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authorGiovanni Di Sirio <gdisirio@gmail.com>2018-04-28 14:29:12 +0000
committerGiovanni Di Sirio <gdisirio@gmail.com>2018-04-28 14:29:12 +0000
commit770087b130c3c2dfd675c0845ed5efa682c3144f (patch)
tree09e4174f564caf9eb2afb607b222b9c292433692 /os/various
parent0392211c8a8cbe3dfbff3e6bbb21805aac2b661d (diff)
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Added Monitor template class, removed CondVar class, some renaming, documentation cleanup.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11968 110e8d01-0319-4d1e-a829-52ad28d1bb01
Diffstat (limited to 'os/various')
-rw-r--r--os/various/cpp_wrappers/ch.hpp318
1 files changed, 177 insertions, 141 deletions
diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp
index 7bfaea5d2..611040240 100644
--- a/os/various/cpp_wrappers/ch.hpp
+++ b/os/various/cpp_wrappers/ch.hpp
@@ -387,7 +387,7 @@ namespace chibios_rt {
* @brief RAII helper for reentrant critical sections.
*/
class CriticalSectionLocker {
- volatile const ::syssts_t syssts = chSysGetStatusAndLockX();
+ volatile const syssts_t syssts = chSysGetStatusAndLockX();
public:
~CriticalSectionLocker() {
@@ -482,7 +482,7 @@ namespace chibios_rt {
*/
class Timer {
/**
- * @brief Embedded @p VirtualTimer structure.
+ * @brief Embedded @p virtual_timer_t structure.
*/
virtual_timer_t vt;
@@ -590,18 +590,16 @@ namespace chibios_rt {
* an object of this type.
*/
class ThreadReference final {
- public:
/**
* @brief Pointer to the system thread.
*/
thread_t *thread_ref;
+ public:
/**
* @brief Thread reference constructor.
*
- * @param[in] tp the target thread. This parameter can be
- * @p nullptr if the thread is not known at
- * creation time.
+ * @param[in] tp the target thread
*
* @init
*/
@@ -622,6 +620,14 @@ namespace chibios_rt {
}
/**
+ * @brief Returns the low level pointer to the referenced thread.
+ */
+ thread_t *getInner(void) {
+
+ return thread_ref;
+ }
+
+ /**
* @brief Requests a thread termination.
* @pre The target thread must be written to invoke periodically
* @p chThdShouldTerminate() and terminate cleanly if it returns
@@ -849,7 +855,7 @@ namespace chibios_rt {
*/
static ThreadReference nextThread(ThreadReference tref) {
- return ThreadReference(chRegNextThread(tref.thread_ref));
+ return ThreadReference(chRegNextThread(tref.getInner()));
}
/**
@@ -1340,7 +1346,7 @@ namespace chibios_rt {
/**
* @brief Pointer to the suspended thread.
*/
- thread_reference_t thread_ref;
+ thread_reference_t thread_ref = nullptr;
public:
/**
@@ -1350,7 +1356,6 @@ namespace chibios_rt {
*/
ThreadStayPoint() {
- thread_ref = nullptr;
}
/* Prohibit copy construction and assignment.*/
@@ -1426,13 +1431,23 @@ namespace chibios_rt {
};
/*------------------------------------------------------------------------*
+ * chibios_rt::SynchronizationObject *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Base class for all synchronization objects.
+ * @note No other uses.
+ */
+ class SynchronizationObject {
+ };
+
+ /*------------------------------------------------------------------------*
* chibios_rt::ThreadsQueue *
*------------------------------------------------------------------------*/
/**
* @brief Threads queue class.
* @details This class encapsulates a queue of threads.
*/
- class ThreadsQueue {
+ class ThreadsQueue : SynchronizationObject {
/**
* @brief Pointer to the system thread.
*/
@@ -1513,16 +1528,16 @@ namespace chibios_rt {
/**
* @brief Class encapsulating a semaphore.
*/
- class CounterSemaphore {
+ class CounterSemaphore : SynchronizationObject {
/**
- * @brief Embedded @p ::Semaphore structure.
+ * @brief Embedded @p semaphore_t structure.
*/
semaphore_t sem;
public:
/**
* @brief CounterSemaphore constructor.
- * @details The embedded @p ::Semaphore structure is initialized.
+ * @details The embedded @p Semaphore structure is initialized.
*
* @param[in] n the semaphore counter value, must be greater
* or equal to zero
@@ -1740,9 +1755,9 @@ namespace chibios_rt {
/**
* @brief Class encapsulating a binary semaphore.
*/
- class BinarySemaphore {
+ class BinarySemaphore : SynchronizationObject {
/**
- * @brief Embedded @p ::Semaphore structure.
+ * @brief Embedded @p binary_semaphore_t structure.
*/
binary_semaphore_t bsem;
@@ -1926,16 +1941,16 @@ namespace chibios_rt {
/**
* @brief Class encapsulating a mutex.
*/
- class Mutex {
+ class Mutex : SynchronizationObject {
/**
- * @brief Embedded @p ::Mutex structure.
+ * @brief Embedded @p mutex_t structure.
*/
mutex_t mutex;
public:
/**
* @brief Mutex object constructor.
- * @details The embedded @p ::Mutex structure is initialized.
+ * @details The embedded @p mutex_t structure is initialized.
*
* @init
*/
@@ -2081,7 +2096,7 @@ namespace chibios_rt {
*/
class MutexLocker
{
- chibios_rt::Mutex& mutex;
+ Mutex& mutex;
public:
MutexLocker(Mutex& m) : mutex(m) {
@@ -2097,159 +2112,180 @@ namespace chibios_rt {
#if (CH_CFG_USE_CONDVARS == TRUE) || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
- * chibios_rt::CondVar *
+ * chibios_rt::Monitor *
*------------------------------------------------------------------------*/
/**
- * @brief Class encapsulating a conditional variable.
+ * @brief Template class to be used for implementing a monitor.
*/
- class CondVar {
- /**
- * @brief Embedded @p ::CondVar structure.
- */
- condition_variable_t condvar;
+ template <unsigned N>
+ class Monitor: Mutex {
+ condition_variable_t condvars[N];
- public:
+ protected:
/**
- * @brief CondVar object constructor.
- * @details The embedded @p ::CondVar structure is initialized.
+ * @brief Waits on the condition variable releasing the mutex lock.
*
- * @init
+ * @param[in] var the condition variable index
+ * @return A message specifying how the invoking thread has
+ * been released from the condition variable.
+ * @retval MSG_OK if the condition variable has been signaled using
+ * @p signal().
+ * @retval MSG_RESET if the condition variable has been signaled using
+ * @p broadcast().
+ *
+ * @api
*/
- CondVar(void) {
+ msg_t wait(unsigned var) {
+
+ chDbgCheck(var < N);
- chCondObjectInit(&condvar);
+ return chCondWait(&condvars[var]);
}
/**
- * @brief Signals one thread that is waiting on the condition variable.
+ * @brief Waits on the condition variable releasing the mutex lock.
*
- * @api
+ * @param[in] var the condition variable index
+ * @return A message specifying how the invoking thread has
+ * been released from the condition variable.
+ * @retval MSG_OK if the condition variable has been signaled using
+ * @p signal().
+ * @retval MSG_RESET if the condition variable has been signaled using
+ * @p broadcast().
+ *
+ * @sclass
*/
- void signal(void) {
+ msg_t waitS(unsigned var) {
- chCondSignal(&condvar);
+ chDbgCheck(var < N);
+
+ return chCondWaitS(&condvars[var]);
}
+#if (CH_CFG_USE_CONDVARS_TIMEOUT == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Signals one thread that is waiting on the condition variable.
- * @post This function does not reschedule so a call to a rescheduling
- * function must be performed before unlocking the kernel. Note
- * that interrupt handlers always reschedule on exit so an
- * explicit reschedule must not be performed in ISRs.
+ * @brief Waits on the CondVar while releasing the controlling mutex.
*
- * @iclass
+ * @param[in] var the condition variable index
+ * @param[in] timeout the number of ticks before the operation fails
+ * @return The wakep mode.
+ * @retval MSG_OK if the condition variable was signaled using
+ * @p signal().
+ * @retval MSG_RESET if the condition variable was signaled using
+ * @p broadcast().
+ * @retval MSG_TIMEOUT if the condition variable was not signaled
+ * within the specified timeout.
+ *
+ * @api
*/
- void signalI(void) {
+ msg_t wait(unsigned var, sysinterval_t timeout) {
+
+ chDbgCheck(var < N);
- chCondSignalI(&condvar);
+ return chCondWaitTimeout(&condvars[var], timeout);
}
/**
- * @brief Signals all threads that are waiting on the condition variable.
+ * @brief Waits on the CondVar while releasing the controlling mutex.
*
- * @api
+ * @param[in] var the condition variable index
+ * @param[in] timeout the number of ticks before the operation fails
+ * @return The wakep mode.
+ * @retval MSG_OK if the condition variable was signaled using
+ * @p signal().
+ * @retval MSG_RESET if the condition variable was signaled using
+ * @p broadcast().
+ * @retval MSG_TIMEOUT if the condition variable was not signaled
+ * within the specified timeout.
+ *
+ * @sclass
*/
- void broadcast(void) {
+ msg_t waitS(unsigned var, sysinterval_t timeout) {
- chCondBroadcast(&condvar);
+ chDbgCheck(var < N);
+
+ return chCondWaitTimeoutS(&condvars[var], timeout);
}
+#endif /* CH_CFG_USE_CONDVARS_TIMEOUT == TRUE */
+ public:
/**
- * @brief Signals all threads that are waiting on the condition variable.
- * @post This function does not reschedule so a call to a rescheduling
- * function must be performed before unlocking the kernel. Note
- * that interrupt handlers always reschedule on exit so an
- * explicit reschedule must not be performed in ISRs.
+ * @brief Monitor object constructor.
*
- * @iclass
+ * @init
*/
- void broadcastI(void) {
+ Monitor(void) : Mutex() {
- chCondBroadcastI(&condvar);
+ for (unsigned i = 0; i < N; i++) {
+ chCondObjectInit(&condvars[i]);
+ }
}
/**
- * @brief Waits on the condition variable releasing the mutex lock.
- * @details Releases the currently owned mutex, waits on the condition
- * variable, and finally acquires the mutex again. All the
- * sequence is performed atomically.
- * @pre The invoking thread <b>must</b> have at least one owned mutex.
+ * @brief Signals one thread that is waiting on the condition variable.
*
- * @return A message specifying how the invoking thread has
- * been released from the condition variable.
- * @retval MSG_OK if the condvar has been signaled using
- * @p chCondSignal().
- * @retval MSG_RESET if the condvar has been signaled using
- * @p chCondBroadcast().
+ * @param[in] var the condition variable index
*
* @api
*/
- msg_t wait(void) {
+ void signal(unsigned var) {
- return chCondWait(&condvar);
+ chDbgCheck(var < N);
+
+ chCondSignal(&condvars[var]);
}
/**
- * @brief Waits on the condition variable releasing the mutex lock.
- * @details Releases the currently owned mutex, waits on the condition
- * variable, and finally acquires the mutex again. All the
- * sequence is performed atomically.
- * @pre The invoking thread <b>must</b> have at least one owned mutex.
+ * @brief Signals one thread that is waiting on the condition variable.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel. Note
+ * that interrupt handlers always reschedule on exit so an
+ * explicit reschedule must not be performed in ISRs.
*
- * @return A message specifying how the invoking thread has
- * been released from the condition variable.
- * @retval MSG_OK if the condvar has been signaled using
- * @p chCondSignal().
- * @retval MSG_RESET if the condvar has been signaled using
- * @p chCondBroadcast().
+ * @param[in] var the condition variable index
*
- * @sclass
+ * @iclass
*/
- msg_t waitS(void) {
+ void signalI(unsigned var) {
- return chCondWaitS(&condvar);
+ chDbgCheck(var < N);
+
+ chCondSignalI(&condvars[var]);
}
-#if (CH_CFG_USE_CONDVARS_TIMEOUT == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Waits on the CondVar while releasing the controlling mutex.
+ * @brief Signals all threads that are waiting on the condition variable.
*
- * @param[in] timeout the number of ticks before the operation fails
- * @return The wakep mode.
- * @retval MSG_OK if the condvar was signaled using
- * @p chCondSignal().
- * @retval MSG_RESET if the condvar was signaled using
- * @p chCondBroadcast().
- * @retval MSG_TIMEOUT if the condvar was not signaled within the
- * specified timeout.
+ * @param[in] var the condition variable index
*
* @api
*/
- msg_t wait(sysinterval_t timeout) {
+ void broadcast(unsigned var) {
+
+ chDbgCheck(var < N);
- return chCondWaitTimeout(&condvar, timeout);
+ chCondBroadcast(&condvars[var]);
}
/**
- * @brief Waits on the CondVar while releasing the controlling mutex.
+ * @brief Signals all threads that are waiting on the condition variable.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel. Note
+ * that interrupt handlers always reschedule on exit so an
+ * explicit reschedule must not be performed in ISRs.
*
- * @param[in] timeout the number of ticks before the operation fails
- * @return The wakep mode.
- * @retval MSG_OK if the condvar was signaled using
- * @p chCondSignal().
- * @retval MSG_RESET if the condvar was signaled using
- * @p chCondBroadcast().
- * @retval MSG_TIMEOUT if the condvar was not signaled within the
- * specified timeout.
+ * @param[in] var the condition variable index
*
- * @sclass
+ * @iclass
*/
- msg_t waitS(sysinterval_t timeout) {
+ void broadcastI(unsigned var) {
- return chCondWaitTimeoutS(&condvar, timeout);
+ chDbgCheck(var < N);
+
+ chCondBroadcastI(&condvars[var]);
}
-#endif /* CH_CFG_USE_CONDVARS_TIMEOUT == TRUE */
};
+
#endif /* CH_CFG_USE_CONDVARS == TRUE */
#endif /* CH_CFG_USE_MUTEXES == TRUE */
@@ -2260,18 +2296,18 @@ namespace chibios_rt {
/**
* @brief Class encapsulating an event listener.
*/
- class EvtListener {
+ class EventListener {
public:
/**
- * @brief Embedded @p ::EventListener structure.
+ * @brief Embedded @p event_listener_t structure.
*/
event_listener_t ev_listener;
/**
* @brief Returns the pending flags from the listener and clears them.
*
- * @return The flags added to the listener by the
- * associated event source.
+ * @return The flags added to the listener by the
+ * associated event source.
*
* @api
*/
@@ -2281,8 +2317,8 @@ namespace chibios_rt {
}
/**
- * @brief Returns the flags associated to an @p EventListener.
- * @details The flags are returned and the @p EventListener flags mask is
+ * @brief Returns the flags associated to an @p event_listener_t.
+ * @details The flags are returned and the @p event_listener_t flags mask is
* cleared.
*
* @return The flags added to the listener by the associated
@@ -2302,20 +2338,20 @@ namespace chibios_rt {
/**
* @brief Class encapsulating an event source.
*/
- class EvtSource {
+ class EventSource {
/**
- * @brief Embedded @p ::EventSource structure.
+ * @brief Embedded @p event_source_t structure.
*/
event_source_t ev_source;
public:
/**
* @brief EvtSource object constructor.
- * @details The embedded @p ::EventSource structure is initialized.
+ * @details The embedded @p event_source_t structure is initialized.
*
* @init
*/
- EvtSource(void) {
+ EventSource(void) {
chEvtObjectInit(&ev_source);
}
@@ -2323,13 +2359,13 @@ namespace chibios_rt {
/**
* @brief Registers a listener on the event source.
*
- * @param[in] elp pointer to the @p EvtListener object
- * @param[in] eid numeric identifier assigned to the Event
- * Listener
+ * @param[in] elp pointer to the @p EvtListener object
+ * @param[in] eid numeric identifier assigned to the Event
+ * Listener
*
* @api
*/
- void registerOne(chibios_rt::EvtListener *elp,
+ void registerOne(EventListener *elp,
eventid_t eid) {
chEvtRegister(&ev_source, &elp->ev_listener, eid);
@@ -2339,13 +2375,13 @@ namespace chibios_rt {
* @brief Registers an Event Listener on an Event Source.
* @note Multiple Event Listeners can specify the same bits to be added.
*
- * @param[in] elp pointer to the @p EvtListener object
- * @param[in] emask the mask of event flags to be pended to the
- * thread when the event source is broadcasted
+ * @param[in] elp pointer to the @p EvtListener object
+ * @param[in] emask the mask of event flags to be pended to the
+ * thread when the event source is broadcasted
*
* @api
*/
- void registerMask(chibios_rt::EvtListener *elp,
+ void registerMask(EventListener *elp,
eventmask_t emask) {
chEvtRegisterMask(&ev_source, &elp->ev_listener, emask);
@@ -2356,11 +2392,11 @@ namespace chibios_rt {
* @details The specified listeners is no more signaled by the event
* source.
*
- * @param[in] elp the listener to be unregistered
+ * @param[in] elp the listener to be unregistered
*
* @api
*/
- void unregister(chibios_rt::EvtListener *elp) {
+ void unregister(EventListener *elp) {
chEvtUnregister(&ev_source, &elp->ev_listener);
}
@@ -2370,8 +2406,8 @@ namespace chibios_rt {
* @details All the listeners registered on the event source are signaled
* and the flags are added to the listener's flags mask.
*
- * @param[in] flags the flags set to be added to the listener
- * flags mask
+ * @param[in] flags the flags set to be added to the listener
+ * flags mask
*
* @api
*/
@@ -2385,8 +2421,8 @@ namespace chibios_rt {
* @details All the listeners registered on the event source are signaled
* and the flags are added to the listener's flags mask.
*
- * @param[in] flags the flags set to be added to the listener
- * flags mask
+ * @param[in] flags the flags set to be added to the listener
+ * flags mask
*
* @iclass
*/
@@ -2410,18 +2446,18 @@ namespace chibios_rt {
class MailboxBase {
/**
- * @brief Embedded @p ::Mailbox structure.
+ * @brief Embedded @p mailbox_t structure.
*/
mailbox_t mb;
public:
/**
* @brief Mailbox constructor.
- * @details The embedded @p ::Mailbox structure is initialized.
+ * @details The embedded @p mailbox_t structure is initialized.
*
- * @param[in] buf pointer to the messages buffer as an array of
- * @p msg_t
- * @param[in] n number of elements in the buffer array
+ * @param[in] buf pointer to the messages buffer as an array of
+ * @p msg_t
+ * @param[in] n number of elements in the buffer array
*
* @init
*/
@@ -2732,7 +2768,7 @@ namespace chibios_rt {
*/
class MemoryPool {
/**
- * @brief Embedded @p ::MemoryPool structure.
+ * @brief Embedded @p memory_pool_t structure.
*/
memory_pool_t pool;
@@ -2902,7 +2938,7 @@ namespace chibios_rt {
*/
class Heap {
/**
- * @brief Embedded @p ::Heap structure.
+ * @brief Embedded @p memory_heap_t structure.
*/
memory_heap_t heap;
@@ -2975,8 +3011,8 @@ namespace chibios_rt {
* chibios_rt::BaseSequentialStreamInterface *
*------------------------------------------------------------------------*/
/**
- * @brief Interface of a ::BaseSequentialStream.
- * @note You can cast a ::BaseSequentialStream to this interface and use
+ * @brief Interface of a BaseSequentialStream.
+ * @note You can cast a BaseSequentialStream to this interface and use
* it, the memory layout is the same.
*/
class BaseSequentialStreamInterface {