/core/src/aos_iostream.c - AMiRo-OS - Research for Cognitive Interaction

amiro-os / core / src / aos_iostream.c @ 340f2bdf

History | View | Annotate | Download (11.663 KB)

       /*
       AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
       Copyright (C) 2016..2019  Thomas Schöpping et al.
       This program is free software: you can redistribute it and/or modify
       it under the terms of the GNU General Public License as published by
       the Free Software Foundation, either version 3 of the License, or
       (at your option) any later version.
       This program is distributed in the hope that it will be useful,
       but WITHOUT ANY WARRANTY; without even the implied warranty of
       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       GNU General Public License for more details.
       You should have received a copy of the GNU General Public License
       along with this program.  If not, see <http://www.gnu.org/licenses/>.
       */
       /**
        * @file    aos_iostream.c
        * @brief   Stream and channel code.
        * @details Implementation of the aos_ostrem and aos_iochannel.
+       *
        * @addtogroup aos_stream
        * @{
        */
       #include <amiroos.h>
       /******************************************************************************/
       /* LOCAL DEFINITIONS                                                          */
       /******************************************************************************/
       /******************************************************************************/
       /* EXPORTED VARIABLES                                                         */
       /******************************************************************************/
       /******************************************************************************/
       /* LOCAL TYPES                                                                */
       /******************************************************************************/
       /******************************************************************************/
       /* LOCAL VARIABLES                                                            */
       /******************************************************************************/
       /*
        * forward declarations
        */
       static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n);
       static size_t _channelread(void *instance, uint8_t *bp, size_t n);
       static msg_t _channelput(void *instance, uint8_t b);
       static msg_t _channelget(void *instance);
       static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time);
       static msg_t _channelgett(void *instance, sysinterval_t time);
       static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time);
       static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time);
       static msg_t _channelctl(void *instance, unsigned int operation, void *arg);
       static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n);
       static size_t _stremread(void *instance, uint8_t *bp, size_t n);
       static msg_t _streamput(void *instance, uint8_t b);
       static msg_t _streamget(void *instance);
       /**
        * @brief   Virtual methods table for all AosIOChannel objects.
        */
       static const struct AosIOChannelVMT _channelvmt = {
         (size_t) 0,
         _channelwrite,
         _channelread,
         _channelput,
         _channelget,
         _channelputt,
         _channelgett,
         _channelwritet,
         _channelreadt,
         _channelctl,
       };
       /**
        * @brief   Virtual methods table for all AosIOStream objects.
        */
       static const struct AosIOStreamVMT _streamvmt = {
         (size_t) 0,
         _streamwrite,
         _stremread,
         _streamput,
         _streamget,
       };
       /******************************************************************************/
       /* LOCAL FUNCTIONS                                                            */
       /******************************************************************************/
       /**
        * @brief   Implementation of the BaseAsynchronousChannel write() method (inherited from BaseSequentialStream).
        */
       static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
           return streamWrite(((AosIOChannel*)instance)->asyncchannel, bp, n);
         } else {
           return 0;
+        }
+      }
       /**
        * @brief   Implementation of the BaseAsynchronousChannel read() method (inherited from BaseSequentialStream).
        */
       static size_t _channelread(void *instance, uint8_t *bp, size_t n)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
           return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
         } else {
           return 0;
+        }
+      }
       /**
        * @brief   Implementation of the BaseAsynchronousChannel put() method (inherited from BaseSequentialStream).
        */
       static msg_t _channelput(void *instance, uint8_t b)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
           return streamPut(((AosIOChannel*)instance)->asyncchannel, b);
         } else {
           return MSG_RESET;
+        }
+      }
       /**
        * @brief   Implementation of the BaseAsynchronousChannel get() method (inherited from BaseSequentialStream).
        */
       static msg_t _channelget(void *instance)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
           return streamGet(((AosIOChannel*)instance)->asyncchannel);
         } else {
           return MSG_RESET;
+        }
+      }
       /**
        * @brief   Implementation of the BaseAsynchronousChannel putt() method.
        */
       static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
           return chnPutTimeout(((AosIOChannel*)instance)->asyncchannel, b, time);
         } else {
           return MSG_RESET;
+        }
+      }
       /**
        * @brief   Implementation of the BaseAsynchronousChannel gett() method.
        */
       static msg_t _channelgett(void *instance, sysinterval_t time)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
           return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
         } else {
           return MSG_RESET;
+        }
+      }
       /**
        * @brief   Implementation of the BaseAsynchronousChannel writet() method.
        */
       static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
           return chnWriteTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
         } else {
           return 0;
+        }
+      }
       /**
        * @brief   Implementation of the BaseAsynchronousChannel readt() method.
        */
       static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
           return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
         } else {
           return 0;
+        }
+      }
       /**
        * @brief   Implementation of the BaseAsynchronousChannel ctl() method.
        */
       static msg_t _channelctl(void *instance, unsigned int operation, void *arg)
+      {
         if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
           return chnControl(((AosIOChannel*)instance)->asyncchannel, operation, arg);
         } else {
           return MSG_OK;
+        }
+      }
       /**
        * @brief   Implementation of the BaseSequentialStream write() method.
        */
       static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n)
+      {
         aosDbgCheck(instance != NULL);
         // local variables
         AosIOChannel* channel = ((AosIOStream*)instance)->channel;
         size_t bytes;
         size_t maxbytes = 0;
         // iterate through the list of channels
         while (channel != NULL) {
           bytes = streamWrite(channel, bp, n);
           maxbytes = (bytes > maxbytes) ? bytes : maxbytes;
           channel = channel->next;
+        }
         return maxbytes;
+      }
       /**
        * @brief   Implementation of the BaseSequentialStream read() method.
        */
       static size_t _stremread(void *instance, uint8_t *bp, size_t n)
+      {
         (void)instance;
         (void)bp;
         (void)n;
         return 0;
+      }
       /**
        * @brief   Implementation of the BaseSequentialStream put() method.
        */
       static msg_t _streamput(void *instance, uint8_t b)
+      {
         aosDbgCheck(instance != NULL);
         // local variables
         AosIOChannel* channel = ((AosIOStream*)instance)->channel;
         msg_t ret = MSG_OK;
         // iterate through the list of channels
         while (channel != NULL) {
           msg_t ret_ = streamPut(channel, b);
           ret = (ret_ < ret) ? ret_ : ret;
           channel = channel->next;
+        }
         return ret;
+      }
       /**
        * @brief   Implementation of the BaseSequentialStream get() method.
        */
       static msg_t _streamget(void *instance)
+      {
         (void)instance;
         return 0;
+      }
       /******************************************************************************/
       /* EXPORTED FUNCTIONS                                                         */
       /******************************************************************************/
       /**
        * @brief   Initializes an aos_iostream_t object.
+       *
        * @param[in] stream    Th aos_iostream_t object to initialize.
        */
       void aosIOStreamInit(AosIOStream* stream)
+      {
         aosDbgCheck(stream != NULL);
         stream->vmt = &_streamvmt;
         stream->channel = NULL;
         return;
+      }
       /**
        * @brief   Initializes an aos_iostream_channel_t object.
+       *
        * @param[in] channel       The aos_iostream_channel_t to initialize.
        * @param[in] asyncchannel  The BaseAsynchronousChannel object to associate with te channel.
        */
       void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
+      {
         aosDbgCheck(channel != NULL);
         aosDbgCheck(asyncchannel != NULL);
         channel->vmt = &_channelvmt;
         channel->asyncchannel = asyncchannel;
         channel->next = NULL;
         channel->flags = 0;
         return;
+      }
       /**
        * @brief   Adds a channel to a stream.
+       *
        * @param[in] stream    The stream to be expanded.
        * @param[in] channel   The channel to be added.
        */
       void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
+      {
         aosDbgCheck(stream != NULL);
         aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0);
         // prepend the new channel
         chSysLock();
         channel->flags |= AOS_IOCHANNEL_ATTACHED;
         channel->next = stream->channel;
         stream->channel = channel;
         chSysUnlock();
         return;
+      }
       /**
        * @brief   Removes a channel from a stream.
+       *
        * @param[in] stream        The stream to remove the channel from.
        * @param[in] asyncchannel  The BaseAsynchronousChannel to remove.
        * @param[out] removed      Pointer to the removed aos_iostream_channel_t.
        * @return
        */
       aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel)
+      {
         aosDbgCheck(stream != NULL);
         aosDbgCheck(channel != NULL);
         // local variables
         AosIOChannel* prev = NULL;
         AosIOChannel* curr = stream->channel;
         // iterate through the list and search for the specified channel
         while (curr != NULL) {
           // if the channel was found, remove it
           if (curr == channel) {
             chSysLock();
             // special case: the first channel matches (prev is NULL)
             if (prev == NULL) {
               stream->channel = curr->next;
             } else {
               prev->next = curr->next;
+            }
             curr->next = NULL;
             curr->flags &= ~AOS_IOCHANNEL_ATTACHED;
             chSysUnlock();
             return AOS_SUCCESS;
+          }
           // iterate to the next channel
           else {
             prev = curr;
             curr = curr->next;
+          }
+        }
         // if the channel was not found, return an error
         return AOS_ERROR;
+      }
       /**
        * @brief   Enable input for a AosIOChannel.
+       *
        * @param[in] channel   The AosIOChannel to enable as input.
        */
       void aosIOChannelInputEnable(AosIOChannel* channel)
+      {
         aosDbgCheck(channel != NULL);
         channel->flags |= AOS_IOCHANNEL_INPUT_ENABLE;
         return;
+      }
       /**
        * @brief   Disable input for a AosIOChannel.
+       *
        * @param[in] channel   The AosIOChannel to disable as input.
        */
       void aosIOChannelInputDisable(AosIOChannel* channel)
+      {
         aosDbgCheck(channel != NULL);
         channel->flags &= ~AOS_IOCHANNEL_INPUT_ENABLE;
         return;
+      }
       /**
        * @brief   Enable output for a AosIOChannel.
+       *
        * @param[in] channel   The AosIOChannel to enable as output.
        */
       void aosIOChannelOutputEnable(AosIOChannel* channel)
+      {
         aosDbgCheck(channel != NULL);
         channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE;
         return;
+      }
       /**
        * @brief   Disable output for a AosIOChannel.
+       *
        * @param[in] channel   The AosIOChannel to disable as output.
        */
       void aosIOChannelOutputDisable(AosIOChannel* channel)
+      {
         aosDbgCheck(channel != NULL);
         channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE;
         return;
+      }
       /** @} */