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Code Issues Releases Activity

uavobjectmanager: drop typedefs and extra "Struct" in names

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Readability improvements.
This commit is contained in:
Stacey Sheldon 2012-05-25 22:39:57 -04:00
parent 2a2eb47a2a
commit eef9b5f61e
1 changed files with 160 additions and 179 deletions
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339
flight/UAVObjects/uavobjectmanager.c
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@ -49,118 +49,99 @@
/** /**
* List of event queues and the eventmask associated with the queue. * List of event queues and the eventmask associated with the queue.
*/ */
struct ObjectEventListStruct { struct ObjectEventList {
xQueueHandle queue; xQueueHandle queue;
UAVObjEventCallback cb; UAVObjEventCallback cb;
uint8_t eventMask; uint8_t eventMask;
struct ObjectEventListStruct *next; struct ObjectEventList *next;
}; };
typedef struct ObjectEventListStruct ObjectEventList;
/** /**
* List of object instances, holds a pointer to the next instance and some UAVObjectData * List of object instances, holds a pointer to the next instance and some UAVObjectData
*/ */
struct ObjectInstListStruct { struct ObjectInstList {
struct ObjectInstListStruct *next; struct ObjectInstList *next;
} __attribute__((packed)); } __attribute__((packed));
typedef struct ObjectInstListStruct ObjectInstList;
/** fake structure for arbitrary sizes **/ /** fake structure for arbitrary sizes **/
struct ObjectInstanceStruct { struct ObjectInstance {
ObjectInstList header; struct ObjectInstList header;
uint32_t data; uint32_t data;
} __attribute__((packed)); } __attribute__((packed));
typedef struct ObjectInstanceStruct ObjectInstance; #define ObjectInstanceSize(numBytes) (offsetof(struct ObjectInstance,data)+(numBytes))
#define ObjectInstanceSize(numBytes) (offsetof(ObjectInstance,data)+(numBytes))
/** anonymous type for instances **/ /** anonymous type for instances **/
typedef void* InstanceHandle; typedef void* InstanceHandle;
typedef enum { enum ObjectFlags {
OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */ OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */ OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */ OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */
} ObjectFlags; };
/** /**
* List of objects registered in the object manager * List of objects registered in the object manager
*/ */
struct GenericObjectStruct { struct GenericObject {
ObjectFlags flags; enum ObjectFlags flags; /* The object list mode flags */
/** The object list mode flags */ const char *name; /* The object name */
const char *name; struct ObjectEventList *events; /* Event queues registered on the object */
/** The object name */
ObjectEventList *events;
/** Event queues registered on the object */
} __attribute__((packed)); } __attribute__((packed));
typedef struct GenericObjectStruct GenericObject;
struct MetaObjectStruct { struct MetaObject {
GenericObject header; struct GenericObject header;
UAVObjMetadata data; UAVObjMetadata data; /* the actual metadata */
/** the actual metadata */
} __attribute__((packed)); } __attribute__((packed));
typedef struct MetaObjectStruct MetaObject;
struct ObjectListStruct { struct ObjectList {
GenericObject header; struct GenericObject header;
uint32_t id; uint32_t id; /* The object ID */
/** The object ID */ uint16_t numBytes; /* Number of data bytes contained in the object (for a single instance) */
uint16_t numBytes; struct MetaObject metaObj; /* Meta object of the UAVObject */
/** Number of data bytes contained in the object (for a single instance) */ struct ObjectList *next; /* Needed by linked list library (utlist.h) */
MetaObject metaObj;
/** Meta object of the UAVObject */
struct ObjectListStruct *next;
/** Needed by linked list library (utlist.h) */
} __attribute__((packed)); } __attribute__((packed));
typedef struct ObjectListStruct ObjectList;
/** fake structure for arbitrary sizes **/ /** fake structure for arbitrary sizes **/
struct ObjectListInstanceStruct { struct ObjectListInstance {
ObjectList header; struct ObjectList header;
uint32_t data; uint32_t data;
} __attribute__((packed)); } __attribute__((packed));
typedef struct ObjectListInstanceStruct ObjectListInstance; #define ObjectListInstanceSize(numBytes) (offsetof(struct ObjectListInstance,data)+(numBytes))
#define ObjectListInstanceSize(numBytes) (offsetof(ObjectListInstance,data)+(numBytes))
struct ObjectListMultiStruct { struct ObjectListMulti {
ObjectList header; struct ObjectList header;
uint16_t numInstances; uint16_t numInstances; /** Number of instances */
/** Number of instances */ struct ObjectInstList instances; /** List of object instances, instance 0 always exists */
ObjectInstList instances;
/** List of object instances, instance 0 always exists */
} __attribute__((packed)); } __attribute__((packed));
typedef struct ObjectListMultiStruct ObjectListMulti;
/** fake structure for arbitrary sizes **/ /** fake structure for arbitrary sizes **/
struct ObjectListMultiInstanceStruct { struct ObjectListMultiInstance {
ObjectListMulti header; struct ObjectListMulti header;
uint32_t data; uint32_t data;
} __attribute__((packed)); } __attribute__((packed));
typedef struct ObjectListMultiInstanceStruct ObjectListMultiInstance; #define ObjectListMultiInstanceSize(numBytes) (offsetof(struct ObjectListMultiInstance,data)+(numBytes))
#define ObjectListMultiInstanceSize(numBytes) (offsetof(ObjectListMultiInstance,data)+(numBytes))
/** all information about a metaobject are hardcoded constants **/ /** all information about a metaobject are hardcoded constants **/
#define MetaNumBytes sizeof(UAVObjMetadata) #define MetaNumBytes sizeof(UAVObjMetadata)
#define MetaBaseObjectPtr(obj) ((ObjectList *)((obj)-offsetof(ObjectList, metaObj))) #define MetaBaseObjectPtr(obj) ((struct ObjectList *)((obj)-offsetof(struct ObjectList, metaObj)))
#define MetaObjectPtr(obj) ((MetaObject*) &((obj)->metaObj)) #define MetaObjectPtr(obj) ((struct MetaObject*) &((obj)->metaObj))
#define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->data)) #define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->data))
#define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.data)) #define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.data))
#define MetaObjectId(id) (id+1) #define MetaObjectId(id) (id+1)
#define MetaNumInstances 1 #define MetaNumInstances 1
/** all information about instances are dependant on object type **/ /** all information about instances are dependant on object type **/
#define ObjNumInstances(obj) (OLGetIsSingleInstance((GenericObject*)(obj))?1:((ObjectListMulti *)(obj))->numInstances) #define ObjNumInstances(obj) (OLGetIsSingleInstance((struct GenericObject*)(obj))?1:((struct ObjectListMulti *)(obj))->numInstances)
#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (ObjectListInstance*)obj )->data))) #define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (struct ObjectListInstance*)obj )->data)))
#define InstanceDataOffset(inst) ((void*)&(( (ObjectInstance*)inst )->data)) #define InstanceDataOffset(inst) ((void*)&(( (struct ObjectInstance*)inst )->data))
#define InstanceData(instance) (void*)instance #define InstanceData(instance) (void*)instance
// Private functions // Private functions
static int32_t sendEvent(GenericObject * obj, uint16_t instId, static int32_t sendEvent(struct GenericObject * obj, uint16_t instId,
UAVObjEventType event); UAVObjEventType event);
static InstanceHandle createInstance(ObjectList * obj, uint16_t instId); static InstanceHandle createInstance(struct ObjectList * obj, uint16_t instId);
static InstanceHandle getInstance(ObjectList * obj, uint16_t instId); static InstanceHandle getInstance(struct ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask); UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
@ -172,7 +153,7 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif #endif
// Private variables // Private variables
static ObjectList *objList; static struct ObjectList *objList;
static xSemaphoreHandle mutex; static xSemaphoreHandle mutex;
static UAVObjMetadata defMetadata; static UAVObjMetadata defMetadata;
static UAVObjStats stats; static UAVObjStats stats;
@ -240,7 +221,7 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
uint32_t numBytes, uint32_t numBytes,
UAVObjInitializeCallback initCb) UAVObjInitializeCallback initCb)
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -256,34 +237,34 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
// Create and append entry // Create and append entry
if (isSingleInstance) { if (isSingleInstance) {
objEntry = (ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) ); objEntry = (struct ObjectList *) pvPortMalloc( ObjectListInstanceSize(numBytes) );
} else { } else {
objEntry = (ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) ); objEntry = (struct ObjectList *) pvPortMalloc( ObjectListMultiInstanceSize(numBytes) );
} }
if (objEntry == NULL) { if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return NULL; return NULL;
} }
( (GenericObject*)objEntry )->name = name; ( (struct GenericObject*)objEntry )->name = name;
( (GenericObject*)objEntry )->events = NULL; ( (struct GenericObject*)objEntry )->events = NULL;
OLSetIsMetaobject( (GenericObject*)objEntry, 0); OLSetIsMetaobject( (struct GenericObject*)objEntry, 0);
OLSetIsSingleInstance( (GenericObject*)objEntry, isSingleInstance); OLSetIsSingleInstance( (struct GenericObject*)objEntry, isSingleInstance);
OLSetIsSettings( (GenericObject*)objEntry, isSettings); OLSetIsSettings( (struct GenericObject*)objEntry, isSettings);
objEntry->id = id; objEntry->id = id;
objEntry->numBytes = numBytes; objEntry->numBytes = numBytes;
// Create instance // Create instance
if (isSingleInstance) { if (isSingleInstance) {
memset(ObjSingleInstanceDataOffset(objEntry), 0, numBytes); memset(ObjSingleInstanceDataOffset(objEntry), 0, numBytes);
} else { } else {
( (ObjectListMulti*)objEntry )->numInstances = 1; ( (struct ObjectListMulti*)objEntry )->numInstances = 1;
( (ObjectListMulti*)objEntry )->instances.next = NULL; ( (struct ObjectListMulti*)objEntry )->instances.next = NULL;
memset(InstanceDataOffset(&(( (ObjectListMulti*)objEntry )->instances)), 0, numBytes); memset(InstanceDataOffset(&(( (struct ObjectListMulti*)objEntry )->instances)), 0, numBytes);
} }
// Create metaobject // Create metaobject
memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes); memset(LinkedMetaDataPtr(objEntry), 0, MetaNumBytes);
( (GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE; ( (struct GenericObject*)MetaObjectPtr(objEntry) )->flags = OL_IS_METAOBJECT | OL_IS_SINGLE_INSTANCE;
( (GenericObject*)MetaObjectPtr(objEntry) )->name = metaName; ( (struct GenericObject*)MetaObjectPtr(objEntry) )->name = metaName;
( (GenericObject*)MetaObjectPtr(objEntry) )->events = NULL; ( (struct GenericObject*)MetaObjectPtr(objEntry) )->events = NULL;
LL_APPEND(objList, objEntry); LL_APPEND(objList, objEntry);
// fire events // fire events
@ -296,11 +277,11 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
initCb((UAVObjHandle) objEntry, 0); initCb((UAVObjHandle) objEntry, 0);
} }
// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object) // Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
if (!OLGetIsMetaobject((GenericObject*)objEntry)) { if (!OLGetIsMetaobject((struct GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0); UAVObjLoad((UAVObjHandle) MetaObjectPtr(objEntry), 0);
} }
// If this is a settings object, attempt to load from SD card // If this is a settings object, attempt to load from SD card
if (OLGetIsSettings((GenericObject*)objEntry)) { if (OLGetIsSettings((struct GenericObject*)objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0); UAVObjLoad((UAVObjHandle) objEntry, 0);
} }
// Release lock // Release lock
@ -315,7 +296,7 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
*/ */
UAVObjHandle UAVObjGetByID(uint32_t id) UAVObjHandle UAVObjGetByID(uint32_t id)
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -348,22 +329,22 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
*/ */
UAVObjHandle UAVObjGetByName(char *name) UAVObjHandle UAVObjGetByName(char *name)
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object // Look for object
LL_FOREACH(objList, objEntry) { LL_FOREACH(objList, objEntry) {
if ( ( (GenericObject*)objEntry )->name != NULL if ( ( (struct GenericObject*)objEntry )->name != NULL
&& strcmp(( (GenericObject*)objEntry )->name, name) == 0) { && strcmp(( (struct GenericObject*)objEntry )->name, name) == 0) {
// Release lock // Release lock
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
// Done, object found // Done, object found
return (UAVObjHandle) objEntry; return (UAVObjHandle) objEntry;
} }
if ( ( (GenericObject*)MetaObjectPtr(objEntry) )->name != NULL if ( ( (struct GenericObject*)MetaObjectPtr(objEntry) )->name != NULL
&& strcmp(( (GenericObject*)MetaObjectPtr(objEntry) )->name, name) == 0) { && strcmp(( (struct GenericObject*)MetaObjectPtr(objEntry) )->name, name) == 0) {
// Release lock // Release lock
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
// Done, object found // Done, object found
@ -384,10 +365,10 @@ UAVObjHandle UAVObjGetByName(char *name)
uint32_t UAVObjGetID(UAVObjHandle obj) uint32_t UAVObjGetID(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) { if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return MetaObjectId( MetaBaseObjectPtr(obj)->id ); return MetaObjectId( MetaBaseObjectPtr(obj)->id );
} else { } else {
return ((ObjectList *) obj)->id; return ((struct ObjectList *) obj)->id;
} }
} }
@ -399,7 +380,7 @@ uint32_t UAVObjGetID(UAVObjHandle obj)
const char *UAVObjGetName(UAVObjHandle obj) const char *UAVObjGetName(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
return ((GenericObject *) obj)->name; return ((struct GenericObject *) obj)->name;
} }
/** /**
@ -410,10 +391,10 @@ const char *UAVObjGetName(UAVObjHandle obj)
uint32_t UAVObjGetNumBytes(UAVObjHandle obj) uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) { if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return MetaNumBytes; return MetaNumBytes;
} else { } else {
return ((ObjectList *) obj)->numBytes; return ((struct ObjectList *) obj)->numBytes;
} }
} }
@ -427,10 +408,10 @@ uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj) UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) { if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return (UAVObjHandle) MetaBaseObjectPtr(obj); return (UAVObjHandle) MetaBaseObjectPtr(obj);
} else { } else {
return (UAVObjHandle) MetaObjectPtr( (ObjectList*) obj); return (UAVObjHandle) MetaObjectPtr( (struct ObjectList*) obj);
} }
} }
@ -442,7 +423,7 @@ UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
uint16_t UAVObjGetNumInstances(UAVObjHandle obj) uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) { if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return MetaNumInstances; return MetaNumInstances;
} }
uint32_t numInstances; uint32_t numInstances;
@ -461,7 +442,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
UAVObjInitializeCallback initCb) UAVObjInitializeCallback initCb)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
if (OLGetIsMetaobject( (GenericObject *) obj) ) { if (OLGetIsMetaobject( (struct GenericObject *) obj) ) {
return -1; return -1;
} }
@ -473,7 +454,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
// Create new instance // Create new instance
instId = ObjNumInstances(obj); instId = ObjNumInstances(obj);
instEntry = createInstance( (ObjectList*)obj, instId); instEntry = createInstance( (struct ObjectList*)obj, instId);
if (instEntry == NULL) { if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return -1; return -1;
@ -495,7 +476,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
int32_t UAVObjIsSingleInstance(UAVObjHandle obj) int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
return OLGetIsSingleInstance((GenericObject *) obj); return OLGetIsSingleInstance((struct GenericObject *) obj);
} }
/** /**
@ -506,7 +487,7 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
int32_t UAVObjIsMetaobject(UAVObjHandle obj) int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
return OLGetIsMetaobject((GenericObject *) obj); return OLGetIsMetaobject((struct GenericObject *) obj);
} }
/** /**
@ -517,7 +498,7 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
int32_t UAVObjIsSettings(UAVObjHandle obj) int32_t UAVObjIsSettings(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
return OLGetIsSettings((GenericObject *) obj); return OLGetIsSettings((struct GenericObject *) obj);
} }
/** /**
@ -534,19 +515,19 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (GenericObject *) obj )) { if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
if (instId != 0) { if (instId != 0) {
// Error, unlock and return // Error, unlock and return
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return -1; return -1;
} }
memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes); memcpy(MetaDataPtr((struct MetaObject *)obj), dataIn, MetaNumBytes);
} else { } else {
ObjectList *objEntry; struct ObjectList *objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
// Cast handle to object // Cast handle to object
objEntry = (ObjectList *) obj; objEntry = (struct ObjectList *) obj;
// Get the instance // Get the instance
instEntry = getInstance(objEntry, instId); instEntry = getInstance(objEntry, instId);
@ -565,7 +546,7 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
} }
// Fire event // Fire event
sendEvent((GenericObject*)obj, instId, EV_UNPACKED); sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
// Unlock // Unlock
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
@ -585,19 +566,19 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (GenericObject *) obj )) { if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
if (instId != 0) { if (instId != 0) {
// Error, unlock and return // Error, unlock and return
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return -1; return -1;
} }
memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes); memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes);
} else { } else {
ObjectList *objEntry; struct ObjectList *objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
// Cast handle to object // Cast handle to object
objEntry = (ObjectList *) obj; objEntry = (struct ObjectList *) obj;
// Get the instance // Get the instance
instEntry = getInstance(objEntry, instId); instEntry = getInstance(objEntry, instId);
@ -637,7 +618,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (OLGetIsMetaobject( (GenericObject *) obj )) { if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
// Get the instance information // Get the instance information
if (instId != 0) { if (instId != 0) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
@ -649,18 +630,18 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
&bytesWritten); &bytesWritten);
// Write the data and check that the write was successful // 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); &bytesWritten);
if (bytesWritten != MetaNumBytes) { if (bytesWritten != MetaNumBytes) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return -1; return -1;
} }
} else { } else {
ObjectList *objEntry; struct ObjectList *objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
// Cast to object // Cast to object
objEntry = (ObjectList *) obj; objEntry = (struct ObjectList *) obj;
// Get the instance information // Get the instance information
instEntry = getInstance(objEntry, instId); instEntry = getInstance(objEntry, instId);
@ -673,7 +654,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
&bytesWritten); &bytesWritten);
// Write the instance ID // Write the instance ID
if (!OLGetIsSingleInstance((GenericObject*)obj)) { if (!OLGetIsSingleInstance((struct GenericObject*)obj)) {
PIOS_FWRITE(file, &instId, PIOS_FWRITE(file, &instId,
sizeof(instId), &bytesWritten); sizeof(instId), &bytesWritten);
} }
@ -705,14 +686,14 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS) #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
if (OLGetIsMetaobject( (GenericObject *) obj )) { if (OLGetIsMetaobject( (struct GenericObject *) obj )) {
if (instId != 0) if (instId != 0)
return -1; 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; return -1;
} else { } else {
InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId); InstanceHandle instEntry = getInstance( (struct ObjectList*)obj, instId);
if (instEntry == NULL) if (instEntry == NULL)
return -1; return -1;
@ -765,7 +746,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{ {
#if defined(PIOS_INCLUDE_SDCARD) #if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead; uint32_t bytesRead;
GenericObject *objEntry; struct GenericObject *objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
uint32_t objId; uint32_t objId;
uint16_t instId; uint16_t instId;
@ -789,7 +770,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return NULL; return NULL;
} }
objEntry = (GenericObject *) obj; objEntry = (struct GenericObject *) obj;
// Get the instance ID // Get the instance ID
instId = 0; instId = 0;
@ -810,18 +791,18 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
} }
// Read the instance data // Read the instance data
if (PIOS_FREAD if (PIOS_FREAD
(file, MetaDataPtr((MetaObject *)obj), MetaNumBytes, &bytesRead)) { (file, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return NULL; return NULL;
} }
} else { } else {
// Get the instance information // 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 the instance does not exist create it and any other instances before it
if (instEntry == NULL) { if (instEntry == NULL) {
instEntry = createInstance((ObjectList *)objEntry, instId); instEntry = createInstance((struct ObjectList *)objEntry, instId);
if (instEntry == NULL) { if (instEntry == NULL) {
// Error, unlock and return // Error, unlock and return
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
@ -830,7 +811,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
} }
// Read the instance data // Read the instance data
if (PIOS_FREAD if (PIOS_FREAD
(file, InstanceData(instEntry), ((ObjectList *)objEntry)->numBytes, &bytesRead)) { (file, InstanceData(instEntry), ((struct ObjectList *)objEntry)->numBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return NULL; return NULL;
} }
@ -860,25 +841,25 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS) #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
if (OLGetIsMetaobject( (GenericObject*) obj )) { if (OLGetIsMetaobject( (struct GenericObject*) obj )) {
if (instId != 0) if (instId != 0)
return -1; return -1;
// Fire event on success // Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, (uint8_t*) MetaDataPtr((MetaObject *)obj)) == 0) if (PIOS_FLASHFS_ObjLoad(obj, instId, (uint8_t*) MetaDataPtr((struct MetaObject *)obj)) == 0)
sendEvent((GenericObject*)obj, instId, EV_UNPACKED); sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
else else
return -1; return -1;
} else { } else {
InstanceHandle instEntry = getInstance( (ObjectList*)obj, instId); InstanceHandle instEntry = getInstance( (struct ObjectList*)obj, instId);
if (instEntry == NULL) if (instEntry == NULL)
return -1; return -1;
// Fire event on success // Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, InstanceData(instEntry)) == 0) if (PIOS_FLASHFS_ObjLoad(obj, instId, InstanceData(instEntry)) == 0)
sendEvent((GenericObject*)obj, instId, EV_UNPACKED); sendEvent((struct GenericObject*)obj, instId, EV_UNPACKED);
else else
return -1; return -1;
} }
@ -965,7 +946,7 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
*/ */
int32_t UAVObjSaveSettings() int32_t UAVObjSaveSettings()
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -973,7 +954,7 @@ int32_t UAVObjSaveSettings()
// Save all settings objects // Save all settings objects
LL_FOREACH(objList, objEntry) { LL_FOREACH(objList, objEntry) {
// Check if this is a settings object // Check if this is a settings object
if (OLGetIsSettings((GenericObject*)objEntry)) { if (OLGetIsSettings((struct GenericObject*)objEntry)) {
// Save object // Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) == if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) { -1) {
@ -994,7 +975,7 @@ int32_t UAVObjSaveSettings()
*/ */
int32_t UAVObjLoadSettings() int32_t UAVObjLoadSettings()
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1002,7 +983,7 @@ int32_t UAVObjLoadSettings()
// Load all settings objects // Load all settings objects
LL_FOREACH(objList, objEntry) { LL_FOREACH(objList, objEntry) {
// Check if this is a settings object // Check if this is a settings object
if (OLGetIsSettings((GenericObject *)objEntry)) { if (OLGetIsSettings((struct GenericObject *)objEntry)) {
// Load object // Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) == if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) { -1) {
@ -1023,7 +1004,7 @@ int32_t UAVObjLoadSettings()
*/ */
int32_t UAVObjDeleteSettings() int32_t UAVObjDeleteSettings()
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1031,7 +1012,7 @@ int32_t UAVObjDeleteSettings()
// Save all settings objects // Save all settings objects
LL_FOREACH(objList, objEntry) { LL_FOREACH(objList, objEntry) {
// Check if this is a settings object // Check if this is a settings object
if (OLGetIsSettings((GenericObject *)objEntry)) { if (OLGetIsSettings((struct GenericObject *)objEntry)) {
// Save object // Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0) if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) { == -1) {
@ -1052,7 +1033,7 @@ int32_t UAVObjDeleteSettings()
*/ */
int32_t UAVObjSaveMetaobjects() int32_t UAVObjSaveMetaobjects()
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1078,7 +1059,7 @@ int32_t UAVObjSaveMetaobjects()
*/ */
int32_t UAVObjLoadMetaobjects() int32_t UAVObjLoadMetaobjects()
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1104,7 +1085,7 @@ int32_t UAVObjLoadMetaobjects()
*/ */
int32_t UAVObjDeleteMetaobjects() int32_t UAVObjDeleteMetaobjects()
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1183,12 +1164,12 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check access level // Check access level
if (!OLGetIsMetaobject((GenericObject *)obj)) { if (!OLGetIsMetaobject((struct GenericObject *)obj)) {
ObjectList *objEntry; struct ObjectList *objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
// Cast to object info // Cast to object info
objEntry = (ObjectList *) obj; objEntry = (struct ObjectList *) obj;
if (UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY) { if (UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
@ -1211,11 +1192,11 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
return -1; return -1;
} }
// Set data // Set data
memcpy(MetaDataPtr((MetaObject *)obj), dataIn, MetaNumBytes); memcpy(MetaDataPtr((struct MetaObject *)obj), dataIn, MetaNumBytes);
} }
// Fire event // Fire event
sendEvent((GenericObject *)obj, instId, EV_UPDATED); sendEvent((struct GenericObject *)obj, instId, EV_UPDATED);
// Unlock // Unlock
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
@ -1236,13 +1217,13 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check access level // Check access level
if ( !OLGetIsMetaobject( (GenericObject*) obj ) ) if ( !OLGetIsMetaobject( (struct GenericObject*) obj ) )
{ {
ObjectList* objEntry; struct ObjectList* objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
// Cast to object info // Cast to object info
objEntry = (ObjectList*)obj; objEntry = (struct ObjectList*)obj;
if ( UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY ) if ( UAVObjGetAccess( LinkedMetaDataPtr(objEntry) ) == ACCESS_READONLY )
{ {
@ -1285,12 +1266,12 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
} }
// Set data // Set data
memcpy(MetaDataPtr((MetaObject *)obj) + offset, dataIn, size); memcpy(MetaDataPtr((struct MetaObject *)obj) + offset, dataIn, size);
} }
// Fire event // Fire event
sendEvent((GenericObject *)obj, instId, EV_UPDATED); sendEvent((struct GenericObject *)obj, instId, EV_UPDATED);
// Unlock // Unlock
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
@ -1311,13 +1292,13 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if ( !OLGetIsMetaobject( (GenericObject*) obj) ) if ( !OLGetIsMetaobject( (struct GenericObject*) obj) )
{ {
ObjectList *objEntry; struct ObjectList *objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
// Cast to object info // Cast to object info
objEntry = (ObjectList *) obj; objEntry = (struct ObjectList *) obj;
// Get instance information // Get instance information
instEntry = getInstance(objEntry, instId); instEntry = getInstance(objEntry, instId);
@ -1336,7 +1317,7 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
return -1; return -1;
} }
// Set data // Set data
memcpy(dataOut, MetaDataPtr((MetaObject *)obj), MetaNumBytes); memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj), MetaNumBytes);
} }
// Unlock // Unlock
@ -1357,13 +1338,13 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
// Lock // Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if ( !OLGetIsMetaobject( (GenericObject*) obj ) ) if ( !OLGetIsMetaobject( (struct GenericObject*) obj ) )
{ {
ObjectList* objEntry; struct ObjectList* objEntry;
InstanceHandle instEntry; InstanceHandle instEntry;
// Cast to object info // Cast to object info
objEntry = (ObjectList*)obj; objEntry = (struct ObjectList*)obj;
// Get instance information // Get instance information
instEntry = getInstance(objEntry, instId); instEntry = getInstance(objEntry, instId);
@ -1402,7 +1383,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
} }
// Set data // Set data
memcpy(dataOut, MetaDataPtr((MetaObject *)obj) + offset, size); memcpy(dataOut, MetaDataPtr((struct MetaObject *)obj) + offset, size);
} }
// Unlock // Unlock
@ -1424,8 +1405,8 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata (metadata of metaobjects can not be modified) // Set metadata (metadata of metaobjects can not be modified)
if (!OLGetIsMetaobject((GenericObject*)obj)) { if (!OLGetIsMetaobject((struct GenericObject*)obj)) {
UAVObjSetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ), UAVObjSetData((UAVObjHandle) MetaObjectPtr( (struct ObjectList*)obj ),
dataIn); dataIn);
} else { } else {
return -1; return -1;
@ -1450,10 +1431,10 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata // Get metadata
if (OLGetIsMetaobject((GenericObject*)obj)) { if (OLGetIsMetaobject((struct GenericObject*)obj)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata)); memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else { } else {
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (ObjectList*)obj ), UAVObjGetData((UAVObjHandle) MetaObjectPtr( (struct ObjectList*)obj ),
dataOut); dataOut);
} }
@ -1616,8 +1597,8 @@ void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode
int8_t UAVObjReadOnly(UAVObjHandle obj) int8_t UAVObjReadOnly(UAVObjHandle obj)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
if (!OLGetIsMetaobject( (GenericObject *)obj)) { if (!OLGetIsMetaobject( (struct GenericObject *)obj)) {
return UAVObjGetAccess( LinkedMetaDataPtr( (ObjectList*)obj ) ) == ACCESS_READONLY; return UAVObjGetAccess( LinkedMetaDataPtr( (struct ObjectList*)obj ) ) == ACCESS_READONLY;
} }
return -1; return -1;
} }
@ -1714,7 +1695,7 @@ void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((GenericObject *) obj, instId, EV_UPDATE_REQ); sendEvent((struct GenericObject *) obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
} }
@ -1736,7 +1717,7 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
{ {
PIOS_Assert(obj); PIOS_Assert(obj);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((GenericObject *) obj, instId, EV_UPDATED_MANUAL); sendEvent((struct GenericObject *) obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
} }
@ -1748,7 +1729,7 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
void UAVObjIterate(void (*iterator) (UAVObjHandle obj)) void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
{ {
PIOS_Assert(iterator); PIOS_Assert(iterator);
ObjectList *objEntry; struct ObjectList *objEntry;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); 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. * 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) UAVObjEventType event)
{ {
ObjectEventList *eventEntry; struct ObjectEventList *eventEntry;
UAVObjEvent msg; UAVObjEvent msg;
// Setup event // 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. * 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; int32_t n;
// For single instance objects, only instance zero is allowed (and zero gets created in RegisterObject) // 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); PIOS_Assert(0);
return NULL; return NULL;
} }
@ -1834,14 +1815,14 @@ static InstanceHandle createInstance(ObjectList * obj, uint16_t instId)
// Create the actual instance // Create the actual instance
instEntry = instEntry =
(ObjectInstList *) (struct ObjectInstList *)
pvPortMalloc(sizeof(ObjectInstList)+obj->numBytes); pvPortMalloc(sizeof(struct ObjectInstList)+obj->numBytes);
if (instEntry == NULL) if (instEntry == NULL)
return NULL; return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->numBytes); 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 // Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId); 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 * 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 // quick solutions
if (OLGetIsSingleInstance((GenericObject*)(obj))) { if (OLGetIsSingleInstance((struct GenericObject*)(obj))) {
if (instId!=0) if (instId!=0)
return NULL; return NULL;
return ObjSingleInstanceDataOffset(obj); return ObjSingleInstanceDataOffset(obj);
@ -1867,7 +1848,7 @@ static InstanceHandle getInstance(ObjectList * obj, uint16_t instId)
// Look for specified instance ID // Look for specified instance ID
uint16_t instance=0; uint16_t instance=0;
LL_FOREACH(&(( (ObjectListMulti*)obj )->instances), instEntry) { LL_FOREACH(&(( (struct ObjectListMulti*)obj )->instances), instEntry) {
if (instance++ == instId) { if (instance++ == instId) {
return InstanceDataOffset(instEntry); return InstanceDataOffset(instEntry);
} }
@ -1887,11 +1868,11 @@ static InstanceHandle getInstance(ObjectList * obj, uint16_t instId)
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask) UAVObjEventCallback cb, uint8_t eventMask)
{ {
ObjectEventList *eventEntry; struct ObjectEventList *eventEntry;
GenericObject *objEntry; struct GenericObject *objEntry;
// Check that the queue is not already connected, if it is simply update event mask // 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) { LL_FOREACH(objEntry->events, eventEntry) {
if (eventEntry->queue == queue && eventEntry->cb == cb) { if (eventEntry->queue == queue && eventEntry->cb == cb) {
// Already connected, update event mask and return // Already connected, update event mask and return
@ -1902,7 +1883,7 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
// Add queue to list // Add queue to list
eventEntry = eventEntry =
(ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList)); (struct ObjectEventList *) pvPortMalloc(sizeof(struct ObjectEventList));
if (eventEntry == NULL) { if (eventEntry == NULL) {
return -1; return -1;
} }
@ -1925,11 +1906,11 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb) UAVObjEventCallback cb)
{ {
ObjectEventList *eventEntry; struct ObjectEventList *eventEntry;
GenericObject *objEntry; struct GenericObject *objEntry;
// Find queue and remove it // Find queue and remove it
objEntry = (GenericObject *) obj; objEntry = (struct GenericObject *) obj;
LL_FOREACH(objEntry->events, eventEntry) { LL_FOREACH(objEntry->events, eventEntry) {
if ((eventEntry->queue == queue if ((eventEntry->queue == queue
&& eventEntry->cb == cb)) { && eventEntry->cb == cb)) {