amiro-os / core / src / aos_iostream.c @ a93a1019
History | View | Annotate | Download (11.7 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
4 |
|
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 |
/**
|
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 |
#include <amiroos.h> |
29 |
|
30 |
/******************************************************************************/
|
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 |
|
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 |
if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
|
112 |
return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
|
113 |
} else {
|
114 |
return 0; |
115 |
} |
116 |
} |
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 |
if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
|
136 |
return streamGet(((AosIOChannel*)instance)->asyncchannel);
|
137 |
} else {
|
138 |
return MSG_RESET;
|
139 |
} |
140 |
} |
141 |
|
142 |
/**
|
143 |
* @brief Implementation of the BaseAsynchronousChannel putt() method.
|
144 |
*/
|
145 |
static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time) |
146 |
{ |
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 |
static msg_t _channelgett(void *instance, sysinterval_t time) |
158 |
{ |
159 |
if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
|
160 |
return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
|
161 |
} else {
|
162 |
return MSG_RESET;
|
163 |
} |
164 |
} |
165 |
|
166 |
/**
|
167 |
* @brief Implementation of the BaseAsynchronousChannel writet() method.
|
168 |
*/
|
169 |
static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time) |
170 |
{ |
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 |
static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time) |
182 |
{ |
183 |
if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_INPUT_ENABLE) {
|
184 |
return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
|
185 |
} else {
|
186 |
return 0; |
187 |
} |
188 |
} |
189 |
|
190 |
/**
|
191 |
* @brief Implementation of the BaseAsynchronousChannel ctl() method.
|
192 |
*/
|
193 |
static msg_t _channelctl(void *instance, unsigned int operation, void *arg) |
194 |
{ |
195 |
if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
|
196 |
return chnControl(((AosIOChannel*)instance)->asyncchannel, operation, arg);
|
197 |
} else {
|
198 |
return MSG_OK;
|
199 |
} |
200 |
} |
201 |
|
202 |
/**
|
203 |
* @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 |
msg_t ret = MSG_OK; |
246 |
|
247 |
// iterate through the list of channels
|
248 |
while (channel != NULL) { |
249 |
msg_t ret_ = streamPut(channel, b); |
250 |
ret = (ret_ < ret) ? ret_ : ret; |
251 |
channel = channel->next; |
252 |
} |
253 |
|
254 |
return ret;
|
255 |
} |
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 |
/******************************************************************************/
|
268 |
/* EXPORTED FUNCTIONS */
|
269 |
/******************************************************************************/
|
270 |
|
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 |
* @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 |
* @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 |
|
426 |
/** @} */
|