git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9057 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 53 insertions, 29 deletions

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index 7033716e6..685c936b6 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -190,6 +190,31 @@ static void timer_handler(void *p) {
   }

 }

 

+/**

+ * @brief   Finds a queue by name.

+ */

+uint32 queue_find(const char *queue_name) {

+  osal_queue_t *oqp;

+

+  /* Searching the queue in the table.*/

+  for (oqp = &osal.queues[0]; oqp < &osal.queues[OS_MAX_QUEUES]; oqp++) {

+    /* Entering a reentrant critical zone.*/

+    syssts_t sts = chSysGetStatusAndLockX();

+

+    if (!oqp->is_free &&

+        (strncmp(oqp->name, queue_name, OS_MAX_API_NAME - 1) == 0)) {

+      /* Leaving the critical zone.*/

+      chSysRestoreStatusX(sts);

+      return (uint32)oqp;

+    }

+

+    /* Leaving the critical zone.*/

+    chSysRestoreStatusX(sts);

+  }

+

+  return 0;

+}

+

 /*===========================================================================*/

 /* Module exported functions.                                                */

 /*===========================================================================*/

@@ -225,40 +250,40 @@ int32 OS_API_Init(void) {
                    sizeof (osal_timer_t),

                    NULL);

   chPoolLoadArray(&osal.timers_pool,

-                  &osal.timers,

-                  sizeof (osal_timer_t));

+                  &osal.timers[0],

+                  OS_MAX_TIMERS);

 

   /* Queues pool initialization.*/

   chPoolObjectInit(&osal.queues_pool,

                    sizeof (osal_queue_t),

                    NULL);

   chPoolLoadArray(&osal.queues_pool,

-                  &osal.queues,

-                  sizeof (osal_queue_t));

+                  &osal.queues[0],

+                  OS_MAX_QUEUES);

 

   /* Binary Semaphores pool initialization.*/

   chPoolObjectInit(&osal.binary_semaphores_pool,

                    sizeof (binary_semaphore_t),

                    NULL);

   chPoolLoadArray(&osal.binary_semaphores_pool,

-                  &osal.binary_semaphores,

-                  sizeof (binary_semaphore_t));

+                  &osal.binary_semaphores[0],

+                  OS_MAX_BIN_SEMAPHORES);

 

   /* Counter Semaphores pool initialization.*/

   chPoolObjectInit(&osal.count_semaphores_pool,

                    sizeof (semaphore_t),

                    NULL);

   chPoolLoadArray(&osal.count_semaphores_pool,

-                  &osal.count_semaphores,

-                  sizeof (semaphore_t));

+                  &osal.count_semaphores[0],

+                  OS_MAX_COUNT_SEMAPHORES);

 

   /* Mutexes pool initialization.*/

   chPoolObjectInit(&osal.mutexes_pool,

                    sizeof (mutex_t),

                    NULL);

   chPoolLoadArray(&osal.mutexes_pool,

-                  &osal.mutexes,

-                  sizeof (mutex_t));

+                  &osal.mutexes[0],

+                  OS_MAX_MUTEXES);

 

   return OS_SUCCESS;

 }

@@ -635,18 +660,27 @@ int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,
 

   /* Checking queue name length.*/

   if (strlen(queue_name) >= OS_MAX_API_NAME) {

+    *queue_id = 0;

     return OS_ERR_NAME_TOO_LONG;

   }

 

+  /* Checking if the name is already taken.*/

+  if (queue_find(queue_name) > 0) {

+    *queue_id = 0;

+    return OS_ERR_NAME_TAKEN;

+  }

+

   /* Checks on queue limits. There is no dedicated error code.*/

-  if ((data_size < MIN_MESSAGE_SIZE) || (data_size < MAX_MESSAGE_SIZE) ||

-      (queue_depth < MIN_QUEUE_DEPTH) || (queue_depth < MAX_QUEUE_DEPTH)) {

+  if ((data_size < MIN_MESSAGE_SIZE) || (data_size > MAX_MESSAGE_SIZE) ||

+      (queue_depth < MIN_QUEUE_DEPTH) || (queue_depth > MAX_QUEUE_DEPTH)) {

+    *queue_id = 0;

     return OS_ERROR;

   }

 

   /* Getting object.*/

   oqp = chPoolAlloc(&osal.queues_pool);

   if (oqp == NULL) {

+    *queue_id = 0;

     return OS_ERR_NO_FREE_IDS;

   }

 

@@ -656,6 +690,7 @@ int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,
                                       msgsize * (size_t)queue_depth,

                                       PORT_NATURAL_ALIGN);

   if (oqp->mb_buffer == NULL) {

+    *queue_id = 0;

     return OS_ERROR;

   }

 

@@ -664,6 +699,7 @@ int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,
                                      sizeof (msg_t) * (size_t)queue_depth,

                                      PORT_NATURAL_ALIGN);

   if (oqp->q_buffer == NULL) {

+    *queue_id = 0;

     chHeapFree(oqp->mb_buffer);

     return OS_ERROR;

   }

@@ -677,6 +713,7 @@ int32 OS_QueueCreate(uint32 *queue_id, const char *queue_name,
   oqp->depth   = queue_depth;

   oqp->size    = data_size;

   oqp->is_free = 0;   /* Note, last.*/

+  *queue_id = (uint32)oqp;

 

   return OS_SUCCESS;

 }

@@ -867,7 +904,6 @@ int32 OS_QueuePut(uint32 queue_id, void *data, uint32 size, uint32 flags) {
  * @api

  */

 int32 OS_QueueGetIdByName(uint32 *queue_id, const char *queue_name) {

-  osal_queue_t *oqp;

 

   /* NULL pointer checks.*/

   if ((queue_id == NULL) || (queue_name == NULL)) {

@@ -879,22 +915,10 @@ int32 OS_QueueGetIdByName(uint32 *queue_id, const char *queue_name) {
     return OS_ERR_NAME_TOO_LONG;

   }

 

-  /* Searching the queue in the table.*/

-  for (oqp = &osal.queues[0]; oqp < &osal.queues[OS_MAX_QUEUES]; oqp++) {

-    /* Entering a reentrant critical zone.*/

-    syssts_t sts = chSysGetStatusAndLockX();

-

-    if (!oqp->is_free &&

-        (strncmp(oqp->name, queue_name, OS_MAX_API_NAME - 1) == 0)) {

-      *queue_id = (uint32)oqp;

-

-      /* Leaving the critical zone.*/

-      chSysRestoreStatusX(sts);

-      return OS_SUCCESS;

-    }

-

-    /* Leaving the critical zone.*/

-    chSysRestoreStatusX(sts);

+  /* Searching the queue.*/

+  *queue_id = queue_find(queue_name);

+  if (*queue_id > 0) {

+    return OS_SUCCESS;

   }

 

   return OS_ERR_NAME_NOT_FOUND;