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https://bitbucket.org/librepilot/librepilot.git
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3155324384
Conflicts: Makefile ground/openpilotgcs/src/plugins/config/configahrswidget.cpp shared/uavobjectdefinition/ahrscalibration.xml shared/uavobjectdefinition/ahrssettings.xml shared/uavobjectdefinition/attituderaw.xml
1755 lines
46 KiB
C
1755 lines
46 KiB
C
/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup UAV Object Manager
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* @brief The core UAV Objects functions, most of which are wrappered by
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* autogenerated defines
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* @{
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*
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*
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* @file uavobjectmanager.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Object manager library. This library holds a collection of all objects.
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* It can be used by all modules/libraries to find an object reference.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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// Constants
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// Private types
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// Macros
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#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
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#define OLGetIsMetaobject(olp) ((olp)->flags & OL_IS_METAOBJECT)
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#define OLSetIsMetaobject(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_METAOBJECT) : ((olp)->flags | OL_IS_METAOBJECT)))
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#define OLGetIsSingleInstance(olp) ((olp)->flags & OL_IS_SINGLE_INSTANCE)
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#define OLSetIsSingleInstance(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SINGLE_INSTANCE) : ((olp)->flags | OL_IS_SINGLE_INSTANCE)))
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#define OLGetIsSettings(olp) ((olp)->flags & OL_IS_SETTINGS)
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#define OLSetIsSettings(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SETTINGS) : ((olp)->flags | OL_IS_SETTINGS)))
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/**
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* List of event queues and the eventmask associated with the queue.
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*/
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struct ObjectEventListStruct {
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xQueueHandle queue;
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UAVObjEventCallback cb;
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uint8_t eventMask;
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struct ObjectEventListStruct *next;
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};
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typedef struct ObjectEventListStruct ObjectEventList;
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/**
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* List of object instances, holds the actual data structure and instance ID
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*/
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struct ObjectInstListStruct {
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void *data;
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uint16_t instId;
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struct ObjectInstListStruct *next;
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};
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typedef struct ObjectInstListStruct ObjectInstList;
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typedef enum {
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OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
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OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
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OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */
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} ObjectListFlags;
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/**
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* List of objects registered in the object manager
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*/
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struct ObjectListStruct {
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uint32_t id;
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/** The object ID */
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const char *name;
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/** The object name */
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ObjectListFlags flags;
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/** The object list mode flags */
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uint16_t numBytes;
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/** Number of data bytes contained in the object (for a single instance) */
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uint16_t numInstances;
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/** Number of instances */
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struct ObjectListStruct *linkedObj;
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/** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
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ObjectInstList instances;
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/** List of object instances, instance 0 always exists */
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ObjectEventList *events;
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/** Event queues registered on the object */
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struct ObjectListStruct *next;
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/** Needed by linked list library (utlist.h) */
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};
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typedef struct ObjectListStruct ObjectList;
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// Private functions
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static int32_t sendEvent(ObjectList * obj, uint16_t instId,
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UAVObjEventType event);
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static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
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static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
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static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
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UAVObjEventCallback cb, uint8_t eventMask);
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static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
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UAVObjEventCallback cb);
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#if defined(PIOS_INCLUDE_SDCARD)
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static void objectFilename(ObjectList * obj, uint8_t * filename);
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static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
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#endif
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// Private variables
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static ObjectList *objList;
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static xSemaphoreHandle mutex;
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static UAVObjMetadata defMetadata;
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static UAVObjStats stats;
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/**
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* Initialize the object manager
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* \return 0 Success
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* \return -1 Failure
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*/
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int32_t UAVObjInitialize()
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{
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// Initialize variables
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objList = NULL;
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memset(&stats, 0, sizeof(UAVObjStats));
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// Create mutex
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mutex = xSemaphoreCreateRecursiveMutex();
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if (mutex == NULL)
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return -1;
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// Initialize default metadata structure (metadata of metaobjects)
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UAVObjMetadataInitialize(&defMetadata);
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// Done
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return 0;
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}
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/**
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* Get the statistics counters
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* @param[out] statsOut The statistics counters will be copied there
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*/
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void UAVObjGetStats(UAVObjStats * statsOut)
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{
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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memcpy(statsOut, &stats, sizeof(UAVObjStats));
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xSemaphoreGiveRecursive(mutex);
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}
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/**
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* Clear the statistics counters
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*/
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void UAVObjClearStats()
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{
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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memset(&stats, 0, sizeof(UAVObjStats));
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xSemaphoreGiveRecursive(mutex);
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}
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/**
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* Register and new object in the object manager.
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* \param[in] id Unique object ID
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* \param[in] name Object name
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* \param[in] nameName Metaobject name
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* \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
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* \param[in] isSingleInstance Is this a single instance or multi-instance object
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* \param[in] isSettings Is this a settings object
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* \param[in] numBytes Number of bytes of object data (for one instance)
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* \param[in] initCb Default field and metadata initialization function
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* \return Object handle, or NULL if failure.
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* \return
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*/
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UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
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const char *metaName, int32_t isMetaobject,
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int32_t isSingleInstance, int32_t isSettings,
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uint32_t numBytes,
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UAVObjInitializeCallback initCb)
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{
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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ObjectList *metaObj;
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// Get lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Check that the object is not already registered
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LL_FOREACH(objList, objEntry) {
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if (objEntry->id == id) {
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// Already registered, ignore
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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}
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// Create and append entry
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objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
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if (objEntry == NULL) {
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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objEntry->id = id;
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objEntry->name = name;
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OLSetIsMetaobject(objEntry, isMetaobject);
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OLSetIsSingleInstance(objEntry, isSingleInstance);
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OLSetIsSettings(objEntry, isSettings);
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objEntry->numBytes = numBytes;
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objEntry->events = NULL;
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objEntry->numInstances = 0;
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objEntry->instances.data = NULL;
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objEntry->instances.instId = 0xFFFF;
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objEntry->instances.next = NULL;
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objEntry->linkedObj = NULL; // will be set later
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LL_APPEND(objList, objEntry);
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// Create instance zero
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instEntry = createInstance(objEntry, 0);
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if (instEntry == NULL) {
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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// Create metaobject and update linkedObj
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if (isMetaobject) {
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objEntry->linkedObj = NULL; // will be set later
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} else {
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// Create metaobject
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metaObj =
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(ObjectList *) UAVObjRegister(id + 1, metaName,
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NULL, 1, 1, 0,
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sizeof
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(UAVObjMetadata),
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NULL);
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// Link two objects
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objEntry->linkedObj = metaObj;
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metaObj->linkedObj = objEntry;
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}
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// Initialize object fields and metadata to default values
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if (initCb != NULL) {
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initCb((UAVObjHandle) objEntry, 0);
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}
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// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
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if (!OLGetIsMetaobject(objEntry)) {
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UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
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}
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// If this is a settings object, attempt to load from SD card
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if (OLGetIsSettings(objEntry)) {
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UAVObjLoad((UAVObjHandle) objEntry, 0);
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}
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// Release lock
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xSemaphoreGiveRecursive(mutex);
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return (UAVObjHandle) objEntry;
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}
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/**
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* Retrieve an object from the list given its id
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* \param[in] The object ID
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* \return The object or NULL if not found.
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*/
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UAVObjHandle UAVObjGetByID(uint32_t id)
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{
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ObjectList *objEntry;
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// Get lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Look for object
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LL_FOREACH(objList, objEntry) {
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if (objEntry->id == id) {
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// Release lock
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xSemaphoreGiveRecursive(mutex);
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// Done, object found
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return (UAVObjHandle) objEntry;
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}
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}
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// Object not found, release lock and return error
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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/**
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* Retrieve an object from the list given its name
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* \param[in] name The name of the object
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* \return The object or NULL if not found.
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*/
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UAVObjHandle UAVObjGetByName(char *name)
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{
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ObjectList *objEntry;
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// Get lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Look for object
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LL_FOREACH(objList, objEntry) {
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if (objEntry->name != NULL
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&& strcmp(objEntry->name, name) == 0) {
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// Release lock
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xSemaphoreGiveRecursive(mutex);
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// Done, object found
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return (UAVObjHandle) objEntry;
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}
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}
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// Object not found, release lock and return error
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xSemaphoreGiveRecursive(mutex);
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return NULL;
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}
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/**
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* Get the object's ID
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* \param[in] obj The object handle
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* \return The object ID
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*/
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uint32_t UAVObjGetID(UAVObjHandle obj)
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{
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return ((ObjectList *) obj)->id;
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}
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/**
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* Get the object's name
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* \param[in] obj The object handle
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* \return The object's name
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*/
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const char *UAVObjGetName(UAVObjHandle obj)
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{
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return ((ObjectList *) obj)->name;
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}
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/**
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* Get the number of bytes of the object's data (for one instance)
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* \param[in] obj The object handle
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* \return The number of bytes
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*/
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uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
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{
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return ((ObjectList *) obj)->numBytes;
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}
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/**
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* Get the object this object is linked to. For regular objects, the linked object
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* is the metaobject. For metaobjects the linked object is the parent object.
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* This function is normally only needed by the telemetry module.
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* \param[in] obj The object handle
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* \return The object linked object handle
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*/
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UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
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{
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return (UAVObjHandle) (((ObjectList *) obj)->linkedObj);
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}
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/**
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* Get the number of instances contained in the object.
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* \param[in] obj The object handle
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* \return The number of instances
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*/
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uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
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{
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uint32_t numInstances;
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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numInstances = ((ObjectList *) obj)->numInstances;
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xSemaphoreGiveRecursive(mutex);
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return numInstances;
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}
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/**
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* Create a new instance in the object.
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* \param[in] obj The object handle
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* \return The instance ID or 0 if an error
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*/
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uint16_t UAVObjCreateInstance(UAVObjHandle obj,
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UAVObjInitializeCallback initCb)
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{
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Create new instance
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objEntry = (ObjectList *) obj;
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instEntry = createInstance(objEntry, objEntry->numInstances);
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if (instEntry == NULL) {
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xSemaphoreGiveRecursive(mutex);
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return -1;
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}
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// Initialize instance data
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if (initCb != NULL) {
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initCb(obj, instEntry->instId);
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}
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// Unlock
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xSemaphoreGiveRecursive(mutex);
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return instEntry->instId;
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}
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/**
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* Does this object contains a single instance or multiple instances?
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* \param[in] obj The object handle
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* \return True (1) if this is a single instance object
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*/
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int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
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{
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return OLGetIsSingleInstance((ObjectList *) obj);
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}
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/**
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* Is this a metaobject?
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* \param[in] obj The object handle
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* \return True (1) if this is metaobject
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*/
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int32_t UAVObjIsMetaobject(UAVObjHandle obj)
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{
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return OLGetIsMetaobject((ObjectList *) obj);
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}
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/**
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* Is this a settings object?
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* \param[in] obj The object handle
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* \return True (1) if this is a settings object
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*/
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int32_t UAVObjIsSettings(UAVObjHandle obj)
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{
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return OLGetIsSettings((ObjectList *) obj);
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}
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/**
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* Unpack an object from a byte array
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* \param[in] obj The object handle
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* \param[in] instId The instance ID
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* \param[in] dataIn The byte array
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* \return 0 if success or -1 if failure
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*/
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int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
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const uint8_t * dataIn)
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{
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Cast handle to object
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objEntry = (ObjectList *) obj;
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// Get the instance
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instEntry = getInstance(objEntry, instId);
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// If the instance does not exist create it and any other instances before it
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if (instEntry == NULL) {
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instEntry = createInstance(objEntry, instId);
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if (instEntry == NULL) {
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// Error, unlock and return
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xSemaphoreGiveRecursive(mutex);
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return -1;
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}
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}
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// Set the data
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memcpy(instEntry->data, dataIn, objEntry->numBytes);
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// Fire event
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sendEvent(objEntry, instId, EV_UNPACKED);
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// Unlock
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xSemaphoreGiveRecursive(mutex);
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return 0;
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}
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/**
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* Pack an object to a byte array
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* \param[in] obj The object handle
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* \param[in] instId The instance ID
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* \param[out] dataOut The byte array
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* \return 0 if success or -1 if failure
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*/
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int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
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{
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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// Cast handle to object
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objEntry = (ObjectList *) obj;
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// Get the instance
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instEntry = getInstance(objEntry, instId);
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if (instEntry == NULL) {
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// Error, unlock and return
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xSemaphoreGiveRecursive(mutex);
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return -1;
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}
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// Pack data
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memcpy(dataOut, instEntry->data, objEntry->numBytes);
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// Unlock
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xSemaphoreGiveRecursive(mutex);
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return 0;
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}
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/**
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* Save the data of the specified object instance to the file system (SD card).
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* The object will be appended and the file will not be closed.
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* The object data can be restored using the UAVObjLoad function.
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* @param[in] obj The object handle.
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* @param[in] instId The instance ID
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* @param[in] file File to append to
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* @return 0 if success or -1 if failure
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*/
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int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
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FILEINFO * file)
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{
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#if defined(PIOS_INCLUDE_SDCARD)
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uint32_t bytesWritten;
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ObjectList *objEntry;
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ObjectInstList *instEntry;
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|
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// Check for file system availability
|
|
if (PIOS_SDCARD_IsMounted() == 0) {
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return -1;
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}
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// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Cast to object
|
|
objEntry = (ObjectList *) obj;
|
|
|
|
// Get the instance information
|
|
instEntry = getInstance(objEntry, instId);
|
|
if (instEntry == NULL) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
// Write the object ID
|
|
PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
|
|
&bytesWritten);
|
|
|
|
// Write the instance ID
|
|
if (!OLGetIsSingleInstance(objEntry)) {
|
|
PIOS_FWRITE(file, &instEntry->instId,
|
|
sizeof(instEntry->instId), &bytesWritten);
|
|
}
|
|
// Write the data and check that the write was successful
|
|
PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
|
|
&bytesWritten);
|
|
if (bytesWritten != objEntry->numBytes) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
// Done
|
|
xSemaphoreGiveRecursive(mutex);
|
|
#endif /* PIOS_INCLUDE_SDCARD */
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* 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, uint16_t instId)
|
|
{
|
|
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
|
|
ObjectList *objEntry = (ObjectList *) obj;
|
|
|
|
if (objEntry == NULL)
|
|
return -1;
|
|
|
|
ObjectInstList *instEntry = getInstance(objEntry, instId);
|
|
|
|
if (instEntry == NULL)
|
|
return -1;
|
|
|
|
if (instEntry->data == NULL)
|
|
return -1;
|
|
|
|
if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
|
|
return -1;
|
|
#endif
|
|
#if defined(PIOS_INCLUDE_SDCARD)
|
|
FILEINFO file;
|
|
ObjectList *objEntry;
|
|
uint8_t filename[14];
|
|
|
|
// Check for file system availability
|
|
if (PIOS_SDCARD_IsMounted() == 0) {
|
|
return -1;
|
|
}
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Cast to object
|
|
objEntry = (ObjectList *) obj;
|
|
|
|
// Get filename
|
|
objectFilename(objEntry, filename);
|
|
|
|
// Open file
|
|
if (PIOS_FOPEN_WRITE(filename, file)) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
// Append object
|
|
if (UAVObjSaveToFile(obj, 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;
|
|
}
|
|
|
|
/**
|
|
* 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)
|
|
{
|
|
#if defined(PIOS_INCLUDE_SDCARD)
|
|
uint32_t bytesRead;
|
|
ObjectList *objEntry;
|
|
ObjectInstList *instEntry;
|
|
uint32_t objId;
|
|
uint16_t instId;
|
|
UAVObjHandle obj;
|
|
|
|
// 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 = UAVObjGetByID(objId);
|
|
if (obj == 0) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return NULL;
|
|
}
|
|
objEntry = (ObjectList *) obj;
|
|
|
|
// Get the instance ID
|
|
instId = 0;
|
|
if (!OLGetIsSingleInstance(objEntry)) {
|
|
if (PIOS_FREAD
|
|
(file, &instId, sizeof(instId), &bytesRead)) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return NULL;
|
|
}
|
|
}
|
|
// Get the instance information
|
|
instEntry = getInstance(objEntry, instId);
|
|
|
|
// If the instance does not exist create it and any other instances before it
|
|
if (instEntry == NULL) {
|
|
instEntry = createInstance(objEntry, instId);
|
|
if (instEntry == NULL) {
|
|
// Error, unlock and return
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return NULL;
|
|
}
|
|
}
|
|
// Read the instance data
|
|
if (PIOS_FREAD
|
|
(file, instEntry->data, objEntry->numBytes, &bytesRead)) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return NULL;
|
|
}
|
|
// Fire event
|
|
sendEvent(objEntry, instId, EV_UNPACKED);
|
|
|
|
// Unlock
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return obj;
|
|
#else /* PIOS_INCLUDE_SDCARD */
|
|
return NULL;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* 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, uint16_t instId)
|
|
{
|
|
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
|
|
ObjectList *objEntry = (ObjectList *) obj;
|
|
|
|
if (objEntry == NULL)
|
|
return -1;
|
|
|
|
ObjectInstList *instEntry = getInstance(objEntry, instId);
|
|
|
|
if (instEntry == NULL)
|
|
return -1;
|
|
|
|
if (instEntry->data == NULL)
|
|
return -1;
|
|
|
|
// Fire event on success
|
|
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
|
|
sendEvent(objEntry, instId, EV_UNPACKED);
|
|
else
|
|
return -1;
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_SDCARD)
|
|
FILEINFO file;
|
|
ObjectList *objEntry;
|
|
UAVObjHandle loadedObj;
|
|
ObjectList *loadedObjEntry;
|
|
uint8_t filename[14];
|
|
|
|
// Check for file system availability
|
|
if (PIOS_SDCARD_IsMounted() == 0) {
|
|
return -1;
|
|
}
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Cast to object
|
|
objEntry = (ObjectList *) obj;
|
|
|
|
// Get filename
|
|
objectFilename(objEntry, 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
|
|
loadedObjEntry = (ObjectList *) loadedObj;
|
|
if (loadedObjEntry->id != objEntry->id) {
|
|
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, uint16_t instId)
|
|
{
|
|
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
|
|
PIOS_FLASHFS_ObjDelete(obj, instId);
|
|
#endif
|
|
#if defined(PIOS_INCLUDE_SDCARD)
|
|
ObjectList *objEntry;
|
|
uint8_t filename[14];
|
|
|
|
// Check for file system availability
|
|
if (PIOS_SDCARD_IsMounted() == 0) {
|
|
return -1;
|
|
}
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Cast to object
|
|
objEntry = (ObjectList *) obj;
|
|
|
|
// Get filename
|
|
objectFilename(objEntry, 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()
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Get lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Save all settings objects
|
|
LL_FOREACH(objList, objEntry) {
|
|
// Check if this is a settings object
|
|
if (OLGetIsSettings(objEntry)) {
|
|
// Save object
|
|
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
|
|
-1) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Done
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Load all settings objects from the SD card.
|
|
* @return 0 if success or -1 if failure
|
|
*/
|
|
int32_t UAVObjLoadSettings()
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Get lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Load all settings objects
|
|
LL_FOREACH(objList, objEntry) {
|
|
// Check if this is a settings object
|
|
if (OLGetIsSettings(objEntry)) {
|
|
// Load object
|
|
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
|
|
-1) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Done
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Delete all settings objects from the SD card.
|
|
* @return 0 if success or -1 if failure
|
|
*/
|
|
int32_t UAVObjDeleteSettings()
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Get lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Save all settings objects
|
|
LL_FOREACH(objList, objEntry) {
|
|
// Check if this is a settings object
|
|
if (OLGetIsSettings(objEntry)) {
|
|
// Save object
|
|
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
|
|
== -1) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Done
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Save all metaobjects to the SD card.
|
|
* @return 0 if success or -1 if failure
|
|
*/
|
|
int32_t UAVObjSaveMetaobjects()
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Get lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Save all settings objects
|
|
LL_FOREACH(objList, objEntry) {
|
|
// Check if this is a settings object
|
|
if (OLGetIsMetaobject(objEntry)) {
|
|
// Save object
|
|
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
|
|
-1) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Done
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Load all metaobjects from the SD card.
|
|
* @return 0 if success or -1 if failure
|
|
*/
|
|
int32_t UAVObjLoadMetaobjects()
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Get lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Load all settings objects
|
|
LL_FOREACH(objList, objEntry) {
|
|
// Check if this is a settings object
|
|
if (OLGetIsMetaobject(objEntry)) {
|
|
// Load object
|
|
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
|
|
-1) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Done
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Delete all metaobjects from the SD card.
|
|
* @return 0 if success or -1 if failure
|
|
*/
|
|
int32_t UAVObjDeleteMetaobjects()
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Get lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Load all settings objects
|
|
LL_FOREACH(objList, objEntry) {
|
|
// Check if this is a settings object
|
|
if (OLGetIsMetaobject(objEntry)) {
|
|
// Load object
|
|
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
|
|
== -1) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Done
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* 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, const void *dataIn)
|
|
{
|
|
return UAVObjSetInstanceData(obj, 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, const void* dataIn, uint32_t offset, uint32_t size)
|
|
{
|
|
return UAVObjSetInstanceDataField(obj, 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, void *dataOut)
|
|
{
|
|
return UAVObjGetInstanceData(obj, 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, void* dataOut, uint32_t offset, uint32_t size)
|
|
{
|
|
return UAVObjGetInstanceDataField(obj, 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, uint16_t instId,
|
|
const void *dataIn)
|
|
{
|
|
ObjectList *objEntry;
|
|
ObjectInstList *instEntry;
|
|
UAVObjMetadata *mdata;
|
|
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Cast to object info
|
|
objEntry = (ObjectList *) obj;
|
|
|
|
// Check access level
|
|
if (!OLGetIsMetaobject(objEntry)) {
|
|
mdata =
|
|
(UAVObjMetadata *) (objEntry->linkedObj->instances.
|
|
data);
|
|
if (UAVObjGetAccess(mdata) == ACCESS_READONLY) {
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
}
|
|
// Get instance information
|
|
instEntry = getInstance(objEntry, instId);
|
|
if (instEntry == NULL) {
|
|
// Error, unlock and return
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
// Set data
|
|
memcpy(instEntry->data, dataIn, objEntry->numBytes);
|
|
|
|
// Fire event
|
|
sendEvent(objEntry, instId, EV_UPDATED);
|
|
|
|
// Unlock
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* 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, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size)
|
|
{
|
|
ObjectList* objEntry;
|
|
ObjectInstList* instEntry;
|
|
UAVObjMetadata* mdata;
|
|
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Cast to object info
|
|
objEntry = (ObjectList*)obj;
|
|
|
|
// Check access level
|
|
if ( !OLGetIsMetaobject(objEntry) )
|
|
{
|
|
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
|
|
if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
|
|
{
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
// Get instance information
|
|
instEntry = getInstance(objEntry, instId);
|
|
if ( instEntry == NULL )
|
|
{
|
|
// Error, unlock and return
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
|
|
// return if we set too much of what we have
|
|
if ( (size + offset) > objEntry->numBytes) {
|
|
// Error, unlock and return
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
|
|
// Set data
|
|
memcpy(instEntry->data + offset, dataIn, size);
|
|
|
|
// Fire event
|
|
sendEvent(objEntry, instId, EV_UPDATED);
|
|
|
|
// Unlock
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* 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, uint16_t instId,
|
|
void *dataOut)
|
|
{
|
|
ObjectList *objEntry;
|
|
ObjectInstList *instEntry;
|
|
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Cast to object info
|
|
objEntry = (ObjectList *) obj;
|
|
|
|
// Get instance information
|
|
instEntry = getInstance(objEntry, instId);
|
|
if (instEntry == NULL) {
|
|
// Error, unlock and return
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
// Set data
|
|
memcpy(dataOut, instEntry->data, objEntry->numBytes);
|
|
|
|
// Unlock
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* 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, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size)
|
|
{
|
|
ObjectList* objEntry;
|
|
ObjectInstList* instEntry;
|
|
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Cast to object info
|
|
objEntry = (ObjectList*)obj;
|
|
|
|
// Get instance information
|
|
instEntry = getInstance(objEntry, instId);
|
|
if ( instEntry == NULL )
|
|
{
|
|
// Error, unlock and return
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
|
|
// return if we request too much of what we can give
|
|
if ( (size + offset) > objEntry->numBytes)
|
|
{
|
|
// Error, unlock and return
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return -1;
|
|
}
|
|
|
|
// Set data
|
|
memcpy(dataOut, instEntry->data + offset, size);
|
|
|
|
// Unlock
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* 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, const UAVObjMetadata * dataIn)
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Set metadata (metadata of metaobjects can not be modified)
|
|
objEntry = (ObjectList *) obj;
|
|
if (!OLGetIsMetaobject(objEntry)) {
|
|
UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
|
|
dataIn);
|
|
} else {
|
|
return -1;
|
|
}
|
|
|
|
// Unlock
|
|
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, UAVObjMetadata * dataOut)
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Get metadata
|
|
objEntry = (ObjectList *) obj;
|
|
if (OLGetIsMetaobject(objEntry)) {
|
|
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
|
|
} else {
|
|
UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
|
|
dataOut);
|
|
}
|
|
|
|
// Unlock
|
|
xSemaphoreGiveRecursive(mutex);
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Initialize a UAVObjMetadata object.
|
|
* \param[in] metadata The metadata object
|
|
*/
|
|
void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
|
|
{
|
|
metadata->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;
|
|
metadata->telemetryUpdatePeriod = 0;
|
|
metadata->gcsTelemetryUpdatePeriod = 0;
|
|
metadata->loggingUpdatePeriod = 0;
|
|
}
|
|
|
|
/**
|
|
* Get the UAVObject metadata access member
|
|
* \param[in] metadata The metadata object
|
|
* \return the access type
|
|
*/
|
|
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* 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)
|
|
{
|
|
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)
|
|
{
|
|
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) {
|
|
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) {
|
|
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) {
|
|
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) {
|
|
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) {
|
|
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) {
|
|
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) {
|
|
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) {
|
|
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) {
|
|
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)
|
|
{
|
|
ObjectList *objEntry;
|
|
UAVObjMetadata *mdata;
|
|
|
|
// Cast to object info
|
|
objEntry = (ObjectList *) obj;
|
|
|
|
// Check access level
|
|
if (!OLGetIsMetaobject(objEntry)) {
|
|
mdata =
|
|
(UAVObjMetadata *) (objEntry->linkedObj->instances.
|
|
data);
|
|
return UAVObjGetAccess(mdata) == 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, xQueueHandle queue,
|
|
uint8_t eventMask)
|
|
{
|
|
int32_t res;
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
res = connectObj(obj, 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, xQueueHandle queue)
|
|
{
|
|
int32_t res;
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
res = disconnectObj(obj, 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, UAVObjEventCallback cb,
|
|
uint8_t eventMask)
|
|
{
|
|
int32_t res;
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
res = connectObj(obj, 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, UAVObjEventCallback cb)
|
|
{
|
|
int32_t res;
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
res = disconnectObj(obj, 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)
|
|
{
|
|
UAVObjRequestInstanceUpdate(obj, 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, uint16_t instId)
|
|
{
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
sendEvent((ObjectList *) obj, 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)
|
|
{
|
|
UAVObjInstanceUpdated(obj, 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, uint16_t instId)
|
|
{
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
sendEvent((ObjectList *) obj, 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))
|
|
{
|
|
ObjectList *objEntry;
|
|
|
|
// Get lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
|
|
// Iterate through the list and invoke iterator for each object
|
|
LL_FOREACH(objList, objEntry) {
|
|
(*iterator) ((UAVObjHandle) objEntry);
|
|
}
|
|
|
|
// Release lock
|
|
xSemaphoreGiveRecursive(mutex);
|
|
}
|
|
|
|
/**
|
|
* Send an event to all event queues registered on the object.
|
|
*/
|
|
static int32_t sendEvent(ObjectList * obj, uint16_t instId,
|
|
UAVObjEventType event)
|
|
{
|
|
ObjectEventList *eventEntry;
|
|
UAVObjEvent msg;
|
|
|
|
// Setup event
|
|
msg.obj = (UAVObjHandle) obj;
|
|
msg.event = event;
|
|
msg.instId = instId;
|
|
|
|
// Go through each object and push the event message in the queue (if event is activated for the queue)
|
|
LL_FOREACH(obj->events, eventEntry) {
|
|
if (eventEntry->eventMask == 0
|
|
|| (eventEntry->eventMask & event) != 0) {
|
|
// Send to queue if a valid queue is registered
|
|
if (eventEntry->queue != 0) {
|
|
if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE) // will not block
|
|
{
|
|
stats.lastQueueErrorID = UAVObjGetID(obj);
|
|
++stats.eventQueueErrors;
|
|
}
|
|
}
|
|
// Invoke callback (from event task) if a valid one is registered
|
|
if (eventEntry->cb != 0) {
|
|
if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE) // invoke callback from the event task, will not block
|
|
{
|
|
++stats.eventCallbackErrors;
|
|
stats.lastCallbackErrorID = UAVObjGetID(obj);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Done
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Create a new object instance, return the instance info or NULL if failure.
|
|
*/
|
|
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
|
|
{
|
|
ObjectInstList *instEntry;
|
|
int32_t n;
|
|
|
|
// For single instance objects, only instance zero is allowed
|
|
if (OLGetIsSingleInstance(obj) && instId != 0) {
|
|
return NULL;
|
|
}
|
|
// Make sure that the instance ID is within limits
|
|
if (instId >= UAVOBJ_MAX_INSTANCES) {
|
|
return NULL;
|
|
}
|
|
// Check if the instance already exists
|
|
if (getInstance(obj, instId) != NULL) {
|
|
return NULL;
|
|
}
|
|
// Create any missing instances (all instance IDs must be sequential)
|
|
for (n = obj->numInstances; n < instId; ++n) {
|
|
if (createInstance(obj, n) == NULL) {
|
|
return NULL;
|
|
}
|
|
}
|
|
|
|
if (instId == 0) { /* Instance 0 ObjectInstList allocated with ObjectList element */
|
|
instEntry = &obj->instances;
|
|
instEntry->data = pvPortMalloc(obj->numBytes);
|
|
if (instEntry->data == NULL)
|
|
return NULL;
|
|
memset(instEntry->data, 0, obj->numBytes);
|
|
instEntry->instId = instId;
|
|
} else {
|
|
// Create the actual instance
|
|
instEntry =
|
|
(ObjectInstList *)
|
|
pvPortMalloc(sizeof(ObjectInstList));
|
|
if (instEntry == NULL)
|
|
return NULL;
|
|
instEntry->data = pvPortMalloc(obj->numBytes);
|
|
if (instEntry->data == NULL)
|
|
return NULL;
|
|
memset(instEntry->data, 0, obj->numBytes);
|
|
instEntry->instId = instId;
|
|
LL_APPEND(obj->instances.next, instEntry);
|
|
}
|
|
++obj->numInstances;
|
|
|
|
// Fire event
|
|
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
|
|
|
|
// Done
|
|
return instEntry;
|
|
}
|
|
|
|
/**
|
|
* Get the instance information or NULL if the instance does not exist
|
|
*/
|
|
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
|
|
{
|
|
ObjectInstList *instEntry;
|
|
|
|
// Look for specified instance ID
|
|
LL_FOREACH(&(obj->instances), instEntry) {
|
|
if (instEntry->instId == instId) {
|
|
return instEntry;
|
|
}
|
|
}
|
|
// If this point is reached then instance id 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, xQueueHandle queue,
|
|
UAVObjEventCallback cb, uint8_t eventMask)
|
|
{
|
|
ObjectEventList *eventEntry;
|
|
ObjectList *objEntry;
|
|
|
|
// Check that the queue is not already connected, if it is simply update event mask
|
|
objEntry = (ObjectList *) obj;
|
|
LL_FOREACH(objEntry->events, eventEntry) {
|
|
if (eventEntry->queue == queue && eventEntry->cb == cb) {
|
|
// Already connected, update event mask and return
|
|
eventEntry->eventMask = eventMask;
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
// Add queue to list
|
|
eventEntry =
|
|
(ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
|
|
if (eventEntry == NULL) {
|
|
return -1;
|
|
}
|
|
eventEntry->queue = queue;
|
|
eventEntry->cb = cb;
|
|
eventEntry->eventMask = eventMask;
|
|
LL_APPEND(objEntry->events, eventEntry);
|
|
|
|
// 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, xQueueHandle queue,
|
|
UAVObjEventCallback cb)
|
|
{
|
|
ObjectEventList *eventEntry;
|
|
ObjectList *objEntry;
|
|
|
|
// Find queue and remove it
|
|
objEntry = (ObjectList *) obj;
|
|
LL_FOREACH(objEntry->events, eventEntry) {
|
|
if ((eventEntry->queue == queue
|
|
&& eventEntry->cb == cb)) {
|
|
LL_DELETE(objEntry->events, eventEntry);
|
|
vPortFree(eventEntry);
|
|
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(ObjectList * obj, uint8_t * filename)
|
|
{
|
|
customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
|
|
}
|
|
#endif /* PIOS_INCLUDE_SDCARD */
|