static EOVmutexDerived* s_eo_nvset_get_nvmutex(EOnvSet* p, eOnvID32_t id32)
{
EOVmutexDerived* mtx2use = NULL;
if(eo_nvset_protection_none == p->protection)
{ // the most common situation is no protection, thus ...
mtx2use = NULL;
}
else
{
switch(p->protection)
{
case eo_nvset_protection_one_per_board:
{
mtx2use = p->theboard.mtx_board;
} break;
case eo_nvset_protection_one_per_endpoint:
{
// compute the endpoint and ....
eOnvset_ep_t* theEndpoint = s_eo_nvset_get_endpoint(p, eoprot_ID2endpoint(id32));
if(NULL != theEndpoint)
{
mtx2use = theEndpoint->mtx_endpoint;
}
} break;
case eo_nvset_protection_one_per_netvar:
{
eOnvset_ep_t* theEndpoint = s_eo_nvset_get_endpoint(p, eoprot_ID2endpoint(id32));
if(NULL != theEndpoint)
{
//#warning .... i think of void* as a uint32_t* ///////////// think of it
uint32_t nvprognumber = eoprot_endpoint_id2prognum(p->theboard.boardnum, id32);
uint32_t** addr = eo_vector_At(theEndpoint->themtxofthenvs, nvprognumber);
mtx2use = (EOVmutexDerived*) (*addr);
}
} break;
default:
{
mtx2use = NULL;
} break;
}
}
return(mtx2use);
}
extern eObool_t eoprot_b02_b04_mc_isproxied(eOnvID32_t id)
{
eOprotEndpoint_t ep = eoprot_ID2endpoint(id);
eOprotEntity_t ent = eoprot_ID2entity(id);
if(eoprot_entity_mc_joint != ent)
{
return(eobool_false);
}
eOprotTag_t tag = eoprot_ID2tag(id);
switch(tag)
{
//VALE get velocity pid not implemented!!!
case eoprot_tag_mc_joint_config_pidposition:
// case eoprot_tag_mc_joint_config_pidvelocity: // marco.accame on 03mar15: the pidvelocity propagation to mc4 is is not implemented, thus i must remove from proxy.
case eoprot_tag_mc_joint_config_pidtorque:
case eoprot_tag_mc_joint_config_limitsofjoint:
case eoprot_tag_mc_joint_config_impedance:
case eoprot_tag_mc_joint_cmmnds_setpoint: // marco.accame on 03mar15: the setpoint should not be asked, thus why in here? i may just remove the handler so that no reply is obtained if wrongly used
{
return(eobool_true);
}
default:
{
return(eobool_false);
};
};
}
extern eOresult_t eo_nvset_NV_Get(EOnvSet* p, eOnvID32_t id32, EOnv* thenv)
{
eOnvEP8_t ep8 = eoprot_ID2endpoint(id32);
uint8_t brd = 0; // local, or 0, 1, 2, 3 ...
eObool_t proxied = eobool_false;
EOnv_rom_t* rom = NULL;
uint8_t* ram = NULL;
EOVmutexDerived* mtx2use = NULL;
eOvoid_fp_cnvp_cropdesp_t onsay = NULL;
if((NULL == p) || (NULL == thenv))
{
return(eores_NOK_nullpointer);
}
brd = p->theboard.boardnum;
// - verify that on the given endpoint there is a valid id32. if the id32 is not recognised, then ... eores_NOK_generic
if(eobool_false == eoprot_id_isvalid(brd, id32))
{
return(eores_NOK_generic);
}
// - retrieve from the device and endpoint what is required to form the netvar: con, ram, mtx, etc.
// - 0+. proxied?
proxied = eoprot_variable_is_proxied(brd, id32);
// - 0++. the onsay function
onsay = eoprot_onsay_endpoint_get(ep8);
// - 1. the rom
rom = (EOnv_rom_t*) eoprot_variable_romof_get(brd, id32);
// - 2. the ram
ram = (uint8_t*) eoprot_variable_ramof_get(brd, id32);
// - 3. the mtx
mtx2use = s_eo_nvset_get_nvmutex(p, id32);
// - final control about the validity of id32. it may be redundant but it is safer. for instance if the fptr_isepidsupported()
// does not take into account a removed tag and just checks that the tag-number is lower than the max allowed.
if((NULL == rom) || (NULL == ram)) // mtx2use can be NULL
{
return(eores_NOK_generic);
}
// - load everything into the nv
eo_nv_hid_Load( thenv,
p->theboard.ipaddress,
brd,
proxied,
id32,
onsay,
rom,
ram,
mtx2use
);
return(eores_OK);
}
