amiro-os / core / src / aos_iostream.c @ 1d3e002f
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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 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_iostream.c
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21 | * @brief Stream and channel code.
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22 | * @details Implementation of the aos_ostrem and aos_iochannel.
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23 | *
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24 | * @addtogroup aos_stream
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25 | * @{
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26 | */
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27 | |||
28 | ba516b61 | Thomas Schöpping | #include <aos_iostream.h> |
29 | |||
30 | #include <aos_debug.h> |
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31 | #include <chprintf.h> |
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32 | |||
33 | /**
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34 | * @brief Implementation of the BaseAsynchronousChannel write() method (inherited from BaseSequentialStream).
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35 | */
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36 | static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n) |
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37 | { |
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38 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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39 | return streamWrite(((AosIOChannel*)instance)->asyncchannel, bp, n);
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40 | } else {
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41 | return 0; |
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42 | } |
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43 | } |
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44 | |||
45 | /**
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46 | * @brief Implementation of the BaseAsynchronousChannel read() method (inherited from BaseSequentialStream).
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47 | */
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48 | static size_t _channelread(void *instance, uint8_t *bp, size_t n) |
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49 | { |
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50 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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51 | return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
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52 | } else {
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53 | return 0; |
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54 | } |
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55 | ba516b61 | Thomas Schöpping | } |
56 | |||
57 | /**
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58 | * @brief Implementation of the BaseAsynchronousChannel put() method (inherited from BaseSequentialStream).
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59 | */
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60 | static msg_t _channelput(void *instance, uint8_t b) |
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61 | { |
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62 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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63 | return streamPut(((AosIOChannel*)instance)->asyncchannel, b);
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64 | } else {
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65 | return MSG_RESET;
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66 | } |
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67 | } |
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68 | |||
69 | /**
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70 | * @brief Implementation of the BaseAsynchronousChannel get() method (inherited from BaseSequentialStream).
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71 | */
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72 | static msg_t _channelget(void *instance) |
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73 | { |
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74 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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75 | return streamGet(((AosIOChannel*)instance)->asyncchannel);
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76 | } else {
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77 | return MSG_RESET;
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78 | } |
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79 | ba516b61 | Thomas Schöpping | } |
80 | |||
81 | /**
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82 | * @brief Implementation of the BaseAsynchronousChannel putt() method.
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83 | */
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84 | 2c99037f | Marc Rothmann | static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time) |
85 | ba516b61 | Thomas Schöpping | { |
86 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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87 | return chnPutTimeout(((AosIOChannel*)instance)->asyncchannel, b, time);
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88 | } else {
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89 | return MSG_RESET;
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90 | } |
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91 | } |
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92 | |||
93 | /**
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94 | * @brief Implementation of the BaseAsynchronousChannel gett() method.
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95 | */
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96 | 2c99037f | Marc Rothmann | static msg_t _channelgett(void *instance, sysinterval_t time) |
97 | ba516b61 | Thomas Schöpping | { |
98 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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99 | return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
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100 | } else {
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101 | return MSG_RESET;
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102 | } |
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103 | ba516b61 | Thomas Schöpping | } |
104 | |||
105 | /**
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106 | * @brief Implementation of the BaseAsynchronousChannel writet() method.
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107 | */
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108 | 2c99037f | Marc Rothmann | static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time) |
109 | ba516b61 | Thomas Schöpping | { |
110 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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111 | return chnWriteTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
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112 | } else {
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113 | return 0; |
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114 | } |
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115 | } |
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116 | |||
117 | /**
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118 | * @brief Implementation of the BaseAsynchronousChannel readt() method.
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119 | */
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120 | 2c99037f | Marc Rothmann | static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time) |
121 | ba516b61 | Thomas Schöpping | { |
122 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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123 | return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
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124 | } else {
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125 | return 0; |
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126 | } |
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127 | ba516b61 | Thomas Schöpping | } |
128 | |||
129 | /**
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130 | 2c99037f | Marc Rothmann | * @brief Implementation of the BaseAsynchronousChannel ctl() method.
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131 | */
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132 | 1e5f7648 | Thomas Schöpping | static msg_t _channelctl(void *instance, unsigned int operation, void *arg) |
133 | { |
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134 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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135 | 40d4810c | Thomas Schöpping | return chnControl(((AosIOChannel*)instance)->asyncchannel, operation, arg);
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136 | 1e5f7648 | Thomas Schöpping | } else {
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137 | return MSG_OK;
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138 | 2c99037f | Marc Rothmann | } |
139 | } |
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140 | |||
141 | /**
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142 | ba516b61 | Thomas Schöpping | * @brief Virtual methods table for all AosIOChannel objects.
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143 | */
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144 | static const struct AosIOChannelVMT _channelvmt = { |
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145 | 0128be0f | Marc Rothmann | (size_t) 0,
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146 | ba516b61 | Thomas Schöpping | _channelwrite, |
147 | _channelread, |
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148 | _channelput, |
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149 | _channelget, |
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150 | _channelputt, |
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151 | _channelgett, |
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152 | _channelwritet, |
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153 | _channelreadt, |
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154 | 2c99037f | Marc Rothmann | _channelctl, |
155 | ba516b61 | Thomas Schöpping | }; |
156 | |||
157 | /**
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158 | * @brief Implementation of the BaseSequentialStream write() method.
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159 | */
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160 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
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161 | { |
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162 | aosDbgCheck(instance != NULL);
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163 | |||
164 | // local variables
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165 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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166 | size_t bytes; |
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167 | size_t maxbytes = 0;
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168 | |||
169 | // iterate through the list of channels
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170 | while (channel != NULL) { |
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171 | bytes = streamWrite(channel, bp, n); |
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172 | maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
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173 | channel = channel->next; |
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174 | } |
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175 | |||
176 | return maxbytes;
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177 | } |
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178 | |||
179 | /**
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180 | * @brief Implementation of the BaseSequentialStream read() method.
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181 | */
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182 | static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
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183 | { |
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184 | (void)instance;
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185 | (void)bp;
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186 | (void)n;
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187 | |||
188 | return 0; |
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189 | } |
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190 | |||
191 | /**
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192 | * @brief Implementation of the BaseSequentialStream put() method.
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193 | */
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194 | static msg_t _streamput(void *instance, uint8_t b) |
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195 | { |
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196 | aosDbgCheck(instance != NULL);
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197 | |||
198 | // local variables
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199 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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200 | dd8738ea | Thomas Schöpping | msg_t ret = MSG_OK; |
201 | ba516b61 | Thomas Schöpping | |
202 | // iterate through the list of channels
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203 | while (channel != NULL) { |
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204 | dd8738ea | Thomas Schöpping | msg_t ret_ = streamPut(channel, b); |
205 | ret = (ret_ < ret) ? ret_ : ret; |
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206 | ba516b61 | Thomas Schöpping | channel = channel->next; |
207 | } |
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208 | |||
209 | dd8738ea | Thomas Schöpping | return ret;
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210 | ba516b61 | Thomas Schöpping | } |
211 | |||
212 | /**
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213 | * @brief Implementation of the BaseSequentialStream get() method.
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214 | */
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215 | static msg_t _streamget(void *instance) |
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216 | { |
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217 | (void)instance;
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218 | |||
219 | return 0; |
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220 | } |
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221 | |||
222 | /**
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223 | * @brief Virtual methods table for all AosIOStream objects.
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224 | */
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225 | static const struct AosIOStreamVMT _streamvmt = { |
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226 | 0128be0f | Marc Rothmann | (size_t) 0,
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227 | ba516b61 | Thomas Schöpping | _streamwrite, |
228 | _stremread, |
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229 | _streamput, |
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230 | _streamget, |
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231 | }; |
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232 | |||
233 | /**
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234 | * @brief Initializes an aos_iostream_t object.
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235 | *
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236 | * @param[in] stream Th aos_iostream_t object to initialize.
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237 | */
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238 | void aosIOStreamInit(AosIOStream* stream)
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239 | { |
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240 | aosDbgCheck(stream != NULL);
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241 | |||
242 | stream->vmt = &_streamvmt; |
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243 | stream->channel = NULL;
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244 | |||
245 | return;
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246 | } |
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247 | |||
248 | /**
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249 | * @brief Initializes an aos_iostream_channel_t object.
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250 | *
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251 | * @param[in] channel The aos_iostream_channel_t to initialize.
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252 | * @param[in] asyncchannel The BaseAsynchronousChannel object to associate with te channel.
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253 | */
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254 | void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
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255 | { |
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256 | aosDbgCheck(channel != NULL);
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257 | aosDbgCheck(asyncchannel != NULL);
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258 | |||
259 | channel->vmt = &_channelvmt; |
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260 | channel->asyncchannel = asyncchannel; |
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261 | channel->next = NULL;
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262 | channel->flags = 0;
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263 | |||
264 | return;
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265 | } |
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266 | |||
267 | /**
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268 | * @brief Adds a channel to a stream.
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269 | *
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270 | * @param[in] stream The stream to be expanded.
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271 | * @param[in] channel The channel to be added.
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272 | */
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273 | void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
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274 | { |
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275 | aosDbgCheck(stream != NULL);
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276 | aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0); |
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277 | |||
278 | // prepend the new channel
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279 | chSysLock(); |
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280 | channel->flags |= AOS_IOCHANNEL_ATTACHED; |
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281 | channel->next = stream->channel; |
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282 | stream->channel = channel; |
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283 | chSysUnlock(); |
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284 | |||
285 | return;
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286 | } |
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287 | |||
288 | /**
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289 | * @brief Removes a channel from a stream.
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290 | *
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291 | * @param[in] stream The stream to remove the channel from.
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292 | * @param[in] asyncchannel The BaseAsynchronousChannel to remove.
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293 | * @param[out] removed Pointer to the removed aos_iostream_channel_t.
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294 | * @return
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295 | */
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296 | aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel) |
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297 | { |
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298 | aosDbgCheck(stream != NULL);
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299 | aosDbgCheck(channel != NULL);
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300 | |||
301 | // local variables
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302 | AosIOChannel* prev = NULL;
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303 | AosIOChannel* curr = stream->channel; |
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304 | |||
305 | // iterate through the list and search for the specified channel
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306 | while (curr != NULL) { |
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307 | // if the channel was found, remove it
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308 | if (curr == channel) {
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309 | chSysLock(); |
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310 | // special case: the first channel matches (prev is NULL)
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311 | if (prev == NULL) { |
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312 | stream->channel = curr->next; |
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313 | } else {
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314 | prev->next = curr->next; |
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315 | } |
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316 | curr->next = NULL;
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317 | curr->flags &= ~AOS_IOCHANNEL_ATTACHED; |
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318 | chSysUnlock(); |
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319 | return AOS_SUCCESS;
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320 | } |
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321 | // iterate to the next channel
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322 | else {
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323 | prev = curr; |
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324 | curr = curr->next; |
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325 | } |
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326 | } |
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327 | |||
328 | // if the channel was not found, return an error
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329 | return AOS_ERROR;
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330 | } |
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331 | |||
332 | /**
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333 | dd8738ea | Thomas Schöpping | * @brief Enable input for a AosIOChannel.
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334 | *
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335 | * @param[in] channel The AosIOChannel to enable as input.
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336 | */
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337 | void aosIOChannelInputEnable(AosIOChannel* channel)
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338 | { |
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339 | aosDbgCheck(channel != NULL);
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340 | |||
341 | channel->flags |= AOS_IOCHANNEL_INPUT_ENABLE; |
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342 | |||
343 | return;
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344 | } |
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345 | |||
346 | /**
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347 | * @brief Disable input for a AosIOChannel.
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348 | *
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349 | * @param[in] channel The AosIOChannel to disable as input.
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350 | */
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351 | void aosIOChannelInputDisable(AosIOChannel* channel)
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352 | { |
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353 | aosDbgCheck(channel != NULL);
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354 | |||
355 | channel->flags &= ~AOS_IOCHANNEL_INPUT_ENABLE; |
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356 | |||
357 | return;
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358 | } |
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359 | |||
360 | /**
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361 | ba516b61 | Thomas Schöpping | * @brief Enable output for a AosIOChannel.
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362 | *
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363 | * @param[in] channel The AosIOChannel to enable as output.
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364 | */
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365 | void aosIOChannelOutputEnable(AosIOChannel* channel)
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366 | { |
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367 | aosDbgCheck(channel != NULL);
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368 | |||
369 | channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE; |
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370 | |||
371 | return;
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372 | } |
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373 | |||
374 | /**
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375 | * @brief Disable output for a AosIOChannel.
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376 | *
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377 | * @param[in] channel The AosIOChannel to disable as output.
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378 | */
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379 | void aosIOChannelOutputDisable(AosIOChannel* channel)
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380 | { |
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381 | aosDbgCheck(channel != NULL);
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382 | |||
383 | channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE; |
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384 | |||
385 | return;
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386 | } |
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387 | 53710ca3 | Marc Rothmann | |
388 | /** @} */ |