RTOS lib used for Eurobot 2012
Queue.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
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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narshu | 0:e477ba491a3b | 1 | /* Copyright (c) 2012 mbed.org */ |
narshu | 0:e477ba491a3b | 2 | #ifndef QUEUE_H |
narshu | 0:e477ba491a3b | 3 | #define QUEUE_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 | #include "error.h" |
narshu | 0:e477ba491a3b | 10 | |
narshu | 0:e477ba491a3b | 11 | namespace rtos { |
narshu | 0:e477ba491a3b | 12 | |
narshu | 0:e477ba491a3b | 13 | /*! The Queue class allow to control, send, receive, or wait for messages. |
narshu | 0:e477ba491a3b | 14 | A message can be a integer or pointer value to a certain type T that is send |
narshu | 0:e477ba491a3b | 15 | to a thread or interrupt service routine. |
narshu | 0:e477ba491a3b | 16 | \tparam T data type of a single message element. |
narshu | 0:e477ba491a3b | 17 | \tparam queue_sz maximum number of messages in queue. |
narshu | 0:e477ba491a3b | 18 | */ |
narshu | 0:e477ba491a3b | 19 | template<typename T, uint32_t queue_sz> |
narshu | 0:e477ba491a3b | 20 | class Queue { |
narshu | 0:e477ba491a3b | 21 | public: |
narshu | 0:e477ba491a3b | 22 | /*! Create and initialise a message Queue. */ |
narshu | 0:e477ba491a3b | 23 | Queue() { |
narshu | 0:e477ba491a3b | 24 | #ifdef CMSIS_OS_RTX |
narshu | 0:e477ba491a3b | 25 | memset(_queue_q, 0, sizeof(_queue_q)); |
narshu | 0:e477ba491a3b | 26 | _queue_def.pool = _queue_q; |
narshu | 0:e477ba491a3b | 27 | _queue_def.queue_sz = queue_sz; |
narshu | 0:e477ba491a3b | 28 | #endif |
narshu | 0:e477ba491a3b | 29 | _queue_id = osMessageCreate(&_queue_def, NULL); |
narshu | 0:e477ba491a3b | 30 | if (_queue_id == NULL) { |
narshu | 0:e477ba491a3b | 31 | error("Error initialising the queue object\n"); |
narshu | 0:e477ba491a3b | 32 | } |
narshu | 0:e477ba491a3b | 33 | } |
narshu | 0:e477ba491a3b | 34 | |
narshu | 0:e477ba491a3b | 35 | /*! Put a message in a Queue. |
narshu | 0:e477ba491a3b | 36 | \param data message pointer. |
narshu | 0:e477ba491a3b | 37 | \param millisec timeout value or 0 in case of no time-out. (default: 0) |
narshu | 0:e477ba491a3b | 38 | \return status code that indicates the execution status of the function. |
narshu | 0:e477ba491a3b | 39 | */ |
narshu | 0:e477ba491a3b | 40 | osStatus put(T* data, uint32_t millisec=0) { |
narshu | 0:e477ba491a3b | 41 | return osMessagePut(_queue_id, (uint32_t)data, millisec); |
narshu | 0:e477ba491a3b | 42 | } |
narshu | 0:e477ba491a3b | 43 | |
narshu | 0:e477ba491a3b | 44 | /*! Get a message or Wait for a message from a Queue. |
narshu | 0:e477ba491a3b | 45 | \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever). |
narshu | 0:e477ba491a3b | 46 | \return event information that includes the message and the status code. |
narshu | 0:e477ba491a3b | 47 | */ |
narshu | 0:e477ba491a3b | 48 | osEvent get(uint32_t millisec=osWaitForever) { |
narshu | 0:e477ba491a3b | 49 | return osMessageGet(_queue_id, millisec); |
narshu | 0:e477ba491a3b | 50 | } |
narshu | 0:e477ba491a3b | 51 | |
narshu | 0:e477ba491a3b | 52 | private: |
narshu | 0:e477ba491a3b | 53 | osMessageQId _queue_id; |
narshu | 0:e477ba491a3b | 54 | osMessageQDef_t _queue_def; |
narshu | 0:e477ba491a3b | 55 | #ifdef CMSIS_OS_RTX |
narshu | 0:e477ba491a3b | 56 | uint32_t _queue_q[4+(queue_sz)]; |
narshu | 0:e477ba491a3b | 57 | #endif |
narshu | 0:e477ba491a3b | 58 | }; |
narshu | 0:e477ba491a3b | 59 | |
narshu | 0:e477ba491a3b | 60 | } |
narshu | 0:e477ba491a3b | 61 | #endif |