Department of Electrical Eng University of Moratuwa / rtos

RTOS lib used for Eurobot 2012

Dependents:   09_BC2_encoder

Mail.h@1:b270f864114f, 2019-08-01 (annotated)

Committer:
eembed
Date:
Thu Aug 01 07:49:38 2019 +0000
Revision:
1:b270f864114f
Parent:
0:e477ba491a3b 
First commit

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narshu 0:e477ba491a3b 1 /* Copyright (c) 2012 mbed.org */
narshu 0:e477ba491a3b 2 #ifndef MAIL_H
narshu 0:e477ba491a3b 3 #define MAIL_H
narshu 0:e477ba491a3b 4
narshu 0:e477ba491a3b 5 #include <stdint.h>
narshu 0:e477ba491a3b 6 #include <string.h>
narshu 0:e477ba491a3b 7
narshu 0:e477ba491a3b 8 #include "cmsis_os.h"
narshu 0:e477ba491a3b 9
narshu 0:e477ba491a3b 10 namespace rtos {
narshu 0:e477ba491a3b 11
narshu 0:e477ba491a3b 12 /*! The Mail class allow to control, send, receive, or wait for mail.
narshu 0:e477ba491a3b 13 A mail is a memory block that is send to a thread or interrupt service routine.
narshu 0:e477ba491a3b 14 \tparam T data type of a single message element.
narshu 0:e477ba491a3b 15 \tparam queue_sz maximum number of messages in queue.
narshu 0:e477ba491a3b 16 */
narshu 0:e477ba491a3b 17 template<typename T, uint32_t queue_sz>
narshu 0:e477ba491a3b 18 class Mail {
narshu 0:e477ba491a3b 19 public:
narshu 0:e477ba491a3b 20 /*! Create and Initialise Mail queue. */
narshu 0:e477ba491a3b 21 Mail() {
narshu 0:e477ba491a3b 22 #ifdef CMSIS_OS_RTX
narshu 0:e477ba491a3b 23 memset(_mail_q, 0, sizeof(_mail_q));
narshu 0:e477ba491a3b 24 _mail_p[0] = _mail_q;
narshu 0:e477ba491a3b 25
narshu 0:e477ba491a3b 26 memset(_mail_m, 0, sizeof(_mail_m));
narshu 0:e477ba491a3b 27 _mail_p[1] = _mail_m;
narshu 0:e477ba491a3b 28
narshu 0:e477ba491a3b 29 _mail_def.pool = _mail_p;
narshu 0:e477ba491a3b 30 _mail_def.queue_sz = queue_sz;
narshu 0:e477ba491a3b 31 _mail_def.item_sz = sizeof(T);
narshu 0:e477ba491a3b 32 #endif
narshu 0:e477ba491a3b 33 _mail_id = osMailCreate(&_mail_def, NULL);
narshu 0:e477ba491a3b 34 }
narshu 0:e477ba491a3b 35
narshu 0:e477ba491a3b 36 /*! Allocate a memory block of type T
narshu 0:e477ba491a3b 37 \param millisec timeout value or 0 in case of no time-out. (default: 0).
narshu 0:e477ba491a3b 38 \return pointer to memory block that can be filled with mail or NULL in case error.
narshu 0:e477ba491a3b 39 */
narshu 0:e477ba491a3b 40 T* alloc(uint32_t millisec=0) {
narshu 0:e477ba491a3b 41 return (T*)osMailAlloc(_mail_id, millisec);
narshu 0:e477ba491a3b 42 }
narshu 0:e477ba491a3b 43
narshu 0:e477ba491a3b 44 /*! Allocate a memory block of type T and set memory block to zero.
narshu 0:e477ba491a3b 45 \param millisec timeout value or 0 in case of no time-out. (default: 0).
narshu 0:e477ba491a3b 46 \return pointer to memory block that can be filled with mail or NULL in case error.
narshu 0:e477ba491a3b 47 */
narshu 0:e477ba491a3b 48 T* calloc(uint32_t millisec=0) {
narshu 0:e477ba491a3b 49 return (T*)osMailCAlloc(_mail_id, millisec);
narshu 0:e477ba491a3b 50 }
narshu 0:e477ba491a3b 51
narshu 0:e477ba491a3b 52 /*! Put a mail in the queue.
narshu 0:e477ba491a3b 53 \param mptr memory block previously allocated with Mail::alloc or Mail::calloc.
narshu 0:e477ba491a3b 54 \return status code that indicates the execution status of the function.
narshu 0:e477ba491a3b 55 */
narshu 0:e477ba491a3b 56 osStatus put(T *mptr) {
narshu 0:e477ba491a3b 57 return osMailPut(_mail_id, (void*)mptr);
narshu 0:e477ba491a3b 58 }
narshu 0:e477ba491a3b 59
narshu 0:e477ba491a3b 60 /*! Get a mail from a queue.
narshu 0:e477ba491a3b 61 \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
narshu 0:e477ba491a3b 62 \return event that contains mail information or error code.
narshu 0:e477ba491a3b 63 */
narshu 0:e477ba491a3b 64 osEvent get(uint32_t millisec=osWaitForever) {
narshu 0:e477ba491a3b 65 return osMailGet(_mail_id, millisec);
narshu 0:e477ba491a3b 66 }
narshu 0:e477ba491a3b 67
narshu 0:e477ba491a3b 68 /*! Free a memory block from a mail.
narshu 0:e477ba491a3b 69 \param mptr pointer to the memory block that was obtained with Mail::get.
narshu 0:e477ba491a3b 70 \return status code that indicates the execution status of the function.
narshu 0:e477ba491a3b 71 */
narshu 0:e477ba491a3b 72 osStatus free(T *mptr) {
narshu 0:e477ba491a3b 73 return osMailFree(_mail_id, (void*)mptr);
narshu 0:e477ba491a3b 74 }
narshu 0:e477ba491a3b 75
narshu 0:e477ba491a3b 76 private:
narshu 0:e477ba491a3b 77 osMailQId _mail_id;
narshu 0:e477ba491a3b 78 osMailQDef_t _mail_def;
narshu 0:e477ba491a3b 79 #ifdef CMSIS_OS_RTX
narshu 0:e477ba491a3b 80 uint32_t _mail_q[4+(queue_sz)];
narshu 0:e477ba491a3b 81 uint32_t _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
narshu 0:e477ba491a3b 82 void *_mail_p[2];
narshu 0:e477ba491a3b 83 #endif
narshu 0:e477ba491a3b 84 };
narshu 0:e477ba491a3b 85
narshu 0:e477ba491a3b 86 }
narshu 0:e477ba491a3b 87
narshu 0:e477ba491a3b 88 #endif
narshu 0:e477ba491a3b 89