Marco Mayer / Mbed OS Queue

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mbed-os/rtos/Queue.h@0:6bf0743ece18, 2020-03-28 (annotated)

Committer:
demayer
Date:
Sat Mar 28 15:28:19 2020 +0000
Revision:
0:6bf0743ece18
IMU Thread with an event-queue running parallel to handle tasks like a 5 times blinking LED. Button with interrupt detected.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
demayer 0:6bf0743ece18 1 /* mbed Microcontroller Library
demayer 0:6bf0743ece18 2 * Copyright (c) 2006-2012 ARM Limited
demayer 0:6bf0743ece18 3 *
demayer 0:6bf0743ece18 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
demayer 0:6bf0743ece18 5 * of this software and associated documentation files (the "Software"), to deal
demayer 0:6bf0743ece18 6 * in the Software without restriction, including without limitation the rights
demayer 0:6bf0743ece18 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
demayer 0:6bf0743ece18 8 * copies of the Software, and to permit persons to whom the Software is
demayer 0:6bf0743ece18 9 * furnished to do so, subject to the following conditions:
demayer 0:6bf0743ece18 10 *
demayer 0:6bf0743ece18 11 * The above copyright notice and this permission notice shall be included in
demayer 0:6bf0743ece18 12 * all copies or substantial portions of the Software.
demayer 0:6bf0743ece18 13 *
demayer 0:6bf0743ece18 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
demayer 0:6bf0743ece18 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
demayer 0:6bf0743ece18 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
demayer 0:6bf0743ece18 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
demayer 0:6bf0743ece18 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
demayer 0:6bf0743ece18 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
demayer 0:6bf0743ece18 20 * SOFTWARE.
demayer 0:6bf0743ece18 21 */
demayer 0:6bf0743ece18 22 #ifndef QUEUE_H
demayer 0:6bf0743ece18 23 #define QUEUE_H
demayer 0:6bf0743ece18 24
demayer 0:6bf0743ece18 25 #include <stdint.h>
demayer 0:6bf0743ece18 26 #include <string.h>
demayer 0:6bf0743ece18 27
demayer 0:6bf0743ece18 28 #include "cmsis_os2.h"
demayer 0:6bf0743ece18 29 #include "mbed_rtos_storage.h"
demayer 0:6bf0743ece18 30 #include "platform/mbed_error.h"
demayer 0:6bf0743ece18 31 #include "platform/NonCopyable.h"
demayer 0:6bf0743ece18 32 #include "mbed_rtos1_types.h"
demayer 0:6bf0743ece18 33
demayer 0:6bf0743ece18 34 namespace rtos {
demayer 0:6bf0743ece18 35 /** \addtogroup rtos */
demayer 0:6bf0743ece18 36 /** @{*/
demayer 0:6bf0743ece18 37 /**
demayer 0:6bf0743ece18 38 * \defgroup rtos_EventFlags EventFlags class
demayer 0:6bf0743ece18 39 * @{
demayer 0:6bf0743ece18 40 */
demayer 0:6bf0743ece18 41
demayer 0:6bf0743ece18 42 /** The Queue class allow to control, send, receive, or wait for messages.
demayer 0:6bf0743ece18 43 A message can be a integer or pointer value to a certain type T that is send
demayer 0:6bf0743ece18 44 to a thread or interrupt service routine.
demayer 0:6bf0743ece18 45 @tparam T data type of a single message element.
demayer 0:6bf0743ece18 46 @tparam queue_sz maximum number of messages in queue.
demayer 0:6bf0743ece18 47
demayer 0:6bf0743ece18 48 @note
demayer 0:6bf0743ece18 49 Memory considerations: The queue control structures will be created on current thread's stack, both for the mbed OS
demayer 0:6bf0743ece18 50 and underlying RTOS objects (static or dynamic RTOS memory pools are not being used).
demayer 0:6bf0743ece18 51 */
demayer 0:6bf0743ece18 52 template<typename T, uint32_t queue_sz>
demayer 0:6bf0743ece18 53 class Queue : private mbed::NonCopyable<Queue<T, queue_sz> > {
demayer 0:6bf0743ece18 54 public:
demayer 0:6bf0743ece18 55 /** Create and initialize a message Queue. */
demayer 0:6bf0743ece18 56 Queue() {
demayer 0:6bf0743ece18 57 memset(&_obj_mem, 0, sizeof(_obj_mem));
demayer 0:6bf0743ece18 58 osMessageQueueAttr_t attr = { 0 };
demayer 0:6bf0743ece18 59 attr.mq_mem = _queue_mem;
demayer 0:6bf0743ece18 60 attr.mq_size = sizeof(_queue_mem);
demayer 0:6bf0743ece18 61 attr.cb_mem = &_obj_mem;
demayer 0:6bf0743ece18 62 attr.cb_size = sizeof(_obj_mem);
demayer 0:6bf0743ece18 63 _id = osMessageQueueNew(queue_sz, sizeof(T*), &attr);
demayer 0:6bf0743ece18 64 MBED_ASSERT(_id);
demayer 0:6bf0743ece18 65 }
demayer 0:6bf0743ece18 66
demayer 0:6bf0743ece18 67 ~Queue() {
demayer 0:6bf0743ece18 68 osMessageQueueDelete(_id);
demayer 0:6bf0743ece18 69 }
demayer 0:6bf0743ece18 70
demayer 0:6bf0743ece18 71 /** Check if the queue is empty
demayer 0:6bf0743ece18 72 *
demayer 0:6bf0743ece18 73 * @return True if the queue is empty, false if not
demayer 0:6bf0743ece18 74 */
demayer 0:6bf0743ece18 75 bool empty() const {
demayer 0:6bf0743ece18 76 return osMessageQueueGetCount(_id) == 0;
demayer 0:6bf0743ece18 77 }
demayer 0:6bf0743ece18 78
demayer 0:6bf0743ece18 79 /** Check if the queue is full
demayer 0:6bf0743ece18 80 *
demayer 0:6bf0743ece18 81 * @return True if the queue is full, false if not
demayer 0:6bf0743ece18 82 */
demayer 0:6bf0743ece18 83 bool full() const {
demayer 0:6bf0743ece18 84 return osMessageQueueGetSpace(_id) == 0;
demayer 0:6bf0743ece18 85 }
demayer 0:6bf0743ece18 86
demayer 0:6bf0743ece18 87 /** Put a message in a Queue.
demayer 0:6bf0743ece18 88 @param data message pointer.
demayer 0:6bf0743ece18 89 @param millisec timeout value or 0 in case of no time-out. (default: 0)
demayer 0:6bf0743ece18 90 @param prio priority value or 0 in case of default. (default: 0)
demayer 0:6bf0743ece18 91 @return status code that indicates the execution status of the function:
demayer 0:6bf0743ece18 92 @a osOK the message has been put into the queue.
demayer 0:6bf0743ece18 93 @a osErrorTimeout the message could not be put into the queue in the given time.
demayer 0:6bf0743ece18 94 @a osErrorResource not enough space in the queue.
demayer 0:6bf0743ece18 95 @a osErrorParameter internal error or non-zero timeout specified in an ISR.
demayer 0:6bf0743ece18 96 */
demayer 0:6bf0743ece18 97 osStatus put(T* data, uint32_t millisec=0, uint8_t prio=0) {
demayer 0:6bf0743ece18 98 return osMessageQueuePut(_id, &data, prio, millisec);
demayer 0:6bf0743ece18 99 }
demayer 0:6bf0743ece18 100
demayer 0:6bf0743ece18 101 /** Get a message or Wait for a message from a Queue. Messages are retrieved in a descending priority order or
demayer 0:6bf0743ece18 102 first in first out when the priorities are the same.
demayer 0:6bf0743ece18 103 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
demayer 0:6bf0743ece18 104 @return event information that includes the message in event.value and the status code in event.status:
demayer 0:6bf0743ece18 105 @a osEventMessage message received.
demayer 0:6bf0743ece18 106 @a osOK no message is available in the queue and no timeout was specified.
demayer 0:6bf0743ece18 107 @a osEventTimeout no message has arrived during the given timeout period.
demayer 0:6bf0743ece18 108 @a osErrorParameter a parameter is invalid or outside of a permitted range.
demayer 0:6bf0743ece18 109 */
demayer 0:6bf0743ece18 110 osEvent get(uint32_t millisec=osWaitForever) {
demayer 0:6bf0743ece18 111 osEvent event;
demayer 0:6bf0743ece18 112 T *data = NULL;
demayer 0:6bf0743ece18 113 osStatus_t res = osMessageQueueGet(_id, &data, NULL, millisec);
demayer 0:6bf0743ece18 114
demayer 0:6bf0743ece18 115 switch (res) {
demayer 0:6bf0743ece18 116 case osOK:
demayer 0:6bf0743ece18 117 event.status = (osStatus)osEventMessage;
demayer 0:6bf0743ece18 118 event.value.p = data;
demayer 0:6bf0743ece18 119 break;
demayer 0:6bf0743ece18 120 case osErrorResource:
demayer 0:6bf0743ece18 121 event.status = osOK;
demayer 0:6bf0743ece18 122 break;
demayer 0:6bf0743ece18 123 case osErrorTimeout:
demayer 0:6bf0743ece18 124 event.status = (osStatus)osEventTimeout;
demayer 0:6bf0743ece18 125 break;
demayer 0:6bf0743ece18 126 case osErrorParameter:
demayer 0:6bf0743ece18 127 default:
demayer 0:6bf0743ece18 128 event.status = osErrorParameter;
demayer 0:6bf0743ece18 129 break;
demayer 0:6bf0743ece18 130 }
demayer 0:6bf0743ece18 131 event.def.message_id = _id;
demayer 0:6bf0743ece18 132
demayer 0:6bf0743ece18 133 return event;
demayer 0:6bf0743ece18 134 }
demayer 0:6bf0743ece18 135
demayer 0:6bf0743ece18 136 private:
demayer 0:6bf0743ece18 137 osMessageQueueId_t _id;
demayer 0:6bf0743ece18 138 char _queue_mem[queue_sz * (sizeof(T*) + sizeof(mbed_rtos_storage_message_t))];
demayer 0:6bf0743ece18 139 mbed_rtos_storage_msg_queue_t _obj_mem;
demayer 0:6bf0743ece18 140 };
demayer 0:6bf0743ece18 141 /** @}*/
demayer 0:6bf0743ece18 142 /** @}*/
demayer 0:6bf0743ece18 143
demayer 0:6bf0743ece18 144 }
demayer 0:6bf0743ece18 145 #endif
demayer 0:6bf0743ece18 146