Denislam Valeev / Mbed OS Nucleo_rtos_basic

1

mbed-os/rtos/Queue.h@0:e056ac8fecf8, 2018-03-13 (annotated)

Committer:
valeyev
Date:
Tue Mar 13 07:17:50 2018 +0000
Revision:
0:e056ac8fecf8
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valeyev 0:e056ac8fecf8 1 /* mbed Microcontroller Library
valeyev 0:e056ac8fecf8 2 * Copyright (c) 2006-2012 ARM Limited
valeyev 0:e056ac8fecf8 3 *
valeyev 0:e056ac8fecf8 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
valeyev 0:e056ac8fecf8 5 * of this software and associated documentation files (the "Software"), to deal
valeyev 0:e056ac8fecf8 6 * in the Software without restriction, including without limitation the rights
valeyev 0:e056ac8fecf8 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
valeyev 0:e056ac8fecf8 8 * copies of the Software, and to permit persons to whom the Software is
valeyev 0:e056ac8fecf8 9 * furnished to do so, subject to the following conditions:
valeyev 0:e056ac8fecf8 10 *
valeyev 0:e056ac8fecf8 11 * The above copyright notice and this permission notice shall be included in
valeyev 0:e056ac8fecf8 12 * all copies or substantial portions of the Software.
valeyev 0:e056ac8fecf8 13 *
valeyev 0:e056ac8fecf8 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
valeyev 0:e056ac8fecf8 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
valeyev 0:e056ac8fecf8 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
valeyev 0:e056ac8fecf8 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
valeyev 0:e056ac8fecf8 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
valeyev 0:e056ac8fecf8 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
valeyev 0:e056ac8fecf8 20 * SOFTWARE.
valeyev 0:e056ac8fecf8 21 */
valeyev 0:e056ac8fecf8 22 #ifndef QUEUE_H
valeyev 0:e056ac8fecf8 23 #define QUEUE_H
valeyev 0:e056ac8fecf8 24
valeyev 0:e056ac8fecf8 25 #include <stdint.h>
valeyev 0:e056ac8fecf8 26 #include <string.h>
valeyev 0:e056ac8fecf8 27
valeyev 0:e056ac8fecf8 28 #include "cmsis_os2.h"
valeyev 0:e056ac8fecf8 29 #include "mbed_rtos_storage.h"
valeyev 0:e056ac8fecf8 30 #include "platform/mbed_error.h"
valeyev 0:e056ac8fecf8 31 #include "platform/NonCopyable.h"
valeyev 0:e056ac8fecf8 32 #include "mbed_rtos1_types.h"
valeyev 0:e056ac8fecf8 33
valeyev 0:e056ac8fecf8 34 namespace rtos {
valeyev 0:e056ac8fecf8 35 /** \addtogroup rtos */
valeyev 0:e056ac8fecf8 36 /** @{*/
valeyev 0:e056ac8fecf8 37 /**
valeyev 0:e056ac8fecf8 38 * \defgroup rtos_EventFlags EventFlags class
valeyev 0:e056ac8fecf8 39 * @{
valeyev 0:e056ac8fecf8 40 */
valeyev 0:e056ac8fecf8 41
valeyev 0:e056ac8fecf8 42 /** The Queue class allow to control, send, receive, or wait for messages.
valeyev 0:e056ac8fecf8 43 A message can be a integer or pointer value to a certain type T that is send
valeyev 0:e056ac8fecf8 44 to a thread or interrupt service routine.
valeyev 0:e056ac8fecf8 45 @tparam T data type of a single message element.
valeyev 0:e056ac8fecf8 46 @tparam queue_sz maximum number of messages in queue.
valeyev 0:e056ac8fecf8 47
valeyev 0:e056ac8fecf8 48 @note
valeyev 0:e056ac8fecf8 49 Memory considerations: The queue control structures will be created on current thread's stack, both for the mbed OS
valeyev 0:e056ac8fecf8 50 and underlying RTOS objects (static or dynamic RTOS memory pools are not being used).
valeyev 0:e056ac8fecf8 51 */
valeyev 0:e056ac8fecf8 52 template<typename T, uint32_t queue_sz>
valeyev 0:e056ac8fecf8 53 class Queue : private mbed::NonCopyable<Queue<T, queue_sz> > {
valeyev 0:e056ac8fecf8 54 public:
valeyev 0:e056ac8fecf8 55 /** Create and initialize a message Queue.
valeyev 0:e056ac8fecf8 56 *
valeyev 0:e056ac8fecf8 57 * @note You cannot call this function from ISR context.
valeyev 0:e056ac8fecf8 58 */
valeyev 0:e056ac8fecf8 59 Queue() {
valeyev 0:e056ac8fecf8 60 memset(&_obj_mem, 0, sizeof(_obj_mem));
valeyev 0:e056ac8fecf8 61 osMessageQueueAttr_t attr = { 0 };
valeyev 0:e056ac8fecf8 62 attr.mq_mem = _queue_mem;
valeyev 0:e056ac8fecf8 63 attr.mq_size = sizeof(_queue_mem);
valeyev 0:e056ac8fecf8 64 attr.cb_mem = &_obj_mem;
valeyev 0:e056ac8fecf8 65 attr.cb_size = sizeof(_obj_mem);
valeyev 0:e056ac8fecf8 66 _id = osMessageQueueNew(queue_sz, sizeof(T*), &attr);
valeyev 0:e056ac8fecf8 67 MBED_ASSERT(_id);
valeyev 0:e056ac8fecf8 68 }
valeyev 0:e056ac8fecf8 69 /** Queue destructor
valeyev 0:e056ac8fecf8 70 *
valeyev 0:e056ac8fecf8 71 * @note You cannot call this function from ISR context.
valeyev 0:e056ac8fecf8 72 */
valeyev 0:e056ac8fecf8 73 ~Queue() {
valeyev 0:e056ac8fecf8 74 osMessageQueueDelete(_id);
valeyev 0:e056ac8fecf8 75 }
valeyev 0:e056ac8fecf8 76
valeyev 0:e056ac8fecf8 77 /** Check if the queue is empty
valeyev 0:e056ac8fecf8 78 *
valeyev 0:e056ac8fecf8 79 * @return True if the queue is empty, false if not
valeyev 0:e056ac8fecf8 80 *
valeyev 0:e056ac8fecf8 81 * @note You may call this function from ISR context.
valeyev 0:e056ac8fecf8 82 */
valeyev 0:e056ac8fecf8 83 bool empty() const {
valeyev 0:e056ac8fecf8 84 return osMessageQueueGetCount(_id) == 0;
valeyev 0:e056ac8fecf8 85 }
valeyev 0:e056ac8fecf8 86
valeyev 0:e056ac8fecf8 87 /** Check if the queue is full
valeyev 0:e056ac8fecf8 88 *
valeyev 0:e056ac8fecf8 89 * @return True if the queue is full, false if not
valeyev 0:e056ac8fecf8 90 *
valeyev 0:e056ac8fecf8 91 * @note You may call this function from ISR context.
valeyev 0:e056ac8fecf8 92 */
valeyev 0:e056ac8fecf8 93 bool full() const {
valeyev 0:e056ac8fecf8 94 return osMessageQueueGetSpace(_id) == 0;
valeyev 0:e056ac8fecf8 95 }
valeyev 0:e056ac8fecf8 96
valeyev 0:e056ac8fecf8 97 /** Put a message in a Queue.
valeyev 0:e056ac8fecf8 98 @param data message pointer.
valeyev 0:e056ac8fecf8 99 @param millisec timeout value or 0 in case of no time-out. (default: 0)
valeyev 0:e056ac8fecf8 100 @param prio priority value or 0 in case of default. (default: 0)
valeyev 0:e056ac8fecf8 101 @return status code that indicates the execution status of the function:
valeyev 0:e056ac8fecf8 102 @a osOK the message has been put into the queue.
valeyev 0:e056ac8fecf8 103 @a osErrorTimeout the message could not be put into the queue in the given time.
valeyev 0:e056ac8fecf8 104 @a osErrorResource not enough space in the queue.
valeyev 0:e056ac8fecf8 105 @a osErrorParameter internal error or non-zero timeout specified in an ISR.
valeyev 0:e056ac8fecf8 106
valeyev 0:e056ac8fecf8 107 @note You may call this function from ISR context if the millisec parameter is set to 0.
valeyev 0:e056ac8fecf8 108 */
valeyev 0:e056ac8fecf8 109 osStatus put(T* data, uint32_t millisec=0, uint8_t prio=0) {
valeyev 0:e056ac8fecf8 110 return osMessageQueuePut(_id, &data, prio, millisec);
valeyev 0:e056ac8fecf8 111 }
valeyev 0:e056ac8fecf8 112
valeyev 0:e056ac8fecf8 113 /** Get a message or Wait for a message from a Queue. Messages are retrieved in a descending priority order or
valeyev 0:e056ac8fecf8 114 first in first out when the priorities are the same.
valeyev 0:e056ac8fecf8 115 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
valeyev 0:e056ac8fecf8 116 @return event information that includes the message in event.value and the status code in event.status:
valeyev 0:e056ac8fecf8 117 @a osEventMessage message received.
valeyev 0:e056ac8fecf8 118 @a osOK no message is available in the queue and no timeout was specified.
valeyev 0:e056ac8fecf8 119 @a osEventTimeout no message has arrived during the given timeout period.
valeyev 0:e056ac8fecf8 120 @a osErrorParameter a parameter is invalid or outside of a permitted range.
valeyev 0:e056ac8fecf8 121
valeyev 0:e056ac8fecf8 122 @note You may call this function from ISR context if the millisec parameter is set to 0.
valeyev 0:e056ac8fecf8 123 */
valeyev 0:e056ac8fecf8 124 osEvent get(uint32_t millisec=osWaitForever) {
valeyev 0:e056ac8fecf8 125 osEvent event;
valeyev 0:e056ac8fecf8 126 T *data = NULL;
valeyev 0:e056ac8fecf8 127 osStatus_t res = osMessageQueueGet(_id, &data, NULL, millisec);
valeyev 0:e056ac8fecf8 128
valeyev 0:e056ac8fecf8 129 switch (res) {
valeyev 0:e056ac8fecf8 130 case osOK:
valeyev 0:e056ac8fecf8 131 event.status = (osStatus)osEventMessage;
valeyev 0:e056ac8fecf8 132 event.value.p = data;
valeyev 0:e056ac8fecf8 133 break;
valeyev 0:e056ac8fecf8 134 case osErrorResource:
valeyev 0:e056ac8fecf8 135 event.status = osOK;
valeyev 0:e056ac8fecf8 136 break;
valeyev 0:e056ac8fecf8 137 case osErrorTimeout:
valeyev 0:e056ac8fecf8 138 event.status = (osStatus)osEventTimeout;
valeyev 0:e056ac8fecf8 139 break;
valeyev 0:e056ac8fecf8 140 case osErrorParameter:
valeyev 0:e056ac8fecf8 141 default:
valeyev 0:e056ac8fecf8 142 event.status = osErrorParameter;
valeyev 0:e056ac8fecf8 143 break;
valeyev 0:e056ac8fecf8 144 }
valeyev 0:e056ac8fecf8 145 event.def.message_id = _id;
valeyev 0:e056ac8fecf8 146
valeyev 0:e056ac8fecf8 147 return event;
valeyev 0:e056ac8fecf8 148 }
valeyev 0:e056ac8fecf8 149
valeyev 0:e056ac8fecf8 150 private:
valeyev 0:e056ac8fecf8 151 osMessageQueueId_t _id;
valeyev 0:e056ac8fecf8 152 char _queue_mem[queue_sz * (sizeof(T*) + sizeof(mbed_rtos_storage_message_t))];
valeyev 0:e056ac8fecf8 153 mbed_rtos_storage_msg_queue_t _obj_mem;
valeyev 0:e056ac8fecf8 154 };
valeyev 0:e056ac8fecf8 155 /** @}*/
valeyev 0:e056ac8fecf8 156 /** @}*/
valeyev 0:e056ac8fecf8 157
valeyev 0:e056ac8fecf8 158 }
valeyev 0:e056ac8fecf8 159 #endif
valeyev 0:e056ac8fecf8 160