S Morita / mbed-mros2

Dependents:   mbed-os-example-mros2 example-mbed-mros2-sub-pose example-mbed-mros2-pub-twist example-mbed-mros2-mturtle-teleop

embeddedRTPS/include/rtps/storages/ThreadSafeCircularBuffer.h@7:c80f65422d99, 2022-03-19 (annotated)

Committer:
smoritaemb
Date:
Sat Mar 19 09:23:37 2022 +0900
Revision:
7:c80f65422d99
Parent:
0:580aba13d1a1 
Merge test_assortment_of_msgs branch.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smoritaemb 0:580aba13d1a1 1 /*
smoritaemb 0:580aba13d1a1 2 The MIT License
smoritaemb 0:580aba13d1a1 3 Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
smoritaemb 0:580aba13d1a1 4 Permission is hereby granted, free of charge, to any person obtaining a copy
smoritaemb 0:580aba13d1a1 5 of this software and associated documentation files (the "Software"), to deal
smoritaemb 0:580aba13d1a1 6 in the Software without restriction, including without limitation the rights
smoritaemb 0:580aba13d1a1 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
smoritaemb 0:580aba13d1a1 8 copies of the Software, and to permit persons to whom the Software is
smoritaemb 0:580aba13d1a1 9 furnished to do so, subject to the following conditions:
smoritaemb 0:580aba13d1a1 10 The above copyright notice and this permission notice shall be included in
smoritaemb 0:580aba13d1a1 11 all copies or substantial portions of the Software.
smoritaemb 0:580aba13d1a1 12 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
smoritaemb 0:580aba13d1a1 13 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
smoritaemb 0:580aba13d1a1 14 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
smoritaemb 0:580aba13d1a1 15 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
smoritaemb 0:580aba13d1a1 16 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
smoritaemb 0:580aba13d1a1 17 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
smoritaemb 0:580aba13d1a1 18 THE SOFTWARE
smoritaemb 0:580aba13d1a1 19
smoritaemb 0:580aba13d1a1 20 This file is part of embeddedRTPS.
smoritaemb 0:580aba13d1a1 21
smoritaemb 0:580aba13d1a1 22 Author: i11 - Embedded Software, RWTH Aachen University
smoritaemb 0:580aba13d1a1 23 */
smoritaemb 0:580aba13d1a1 24
smoritaemb 0:580aba13d1a1 25 #ifndef RTPS_THREADSAFEQUEUE_H
smoritaemb 0:580aba13d1a1 26 #define RTPS_THREADSAFEQUEUE_H
smoritaemb 0:580aba13d1a1 27
smoritaemb 0:580aba13d1a1 28 #include "lwip/sys.h"
smoritaemb 0:580aba13d1a1 29
smoritaemb 0:580aba13d1a1 30 #include <array>
smoritaemb 0:580aba13d1a1 31 #include <limits>
smoritaemb 0:580aba13d1a1 32
smoritaemb 0:580aba13d1a1 33 namespace rtps {
smoritaemb 0:580aba13d1a1 34
smoritaemb 0:580aba13d1a1 35 template <typename T, uint16_t SIZE> class ThreadSafeCircularBuffer {
smoritaemb 0:580aba13d1a1 36
smoritaemb 0:580aba13d1a1 37 public:
smoritaemb 0:580aba13d1a1 38 bool init();
smoritaemb 0:580aba13d1a1 39
smoritaemb 0:580aba13d1a1 40 ~ThreadSafeCircularBuffer();
smoritaemb 0:580aba13d1a1 41
smoritaemb 0:580aba13d1a1 42 bool moveElementIntoBuffer(T &&elem);
smoritaemb 0:580aba13d1a1 43
smoritaemb 0:580aba13d1a1 44 /**
smoritaemb 0:580aba13d1a1 45 * Removes the first into the given hull. Also moves responsibility for
smoritaemb 0:580aba13d1a1 46 * resources.
smoritaemb 0:580aba13d1a1 47 * @return true if element was injected. False if no element was present.
smoritaemb 0:580aba13d1a1 48 */
smoritaemb 0:580aba13d1a1 49 bool moveFirstInto(T &hull);
smoritaemb 0:580aba13d1a1 50
smoritaemb 0:580aba13d1a1 51 void clear();
smoritaemb 0:580aba13d1a1 52
smoritaemb 0:580aba13d1a1 53 private:
smoritaemb 0:580aba13d1a1 54 std::array<T, SIZE + 1> m_buffer{};
smoritaemb 0:580aba13d1a1 55 uint16_t m_head = 0;
smoritaemb 0:580aba13d1a1 56 uint16_t m_tail = 0;
smoritaemb 0:580aba13d1a1 57 static_assert(SIZE + 1 < std::numeric_limits<decltype(m_head)>::max(),
smoritaemb 0:580aba13d1a1 58 "Iterator is large enough for given size");
smoritaemb 0:580aba13d1a1 59
smoritaemb 0:580aba13d1a1 60 sys_mutex_t m_mutex;
smoritaemb 0:580aba13d1a1 61 bool m_initialized = false;
smoritaemb 0:580aba13d1a1 62
smoritaemb 0:580aba13d1a1 63 inline bool isFull();
smoritaemb 0:580aba13d1a1 64 inline void incrementIterator(uint16_t &iterator);
smoritaemb 0:580aba13d1a1 65 inline void incrementTail();
smoritaemb 0:580aba13d1a1 66 inline void incrementHead();
smoritaemb 0:580aba13d1a1 67 };
smoritaemb 0:580aba13d1a1 68
smoritaemb 0:580aba13d1a1 69 } // namespace rtps
smoritaemb 0:580aba13d1a1 70
smoritaemb 0:580aba13d1a1 71 #include "ThreadSafeCircularBuffer.tpp"
smoritaemb 0:580aba13d1a1 72
smoritaemb 0:580aba13d1a1 73 #endif // RTPS_THREADSAFEQUEUE_H