amiro-os / core / src / aos_iostream.c @ 4cb40108
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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 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | ba516b61 | Thomas Schöpping | |
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 | 3940ba8a | Thomas Schöpping | #include <amiroos.h> |
29 | ba516b61 | Thomas Schöpping | |
30 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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31 | /* LOCAL DEFINITIONS */
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32 | /******************************************************************************/
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33 | |||
34 | /******************************************************************************/
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35 | /* EXPORTED VARIABLES */
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36 | /******************************************************************************/
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37 | |||
38 | /******************************************************************************/
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39 | /* LOCAL TYPES */
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40 | /******************************************************************************/
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41 | |||
42 | /******************************************************************************/
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43 | /* LOCAL VARIABLES */
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44 | /******************************************************************************/
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45 | |||
46 | /*
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47 | * forward declarations
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48 | */
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49 | static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n); |
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50 | static size_t _channelread(void *instance, uint8_t *bp, size_t n); |
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51 | static msg_t _channelput(void *instance, uint8_t b); |
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52 | static msg_t _channelget(void *instance); |
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53 | static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time); |
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54 | static msg_t _channelgett(void *instance, sysinterval_t time); |
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55 | static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time); |
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56 | static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time); |
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57 | static msg_t _channelctl(void *instance, unsigned int operation, void *arg); |
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58 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n); |
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59 | static size_t _stremread(void *instance, uint8_t *bp, size_t n); |
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60 | static msg_t _streamput(void *instance, uint8_t b); |
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61 | static msg_t _streamget(void *instance); |
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62 | |||
63 | /**
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64 | * @brief Virtual methods table for all AosIOChannel objects.
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65 | */
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66 | static const struct AosIOChannelVMT _channelvmt = { |
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67 | (size_t) 0,
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68 | _channelwrite, |
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69 | _channelread, |
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70 | _channelput, |
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71 | _channelget, |
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72 | _channelputt, |
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73 | _channelgett, |
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74 | _channelwritet, |
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75 | _channelreadt, |
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76 | _channelctl, |
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77 | }; |
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78 | |||
79 | /**
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80 | * @brief Virtual methods table for all AosIOStream objects.
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81 | */
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82 | static const struct AosIOStreamVMT _streamvmt = { |
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83 | (size_t) 0,
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84 | _streamwrite, |
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85 | _stremread, |
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86 | _streamput, |
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87 | _streamget, |
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88 | }; |
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89 | |||
90 | /******************************************************************************/
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91 | /* LOCAL FUNCTIONS */
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92 | /******************************************************************************/
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93 | ba516b61 | Thomas Schöpping | |
94 | /**
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95 | * @brief Implementation of the BaseAsynchronousChannel write() method (inherited from BaseSequentialStream).
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96 | */
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97 | static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n) |
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98 | { |
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99 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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100 | return streamWrite(((AosIOChannel*)instance)->asyncchannel, bp, n);
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101 | } else {
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102 | return 0; |
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103 | } |
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104 | } |
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105 | |||
106 | /**
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107 | * @brief Implementation of the BaseAsynchronousChannel read() method (inherited from BaseSequentialStream).
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108 | */
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109 | static size_t _channelread(void *instance, uint8_t *bp, size_t n) |
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110 | { |
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111 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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112 | return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
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113 | } else {
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114 | return 0; |
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115 | } |
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116 | ba516b61 | Thomas Schöpping | } |
117 | |||
118 | /**
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119 | * @brief Implementation of the BaseAsynchronousChannel put() method (inherited from BaseSequentialStream).
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120 | */
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121 | static msg_t _channelput(void *instance, uint8_t b) |
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122 | { |
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123 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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124 | return streamPut(((AosIOChannel*)instance)->asyncchannel, b);
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125 | } else {
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126 | return MSG_RESET;
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127 | } |
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128 | } |
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129 | |||
130 | /**
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131 | * @brief Implementation of the BaseAsynchronousChannel get() method (inherited from BaseSequentialStream).
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132 | */
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133 | static msg_t _channelget(void *instance) |
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134 | { |
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135 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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136 | return streamGet(((AosIOChannel*)instance)->asyncchannel);
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137 | } else {
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138 | return MSG_RESET;
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139 | } |
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140 | ba516b61 | Thomas Schöpping | } |
141 | |||
142 | /**
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143 | * @brief Implementation of the BaseAsynchronousChannel putt() method.
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144 | */
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145 | 2c99037f | Marc Rothmann | static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time) |
146 | ba516b61 | Thomas Schöpping | { |
147 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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148 | return chnPutTimeout(((AosIOChannel*)instance)->asyncchannel, b, time);
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149 | } else {
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150 | return MSG_RESET;
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151 | } |
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152 | } |
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153 | |||
154 | /**
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155 | * @brief Implementation of the BaseAsynchronousChannel gett() method.
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156 | */
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157 | 2c99037f | Marc Rothmann | static msg_t _channelgett(void *instance, sysinterval_t time) |
158 | ba516b61 | Thomas Schöpping | { |
159 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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160 | return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
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161 | } else {
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162 | return MSG_RESET;
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163 | } |
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164 | ba516b61 | Thomas Schöpping | } |
165 | |||
166 | /**
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167 | * @brief Implementation of the BaseAsynchronousChannel writet() method.
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168 | */
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169 | 2c99037f | Marc Rothmann | static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time) |
170 | ba516b61 | Thomas Schöpping | { |
171 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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172 | return chnWriteTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
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173 | } else {
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174 | return 0; |
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175 | } |
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176 | } |
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177 | |||
178 | /**
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179 | * @brief Implementation of the BaseAsynchronousChannel readt() method.
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180 | */
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181 | 2c99037f | Marc Rothmann | static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time) |
182 | ba516b61 | Thomas Schöpping | { |
183 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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184 | return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
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185 | } else {
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186 | return 0; |
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187 | } |
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188 | ba516b61 | Thomas Schöpping | } |
189 | |||
190 | /**
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191 | 2c99037f | Marc Rothmann | * @brief Implementation of the BaseAsynchronousChannel ctl() method.
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192 | */
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193 | 1e5f7648 | Thomas Schöpping | static msg_t _channelctl(void *instance, unsigned int operation, void *arg) |
194 | { |
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195 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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196 | 40d4810c | Thomas Schöpping | return chnControl(((AosIOChannel*)instance)->asyncchannel, operation, arg);
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197 | 1e5f7648 | Thomas Schöpping | } else {
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198 | return MSG_OK;
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199 | 2c99037f | Marc Rothmann | } |
200 | } |
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201 | |||
202 | /**
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203 | ba516b61 | Thomas Schöpping | * @brief Implementation of the BaseSequentialStream write() method.
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204 | */
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205 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
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206 | { |
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207 | aosDbgCheck(instance != NULL);
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208 | |||
209 | // local variables
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210 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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211 | size_t bytes; |
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212 | size_t maxbytes = 0;
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213 | |||
214 | // iterate through the list of channels
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215 | while (channel != NULL) { |
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216 | bytes = streamWrite(channel, bp, n); |
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217 | maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
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218 | channel = channel->next; |
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219 | } |
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220 | |||
221 | return maxbytes;
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222 | } |
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223 | |||
224 | /**
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225 | * @brief Implementation of the BaseSequentialStream read() method.
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226 | */
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227 | static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
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228 | { |
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229 | (void)instance;
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230 | (void)bp;
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231 | (void)n;
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232 | |||
233 | return 0; |
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234 | } |
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235 | |||
236 | /**
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237 | * @brief Implementation of the BaseSequentialStream put() method.
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238 | */
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239 | static msg_t _streamput(void *instance, uint8_t b) |
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240 | { |
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241 | aosDbgCheck(instance != NULL);
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242 | |||
243 | // local variables
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244 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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245 | dd8738ea | Thomas Schöpping | msg_t ret = MSG_OK; |
246 | ba516b61 | Thomas Schöpping | |
247 | // iterate through the list of channels
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248 | while (channel != NULL) { |
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249 | dd8738ea | Thomas Schöpping | msg_t ret_ = streamPut(channel, b); |
250 | ret = (ret_ < ret) ? ret_ : ret; |
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251 | ba516b61 | Thomas Schöpping | channel = channel->next; |
252 | } |
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253 | |||
254 | dd8738ea | Thomas Schöpping | return ret;
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255 | ba516b61 | Thomas Schöpping | } |
256 | |||
257 | /**
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258 | * @brief Implementation of the BaseSequentialStream get() method.
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259 | */
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260 | static msg_t _streamget(void *instance) |
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261 | { |
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262 | (void)instance;
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263 | |||
264 | return 0; |
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265 | } |
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266 | |||
267 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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268 | /* EXPORTED FUNCTIONS */
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269 | /******************************************************************************/
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270 | ba516b61 | Thomas Schöpping | |
271 | /**
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272 | * @brief Initializes an aos_iostream_t object.
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273 | *
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274 | * @param[in] stream Th aos_iostream_t object to initialize.
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275 | */
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276 | void aosIOStreamInit(AosIOStream* stream)
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277 | { |
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278 | aosDbgCheck(stream != NULL);
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279 | |||
280 | stream->vmt = &_streamvmt; |
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281 | stream->channel = NULL;
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282 | |||
283 | return;
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284 | } |
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285 | |||
286 | /**
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287 | * @brief Initializes an aos_iostream_channel_t object.
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288 | *
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289 | * @param[in] channel The aos_iostream_channel_t to initialize.
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290 | * @param[in] asyncchannel The BaseAsynchronousChannel object to associate with te channel.
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291 | */
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292 | void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
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293 | { |
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294 | aosDbgCheck(channel != NULL);
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295 | aosDbgCheck(asyncchannel != NULL);
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296 | |||
297 | channel->vmt = &_channelvmt; |
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298 | channel->asyncchannel = asyncchannel; |
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299 | channel->next = NULL;
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300 | channel->flags = 0;
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301 | |||
302 | return;
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303 | } |
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304 | |||
305 | /**
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306 | * @brief Adds a channel to a stream.
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307 | *
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308 | * @param[in] stream The stream to be expanded.
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309 | * @param[in] channel The channel to be added.
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310 | */
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311 | void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
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312 | { |
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313 | aosDbgCheck(stream != NULL);
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314 | aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0); |
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315 | |||
316 | // prepend the new channel
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317 | chSysLock(); |
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318 | channel->flags |= AOS_IOCHANNEL_ATTACHED; |
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319 | channel->next = stream->channel; |
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320 | stream->channel = channel; |
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321 | chSysUnlock(); |
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322 | |||
323 | return;
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324 | } |
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325 | |||
326 | /**
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327 | * @brief Removes a channel from a stream.
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328 | *
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329 | * @param[in] stream The stream to remove the channel from.
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330 | * @param[in] asyncchannel The BaseAsynchronousChannel to remove.
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331 | * @param[out] removed Pointer to the removed aos_iostream_channel_t.
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332 | * @return
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333 | */
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334 | aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel) |
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335 | { |
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336 | aosDbgCheck(stream != NULL);
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337 | aosDbgCheck(channel != NULL);
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338 | |||
339 | // local variables
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340 | AosIOChannel* prev = NULL;
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341 | AosIOChannel* curr = stream->channel; |
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342 | |||
343 | // iterate through the list and search for the specified channel
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344 | while (curr != NULL) { |
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345 | // if the channel was found, remove it
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346 | if (curr == channel) {
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347 | chSysLock(); |
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348 | // special case: the first channel matches (prev is NULL)
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349 | if (prev == NULL) { |
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350 | stream->channel = curr->next; |
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351 | } else {
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352 | prev->next = curr->next; |
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353 | } |
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354 | curr->next = NULL;
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355 | curr->flags &= ~AOS_IOCHANNEL_ATTACHED; |
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356 | chSysUnlock(); |
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357 | return AOS_SUCCESS;
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358 | } |
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359 | // iterate to the next channel
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360 | else {
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361 | prev = curr; |
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362 | curr = curr->next; |
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363 | } |
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364 | } |
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365 | |||
366 | // if the channel was not found, return an error
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367 | return AOS_ERROR;
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368 | } |
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369 | |||
370 | /**
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371 | dd8738ea | Thomas Schöpping | * @brief Enable input for a AosIOChannel.
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372 | *
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373 | * @param[in] channel The AosIOChannel to enable as input.
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374 | */
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375 | void aosIOChannelInputEnable(AosIOChannel* channel)
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376 | { |
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377 | aosDbgCheck(channel != NULL);
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378 | |||
379 | channel->flags |= AOS_IOCHANNEL_INPUT_ENABLE; |
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380 | |||
381 | return;
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382 | } |
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383 | |||
384 | /**
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385 | * @brief Disable input for a AosIOChannel.
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386 | *
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387 | * @param[in] channel The AosIOChannel to disable as input.
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388 | */
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389 | void aosIOChannelInputDisable(AosIOChannel* channel)
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390 | { |
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391 | aosDbgCheck(channel != NULL);
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392 | |||
393 | channel->flags &= ~AOS_IOCHANNEL_INPUT_ENABLE; |
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394 | |||
395 | return;
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396 | } |
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397 | |||
398 | /**
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399 | ba516b61 | Thomas Schöpping | * @brief Enable output for a AosIOChannel.
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400 | *
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401 | * @param[in] channel The AosIOChannel to enable as output.
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402 | */
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403 | void aosIOChannelOutputEnable(AosIOChannel* channel)
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404 | { |
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405 | aosDbgCheck(channel != NULL);
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406 | |||
407 | channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE; |
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408 | |||
409 | return;
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410 | } |
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411 | |||
412 | /**
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413 | * @brief Disable output for a AosIOChannel.
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414 | *
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415 | * @param[in] channel The AosIOChannel to disable as output.
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416 | */
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417 | void aosIOChannelOutputDisable(AosIOChannel* channel)
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418 | { |
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419 | aosDbgCheck(channel != NULL);
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420 | |||
421 | channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE; |
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422 | |||
423 | return;
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424 | } |
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425 | 53710ca3 | Marc Rothmann | |
426 | /** @} */ |