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

amiro-os / core / src / aos_iostream.c @ 849b383a

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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
-a83
+Copyright (C) 2016..2020  Thomas Schöpping et al.
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+            Thomas Schöpping
 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/>.
 */
-ca3
+/**
  * @file    aos_iostream.c
  * @brief   Stream and channel code.
  * @details Implementation of the aos_ostrem and aos_iochannel.
+ *
  * @addtogroup aos_stream
  * @{
  */
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+#include <amiroos.h>
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+            Thomas Schöpping
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+/******************************************************************************/
 /* 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                                                            */
 /******************************************************************************/
-            ba516b61
+            Thomas Schöpping
 /**
  * @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)
+{
-            dd8738ea
+  if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
     return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
   } else {
     return 0;
+  }
-            ba516b61
+            Thomas Schöpping
 /**
  * @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)
+{
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+  if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
     return streamGet(((AosIOChannel*)instance)->asyncchannel);
   } else {
     return MSG_RESET;
+  }
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+            Thomas Schöpping
 /**
  * @brief   Implementation of the BaseAsynchronousChannel putt() method.
  */
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+static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time)
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+            Thomas Schöpping
   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.
  */
-c99037f
+static msg_t _channelgett(void *instance, sysinterval_t time)
-            ba516b61
+            Thomas Schöpping
-            dd8738ea
+  if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
     return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
   } else {
     return MSG_RESET;
+  }
-            ba516b61
+            Thomas Schöpping
 /**
  * @brief   Implementation of the BaseAsynchronousChannel writet() method.
  */
-c99037f
+static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time)
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+            Thomas Schöpping
   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.
  */
-c99037f
+static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time)
-            ba516b61
+            Thomas Schöpping
-            dd8738ea
+  if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
     return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
   } else {
     return 0;
+  }
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+            Thomas Schöpping
 /**
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+ * @brief   Implementation of the BaseAsynchronousChannel ctl() method.
  */
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+static msg_t _channelctl(void *instance, unsigned int operation, void *arg)
+{
   if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
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+    return chnControl(((AosIOChannel*)instance)->asyncchannel, operation, arg);
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+  } else {
     return MSG_OK;
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+            Marc Rothmann
+}
 /**
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+ * @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;
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+  msg_t ret = MSG_OK;
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+            Thomas Schöpping
   // iterate through the list of channels
   while (channel != NULL) {
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+    msg_t ret_ = streamPut(channel, b);
     ret = (ret_ < ret) ? ret_ : ret;
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+    channel = channel->next;
+  }
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+  return ret;
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+            Thomas Schöpping
 /**
  * @brief   Implementation of the BaseSequentialStream get() method.
  */
 static msg_t _streamget(void *instance)
+{
   (void)instance;
   return 0;
+}
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+/******************************************************************************/
 /* EXPORTED FUNCTIONS                                                         */
 /******************************************************************************/
-            ba516b61
+            Thomas Schöpping
 /**
  * @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;
+}
 /**
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+ * @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;
+}
 /**
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+ * @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;
+}
-ca3
+            Marc Rothmann
 /** @} */