cebri alyac / mbed-rtos

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Dependents:   Asservissement_Gyro

rtos/Queue.h@0:77205fc699b9, 2022-05-08 (annotated)

Committer:
braichi13
Date:
Sun May 08 14:39:47 2022 +0000
Revision:
0:77205fc699b9
Programme du Gyropode

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braichi13 0:77205fc699b9 1 /* mbed Microcontroller Library
braichi13 0:77205fc699b9 2 * Copyright (c) 2006-2012 ARM Limited
braichi13 0:77205fc699b9 3 *
braichi13 0:77205fc699b9 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
braichi13 0:77205fc699b9 5 * of this software and associated documentation files (the "Software"), to deal
braichi13 0:77205fc699b9 6 * in the Software without restriction, including without limitation the rights
braichi13 0:77205fc699b9 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
braichi13 0:77205fc699b9 8 * copies of the Software, and to permit persons to whom the Software is
braichi13 0:77205fc699b9 9 * furnished to do so, subject to the following conditions:
braichi13 0:77205fc699b9 10 *
braichi13 0:77205fc699b9 11 * The above copyright notice and this permission notice shall be included in
braichi13 0:77205fc699b9 12 * all copies or substantial portions of the Software.
braichi13 0:77205fc699b9 13 *
braichi13 0:77205fc699b9 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
braichi13 0:77205fc699b9 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
braichi13 0:77205fc699b9 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
braichi13 0:77205fc699b9 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
braichi13 0:77205fc699b9 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
braichi13 0:77205fc699b9 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
braichi13 0:77205fc699b9 20 * SOFTWARE.
braichi13 0:77205fc699b9 21 */
braichi13 0:77205fc699b9 22 #ifndef QUEUE_H
braichi13 0:77205fc699b9 23 #define QUEUE_H
braichi13 0:77205fc699b9 24
braichi13 0:77205fc699b9 25 #include <stdint.h>
braichi13 0:77205fc699b9 26 #include <string.h>
braichi13 0:77205fc699b9 27
braichi13 0:77205fc699b9 28 #include "cmsis_os.h"
braichi13 0:77205fc699b9 29 #include "platform/mbed_error.h"
braichi13 0:77205fc699b9 30
braichi13 0:77205fc699b9 31 namespace rtos {
braichi13 0:77205fc699b9 32 /** \addtogroup rtos */
braichi13 0:77205fc699b9 33 /** @{*/
braichi13 0:77205fc699b9 34
braichi13 0:77205fc699b9 35 /** The Queue class allow to control, send, receive, or wait for messages.
braichi13 0:77205fc699b9 36 A message can be a integer or pointer value to a certain type T that is send
braichi13 0:77205fc699b9 37 to a thread or interrupt service routine.
braichi13 0:77205fc699b9 38 @tparam T data type of a single message element.
braichi13 0:77205fc699b9 39 @tparam queue_sz maximum number of messages in queue.
braichi13 0:77205fc699b9 40 */
braichi13 0:77205fc699b9 41 template<typename T, uint32_t queue_sz>
braichi13 0:77205fc699b9 42 class Queue {
braichi13 0:77205fc699b9 43 public:
braichi13 0:77205fc699b9 44 /** Create and initialise a message Queue. */
braichi13 0:77205fc699b9 45 Queue() {
braichi13 0:77205fc699b9 46 #ifdef CMSIS_OS_RTX
braichi13 0:77205fc699b9 47 memset(_queue_q, 0, sizeof(_queue_q));
braichi13 0:77205fc699b9 48 _queue_def.pool = _queue_q;
braichi13 0:77205fc699b9 49 _queue_def.queue_sz = queue_sz;
braichi13 0:77205fc699b9 50 #endif
braichi13 0:77205fc699b9 51 _queue_id = osMessageCreate(&_queue_def, NULL);
braichi13 0:77205fc699b9 52 if (_queue_id == NULL) {
braichi13 0:77205fc699b9 53 error("Error initialising the queue object\n");
braichi13 0:77205fc699b9 54 }
braichi13 0:77205fc699b9 55 }
braichi13 0:77205fc699b9 56
braichi13 0:77205fc699b9 57 /** Put a message in a Queue.
braichi13 0:77205fc699b9 58 @param data message pointer.
braichi13 0:77205fc699b9 59 @param millisec timeout value or 0 in case of no time-out. (default: 0)
braichi13 0:77205fc699b9 60 @return status code that indicates the execution status of the function.
braichi13 0:77205fc699b9 61 */
braichi13 0:77205fc699b9 62 osStatus put(T* data, uint32_t millisec=0) {
braichi13 0:77205fc699b9 63 return osMessagePut(_queue_id, (uint32_t)data, millisec);
braichi13 0:77205fc699b9 64 }
braichi13 0:77205fc699b9 65
braichi13 0:77205fc699b9 66 /** Get a message or Wait for a message from a Queue.
braichi13 0:77205fc699b9 67 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
braichi13 0:77205fc699b9 68 @return event information that includes the message and the status code.
braichi13 0:77205fc699b9 69 */
braichi13 0:77205fc699b9 70 osEvent get(uint32_t millisec=osWaitForever) {
braichi13 0:77205fc699b9 71 return osMessageGet(_queue_id, millisec);
braichi13 0:77205fc699b9 72 }
braichi13 0:77205fc699b9 73
braichi13 0:77205fc699b9 74 private:
braichi13 0:77205fc699b9 75 osMessageQId _queue_id;
braichi13 0:77205fc699b9 76 osMessageQDef_t _queue_def;
braichi13 0:77205fc699b9 77 #ifdef CMSIS_OS_RTX
braichi13 0:77205fc699b9 78 uint32_t _queue_q[4+(queue_sz)];
braichi13 0:77205fc699b9 79 #endif
braichi13 0:77205fc699b9 80 };
braichi13 0:77205fc699b9 81
braichi13 0:77205fc699b9 82 }
braichi13 0:77205fc699b9 83 #endif
braichi13 0:77205fc699b9 84
braichi13 0:77205fc699b9 85 /** @}*/