Semi-Autonomous-Robot / Semi Autonomous Robot - ECE 4180

Code for controlling mbed hardware (LED's, motors), as well as code for the Raspberry Pi to run a Support Vector Machine that identifies objects using the Pi camera

Dependencies:   mbed Motordriver mbed-rtos PololuLedStrip

mbed/mbed-rtos/rtos/Queue.h@3:a3ed7ff99772, 2019-12-06 (annotated)

Committer:
arogliero3
Date:
Fri Dec 06 00:58:02 2019 -0500
Revision:
3:a3ed7ff99772
Parent:
0:e0dbd261724a 
update img6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
arogliero3 0:e0dbd261724a 1 /* mbed Microcontroller Library
arogliero3 0:e0dbd261724a 2 * Copyright (c) 2006-2012 ARM Limited
arogliero3 0:e0dbd261724a 3 *
arogliero3 0:e0dbd261724a 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
arogliero3 0:e0dbd261724a 5 * of this software and associated documentation files (the "Software"), to deal
arogliero3 0:e0dbd261724a 6 * in the Software without restriction, including without limitation the rights
arogliero3 0:e0dbd261724a 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
arogliero3 0:e0dbd261724a 8 * copies of the Software, and to permit persons to whom the Software is
arogliero3 0:e0dbd261724a 9 * furnished to do so, subject to the following conditions:
arogliero3 0:e0dbd261724a 10 *
arogliero3 0:e0dbd261724a 11 * The above copyright notice and this permission notice shall be included in
arogliero3 0:e0dbd261724a 12 * all copies or substantial portions of the Software.
arogliero3 0:e0dbd261724a 13 *
arogliero3 0:e0dbd261724a 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
arogliero3 0:e0dbd261724a 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
arogliero3 0:e0dbd261724a 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
arogliero3 0:e0dbd261724a 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
arogliero3 0:e0dbd261724a 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
arogliero3 0:e0dbd261724a 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
arogliero3 0:e0dbd261724a 20 * SOFTWARE.
arogliero3 0:e0dbd261724a 21 */
arogliero3 0:e0dbd261724a 22 #ifndef QUEUE_H
arogliero3 0:e0dbd261724a 23 #define QUEUE_H
arogliero3 0:e0dbd261724a 24
arogliero3 0:e0dbd261724a 25 #include <stdint.h>
arogliero3 0:e0dbd261724a 26 #include <string.h>
arogliero3 0:e0dbd261724a 27
arogliero3 0:e0dbd261724a 28 #include "cmsis_os.h"
arogliero3 0:e0dbd261724a 29 #include "platform/mbed_error.h"
arogliero3 0:e0dbd261724a 30
arogliero3 0:e0dbd261724a 31 namespace rtos {
arogliero3 0:e0dbd261724a 32 /** \addtogroup rtos */
arogliero3 0:e0dbd261724a 33 /** @{*/
arogliero3 0:e0dbd261724a 34
arogliero3 0:e0dbd261724a 35 /** The Queue class allow to control, send, receive, or wait for messages.
arogliero3 0:e0dbd261724a 36 A message can be a integer or pointer value to a certain type T that is send
arogliero3 0:e0dbd261724a 37 to a thread or interrupt service routine.
arogliero3 0:e0dbd261724a 38 @tparam T data type of a single message element.
arogliero3 0:e0dbd261724a 39 @tparam queue_sz maximum number of messages in queue.
arogliero3 0:e0dbd261724a 40 */
arogliero3 0:e0dbd261724a 41 template<typename T, uint32_t queue_sz>
arogliero3 0:e0dbd261724a 42 class Queue {
arogliero3 0:e0dbd261724a 43 public:
arogliero3 0:e0dbd261724a 44 /** Create and initialise a message Queue. */
arogliero3 0:e0dbd261724a 45 Queue() {
arogliero3 0:e0dbd261724a 46 #ifdef CMSIS_OS_RTX
arogliero3 0:e0dbd261724a 47 memset(_queue_q, 0, sizeof(_queue_q));
arogliero3 0:e0dbd261724a 48 _queue_def.pool = _queue_q;
arogliero3 0:e0dbd261724a 49 _queue_def.queue_sz = queue_sz;
arogliero3 0:e0dbd261724a 50 #endif
arogliero3 0:e0dbd261724a 51 _queue_id = osMessageCreate(&_queue_def, NULL);
arogliero3 0:e0dbd261724a 52 if (_queue_id == NULL) {
arogliero3 0:e0dbd261724a 53 error("Error initialising the queue object\n");
arogliero3 0:e0dbd261724a 54 }
arogliero3 0:e0dbd261724a 55 }
arogliero3 0:e0dbd261724a 56
arogliero3 0:e0dbd261724a 57 /** Put a message in a Queue.
arogliero3 0:e0dbd261724a 58 @param data message pointer.
arogliero3 0:e0dbd261724a 59 @param millisec timeout value or 0 in case of no time-out. (default: 0)
arogliero3 0:e0dbd261724a 60 @return status code that indicates the execution status of the function.
arogliero3 0:e0dbd261724a 61 */
arogliero3 0:e0dbd261724a 62 osStatus put(T* data, uint32_t millisec=0) {
arogliero3 0:e0dbd261724a 63 return osMessagePut(_queue_id, (uint32_t)data, millisec);
arogliero3 0:e0dbd261724a 64 }
arogliero3 0:e0dbd261724a 65
arogliero3 0:e0dbd261724a 66 /** Get a message or Wait for a message from a Queue.
arogliero3 0:e0dbd261724a 67 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
arogliero3 0:e0dbd261724a 68 @return event information that includes the message and the status code.
arogliero3 0:e0dbd261724a 69 */
arogliero3 0:e0dbd261724a 70 osEvent get(uint32_t millisec=osWaitForever) {
arogliero3 0:e0dbd261724a 71 return osMessageGet(_queue_id, millisec);
arogliero3 0:e0dbd261724a 72 }
arogliero3 0:e0dbd261724a 73
arogliero3 0:e0dbd261724a 74 private:
arogliero3 0:e0dbd261724a 75 osMessageQId _queue_id;
arogliero3 0:e0dbd261724a 76 osMessageQDef_t _queue_def;
arogliero3 0:e0dbd261724a 77 #ifdef CMSIS_OS_RTX
arogliero3 0:e0dbd261724a 78 uint32_t _queue_q[4+(queue_sz)];
arogliero3 0:e0dbd261724a 79 #endif
arogliero3 0:e0dbd261724a 80 };
arogliero3 0:e0dbd261724a 81
arogliero3 0:e0dbd261724a 82 }
arogliero3 0:e0dbd261724a 83 #endif
arogliero3 0:e0dbd261724a 84
arogliero3 0:e0dbd261724a 85 /** @}*/