Improved messages subsystem.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2759 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 65 insertions, 59 deletions

diff --git a/os/kernel/include/chmsg.h b/os/kernel/include/chmsg.h
index 438da021f..b2e8ef51e 100644
--- a/os/kernel/include/chmsg.h
+++ b/os/kernel/include/chmsg.h
@@ -39,20 +39,47 @@
         ((tp)->p_msgqueue.p_next != (Thread *)&(tp)->p_msgqueue)

 

 /**

- * @brief   Returns the first message in the queue.

+ * @brief   Returns the message carried by the specified thread.

+ * @pre     This function must be invoked immediately after exiting a call

+ *          to @p chMsgWait().

  *

- * @iclass

+ * @param[in] tp        pointer to the thread

+ * @return              The message carried by the sender.

+ *

+ * @api

+ */

+#define chMsgGet(tp) ((tp)->p_msg)

+

+/**

+ * @brief   Returns the message carried by the specified thread.

+ * @pre     This function must be invoked immediately after exiting a call

+ *          to @p chMsgWait().

+ *

+ * @param[in] tp        pointer to the thread

+ * @return              The message carried by the sender.

+ *

+ * @sclass

+ */

+#define chMsgGetS(tp) ((tp)->p_msg)

+

+/**

+ * @brief   Releases the thread waiting on top of the messages queue.

+ * @pre     Invoke this function only after a message has been received

+ *          using @p chMsgWait().

+ *

+ * @param[in] tp        pointer to the thread

+ * @param[in] msg       message to be returned to the sender

+ *

+ * @sclass

  */

-#define chMsgGetI(tp) \

-        ((tp)->p_msgqueue.p_next->p_msg)

+#define chMsgReleaseS(tp, msg) chSchWakeupS(tp, msg)

 

 #ifdef __cplusplus

 extern "C" {

 #endif

   msg_t chMsgSend(Thread *tp, msg_t msg);

-  msg_t chMsgWait(void);

-  msg_t chMsgGet(void);

-  void chMsgRelease(msg_t msg);

+  Thread * chMsgWait(void);

+  void chMsgRelease(Thread *tp, msg_t msg);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/kernel/include/chthreads.h b/os/kernel/include/chthreads.h
index c22255ad0..f6ed23d1d 100644
--- a/os/kernel/include/chthreads.h
+++ b/os/kernel/include/chthreads.h
@@ -176,12 +176,14 @@ struct Thread {
 #define THD_STATE_WTOREVT       8

 /** @brief Thread state: Waiting in @p chEvtWaitAllTimeout().*/

 #define THD_STATE_WTANDEVT      9

-/** @brief Thread state: Waiting in @p chMsgSend().*/

-#define THD_STATE_SNDMSG        10

+/** @brief Thread state: Waiting in @p chMsgSend() (queued).*/

+#define THD_STATE_SNDMSGQ       10

+/** @brief Thread state: Waiting in @p chMsgSend() (not queued).*/

+#define THD_STATE_SNDMSG        11

 /** @brief Thread state: Waiting in @p chMsgWait().*/

-#define THD_STATE_WTMSG         11

+#define THD_STATE_WTMSG         12

 /** @brief Thread state: After termination.*/

-#define THD_STATE_FINAL         12

+#define THD_STATE_FINAL         13

 

 /*

  * Various flags into the thread p_flags field.

@@ -242,7 +244,7 @@ extern "C" {
  * @note    This function is only available when the

  *          @p CH_DBG_THREADS_PROFILING configuration option is enabled.

  *

- * @param[in] tp        the pointer to the thread

+ * @param[in] tp        pointer to the thread

  *

  * @api

  */

@@ -258,7 +260,7 @@ extern "C" {
 /**

  * @brief   Verifies if the specified thread is in the @p THD_STATE_FINAL state.

  *

- * @param[in] tp        the pointer to the thread

+ * @param[in] tp        pointer to the thread

  * @retval TRUE         thread terminated.

  * @retval FALSE        thread not terminated.

  *

@@ -279,7 +281,7 @@ extern "C" {
 /**

  * @brief   Resumes a thread created with @p chThdInit().

  *

- * @param[in] tp        the pointer to the thread

+ * @param[in] tp        pointer to the thread

  *

  * @iclass

  */

@@ -305,7 +307,7 @@ extern "C" {
  *          system clock.

  * @note    The maximum specified value is implementation dependent.

  *

- * @param[in] sec       the time in seconds

+ * @param[in] sec       time in seconds

  *

  * @api

  */

@@ -318,7 +320,7 @@ extern "C" {
  *          system clock.

  * @note    The maximum specified value is implementation dependent.

  *

- * @param[in] msec      the time in milliseconds

+ * @param[in] msec      time in milliseconds

  *

  * @api

  */

@@ -331,7 +333,7 @@ extern "C" {
  *          system clock.

  * @note    The maximum specified value is implementation dependent.

  *

- * @param[in] usec      the time in microseconds

+ * @param[in] usec      time in microseconds

  *

  * @api

  */

diff --git a/os/kernel/src/chmsg.c b/os/kernel/src/chmsg.c
index c3b4848b0..d4199bbb0 100644
--- a/os/kernel/src/chmsg.c
+++ b/os/kernel/src/chmsg.c
@@ -75,7 +75,7 @@ msg_t chMsgSend(Thread *tp, msg_t msg) {
   msg_insert(ctp, &tp->p_msgqueue);

   if (tp->p_state == THD_STATE_WTMSG)

     chSchReadyI(tp);

-  chSchGoSleepS(THD_STATE_SNDMSG);

+  chSchGoSleepS(THD_STATE_SNDMSGQ);

   msg = ctp->p_u.rdymsg;

   chSysUnlock();

   return msg;

@@ -83,69 +83,46 @@ msg_t chMsgSend(Thread *tp, msg_t msg) {
 

 /**

  * @brief   Suspends the thread and waits for an incoming message.

- * @post    After receiving a message the function @p chMsgRelease() must be

- *          invoked in order to acknowledge the reception and send the answer.

+ * @post    After receiving a message the function @p chMsgGet() must be

+ *          called in order to retrieve the message and then @p chMsgRelease()

+ *          must be invoked in order to acknowledge the reception and send

+ *          the answer.

  * @note    If the message is a pointer then you can assume that the data

  *          pointed by the message is stable until you invoke @p chMsgRelease()

  *          because the sending thread is suspended until then.

  *

- * @return              The message.

+ * @return              A reference to the thread carrying the message.

  *

  * @api

  */

-msg_t chMsgWait(void) {

-  msg_t msg;

+Thread *chMsgWait(void) {

+  Thread *tp;

 

   chSysLock();

   if (!chMsgIsPendingI(currp))

     chSchGoSleepS(THD_STATE_WTMSG);

-#if defined(CH_ARCHITECTURE_STM8)

-  msg = chMsgGetI((volatile Thread *)currp); /* Temporary hack.*/

-#else

-  msg = chMsgGetI(currp);

-#endif

+  tp = fifo_remove(&currp->p_msgqueue);

+  tp->p_state = THD_STATE_SNDMSG;

   chSysUnlock();

-  return msg;

-}

-

-/**

- * @brief   Returns the next message in the queue.

- * @post    After receiving a message the function @p chMsgRelease() must be

- *          invoked in order to acknowledge the reception and send the answer.

- * @note    If the message is a pointer then you can assume that the data

- *          pointed by the message is stable until you invoke @p chMsgRelease()

- *          because the sending thread is suspended until then.

- *

- * @return              The message.

- * @retval 0            if the queue is empty.

- *

- * @api

- */

-msg_t chMsgGet(void) {

-  msg_t msg;

-

-  chSysLock();

-  msg = chMsgIsPendingI(currp) ? chMsgGetI(currp) : (msg_t)NULL;

-  chSysUnlock();

-  return msg;

+  return tp;

 }

 

 /**

  * @brief   Releases the thread waiting on top of the messages queue.

  * @pre     Invoke this function only after a message has been received

- *          using @p chMsgWait() or @p chMsgGet().

+ *          using @p chMsgWait().

  *

- * @param[in] msg       the message returned to the message sender

+ * @param[in] tp        pointer to the thread

+ * @param[in] msg       message to be returned to the sender

  *

  * @api

  */

-void chMsgRelease(msg_t msg) {

+void chMsgRelease(Thread *tp, msg_t msg) {

 

   chSysLock();

-  chDbgAssert(chMsgIsPendingI(currp),

-              "chMsgRelease(), #1",

-              "no message pending");

-  chSchWakeupS(fifo_remove(&currp->p_msgqueue), msg);

+  chDbgAssert(tp->p_state == THD_STATE_SNDMSG,

+              "chMsgRelease(), #1", "invalid state");

+  chMsgReleaseS(tp, msg);

   chSysUnlock();

 }

 

diff --git a/os/kernel/src/chmtx.c b/os/kernel/src/chmtx.c
index b84c4d57e..826ef27fe 100644
--- a/os/kernel/src/chmtx.c
+++ b/os/kernel/src/chmtx.c
@@ -141,7 +141,7 @@ void chMtxLockS(Mutex *mp) {
       case THD_STATE_WTSEM:

 #endif

 #if CH_USE_MESSAGES_PRIORITY

-      case THD_STATE_SNDMSG:

+      case THD_STATE_SNDMSGQ:

 #endif

         /* Re-enqueues tp with its new priority on the queue.*/

         prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);