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

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 {