AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

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/>.

*/

#ifndef _AMIROOS_SSM_H_

#define _AMIROOS_SSM_H_

#include <hal.h>

#include <aos_types.h>

#include <aos_debug.h>

/**

 * @brief   Sequential Stream Multiplexer output structure.

 */

typedef struct ssm_output {

  /**

   * @brief   Pointer to a BaseSequentialStream object.

   */

  BaseSequentialStream* stream;

  /**

   * @brief   Pointer to the next element in a singly linked list.

   */

  struct ssm_output* next;

  /**

   * @brief   Flags related to the output.

   */

  uint8_t flags;

} ssm_output_t;

/**

 * @brief   Output flag to indicate whether the output is attached to a SSM list.

 */

#define SSM_OUTPUT_FLAG_ATTACHED                (1 << 0)

/**

 * @brief   Output flag to indicate whether the output is enabled.

 */

#define SSM_OUTPUT_FLAG_ENABLED                 (1 << 1)

/**

 * @brief   Sequential Stream Multiplexer specific methods.

 */

#define _sequential_stream_mux_methods          \

  _base_sequential_stream_methods               \

/**

 * @brief   Sequential Stream Multiplexer specific data.

 */

#define _sequential_stream_mux_data             \

  _base_sequential_stream_data                  \

  ssm_output_t* outputs;                        \

  BaseSequentialStream* input;                  \

/**

 * @brief   Sequential Stream Multiplexer virtual methods table.

 */

struct SequentialStreamMuxVMT {

  _sequential_stream_mux_methods

};

/**

 * @brief   Sequential Stream Multiplexer structure.

 */

typedef struct {

  /**

   * @brief   Virtual methods table.

   */

  const struct SequentialStreamMuxVMT *vmt;

  /**

   * @brief   Data fields.

   */

  _sequential_stream_mux_data

} SequentialStreamMux;

#ifdef __cplusplus

extern "C" {

#endif

  void ssmObjectInit(SequentialStreamMux* ssmp);

  void ssmOutputInit(ssm_output_t* op, BaseSequentialStream* stream);

  void ssmAddOutput(SequentialStreamMux* ssmp, ssm_output_t* output);

  aos_status_t ssmRemoveOutput(SequentialStreamMux* ssmp, BaseSequentialStream* stream, ssm_output_t** removed);

  aos_status_t ssmEnableOutput(SequentialStreamMux* ssmp, BaseSequentialStream* stream);

  aos_status_t ssmDisableOutput(SequentialStreamMux* ssmp, BaseSequentialStream* stream);

#ifdef __cplusplus

}

#endif

/**

 * @brief   Set the input stream

 *

 * @param[in] ssmp    pointer to the @p SequentialStreamMux object

 * @param[in] stream  pointer to a @p BaseSequentialStream or NULL to disable input

 */

static inline void ssmSetInput(SequentialStreamMux* ssmp, BaseSequentialStream* stream)

{

  aosDbgCheck(ssmp != NULL);

  ssmp->input = stream;

  return;

}

#endif /* _AMIROOS_SSM_H_ */