diff options
| -rw-r--r-- | os/lib/include/chbsem.h | 2 | ||||
| -rw-r--r-- | os/lib/include/chmboxes.h | 2 | ||||
| -rw-r--r-- | os/lib/src/chmemheaps.c | 4 | ||||
| -rw-r--r-- | os/rt/include/chsem.h | 2 | ||||
| -rw-r--r-- | os/rt/include/chvt.h | 4 | ||||
| -rw-r--r-- | os/various/cpp_wrappers/ch.hpp | 115 |
6 files changed, 70 insertions, 59 deletions
diff --git a/os/lib/include/chbsem.h b/os/lib/include/chbsem.h index 64b597641..77ca30c25 100644 --- a/os/lib/include/chbsem.h +++ b/os/lib/include/chbsem.h @@ -297,7 +297,7 @@ static inline void chBSemSignal(binary_semaphore_t *bsp) { *
* @iclass
*/
-static inline bool chBSemGetStateI(binary_semaphore_t *bsp) {
+static inline bool chBSemGetStateI(const binary_semaphore_t *bsp) {
chDbgCheckClassI();
diff --git a/os/lib/include/chmboxes.h b/os/lib/include/chmboxes.h index eeff68751..899a8ce1e 100644 --- a/os/lib/include/chmboxes.h +++ b/os/lib/include/chmboxes.h @@ -175,7 +175,7 @@ static inline size_t chMBGetFreeCountI(const mailbox_t *mbp) { * @brief Returns the next message in the queue without removing it.
* @pre A message must be waiting in the queue for this function to work
* or it would return garbage. The correct way to use this macro is
- * to use @p chMBGetFullCountI() and then use this macro, all within
+ * to use @p chMBGetUsedCountI() and then use this macro, all within
* a lock state.
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
diff --git a/os/lib/src/chmemheaps.c b/os/lib/src/chmemheaps.c index ebbd46bad..fc01b7ccc 100644 --- a/os/lib/src/chmemheaps.c +++ b/os/lib/src/chmemheaps.c @@ -347,9 +347,9 @@ void chHeapFree(void *p) { * @param[in] heapp pointer to a heap descriptor or @p NULL in order to
* access the default heap.
* @param[in] totalp pointer to a variable that will receive the total
- * fragmented free space or @ NULL
+ * fragmented free space or @p NULL
* @param[in] largestp pointer to a variable that will receive the largest
- * free free block found space or @ NULL
+ * free free block found space or @p NULL
* @return The number of fragments in the heap.
*
* @api
diff --git a/os/rt/include/chsem.h b/os/rt/include/chsem.h index dc0597718..ab0d537b5 100644 --- a/os/rt/include/chsem.h +++ b/os/rt/include/chsem.h @@ -146,7 +146,7 @@ static inline void chSemFastSignalI(semaphore_t *sp) { *
* @iclass
*/
-static inline cnt_t chSemGetCounterI(semaphore_t *sp) {
+static inline cnt_t chSemGetCounterI(const semaphore_t *sp) {
chDbgCheckClassI();
diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h index 8af8e7144..868eb77e8 100644 --- a/os/rt/include/chvt.h +++ b/os/rt/include/chvt.h @@ -238,7 +238,7 @@ static inline bool chVTGetTimersStateI(sysinterval_t *timep) { *
* @iclass
*/
-static inline bool chVTIsArmedI(virtual_timer_t *vtp) {
+static inline bool chVTIsArmedI(const virtual_timer_t *vtp) {
chDbgCheckClassI();
@@ -255,7 +255,7 @@ static inline bool chVTIsArmedI(virtual_timer_t *vtp) { *
* @api
*/
-static inline bool chVTIsArmed(virtual_timer_t *vtp) {
+static inline bool chVTIsArmed(const virtual_timer_t *vtp) {
bool b;
chSysLock();
diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp index d876a5cb7..d52f80730 100644 --- a/os/various/cpp_wrappers/ch.hpp +++ b/os/various/cpp_wrappers/ch.hpp @@ -84,8 +84,9 @@ namespace chibios_rt { * @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.
+ * function is an exception caused by @p nullptr 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.
@@ -417,7 +418,7 @@ namespace chibios_rt { *
* @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.
+ * @retval nullptr allocation failed, core memory exhausted.
*
* @api
*/
@@ -434,7 +435,7 @@ namespace chibios_rt { *
* @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.
+ * @retval nullptr allocation failed, core memory exhausted.
*
* @iclass
*/
@@ -557,7 +558,7 @@ namespace chibios_rt { *
* @iclass
*/
- bool isArmedI(void) {
+ bool isArmedI(void) const {
return chVTIsArmedI(&vt);
}
@@ -572,7 +573,7 @@ namespace chibios_rt { * operations involving another thread are performed through
* an object of this type.
*/
- class ThreadReference {
+ class ThreadReference final {
public:
/**
* @brief Pointer to the system thread.
@@ -583,12 +584,12 @@ namespace chibios_rt { * @brief Thread reference constructor.
*
* @param[in] tp the target thread. This parameter can be
- * @p NULL if the thread is not known at
+ * @p nullptr if the thread is not known at
* creation time.
*
* @init
*/
- ThreadReference(thread_t *tp = NULL) : thread_ref(tp) {
+ ThreadReference(thread_t *tp = nullptr) : thread_ref(tp) {
}
@@ -597,11 +598,11 @@ namespace chibios_rt { *
* @return The reference state.
* @retval false if the reference is still valid.
- * @retval true if the reference is set to @p NULL.
+ * @retval true if the reference is set to @p nullptr.
*/
- bool isNull(void) {
+ bool isNull(void) const {
- return (bool)(thread_ref == NULL);
+ return (bool)(thread_ref == nullptr);
}
/**
@@ -614,7 +615,7 @@ namespace chibios_rt { *
* @api
*/
- void requestTerminate(void) {
+ void requestTerminate(void) const {
chThdTerminate(thread_ref);
}
@@ -629,7 +630,7 @@ namespace chibios_rt { *
* @api
*/
- ThreadReference addRef(void) {
+ ThreadReference addRef(void) const {
return ThreadReference(chThdAddRef(thread_ref));
}
@@ -644,14 +645,14 @@ namespace chibios_rt { * "detached" and will be removed from registry on termination.
* @pre The configuration option @p CH_CFG_USE_REGISTRY must be enabled in
* order to use this function.
- * @post The reference is set to @p NULL.
+ * @post The reference is set to @p nullptr.
* @note Static threads are not affected.
*
* @api
*/
void release(void) {
thread_t *tp = thread_ref;
- thread_ref = NULL;
+ thread_ref = nullptr;
chThdRelease(tp);
}
@@ -680,7 +681,7 @@ namespace chibios_rt { * order to use this function.
* @post Enabling @p chThdWait() requires 2-4 (depending on the
* architecture) extra bytes in the @p Thread structure.
- * @post The reference is set to @p NULL.
+ * @post The reference is set to @p nullptr.
* @note If @p CH_USE_DYNAMIC is not specified this function just waits
* for the thread termination, no memory allocators are involved.
*
@@ -690,7 +691,7 @@ namespace chibios_rt { */
msg_t wait(void) {
thread_t *tp = thread_ref;
- thread_ref = NULL;
+ thread_ref = nullptr;
msg_t msg = chThdWait(tp);
return msg;
@@ -706,7 +707,7 @@ namespace chibios_rt { *
* @api
*/
- msg_t sendMessage(msg_t msg){
+ msg_t sendMessage(msg_t msg) const {
return chMsgSend(thread_ref, msg);
}
@@ -719,26 +720,26 @@ namespace chibios_rt { *
* @api
*/
- bool isPendingMessage(void) {
+ bool isPendingMessage(void) const {
return chMsgIsPendingI(thread_ref);
}
/**
- * @brief Returns an enqueued message or @p NULL.
+ * @brief Returns an enqueued message or @p nullptr.
*
* @return The incoming message.
*
* @api
*/
- msg_t getMessage(void) {
+ msg_t getMessage(void) const {
return chMsgGet(thread_ref);
}
/**
* @brief Releases the next message in queue with a reply.
- * @post The reference is set to @p NULL.
+ * @post The reference is set to @p nullptr.
*
* @param[in] msg the answer message
*
@@ -746,7 +747,7 @@ namespace chibios_rt { */
void releaseMessage(msg_t msg) {
thread_t *tp = thread_ref;
- thread_ref = NULL;
+ thread_ref = nullptr;
chMsgRelease(tp, msg);
}
@@ -760,7 +761,7 @@ namespace chibios_rt { *
* @api
*/
- void signalEvents(eventmask_t mask) {
+ void signalEvents(eventmask_t mask) const {
chEvtSignal(thread_ref, mask);
}
@@ -772,7 +773,7 @@ namespace chibios_rt { *
* @iclass
*/
- void signalEventsI(eventmask_t mask) {
+ void signalEventsI(eventmask_t mask) const {
chEvtSignalI(thread_ref, mask);
}
@@ -789,7 +790,7 @@ namespace chibios_rt { *
* @xclass
*/
- systime_t getTicksX(void) {
+ systime_t getTicksX(void) const {
return chThdGetTicksX(thread_ref);
}
@@ -807,7 +808,7 @@ namespace chibios_rt { * @details Returns the most ancient thread in the system, usually this is
* the main thread unless it terminated. A reference is added to the
* returned thread in order to make sure its status is not lost.
- * @note This function cannot return @p NULL because there is always at
+ * @note This function cannot return @p nullptr because there is always at
* least one thread in the system.
*
* @return A reference to the most ancient thread.
@@ -826,7 +827,7 @@ namespace chibios_rt { *
* @param[in] tref reference to the thread
* @return A reference to the next thread. The reference is
- * set to @p NULL if there is no next thread.
+ * set to @p nullptr if there is no next thread.
*
* @api
*/
@@ -844,7 +845,7 @@ namespace chibios_rt { * @param[in] name the thread name
* @return A pointer to the found thread.
* @return A reference to the found thread. The reference is
- * set to @p NULL if no next thread is found.
+ * set to @p nullptr if no next thread is found.
*
* @api
*/
@@ -891,13 +892,7 @@ namespace chibios_rt { *
* @api
*/
- virtual ThreadReference start(tprio_t prio) {
-
- (void)prio;
-
- return ThreadReference(chThdGetSelfX());
- }
-
+ virtual ThreadReference start(tprio_t prio) = 0;
/**
* @brief Returns a reference to the current thread.
@@ -1339,7 +1334,7 @@ namespace chibios_rt { */
ThreadStayPoint() {
- thread_ref = NULL;
+ thread_ref = nullptr;
}
/* Prohibit copy construction and assignment.*/
@@ -1350,7 +1345,7 @@ namespace chibios_rt { * @brief Suspends the current thread on the stay point.
* @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.
+ * was set to @p nullptr.
*
* @return The incoming message.
*
@@ -1365,7 +1360,7 @@ namespace chibios_rt { * @brief Suspends the current thread on the stay point 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.
+ * was set to @p nullptr.
*
*
* @param[in] timeout the number of ticks before the operation timeouts,
@@ -1697,7 +1692,7 @@ namespace chibios_rt { *
* @iclass
*/
- cnt_t getCounterI(void) {
+ cnt_t getCounterI(void) const {
return chSemGetCounterI(&sem);
}
@@ -1901,7 +1896,7 @@ namespace chibios_rt { *
* @iclass
*/
- bool getStateI(void) {
+ bool getStateI(void) const {
return (bool)chBSemGetStateI(&bsem);
}
@@ -2613,6 +2608,22 @@ namespace chibios_rt { }
/**
+ * @brief Returns the next message in the queue without removing it.
+ * @pre A message must be waiting in the queue for this function to work
+ * or it would return garbage. The correct way to use this macro is
+ * to use @p getUsedCountI() and then use this macro, all within
+ * a lock state.
+ *
+ * @return The next message in queue.
+ *
+ * @iclass
+ */
+ T peekI(const mailbox_t *mbp) const {
+
+ return chMBPeekI(&mb);
+ }
+
+ /**
* @brief Returns the number of free message slots into a mailbox.
* @note Can be invoked in any system state but if invoked out of a
* locked state then the returned value may change after reading.
@@ -2623,7 +2634,7 @@ namespace chibios_rt { *
* @iclass
*/
- cnt_t getFreeCountI(void) {
+ cnt_t getFreeCountI(void) const {
return chMBGetFreeCountI(&mb);
}
@@ -2639,7 +2650,7 @@ namespace chibios_rt { *
* @iclass
*/
- cnt_t getUsedCountI(void) {
+ cnt_t getUsedCountI(void) const {
return chMBGetUsedCountI(&mb);
}
@@ -2695,7 +2706,7 @@ namespace chibios_rt { * pool, the minimum accepted size is the size of
* a pointer to void.
* @param[in] provider memory provider function for the memory pool or
- * @p NULL if the pool is not allowed to grow
+ * @p nullptr if the pool is not allowed to grow
* automatically
*
* @init
@@ -2712,7 +2723,7 @@ namespace chibios_rt { * pool, the minimum accepted size is the size of
* a pointer to void.
* @param[in] provider memory provider function for the memory pool or
- * @p NULL if the pool is not allowed to grow
+ * @p nullptr if the pool is not allowed to grow
* automatically
* @param[in] p pointer to the array first element
* @param[in] n number of elements in the array
@@ -2754,7 +2765,7 @@ namespace chibios_rt { * @pre The memory pool must be already been initialized.
*
* @return The pointer to the allocated object.
- * @retval NULL if pool is empty.
+ * @retval nullptr if pool is empty.
*
* @iclass
*/
@@ -2768,7 +2779,7 @@ namespace chibios_rt { * @pre The memory pool must be already been initialized.
*
* @return The pointer to the allocated object.
- * @retval NULL if pool is empty.
+ * @retval nullptr if pool is empty.
*
* @api
*/
@@ -2837,7 +2848,7 @@ namespace chibios_rt { *
* @init
*/
- ObjectsPool(void) : MemoryPool(sizeof (T), NULL) {
+ ObjectsPool(void) : MemoryPool(sizeof (T), nullptr) {
loadArray(pool_buf, N);
}
@@ -2884,11 +2895,11 @@ namespace chibios_rt { * @pre The heap must be already been initialized.
*
* @return The pointer to the allocated object.
- * @retval NULL if pool is empty.
+ * @retval nullptr if pool is empty.
*
* @api
*/
- inline void *alloc(const size_t size) {
+ void *alloc(const size_t size) {
return chHeapAlloc(&heap, size);
}
@@ -2900,7 +2911,7 @@ namespace chibios_rt { *
* @api
*/
- inline void free(void *objp) {
+ void free(void *objp) {
chHeapFree(objp);
}
@@ -2910,7 +2921,7 @@ namespace chibios_rt { *
* @param[out] frag the size of total fragmented free space
* @param[in] largestp pointer to a variable that will receive the largest
- * free free block found space or @ NULL
+ * free free block found space or @p nullptr
* @return the number of fragments in the heap
*
* @api
|