diff options
| author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-01-03 09:52:04 +0000 |
|---|---|---|
| committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-01-03 09:52:04 +0000 |
| commit | 865722b1be24a2672ba271d78bd4a11b20edb84a (patch) | |
| tree | 5ae1b1c347ca55f6d2adae0c0162dc3a4f7eae69 /os/various/cpp_wrappers/ch.hpp | |
| parent | 3edb2cf5532bf7c1c43cc2a839d3d0a15e6d7a6a (diff) | |
| download | ChibiOS-865722b1be24a2672ba271d78bd4a11b20edb84a.tar.gz ChibiOS-865722b1be24a2672ba271d78bd4a11b20edb84a.tar.bz2 ChibiOS-865722b1be24a2672ba271d78bd4a11b20edb84a.zip | |
Added queues and core.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5021 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/various/cpp_wrappers/ch.hpp')
| -rw-r--r-- | os/various/cpp_wrappers/ch.hpp | 579 |
1 files changed, 569 insertions, 10 deletions
diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp index f072ac465..4f9f20020 100644 --- a/os/various/cpp_wrappers/ch.hpp +++ b/os/various/cpp_wrappers/ch.hpp @@ -96,6 +96,53 @@ namespace chibios_rt { };
/*------------------------------------------------------------------------*
+ * chibios_rt::System *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Class encapsulating the base system functionalities.
+ */
+ class Core {
+ public:
+
+ /**
+ * @brief Allocates a memory block.
+ * @details The size of the returned block is aligned to the alignment
+ * type so it is not possible to allocate less
+ * than <code>MEM_ALIGN_SIZE</code>.
+ *
+ * @param[in] size the size of the block to be allocated
+ * @return A pointer to the allocated memory block.
+ * @retval NULL allocation failed, core memory exhausted.
+ *
+ * @api
+ */
+ static void *alloc(size_t size);
+
+ /**
+ * @brief Allocates a memory block.
+ * @details The size of the returned block is aligned to the alignment
+ * type so it is not possible to allocate less than
+ * <code>MEM_ALIGN_SIZE</code>.
+ *
+ * @param[in] size the size of the block to be allocated.
+ * @return A pointer to the allocated memory block.
+ * @retval NULL allocation failed, core memory exhausted.
+ *
+ * @iclass
+ */
+ static void *allocI(size_t size);
+
+ /**
+ * @brief Core memory status.
+ *
+ * @return The size, in bytes, of the free core memory.
+ *
+ * @api
+ */
+ static size_t getStatus(void);
+ };
+
+ /*------------------------------------------------------------------------*
* chibios_rt::Timer *
*------------------------------------------------------------------------*/
/**
@@ -169,7 +216,7 @@ namespace chibios_rt { * @p NULL if the thread is not known at
* creation time.
*
- * @api
+ * @init
*/
ThreadReference(Thread * tp) : thread_ref(tp) {
@@ -319,7 +366,7 @@ namespace chibios_rt { /**
* @brief BaseThread constructor.
*
- * @api
+ * @init
*/
BaseThread(void);
@@ -685,7 +732,7 @@ namespace chibios_rt { * @details The thread object is initialized but the thread is not
* started here.
*
- * @api
+ * @init
*/
BaseStaticThread(void) : BaseThread() {
@@ -729,7 +776,7 @@ namespace chibios_rt { * @param[in] n the semaphore counter value, must be greater
* or equal to zero
*
- * @api
+ * @init
*/
Semaphore(cnt_t n);
@@ -892,6 +939,155 @@ namespace chibios_rt { chibios_rt::Semaphore *wsem);
#endif /* CH_USE_SEMSW */
};
+ /*------------------------------------------------------------------------*
+ * chibios_rt::BinarySemaphore *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Class encapsulating a binary semaphore.
+ */
+ class BinarySemaphore {
+ public:
+ /**
+ * @brief Embedded @p ::Semaphore structure.
+ */
+ ::BinarySemaphore bsem;
+
+ /**
+ * @brief BinarySemaphore constructor.
+ * @details The embedded @p ::BinarySemaphore structure is initialized.
+ *
+ * @param[in] taken initial state of the binary semaphore:
+ * - @a false, the initial state is not taken.
+ * - @a true, the initial state is taken.
+ * .
+ *
+ * @init
+ */
+ BinarySemaphore(bool taken);
+
+ /**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @return A message specifying how the invoking thread has been
+ * released from the semaphore.
+ * @retval RDY_OK if the binary semaphore has been successfully taken.
+ * @retval RDY_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ *
+ * @api
+ */
+ msg_t wait(void);
+
+ /**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @return A message specifying how the invoking thread has been
+ * released from the semaphore.
+ * @retval RDY_OK if the binary semaphore has been successfully taken.
+ * @retval RDY_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ *
+ * @sclass
+ */
+ msg_t waitS(void);
+
+ /**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] time 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 RDY_OK if the binary semaphore has been successfully taken.
+ * @retval RDY_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ * @retval RDY_TIMEOUT if the binary semaphore has not been signaled or reset
+ * within the specified timeout.
+ *
+ * @api
+ */
+ msg_t waitTimeout(systime_t time);
+
+ /**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] time 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 RDY_OK if the binary semaphore has been successfully taken.
+ * @retval RDY_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ * @retval RDY_TIMEOUT if the binary semaphore has not been signaled or reset
+ * within the specified timeout.
+ *
+ * @sclass
+ */
+ msg_t waitTimeoutS(systime_t time);
+
+ /**
+ * @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.
+ *
+ * @param[in] taken new state of the binary semaphore
+ * - @a FALSE, the new state is not taken.
+ * - @a TRUE, the new state is taken.
+ * .
+ *
+ * @api
+ */
+ void reset(bool taken);
+
+ /**
+ * @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.
+ * @note This function does not reschedule.
+ *
+ * @param[in] taken new state of the binary semaphore
+ * - @a FALSE, the new state is not taken.
+ * - @a TRUE, the new state is taken.
+ * .
+ *
+ * @iclass
+ */
+ void resetI(bool taken);
+
+ /**
+ * @brief Performs a signal operation on a binary semaphore.
+ *
+ * @api
+ */
+ void signal(void);
+
+ /**
+ * @brief Performs a signal operation on a binary semaphore.
+ * @note This function does not reschedule.
+ *
+ * @iclass
+ */
+ void signalI(void);
+
+ /**
+ * @brief Returns the binary semaphore current state.
+ *
+ * @return The binary semaphore current state.
+ * @retval false if the binary semaphore is not taken.
+ * @retval true if the binary semaphore is taken.
+ *
+ * @iclass
+ */
+ bool getStateI(void);
+};
#endif /* CH_USE_SEMAPHORES */
#if CH_USE_MUTEXES || defined(__DOXYGEN__)
@@ -912,7 +1108,7 @@ namespace chibios_rt { * @brief Mutex object constructor.
* @details The embedded @p ::Mutex structure is initialized.
*
- * @api
+ * @init
*/
Mutex(void);
@@ -989,7 +1185,7 @@ namespace chibios_rt { * @brief CondVar object constructor.
* @details The embedded @p ::CondVar structure is initialized.
*
- * @api
+ * @init
*/
CondVar(void);
@@ -1129,7 +1325,7 @@ namespace chibios_rt { * @brief EvtSource object constructor.
* @details The embedded @p ::EvtSource structure is initialized.
*
- * @api
+ * @init
*/
EvtSource(void);
@@ -1193,6 +1389,364 @@ namespace chibios_rt { };
#endif /* CH_USE_EVENTS */
+#if CH_USE_QUEUES || defined(__DOXYGEN__)
+ /*------------------------------------------------------------------------*
+ * chibios_rt::InputQueue *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Class encapsulating an input queue.
+ */
+ class InputQueue {
+ private:
+ /**
+ * @brief Embedded @p ::InputQueue structure.
+ */
+ ::InputQueue iq;
+
+ public:
+ /**
+ * @brief InputQueue constructor.
+ *
+ * @param[in] bp pointer to a memory area allocated as queue buffer
+ * @param[in] size size of the queue buffer
+ * @param[in] infy pointer to a callback function that is invoked when
+ * data is read from the queue. The value can be @p NULL.
+ * @param[in] link application defined pointer
+ *
+ * @init
+ */
+ InputQueue(uint8_t *bp, size_t size, qnotify_t infy, void *link);
+
+ /**
+ * @brief Returns the filled space into an input queue.
+ *
+ * @return The number of full bytes in the queue.
+ * @retval 0 if the queue is empty.
+ *
+ * @iclass
+ */
+ size_t getFullI(void);
+
+ /**
+ * @brief Returns the empty space into an input queue.
+ *
+ * @return The number of empty bytes in the queue.
+ * @retval 0 if the queue is full.
+ *
+ * @iclass
+ */
+ size_t getEmptyI(void);
+
+ /**
+ * @brief Evaluates to @p TRUE if the specified input queue is empty.
+ *
+ * @return The queue status.
+ * @retval false if the queue is not empty.
+ * @retval true if the queue is empty.
+ *
+ * @iclass
+ */
+ bool isEmptyI(void);
+
+ /**
+ * @brief Evaluates to @p TRUE if the specified input queue is full.
+ *
+ * @return The queue status.
+ * @retval FALSE if the queue is not full.
+ * @retval TRUE if the queue is full.
+ *
+ * @iclass
+ */
+ bool isFullI(void);
+
+ /**
+ * @brief Resets an input queue.
+ * @details All the data in the input queue is erased and lost, any waiting
+ * thread is resumed with status @p Q_RESET.
+ * @note A reset operation can be used by a low level driver in order to
+ * obtain immediate attention from the high level layers.
+ * @iclass
+ */
+ void resetI(void);
+
+ /**
+ * @brief Input queue write.
+ * @details A byte value is written into the low end of an input queue.
+ *
+ * @param[in] b the byte value to be written in the queue
+ * @return The operation status.
+ * @retval Q_OK if the operation has been completed with success.
+ * @retval Q_FULL if the queue is full and the operation cannot be
+ * completed.
+ *
+ * @iclass
+ */
+ msg_t putI(uint8_t b);
+
+ /**
+ * @brief Input queue read.
+ * @details This function reads a byte value from an input queue. If the queue
+ * is empty then the calling thread is suspended until a byte arrives
+ * in the queue.
+ *
+ * @return A byte value from the queue.
+ * @retval Q_RESET if the queue has been reset.
+ *
+ * @api
+ */
+ msg_t get();
+
+ /**
+ * @brief Input queue read with timeout.
+ * @details This function reads a byte value from an input queue. If the queue
+ * is empty then the calling thread is suspended until a byte arrives
+ * in the queue or a timeout occurs.
+ * @note The callback is invoked before reading the character from the
+ * buffer or before entering the state @p THD_STATE_WTQUEUE.
+ *
+ * @param[in] time 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 byte value from the queue.
+ * @retval Q_TIMEOUT if the specified time expired.
+ * @retval Q_RESET if the queue has been reset.
+ *
+ * @api
+ */
+ msg_t getTimeout(systime_t time);
+
+ /**
+ * @brief Input queue read with timeout.
+ * @details The function reads data from an input queue into a buffer. The
+ * operation completes when the specified amount of data has been
+ * transferred or after the specified timeout or if the queue has
+ * been reset.
+ * @note The function is not atomic, if you need atomicity it is suggested
+ * to use a semaphore or a mutex for mutual exclusion.
+ * @note The callback is invoked before reading each character from the
+ * buffer or before entering the state @p THD_STATE_WTQUEUE.
+ *
+ * @param[out] bp pointer to the data buffer
+ * @param[in] n the maximum amount of data to be transferred, the
+ * value 0 is reserved
+ * @param[in] time 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 The number of bytes effectively transferred.
+ *
+ * @api
+ */
+ size_t readTimeout(uint8_t *bp, size_t n, systime_t time);
+ };
+
+ /*------------------------------------------------------------------------*
+ * chibios_rt::InputQueueBuffer *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Template class encapsulating an input queue and its buffer.
+ *
+ * @param N size of the input queue
+ */
+ template <int N>
+ class InputQueueBuffer : public InputQueue {
+ private:
+ uint8_t iq_buf[N];
+
+ public:
+ /**
+ * @brief InputQueueBuffer constructor.
+ *
+ * @init
+ */
+ InputQueueBuffer(qnotify_t infy, void *link) : InputQueue(iq_buf, N,
+ infy, link) {
+ }
+ };
+
+ /*------------------------------------------------------------------------*
+ * chibios_rt::OutputQueue *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Class encapsulating an output queue.
+ */
+ class OutputQueue {
+ private:
+ /**
+ * @brief Embedded @p ::OutputQueue structure.
+ */
+ ::OutputQueue oq;
+
+ public:
+ /**
+ * @brief OutputQueue constructor.
+ *
+ * @param[in] bp pointer to a memory area allocated as queue buffer
+ * @param[in] size size of the queue buffer
+ * @param[in] onfy pointer to a callback function that is invoked when
+ * data is written to the queue. The value can be @p NULL.
+ * @param[in] link application defined pointer
+ *
+ * @init
+ */
+ OutputQueue(uint8_t *bp, size_t size, qnotify_t onfy, void *link);
+
+ /**
+ * @brief Returns the filled space into an output queue.
+ *
+ * @return The number of full bytes in the queue.
+ * @retval 0 if the queue is empty.
+ *
+ * @iclass
+ */
+ size_t getFullI(void);
+
+ /**
+ * @brief Returns the empty space into an output queue.
+ *
+ * @return The number of empty bytes in the queue.
+ * @retval 0 if the queue is full.
+ *
+ * @iclass
+ */
+ size_t getEmptyI(void);
+
+ /**
+ * @brief Evaluates to @p TRUE if the specified output queue is empty.
+ *
+ * @return The queue status.
+ * @retval false if the queue is not empty.
+ * @retval true if the queue is empty.
+ *
+ * @iclass
+ */
+ bool isEmptyI(void);
+
+ /**
+ * @brief Evaluates to @p TRUE if the specified output queue is full.
+ *
+ * @return The queue status.
+ * @retval FALSE if the queue is not full.
+ * @retval TRUE if the queue is full.
+ *
+ * @iclass
+ */
+ bool isFullI(void);
+
+ /**
+ * @brief Resets an output queue.
+ * @details All the data in the output queue is erased and lost, any waiting
+ * thread is resumed with status @p Q_RESET.
+ * @note A reset operation can be used by a low level driver in order to
+ * obtain immediate attention from the high level layers.
+ *
+ * @iclass
+ */
+ void resetI(void);
+
+ /**
+ * @brief Output queue write.
+ * @details This function writes a byte value to an output queue. If the queue
+ * is full then the calling thread is suspended until there is space
+ * in the queue.
+ *
+ * @param[in] b the byte value to be written in the queue
+ * @return The operation status.
+ * @retval Q_OK if the operation succeeded.
+ * @retval Q_RESET if the queue has been reset.
+ *
+ * @api
+ */
+ msg_t put(uint8_t b);
+
+ /**
+ * @brief Output queue write with timeout.
+ * @details This function writes a byte value to an output queue. If the queue
+ * is full then the calling thread is suspended until there is space
+ * in the queue or a timeout occurs.
+ * @note The callback is invoked after writing the character into the
+ * buffer.
+ *
+ * @param[in] b the byte value to be written in the queue
+ * @param[in] time 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 The operation status.
+ * @retval Q_OK if the operation succeeded.
+ * @retval Q_TIMEOUT if the specified time expired.
+ * @retval Q_RESET if the queue has been reset.
+ *
+ * @api
+ */
+ msg_t putTimeout(uint8_t b, systime_t time);
+
+ /**
+ * @brief Output queue read.
+ * @details A byte value is read from the low end of an output queue.
+ *
+ * @return The byte value from the queue.
+ * @retval Q_EMPTY if the queue is empty.
+ *
+ * @iclass
+ */
+ msg_t getI(void);
+
+ /**
+ * @brief Output queue write with timeout.
+ * @details The function writes data from a buffer to an output queue. The
+ * operation completes when the specified amount of data has been
+ * transferred or after the specified timeout or if the queue has
+ * been reset.
+ * @note The function is not atomic, if you need atomicity it is suggested
+ * to use a semaphore or a mutex for mutual exclusion.
+ * @note The callback is invoked after writing each character into the
+ * buffer.
+ *
+ * @param[out] bp pointer to the data buffer
+ * @param[in] n the maximum amount of data to be transferred, the
+ * value 0 is reserved
+ * @param[in] time 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 The number of bytes effectively transferred.
+ *
+ * @api
+ */
+ size_t writeTimeout(const uint8_t *bp, size_t n, systime_t time);
+};
+
+ /*------------------------------------------------------------------------*
+ * chibios_rt::OutputQueueBuffer *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Template class encapsulating an output queue and its buffer.
+ *
+ * @param N size of the output queue
+ */
+ template <int N>
+ class OutputQueueBuffer : public OutputQueue {
+ private:
+ uint8_t oq_buf[N];
+
+ public:
+ /**
+ * @brief OutputQueueBuffer constructor.
+ *
+ * @init
+ */
+ OutputQueueBuffer(qnotify_t onfy, void *link) : InputQueue(oq_buf, N,
+ onfy, link) {
+ }
+ };
+#endif /* CH_USE_QUEUES */
+
#if CH_USE_MAILBOXES || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::Mailbox *
@@ -1215,7 +1769,7 @@ namespace chibios_rt { * @p msg_t
* @param[in] n number of elements in the buffer array
*
- * @api
+ * @init
*/
Mailbox(msg_t *buf, cnt_t n);
@@ -1411,7 +1965,7 @@ namespace chibios_rt { /**
* @brief BufferMailbox constructor.
*
- * @api
+ * @init
*/
MailboxBuffer(void) : Mailbox(mb_buf,
(cnt_t)(sizeof mb_buf / sizeof (msg_t))) {
@@ -1436,7 +1990,7 @@ namespace chibios_rt { /**
* @brief MemoryPool constructor.
*
- * @api
+ * @init
*/
MemoryPool(size_t size, memgetfunc_t provider);
@@ -1518,6 +2072,11 @@ namespace chibios_rt { T pool_buf[N];
public:
+ /**
+ * @brief MemoryPoolBuffer constructor.
+ *
+ * @init
+ */
MemoryPoolBuffer(void) : MemoryPool(sizeof (T), NULL) {
loadArray(pool_buf, N);
|