Nicolas Borla / Mbed OS ROME2_Robot_Firmware

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mbed-os/rtos/Mail.h@0:4beb2ea291ec, 2020-03-16 (annotated)

Committer:
boro
Date:
Mon Mar 16 13:12:31 2020 +0000
Revision:
0:4beb2ea291ec
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:4beb2ea291ec 1 /* mbed Microcontroller Library
boro 0:4beb2ea291ec 2 * Copyright (c) 2006-2017 ARM Limited
boro 0:4beb2ea291ec 3 *
boro 0:4beb2ea291ec 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
boro 0:4beb2ea291ec 5 * of this software and associated documentation files (the "Software"), to deal
boro 0:4beb2ea291ec 6 * in the Software without restriction, including without limitation the rights
boro 0:4beb2ea291ec 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
boro 0:4beb2ea291ec 8 * copies of the Software, and to permit persons to whom the Software is
boro 0:4beb2ea291ec 9 * furnished to do so, subject to the following conditions:
boro 0:4beb2ea291ec 10 *
boro 0:4beb2ea291ec 11 * The above copyright notice and this permission notice shall be included in
boro 0:4beb2ea291ec 12 * all copies or substantial portions of the Software.
boro 0:4beb2ea291ec 13 *
boro 0:4beb2ea291ec 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
boro 0:4beb2ea291ec 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
boro 0:4beb2ea291ec 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
boro 0:4beb2ea291ec 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
boro 0:4beb2ea291ec 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
boro 0:4beb2ea291ec 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
boro 0:4beb2ea291ec 20 * SOFTWARE.
boro 0:4beb2ea291ec 21 */
boro 0:4beb2ea291ec 22 #ifndef MAIL_H
boro 0:4beb2ea291ec 23 #define MAIL_H
boro 0:4beb2ea291ec 24
boro 0:4beb2ea291ec 25 #include <stdint.h>
boro 0:4beb2ea291ec 26 #include <string.h>
boro 0:4beb2ea291ec 27
boro 0:4beb2ea291ec 28 #include "Queue.h"
boro 0:4beb2ea291ec 29 #include "MemoryPool.h"
boro 0:4beb2ea291ec 30 #include "cmsis_os2.h"
boro 0:4beb2ea291ec 31 #include "mbed_rtos_storage.h"
boro 0:4beb2ea291ec 32 #include "mbed_rtos1_types.h"
boro 0:4beb2ea291ec 33
boro 0:4beb2ea291ec 34 #include "platform/NonCopyable.h"
boro 0:4beb2ea291ec 35
boro 0:4beb2ea291ec 36 using namespace rtos;
boro 0:4beb2ea291ec 37
boro 0:4beb2ea291ec 38 namespace rtos {
boro 0:4beb2ea291ec 39 /** \addtogroup rtos */
boro 0:4beb2ea291ec 40 /** @{*/
boro 0:4beb2ea291ec 41 /**
boro 0:4beb2ea291ec 42 * \defgroup rtos_Mail Mail class
boro 0:4beb2ea291ec 43 * @{
boro 0:4beb2ea291ec 44 */
boro 0:4beb2ea291ec 45
boro 0:4beb2ea291ec 46 /** The Mail class allow to control, send, receive, or wait for mail.
boro 0:4beb2ea291ec 47 A mail is a memory block that is send to a thread or interrupt service routine.
boro 0:4beb2ea291ec 48 @tparam T data type of a single message element.
boro 0:4beb2ea291ec 49 @tparam queue_sz maximum number of messages in queue.
boro 0:4beb2ea291ec 50
boro 0:4beb2ea291ec 51 @note
boro 0:4beb2ea291ec 52 Memory considerations: The mail data store and control structures will be created on current thread's stack,
boro 0:4beb2ea291ec 53 both for the mbed OS and underlying RTOS objects (static or dynamic RTOS memory pools are not being used).
boro 0:4beb2ea291ec 54 */
boro 0:4beb2ea291ec 55 template<typename T, uint32_t queue_sz>
boro 0:4beb2ea291ec 56 class Mail : private mbed::NonCopyable<Mail<T, queue_sz> > {
boro 0:4beb2ea291ec 57 public:
boro 0:4beb2ea291ec 58 /** Create and Initialise Mail queue. */
boro 0:4beb2ea291ec 59 Mail() { };
boro 0:4beb2ea291ec 60
boro 0:4beb2ea291ec 61 /** Check if the mail queue is empty
boro 0:4beb2ea291ec 62 *
boro 0:4beb2ea291ec 63 * @return True if the mail queue is empty, false if not
boro 0:4beb2ea291ec 64 */
boro 0:4beb2ea291ec 65 bool empty() const {
boro 0:4beb2ea291ec 66 return _queue.empty();
boro 0:4beb2ea291ec 67 }
boro 0:4beb2ea291ec 68
boro 0:4beb2ea291ec 69 /** Check if the mail queue is full
boro 0:4beb2ea291ec 70 *
boro 0:4beb2ea291ec 71 * @return True if the mail queue is full, false if not
boro 0:4beb2ea291ec 72 */
boro 0:4beb2ea291ec 73 bool full() const {
boro 0:4beb2ea291ec 74 return _queue.full();
boro 0:4beb2ea291ec 75 }
boro 0:4beb2ea291ec 76
boro 0:4beb2ea291ec 77 /** Allocate a memory block of type T
boro 0:4beb2ea291ec 78 @param millisec timeout value or 0 in case of no time-out. (default: 0).
boro 0:4beb2ea291ec 79 @return pointer to memory block that can be filled with mail or NULL in case error.
boro 0:4beb2ea291ec 80 */
boro 0:4beb2ea291ec 81 T* alloc(uint32_t millisec=0) {
boro 0:4beb2ea291ec 82 return _pool.alloc();
boro 0:4beb2ea291ec 83 }
boro 0:4beb2ea291ec 84
boro 0:4beb2ea291ec 85 /** Allocate a memory block of type T and set memory block to zero.
boro 0:4beb2ea291ec 86 @param millisec timeout value or 0 in case of no time-out. (default: 0).
boro 0:4beb2ea291ec 87 @return pointer to memory block that can be filled with mail or NULL in case error.
boro 0:4beb2ea291ec 88 */
boro 0:4beb2ea291ec 89 T* calloc(uint32_t millisec=0) {
boro 0:4beb2ea291ec 90 return _pool.calloc();
boro 0:4beb2ea291ec 91 }
boro 0:4beb2ea291ec 92
boro 0:4beb2ea291ec 93 /** Put a mail in the queue.
boro 0:4beb2ea291ec 94 @param mptr memory block previously allocated with Mail::alloc or Mail::calloc.
boro 0:4beb2ea291ec 95 @return status code that indicates the execution status of the function.
boro 0:4beb2ea291ec 96 */
boro 0:4beb2ea291ec 97 osStatus put(T *mptr) {
boro 0:4beb2ea291ec 98 return _queue.put(mptr);
boro 0:4beb2ea291ec 99 }
boro 0:4beb2ea291ec 100
boro 0:4beb2ea291ec 101 /** Get a mail from a queue.
boro 0:4beb2ea291ec 102 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
boro 0:4beb2ea291ec 103 @return event that contains mail information or error code.
boro 0:4beb2ea291ec 104 */
boro 0:4beb2ea291ec 105 osEvent get(uint32_t millisec=osWaitForever) {
boro 0:4beb2ea291ec 106 osEvent evt = _queue.get(millisec);
boro 0:4beb2ea291ec 107 if (evt.status == osEventMessage) {
boro 0:4beb2ea291ec 108 evt.status = osEventMail;
boro 0:4beb2ea291ec 109 }
boro 0:4beb2ea291ec 110 return evt;
boro 0:4beb2ea291ec 111 }
boro 0:4beb2ea291ec 112
boro 0:4beb2ea291ec 113 /** Free a memory block from a mail.
boro 0:4beb2ea291ec 114 @param mptr pointer to the memory block that was obtained with Mail::get.
boro 0:4beb2ea291ec 115 @return status code that indicates the execution status of the function.
boro 0:4beb2ea291ec 116 */
boro 0:4beb2ea291ec 117 osStatus free(T *mptr) {
boro 0:4beb2ea291ec 118 return _pool.free(mptr);
boro 0:4beb2ea291ec 119 }
boro 0:4beb2ea291ec 120
boro 0:4beb2ea291ec 121 private:
boro 0:4beb2ea291ec 122 Queue<T, queue_sz> _queue;
boro 0:4beb2ea291ec 123 MemoryPool<T, queue_sz> _pool;
boro 0:4beb2ea291ec 124 };
boro 0:4beb2ea291ec 125
boro 0:4beb2ea291ec 126 /** @}*/
boro 0:4beb2ea291ec 127 /** @}*/
boro 0:4beb2ea291ec 128
boro 0:4beb2ea291ec 129 }
boro 0:4beb2ea291ec 130
boro 0:4beb2ea291ec 131 #endif
boro 0:4beb2ea291ec 132
boro 0:4beb2ea291ec 133
boro 0:4beb2ea291ec 134