amiro-os / os / core / src / aos_iostream.c @ 0128be0f
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1 | ba516b61 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <aos_iostream.h> |
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20 | |||
21 | #include <aos_debug.h> |
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22 | #include <chprintf.h> |
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23 | |||
24 | /**
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25 | * @brief Implementation of the BaseAsynchronousChannel write() method (inherited from BaseSequentialStream).
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26 | */
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27 | static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n) |
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28 | { |
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29 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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30 | return streamWrite(((AosIOChannel*)instance)->asyncchannel, bp, n);
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31 | } else {
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32 | return 0; |
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33 | } |
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34 | } |
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35 | |||
36 | /**
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37 | * @brief Implementation of the BaseAsynchronousChannel read() method (inherited from BaseSequentialStream).
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38 | */
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39 | static size_t _channelread(void *instance, uint8_t *bp, size_t n) |
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40 | { |
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41 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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42 | return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
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43 | } else {
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44 | return 0; |
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45 | } |
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46 | ba516b61 | Thomas Schöpping | } |
47 | |||
48 | /**
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49 | * @brief Implementation of the BaseAsynchronousChannel put() method (inherited from BaseSequentialStream).
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50 | */
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51 | static msg_t _channelput(void *instance, uint8_t b) |
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52 | { |
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53 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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54 | return streamPut(((AosIOChannel*)instance)->asyncchannel, b);
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55 | } else {
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56 | return MSG_RESET;
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57 | } |
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58 | } |
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59 | |||
60 | /**
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61 | * @brief Implementation of the BaseAsynchronousChannel get() method (inherited from BaseSequentialStream).
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62 | */
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63 | static msg_t _channelget(void *instance) |
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64 | { |
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65 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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66 | return streamGet(((AosIOChannel*)instance)->asyncchannel);
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67 | } else {
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68 | return MSG_RESET;
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69 | } |
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70 | ba516b61 | Thomas Schöpping | } |
71 | |||
72 | /**
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73 | * @brief Implementation of the BaseAsynchronousChannel putt() method.
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74 | */
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75 | static msg_t _channelputt(void *instance, uint8_t b, systime_t time) |
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76 | { |
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77 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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78 | return chnPutTimeout(((AosIOChannel*)instance)->asyncchannel, b, time);
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79 | } else {
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80 | return MSG_RESET;
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81 | } |
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82 | } |
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83 | |||
84 | /**
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85 | * @brief Implementation of the BaseAsynchronousChannel gett() method.
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86 | */
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87 | static msg_t _channelgett(void *instance, systime_t time) |
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88 | { |
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89 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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90 | return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
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91 | } else {
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92 | return MSG_RESET;
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93 | } |
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94 | ba516b61 | Thomas Schöpping | } |
95 | |||
96 | /**
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97 | * @brief Implementation of the BaseAsynchronousChannel writet() method.
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98 | */
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99 | static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, systime_t time) |
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100 | { |
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101 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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102 | return chnWriteTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
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103 | } else {
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104 | return 0; |
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105 | } |
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106 | } |
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107 | |||
108 | /**
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109 | * @brief Implementation of the BaseAsynchronousChannel readt() method.
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110 | */
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111 | static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, systime_t time) |
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112 | { |
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113 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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114 | return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
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115 | } else {
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116 | return 0; |
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117 | } |
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118 | ba516b61 | Thomas Schöpping | } |
119 | |||
120 | /**
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121 | * @brief Virtual methods table for all AosIOChannel objects.
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122 | */
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123 | static const struct AosIOChannelVMT _channelvmt = { |
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124 | 0128be0f | Marc Rothmann | (size_t) 0,
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125 | ba516b61 | Thomas Schöpping | _channelwrite, |
126 | _channelread, |
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127 | _channelput, |
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128 | _channelget, |
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129 | _channelputt, |
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130 | _channelgett, |
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131 | _channelwritet, |
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132 | _channelreadt, |
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133 | }; |
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134 | |||
135 | /**
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136 | * @brief Implementation of the BaseSequentialStream write() method.
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137 | */
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138 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
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139 | { |
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140 | aosDbgCheck(instance != NULL);
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141 | |||
142 | // local variables
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143 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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144 | size_t bytes; |
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145 | size_t maxbytes = 0;
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146 | |||
147 | // iterate through the list of channels
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148 | while (channel != NULL) { |
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149 | bytes = streamWrite(channel, bp, n); |
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150 | maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
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151 | channel = channel->next; |
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152 | } |
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153 | |||
154 | return maxbytes;
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155 | } |
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156 | |||
157 | /**
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158 | * @brief Implementation of the BaseSequentialStream read() method.
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159 | */
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160 | static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
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161 | { |
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162 | (void)instance;
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163 | (void)bp;
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164 | (void)n;
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165 | |||
166 | return 0; |
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167 | } |
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168 | |||
169 | /**
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170 | * @brief Implementation of the BaseSequentialStream put() method.
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171 | */
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172 | static msg_t _streamput(void *instance, uint8_t b) |
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173 | { |
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174 | aosDbgCheck(instance != NULL);
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175 | |||
176 | // local variables
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177 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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178 | dd8738ea | Thomas Schöpping | msg_t ret = MSG_OK; |
179 | ba516b61 | Thomas Schöpping | |
180 | // iterate through the list of channels
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181 | while (channel != NULL) { |
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182 | dd8738ea | Thomas Schöpping | msg_t ret_ = streamPut(channel, b); |
183 | ret = (ret_ < ret) ? ret_ : ret; |
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184 | ba516b61 | Thomas Schöpping | channel = channel->next; |
185 | } |
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186 | |||
187 | dd8738ea | Thomas Schöpping | return ret;
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188 | ba516b61 | Thomas Schöpping | } |
189 | |||
190 | /**
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191 | * @brief Implementation of the BaseSequentialStream get() method.
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192 | */
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193 | static msg_t _streamget(void *instance) |
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194 | { |
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195 | (void)instance;
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196 | |||
197 | return 0; |
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198 | } |
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199 | |||
200 | /**
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201 | * @brief Virtual methods table for all AosIOStream objects.
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202 | */
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203 | static const struct AosIOStreamVMT _streamvmt = { |
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204 | 0128be0f | Marc Rothmann | (size_t) 0,
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205 | ba516b61 | Thomas Schöpping | _streamwrite, |
206 | _stremread, |
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207 | _streamput, |
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208 | _streamget, |
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209 | }; |
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210 | |||
211 | /**
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212 | * @brief Initializes an aos_iostream_t object.
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213 | *
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214 | * @param[in] stream Th aos_iostream_t object to initialize.
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215 | */
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216 | void aosIOStreamInit(AosIOStream* stream)
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217 | { |
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218 | aosDbgCheck(stream != NULL);
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219 | |||
220 | stream->vmt = &_streamvmt; |
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221 | stream->channel = NULL;
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222 | |||
223 | return;
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224 | } |
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225 | |||
226 | /**
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227 | * @brief Initializes an aos_iostream_channel_t object.
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228 | *
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229 | * @param[in] channel The aos_iostream_channel_t to initialize.
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230 | * @param[in] asyncchannel The BaseAsynchronousChannel object to associate with te channel.
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231 | */
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232 | void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
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233 | { |
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234 | aosDbgCheck(channel != NULL);
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235 | aosDbgCheck(asyncchannel != NULL);
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236 | |||
237 | channel->vmt = &_channelvmt; |
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238 | channel->asyncchannel = asyncchannel; |
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239 | channel->next = NULL;
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240 | channel->flags = 0;
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241 | |||
242 | return;
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243 | } |
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244 | |||
245 | /**
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246 | * @brief Adds a channel to a stream.
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247 | *
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248 | * @param[in] stream The stream to be expanded.
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249 | * @param[in] channel The channel to be added.
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250 | */
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251 | void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
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252 | { |
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253 | aosDbgCheck(stream != NULL);
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254 | aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0); |
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255 | |||
256 | // prepend the new channel
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257 | chSysLock(); |
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258 | channel->flags |= AOS_IOCHANNEL_ATTACHED; |
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259 | channel->next = stream->channel; |
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260 | stream->channel = channel; |
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261 | chSysUnlock(); |
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262 | |||
263 | return;
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264 | } |
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265 | |||
266 | /**
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267 | * @brief Removes a channel from a stream.
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268 | *
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269 | * @param[in] stream The stream to remove the channel from.
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270 | * @param[in] asyncchannel The BaseAsynchronousChannel to remove.
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271 | * @param[out] removed Pointer to the removed aos_iostream_channel_t.
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272 | * @return
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273 | */
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274 | aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel) |
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275 | { |
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276 | aosDbgCheck(stream != NULL);
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277 | aosDbgCheck(channel != NULL);
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278 | |||
279 | // local variables
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280 | AosIOChannel* prev = NULL;
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281 | AosIOChannel* curr = stream->channel; |
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282 | |||
283 | // iterate through the list and search for the specified channel
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284 | while (curr != NULL) { |
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285 | // if the channel was found, remove it
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286 | if (curr == channel) {
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287 | chSysLock(); |
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288 | // special case: the first channel matches (prev is NULL)
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289 | if (prev == NULL) { |
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290 | stream->channel = curr->next; |
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291 | } else {
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292 | prev->next = curr->next; |
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293 | } |
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294 | curr->next = NULL;
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295 | curr->flags &= ~AOS_IOCHANNEL_ATTACHED; |
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296 | chSysUnlock(); |
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297 | return AOS_SUCCESS;
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298 | } |
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299 | // iterate to the next channel
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300 | else {
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301 | prev = curr; |
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302 | curr = curr->next; |
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303 | } |
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304 | } |
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305 | |||
306 | // if the channel was not found, return an error
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307 | return AOS_ERROR;
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308 | } |
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309 | |||
310 | /**
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311 | dd8738ea | Thomas Schöpping | * @brief Enable input for a AosIOChannel.
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312 | *
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313 | * @param[in] channel The AosIOChannel to enable as input.
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314 | */
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315 | void aosIOChannelInputEnable(AosIOChannel* channel)
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316 | { |
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317 | aosDbgCheck(channel != NULL);
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318 | |||
319 | channel->flags |= AOS_IOCHANNEL_INPUT_ENABLE; |
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320 | |||
321 | return;
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322 | } |
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323 | |||
324 | /**
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325 | * @brief Disable input for a AosIOChannel.
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326 | *
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327 | * @param[in] channel The AosIOChannel to disable as input.
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328 | */
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329 | void aosIOChannelInputDisable(AosIOChannel* channel)
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330 | { |
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331 | aosDbgCheck(channel != NULL);
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332 | |||
333 | channel->flags &= ~AOS_IOCHANNEL_INPUT_ENABLE; |
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334 | |||
335 | return;
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336 | } |
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337 | |||
338 | /**
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339 | ba516b61 | Thomas Schöpping | * @brief Enable output for a AosIOChannel.
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340 | *
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341 | * @param[in] channel The AosIOChannel to enable as output.
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342 | */
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343 | void aosIOChannelOutputEnable(AosIOChannel* channel)
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344 | { |
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345 | aosDbgCheck(channel != NULL);
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346 | |||
347 | channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE; |
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348 | |||
349 | return;
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350 | } |
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351 | |||
352 | /**
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353 | * @brief Disable output for a AosIOChannel.
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354 | *
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355 | * @param[in] channel The AosIOChannel to disable as output.
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356 | */
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357 | void aosIOChannelOutputDisable(AosIOChannel* channel)
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358 | { |
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359 | aosDbgCheck(channel != NULL);
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360 | |||
361 | channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE; |
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362 | |||
363 | return;
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364 | } |