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Diffstat (limited to 'src/lib/ch.hpp')
| -rw-r--r-- | src/lib/ch.hpp | 618 |
1 files changed, 0 insertions, 618 deletions
diff --git a/src/lib/ch.hpp b/src/lib/ch.hpp deleted file mode 100644 index b13e8db6d..000000000 --- a/src/lib/ch.hpp +++ /dev/null @@ -1,618 +0,0 @@ -/*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
-
- This file is part of ChibiOS/RT.
-
- ChibiOS/RT is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 3 of the License, or
- (at your option) any later version.
-
- ChibiOS/RT is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-/**
- * @file ch.hpp
- * @brief C++ wrapper classes and definitions.
- * @addtogroup CPlusPlusLibrary
- * @{
- */
-
-#include <ch.h>
-
-#ifndef _CH_HPP_
-#define _CH_HPP_
-
-namespace chibios_rt {
-
- /**
- * @brief Class encapsulating the base system functionalities.
- */
- class System {
- public:
- /**
- * @brief ChibiOS/RT initialization.
- * @details The system is initialized, the idle thread is spawned and the
- * current instruction flow becomes the main thread with priority
- * @p NORMALPRIO.
- */
- static void Init(void);
-
- /**
- * @brief Kernel lock.
- *
- * @note On some ports it is faster to invoke chSysLock() directly because
- * inlining.
- */
- static void Lock(void);
-
- /**
- * @brief Kernel unlock.
- *
- * @note On some ports it is faster to invoke chSysUnlock() directly
- * because inlining.
- */
- static void Unlock(void);
-
- /**
- * @brief Returns the system time as system ticks.
- *
- * @note the system tick time interval is implementation dependent.
- */
- static systime_t GetTime(void);
- };
-
- /**
- * @brief Timer class.
- */
- class Timer {
- public:
- /**
- * @brief Embedded @p VirtualTimer structure. - */
- struct ::VirtualTimer timer;
-
- /**
- * @brief Starts the timer.
- *
- * @param time the time in system ticks
- * @param vtfunc the timer callback function
- * @param par the parameter for the callback function
- * @note It must be called with the interrupts disabled.
- * @note The associated function is invoked by an interrupt handler.
- */
- void Set(systime_t time, vtfunc_t vtfunc, void *par);
-
- /**
- * @brief Resets the timer.
- *
- * @note It must be called with the interrupts disabled.
- * @note The timer MUST be active when this function is invoked.
- */
- void Reset();
-
- /**
- * @brief Returns the timer status.
- *
- * @retval TRUE The timer is armed.
- * @retval FALSE The timer already fired its callback.
- */
- bool IsArmed(void);
- };
-
- /**
- * @brief Base class for a ChibiOS/RT thread.
- * @details The thread body is the virtual function @p Main().
- */
- class BaseThread {
- public:
- /**
- * @brief Pointer to the system thread. - */
- ::Thread *thread_ref;
-
- /**
- * @brief Thread constructor.
- * @details The thread object is initialized and a system thread is
- * started.
- *
- * @param workspace pointer to the workspace area
- * @param wsize size of the workspace area
- * @param prio thread priority
- */
- BaseThread(void *workspace, size_t wsize, tprio_t prio);
-
- /**
- * @brief Thread exit.
- *
- * @param msg the exit message
- */
- static void Exit(msg_t msg);
-
-#if CH_USE_WAITEXIT
- /**
- * @brief Synchronization on Thread exit.
- *
- * @return the exit message from the thread
- */
- msg_t Wait(void);
-#endif /* CH_USE_WAITEXIT */
-
- /**
- * @brief Resumes the thread.
- * @details The thread encapsulated into the object is resumed.
- */
- void Resume(void);
-
- /**
- * @brief Changes the thread priority.
- *
- * @param newprio the new priority level
- */
- static void SetPriority(tprio_t newprio);
-
- /**
- * @brief Requests thread termination.
- * @details A termination flag is pended on the thread, it is thread
- * responsibility to detect it and exit.
- */
- void Terminate(void);
-
- /**
- * @brief Suspends the thread execution for the specified number of
- * system ticks.
- *
- * @param n the number of system ticks
- */
- static void Sleep(systime_t n);
-
- /**
- * @brief Suspends the thread execution until the specified time arrives.
- *
- * @param time the system time
- */
- static void SleepUntil(systime_t time);
-
-#if CH_USE_MESSAGES
- /**
- * @brief Sends a message to the thread and returns the answer.
- *
- * @param tp the target thread
- * @param msg the sent message
- * @return The returned message.
- */
- static msg_t SendMessage(::Thread *tp, msg_t msg);
-
- /**
- * @brief Sends a message to the thread and returns the answer.
- *
- * @param msg the sent message
- * @return The returned message.
- */
- msg_t SendMessage(msg_t msg);
-
- /**
- * @brief Waits for a message and returns it.
- *
- * @return The incoming message.
- */
- static msg_t WaitMessage(void);
-
- /**
- * @brief Returns an enqueued message or @p NULL.
- *
- * @return The incoming message.
- * @retval NULL No incoming message.
- */
- static msg_t GetMessage(void);
-
- /**
- * @brief Releases the next message in queue with a reply.
- *
- * @param msg the answer message
- */
- static void ReleaseMessage(msg_t msg);
-
- /**
- * @brief Returns true if there is at least one message in queue.
- *
- * @retval TRUE A message is waiting in queue.
- * @retval FALSE A message is not waiting in queue.
- */
- static bool IsPendingMessage(void);
-#endif /* CH_USE_MESSAGES */
-
- /**
- * @brief Thread body function.
- *
- * @return The exit message.
- */
- virtual msg_t Main(void);
- };
-
- /**
- * @brief Enhanced threads template class.
- * @details This class introduces thread names and static working area
- * allocation.
- *
- * @param N the working area size for the thread class
- */
- template <int N>
- class EnhancedThread : public BaseThread {
- protected:
- WORKING_AREA(wa, N); // Thread working area.
-
- public:
- /**
- * @brief The thread name. - */
- const char *name;
-
- /**
- * @brief Full constructor.
- * @details This constructor allows to set a priority level for the new
- * thread.
- * @param tname the name to be assigned to the thread
- * @param prio the priority to be assigned to the thread
- */
- EnhancedThread(const char *tname, tprio_t prio) :
- BaseThread(wa, sizeof wa, prio) {
-
- name = tname;
- }
-
- /**
- * @brief Simplified constructor.
- * @details This constructor allows to create a thread by simply
- * specifying a name. In is assumed @p NORMALPRIO as initial priority.
- *
- * @param tname the name to be assigned to the thread
- */
- EnhancedThread(const char *tname) :
- BaseThread(wa, sizeof wa, NORMALPRIO) {
-
- name = tname;
- }
- };
-
-#if CH_USE_SEMAPHORES
- /**
- * @brief Class encapsulating a semaphore.
- */
- class Semaphore {
- public:
- /**
- * @brief Embedded @p ::Semaphore structure.
- */
- struct ::Semaphore sem;
-
- /**
- * @brief Semaphore constructor.
- * @details The embedded @p ::Semaphore structure is initialized.
- *
- * @param n the semaphore counter value, must be greater or equal to zero
- */
- Semaphore(cnt_t n);
-
- /**
- * @brief Resets a semaphore.
- *
- * @param n the new semaphore counter value, must be greater or equal to zero
- */
- void Reset(cnt_t n);
-
- /**
- * @brief Wait operation on the semaphore.
- *
- * @retval RDY_OK if the semaphore was signaled or not taken.
- * @retval RDY_RESET if the semaphore was reset.
- */
- msg_t Wait(void);
-
- /**
- * @brief Wait operation on the semaphore with timeout.
- *
- * @param time the number of ticks before the operation fails
- * @retval RDY_OK if the semaphore was signaled or not taken.
- * @retval RDY_RESET if the semaphore was reset.
- * @retval RDY_TIMEOUT if the semaphore was not signaled or reset within the
- * specified timeout.
- */
- msg_t WaitTimeout(systime_t time);
-
- /**
- * @brief Signal operation on the semaphore.
- * @details The semaphore is signaled, the next thread in queue, if any,
- * is awakened.
- */
- void Signal(void);
-
-#if CH_USE_SEMSW
- /**
- * @brief Atomic signal and wait operations.
- *
- * @param ssem pointer to a @p Semaphore to be signaled
- * @param wsem pointer to a @p Semaphore to be wait on
- * @retval RDY_OK if the semaphore was signaled or not taken.
- * @retval RDY_RESET if the semaphore was reset.
- */
- static msg_t SignalWait(Semaphore *ssem, Semaphore *wsem);
-#endif /* CH_USE_SEMSW */
- };
-#endif /* CH_USE_SEMAPHORES */
-
-#if CH_USE_MUTEXES
- /**
- * @brief Class encapsulating a mutex.
- */
- class Mutex {
- public:
- /**
- * @brief Embedded @p ::Mutex structure.
- */
- struct ::Mutex mutex;
-
- /**
- * @brief Mutex constructor.
- * @details The embedded @p ::Mutex structure is initialized.
- */
- Mutex(void);
-
- /**
- * @brief Tries a lock operation on the mutex.
- * @retval TRUE if the mutex was successfully acquired
- * @retval FALSE if the lock attempt failed.
- */
- bool TryLock(void);
-
- /**
- * @brief Locks the mutex.
- * @details Performs a lock operation on the mutex, if the mutex is
- * already locked then the thread enters the mutex priority queue and
- * waits.
- */
- void Lock(void);
-
- /**
- * @brief Unlocks the mutex.
- * @details Performs an unlock operation on the mutex, the next waiting
- * thread, if any, is resumed and locks the mutex.
- */
- static void Unlock(void);
-
- /**
- * @brief Unlocks all the mutexes owned by the invoking thread.
- * @details This operation is <b>MUCH MORE</b> efficient than releasing
- * the mutexes one by one and not just because the call overhead, this
- * function does not have any overhead related to the priority inheritance
- * mechanism.
- */
- static void UnlockAll(void);
- };
-
-#if CH_USE_CONDVARS
- /**
- * @brief Class encapsulating a conditional variable.
- */
- class CondVar {
- public:
- /**
- * @brief Embedded @p ::CondVar structure.
- */
- struct ::CondVar condvar;
-
- /**
- * @brief CondVar constructor.
- * @details The embedded @p ::CondVar structure is initialized.
- */
- CondVar(void);
-
- /**
- * @brief Signals the CondVar.
- * @details The next thread waiting on the @p CondVar, if any, is awakened. - */
- void Signal(void);
-
- /**
- * @brief Broadcasts the CondVar. - * @details All the threads waiting on the @p CondVar, if any, are awakened.
- */
- void Broadcast(void);
-
- /**
- * @brief Waits on the CondVar while releasing the controlling mutex.
- * - * @return The wakep mode.
- * @retval RDY_OK if the condvar was signaled using chCondSignal().
- * @retval RDY_RESET if the condvar was signaled using chCondBroadcast().
- */
- msg_t Wait(void);
-
-#if CH_USE_CONDVARS_TIMEOUT
- /**
- * @brief Waits on the CondVar while releasing the controlling mutex.
- *
- * @param time the number of ticks before the operation fails
- * @return The wakep mode.
- * @retval RDY_OK if the condvar was signaled using chCondSignal().
- * @retval RDY_RESET if the condvar was signaled using chCondBroadcast().
- * @retval RDY_TIMEOUT if the condvar was not signaled within the specified
- * timeout.
- */
- msg_t WaitTimeout(systime_t time);
-#endif /* CH_USE_CONDVARS_TIMEOUT */
- };
-#endif /* CH_USE_CONDVARS */
-#endif /* CH_USE_MUTEXES */
-
-#if CH_USE_EVENTS
- /**
- * @brief Class encapsulating an event source.
- */
- class Event {
- public:
- /**
- * @brief Embedded @p ::EventSource structure.
- */
- struct ::EventSource event;
-
- /**
- * @brief Event constructor.
- * @details The embedded @p ::EventSource structure is initialized.
- */
- Event(void);
-
- /**
- * @brief Registers a listener on the event source.
- *
- * @param elp pointer to the @p EventListener structure
- * @param eid numeric identifier assigned to the Event Listener
- */
- void Register(EventListener *elp, eventid_t eid);
-
- /**
- * @brief Registers an Event Listener on an Event Source.
- *
- * @param elp pointer to the @p EventListener structure
- * @param emask the mask of event flags to be pended to the thread when the
- * event source is broadcasted
- * @note Multiple Event Listeners can specify the same bits to be pended.
- */
- void RegisterMask(EventListener *elp, eventmask_t emask);
-
- /**
- * @brief Unregisters a listener.
- * @details The specified listeners is no more signaled by the event
- * source.
- *
- * @param elp the listener to be unregistered
- */
- void Unregister(EventListener *elp);
-
- /**
- * @brief Broadcasts an event.
- * @details All the listeners registered on the event source are signaled.
- */
- void Broadcast(void);
-
- /**
- * @brief Clears specified events from the pending events mask.
- *
- * @param mask the events to be cleared
- * @return The pending events that were cleared.
- */
- static eventmask_t Clear(eventmask_t mask);
-
- /**
- * @brief Makes an events mask pending in the current thread.
- * @details This functon is @b much faster than using @p Broadcast().
- *
- * @param mask the events to be pended
- * @return The current pending events mask.
- */
- static eventmask_t Pend(eventmask_t mask);
-
- /**
- * @brief Invokes the event handlers associated with a mask.
- *
- * @param mask mask of the events to be dispatched
- * @param handlers an array of @p evhandler_t. The array must be
- * have indexes from zero up the higher registered event
- * identifier.
- */
- static void Dispatch(const evhandler_t handlers[], eventmask_t mask);
-
- /**
- * @brief Waits for a single event.
- * @details A pending event among those specified in @p ewmask is selected,
- * cleared and its mask returned.
- *
- * @param ewmask mask of the events that the function should wait for,
- * @p ALL_EVENTS enables all the events
- * @return The mask of the lowest id served and cleared event.
- * @note One and only one event is served in the function, the one with the
- * lowest event id. The function is meant to be invoked into a loop in
- * order to serve all the pending events.<br>
- * This means that Event Listeners with a lower event identifier have
- * an higher priority.
- */
- static eventmask_t WaitOne(eventmask_t ewmask);
-
- /**
- * @brief Waits for any of the specified events.
- * @details The function waits for any event among those specified in
- * @p ewmask to become pending then the events are cleared and returned.
- *
- * @param ewmask mask of the events that the function should wait for,
- * @p ALL_EVENTS enables all the events
- * @return The mask of the served and cleared events.
- */
- static eventmask_t WaitAny(eventmask_t ewmask);
-
- /**
- * @brief Waits for all the specified event flags then clears them.
- * @details The function waits for all the events specified in @p ewmask
- * to become pending then the events are cleared and returned.
- *
- * @param ewmask mask of the event ids that the function should wait for
- * @return The mask of the served and cleared events.
- */
- static eventmask_t WaitAll(eventmask_t ewmask);
-
-#if CH_USE_EVENTS_TIMEOUT
- /**
- * @brief Waits for a single event.
- * @details A pending event among those specified in @p ewmask is selected,
- * cleared and its mask returned.
- * @param ewmask mask of the events that the function should wait for,
- * @p ALL_EVENTS enables all the events
- * @param time the number of ticks before the operation timouts
- * @return The mask of the lowest id served and cleared event.
- * @retval 0 if the specified timeout expired.
- * @note One and only one event is served in the function, the one with the
- * lowest event id. The function is meant to be invoked into a loop in
- * order to serve all the pending events.<br>
- * This means that Event Listeners with a lower event identifier have
- * an higher priority.
- */
- static eventmask_t WaitOneTimeout(eventmask_t ewmask, systime_t time);
-
- /**
- * @brief Waits for any of the specified events.
- * @details The function waits for any event among those specified in
- * @p ewmask to become pending then the events are cleared and returned.
- *
- * @param ewmask mask of the events that the function should wait for,
- * @p ALL_EVENTS enables all the events
- * @param time the number of ticks before the operation timouts
- * @return The mask of the served and cleared events.
- * @retval 0 if the specified timeout expired.
- */
- static eventmask_t WaitAnyTimeout(eventmask_t ewmask, systime_t time);
-
- /**
- * @brief Waits for all the specified event flags then clears them.
- * @details The function waits for all the events specified in @p ewmask
- * to become pending then the events are cleared and returned.
- *
- * @param ewmask mask of the event ids that the function should wait for
- * @param time the number of ticks before the operation timouts
- * @return The mask of the served and cleared events.
- * @retval 0 if the specified timeout expired.
- */
- static eventmask_t WaitAllTimeout(eventmask_t ewmask, systime_t time);
-
-#endif /* CH_USE_EVENTS_TIMEOUT */
- };
-#endif /* CH_USE_EVENTS */
-}
-
-#endif /* _CH_HPP_ */
-
-/** @} */
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