1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
|
/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS 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 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 chmboxes.h
* @brief Mailboxes macros and structures.
*
* @addtogroup mailboxes
* @{
*/
#ifndef CHMBOXES_H
#define CHMBOXES_H
#if (CH_CFG_USE_MAILBOXES == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/**
* @brief Structure representing a mailbox object.
*/
typedef struct {
msg_t *buffer; /**< @brief Pointer to the mailbox
buffer. */
msg_t *top; /**< @brief Pointer to the location
after the buffer. */
msg_t *wrptr; /**< @brief Write pointer. */
msg_t *rdptr; /**< @brief Read pointer. */
size_t cnt; /**< @brief Messages in queue. */
bool reset; /**< @brief True in reset state. */
threads_queue_t qw; /**< @brief Queued writers. */
threads_queue_t qr; /**< @brief Queued readers. */
} mailbox_t;
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/**
* @brief Data part of a static mailbox initializer.
* @details This macro should be used when statically initializing a
* mailbox that is part of a bigger structure.
*
* @param[in] name the name of the mailbox variable
* @param[in] buffer pointer to the mailbox buffer array of @p msg_t
* @param[in] size number of @p msg_t elements in the buffer array
*/
#define _MAILBOX_DATA(name, buffer, size) { \
(msg_t *)(buffer), \
(msg_t *)(buffer) + size, \
(msg_t *)(buffer), \
(msg_t *)(buffer), \
(size_t)0, \
false, \
_THREADS_QUEUE_DATA(name.qw), \
_THREADS_QUEUE_DATA(name.qr), \
}
/**
* @brief Static mailbox initializer.
* @details Statically initialized mailboxes require no explicit
* initialization using @p chMBObjectInit().
*
* @param[in] name the name of the mailbox variable
* @param[in] buffer pointer to the mailbox buffer array of @p msg_t
* @param[in] size number of @p msg_t elements in the buffer array
*/
#define MAILBOX_DECL(name, buffer, size) \
mailbox_t name = _MAILBOX_DATA(name, buffer, size)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void chMBObjectInit(mailbox_t *mbp, msg_t *buf, size_t n);
void chMBReset(mailbox_t *mbp);
void chMBResetI(mailbox_t *mbp);
msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
msg_t chMBPostI(mailbox_t *mbp, msg_t msg);
msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg);
msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp);
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
/**
* @brief Returns the mailbox buffer size as number of messages.
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
* @return The size of the mailbox.
*
* @iclass
*/
static inline size_t chMBGetSizeI(const mailbox_t *mbp) {
/*lint -save -e9033 [10.8] Perfectly safe pointers
arithmetic.*/
return (size_t)(mbp->top - mbp->buffer);
/*lint -restore*/
}
/**
* @brief Returns the number of used message slots into a mailbox.
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
* @return The number of queued messages.
*
* @iclass
*/
static inline size_t chMBGetUsedCountI(const mailbox_t *mbp) {
chDbgCheckClassI();
return mbp->cnt;
}
/**
* @brief Returns the number of free message slots into a mailbox.
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
* @return The number of empty message slots.
*
* @iclass
*/
static inline size_t chMBGetFreeCountI(const mailbox_t *mbp) {
chDbgCheckClassI();
return chMBGetSizeI(mbp) - chMBGetUsedCountI(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 chMBGetUsedCountI() and then use this macro, all within
* a lock state.
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
* @return The next message in queue.
*
* @iclass
*/
static inline msg_t chMBPeekI(const mailbox_t *mbp) {
chDbgCheckClassI();
return *mbp->rdptr;
}
/**
* @brief Terminates the reset state.
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
*
* @xclass
*/
static inline void chMBResumeX(mailbox_t *mbp) {
mbp->reset = false;
}
#endif /* CH_CFG_USE_MAILBOXES == TRUE */
#endif /* CHMBOXES_H */
/** @} */
|
