Denislam Valeev
/
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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Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 |