amiro-os / os / core / src / aos_iostream.c @ 2674917e
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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 | _channelwrite, |
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125 | _channelread, |
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126 | _channelput, |
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127 | _channelget, |
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128 | _channelputt, |
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129 | _channelgett, |
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130 | _channelwritet, |
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131 | _channelreadt, |
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132 | }; |
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133 | |||
134 | /**
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135 | * @brief Implementation of the BaseSequentialStream write() method.
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136 | */
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137 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
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138 | { |
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139 | aosDbgCheck(instance != NULL);
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140 | |||
141 | // local variables
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142 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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143 | size_t bytes; |
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144 | size_t maxbytes = 0;
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145 | |||
146 | // iterate through the list of channels
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147 | while (channel != NULL) { |
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148 | bytes = streamWrite(channel, bp, n); |
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149 | maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
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150 | channel = channel->next; |
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151 | } |
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152 | |||
153 | return maxbytes;
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154 | } |
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155 | |||
156 | /**
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157 | * @brief Implementation of the BaseSequentialStream read() method.
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158 | */
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159 | static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
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160 | { |
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161 | (void)instance;
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162 | (void)bp;
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163 | (void)n;
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164 | |||
165 | return 0; |
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166 | } |
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167 | |||
168 | /**
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169 | * @brief Implementation of the BaseSequentialStream put() method.
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170 | */
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171 | static msg_t _streamput(void *instance, uint8_t b) |
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172 | { |
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173 | aosDbgCheck(instance != NULL);
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174 | |||
175 | // local variables
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176 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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177 | dd8738ea | Thomas Schöpping | msg_t ret = MSG_OK; |
178 | ba516b61 | Thomas Schöpping | |
179 | // iterate through the list of channels
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180 | while (channel != NULL) { |
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181 | dd8738ea | Thomas Schöpping | msg_t ret_ = streamPut(channel, b); |
182 | ret = (ret_ < ret) ? ret_ : ret; |
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183 | ba516b61 | Thomas Schöpping | channel = channel->next; |
184 | } |
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185 | |||
186 | dd8738ea | Thomas Schöpping | return ret;
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187 | ba516b61 | Thomas Schöpping | } |
188 | |||
189 | /**
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190 | * @brief Implementation of the BaseSequentialStream get() method.
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191 | */
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192 | static msg_t _streamget(void *instance) |
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193 | { |
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194 | (void)instance;
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195 | |||
196 | return 0; |
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197 | } |
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198 | |||
199 | /**
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200 | * @brief Virtual methods table for all AosIOStream objects.
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201 | */
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202 | static const struct AosIOStreamVMT _streamvmt = { |
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203 | _streamwrite, |
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204 | _stremread, |
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205 | _streamput, |
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206 | _streamget, |
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207 | }; |
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208 | |||
209 | /**
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210 | * @brief Initializes an aos_iostream_t object.
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211 | *
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212 | * @param[in] stream Th aos_iostream_t object to initialize.
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213 | */
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214 | void aosIOStreamInit(AosIOStream* stream)
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215 | { |
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216 | aosDbgCheck(stream != NULL);
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217 | |||
218 | stream->vmt = &_streamvmt; |
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219 | stream->channel = NULL;
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220 | |||
221 | return;
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222 | } |
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223 | |||
224 | /**
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225 | * @brief Initializes an aos_iostream_channel_t object.
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226 | *
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227 | * @param[in] channel The aos_iostream_channel_t to initialize.
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228 | * @param[in] asyncchannel The BaseAsynchronousChannel object to associate with te channel.
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229 | */
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230 | void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
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231 | { |
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232 | aosDbgCheck(channel != NULL);
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233 | aosDbgCheck(asyncchannel != NULL);
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234 | |||
235 | channel->vmt = &_channelvmt; |
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236 | channel->asyncchannel = asyncchannel; |
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237 | channel->next = NULL;
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238 | channel->flags = 0;
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239 | |||
240 | return;
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241 | } |
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242 | |||
243 | /**
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244 | * @brief Adds a channel to a stream.
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245 | *
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246 | * @param[in] stream The stream to be expanded.
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247 | * @param[in] channel The channel to be added.
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248 | */
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249 | void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
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250 | { |
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251 | aosDbgCheck(stream != NULL);
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252 | aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0); |
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253 | |||
254 | // prepend the new channel
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255 | chSysLock(); |
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256 | channel->flags |= AOS_IOCHANNEL_ATTACHED; |
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257 | channel->next = stream->channel; |
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258 | stream->channel = channel; |
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259 | chSysUnlock(); |
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260 | |||
261 | return;
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262 | } |
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263 | |||
264 | /**
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265 | * @brief Removes a channel from a stream.
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266 | *
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267 | * @param[in] stream The stream to remove the channel from.
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268 | * @param[in] asyncchannel The BaseAsynchronousChannel to remove.
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269 | * @param[out] removed Pointer to the removed aos_iostream_channel_t.
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270 | * @return
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271 | */
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272 | aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel) |
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273 | { |
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274 | aosDbgCheck(stream != NULL);
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275 | aosDbgCheck(channel != NULL);
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276 | |||
277 | // local variables
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278 | AosIOChannel* prev = NULL;
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279 | AosIOChannel* curr = stream->channel; |
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280 | |||
281 | // iterate through the list and search for the specified channel
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282 | while (curr != NULL) { |
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283 | // if the channel was found, remove it
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284 | if (curr == channel) {
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285 | chSysLock(); |
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286 | // special case: the first channel matches (prev is NULL)
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287 | if (prev == NULL) { |
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288 | stream->channel = curr->next; |
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289 | } else {
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290 | prev->next = curr->next; |
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291 | } |
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292 | curr->next = NULL;
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293 | curr->flags &= ~AOS_IOCHANNEL_ATTACHED; |
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294 | chSysUnlock(); |
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295 | return AOS_SUCCESS;
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296 | } |
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297 | // iterate to the next channel
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298 | else {
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299 | prev = curr; |
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300 | curr = curr->next; |
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301 | } |
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302 | } |
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303 | |||
304 | // if the channel was not found, return an error
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305 | return AOS_ERROR;
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306 | } |
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307 | |||
308 | /**
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309 | dd8738ea | Thomas Schöpping | * @brief Enable input for a AosIOChannel.
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310 | *
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311 | * @param[in] channel The AosIOChannel to enable as input.
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312 | */
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313 | void aosIOChannelInputEnable(AosIOChannel* channel)
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314 | { |
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315 | aosDbgCheck(channel != NULL);
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316 | |||
317 | channel->flags |= AOS_IOCHANNEL_INPUT_ENABLE; |
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318 | |||
319 | return;
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320 | } |
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321 | |||
322 | /**
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323 | * @brief Disable input for a AosIOChannel.
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324 | *
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325 | * @param[in] channel The AosIOChannel to disable as input.
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326 | */
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327 | void aosIOChannelInputDisable(AosIOChannel* channel)
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328 | { |
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329 | aosDbgCheck(channel != NULL);
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330 | |||
331 | channel->flags &= ~AOS_IOCHANNEL_INPUT_ENABLE; |
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332 | |||
333 | return;
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334 | } |
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335 | |||
336 | /**
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337 | ba516b61 | Thomas Schöpping | * @brief Enable output for a AosIOChannel.
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338 | *
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339 | * @param[in] channel The AosIOChannel to enable as output.
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340 | */
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341 | void aosIOChannelOutputEnable(AosIOChannel* channel)
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342 | { |
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343 | aosDbgCheck(channel != NULL);
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344 | |||
345 | channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE; |
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346 | |||
347 | return;
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348 | } |
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349 | |||
350 | /**
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351 | * @brief Disable output for a AosIOChannel.
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352 | *
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353 | * @param[in] channel The AosIOChannel to disable as output.
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354 | */
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355 | void aosIOChannelOutputDisable(AosIOChannel* channel)
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356 | { |
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357 | aosDbgCheck(channel != NULL);
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358 | |||
359 | channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE; |
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360 | |||
361 | return;
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362 | } |