define ObjectListInstanceSize(numBytes) (offsetof(ObjectListInstance,data)+(numBytes))
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#define ObjectListInstanceSize(numBytes) (offsetof(struct ObjectListInstance,data)+(numBytes))
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struct ObjectListMultiStruct {
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ObjectList header;
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uint16_t numInstances;
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/** Number of instances */
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ObjectInstList instances;
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/** List of object instances, instance 0 always exists */
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struct ObjectListMulti {
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struct ObjectList header;
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uint16_t numInstances; /** Number of instances */
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struct ObjectInstList instances; /** List of object instances, instance 0 always exists */
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} __attribute__((packed));
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typedef struct ObjectListMultiStruct ObjectListMulti;
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/** fake structure for arbitrary sizes **/
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struct ObjectListMultiInstanceStruct {
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ObjectListMulti header;
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struct ObjectListMultiInstance {
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struct ObjectListMulti header;
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uint32_t data;
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} __attribute__((packed));
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typedef struct ObjectListMultiInstanceStruct ObjectListMultiInstance;
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#define ObjectListMultiInstanceSize(numBytes) (offsetof(ObjectListMultiInstance,data)+(numBytes))
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#define ObjectListMultiInstanceSize(numBytes) (offsetof(struct ObjectListMultiInstance,data)+(numBytes))
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/** all information about a metaobject are hardcoded constants **/
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#define MetaNumBytes sizeof(UAVObjMetadata)
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#define MetaBaseObjectPtr(obj) ((ObjectList *)((obj)-offsetof(ObjectList, metaObj)))
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#define MetaObjectPtr(obj) ((MetaObject*) &((obj)->metaObj))
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#define MetaBaseObjectPtr(obj) ((struct ObjectList *)((obj)-offsetof(struct ObjectList, metaObj)))
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#define MetaObjectPtr(obj) ((struct MetaObject*) &((obj)->metaObj))
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#define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->data))
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#define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.data))
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#define MetaObjectId(id) (id+1)
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#define MetaNumInstances 1
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/** all information about instances are dependant on object type **/
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#define ObjNumInstances(obj) (OLGetIsSingleInstance((GenericObject*)(obj))?1:((ObjectListMulti *)(obj))->numInstances)
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#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (ObjectListInstance*)obj )->data)))
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#define InstanceDataOffset(inst) ((void*)&(( (ObjectInstance*)inst )->data))
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#define ObjNumInstances(obj) (OLGetIsSingleInstance((struct GenericObject*)(obj))?1:((struct ObjectListMulti *)(obj))->numInstances)
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#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (struct ObjectListInstance*)obj )->data)))
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#define InstanceDataOffset(inst) ((void*)&(( (struct ObjectInstance*)inst )->data))
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#define InstanceData(instance) (void*)instance
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// Private functions
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static int32_t sendEvent(GenericObject * obj, uint16_t instId,
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static int32_t sendEvent(struct GenericObject * obj, uint16_t instId,
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UAVObjEventType event);
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static InstanceHandle createInstance(ObjectList * obj, uint16_t instId);
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static InstanceHandle getInstance(ObjectList * obj, uint16_t instId);
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static InstanceHandle createInstance(struct ObjectList * obj, uint16_t instId);
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static InstanceHandle getInstance(struct ObjectList * obj, uint16_t instId);
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static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
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UAVObjEventCallback cb, uint8_t eventMask);
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static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
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@ -172,7 +153,7 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
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#endif
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// Private variables
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static ObjectList *objList;
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static struct ObjectList *objList;
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static xSemaphoreHandle mutex;
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static UAVObjMetadata defMetadata;
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static UAVObjStats stats;
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@ -240,7 +221,7 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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uint32_t numBytes,
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UAVObjInitializeCallback initCb)
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{
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ObjectList *objEntry;
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struct ObjectList *objEntry;
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// Get lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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@ -256,34 +237,34 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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// Create and append entry
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if (isSingleInstance) {
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objEntry = (ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) );
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objEntry = (struct ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) );
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} else {
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objEntry = (ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) );
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objEntry = (struct ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) );
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}
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if (objEntry == NULL) {
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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( (GenericObject*)objEntry )->name = name;
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( (GenericObject*)objEntry )->events = NULL;
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OLSetIsMetaobject( (GenericObject*)objEntry, 0);
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OLSetIsSingleInstance( (GenericObject*)objEntry, isSingleInstance);
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OLSetIsSettings( (GenericObject*)objEntry, isSettings);
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( (struct GenericObject*)objEntry )->name = name;
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( (struct GenericObject*)objEntry )->events = NULL;
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OLSetIsMetaobject( (struct GenericObject*)objEntry, 0);
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OLSetIsSingleInstance( (struct GenericObject*)objEntry, isSingleInstance);
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OLSetIsSettings( (struct GenericObject*)objEntry, isSettings);
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objEntry->id = id;
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objEntry->numBytes = numBytes;
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// Create instance
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if (isSingleInstance) {
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memset(ObjSingleInstanceDataOffset(objEntry), 0, numBytes);
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} else {
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( (ObjectListMulti*)objEntry )->numInstances = 1;
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( (ObjectListMulti*)objEntry )->instances.next = NULL;
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memset(InstanceDataOffset(&(( (ObjectListMulti*)objEntry )->instances)), 0, numBytes);
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( (struct ObjectListMulti*)objEntry )->numInstances = 1;
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( (struct ObjectListMulti*)objEntry )->instances.next = NULL;
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memset(InstanceDataOffset(&(( (struct ObjectListMulti*)objEntry )->instances)), 0, numBytes);
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}
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// Create metaobject
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memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes);
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( (GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE;
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( (GenericObject*)MetaObjectPtr(objEntry) )->name = metaName;
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( (GenericObject*)MetaObjectPtr(objEntry) )->events = NULL;
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( (struct GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE;
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( (struct GenericObject*)MetaObjectPtr(objEntry) )->name = metaName;
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( (struct GenericObject*)MetaObjectPtr(objEntry) )->events = NULL;
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LL_APPEND(objList, objEntry);
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// fire events
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@ -296,11 +277,11 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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initCb((UAVObjHandle) objEntry, 0);
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}
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// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
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if (!OLGetIsMetaobject((GenericObject*)objEntry)) {
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if (!OLGetIsMetaobject((struct GenericObject*)objEntry)) {
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UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0);
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}
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// If this is a settings object, attempt to load from SD card
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if (OLGetIsSettings((GenericObject*)objEntry)) {
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if (OLGetIsSettings((struct GenericObject*)objEntry)) {
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UAVObjLoad((UAVObjHandle) objEntry, 0);
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}
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// Release lock
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@ -315,7 +296,7 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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*/
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UAVObjHandle UAVObjGetByID(uint32_t id)
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{
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ObjectList *objEntry;
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struct ObjectList *objEntry;
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// Get lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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@ -348,22 +329,22 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
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*/
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UAVObjHandle UAVObjGetByName(char *name)
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{
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ObjectList *objEntry;
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struct ObjectList *objEntry;
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// Get lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Look for object
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LL_FOREACH(objList, objEntry) {
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if ( ( (GenericObject*)objEntry )->name != NULL
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&& strcmp(( (GenericObject*)objEntry )->name, name) == 0) {
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if ( ( (struct GenericObject*)objEntry )->name != NULL
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&& strcmp(( (struct GenericObject*)objEntry )->name, name) == 0) {
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// Release lock
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xSemaphoreGiveRecursive(mutex);
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// Done, object found
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return (UAVObjHandle) objEntry;
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}
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if ( ( (GenericObject*)MetaObjectPtr(objEntry) )->name != NULL
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&& strcmp(( (GenericObject*)MetaObjectPtr(objEntry) )->name, name) == 0) {
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if ( ( (struct GenericObject*)MetaObjectPtr(objEntry) )->name != NULL
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&& strcmp(( (struct GenericObject*)MetaObjectPtr(objEntry) )->name, name) == 0) {
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// Release lock
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xSemaphoreGiveRecursive(mutex);
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// Done, object found
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@ -384,10 +365,10 @@ UAVObjHandle UAVObjGetByName(char *name)
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uint32_t UAVObjGetID(UAVObjHandle obj)
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{
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PIOS_Assert(obj);
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if (OLGetIsMetaobject( (GenericObject *) obj) ) {
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if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
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return MetaObjectId( MetaBaseObjectPtr(obj)->id );
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} else {
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return ((ObjectList *) obj)->id;
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return ((struct ObjectList *) obj)->id;
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}
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}
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@ -399,7 +380,7 @@ uint32_t UAVObjGetID(UAVObjHandle obj)
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const char *UAVObjGetName(UAVObjHandle obj)
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{
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PIOS_Assert(obj);
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return ((GenericObject *) obj)->name;
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return ((struct GenericObject *) obj)->name;
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}
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/**
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@ -410,10 +391,10 @@ const char *UAVObjGetName(UAVObjHandle obj)
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uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
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{
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PIOS_Assert(obj);
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if (OLGetIsMetaobject( (GenericObject *) obj) ) {
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if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
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return MetaNumBytes;
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} else {
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return ((ObjectList *) obj)->numBytes;
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return ((struct ObjectList *) obj)->numBytes;
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}
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}
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@ -427,10 +408,10 @@ uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
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UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
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{
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PIOS_Assert(obj);
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if (OLGetIsMetaobject( (GenericObject *) obj) ) {
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if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
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return (UAVObjHandle) MetaBaseObjectPtr(obj);
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} else {
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return (UAVObjHandle) MetaObjectPtr( (ObjectList*) obj);
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return (UAVObjHandle) MetaObjectPtr( (struct ObjectList*) obj);
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}
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}
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@ -442,7 +423,7 @@ UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
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uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
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{
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PIOS_Assert(obj);
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if (OLGetIsMetaobject( (GenericObject *) obj) ) {
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if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
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return MetaNumInstances;
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}
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uint32_t numInstances;
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@ -461,7 +442,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
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UAVObjInitializeCallback initCb)
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{
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PIOS_Assert(obj);
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if (OLGetIsMetaobject( (GenericObject *) obj) ) {
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if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
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return -1;
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}
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@ -473,7 +454,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
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// Create new instance
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instId = ObjNumInstances(obj);
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instEntry = createInstance( (ObjectList*)obj, instId);
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instEntry = createInstance( (struct ObjectList*)obj, instId);
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if (instEntry == NULL) {
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xSemaphoreGiveRecursive(mutex);
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return -1;
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@ -495,7 +476,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
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int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
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{
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PIOS_Assert(obj);
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return OLGetIsSingleInstance((GenericObject *) obj);
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return OLGetIsSingleInstance((struct GenericObject *) obj);
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}
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/**
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@ -506,7 +487,7 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
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int32_t UAVObjIsMetaobject(UAVObjHandle obj)
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{
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PIOS_Assert(obj);
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return OLGetIsMetaobject((GenericObject *) obj);
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return OLGetIsMetaobject((struct GenericObject *) obj);
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}
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/**
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@ -517,7 +498,7 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
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int32_t UAVObjIsSettings(UAVObjHandle obj)
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{
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PIOS_Assert(obj);
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return OLGetIsSettings((GenericObject *) obj);
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return OLGetIsSettings((struct GenericObject *) obj);
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}
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/**
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@ -534,19 +515,19 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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if (OLGetIsMetaobject( (GenericObject *) obj )) {
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if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
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if (instId != 0) {
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// Error, unlock and return
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xSemaphoreGiveRecursive(mutex);
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return -1;
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}
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memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes);
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memcpy(MetaDataPtr((struct MetaObject *)obj), dataIn, MetaNumBytes);
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} else {
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ObjectList *objEntry;
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struct ObjectList *objEntry;
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InstanceHandle instEntry;
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// Cast handle to object
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objEntry = (ObjectList *) obj;
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objEntry = (struct ObjectList *) obj;
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// Get the instance
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instEntry = getInstance(objEntry, instId);
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@ -565,7 +546,7 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
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}
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// Fire event
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sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
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sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
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// Unlock
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xSemaphoreGiveRecursive(mutex);
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@ -585,19 +566,19 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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if (OLGetIsMetaobject( (GenericObject *) obj )) {
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if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
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if (instId != 0) {
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// Error, unlock and return
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xSemaphoreGiveRecursive(mutex);
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return -1;
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}
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memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes);
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memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes);
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} else {
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
InstanceHandle instEntry;
|
||||
|
||||
// Cast handle to object
|
||||
objEntry = (ObjectList *) obj;
|
||||
objEntry = (struct ObjectList *) obj;
|
||||
|
||||
// Get the instance
|
||||
instEntry = getInstance(objEntry, instId);
|
||||
@ -637,7 +618,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
if (OLGetIsMetaobject( (GenericObject *) obj )) {
|
||||
if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
|
||||
// Get the instance information
|
||||
if (instId != 0) {
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
@ -649,18 +630,18 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
|
||||
&bytesWritten);
|
||||
|
||||
// Write the data and check that the write was successful
|
||||
PIOS_FWRITE(file, MetaDataPtr((MetaObject *)obj), MetaNumBytes,
|
||||
PIOS_FWRITE(file, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes,
|
||||
&bytesWritten);
|
||||
if (bytesWritten != MetaNumBytes) {
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
return -1;
|
||||
}
|
||||
} else {
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
InstanceHandle instEntry;
|
||||
|
||||
// Cast to object
|
||||
objEntry = (ObjectList *) obj;
|
||||
objEntry = (struct ObjectList *) obj;
|
||||
|
||||
// Get the instance information
|
||||
instEntry = getInstance(objEntry, instId);
|
||||
@ -673,7 +654,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
|
||||
&bytesWritten);
|
||||
|
||||
// Write the instance ID
|
||||
if (!OLGetIsSingleInstance((GenericObject*)obj)) {
|
||||
if (!OLGetIsSingleInstance((struct GenericObject*)obj)) {
|
||||
PIOS_FWRITE(file, &instId,
|
||||
sizeof(instId), &bytesWritten);
|
||||
}
|
||||
@ -705,14 +686,14 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
PIOS_Assert(obj);
|
||||
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
|
||||
if (OLGetIsMetaobject( (GenericObject *) obj )) {
|
||||
if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
|
||||
if (instId != 0)
|
||||
return -1;
|
||||
|
||||
if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) != 0)
|
||||
if (PIOS_FLASHFS_ObjSave(obj, instId, (uint8_t*) MetaDataPtr((struct MetaObject *)obj)) != 0)
|
||||
return -1;
|
||||
} else {
|
||||
InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId);
|
||||
InstanceHandle instEntry = getInstance( (struct ObjectList*)obj, instId);
|
||||
|
||||
if (instEntry == NULL)
|
||||
return -1;
|
||||
@ -765,7 +746,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
|
||||
{
|
||||
#if defined(PIOS_INCLUDE_SDCARD)
|
||||
uint32_t bytesRead;
|
||||
GenericObject *objEntry;
|
||||
struct GenericObject *objEntry;
|
||||
InstanceHandle instEntry;
|
||||
uint32_t objId;
|
||||
uint16_t instId;
|
||||
@ -789,7 +770,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
return NULL;
|
||||
}
|
||||
objEntry = (GenericObject *) obj;
|
||||
objEntry = (struct GenericObject *) obj;
|
||||
|
||||
// Get the instance ID
|
||||
instId = 0;
|
||||
@ -810,18 +791,18 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
|
||||
}
|
||||
// Read the instance data
|
||||
if (PIOS_FREAD
|
||||
(file, MetaDataPtr((MetaObject *)obj), MetaNumBytes, &bytesRead)) {
|
||||
(file, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes, &bytesRead)) {
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
return NULL;
|
||||
}
|
||||
} else {
|
||||
|
||||
// Get the instance information
|
||||
instEntry = getInstance((ObjectList *)objEntry, instId);
|
||||
instEntry = getInstance((struct ObjectList *)objEntry, instId);
|
||||
|
||||
// If the instance does not exist create it and any other instances before it
|
||||
if (instEntry == NULL) {
|
||||
instEntry = createInstance((ObjectList *)objEntry, instId);
|
||||
instEntry = createInstance((struct ObjectList *)objEntry, instId);
|
||||
if (instEntry == NULL) {
|
||||
// Error, unlock and return
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
@ -830,7 +811,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
|
||||
}
|
||||
// Read the instance data
|
||||
if (PIOS_FREAD
|
||||
(file, InstanceData(instEntry), ((ObjectList *)objEntry)->numBytes, &bytesRead)) {
|
||||
(file, InstanceData(instEntry), ((struct ObjectList *)objEntry)->numBytes, &bytesRead)) {
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
return NULL;
|
||||
}
|
||||
@ -860,25 +841,25 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
PIOS_Assert(obj);
|
||||
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
|
||||
if (OLGetIsMetaobject( (GenericObject*) obj )) {
|
||||
if (OLGetIsMetaobject( (struct GenericObject*) obj )) {
|
||||
if (instId != 0)
|
||||
return -1;
|
||||
|
||||
// Fire event on success
|
||||
if (PIOS_FLASHFS_ObjLoad(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) == 0)
|
||||
sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
|
||||
if (PIOS_FLASHFS_ObjLoad(obj, instId, (uint8_t*) MetaDataPtr((struct MetaObject *)obj)) == 0)
|
||||
sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
|
||||
else
|
||||
return -1;
|
||||
} else {
|
||||
|
||||
InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId);
|
||||
InstanceHandle instEntry = getInstance( (struct ObjectList*)obj, instId);
|
||||
|
||||
if (instEntry == NULL)
|
||||
return -1;
|
||||
|
||||
// Fire event on success
|
||||
if (PIOS_FLASHFS_ObjLoad(obj, instId, InstanceData(instEntry)) == 0)
|
||||
sendEvent((GenericObject*)obj, instId, EV_UNPACKED);
|
||||
sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
|
||||
else
|
||||
return -1;
|
||||
}
|
||||
@ -965,7 +946,7 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
|
||||
*/
|
||||
int32_t UAVObjSaveSettings()
|
||||
{
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
|
||||
// Get lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
@ -973,7 +954,7 @@ int32_t UAVObjSaveSettings()
|
||||
// Save all settings objects
|
||||
LL_FOREACH(objList, objEntry) {
|
||||
// Check if this is a settings object
|
||||
if (OLGetIsSettings((GenericObject*)objEntry)) {
|
||||
if (OLGetIsSettings((struct GenericObject*)objEntry)) {
|
||||
// Save object
|
||||
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
|
||||
-1) {
|
||||
@ -994,7 +975,7 @@ int32_t UAVObjSaveSettings()
|
||||
*/
|
||||
int32_t UAVObjLoadSettings()
|
||||
{
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
|
||||
// Get lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
@ -1002,7 +983,7 @@ int32_t UAVObjLoadSettings()
|
||||
// Load all settings objects
|
||||
LL_FOREACH(objList, objEntry) {
|
||||
// Check if this is a settings object
|
||||
if (OLGetIsSettings((GenericObject *)objEntry)) {
|
||||
if (OLGetIsSettings((struct GenericObject *)objEntry)) {
|
||||
// Load object
|
||||
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
|
||||
-1) {
|
||||
@ -1023,7 +1004,7 @@ int32_t UAVObjLoadSettings()
|
||||
*/
|
||||
int32_t UAVObjDeleteSettings()
|
||||
{
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
|
||||
// Get lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
@ -1031,7 +1012,7 @@ int32_t UAVObjDeleteSettings()
|
||||
// Save all settings objects
|
||||
LL_FOREACH(objList, objEntry) {
|
||||
// Check if this is a settings object
|
||||
if (OLGetIsSettings((GenericObject *)objEntry)) {
|
||||
if (OLGetIsSettings((struct GenericObject *)objEntry)) {
|
||||
// Save object
|
||||
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
|
||||
== -1) {
|
||||
@ -1052,7 +1033,7 @@ int32_t UAVObjDeleteSettings()
|
||||
*/
|
||||
int32_t UAVObjSaveMetaobjects()
|
||||
{
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
|
||||
// Get lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
@ -1078,7 +1059,7 @@ int32_t UAVObjSaveMetaobjects()
|
||||
*/
|
||||
int32_t UAVObjLoadMetaobjects()
|
||||
{
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
|
||||
// Get lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
@ -1104,7 +1085,7 @@ int32_t UAVObjLoadMetaobjects()
|
||||
*/
|
||||
int32_t UAVObjDeleteMetaobjects()
|
||||
{
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
|
||||
// Get lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
@ -1183,12 +1164,12 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
// Check access level
|
||||
if (!OLGetIsMetaobject((GenericObject *)obj)) {
|
||||
ObjectList *objEntry;
|
||||
if (!OLGetIsMetaobject((struct GenericObject *)obj)) {
|
||||
struct ObjectList *objEntry;
|
||||
InstanceHandle instEntry;
|
||||
|
||||
// Cast to object info
|
||||
objEntry = (ObjectList *) obj;
|
||||
objEntry = (struct ObjectList *) obj;
|
||||
|
||||
if (UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY) {
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
@ -1211,11 +1192,11 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
|
||||
return -1;
|
||||
}
|
||||
// Set data
|
||||
memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes);
|
||||
memcpy(MetaDataPtr((struct MetaObject *)obj), dataIn, MetaNumBytes);
|
||||
}
|
||||
|
||||
// Fire event
|
||||
sendEvent((GenericObject *)obj, instId, EV_UPDATED);
|
||||
sendEvent((struct GenericObject *)obj, instId, EV_UPDATED);
|
||||
|
||||
// Unlock
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
@ -1236,13 +1217,13 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
// Check access level
|
||||
if ( !OLGetIsMetaobject( (GenericObject*) obj ) )
|
||||
if ( !OLGetIsMetaobject( (struct GenericObject*) obj ) )
|
||||
{
|
||||
ObjectList* objEntry;
|
||||
struct ObjectList* objEntry;
|
||||
InstanceHandle instEntry;
|
||||
|
||||
// Cast to object info
|
||||
objEntry = (ObjectList*)obj;
|
||||
objEntry = (struct ObjectList*)obj;
|
||||
|
||||
if ( UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY )
|
||||
{
|
||||
@ -1285,12 +1266,12 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
|
||||
}
|
||||
|
||||
// Set data
|
||||
memcpy(MetaDataPtr((MetaObject *)obj) + offset, dataIn, size);
|
||||
memcpy(MetaDataPtr((struct MetaObject *)obj) + offset, dataIn, size);
|
||||
}
|
||||
|
||||
|
||||
// Fire event
|
||||
sendEvent((GenericObject *)obj, instId, EV_UPDATED);
|
||||
sendEvent((struct GenericObject *)obj, instId, EV_UPDATED);
|
||||
|
||||
// Unlock
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
@ -1311,13 +1292,13 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
if ( !OLGetIsMetaobject( (GenericObject*) obj) )
|
||||
if ( !OLGetIsMetaobject( (struct GenericObject*) obj) )
|
||||
{
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
InstanceHandle instEntry;
|
||||
|
||||
// Cast to object info
|
||||
objEntry = (ObjectList *) obj;
|
||||
objEntry = (struct ObjectList *) obj;
|
||||
|
||||
// Get instance information
|
||||
instEntry = getInstance(objEntry, instId);
|
||||
@ -1336,7 +1317,7 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
|
||||
return -1;
|
||||
}
|
||||
// Set data
|
||||
memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes);
|
||||
memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes);
|
||||
}
|
||||
|
||||
// Unlock
|
||||
@ -1357,13 +1338,13 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
if ( !OLGetIsMetaobject( (GenericObject*) obj ) )
|
||||
if ( !OLGetIsMetaobject( (struct GenericObject*) obj ) )
|
||||
{
|
||||
ObjectList* objEntry;
|
||||
struct ObjectList* objEntry;
|
||||
InstanceHandle instEntry;
|
||||
|
||||
// Cast to object info
|
||||
objEntry = (ObjectList*)obj;
|
||||
objEntry = (struct ObjectList*)obj;
|
||||
|
||||
// Get instance information
|
||||
instEntry = getInstance(objEntry, instId);
|
||||
@ -1402,7 +1383,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
|
||||
}
|
||||
|
||||
// Set data
|
||||
memcpy(dataOut, MetaDataPtr((MetaObject *)obj) + offset, size);
|
||||
memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj) + offset, size);
|
||||
}
|
||||
|
||||
// Unlock
|
||||
@ -1424,8 +1405,8 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
// Set metadata (metadata of metaobjects can not be modified)
|
||||
if (!OLGetIsMetaobject((GenericObject*)obj)) {
|
||||
UAVObjSetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
|
||||
if (!OLGetIsMetaobject((struct GenericObject*)obj)) {
|
||||
UAVObjSetData((UAVObjHandle) MetaObjectPtr( (struct ObjectList*)obj ),
|
||||
dataIn);
|
||||
} else {
|
||||
return -1;
|
||||
@ -1450,10 +1431,10 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
|
||||
// Get metadata
|
||||
if (OLGetIsMetaobject((GenericObject*)obj)) {
|
||||
if (OLGetIsMetaobject((struct GenericObject*)obj)) {
|
||||
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
|
||||
} else {
|
||||
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ),
|
||||
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (struct ObjectList*)obj ),
|
||||
dataOut);
|
||||
}
|
||||
|
||||
@ -1616,8 +1597,8 @@ void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode
|
||||
int8_t UAVObjReadOnly(UAVObjHandle obj)
|
||||
{
|
||||
PIOS_Assert(obj);
|
||||
if (!OLGetIsMetaobject( (GenericObject *)obj)) {
|
||||
return UAVObjGetAccess( LinkedMetaDataPtr( (ObjectList*)obj ) ) == ACCESS_READONLY;
|
||||
if (!OLGetIsMetaobject( (struct GenericObject *)obj)) {
|
||||
return UAVObjGetAccess( LinkedMetaDataPtr( (struct ObjectList*)obj ) ) == ACCESS_READONLY;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
@ -1714,7 +1695,7 @@ void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
PIOS_Assert(obj);
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
sendEvent((GenericObject *) obj, instId, EV_UPDATE_REQ);
|
||||
sendEvent((struct GenericObject *) obj, instId, EV_UPDATE_REQ);
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
}
|
||||
|
||||
@ -1736,7 +1717,7 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
PIOS_Assert(obj);
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
sendEvent((GenericObject *) obj, instId, EV_UPDATED_MANUAL);
|
||||
sendEvent((struct GenericObject *) obj, instId, EV_UPDATED_MANUAL);
|
||||
xSemaphoreGiveRecursive(mutex);
|
||||
}
|
||||
|
||||
@ -1748,7 +1729,7 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
|
||||
void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
|
||||
{
|
||||
PIOS_Assert(iterator);
|
||||
ObjectList *objEntry;
|
||||
struct ObjectList *objEntry;
|
||||
|
||||
// Get lock
|
||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
@ -1766,10 +1747,10 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
|
||||
/**
|
||||
* Send an event to all event queues registered on the object.
|
||||
*/
|
||||
static int32_t sendEvent(GenericObject * obj, uint16_t instId,
|
||||
static int32_t sendEvent(struct GenericObject * obj, uint16_t instId,
|
||||
UAVObjEventType event)
|
||||
{
|
||||
ObjectEventList *eventEntry;
|
||||
struct ObjectEventList *eventEntry;
|
||||
UAVObjEvent msg;
|
||||
|
||||
// Setup event
|
||||
@ -1807,13 +1788,13 @@ static int32_t sendEvent(GenericObject * obj, uint16_t instId,
|
||||
/**
|
||||
* Create a new object instance, return the instance info or NULL if failure.
|
||||
*/
|
||||
static InstanceHandle createInstance(ObjectList * obj, uint16_t instId)
|
||||
static InstanceHandle createInstance(struct ObjectList * obj, uint16_t instId)
|
||||
{
|
||||
ObjectInstList *instEntry;
|
||||
struct ObjectInstList *instEntry;
|
||||
int32_t n;
|
||||
|
||||
// For single instance objects, only instance zero is allowed (and zero gets created in RegisterObject)
|
||||
if (OLGetIsSingleInstance((GenericObject*)obj)) {
|
||||
if (OLGetIsSingleInstance((struct GenericObject*)obj)) {
|
||||
PIOS_Assert(0);
|
||||
return NULL;
|
||||
}
|
||||
@ -1834,14 +1815,14 @@ static InstanceHandle createInstance(ObjectList * obj, uint16_t instId)
|
||||
|
||||
// Create the actual instance
|
||||
instEntry =
|
||||
(ObjectInstList *)
|
||||
pvPortMalloc(sizeof(ObjectInstList)+obj->numBytes);
|
||||
(struct ObjectInstList *)
|
||||
pvPortMalloc(sizeof(struct ObjectInstList)+obj->numBytes);
|
||||
if (instEntry == NULL)
|
||||
return NULL;
|
||||
memset(InstanceDataOffset(instEntry), 0, obj->numBytes);
|
||||
LL_APPEND(( (ObjectListMulti*)obj )->instances.next, instEntry);
|
||||
LL_APPEND(( (struct ObjectListMulti*)obj )->instances.next, instEntry);
|
||||
|
||||
( (ObjectListMulti*)obj )->numInstances++;
|
||||
( (struct ObjectListMulti*)obj )->numInstances++;
|
||||
|
||||
// Fire event
|
||||
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
|
||||
@ -1853,11 +1834,11 @@ static InstanceHandle createInstance(ObjectList * obj, uint16_t instId)
|
||||
/**
|
||||
* Get the instance information or NULL if the instance does not exist
|
||||
*/
|
||||
static InstanceHandle getInstance(ObjectList * obj, uint16_t instId)
|
||||
static InstanceHandle getInstance(struct ObjectList * obj, uint16_t instId)
|
||||
{
|
||||
ObjectInstList *instEntry;
|
||||
struct ObjectInstList *instEntry;
|
||||
// quick solutions
|
||||
if (OLGetIsSingleInstance((GenericObject*)(obj))) {
|
||||
if (OLGetIsSingleInstance((struct GenericObject*)(obj))) {
|
||||
if (instId!=0)
|
||||
return NULL;
|
||||
return ObjSingleInstanceDataOffset(obj);
|
||||
@ -1867,7 +1848,7 @@ static InstanceHandle getInstance(ObjectList * obj, uint16_t instId)
|
||||
|
||||
// Look for specified instance ID
|
||||
uint16_t instance=0;
|
||||
LL_FOREACH(&(( (ObjectListMulti*)obj )->instances), instEntry) {
|
||||
LL_FOREACH(&(( (struct ObjectListMulti*)obj )->instances), instEntry) {
|
||||
if (instance++ == instId) {
|
||||
return InstanceDataOffset(instEntry);
|
||||
}
|
||||
@ -1887,11 +1868,11 @@ static InstanceHandle getInstance(ObjectList * obj, uint16_t instId)
|
||||
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
|
||||
UAVObjEventCallback cb, uint8_t eventMask)
|
||||
{
|
||||
ObjectEventList *eventEntry;
|
||||
GenericObject *objEntry;
|
||||
struct ObjectEventList *eventEntry;
|
||||
struct GenericObject *objEntry;
|
||||
|
||||
// Check that the queue is not already connected, if it is simply update event mask
|
||||
objEntry = (GenericObject *) obj;
|
||||
objEntry = (struct GenericObject *) obj;
|
||||
LL_FOREACH(objEntry->events, eventEntry) {
|
||||
if (eventEntry->queue == queue && eventEntry->cb == cb) {
|
||||
// Already connected, update event mask and return
|
||||
@ -1902,7 +1883,7 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
|
||||
|
||||
// Add queue to list
|
||||
eventEntry =
|
||||
(ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
|
||||
(struct ObjectEventList *) pvPortMalloc(sizeof(struct ObjectEventList));
|
||||
if (eventEntry == NULL) {
|
||||
return -1;
|
||||
}
|
||||
@ -1925,11 +1906,11 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
|
||||
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
|
||||
UAVObjEventCallback cb)
|
||||
{
|
||||
ObjectEventList *eventEntry;
|
||||
GenericObject *objEntry;
|
||||
struct ObjectEventList *eventEntry;
|
||||
struct GenericObject *objEntry;
|
||||
|
||||
// Find queue and remove it
|
||||
objEntry = (GenericObject *) obj;
|
||||
objEntry = (struct GenericObject *) obj;
|
||||
LL_FOREACH(objEntry->events, eventEntry) {
|
||||
if ((eventEntry->queue == queue
|
||||
&& eventEntry->cb == cb)) {
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user