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https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
2038 lines
53 KiB
C
2038 lines
53 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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#include "pios_struct_helper.h"
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#if (defined(__MACH__) && defined(__APPLE__))
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#include <mach-o/getsect.h>
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#endif
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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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// Mach-o: dummy segment to calculate ASLR offset in sim_osx
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#if (defined(__MACH__) && defined(__APPLE__))
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static long _aslr_offset __attribute__((section("__DATA,_aslr")));
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#endif
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/* Table of UAVO handles */
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#if (defined(__MACH__) && defined(__APPLE__))
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/* Mach-o format */
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static struct UAVOData ** __start__uavo_handles;
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static struct UAVOData ** __stop__uavo_handles;
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#else
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/* ELF format: automagically defined at compile time */
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extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
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extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
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#endif
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#define UAVO_LIST_ITERATE(_item) \
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for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
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_uavo_slot && _uavo_slot < __stop__uavo_handles; \
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_uavo_slot++) { \
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struct UAVOData * _item = *_uavo_slot; \
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if (_item == NULL) continue;
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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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/** opaque type for instances **/
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typedef void* InstanceHandle;
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struct ObjectEventEntry {
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struct ObjectEventEntry * next;
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xQueueHandle queue;
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UAVObjEventCallback cb;
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uint8_t eventMask;
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};
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/*
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MetaInstance == [UAVOBase [UAVObjMetadata]]
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SingleInstance == [UAVOBase [UAVOData [InstanceData]]]
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MultiInstance == [UAVOBase [UAVOData [NumInstances [InstanceData0 [next]]]]
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____________________/
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\-->[InstanceData1 [next]]
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_________...________/
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\-->[InstanceDataN [next]]
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*/
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/*
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* UAVO Base Type
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* - All Types of UAVObjects are of this base type
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* - The flags determine what type(s) this object
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*/
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struct UAVOBase {
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/* Let these objects be added to an event queue */
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struct ObjectEventEntry * next_event;
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/* Describe the type of object that follows this header */
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struct UAVOInfo {
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bool isMeta : 1;
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bool isSingle : 1;
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bool isSettings : 1;
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} flags;
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} __attribute__((packed));
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/* Augmented type for Meta UAVO */
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struct UAVOMeta {
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struct UAVOBase base;
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UAVObjMetadata instance0;
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} __attribute__((packed));
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/* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
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struct UAVOData {
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struct UAVOBase base;
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uint32_t id;
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/*
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* Embed the Meta object as another complete UAVO
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* inside the payload for this UAVO.
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*/
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struct UAVOMeta metaObj;
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uint16_t instance_size;
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} __attribute__((packed, aligned(4)));
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/* Augmented type for Single Instance Data UAVO */
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struct UAVOSingle {
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struct UAVOData uavo;
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uint8_t instance0[];
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/*
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* Additional space will be malloc'd here to hold the
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* the data for this instance.
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*/
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} __attribute__((packed));
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/* Part of a linked list of instances chained off of a multi instance UAVO. */
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struct UAVOMultiInst {
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struct UAVOMultiInst * next;
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uint8_t instance[];
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/*
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* Additional space will be malloc'd here to hold the
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* the data for this instance.
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*/
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} __attribute__((packed));
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/* Augmented type for Multi Instance Data UAVO */
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struct UAVOMulti {
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struct UAVOData uavo;
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uint16_t num_instances;
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struct UAVOMultiInst instance0 __attribute__((aligned(4)));
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/*
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* Additional space will be malloc'd here to hold the
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* the data for instance 0.
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*/
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} __attribute__((packed));
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/** all information about a metaobject are hardcoded constants **/
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#define MetaNumBytes sizeof(UAVObjMetadata)
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#define MetaBaseObjectPtr(obj) ((struct UAVOData *)((obj)-offsetof(struct UAVOData, metaObj)))
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#define MetaObjectPtr(obj) ((struct UAVODataMeta*) &((obj)->metaObj))
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#define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->instance0))
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#define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.instance0))
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#define MetaObjectId(id) ((id)+1)
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/** all information about instances are dependant on object type **/
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#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (struct UAVOSingle*)obj )->instance0)))
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#define InstanceDataOffset(inst) ((void*)&(( (struct UAVOMultiInst*)inst )->instance))
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#define InstanceData(instance) (void*)instance
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// Private functions
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static int32_t sendEvent(struct UAVOBase * obj, uint16_t instId,
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UAVObjEventType event);
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static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId);
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static InstanceHandle getInstance(struct UAVOData * obj, uint16_t instId);
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static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
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UAVObjEventCallback cb, uint8_t eventMask);
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static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
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UAVObjEventCallback cb);
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#if defined(PIOS_USE_SETTINGS_ON_SDCARD) && defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
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#error Both PIOS_USE_SETTINGS_ON_SDCARD and PIOS_INCLUDE_FLASH_SECTOR_SETTINGS. Only one settings storage allowed.
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#endif
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#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
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static void objectFilename(UAVObjHandle obj_handle, 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 xSemaphoreHandle mutex;
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static const UAVObjMetadata defMetadata = {
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.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
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ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
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1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
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1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
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UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
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UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT),
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.telemetryUpdatePeriod = 0,
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.gcsTelemetryUpdatePeriod = 0,
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.loggingUpdatePeriod = 0,
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};
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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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memset(&stats, 0, sizeof(UAVObjStats));
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/* Initialize _uavo_handles start/stop pointers */
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#if (defined(__MACH__) && defined(__APPLE__))
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uint64_t aslr_offset = (uint64_t) & _aslr_offset - getsectbyname("__DATA","_aslr")->addr;
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__start__uavo_handles = (struct UAVOData **) (getsectbyname("__DATA","_uavo_handles")->addr + aslr_offset);
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__stop__uavo_handles = (struct UAVOData **) ((uint64_t)__start__uavo_handles + getsectbyname("__DATA","_uavo_handles")->size);
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#endif
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// Initialize the uavo handle table
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memset(__start__uavo_handles, 0,
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(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
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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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// Done
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return 0;
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}
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/*****************
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* Statistics
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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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* Object Initialization
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***********************/
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static void UAVObjInitMetaData (struct UAVOMeta * obj_meta)
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{
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/* Fill in the common part of the UAVO */
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struct UAVOBase * uavo_base = &(obj_meta->base);
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memset(uavo_base, 0, sizeof(*uavo_base));
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uavo_base->flags.isMeta = true;
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uavo_base->flags.isSingle = true;
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uavo_base->next_event = NULL;
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/* Clear the instance data carried in the UAVO */
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memset(&(obj_meta->instance0), 0, sizeof(obj_meta->instance0));
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}
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static struct UAVOData * UAVObjAllocSingle(uint32_t num_bytes)
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{
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/* Compute the complete size of the object, including the data for a single embedded instance */
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uint32_t object_size = sizeof(struct UAVOSingle) + num_bytes;
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/* Allocate the object from the heap */
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struct UAVOSingle * uavo_single = (struct UAVOSingle *) pvPortMalloc(object_size);
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if (!uavo_single)
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return (NULL);
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/* Fill in the common part of the UAVO */
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struct UAVOBase * uavo_base = &(uavo_single->uavo.base);
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memset(uavo_base, 0, sizeof(*uavo_base));
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uavo_base->flags.isSingle = true;
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uavo_base->next_event = NULL;
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/* Clear the instance data carried in the UAVO */
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memset(&(uavo_single->instance0), 0, num_bytes);
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/* Give back the generic UAVO part */
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return (&(uavo_single->uavo));
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}
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static struct UAVOData * UAVObjAllocMulti(uint32_t num_bytes)
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{
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/* Compute the complete size of the object, including the data for a single embedded instance */
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uint32_t object_size = sizeof(struct UAVOMulti) + num_bytes;
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/* Allocate the object from the heap */
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struct UAVOMulti * uavo_multi = (struct UAVOMulti *) pvPortMalloc(object_size);
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if (!uavo_multi)
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return (NULL);
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/* Fill in the common part of the UAVO */
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struct UAVOBase * uavo_base = &(uavo_multi->uavo.base);
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memset(uavo_base, 0, sizeof(*uavo_base));
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uavo_base->flags.isSingle = false;
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uavo_base->next_event = NULL;
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/* Set up the type-specific part of the UAVO */
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uavo_multi->num_instances = 1;
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/* Clear the multi instance data carried in the UAVO */
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memset (&(uavo_multi->instance0), 0, sizeof(struct UAVOMultiInst) + num_bytes);
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/* Give back the generic UAVO part */
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return (&(uavo_multi->uavo));
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}
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/**************************
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* UAVObject Database APIs
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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] 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,
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int32_t isSingleInstance, int32_t isSettings,
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uint32_t num_bytes,
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UAVObjInitializeCallback initCb)
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{
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struct UAVOData * uavo_data = NULL;
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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/* Don't allow duplicate registrations */
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if (UAVObjGetByID(id))
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goto unlock_exit;
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/* Map the various flags to one of the UAVO types we understand */
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if (isSingleInstance) {
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uavo_data = UAVObjAllocSingle (num_bytes);
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} else {
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uavo_data = UAVObjAllocMulti (num_bytes);
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}
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if (!uavo_data)
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goto unlock_exit;
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/* Fill in the details about this UAVO */
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uavo_data->id = id;
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uavo_data->instance_size = num_bytes;
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if (isSettings) {
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uavo_data->base.flags.isSettings = true;
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}
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/* Initialize the embedded meta UAVO */
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UAVObjInitMetaData (&uavo_data->metaObj);
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/* Initialize object fields and metadata to default values */
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if (initCb)
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initCb((UAVObjHandle) uavo_data, 0);
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/* Always try to load the meta object from flash */
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UAVObjLoad((UAVObjHandle) &(uavo_data->metaObj), 0);
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/* Attempt to load settings object from flash */
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if (uavo_data->base.flags.isSettings)
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UAVObjLoad((UAVObjHandle) uavo_data, 0);
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// fire events for outer object and its embedded meta object
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UAVObjInstanceUpdated((UAVObjHandle) uavo_data, 0);
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UAVObjInstanceUpdated((UAVObjHandle) &(uavo_data->metaObj), 0);
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unlock_exit:
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xSemaphoreGiveRecursive(mutex);
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return (UAVObjHandle) uavo_data;
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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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UAVObjHandle * found_obj = (UAVObjHandle *) NULL;
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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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UAVO_LIST_ITERATE(tmp_obj)
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if (tmp_obj->id == id) {
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found_obj = (UAVObjHandle *)tmp_obj;
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goto unlock_exit;
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}
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if (MetaObjectId(tmp_obj->id) == id) {
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found_obj = (UAVObjHandle *)&(tmp_obj->metaObj);
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goto unlock_exit;
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}
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}
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unlock_exit:
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xSemaphoreGiveRecursive(mutex);
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return found_obj;
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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_handle)
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{
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PIOS_Assert(obj_handle);
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/* Recover the common object header */
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struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
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|
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if (UAVObjIsMetaobject(obj_handle)) {
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/* We have a meta object, find our containing UAVO */
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struct UAVOData * uavo_data = container_of ((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
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return MetaObjectId (uavo_data->id);
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} else {
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/* We have a data object, augment our pointer */
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struct UAVOData * uavo_data = (struct UAVOData *) uavo_base;
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return (uavo_data->id);
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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)
|
|
* \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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PIOS_Assert(obj);
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|
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uint32_t instance_size;
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|
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/* Recover the common object header */
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struct UAVOBase * uavo_base = (struct UAVOBase *) obj;
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|
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if (uavo_base->flags.isMeta) {
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instance_size = MetaNumBytes;
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} else {
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/* We have a data object, augment our pointer */
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struct UAVOData * uavo = (struct UAVOData *) uavo_base;
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|
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instance_size = uavo->instance_size;
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}
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|
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return (instance_size);
|
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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
|
|
* 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
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* \return The object linked object handle
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*/
|
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UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj_handle)
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{
|
|
PIOS_Assert(obj_handle);
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|
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/* Recover the common object header */
|
|
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
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|
|
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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_USE_SETTINGS_ON_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_USE_SETTINGS_ON_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, __attribute__((unused)) 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_USE_SETTINGS_ON_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_USE_SETTINGS_ON_SDCARD */
|
|
return 0;
|
|
}
|
|
|
|
#if defined(PIOS_USE_SETTINGS_ON_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_USE_SETTINGS_ON_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, __attribute__((unused)) 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_USE_SETTINGS_ON_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_USE_SETTINGS_ON_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, __attribute__((unused)) 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_USE_SETTINGS_ON_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_USE_SETTINGS_ON_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 */
|
|
uint32_t size = sizeof(struct UAVOMultiInst) + obj->instance_size;
|
|
instEntry = (struct UAVOMultiInst *) pvPortMalloc(size);
|
|
if (!instEntry)
|
|
return NULL;
|
|
memset(instEntry, 0, 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_USE_SETTINGS_ON_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_USE_SETTINGS_ON_SDCARD */
|