1 files changed, 128 insertions, 15 deletions
diff --git a/src/lib/ch.hpp b/src/lib/ch.hpp
index e65e4fdbd..fe368a0f2 100644
--- a/src/lib/ch.hpp
+++ b/src/lib/ch.hpp
@@ -53,15 +53,12 @@ namespace chibios_rt {
      */
     static void Unlock(void);
 
-#ifdef CH_USE_SYSTEMTIME
     /**
      * Returns the system time as system ticks.
      */
     static systime_t GetTime(void);
-#endif /* CH_USE_SYSTEMTIME */
   };
 
-#ifdef CH_USE_VIRTUAL_TIMERS
   /**
    * Timer class.
    */
@@ -88,7 +85,6 @@ namespace chibios_rt {
      */
     bool IsArmed(void);
   };
-#endif /* CH_USE_VIRTUAL_TIMER */
 
   /**
    * Base class for a ChibiOS/RT thread, the thread body is the virtual
@@ -135,12 +131,10 @@ namespace chibios_rt {
      */
     static void Sleep(systime_t n);
 
-#ifdef CH_USE_SYSTEMTIME
     /**
      * Suspends the thread execution until the specified time arrives.
      */
     static void SleepUntil(systime_t time);
-#endif /* CH_USE_SYSTEMTIME */
 
 #ifdef CH_USE_MESSAGES
     /**
@@ -253,7 +247,7 @@ namespace chibios_rt {
     /**
      * Atomic signal and wait operations.
      */
-    msg_t SignalWait(Semaphore *ssem, Semaphore *wsem);
+    static msg_t SignalWait(Semaphore *ssem, Semaphore *wsem);
 #endif /* CH_USE_SEMSW */
   };
 #endif /* CH_USE_SEMAPHORES */
@@ -291,6 +285,28 @@ namespace chibios_rt {
      */
     static void UnlockAll(void);
   };
+
+#ifdef CH_USE_CONDVARS
+  class CondVar {
+  public:
+    ::CondVar condvar;
+
+    /**
+     * CondVar constructor.
+     */
+    CondVar(void);
+
+    void Signal(void);
+
+    void Broadcast(void);
+
+    msg_t Wait(void);
+
+#ifdef CH_USE_CONDVARS_TIMEOUT
+    msg_t WaitTimeout(systime_t time);
+#endif /* CH_USE_CONDVARS_TIMEOUT */
+  };
+#endif /* CH_USE_CONDVARS */
 #endif /* CH_USE_MUTEXES */
 
 #ifdef CH_USE_EVENTS
@@ -308,36 +324,133 @@ namespace chibios_rt {
 
     /**
      * 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);
 
     /**
+     * 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);
+
+    /**
      * Unregisters a listener from the event source.
      */
     void Unregister(EventListener *elp);
 
     /**
-     * Sends an event.
+     * Broadcasts an event.
      */
-    void Send(void);
+    void Broadcast(void);
 
     /**
      * Clears specified events from the pending events mask.
+     * @param mask the events to be cleared
+     * @return The pending events that were cleared.
      */
-    static void Clear(eventmask_t mask);
+    static eventmask_t Clear(eventmask_t mask);
+
+    /**
+     * Makes an events mask pending in the current thread, this 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);
+
+    /**
+     * 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);
 
     /**
      * Waits and dispatchs events.
      */
     static eventid_t Wait(eventmask_t ewmask, const evhandler_t handlers[]);
 
-#ifdef CH_USE_EVENTS_TIMEOUT
     /**
-     * Waits and dispatchs events with timeout specification.
+     * 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);
+
+    /**
+     * Waits for any of the specified events.
+     * 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);
+
+    /**
+     * Waits for all the specified event flags then clears them.
+     * 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 eventid_t WaitTimeout(eventmask_t ewmask,
-                                 const evhandler_t handlers[],
-                                 systime_t time);
+    static eventmask_t WaitAll(eventmask_t ewmask);
+
+#ifdef CH_USE_EVENTS_TIMEOUT
+    /**
+     * Waits for a single event.
+     * 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);
+
+    /**
+     * Waits for any of the specified events.
+     * 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);
+
+    /**
+     * Waits for all the specified event flags then clears them.
+     * 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 */