rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

Added UAVTalkProcessInputStreamQuiet function, which is a version of UAVTalkProcessInputStream that only processes (does not sens or receive).

Browse Source
This commit is contained in:
Brian Webb 2012-04-22 08:43:51 -07:00
parent f726cc6a9d
commit fb6dedad2b
2 changed files with 32 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
flight/UAVTalk/inc/uavtalk.h
View File

@ -54,6 +54,7 @@ UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkResetStats(UAVTalkConnection connection);

44
flight/UAVTalk/uavtalk.c
View File

@ -254,7 +254,7 @@ static int32_t objectTransaction(UAVTalkConnectionData *connection, UAVObjHandle
* \param[in] rxbyte Received byte
* \return UAVTalkRxState
*/
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle, uint8_t rxbyte)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
@ -449,15 +449,9 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
iproc->state = UAVTALK_STATE_ERROR;
break;
}
if (iproc->obj)
{
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer, iproc->length);
connection->stats.rxObjectBytes += iproc->length;
connection->stats.rxObjects++;
xSemaphoreGiveRecursive(connection->lock);
}
connection->stats.rxObjectBytes += iproc->length;
connection->stats.rxObjects++;
iproc->state = UAVTALK_STATE_COMPLETE;
break;
@ -470,6 +464,30 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
// Done
return iproc->state;
}
/**
* Process an byte from the telemetry stream.
* \param[in] connection UAVTalkConnection to be used
* \param[in] rxbyte Received byte
* \return UAVTalkRxState
*/
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
{
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(connectionHandle, rxbyte);
if (state == UAVTALK_STATE_COMPLETE)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
UAVTalkInputProcessor *iproc = &connection->iproc;
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer, iproc->length);
xSemaphoreGiveRecursive(connection->lock);
}
return state;
}
/**
* Receive an object. This function process objects received through the telemetry stream.
@ -495,7 +513,7 @@ static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, ui
switch (type) {
case UAVTALK_TYPE_OBJ:
// All instances, not allowed for OBJ messages
if (instId != UAVOBJ_ALL_INSTANCES)
if (obj && (instId != UAVOBJ_ALL_INSTANCES))
{
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(obj, instId, data);
@ -509,7 +527,7 @@ static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, ui
break;
case UAVTALK_TYPE_OBJ_ACK:
// All instances, not allowed for OBJ_ACK messages
if (instId != UAVOBJ_ALL_INSTANCES)
if (obj && (instId != UAVOBJ_ALL_INSTANCES))
{
// Unpack object, if the instance does not exist it will be created!
if ( UAVObjUnpack(obj, instId, data) == 0 )
@ -539,7 +557,7 @@ static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, ui
break;
case UAVTALK_TYPE_ACK:
// All instances, not allowed for ACK messages
if (instId != UAVOBJ_ALL_INSTANCES)
if (obj && (instId != UAVOBJ_ALL_INSTANCES))
{
// Check if an ack is pending
updateAck(connection, obj, instId);