--- /dev/null
+/**
+ * @file vp_api_supervisor.c
+ * @brief VP Api. Pipeline supervisor
+ */
+
+
+///////////////////////////////////////////////
+// INCLUDES
+
+#include <VP_Api/vp_api_supervisor.h>
+#include <VP_Api/vp_api_config.h>
+#include <VP_Api/vp_api.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_assert.h>
+
+
+///////////////////////////////////////////////
+// STATICS
+
+/** Global array containing pipeline handles.
+ */
+static PIPELINE_ADDRESS pipelines[VP_API_MAX_NUM_PIPELINES] = {(PIPELINE_ADDRESS)NULL};
+
+
+/**
+ * @fn vp_api_get_message(vp_api_io_pipeline_t *, DEST_HANDLE *, PIPELINE_MSG *, void *, void *)
+ * @brief Get a message.
+ *
+ * Get a message from the pipeline fifo. Internally called by vp_api_handle_messages()
+ * @param pipeline Pipeline definition
+ * @param dest Message destination
+ * @param msg_id Message identifier
+ * @param callback Optional callback function called after processing of the message
+ * @param param Optional message parameters
+ * @return C_RESULT : VP_SUCCESS
+ * @author Julien Floret <julien.floret.ext\@parrot.com>
+ * @date 28/05/2007
+ */
+static C_RESULT
+vp_api_get_message(vp_api_io_pipeline_t *pipeline, DEST_HANDLE *dest, PIPELINE_MSG *msg_id, void **callback, void **param);
+
+
+///////////////////////////////////////////////
+// CODE
+
+static PIPELINE_HANDLE nb_pipelines = 0;
+
+
+C_RESULT vp_api_add_pipeline(vp_api_io_pipeline_t *pipeline, PIPELINE_HANDLE *handle)
+{
+ C_RESULT res = VP_SUCCESS;
+ int i = 0;
+
+ VP_OS_ASSERT(nb_pipelines < VP_API_MAX_NUM_PIPELINES);
+
+ while(pipelines[i] != ((PIPELINE_ADDRESS)NULL))
+ {
+ i++;
+ }
+
+ pipelines[i] = (PIPELINE_ADDRESS) pipeline;
+ (*handle) = i;
+ nb_pipelines ++;
+
+ return res;
+}
+
+
+C_RESULT vp_api_remove_pipeline(vp_api_io_pipeline_t *pipeline, PIPELINE_HANDLE *handle)
+{
+ C_RESULT res = VP_SUCCESS;
+
+ pipelines[*handle] = (PIPELINE_ADDRESS) NULL;
+ nb_pipelines --;
+
+ return res;
+}
+
+
+vp_api_io_pipeline_t * vp_api_get_pipeline(PIPELINE_HANDLE handle)
+{
+ vp_api_io_pipeline_t *pipeline = (vp_api_io_pipeline_t *) pipelines[handle];
+ return (pipeline);
+}
+
+
+C_RESULT vp_api_post_message(DEST_HANDLE dest, PIPELINE_MSG msg_id, void *callback, void *param)
+{
+ C_RESULT res = VP_SUCCESS;
+
+ vp_api_io_pipeline_t *pipeline = (vp_api_io_pipeline_t *) pipelines[dest.pipeline];
+
+ /* Do not send the message if the pipeline does not exist yet
+ This happens when calling the callback function of the 'video_channel' configuration
+ value at drone startup. */
+ if (pipeline==NULL) { return VP_FAILURE; }
+
+ VP_OS_ASSERT(pipeline->fifo.nb_waiting >= 0);
+
+ vp_os_mutex_lock(&pipeline->fifo.mutex);
+
+ if((pipeline->fifo.ppost + sizeof(DEST_HANDLE) + sizeof(PIPELINE_MSG) + sizeof(void *) + sizeof(void *)) >= (pipeline->fifo.pbase + VP_API_PIPELINE_FIFO_SIZE))
+ pipeline->fifo.ppost = pipeline->fifo.pbase;
+
+ vp_os_memcpy(pipeline->fifo.ppost, &dest, sizeof(DEST_HANDLE));
+ pipeline->fifo.ppost += sizeof(DEST_HANDLE);
+
+ vp_os_memcpy(pipeline->fifo.ppost, &msg_id, sizeof(PIPELINE_MSG));
+ pipeline->fifo.ppost += sizeof(PIPELINE_MSG);
+
+ if(callback != NULL)
+ vp_os_memcpy(pipeline->fifo.ppost, &callback, sizeof(void *));
+ else
+ vp_os_memset(pipeline->fifo.ppost, 0, sizeof(void *));
+ pipeline->fifo.ppost += sizeof(void *);
+
+ if(param != NULL)
+ vp_os_memcpy(pipeline->fifo.ppost, ¶m, sizeof(void *));
+
+ else
+ vp_os_memset(pipeline->fifo.ppost, 0, sizeof(void *));
+ pipeline->fifo.ppost += sizeof(void *);
+
+ pipeline->fifo.nb_waiting ++;
+
+ vp_os_mutex_unlock(&pipeline->fifo.mutex);
+
+ return res;
+}
+
+
+static C_RESULT vp_api_get_message(vp_api_io_pipeline_t *pipeline, DEST_HANDLE *dest, PIPELINE_MSG *msg_id, void **callback, void **param)
+{
+ C_RESULT res = VP_SUCCESS;
+
+ VP_OS_ASSERT(pipeline->fifo.nb_waiting > 0);
+
+ vp_os_mutex_lock(&pipeline->fifo.mutex);
+
+ if((pipeline->fifo.pget + sizeof(PIPELINE_MSG) + sizeof(void *) + sizeof(void *)) >= (pipeline->fifo.pbase + VP_API_PIPELINE_FIFO_SIZE))
+ pipeline->fifo.pget = pipeline->fifo.pbase;
+
+ if(dest != NULL)
+ vp_os_memcpy(dest, pipeline->fifo.pget, sizeof(DEST_HANDLE));
+ pipeline->fifo.pget += sizeof(DEST_HANDLE);
+
+ if(msg_id != NULL)
+ vp_os_memcpy(msg_id, pipeline->fifo.pget, sizeof(PIPELINE_MSG));
+ pipeline->fifo.pget += sizeof(PIPELINE_MSG);
+
+ if(callback != NULL)
+ vp_os_memcpy(callback, pipeline->fifo.pget, sizeof(void *));
+ pipeline->fifo.pget += sizeof(void *);
+
+ if(param != NULL)
+ vp_os_memcpy(param, pipeline->fifo.pget, sizeof(void *));
+ pipeline->fifo.pget += sizeof(void *);
+
+ pipeline->fifo.nb_waiting --;
+
+ vp_os_mutex_unlock(&pipeline->fifo.mutex);
+
+ return res;
+}
+
+
+C_RESULT vp_api_handle_messages(vp_api_io_pipeline_t *pipeline)
+{
+ C_RESULT res = VP_SUCCESS;
+
+ DEST_HANDLE dest;
+ PIPELINE_MSG msg_id;
+ void *callback = NULL;
+ void *param = NULL;
+ uint32_t i;
+
+ while(pipeline->fifo.nb_waiting > 0)
+ {
+ if(VP_FAILED(vp_api_get_message(pipeline, &dest, &msg_id, &callback, ¶m)))
+ res = VP_FAILURE;
+ else
+ {
+ if(dest.stage == VP_API_DEST_PIPELINE_LEVEL)
+ {
+ pipeline->handle_msg(pipeline, msg_id, callback, param);
+ }
+ else if(dest.stage == VP_API_DEST_STAGE_BROADCAST)
+ {
+ for(i=0; i < pipeline->nb_stages; i++)
+ {
+ pipeline->stages[i].funcs.handle_msg(pipeline->stages[i].cfg, msg_id, callback, param);
+ }
+ }
+ else if((dest.stage >=0) && (dest.stage < (int16_t)pipeline->nb_stages))
+ {
+ if (pipeline->stages[dest.stage].funcs.handle_msg != NULL)
+ pipeline->stages[dest.stage].funcs.handle_msg(pipeline->stages[dest.stage].cfg, msg_id, callback, param);
+ }
+ }
+ }
+ return res;
+}
projects / mardrone / blobdiff