amiro-os / os / core / src / aos_iostream.c @ ba516b61
History | View | Annotate | Download (7.896 KB)
1 | ba516b61 | Thomas Schöpping | /*
|
---|---|---|---|
2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
3 | Copyright (C) 2016..2018 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 | #include <aos_iostream.h> |
||
20 | |||
21 | #include <aos_debug.h> |
||
22 | #include <chprintf.h> |
||
23 | |||
24 | |||
25 | |||
26 | /**
|
||
27 | * @brief Implementation of the BaseAsynchronousChannel write() method (inherited from BaseSequentialStream).
|
||
28 | */
|
||
29 | static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n) |
||
30 | { |
||
31 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
|
||
32 | return streamWrite(((AosIOChannel*)instance)->asyncchannel, bp, n);
|
||
33 | } else {
|
||
34 | return 0; |
||
35 | } |
||
36 | } |
||
37 | |||
38 | /**
|
||
39 | * @brief Implementation of the BaseAsynchronousChannel read() method (inherited from BaseSequentialStream).
|
||
40 | */
|
||
41 | static size_t _channelread(void *instance, uint8_t *bp, size_t n) |
||
42 | { |
||
43 | return streamRead(((AosIOChannel*)instance)->asyncchannel, bp, n);
|
||
44 | } |
||
45 | |||
46 | /**
|
||
47 | * @brief Implementation of the BaseAsynchronousChannel put() method (inherited from BaseSequentialStream).
|
||
48 | */
|
||
49 | static msg_t _channelput(void *instance, uint8_t b) |
||
50 | { |
||
51 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
|
||
52 | return streamPut(((AosIOChannel*)instance)->asyncchannel, b);
|
||
53 | } else {
|
||
54 | return MSG_RESET;
|
||
55 | } |
||
56 | } |
||
57 | |||
58 | /**
|
||
59 | * @brief Implementation of the BaseAsynchronousChannel get() method (inherited from BaseSequentialStream).
|
||
60 | */
|
||
61 | static msg_t _channelget(void *instance) |
||
62 | { |
||
63 | return streamGet(((AosIOChannel*)instance)->asyncchannel);
|
||
64 | } |
||
65 | |||
66 | /**
|
||
67 | * @brief Implementation of the BaseAsynchronousChannel putt() method.
|
||
68 | */
|
||
69 | static msg_t _channelputt(void *instance, uint8_t b, systime_t time) |
||
70 | { |
||
71 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
|
||
72 | return chnPutTimeout(((AosIOChannel*)instance)->asyncchannel, b, time);
|
||
73 | } else {
|
||
74 | return MSG_RESET;
|
||
75 | } |
||
76 | } |
||
77 | |||
78 | /**
|
||
79 | * @brief Implementation of the BaseAsynchronousChannel gett() method.
|
||
80 | */
|
||
81 | static msg_t _channelgett(void *instance, systime_t time) |
||
82 | { |
||
83 | return chnGetTimeout(((AosIOChannel*)instance)->asyncchannel, time);
|
||
84 | } |
||
85 | |||
86 | /**
|
||
87 | * @brief Implementation of the BaseAsynchronousChannel writet() method.
|
||
88 | */
|
||
89 | static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, systime_t time) |
||
90 | { |
||
91 | if (((AosIOChannel*)instance)->flags & AOS_IOCHANNEL_OUTPUT_ENABLE) {
|
||
92 | return chnWriteTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
|
||
93 | } else {
|
||
94 | return 0; |
||
95 | } |
||
96 | } |
||
97 | |||
98 | /**
|
||
99 | * @brief Implementation of the BaseAsynchronousChannel readt() method.
|
||
100 | */
|
||
101 | static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, systime_t time) |
||
102 | { |
||
103 | return chnReadTimeout(((AosIOChannel*)instance)->asyncchannel, bp, n, time);
|
||
104 | } |
||
105 | |||
106 | /**
|
||
107 | * @brief Virtual methods table for all AosIOChannel objects.
|
||
108 | */
|
||
109 | static const struct AosIOChannelVMT _channelvmt = { |
||
110 | _channelwrite, |
||
111 | _channelread, |
||
112 | _channelput, |
||
113 | _channelget, |
||
114 | _channelputt, |
||
115 | _channelgett, |
||
116 | _channelwritet, |
||
117 | _channelreadt, |
||
118 | }; |
||
119 | |||
120 | /**
|
||
121 | * @brief Implementation of the BaseSequentialStream write() method.
|
||
122 | */
|
||
123 | static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
||
124 | { |
||
125 | aosDbgCheck(instance != NULL);
|
||
126 | |||
127 | // local variables
|
||
128 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
||
129 | size_t bytes; |
||
130 | size_t maxbytes = 0;
|
||
131 | |||
132 | // iterate through the list of channels
|
||
133 | while (channel != NULL) { |
||
134 | bytes = streamWrite(channel, bp, n); |
||
135 | maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
||
136 | channel = channel->next; |
||
137 | } |
||
138 | |||
139 | return maxbytes;
|
||
140 | } |
||
141 | |||
142 | /**
|
||
143 | * @brief Implementation of the BaseSequentialStream read() method.
|
||
144 | */
|
||
145 | static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
||
146 | { |
||
147 | (void)instance;
|
||
148 | (void)bp;
|
||
149 | (void)n;
|
||
150 | |||
151 | return 0; |
||
152 | } |
||
153 | |||
154 | /**
|
||
155 | * @brief Implementation of the BaseSequentialStream put() method.
|
||
156 | */
|
||
157 | static msg_t _streamput(void *instance, uint8_t b) |
||
158 | { |
||
159 | aosDbgCheck(instance != NULL);
|
||
160 | |||
161 | // local variables
|
||
162 | AosIOChannel* channel = ((AosIOStream*)instance)->channel; |
||
163 | msg_t ret; |
||
164 | |||
165 | // iterate through the list of channels
|
||
166 | while (channel != NULL) { |
||
167 | ret = streamPut(channel, b); |
||
168 | if (ret != MSG_OK) {
|
||
169 | return ret;
|
||
170 | } |
||
171 | channel = channel->next; |
||
172 | } |
||
173 | |||
174 | return MSG_OK;
|
||
175 | } |
||
176 | |||
177 | /**
|
||
178 | * @brief Implementation of the BaseSequentialStream get() method.
|
||
179 | */
|
||
180 | static msg_t _streamget(void *instance) |
||
181 | { |
||
182 | (void)instance;
|
||
183 | |||
184 | return 0; |
||
185 | } |
||
186 | |||
187 | /**
|
||
188 | * @brief Virtual methods table for all AosIOStream objects.
|
||
189 | */
|
||
190 | static const struct AosIOStreamVMT _streamvmt = { |
||
191 | _streamwrite, |
||
192 | _stremread, |
||
193 | _streamput, |
||
194 | _streamget, |
||
195 | }; |
||
196 | |||
197 | /**
|
||
198 | * @brief Initializes an aos_iostream_t object.
|
||
199 | *
|
||
200 | * @param[in] stream Th aos_iostream_t object to initialize.
|
||
201 | */
|
||
202 | void aosIOStreamInit(AosIOStream* stream)
|
||
203 | { |
||
204 | aosDbgCheck(stream != NULL);
|
||
205 | |||
206 | stream->vmt = &_streamvmt; |
||
207 | stream->channel = NULL;
|
||
208 | |||
209 | return;
|
||
210 | } |
||
211 | |||
212 | /**
|
||
213 | * @brief Initializes an aos_iostream_channel_t object.
|
||
214 | *
|
||
215 | * @param[in] channel The aos_iostream_channel_t to initialize.
|
||
216 | * @param[in] asyncchannel The BaseAsynchronousChannel object to associate with te channel.
|
||
217 | */
|
||
218 | void aosIOChannelInit(AosIOChannel *channel, BaseAsynchronousChannel *asyncchannel)
|
||
219 | { |
||
220 | aosDbgCheck(channel != NULL);
|
||
221 | aosDbgCheck(asyncchannel != NULL);
|
||
222 | |||
223 | channel->vmt = &_channelvmt; |
||
224 | channel->asyncchannel = asyncchannel; |
||
225 | channel->next = NULL;
|
||
226 | channel->flags = 0;
|
||
227 | |||
228 | return;
|
||
229 | } |
||
230 | |||
231 | /**
|
||
232 | * @brief Adds a channel to a stream.
|
||
233 | *
|
||
234 | * @param[in] stream The stream to be expanded.
|
||
235 | * @param[in] channel The channel to be added.
|
||
236 | */
|
||
237 | void aosIOStreamAddChannel(AosIOStream *stream, AosIOChannel* channel)
|
||
238 | { |
||
239 | aosDbgCheck(stream != NULL);
|
||
240 | aosDbgCheck(channel != NULL && channel->asyncchannel != NULL && channel->next == NULL && (channel->flags & AOS_IOCHANNEL_ATTACHED) == 0); |
||
241 | |||
242 | // prepend the new channel
|
||
243 | chSysLock(); |
||
244 | channel->flags |= AOS_IOCHANNEL_ATTACHED; |
||
245 | channel->next = stream->channel; |
||
246 | stream->channel = channel; |
||
247 | chSysUnlock(); |
||
248 | |||
249 | return;
|
||
250 | } |
||
251 | |||
252 | /**
|
||
253 | * @brief Removes a channel from a stream.
|
||
254 | *
|
||
255 | * @param[in] stream The stream to remove the channel from.
|
||
256 | * @param[in] asyncchannel The BaseAsynchronousChannel to remove.
|
||
257 | * @param[out] removed Pointer to the removed aos_iostream_channel_t.
|
||
258 | * @return
|
||
259 | */
|
||
260 | aos_status_t aosIOStreamRemoveChannel(AosIOStream* stream, AosIOChannel* channel) |
||
261 | { |
||
262 | aosDbgCheck(stream != NULL);
|
||
263 | aosDbgCheck(channel != NULL);
|
||
264 | |||
265 | // local variables
|
||
266 | AosIOChannel* prev = NULL;
|
||
267 | AosIOChannel* curr = stream->channel; |
||
268 | |||
269 | // iterate through the list and search for the specified channel
|
||
270 | while (curr != NULL) { |
||
271 | // if the channel was found, remove it
|
||
272 | if (curr == channel) {
|
||
273 | chSysLock(); |
||
274 | // special case: the first channel matches (prev is NULL)
|
||
275 | if (prev == NULL) { |
||
276 | stream->channel = curr->next; |
||
277 | } else {
|
||
278 | prev->next = curr->next; |
||
279 | } |
||
280 | curr->next = NULL;
|
||
281 | curr->flags &= ~AOS_IOCHANNEL_ATTACHED; |
||
282 | chSysUnlock(); |
||
283 | return AOS_SUCCESS;
|
||
284 | } |
||
285 | // iterate to the next channel
|
||
286 | else {
|
||
287 | prev = curr; |
||
288 | curr = curr->next; |
||
289 | } |
||
290 | } |
||
291 | |||
292 | // if the channel was not found, return an error
|
||
293 | return AOS_ERROR;
|
||
294 | } |
||
295 | |||
296 | /**
|
||
297 | * @brief Enable output for a AosIOChannel.
|
||
298 | *
|
||
299 | * @param[in] channel The AosIOChannel to enable as output.
|
||
300 | */
|
||
301 | void aosIOChannelOutputEnable(AosIOChannel* channel)
|
||
302 | { |
||
303 | aosDbgCheck(channel != NULL);
|
||
304 | |||
305 | channel->flags |= AOS_IOCHANNEL_OUTPUT_ENABLE; |
||
306 | |||
307 | return;
|
||
308 | } |
||
309 | |||
310 | /**
|
||
311 | * @brief Disable output for a AosIOChannel.
|
||
312 | *
|
||
313 | * @param[in] channel The AosIOChannel to disable as output.
|
||
314 | */
|
||
315 | void aosIOChannelOutputDisable(AosIOChannel* channel)
|
||
316 | { |
||
317 | aosDbgCheck(channel != NULL);
|
||
318 | |||
319 | channel->flags &= ~AOS_IOCHANNEL_OUTPUT_ENABLE; |
||
320 | |||
321 | return;
|
||
322 | } |