amiro-os / os / core / src / aos_iostream.c @ 2c99037f
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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 | 2c99037f | Marc Rothmann | static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time) |
76 | ba516b61 | Thomas Schöpping | { |
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 | 2c99037f | Marc Rothmann | static msg_t _channelgett(void *instance, sysinterval_t time) |
88 | ba516b61 | Thomas Schöpping | { |
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 | 2c99037f | Marc Rothmann | static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time) |
100 | ba516b61 | Thomas Schöpping | { |
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 | 2c99037f | Marc Rothmann | static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time) |
112 | ba516b61 | Thomas Schöpping | { |
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 | 2c99037f | Marc Rothmann | * @brief Implementation of the BaseAsynchronousChannel ctl() method.
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122 | */
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123 | static msg_t _channelctl(void *instance, unsigned int operation, void *arg) { |
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124 | (void) instance;
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125 | |||
126 | switch (operation) {
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127 | case CHN_CTL_NOP:
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128 | osalDbgCheck(arg == NULL);
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129 | break;
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130 | case CHN_CTL_INVALID:
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131 | osalDbgAssert(false, "invalid CTL operation"); |
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132 | break;
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133 | default:
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134 | break;
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135 | } |
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136 | return MSG_OK;
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137 | } |
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138 | |||
139 | /**
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140 | ba516b61 | Thomas Schöpping | * @brief Virtual methods table for all AosIOChannel objects.
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141 | */
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142 | static const struct AosIOChannelVMT _channelvmt = { |
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143 | 0128be0f | Marc Rothmann | (size_t) 0,
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144 | ba516b61 | Thomas Schöpping | _channelwrite, |
145 | _channelread, |
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146 | _channelput, |
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147 | _channelget, |
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148 | _channelputt, |
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149 | _channelgett, |
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150 | _channelwritet, |
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151 | _channelreadt, |
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152 | 2c99037f | Marc Rothmann | _channelctl, |
153 | ba516b61 | Thomas Schöpping | }; |
154 | |||
155 | /**
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156 | * @brief Implementation of the BaseSequentialStream write() method.
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157 | */
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158 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
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159 | { |
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160 | aosDbgCheck(instance != NULL);
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161 | |||
162 | // local variables
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163 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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164 | size_t bytes; |
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165 | size_t maxbytes = 0;
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166 | |||
167 | // iterate through the list of channels
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168 | while (channel != NULL) { |
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169 | bytes = streamWrite(channel, bp, n); |
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170 | maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
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171 | channel = channel->next; |
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172 | } |
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173 | |||
174 | return maxbytes;
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175 | } |
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176 | |||
177 | /**
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178 | * @brief Implementation of the BaseSequentialStream read() method.
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179 | */
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180 | static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
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181 | { |
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182 | (void)instance;
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183 | (void)bp;
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184 | (void)n;
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185 | |||
186 | return 0; |
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187 | } |
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188 | |||
189 | /**
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190 | * @brief Implementation of the BaseSequentialStream put() method.
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191 | */
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192 | static msg_t _streamput(void *instance, uint8_t b) |
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193 | { |
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194 | aosDbgCheck(instance != NULL);
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195 | |||
196 | // local variables
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197 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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198 | dd8738ea | Thomas Schöpping | msg_t ret = MSG_OK; |
199 | ba516b61 | Thomas Schöpping | |
200 | // iterate through the list of channels
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201 | while (channel != NULL) { |
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202 | dd8738ea | Thomas Schöpping | msg_t ret_ = streamPut(channel, b); |
203 | ret = (ret_ < ret) ? ret_ : ret; |
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204 | ba516b61 | Thomas Schöpping | channel = channel->next; |
205 | } |
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206 | |||
207 | dd8738ea | Thomas Schöpping | return ret;
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208 | ba516b61 | Thomas Schöpping | } |
209 | |||
210 | /**
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211 | * @brief Implementation of the BaseSequentialStream get() method.
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212 | */
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213 | static msg_t _streamget(void *instance) |
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214 | { |
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215 | (void)instance;
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216 | |||
217 | return 0; |
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218 | } |
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219 | |||
220 | /**
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221 | * @brief Virtual methods table for all AosIOStream objects.
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222 | */
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223 | static const struct AosIOStreamVMT _streamvmt = { |
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224 | 0128be0f | Marc Rothmann | (size_t) 0,
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225 | ba516b61 | Thomas Schöpping | _streamwrite, |
226 | _stremread, |
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227 | _streamput, |
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228 | _streamget, |
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229 | }; |
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230 | |||
231 | /**
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232 | * @brief Initializes an aos_iostream_t object.
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233 | *
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234 | * @param[in] stream Th aos_iostream_t object to initialize.
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235 | */
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236 | void aosIOStreamInit(AosIOStream* stream)
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237 | { |
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238 | aosDbgCheck(stream != NULL);
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239 | |||
240 | stream->vmt = &_streamvmt; |
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241 | stream->channel = NULL;
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242 | |||
243 | return;
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244 | } |
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245 | |||
246 | /**
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247 | * @brief Initializes an aos_iostream_channel_t object.
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248 | *
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249 | * @param[in] channel The aos_iostream_channel_t to initialize.
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250 | * @param[in] asyncchannel The BaseAsynchronousChannel object to associate with te channel.
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251 | */
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252 | void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
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253 | { |
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254 | aosDbgCheck(channel != NULL);
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255 | aosDbgCheck(asyncchannel != NULL);
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256 | |||
257 | channel->vmt = &_channelvmt; |
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258 | channel->asyncchannel = asyncchannel; |
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259 | channel->next = NULL;
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260 | channel->flags = 0;
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261 | |||
262 | return;
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263 | } |
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264 | |||
265 | /**
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266 | * @brief Adds a channel to a stream.
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267 | *
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268 | * @param[in] stream The stream to be expanded.
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269 | * @param[in] channel The channel to be added.
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270 | */
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271 | void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
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272 | { |
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273 | aosDbgCheck(stream != NULL);
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274 | aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0); |
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275 | |||
276 | // prepend the new channel
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277 | chSysLock(); |
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278 | channel->flags |= AOS_IOCHANNEL_ATTACHED; |
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279 | channel->next = stream->channel; |
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280 | stream->channel = channel; |
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281 | chSysUnlock(); |
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282 | |||
283 | return;
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284 | } |
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285 | |||
286 | /**
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287 | * @brief Removes a channel from a stream.
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288 | *
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289 | * @param[in] stream The stream to remove the channel from.
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290 | * @param[in] asyncchannel The BaseAsynchronousChannel to remove.
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291 | * @param[out] removed Pointer to the removed aos_iostream_channel_t.
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292 | * @return
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293 | */
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294 | aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel) |
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295 | { |
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296 | aosDbgCheck(stream != NULL);
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297 | aosDbgCheck(channel != NULL);
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298 | |||
299 | // local variables
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300 | AosIOChannel* prev = NULL;
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301 | AosIOChannel* curr = stream->channel; |
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302 | |||
303 | // iterate through the list and search for the specified channel
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304 | while (curr != NULL) { |
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305 | // if the channel was found, remove it
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306 | if (curr == channel) {
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307 | chSysLock(); |
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308 | // special case: the first channel matches (prev is NULL)
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309 | if (prev == NULL) { |
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310 | stream->channel = curr->next; |
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311 | } else {
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312 | prev->next = curr->next; |
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313 | } |
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314 | curr->next = NULL;
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315 | curr->flags &= ~AOS_IOCHANNEL_ATTACHED; |
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316 | chSysUnlock(); |
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317 | return AOS_SUCCESS;
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318 | } |
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319 | // iterate to the next channel
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320 | else {
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321 | prev = curr; |
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322 | curr = curr->next; |
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323 | } |
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324 | } |
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325 | |||
326 | // if the channel was not found, return an error
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327 | return AOS_ERROR;
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328 | } |
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329 | |||
330 | /**
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331 | dd8738ea | Thomas Schöpping | * @brief Enable input for a AosIOChannel.
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332 | *
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333 | * @param[in] channel The AosIOChannel to enable as input.
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334 | */
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335 | void aosIOChannelInputEnable(AosIOChannel* channel)
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336 | { |
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337 | aosDbgCheck(channel != NULL);
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338 | |||
339 | channel->flags |= AOS_IOCHANNEL_INPUT_ENABLE; |
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340 | |||
341 | return;
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342 | } |
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343 | |||
344 | /**
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345 | * @brief Disable input for a AosIOChannel.
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346 | *
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347 | * @param[in] channel The AosIOChannel to disable as input.
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348 | */
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349 | void aosIOChannelInputDisable(AosIOChannel* channel)
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350 | { |
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351 | aosDbgCheck(channel != NULL);
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352 | |||
353 | channel->flags &= ~AOS_IOCHANNEL_INPUT_ENABLE; |
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354 | |||
355 | return;
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356 | } |
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357 | |||
358 | /**
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359 | ba516b61 | Thomas Schöpping | * @brief Enable output for a AosIOChannel.
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360 | *
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361 | * @param[in] channel The AosIOChannel to enable as output.
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362 | */
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363 | void aosIOChannelOutputEnable(AosIOChannel* channel)
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364 | { |
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365 | aosDbgCheck(channel != NULL);
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366 | |||
367 | channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE; |
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368 | |||
369 | return;
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370 | } |
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371 | |||
372 | /**
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373 | * @brief Disable output for a AosIOChannel.
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374 | *
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375 | * @param[in] channel The AosIOChannel to disable as output.
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376 | */
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377 | void aosIOChannelOutputDisable(AosIOChannel* channel)
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378 | { |
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379 | aosDbgCheck(channel != NULL);
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380 | |||
381 | channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE; |
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382 | |||
383 | return;
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384 | } |