diff options
| author | Giovanni Di Sirio <gdisirio@gmail.com> | 2015-04-05 13:03:46 +0000 |
|---|---|---|
| committer | Giovanni Di Sirio <gdisirio@gmail.com> | 2015-04-05 13:03:46 +0000 |
| commit | 0f063da229cb9afd722e403e41c2b224df28dddf (patch) | |
| tree | efe4bdbb8ed4c516ee0a4b564979341d73f0cb7c | |
| parent | ae3021458a60832178b9ed70b502b8178918aea8 (diff) | |
| download | ChibiOS-0f063da229cb9afd722e403e41c2b224df28dddf.tar.gz ChibiOS-0f063da229cb9afd722e403e41c2b224df28dddf.tar.bz2 ChibiOS-0f063da229cb9afd722e403e41c2b224df28dddf.zip | |
C++ API improvements.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7857 35acf78f-673a-0410-8e92-d51de3d6d3f4
| -rw-r--r-- | os/various/cpp_wrappers/ch.cpp | 118 | ||||
| -rw-r--r-- | os/various/cpp_wrappers/ch.hpp | 286 |
2 files changed, 216 insertions, 188 deletions
diff --git a/os/various/cpp_wrappers/ch.cpp b/os/various/cpp_wrappers/ch.cpp index 33138807d..f827d285a 100644 --- a/os/various/cpp_wrappers/ch.cpp +++ b/os/various/cpp_wrappers/ch.cpp @@ -26,66 +26,9 @@ namespace chibios_rt {
/*------------------------------------------------------------------------*
- * chibios_rt::System *
- *------------------------------------------------------------------------*/
- void System::init(void) {
-
- chSysInit();
- }
-
- void System::lock(void) {
-
- chSysLock();
- }
-
- void System::unlock(void) {
-
- chSysUnlock();
- }
-
- void System::lockFromIsr(void) {
-
- chSysLockFromISR();
- }
-
- void System::unlockFromIsr(void) {
-
- chSysUnlockFromISR();
- }
-
- systime_t System::getTime(void) {
-
- return chVTGetSystemTimeX();
- }
-
- bool System::isTimeWithin(systime_t start, systime_t end) {
-
- return chVTIsSystemTimeWithinX(start, end);
- }
-
- /*------------------------------------------------------------------------*
- * chibios_rt::Core *
- *------------------------------------------------------------------------*/
-#if CH_CFG_USE_MEMCORE
- void *Core::alloc(size_t size) {
-
- return chCoreAlloc(size);
- }
-
- void *Core::allocI(size_t size) {
-
- return chCoreAllocI(size);
- }
-
- size_t Core::getStatus(void) {
-
- return chCoreGetStatusX();
- }
-#endif /* CH_CFG_USE_MEMCORE */
-
- /*------------------------------------------------------------------------*
* chibios_rt::Timer *
*------------------------------------------------------------------------*/
+
void Timer::setI(systime_t time, vtfunc_t vtfunc, void *par) {
chVTSetI(&timer_ref, time, vtfunc, par);
@@ -103,67 +46,36 @@ namespace chibios_rt { }
/*------------------------------------------------------------------------*
- * chibios_rt::ThreadReference *
+ * chibios_rt::ThreadStayPoint *
*------------------------------------------------------------------------*/
- void ThreadReference::stop(void) {
+ msg_t ThreadStayPoint::suspendS(void) {
- chSysHalt("invoked unimplemented method stop()");
+ return chThdSuspendS(&thread_ref);
}
- msg_t ThreadReference::suspend(void) {
- msg_t msg;
+ msg_t ThreadStayPoint::suspendS(systime_t timeout) {
- chSysLock();
-
- chDbgAssert(thread_ref != NULL,
- "already referenced");
-
- thread_ref = chThdGetSelfX();
- chSchGoSleepS(CH_STATE_SUSPENDED);
- msg = thread_ref->p_u.rdymsg;
-
- chSysUnlock();
- return msg;
+ return chThdSuspendTimeoutS(&thread_ref, timeout);
}
- msg_t ThreadReference::suspendS(void) {
+ void ThreadStayPoint::resumeI(msg_t msg) {
- chDbgAssert(thread_ref == NULL,
- "already referenced");
-
- thread_ref = chThdGetSelfX();
- chSchGoSleepS(CH_STATE_SUSPENDED);
- return thread_ref->p_u.rdymsg;
+ chThdResumeI(&thread_ref, msg);
}
- void ThreadReference::resume(msg_t msg) {
-
- chSysLock();
+ void ThreadStayPoint::resumeS(msg_t msg) {
- chDbgAssert(thread_ref != NULL,
- "not referenced");
-
- if (thread_ref) {
- thread_t *tp = thread_ref;
- thread_ref = NULL;
- chSchWakeupS(tp, msg);
- }
-
- chSysUnlock();
+ chThdResumeS(&thread_ref, msg);
}
- void ThreadReference::resumeI(msg_t msg) {
+ /*------------------------------------------------------------------------*
+ * chibios_rt::ThreadReference *
+ *------------------------------------------------------------------------*/
- chDbgAssert(thread_ref != NULL,
- "not referenced");
+ void ThreadReference::stop(void) {
- if (thread_ref) {
- thread_t *tp = thread_ref;
- thread_ref = NULL;
- tp->p_msg = msg;
- chSchReadyI(tp);
- }
+ chSysHalt("invoked unimplemented method stop()");
}
void ThreadReference::requestTerminate(void) {
diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp index 9f3c5ec1f..9f64fc40e 100644 --- a/os/various/cpp_wrappers/ch.hpp +++ b/os/various/cpp_wrappers/ch.hpp @@ -55,21 +55,76 @@ namespace chibios_rt { *
* @special
*/
- static void init(void);
+ static inline void init(void) {
+
+ chSysInit();
+ }
+
+ /**
+ * @brief Halts the system.
+ * @details This function is invoked by the operating system when an
+ * unrecoverable error is detected, for example because a programming
+ * error in the application code that triggers an assertion while
+ * in debug mode.
+ * @note Can be invoked from any system state.
+ *
+ * @param[in] reason pointer to an error string
+ *
+ * @special
+ */
+ static inline void halt(const char *reason) {
+
+ chSysHalt(reason);
+ }
+
+ /**
+ * @brief System integrity check.
+ * @details Performs an integrity check of the important ChibiOS/RT data
+ * structures.
+ * @note The appropriate action in case of failure is to halt the system
+ * before releasing the critical zone.
+ * @note If the system is corrupted then one possible outcome of this
+ * function is an exception caused by @p NULL or corrupted pointers
+ * in list elements. Exception vectors must be monitored as well.
+ * @note This function is not used internally, it is up to the
+ * application to define if and where to perform system
+ * checking.
+ * @note Performing all tests at once can be a slow operation and can
+ * degrade the system response time. It is suggested to execute
+ * one test at time and release the critical zone in between tests.
+ *
+ * @param[in] testmask Each bit in this mask is associated to a test to be
+ * performed.
+ * @return The test result.
+ * @retval false The test succeeded.
+ * @retval true Test failed.
+ *
+ * @iclass
+ */
+ static inline bool integrityCheckI(unsigned int testmask) {
+
+ return chSysIntegrityCheckI(testmask);
+ }
/**
* @brief Enters the kernel lock mode.
*
* @special
*/
- static void lock(void);
+ static inline void lock(void) {
+
+ chSysLock();
+ }
/**
* @brief Leaves the kernel lock mode.
*
* @special
*/
- static void unlock(void);
+ static inline void unlock(void) {
+
+ chSysUnlock();
+ }
/**
* @brief Enters the kernel lock mode from within an interrupt handler.
@@ -83,7 +138,10 @@ namespace chibios_rt { *
* @special
*/
- static void lockFromIsr(void);
+ static inline void lockFromIsr(void) {
+
+ chSysLockFromISR();
+ }
/**
* @brief Leaves the kernel lock mode from within an interrupt handler.
@@ -98,8 +156,10 @@ namespace chibios_rt { *
* @special
*/
- static void unlockFromIsr(void);
+ static inline void unlockFromIsr(void) {
+ chSysUnlockFromISR();
+ }
/**
* @brief Returns the system time as system ticks.
@@ -109,7 +169,23 @@ namespace chibios_rt { *
* @api
*/
- static systime_t getTime(void);
+ static inline systime_t getTime(void) {
+
+ return chVTGetSystemTime();
+ }
+
+ /**
+ * @brief Returns the system time as system ticks.
+ * @note The system tick time interval is implementation dependent.
+ *
+ * @return The system time.
+ *
+ * @xclass
+ */
+ static inline systime_t getTimeX(void) {
+
+ return chVTGetSystemTimeX();
+ }
/**
* @brief Checks if the current system time is within the specified time
@@ -124,12 +200,15 @@ namespace chibios_rt { *
* @api
*/
- static bool isTimeWithin(systime_t start, systime_t end);
+ static inline bool isSystemTimeWithin(systime_t start, systime_t end) {
+
+ return chVTIsSystemTimeWithin(start, end);
+ }
};
#if CH_CFG_USE_MEMCORE || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
- * chibios_rt::System *
+ * chibios_rt::Core *
*------------------------------------------------------------------------*/
/**
* @brief Class encapsulating the base system functionalities.
@@ -149,7 +228,10 @@ namespace chibios_rt { *
* @api
*/
- static void *alloc(size_t size);
+ static inline void *alloc(size_t size) {
+
+ return chCoreAlloc(size);
+ }
/**
* @brief Allocates a memory block.
@@ -163,16 +245,22 @@ namespace chibios_rt { *
* @iclass
*/
- static void *allocI(size_t size);
+ static inline void *allocI(size_t size) {
+
+ return chCoreAllocI(size);
+ }
/**
* @brief Core memory status.
*
* @return The size, in bytes, of the free core memory.
*
- * @api
+ * @xclass
*/
- static size_t getStatus(void);
+ static inline size_t getStatusX(void) {
+
+ return chCoreGetStatusX();
+ }
};
#endif /* CH_CFG_USE_MEMCORE */
@@ -207,14 +295,14 @@ namespace chibios_rt { *
* @iclass
*/
- void setI(systime_t time, vtfunc_t vtfunc, void *par);
+ inline void setI(systime_t time, vtfunc_t vtfunc, void *par);
/**
* @brief Resets the timer, if armed.
*
* @iclass
*/
- void resetI();
+ inline void resetI();
/**
* @brief Returns the timer status.
@@ -224,44 +312,22 @@ namespace chibios_rt { *
* @iclass
*/
- bool isArmedI(void);
+ inline bool isArmedI(void);
};
/*------------------------------------------------------------------------*
- * chibios_rt::ThreadReference *
+ * chibios_rt::ThreadStayPoint *
*------------------------------------------------------------------------*/
/**
- * @brief Thread reference class.
- * @details This class encapsulates a reference to a system thread. All
- * operations involving another thread are performed through
- * an object of this type.
+ * @brief Thread suspension point class.
+ * @details This class encapsulates a reference to a suspended thread.
*/
- class ThreadReference {
+ class ThreadStayPoint {
public:
/**
* @brief Pointer to the system thread.
*/
- ::thread_t *thread_ref;
-
- /**
- * @brief Thread reference constructor.
- *
- * @param[in] tp the target thread. This parameter can be
- * @p NULL if the thread is not known at
- * creation time.
- *
- * @init
- */
- ThreadReference(thread_t *tp) : thread_ref(tp) {
-
- };
-
- /**
- * @brief Stops the thread.
- * @note The implementation is left to descendant classes and is
- * optional.
- */
- virtual void stop(void);
+ ::thread_reference_t thread_ref;
/**
* @brief Suspends the current thread on the reference.
@@ -271,39 +337,89 @@ namespace chibios_rt { *
* @return The incoming message.
*
- * @api
+ * @sclass
*/
- msg_t suspend(void);
+ inline msg_t suspendS(void);
/**
- * @brief Suspends the current thread on the reference.
+ * @brief Suspends the current thread on the reference with timeout.
* @details The suspended thread becomes the referenced thread. It is
* possible to use this method only if the thread reference
* was set to @p NULL.
*
- * @return The incoming message.
+ *
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return A message specifying how the invoking thread has
+ * been released from the semaphore.
+ * @retval MSG_OK if the binary semaphore has been successfully
+ * taken.
+ * @retval MSG_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ * @retval MSG_TIMEOUT if the binary semaphore has not been signaled
+ * or reset within the specified timeout.
*
* @sclass
*/
- msg_t suspendS(void);
+ inline msg_t suspendS(systime_t timeout);
/**
* @brief Resumes the currently referenced thread, if any.
*
* @param[in] msg the wakeup message
*
- * @api
+ * @iclass
*/
- void resume(msg_t msg);
+ inline void resumeI(msg_t msg);
/**
* @brief Resumes the currently referenced thread, if any.
*
* @param[in] msg the wakeup message
*
- * @iclass
+ * @sclass
+ */
+ inline void resumeS(msg_t msg);
+ };
+
+ /*------------------------------------------------------------------------*
+ * chibios_rt::ThreadReference *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Thread reference class.
+ * @details This class encapsulates a reference to a system thread. All
+ * operations involving another thread are performed through
+ * an object of this type.
+ */
+ class ThreadReference {
+ public:
+ /**
+ * @brief Pointer to the system thread.
+ */
+ ::thread_t *thread_ref;
+
+ /**
+ * @brief Thread reference constructor.
+ *
+ * @param[in] tp the target thread. This parameter can be
+ * @p NULL if the thread is not known at
+ * creation time.
+ *
+ * @init
+ */
+ ThreadReference(thread_t *tp) : thread_ref(tp) {
+
+ };
+
+ /**
+ * @brief Stops the thread.
+ * @note The implementation is left to descendant classes and is
+ * optional.
*/
- void resumeI(msg_t msg);
+ virtual void stop(void);
/**
* @brief Requests a thread termination.
@@ -826,7 +942,7 @@ namespace chibios_rt { * set to the specified, non negative, value.
* @note The released threads can recognize they were waked up by a
* reset rather than a signal because the @p chSemWait() will
- * return @p RDY_RESET instead of @p RDY_OK.
+ * return @p MSG_RESET instead of @p MSG_OK.
*
* @param[in] n the new value of the semaphore counter. The value
* must be non-negative.
@@ -846,7 +962,7 @@ namespace chibios_rt { * explicit reschedule must not be performed in ISRs.
* @note The released threads can recognize they were waked up by a
* reset rather than a signal because the @p chSemWait() will
- * return @p RDY_RESET instead of @p RDY_OK.
+ * return @p MSG_RESET instead of @p MSG_OK.
*
* @param[in] n the new value of the semaphore counter. The value
* must be non-negative.
@@ -860,9 +976,9 @@ namespace chibios_rt { *
* @return A message specifying how the invoking thread has
* been released from the semaphore.
- * @retval RDY_OK if the thread has not stopped on the semaphore or
+ * @retval MSG_OK if the thread has not stopped on the semaphore or
* the semaphore has been signaled.
- * @retval RDY_RESET if the semaphore has been reset using
+ * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset().
*
* @api
@@ -874,9 +990,9 @@ namespace chibios_rt { *
* @return A message specifying how the invoking thread has
* been released from the semaphore.
- * @retval RDY_OK if the thread has not stopped on the semaphore or
+ * @retval MSG_OK if the thread has not stopped on the semaphore or
* the semaphore has been signaled.
- * @retval RDY_RESET if the semaphore has been reset using
+ * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset().
*
* @sclass
@@ -894,11 +1010,11 @@ namespace chibios_rt { * .
* @return A message specifying how the invoking thread has
* been released from the semaphore.
- * @retval RDY_OK if the thread has not stopped on the semaphore or
+ * @retval MSG_OK if the thread has not stopped on the semaphore or
* the semaphore has been signaled.
- * @retval RDY_RESET if the semaphore has been reset using
+ * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset().
- * @retval RDY_TIMEOUT if the semaphore has not been signaled or reset
+ * @retval MSG_TIMEOUT if the semaphore has not been signaled or reset
* within the specified timeout.
*
* @api
@@ -916,11 +1032,11 @@ namespace chibios_rt { * .
* @return A message specifying how the invoking thread has
* been released from the semaphore.
- * @retval RDY_OK if the thread has not stopped on the semaphore or
+ * @retval MSG_OK if the thread has not stopped on the semaphore or
* the semaphore has been signaled.
- * @retval RDY_RESET if the semaphore has been reset using
+ * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset().
- * @retval RDY_TIMEOUT if the semaphore has not been signaled or reset
+ * @retval MSG_TIMEOUT if the semaphore has not been signaled or reset
* within the specified timeout.
*
* @sclass
@@ -975,9 +1091,9 @@ namespace chibios_rt { * @param[in] wsem @p Semaphore object to wait on
* @return A message specifying how the invoking thread
* has been released from the semaphore.
- * @retval RDY_OK if the thread has not stopped on the semaphore
+ * @retval MSG_OK if the thread has not stopped on the semaphore
* or the semaphore has been signaled.
- * @retval RDY_RESET if the semaphore has been reset using
+ * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset().
*
* @api
@@ -1016,9 +1132,9 @@ namespace chibios_rt { *
* @return A message specifying how the invoking thread has
* been released from the semaphore.
- * @retval RDY_OK if the binary semaphore has been successfully
+ * @retval MSG_OK if the binary semaphore has been successfully
* taken.
- * @retval RDY_RESET if the binary semaphore has been reset using
+ * @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset().
*
* @api
@@ -1030,9 +1146,9 @@ namespace chibios_rt { *
* @return A message specifying how the invoking thread has
* been released from the semaphore.
- * @retval RDY_OK if the binary semaphore has been successfully
+ * @retval MSG_OK if the binary semaphore has been successfully
* taken.
- * @retval RDY_RESET if the binary semaphore has been reset using
+ * @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset().
*
* @sclass
@@ -1049,11 +1165,11 @@ namespace chibios_rt { * .
* @return A message specifying how the invoking thread has
* been released from the semaphore.
- * @retval RDY_OK if the binary semaphore has been successfully
+ * @retval MSG_OK if the binary semaphore has been successfully
* taken.
- * @retval RDY_RESET if the binary semaphore has been reset using
+ * @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset().
- * @retval RDY_TIMEOUT if the binary semaphore has not been signaled
+ * @retval MSG_TIMEOUT if the binary semaphore has not been signaled
* or reset within the specified timeout.
*
* @api
@@ -1070,11 +1186,11 @@ namespace chibios_rt { * .
* @return A message specifying how the invoking thread has
* been released from the semaphore.
- * @retval RDY_OK if the binary semaphore has been successfully
+ * @retval MSG_OK if the binary semaphore has been successfully
* taken.
- * @retval RDY_RESET if the binary semaphore has been reset using
+ * @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset().
- * @retval RDY_TIMEOUT if the binary semaphore has not been signaled
+ * @retval MSG_TIMEOUT if the binary semaphore has not been signaled
* or reset within the specified timeout.
*
* @sclass
@@ -1085,7 +1201,7 @@ namespace chibios_rt { * @brief Reset operation on the binary semaphore.
* @note The released threads can recognize they were waked up by a
* reset rather than a signal because the @p bsemWait() will
- * return @p RDY_RESET instead of @p RDY_OK.
+ * return @p MSG_RESET instead of @p MSG_OK.
*
* @param[in] taken new state of the binary semaphore
* - @a FALSE, the new state is not taken.
@@ -1100,7 +1216,7 @@ namespace chibios_rt { * @brief Reset operation on the binary semaphore.
* @note The released threads can recognize they were waked up by a
* reset rather than a signal because the @p bsemWait() will
- * return @p RDY_RESET instead of @p RDY_OK.
+ * return @p MSG_RESET instead of @p MSG_OK.
* @note This function does not reschedule.
*
* @param[in] taken new state of the binary semaphore
@@ -1308,9 +1424,9 @@ namespace chibios_rt { *
* @return A message specifying how the invoking thread has
* been released from the condition variable.
- * @retval RDY_OK if the condvar has been signaled using
+ * @retval MSG_OK if the condvar has been signaled using
* @p chCondSignal().
- * @retval RDY_RESET if the condvar has been signaled using
+ * @retval MSG_RESET if the condvar has been signaled using
* @p chCondBroadcast().
*
* @api
@@ -1326,9 +1442,9 @@ namespace chibios_rt { *
* @return A message specifying how the invoking thread has
* been released from the condition variable.
- * @retval RDY_OK if the condvar has been signaled using
+ * @retval MSG_OK if the condvar has been signaled using
* @p chCondSignal().
- * @retval RDY_RESET if the condvar has been signaled using
+ * @retval MSG_RESET if the condvar has been signaled using
* @p chCondBroadcast().
*
* @sclass
@@ -1341,11 +1457,11 @@ namespace chibios_rt { *
* @param[in] time the number of ticks before the operation fails
* @return The wakep mode.
- * @retval RDY_OK if the condvar was signaled using
+ * @retval MSG_OK if the condvar was signaled using
* @p chCondSignal().
- * @retval RDY_RESET if the condvar was signaled using
+ * @retval MSG_RESET if the condvar was signaled using
* @p chCondBroadcast().
- * @retval RDY_TIMEOUT if the condvar was not signaled within the
+ * @retval MSG_TIMEOUT if the condvar was not signaled within the
* specified timeout.
*
* @api
@@ -1875,7 +1991,7 @@ namespace chibios_rt { /**
* @brief Resets a Mailbox object.
- * @details All the waiting threads are resumed with status @p RDY_RESET
+ * @details All the waiting threads are resumed with status @p MSG_RESET
* and the queued messages are lost.
*
* @api
|