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Diff: rtos/Queue.h
- Revision:
- 0:38ceb79fef03
diff -r 000000000000 -r 38ceb79fef03 rtos/Queue.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Queue.h Wed Nov 28 15:10:15 2018 +0000
@@ -0,0 +1,217 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef QUEUE_H
+#define QUEUE_H
+
+#include "cmsis_os2.h"
+#include "mbed_rtos1_types.h"
+#include "mbed_rtos_storage.h"
+#include "platform/mbed_error.h"
+#include "platform/NonCopyable.h"
+
+namespace rtos {
+/** \addtogroup rtos */
+/** @{*/
+/**
+ * \defgroup rtos_Queue Queue class
+ * @{
+ */
+
+/** The Queue class represents a collection of objects that are stored first by
+ * order of priority, and then in first-in, first-out (FIFO) order.
+ *
+ * You can use a queue when you need to store data and then access it in the same
+ * order that it has been stored. The order in which you retrieve the data is in
+ * order of descending priority. If multiple elements have the same priority,
+ * they are retrieved in FIFO order.
+ *
+ * The object type stored in the queue can be an integer, pointer or a generic
+ * type given by the template parameter T.
+ *
+ * @tparam T Specifies the type of elements stored in the queue.
+ * @tparam queue_sz Maximum number of messages that you can store in the queue.
+ *
+ * @note Memory considerations: The queue control structures are created on the
+ * current thread's stack, both for the Mbed OS and underlying RTOS
+ * objects (static or dynamic RTOS memory pools are not being used).
+ *
+ */
+template<typename T, uint32_t queue_sz>
+class Queue : private mbed::NonCopyable<Queue<T, queue_sz> > {
+public:
+ /** Create and initialize a message Queue of objects of the parameterized
+ * type `T` and maximum capacity specified by `queue_sz`.
+ *
+ * @note You cannot call this function from ISR context.
+ */
+ Queue() {
+ memset(&_obj_mem, 0, sizeof(_obj_mem));
+ osMessageQueueAttr_t attr = { 0 };
+ attr.mq_mem = _queue_mem;
+ attr.mq_size = sizeof(_queue_mem);
+ attr.cb_mem = &_obj_mem;
+ attr.cb_size = sizeof(_obj_mem);
+ _id = osMessageQueueNew(queue_sz, sizeof(T*), &attr);
+ MBED_ASSERT(_id);
+ }
+
+ /** Queue destructor
+ *
+ * @note You cannot call this function from ISR context.
+ */
+ ~Queue() {
+ osMessageQueueDelete(_id);
+ }
+
+ /** Check if the queue is empty.
+ *
+ * @return True if the queue is empty, false if not
+ *
+ * @note You may call this function from ISR context.
+ */
+ bool empty() const {
+ return osMessageQueueGetCount(_id) == 0;
+ }
+
+ /** Check if the queue is full.
+ *
+ * @return True if the queue is full, false if not
+ *
+ * @note You may call this function from ISR context.
+ */
+ bool full() const {
+ return osMessageQueueGetSpace(_id) == 0;
+ }
+
+ /** Inserts the given element to the end of the queue.
+ *
+ * This function puts the message pointed to by `data` into the queue. The
+ * parameter `prio` is used to sort the message according to their priority
+ * (higher numbers indicate higher priority) on insertion.
+ *
+ * The timeout indicated by the parameter `millisec` specifies how long the
+ * function blocks waiting for the message to be inserted into the
+ * queue.
+ *
+ * The parameter `millisec` can have the following values:
+ * - When the timeout is 0 (the default), the function returns instantly.
+ * - When the timeout is osWaitForever, the function waits for an
+ * infinite time.
+ * - For all other values, the function waits for the given number of
+ * milliseconds.
+ *
+ * @param data Pointer to the element to insert into the queue.
+ * @param millisec Timeout for the operation to be executed, or 0 in case
+ * of no timeout. (default: 0)
+ * @param prio Priority of the operation or 0 in case of default.
+ * (default: 0)
+ *
+ * @return Status code that indicates the execution status of the function:
+ * @a osOK The message has been successfully inserted
+ * into the queue.
+ * @a osErrorTimeout The message could not be inserted into the
+ * queue in the given time.
+ * @a osErrorResource The message could not be inserted because
+ * the queue is full.
+ * @a osErrorParameter Internal error or nonzero timeout specified
+ * in an ISR.
+ *
+ * @note You may call this function from ISR context if the millisec
+ * parameter is set to 0.
+ *
+ */
+ osStatus put(T* data, uint32_t millisec=0, uint8_t prio=0) {
+ return osMessageQueuePut(_id, &data, prio, millisec);
+ }
+
+ /** Get a message or wait for a message from the queue.
+ *
+ * This function retrieves a message from the queue. The message is stored
+ * in the value field of the returned `osEvent` object.
+ *
+ * The timeout specified by the parameter `millisec` specifies how long the
+ * function waits to retrieve the message from the queue.
+ *
+ * The timeout parameter can have the following values:
+ * - When the timeout is 0, the function returns instantly.
+ * - When the timeout is osWaitForever (default), the function waits
+ * infinite time until the message is retrieved.
+ * - When the timeout is any other value, the function waits for the
+ * specified time before returning a timeout error.
+ *
+ * Messages are retrieved in descending priority order. If two messages
+ * share the same priority level, they are retrieved in first-in, first-out
+ * (FIFO) order.
+ *
+ * @param millisec Timeout value or 0 in case of no time-out.
+ * (default: osWaitForever).
+ *
+ * @return Event information that includes the message in event. Message
+ * value and the status code in event.status:
+ * @a osEventMessage Message successfully received.
+ * @a osOK No message is available in the queue, and no
+ * timeout was specified.
+ * @a osEventTimeout No message was received before a timeout
+ * event occurred.
+ * @a osErrorParameter A parameter is invalid or outside of a
+ * permitted range.
+ *
+ * @note You may call this function from ISR context if the millisec
+ * parameter is set to 0.
+ */
+ osEvent get(uint32_t millisec=osWaitForever) {
+ osEvent event;
+ T *data = NULL;
+ osStatus_t res = osMessageQueueGet(_id, &data, NULL, millisec);
+
+ switch (res) {
+ case osOK:
+ event.status = (osStatus)osEventMessage;
+ event.value.p = data;
+ break;
+ case osErrorResource:
+ event.status = osOK;
+ break;
+ case osErrorTimeout:
+ event.status = (osStatus)osEventTimeout;
+ break;
+ case osErrorParameter:
+ default:
+ event.status = osErrorParameter;
+ break;
+ }
+ event.def.message_id = _id;
+
+ return event;
+ }
+
+private:
+ osMessageQueueId_t _id;
+ char _queue_mem[queue_sz * (sizeof(T*) + sizeof(mbed_rtos_storage_message_t))];
+ mbed_rtos_storage_msg_queue_t _obj_mem;
+};
+/** @}*/
+/** @}*/
+
+} // namespace rtos
+
+#endif // QUEUE_H