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Merge branch 'corvuscorax/uavobjmanagerfix' into corvuscorax/OP-947_stateestimator-module

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This commit is contained in:
Corvus Corax 2013-06-06 22:41:31 +02:00
commit f79c227def
2 changed files with 24 additions and 27 deletions
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2
flight/uavobjects/inc/uavobjectmanager.h
View File

@ -159,7 +159,7 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
#if defined(PIOS_INCLUDE_SDCARD)
int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId, FILEINFO *file);
UAVObjHandle UAVObjLoadFromFile(FILEINFO *file);
int32_t UAVObjLoadFromFile(UAVObjHandle obj_handle, FILEINFO *file);
#endif
int32_t UAVObjSaveSettings();
int32_t UAVObjLoadSettings();

49
flight/uavobjects/uavobjectmanager.c
View File

@ -864,45 +864,50 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t ins
#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
/**
* Load an object from the file system (SD card).
* @param[in] obj The object handle.
* @param[in] file File to read from
* @return The handle of the object loaded or NULL if a failure
* @return 0 if success or -1 if failure
*/
UAVObjHandle UAVObjLoadFromFile(FILEINFO *file)
int32_t UAVObjLoadFromFile(UAVObjHandle obj_handle, FILEINFO *file)
{
uint32_t bytesRead;
struct UAVOBase *objEntry;
InstanceHandle instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj_handle;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return NULL;
return -1;
}
// Get the object
if (obj_handle == 0) {
return -1;
}
objEntry = (struct UAVOBase *)obj_handle;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Read the object ID
if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
return -1;
}
// Get the object
obj_handle = UAVObjGetByID(objId);
if (obj_handle == 0) {
// Check that the IDs match
if (objId != UAVObjGetID(obj_handle)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
return -1;
}
objEntry = (struct UAVOBase *)obj_handle;
// Get the instance ID
instId = 0;
instId = 0;
if (!UAVObjIsSingleInstance(obj_handle)) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
return -1;
}
}
@ -911,13 +916,13 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO *file)
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
return -1;
}
// Read the instance data
if (PIOS_FREAD
(file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
return -1;
}
} else {
// Get the instance information
@ -929,14 +934,14 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO *file)
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
return -1;
}
}
// Read the instance data
if (PIOS_FREAD
(file, InstanceData(instEntry), ((struct UAVOData *)objEntry)->instance_size, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
return -1;
}
}
@ -945,7 +950,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO *file)
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj_handle;
return 0;
}
#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
@ -992,7 +997,6 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t ins
#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
FILEINFO file;
UAVObjHandle loadedObj;
uint8_t filename[14];
// Check for file system availability
@ -1011,14 +1015,7 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t ins
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
if (UAVObjGetID(loadedObj) != UAVObjGetID(obj_handle)) {
if (UAVObjLoadFromFile(obj_handle, &file) != 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;