amiro-os / os / core / src / aos_iostream.c @ 6df420be
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <aos_iostream.h> |
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#include <aos_debug.h> |
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#include <chprintf.h> |
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/**
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* @brief Implementation of the BaseAsynchronousChannel write() method (inherited from BaseSequentialStream).
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*/
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static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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return streamWrite(((AosIOChannel*)instance)->asyncchannel, bp, n);
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} else {
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return 0; |
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel read() method (inherited from BaseSequentialStream).
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*/
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static size_t _channelread(void *instance, uint8_t *bp, size_t n) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
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} else {
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return 0; |
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel put() method (inherited from BaseSequentialStream).
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*/
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static msg_t _channelput(void *instance, uint8_t b) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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return streamPut(((AosIOChannel*)instance)->asyncchannel, b);
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} else {
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return MSG_RESET;
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel get() method (inherited from BaseSequentialStream).
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*/
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static msg_t _channelget(void *instance) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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return streamGet(((AosIOChannel*)instance)->asyncchannel);
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} else {
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return MSG_RESET;
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel putt() method.
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*/
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static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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return chnPutTimeout(((AosIOChannel*)instance)->asyncchannel, b, time);
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} else {
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return MSG_RESET;
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel gett() method.
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*/
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static msg_t _channelgett(void *instance, sysinterval_t time) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
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} else {
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return MSG_RESET;
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel writet() method.
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*/
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static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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return chnWriteTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
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} else {
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return 0; |
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel readt() method.
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*/
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static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
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return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
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} else {
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return 0; |
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel ctl() method.
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*/
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static msg_t _channelctl(void *instance, unsigned int operation, void *arg) |
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{ |
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if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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return chnControl(((AosIOChannel*)instance)->asyncchannel, operation, arg);
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} else {
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return MSG_OK;
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} |
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} |
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/**
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* @brief Virtual methods table for all AosIOChannel objects.
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*/
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static const struct AosIOChannelVMT _channelvmt = { |
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(size_t) 0,
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_channelwrite, |
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_channelread, |
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_channelput, |
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_channelget, |
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_channelputt, |
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_channelgett, |
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_channelwritet, |
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_channelreadt, |
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_channelctl, |
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}; |
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/**
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* @brief Implementation of the BaseSequentialStream write() method.
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*/
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static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
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{ |
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aosDbgCheck(instance != NULL);
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// local variables
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AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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size_t bytes; |
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size_t maxbytes = 0;
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// iterate through the list of channels
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while (channel != NULL) { |
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bytes = streamWrite(channel, bp, n); |
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maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
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channel = channel->next; |
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} |
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return maxbytes;
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} |
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/**
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* @brief Implementation of the BaseSequentialStream read() method.
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*/
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static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
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{ |
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(void)instance;
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(void)bp;
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(void)n;
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return 0; |
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} |
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/**
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* @brief Implementation of the BaseSequentialStream put() method.
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*/
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static msg_t _streamput(void *instance, uint8_t b) |
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{ |
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aosDbgCheck(instance != NULL);
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// local variables
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AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
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msg_t ret = MSG_OK; |
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// iterate through the list of channels
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while (channel != NULL) { |
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msg_t ret_ = streamPut(channel, b); |
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ret = (ret_ < ret) ? ret_ : ret; |
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channel = channel->next; |
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} |
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return ret;
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} |
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/**
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* @brief Implementation of the BaseSequentialStream get() method.
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*/
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static msg_t _streamget(void *instance) |
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{ |
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(void)instance;
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return 0; |
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} |
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/**
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* @brief Virtual methods table for all AosIOStream objects.
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*/
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static const struct AosIOStreamVMT _streamvmt = { |
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(size_t) 0,
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_streamwrite, |
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_stremread, |
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_streamput, |
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_streamget, |
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}; |
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/**
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* @brief Initializes an aos_iostream_t object.
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*
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* @param[in] stream Th aos_iostream_t object to initialize.
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*/
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void aosIOStreamInit(AosIOStream* stream)
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{ |
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aosDbgCheck(stream != NULL);
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stream->vmt = &_streamvmt; |
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stream->channel = NULL;
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return;
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} |
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/**
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* @brief Initializes an aos_iostream_channel_t object.
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*
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* @param[in] channel The aos_iostream_channel_t to initialize.
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* @param[in] asyncchannel The BaseAsynchronousChannel object to associate with te channel.
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*/
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void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
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{ |
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aosDbgCheck(channel != NULL);
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aosDbgCheck(asyncchannel != NULL);
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channel->vmt = &_channelvmt; |
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channel->asyncchannel = asyncchannel; |
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channel->next = NULL;
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channel->flags = 0;
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return;
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} |
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/**
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* @brief Adds a channel to a stream.
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*
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* @param[in] stream The stream to be expanded.
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* @param[in] channel The channel to be added.
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*/
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void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
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{ |
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aosDbgCheck(stream != NULL);
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aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0); |
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// prepend the new channel
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chSysLock(); |
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channel->flags |= AOS_IOCHANNEL_ATTACHED; |
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channel->next = stream->channel; |
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stream->channel = channel; |
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chSysUnlock(); |
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return;
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} |
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/**
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* @brief Removes a channel from a stream.
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*
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* @param[in] stream The stream to remove the channel from.
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* @param[in] asyncchannel The BaseAsynchronousChannel to remove.
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* @param[out] removed Pointer to the removed aos_iostream_channel_t.
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* @return
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*/
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aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel) |
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{ |
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aosDbgCheck(stream != NULL);
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aosDbgCheck(channel != NULL);
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// local variables
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AosIOChannel* prev = NULL;
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AosIOChannel* curr = stream->channel; |
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// iterate through the list and search for the specified channel
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while (curr != NULL) { |
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// if the channel was found, remove it
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if (curr == channel) {
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chSysLock(); |
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// special case: the first channel matches (prev is NULL)
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if (prev == NULL) { |
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stream->channel = curr->next; |
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} else {
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prev->next = curr->next; |
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} |
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curr->next = NULL;
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curr->flags &= ~AOS_IOCHANNEL_ATTACHED; |
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chSysUnlock(); |
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return AOS_SUCCESS;
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} |
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// iterate to the next channel
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else {
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prev = curr; |
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curr = curr->next; |
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} |
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} |
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// if the channel was not found, return an error
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return AOS_ERROR;
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} |
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/**
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* @brief Enable input for a AosIOChannel.
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*
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* @param[in] channel The AosIOChannel to enable as input.
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*/
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void aosIOChannelInputEnable(AosIOChannel* channel)
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{ |
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aosDbgCheck(channel != NULL);
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channel->flags |= AOS_IOCHANNEL_INPUT_ENABLE; |
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return;
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} |
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/**
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* @brief Disable input for a AosIOChannel.
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*
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* @param[in] channel The AosIOChannel to disable as input.
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*/
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void aosIOChannelInputDisable(AosIOChannel* channel)
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{ |
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aosDbgCheck(channel != NULL);
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channel->flags &= ~AOS_IOCHANNEL_INPUT_ENABLE; |
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return;
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} |
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/**
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* @brief Enable output for a AosIOChannel.
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*
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* @param[in] channel The AosIOChannel to enable as output.
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*/
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void aosIOChannelOutputEnable(AosIOChannel* channel)
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{ |
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aosDbgCheck(channel != NULL);
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channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE; |
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return;
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} |
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/**
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* @brief Disable output for a AosIOChannel.
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*
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* @param[in] channel The AosIOChannel to disable as output.
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*/
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void aosIOChannelOutputDisable(AosIOChannel* channel)
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{ |
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aosDbgCheck(channel != NULL);
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channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE; |
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return;
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} |