amiro-os / core / src / aos_iostream.c @ a93a1019
History | View | Annotate | Download (11.7 KB)
1 | ba516b61 | Thomas Schöpping | /*
|
---|---|---|---|
2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
|
4 | ba516b61 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
|
||
6 | it under the terms of the GNU General Public License as published by
|
||
7 | the Free Software Foundation, either version 3 of the License, or
|
||
8 | (at your option) any later version.
|
||
9 | |||
10 | This program is distributed in the hope that it will be useful,
|
||
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
13 | GNU General Public License for more details.
|
||
14 | |||
15 | You should have received a copy of the GNU General Public License
|
||
16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
17 | */
|
||
18 | |||
19 | 53710ca3 | Marc Rothmann | /**
|
20 | * @file aos_iostream.c
|
||
21 | * @brief Stream and channel code.
|
||
22 | * @details Implementation of the aos_ostrem and aos_iochannel.
|
||
23 | *
|
||
24 | * @addtogroup aos_stream
|
||
25 | * @{
|
||
26 | */
|
||
27 | |||
28 | 3940ba8a | Thomas Schöpping | #include <amiroos.h> |
29 | ba516b61 | Thomas Schöpping | |
30 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
31 | /* LOCAL DEFINITIONS */
|
||
32 | /******************************************************************************/
|
||
33 | |||
34 | /******************************************************************************/
|
||
35 | /* EXPORTED VARIABLES */
|
||
36 | /******************************************************************************/
|
||
37 | |||
38 | /******************************************************************************/
|
||
39 | /* LOCAL TYPES */
|
||
40 | /******************************************************************************/
|
||
41 | |||
42 | /******************************************************************************/
|
||
43 | /* LOCAL VARIABLES */
|
||
44 | /******************************************************************************/
|
||
45 | |||
46 | /*
|
||
47 | * forward declarations
|
||
48 | */
|
||
49 | static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n); |
||
50 | static size_t _channelread(void *instance, uint8_t *bp, size_t n); |
||
51 | static msg_t _channelput(void *instance, uint8_t b); |
||
52 | static msg_t _channelget(void *instance); |
||
53 | static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time); |
||
54 | static msg_t _channelgett(void *instance, sysinterval_t time); |
||
55 | static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time); |
||
56 | static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time); |
||
57 | static msg_t _channelctl(void *instance, unsigned int operation, void *arg); |
||
58 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n); |
||
59 | static size_t _stremread(void *instance, uint8_t *bp, size_t n); |
||
60 | static msg_t _streamput(void *instance, uint8_t b); |
||
61 | static msg_t _streamget(void *instance); |
||
62 | |||
63 | /**
|
||
64 | * @brief Virtual methods table for all AosIOChannel objects.
|
||
65 | */
|
||
66 | static const struct AosIOChannelVMT _channelvmt = { |
||
67 | (size_t) 0,
|
||
68 | _channelwrite, |
||
69 | _channelread, |
||
70 | _channelput, |
||
71 | _channelget, |
||
72 | _channelputt, |
||
73 | _channelgett, |
||
74 | _channelwritet, |
||
75 | _channelreadt, |
||
76 | _channelctl, |
||
77 | }; |
||
78 | |||
79 | /**
|
||
80 | * @brief Virtual methods table for all AosIOStream objects.
|
||
81 | */
|
||
82 | static const struct AosIOStreamVMT _streamvmt = { |
||
83 | (size_t) 0,
|
||
84 | _streamwrite, |
||
85 | _stremread, |
||
86 | _streamput, |
||
87 | _streamget, |
||
88 | }; |
||
89 | |||
90 | /******************************************************************************/
|
||
91 | /* LOCAL FUNCTIONS */
|
||
92 | /******************************************************************************/
|
||
93 | ba516b61 | Thomas Schöpping | |
94 | /**
|
||
95 | * @brief Implementation of the BaseAsynchronousChannel write() method (inherited from BaseSequentialStream).
|
||
96 | */
|
||
97 | static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n) |
||
98 | { |
||
99 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
|
||
100 | return streamWrite(((AosIOChannel*)instance)->asyncchannel, bp, n);
|
||
101 | } else {
|
||
102 | return 0; |
||
103 | } |
||
104 | } |
||
105 | |||
106 | /**
|
||
107 | * @brief Implementation of the BaseAsynchronousChannel read() method (inherited from BaseSequentialStream).
|
||
108 | */
|
||
109 | static size_t _channelread(void *instance, uint8_t *bp, size_t n) |
||
110 | { |
||
111 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
|
112 | return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
|
||
113 | } else {
|
||
114 | return 0; |
||
115 | } |
||
116 | ba516b61 | Thomas Schöpping | } |
117 | |||
118 | /**
|
||
119 | * @brief Implementation of the BaseAsynchronousChannel put() method (inherited from BaseSequentialStream).
|
||
120 | */
|
||
121 | static msg_t _channelput(void *instance, uint8_t b) |
||
122 | { |
||
123 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
|
||
124 | return streamPut(((AosIOChannel*)instance)->asyncchannel, b);
|
||
125 | } else {
|
||
126 | return MSG_RESET;
|
||
127 | } |
||
128 | } |
||
129 | |||
130 | /**
|
||
131 | * @brief Implementation of the BaseAsynchronousChannel get() method (inherited from BaseSequentialStream).
|
||
132 | */
|
||
133 | static msg_t _channelget(void *instance) |
||
134 | { |
||
135 | dd8738ea | Thomas Schöpping | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
|
136 | return streamGet(((AosIOChannel*)instance)->asyncchannel);
|
||
137 | } else {
|
||
138 | return MSG_RESET;
|
||
139 | } |
||
140 | ba516b61 | Thomas Schöpping | } |
141 | |||
142 | /**
|
||
143 | * @brief Implementation of the BaseAsynchronousChannel putt() method.
|
||
144 | */
|
||
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) {
|
||
148 | return chnPutTimeout(((AosIOChannel*)instance)->asyncchannel, b, time);
|
||
149 | } else {
|
||
150 | return MSG_RESET;
|
||
151 | } |
||
152 | } |
||
153 | |||
154 | /**
|
||
155 | * @brief Implementation of the BaseAsynchronousChannel gett() method.
|
||
156 | */
|
||
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) {
|
160 | return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
|
||
161 | } else {
|
||
162 | return MSG_RESET;
|
||
163 | } |
||
164 | ba516b61 | Thomas Schöpping | } |
165 | |||
166 | /**
|
||
167 | * @brief Implementation of the BaseAsynchronousChannel writet() method.
|
||
168 | */
|
||
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) {
|
||
172 | return chnWriteTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
|
||
173 | } else {
|
||
174 | return 0; |
||
175 | } |
||
176 | } |
||
177 | |||
178 | /**
|
||
179 | * @brief Implementation of the BaseAsynchronousChannel readt() method.
|
||
180 | */
|
||
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) {
|
184 | return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
|
||
185 | } else {
|
||
186 | return 0; |
||
187 | } |
||
188 | ba516b61 | Thomas Schöpping | } |
189 | |||
190 | /**
|
||
191 | 2c99037f | Marc Rothmann | * @brief Implementation of the BaseAsynchronousChannel ctl() method.
|
192 | */
|
||
193 | 1e5f7648 | Thomas Schöpping | static msg_t _channelctl(void *instance, unsigned int operation, void *arg) |
194 | { |
||
195 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
|
||
196 | 40d4810c | Thomas Schöpping | return chnControl(((AosIOChannel*)instance)->asyncchannel, operation, arg);
|
197 | 1e5f7648 | Thomas Schöpping | } else {
|
198 | return MSG_OK;
|
||
199 | 2c99037f | Marc Rothmann | } |
200 | } |
||
201 | |||
202 | /**
|
||
203 | ba516b61 | Thomas Schöpping | * @brief Implementation of the BaseSequentialStream write() method.
|
204 | */
|
||
205 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
||
206 | { |
||
207 | aosDbgCheck(instance != NULL);
|
||
208 | |||
209 | // local variables
|
||
210 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
||
211 | size_t bytes; |
||
212 | size_t maxbytes = 0;
|
||
213 | |||
214 | // iterate through the list of channels
|
||
215 | while (channel != NULL) { |
||
216 | bytes = streamWrite(channel, bp, n); |
||
217 | maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
||
218 | channel = channel->next; |
||
219 | } |
||
220 | |||
221 | return maxbytes;
|
||
222 | } |
||
223 | |||
224 | /**
|
||
225 | * @brief Implementation of the BaseSequentialStream read() method.
|
||
226 | */
|
||
227 | static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
||
228 | { |
||
229 | (void)instance;
|
||
230 | (void)bp;
|
||
231 | (void)n;
|
||
232 | |||
233 | return 0; |
||
234 | } |
||
235 | |||
236 | /**
|
||
237 | * @brief Implementation of the BaseSequentialStream put() method.
|
||
238 | */
|
||
239 | static msg_t _streamput(void *instance, uint8_t b) |
||
240 | { |
||
241 | aosDbgCheck(instance != NULL);
|
||
242 | |||
243 | // local variables
|
||
244 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
||
245 | dd8738ea | Thomas Schöpping | msg_t ret = MSG_OK; |
246 | ba516b61 | Thomas Schöpping | |
247 | // iterate through the list of channels
|
||
248 | while (channel != NULL) { |
||
249 | dd8738ea | Thomas Schöpping | msg_t ret_ = streamPut(channel, b); |
250 | ret = (ret_ < ret) ? ret_ : ret; |
||
251 | ba516b61 | Thomas Schöpping | channel = channel->next; |
252 | } |
||
253 | |||
254 | dd8738ea | Thomas Schöpping | return ret;
|
255 | ba516b61 | Thomas Schöpping | } |
256 | |||
257 | /**
|
||
258 | * @brief Implementation of the BaseSequentialStream get() method.
|
||
259 | */
|
||
260 | static msg_t _streamget(void *instance) |
||
261 | { |
||
262 | (void)instance;
|
||
263 | |||
264 | return 0; |
||
265 | } |
||
266 | |||
267 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
268 | /* EXPORTED FUNCTIONS */
|
||
269 | /******************************************************************************/
|
||
270 | ba516b61 | Thomas Schöpping | |
271 | /**
|
||
272 | * @brief Initializes an aos_iostream_t object.
|
||
273 | *
|
||
274 | * @param[in] stream Th aos_iostream_t object to initialize.
|
||
275 | */
|
||
276 | void aosIOStreamInit(AosIOStream* stream)
|
||
277 | { |
||
278 | aosDbgCheck(stream != NULL);
|
||
279 | |||
280 | stream->vmt = &_streamvmt; |
||
281 | stream->channel = NULL;
|
||
282 | |||
283 | return;
|
||
284 | } |
||
285 | |||
286 | /**
|
||
287 | * @brief Initializes an aos_iostream_channel_t object.
|
||
288 | *
|
||
289 | * @param[in] channel The aos_iostream_channel_t to initialize.
|
||
290 | * @param[in] asyncchannel The BaseAsynchronousChannel object to associate with te channel.
|
||
291 | */
|
||
292 | void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
|
||
293 | { |
||
294 | aosDbgCheck(channel != NULL);
|
||
295 | aosDbgCheck(asyncchannel != NULL);
|
||
296 | |||
297 | channel->vmt = &_channelvmt; |
||
298 | channel->asyncchannel = asyncchannel; |
||
299 | channel->next = NULL;
|
||
300 | channel->flags = 0;
|
||
301 | |||
302 | return;
|
||
303 | } |
||
304 | |||
305 | /**
|
||
306 | * @brief Adds a channel to a stream.
|
||
307 | *
|
||
308 | * @param[in] stream The stream to be expanded.
|
||
309 | * @param[in] channel The channel to be added.
|
||
310 | */
|
||
311 | void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
|
||
312 | { |
||
313 | aosDbgCheck(stream != NULL);
|
||
314 | aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0); |
||
315 | |||
316 | // prepend the new channel
|
||
317 | chSysLock(); |
||
318 | channel->flags |= AOS_IOCHANNEL_ATTACHED; |
||
319 | channel->next = stream->channel; |
||
320 | stream->channel = channel; |
||
321 | chSysUnlock(); |
||
322 | |||
323 | return;
|
||
324 | } |
||
325 | |||
326 | /**
|
||
327 | * @brief Removes a channel from a stream.
|
||
328 | *
|
||
329 | * @param[in] stream The stream to remove the channel from.
|
||
330 | * @param[in] asyncchannel The BaseAsynchronousChannel to remove.
|
||
331 | * @param[out] removed Pointer to the removed aos_iostream_channel_t.
|
||
332 | * @return
|
||
333 | */
|
||
334 | aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel) |
||
335 | { |
||
336 | aosDbgCheck(stream != NULL);
|
||
337 | aosDbgCheck(channel != NULL);
|
||
338 | |||
339 | // local variables
|
||
340 | AosIOChannel* prev = NULL;
|
||
341 | AosIOChannel* curr = stream->channel; |
||
342 | |||
343 | // iterate through the list and search for the specified channel
|
||
344 | while (curr != NULL) { |
||
345 | // if the channel was found, remove it
|
||
346 | if (curr == channel) {
|
||
347 | chSysLock(); |
||
348 | // special case: the first channel matches (prev is NULL)
|
||
349 | if (prev == NULL) { |
||
350 | stream->channel = curr->next; |
||
351 | } else {
|
||
352 | prev->next = curr->next; |
||
353 | } |
||
354 | curr->next = NULL;
|
||
355 | curr->flags &= ~AOS_IOCHANNEL_ATTACHED; |
||
356 | chSysUnlock(); |
||
357 | return AOS_SUCCESS;
|
||
358 | } |
||
359 | // iterate to the next channel
|
||
360 | else {
|
||
361 | prev = curr; |
||
362 | curr = curr->next; |
||
363 | } |
||
364 | } |
||
365 | |||
366 | // if the channel was not found, return an error
|
||
367 | return AOS_ERROR;
|
||
368 | } |
||
369 | |||
370 | /**
|
||
371 | dd8738ea | Thomas Schöpping | * @brief Enable input for a AosIOChannel.
|
372 | *
|
||
373 | * @param[in] channel The AosIOChannel to enable as input.
|
||
374 | */
|
||
375 | void aosIOChannelInputEnable(AosIOChannel* channel)
|
||
376 | { |
||
377 | aosDbgCheck(channel != NULL);
|
||
378 | |||
379 | channel->flags |= AOS_IOCHANNEL_INPUT_ENABLE; |
||
380 | |||
381 | return;
|
||
382 | } |
||
383 | |||
384 | /**
|
||
385 | * @brief Disable input for a AosIOChannel.
|
||
386 | *
|
||
387 | * @param[in] channel The AosIOChannel to disable as input.
|
||
388 | */
|
||
389 | void aosIOChannelInputDisable(AosIOChannel* channel)
|
||
390 | { |
||
391 | aosDbgCheck(channel != NULL);
|
||
392 | |||
393 | channel->flags &= ~AOS_IOCHANNEL_INPUT_ENABLE; |
||
394 | |||
395 | return;
|
||
396 | } |
||
397 | |||
398 | /**
|
||
399 | ba516b61 | Thomas Schöpping | * @brief Enable output for a AosIOChannel.
|
400 | *
|
||
401 | * @param[in] channel The AosIOChannel to enable as output.
|
||
402 | */
|
||
403 | void aosIOChannelOutputEnable(AosIOChannel* channel)
|
||
404 | { |
||
405 | aosDbgCheck(channel != NULL);
|
||
406 | |||
407 | channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE; |
||
408 | |||
409 | return;
|
||
410 | } |
||
411 | |||
412 | /**
|
||
413 | * @brief Disable output for a AosIOChannel.
|
||
414 | *
|
||
415 | * @param[in] channel The AosIOChannel to disable as output.
|
||
416 | */
|
||
417 | void aosIOChannelOutputDisable(AosIOChannel* channel)
|
||
418 | { |
||
419 | aosDbgCheck(channel != NULL);
|
||
420 | |||
421 | channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE; |
||
422 | |||
423 | return;
|
||
424 | } |
||
425 | 53710ca3 | Marc Rothmann | |
426 | /** @} */ |