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LibrePilot/flight/uavobjects/uavobjectmanager.c

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/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "pios_struct_helper.h"
// Constants
// Private types
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/* Table of UAVO handles registered at compile time */
extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
#define UAVO_LIST_ITERATE(_item) \
for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
_uavo_slot && _uavo_slot < __stop__uavo_handles; \
_uavo_slot++) { \
struct UAVOData * _item = *_uavo_slot; \
if (_item == NULL) continue;
/**
* List of event queues and the eventmask associated with the queue.
*/
/** opaque type for instances **/
typedef void* InstanceHandle;
struct ObjectEventEntry {
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventEntry * next;
};
/*
MetaInstance == [UAVOBase [UAVObjMetadata]]
SingleInstance == [UAVOBase [UAVOData [InstanceData]]]
MultiInstance == [UAVOBase [UAVOData [NumInstances [InstanceData0 [next]]]]
____________________/
\-->[InstanceData1 [next]]
_________...________/
\-->[InstanceDataN [next]]
*/
/*
* UAVO Base Type
* - All Types of UAVObjects are of this base type
* - The flags determine what type(s) this object
*/
struct UAVOBase {
/* Let these objects be added to an event queue */
struct ObjectEventEntry * next_event;
/* Describe the type of object that follows this header */
struct UAVOInfo {
bool isMeta : 1;
bool isSingle : 1;
bool isSettings : 1;
} flags;
} __attribute__((packed));
/* Augmented type for Meta UAVO */
struct UAVOMeta {
struct UAVOBase base;
UAVObjMetadata instance0;
} __attribute__((packed));
/* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
struct UAVOData {
struct UAVOBase base;
uint32_t id;
/*
* Embed the Meta object as another complete UAVO
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
uint16_t instance_size;
} __attribute__((packed));
/* Augmented type for Single Instance Data UAVO */
struct UAVOSingle {
struct UAVOData uavo;
uint8_t instance0[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Part of a linked list of instances chained off of a multi instance UAVO. */
struct UAVOMultiInst {
struct UAVOMultiInst * next;
uint8_t instance[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Augmented type for Multi Instance Data UAVO */
struct UAVOMulti {
struct UAVOData uavo;
uint16_t num_instances;
struct UAVOMultiInst instance0;
/*
* Additional space will be malloc'd here to hold the
* the data for instance 0.
*/
} __attribute__((packed));
/** all information about a metaobject are hardcoded constants **/
#define MetaNumBytes sizeof(UAVObjMetadata)
#define MetaBaseObjectPtr(obj) ((struct UAVOData *)((obj)-offsetof(struct UAVOData, metaObj)))
#define MetaObjectPtr(obj) ((struct UAVODataMeta*) &((obj)->metaObj))
#define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->instance0))
#define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.instance0))
#define MetaObjectId(id) ((id)+1)
/** all information about instances are dependant on object type **/
#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (struct UAVOSingle*)obj )->instance0)))
#define InstanceDataOffset(inst) ((void*)&(( (struct UAVOMultiInst*)inst )->instance))
#define InstanceData(instance) (void*)instance
// Private functions
static int32_t sendEvent(struct UAVOBase * obj, uint16_t instId,
UAVObjEventType event);
static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId);
static InstanceHandle getInstance(struct UAVOData * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(UAVObjHandle obj_handle, uint8_t * filename);
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
// Private variables
static xSemaphoreHandle mutex;
static const UAVObjMetadata defMetadata = {
.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT),
.telemetryUpdatePeriod = 0,
.gcsTelemetryUpdatePeriod = 0,
.loggingUpdatePeriod = 0,
};
static UAVObjStats stats;
/**
* Initialize the object manager
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVObjInitialize()
{
// Initialize variables
memset(&stats, 0, sizeof(UAVObjStats));
// Initialize the uavo handle table
memset(__start__uavo_handles, 0,
(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Done
return 0;
}
/*****************
* Statistics
****************/
/**
* Get the statistics counters
* @param[out] statsOut The statistics counters will be copied there
*/
void UAVObjGetStats(UAVObjStats * statsOut)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
* Clear the statistics counters
*/
void UAVObjClearStats()
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/************************
* Object Initialization
***********************/
static void UAVObjInitMetaData (struct UAVOMeta * obj_meta)
{
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(obj_meta->base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isMeta = true;
uavo_base->flags.isSingle = true;
uavo_base->next_event = NULL;
/* Clear the instance data carried in the UAVO */
memset(&(obj_meta->instance0), 0, sizeof(obj_meta->instance0));
}
static struct UAVOData * UAVObjAllocSingle(uint32_t num_bytes)
{
/* Compute the complete size of the object, including the data for a single embedded instance */
uint32_t object_size = sizeof(struct UAVOSingle) + num_bytes;
/* Allocate the object from the heap */
struct UAVOSingle * uavo_single = (struct UAVOSingle *) pvPortMalloc(object_size);
if (!uavo_single)
return (NULL);
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(uavo_single->uavo.base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isSingle = true;
uavo_base->next_event = NULL;
/* Clear the instance data carried in the UAVO */
memset(&(uavo_single->instance0), 0, num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_single->uavo));
}
static struct UAVOData * UAVObjAllocMulti(uint32_t num_bytes)
{
/* Compute the complete size of the object, including the data for a single embedded instance */
uint32_t object_size = sizeof(struct UAVOMulti) + num_bytes;
/* Allocate the object from the heap */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) pvPortMalloc(object_size);
if (!uavo_multi)
return (NULL);
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(uavo_multi->uavo.base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isSingle = false;
uavo_base->next_event = NULL;
/* Set up the type-specific part of the UAVO */
uavo_multi->num_instances = 1;
/* Clear the instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_multi->uavo));
}
/**************************
* UAVObject Database APIs
*************************/
/**
* Register and new object in the object manager.
* \param[in] id Unique object ID
* \param[in] isSingleInstance Is this a single instance or multi-instance object
* \param[in] isSettings Is this a settings object
* \param[in] numBytes Number of bytes of object data (for one instance)
* \param[in] initCb Default field and metadata initialization function
* \return Object handle, or NULL if failure.
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id,
int32_t isSingleInstance, int32_t isSettings,
uint32_t num_bytes,
UAVObjInitializeCallback initCb)
{
struct UAVOData * uavo_data = NULL;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
/* Don't allow duplicate registrations */
if (UAVObjGetByID(id))
goto unlock_exit;
/* Map the various flags to one of the UAVO types we understand */
if (isSingleInstance) {
uavo_data = UAVObjAllocSingle (num_bytes);
} else {
uavo_data = UAVObjAllocMulti (num_bytes);
}
if (!uavo_data)
goto unlock_exit;
/* Fill in the details about this UAVO */
uavo_data->id = id;
uavo_data->instance_size = num_bytes;
if (isSettings) {
uavo_data->base.flags.isSettings = true;
}
/* Initialize the embedded meta UAVO */
UAVObjInitMetaData (&uavo_data->metaObj);
/* Initialize object fields and metadata to default values */
if (initCb)
initCb((UAVObjHandle) uavo_data, 0);
/* Always try to load the meta object from flash */
UAVObjLoad((UAVObjHandle) &(uavo_data->metaObj), 0);
/* Attempt to load settings object from flash */
if (uavo_data->base.flags.isSettings)
UAVObjLoad((UAVObjHandle) uavo_data, 0);
// fire events for outer object and its embedded meta object
UAVObjInstanceUpdated((UAVObjHandle) uavo_data, 0);
UAVObjInstanceUpdated((UAVObjHandle) &(uavo_data->metaObj), 0);
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) uavo_data;
}
/**
* Retrieve an object from the list given its id
* \param[in] The object ID
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByID(uint32_t id)
{
UAVObjHandle * found_obj = (UAVObjHandle *) NULL;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
UAVO_LIST_ITERATE(tmp_obj)
if (tmp_obj->id == id) {
found_obj = (UAVObjHandle *)tmp_obj;
goto unlock_exit;
}
if (MetaObjectId(tmp_obj->id) == id) {
found_obj = (UAVObjHandle *)&(tmp_obj->metaObj);
goto unlock_exit;
}
}
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return found_obj;
}
/**
* Get the object's ID
* \param[in] obj The object handle
* \return The object ID
*/
uint32_t UAVObjGetID(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
if (UAVObjIsMetaobject(obj_handle)) {
/* We have a meta object, find our containing UAVO */
struct UAVOData * uavo_data = container_of ((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
return MetaObjectId (uavo_data->id);
} else {
/* We have a data object, augment our pointer */
struct UAVOData * uavo_data = (struct UAVOData *) uavo_base;
return (uavo_data->id);
}
}
/**
* Get the number of bytes of the object's data (for one instance)
* \param[in] obj The object handle
* \return The number of bytes
*/
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
PIOS_Assert(obj);
uint32_t instance_size;
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj;
if (uavo_base->flags.isMeta) {
instance_size = MetaNumBytes;
} else {
/* We have a data object, augment our pointer */
struct UAVOData * uavo = (struct UAVOData *) uavo_base;
instance_size = uavo->instance_size;
}
return (instance_size);
}
/**
* Get the object this object is linked to. For regular objects, the linked object
* is the metaobject. For metaobjects the linked object is the parent object.
* This function is normally only needed by the telemetry module.
* \param[in] obj The object handle
* \return The object linked object handle
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
if (UAVObjIsMetaobject(obj_handle)) {
/* We have a meta object, find our containing UAVO. */
struct UAVOData * uavo_data = container_of ((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
return (UAVObjHandle) uavo_data;
} else {
/* We have a data object, augment our pointer */
struct UAVOData * uavo_data = (struct UAVOData *) uavo_base;
return (UAVObjHandle) &(uavo_data->metaObj);
}
}
/**
* Get the number of instances contained in the object.
* \param[in] obj The object handle
* \return The number of instances
*/
uint16_t UAVObjGetNumInstances(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
if (UAVObjIsSingleInstance(obj_handle)) {
/* Only one instance is allowed */
return 1;
} else {
/* Multi-instance object. Inspect the object */
/* Augment our pointer to reflect the proper type */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) obj_handle;
return uavo_multi->num_instances;
}
}
/**
* Create a new instance in the object.
* \param[in] obj The object handle
* \return The instance ID or 0 if an error
*/
uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle,
UAVObjInitializeCallback initCb)
{
PIOS_Assert(obj_handle);
if (UAVObjIsMetaobject(obj_handle)) {
return 0;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
InstanceHandle instEntry;
uint16_t instId = 0;
// Create new instance
instId = UAVObjGetNumInstances(obj_handle);
instEntry = createInstance( (struct UAVOData *)obj_handle, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Initialize instance data
if (initCb) {
initCb(obj_handle, instId);
}
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return instId;
}
/**
* Does this object contains a single instance or multiple instances?
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
bool UAVObjIsSingleInstance(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isSingle;
}
/**
* Is this a metaobject?
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
bool UAVObjIsMetaobject(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isMeta;
}
/**
* Is this a settings object?
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
bool UAVObjIsSettings(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isSettings;
}
/**
* Unpack an object from a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[in] dataIn The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId,
const uint8_t * dataIn)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle), dataIn, MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast handle to object
obj = (struct UAVOData *) obj_handle;
// Get the instance
instEntry = getInstance(obj, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
}
// Set the data
memcpy(InstanceData(instEntry), dataIn, obj->instance_size);
}
// Fire event
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Pack an object to a byte array
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[out] dataOut The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t * dataOut)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast handle to object
obj = (struct UAVOData *) obj_handle;
// Get the instance
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Pack data
memcpy(dataOut, InstanceData(instEntry), obj->instance_size);
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* Save the data of the specified object instance to the file system (SD card).
* The object will be appended and the file will not be closed.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
FILEINFO * file)
{
PIOS_Assert(obj_handle);
uint32_t bytesWritten;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (UAVObjIsMetaobject(obj_handle)) {
// Get the instance information
if (instId != 0) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
uint32_t objId = UAVObjGetID(obj_handle);
PIOS_FWRITE(file, &objId, sizeof(objId),
&bytesWritten);
// Write the data and check that the write was successful
PIOS_FWRITE(file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes,
&bytesWritten);
if (bytesWritten != MetaNumBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
} else {
struct UAVOData * uavo;
InstanceHandle instEntry;
// Cast to object
uavo = (struct UAVOData *) obj_handle;
// Get the instance information
instEntry = getInstance(uavo, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
PIOS_FWRITE(file, &uavo->id, sizeof(uavo->id),
&bytesWritten);
// Write the instance ID
if (!UAVObjIsSingleInstance(obj_handle)) {
PIOS_FWRITE(file, &instId,
sizeof(instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, InstanceData(instEntry), uavo->instance_size,
&bytesWritten);
if (bytesWritten != uavo->instance_size) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
#endif /* PIOS_INCLUDE_SDCARD */
/**
* Save the data of the specified object to the file system (SD card).
* If the object contains multiple instances, all of them will be saved.
* A new file with the name of the object will be created.
* The object data can be restored using the UAVObjLoad function.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0)
return -1;
if (PIOS_FLASHFS_ObjSave(0, UAVObjGetID(obj_handle), instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle), UAVObjGetNumBytes(obj_handle)) != 0)
return -1;
} else {
InstanceHandle instEntry = getInstance( (struct UAVOData *)obj_handle, instId);
if (instEntry == NULL)
return -1;
if (InstanceData(instEntry) == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(0, UAVObjGetID(obj_handle), instId, InstanceData(instEntry), UAVObjGetNumBytes(obj_handle)) != 0)
return -1;
}
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj_handle, filename);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if (UAVObjSaveToFile(obj_handle, instId, &file) == -1) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* Load an object from the file system (SD card).
* @param[in] file File to read from
* @return The handle of the object loaded or NULL if a failure
*/
UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{
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;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Read the object ID
if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj_handle = UAVObjGetByID(objId);
if (obj_handle == 0) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (struct UAVOBase *) obj_handle;
// Get the instance ID
instId = 0;
if (!UAVObjIsSingleInstance(obj_handle)) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
if (UAVObjIsMetaobject(obj_handle)) {
// If the instance does not exist create it and any other instances before it
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Read the instance data
if (PIOS_FREAD
(file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
} else {
// Get the instance information
instEntry = getInstance((struct UAVOData *)objEntry, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance((struct UAVOData *)objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Read the instance data
if (PIOS_FREAD
(file, InstanceData(instEntry), ((struct UAVOData *)objEntry)->instance_size, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj_handle;
}
#endif /* PIOS_INCLUDE_SDCARD */
/**
* Load an object from the file system (SD card).
* A file with the name of the object will be opened.
* The object data can be saved using the UAVObjSave function.
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(0, UAVObjGetID(obj_handle), instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle), UAVObjGetNumBytes(obj_handle)) == 0)
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
else
return -1;
} else {
InstanceHandle instEntry = getInstance( (struct UAVOData *)obj_handle, instId);
if (instEntry == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(0, UAVObjGetID(obj_handle), instId, InstanceData(instEntry), UAVObjGetNumBytes(obj_handle)) == 0)
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
else
return -1;
}
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
UAVObjHandle loadedObj;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj_handle, filename);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
if (UAVObjGetID(loadedObj) != UAVObjGetID(obj_handle)) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Delete an object from the file system (SD card).
* @param[in] obj The object handle.
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
PIOS_FLASHFS_ObjDelete(0, UAVObjGetID(obj_handle), instId);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get filename
objectFilename(obj_handle, filename);
// Delete file
PIOS_FUNLINK(filename);
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
}
/**
* Save all settings objects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveSettings()
{
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
if (UAVObjSave((UAVObjHandle) obj, 0) ==
-1) {
goto unlock_exit;
}
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Load all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadSettings()
{
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Load object
if (UAVObjLoad((UAVObjHandle) obj, 0) ==
-1) {
goto unlock_exit;
}
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Delete all settings objects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteSettings()
{
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
if (UAVObjDelete((UAVObjHandle) obj, 0)
== -1) {
goto unlock_exit;
}
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Save all metaobjects to the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveMetaobjects()
{
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
UAVO_LIST_ITERATE(obj)
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
goto unlock_exit;
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Load all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoadMetaobjects()
{
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
UAVO_LIST_ITERATE(obj)
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
goto unlock_exit;
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Delete all metaobjects from the SD card.
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDeleteMetaobjects()
{
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
UAVO_LIST_ITERATE(obj)
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
== -1) {
goto unlock_exit;
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetData(UAVObjHandle obj_handle, const void *dataIn)
{
return UAVObjSetInstanceData(obj_handle, 0, dataIn);
}
/**
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void* dataIn, uint32_t offset, uint32_t size)
{
return UAVObjSetInstanceDataField(obj_handle, 0, dataIn, offset, size);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetData(UAVObjHandle obj_handle, void *dataOut)
{
return UAVObjGetInstanceData(obj_handle, 0, dataOut);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void* dataOut, uint32_t offset, uint32_t size)
{
return UAVObjGetInstanceDataField(obj_handle, 0, dataOut, offset, size);
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
const void *dataIn)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle), dataIn, MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast to object info
obj = (struct UAVOData *) obj_handle;
// Check access level
if (UAVObjReadOnly(obj_handle)) {
goto unlock_exit;
}
// Get instance information
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Set data
memcpy(InstanceData(instEntry), dataIn, obj->instance_size);
}
// Fire event
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UPDATED);
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > MetaNumBytes) {
goto unlock_exit;
}
// Set data
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle) + offset, dataIn, size);
} else {
struct UAVOData * obj;
InstanceHandle instEntry;
// Cast to object info
obj = (struct UAVOData *)obj_handle;
// Check access level
if (UAVObjReadOnly(obj_handle)) {
goto unlock_exit;
}
// Get instance information
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > obj->instance_size) {
goto unlock_exit;
}
// Set data
memcpy(InstanceData(instEntry) + offset, dataIn, size);
}
// Fire event
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UPDATED);
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Get the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
void *dataOut)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast to object info
obj = (struct UAVOData *) obj_handle;
// Get instance information
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, InstanceData(instEntry), obj->instance_size);
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Get the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > MetaNumBytes) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle) + offset, size);
} else {
struct UAVOData * obj;
InstanceHandle instEntry;
// Cast to object info
obj = (struct UAVOData *)obj_handle;
// Get instance information
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > obj->instance_size) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, InstanceData(instEntry) + offset, size);
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Set the object metadata
* \param[in] obj The object handle
* \param[in] dataIn The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata * dataIn)
{
PIOS_Assert(obj_handle);
// Set metadata (metadata of metaobjects can not be modified)
if (UAVObjIsMetaobject(obj_handle)) {
return -1;
}
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
UAVObjSetData((UAVObjHandle) MetaObjectPtr((struct UAVOData *)obj_handle), dataIn);
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Get the object metadata
* \param[in] obj The object handle
* \param[out] dataOut The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata * dataOut)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
if (UAVObjIsMetaobject(obj_handle)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (struct UAVOData *)obj_handle ),
dataOut);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/*******************************
* Object Metadata Manipulation
******************************/
/**
* Get the UAVObject metadata access member
* \param[in] metadata The metadata object
* \return the access type
*/
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* metadata)
{
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_ACCESS_SHIFT) & 1;
}
/**
* Set the UAVObject metadata access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObjSetAccess(UAVObjMetadata* metadata, UAVObjAccessType mode)
{
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \return the GCS access type
*/
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* metadata)
{
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObjSetGcsAccess(UAVObjMetadata* metadata, UAVObjAccessType mode) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The telemetry acked boolean
*/
void UAVObjSetTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata telemetry update mode
* \param[in] metadata The metadata object
* \return the telemetry update mode
*/
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
/**
* Set the UAVObject metadata telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The telemetry update mode
*/
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Get the UAVObject metadata GCS telemetry update mode
* \param[in] metadata The metadata object
* \return the GCS telemetry update mode
*/
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
/**
* Set the UAVObject metadata GCS telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry update mode
*/
void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Check if an object is read only
* \param[in] obj The object handle
* \return
* \arg 0 if not read only
* \arg 1 if read only
* \arg -1 if unable to get meta data
*/
int8_t UAVObjReadOnly(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
if (!UAVObjIsMetaobject(obj_handle)) {
return UAVObjGetAccess(LinkedMetaDataPtr( (struct UAVOData *)obj_handle)) == ACCESS_READONLY;
}
return -1;
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* All events matching the event mask will be pushed to the event queue.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue,
uint8_t eventMask)
{
PIOS_Assert(obj_handle);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj_handle, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event queue from the object.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue)
{
PIOS_Assert(obj_handle);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj_handle, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
* The supplied callback will be invoked on all events matching the event mask.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb,
uint8_t eventMask)
{
PIOS_Assert(obj_handle);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj_handle, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Disconnect an event callback from the object.
* \param[in] obj The object handle
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb)
{
PIOS_Assert(obj_handle);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj_handle, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
*/
void UAVObjRequestUpdate(UAVObjHandle obj_handle)
{
UAVObjRequestInstanceUpdate(obj_handle, UAVOBJ_ALL_INSTANCES);
}
/**
* Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
* \param[in] instId Object instance ID to update
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((struct UAVOBase *) obj_handle, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
*/
void UAVObjUpdated(UAVObjHandle obj_handle)
{
UAVObjInstanceUpdated(obj_handle, UAVOBJ_ALL_INSTANCES);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
* \param[in] instId The object instance ID
*/
void UAVObjInstanceUpdated(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((struct UAVOBase *) obj_handle, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
/**
* Iterate through all objects in the list.
* \param iterator This function will be called once for each object,
* the object will be passed as a parameter
*/
void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
{
PIOS_Assert(iterator);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
UAVO_LIST_ITERATE(obj)
(*iterator) ((UAVObjHandle) obj);
(*iterator) ((UAVObjHandle) &obj->metaObj);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
}
/**
* Send a triggered event to all event queues registered on the object.
*/
static int32_t sendEvent(struct UAVOBase * obj, uint16_t instId,
UAVObjEventType triggered_event)
{
/* Set up the message that will be sent to all registered listeners */
UAVObjEvent msg = {
.obj = (UAVObjHandle) obj,
.event = triggered_event,
.instId = instId,
};
// Go through each object and push the event message in the queue (if event is activated for the queue)
struct ObjectEventEntry *event;
LL_FOREACH(obj->next_event, event) {
if (event->eventMask == 0
|| (event->eventMask & triggered_event) != 0) {
// Send to queue if a valid queue is registered
if (event->queue) {
// will not block
if (xQueueSend(event->queue, &msg, 0) != pdTRUE) {
stats.lastQueueErrorID = UAVObjGetID(obj);
++stats.eventQueueErrors;
}
}
// Invoke callback (from event task) if a valid one is registered
if (event->cb) {
// invoke callback from the event task, will not block
if (EventCallbackDispatch(&msg, event->cb) != pdTRUE) {
++stats.eventCallbackErrors;
stats.lastCallbackErrorID = UAVObjGetID(obj);
}
}
}
}
return 0;
}
/**
* Create a new object instance, return the instance info or NULL if failure.
*/
static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId)
{
struct UAVOMultiInst *instEntry;
/* Don't allow more than one instance for single instance objects */
if (UAVObjIsSingleInstance(&(obj->base))) {
PIOS_Assert(0);
return NULL;
}
/* Don't create more than the allowed number of instances */
if (instId >= UAVOBJ_MAX_INSTANCES) {
return NULL;
}
/* Don't allow duplicate instances */
if (instId < UAVObjGetNumInstances(&(obj->base))) {
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (uint16_t n = UAVObjGetNumInstances(&(obj->base)); n < instId; ++n) {
if (createInstance(obj, n) == NULL) {
return NULL;
}
}
/* Create the actual instance */
instEntry = (struct UAVOMultiInst *) pvPortMalloc(sizeof(struct UAVOMultiInst)+obj->instance_size);
if (!instEntry)
return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->instance_size);
LL_APPEND(( (struct UAVOMulti*)obj )->instance0.next, instEntry);
( (struct UAVOMulti*)obj )->num_instances++;
// Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
// Done
return InstanceDataOffset(instEntry);
}
/**
* Get the instance information or NULL if the instance does not exist
*/
static InstanceHandle getInstance(struct UAVOData * obj, uint16_t instId)
{
if (UAVObjIsMetaobject(&obj->base)) {
/* Metadata Instance */
if (instId != 0)
return NULL;
/* Augment our pointer to reflect the proper type */
struct UAVOMeta * uavo_meta = (struct UAVOMeta *) obj;
return (&(uavo_meta->instance0));
} else if (UAVObjIsSingleInstance(&(obj->base))) {
/* Single Instance */
if (instId != 0)
return NULL;
/* Augment our pointer to reflect the proper type */
struct UAVOSingle * uavo_single = (struct UAVOSingle *) obj;
return (&(uavo_single->instance0));
} else {
/* Multi Instance */
/* Augment our pointer to reflect the proper type */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) obj;
if (instId >= uavo_multi->num_instances)
return NULL;
// Look for specified instance ID
uint16_t instance = 0;
struct UAVOMultiInst *instEntry;
LL_FOREACH(&(uavo_multi->instance0), instEntry) {
if (instance++ == instId) {
/* Found it */
return &(instEntry->instance);
}
}
/* Instance was not found */
return NULL;
}
}
/**
* Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask)
{
struct ObjectEventEntry *event;
struct UAVOBase *obj;
// Check that the queue is not already connected, if it is simply update event mask
obj = (struct UAVOBase *) obj_handle;
LL_FOREACH(obj->next_event, event) {
if (event->queue == queue && event->cb == cb) {
// Already connected, update event mask and return
event->eventMask = eventMask;
return 0;
}
}
// Add queue to list
event = (struct ObjectEventEntry *) pvPortMalloc(sizeof(struct ObjectEventEntry));
if (event == NULL) {
return -1;
}
event->queue = queue;
event->cb = cb;
event->eventMask = eventMask;
LL_APPEND(obj->next_event, event);
// Done
return 0;
}
/**
* Disconnect an event queue from the object
* \param[in] obj The object handle
* \param[in] queue The event queue
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb)
{
struct ObjectEventEntry *event;
struct UAVOBase *obj;
// Find queue and remove it
obj = (struct UAVOBase *) obj_handle;
LL_FOREACH(obj->next_event, event) {
if ((event->queue == queue
&& event->cb == cb)) {
LL_DELETE(obj->next_event, event);
vPortFree(event);
return 0;
}
}
// If this point is reached the queue was not found
return -1;
}
#if defined(PIOS_INCLUDE_SDCARD)
/**
* Wrapper for the sprintf function
*/
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
{
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
}
/**
* Get an 8 character (plus extension) filename for the object.
*/
static void objectFilename(UAVObjHandle obj_handle, uint8_t * filename)
{
customSPrintf(filename, (uint8_t *) "%X.obj", UAVObjGetID(obj_handle));
}
#endif /* PIOS_INCLUDE_SDCARD */
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