686f7cce83
FreeRTOS handles were stored plainly and they were deleted in the destructor of classes. This meant that if a class were to be copied, the destructor would be called twice on the same handles and lead to double-free. Seha on Discord suggested to fix this by using `std::unique_ptr` with a custom deletion function. The changes affect: - Thread - Semaphore - Mutex - StreamBuffer - Timer - MessageQueue - EventFlag Thread changes: - Removal of the hack with the `Data` struct - Thread's main body is now just a private static function inside the class. - The C functions were relocated to static class members PubSub changes: - Refactored pubsub into class - Renamed files to `PubSub` instead of `Pubsub` - `PubSubSubscription` is now a private inner struct and `PubSub` only exposes `SubscriptionHandle` Lockable, ScopedLockable, Mutex: - Added `lock()` method that locks indefinitely - Remove deprecated `acquire()` and `release()` methods - Removed `TtWaitForever` in favour of `portMAX_DELAY`
137 lines
3.3 KiB
C++
137 lines
3.3 KiB
C++
#include "MessageQueue.h"
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#include "Check.h"
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#include "kernel/Kernel.h"
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namespace tt {
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static inline QueueHandle_t createQueue(uint32_t capacity, uint32_t messageSize) {
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assert(!TT_IS_ISR() && (capacity > 0U) && (messageSize > 0U));
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return xQueueCreate(capacity, messageSize);
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}
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MessageQueue::MessageQueue(uint32_t capacity, uint32_t messageSize) : handle(createQueue(capacity, messageSize)) {
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tt_check(handle != nullptr);
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}
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MessageQueue::~MessageQueue() {
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assert(!TT_IS_ISR());
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}
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bool MessageQueue::put(const void* message, TickType_t timeout) {
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bool result = true;
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BaseType_t yield;
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if (TT_IS_ISR()) {
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if ((handle == nullptr) || (message == nullptr) || (timeout != 0U)) {
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result = false;
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} else {
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yield = pdFALSE;
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if (xQueueSendToBackFromISR(handle.get(), message, &yield) != pdTRUE) {
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result = false;
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} else {
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portYIELD_FROM_ISR(yield);
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}
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}
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} else if ((handle == nullptr) || (message == nullptr)) {
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result = false;
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} else if (xQueueSendToBack(handle.get(), message, (TickType_t)timeout) != pdPASS) {
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result = false;
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}
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return result;
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}
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bool MessageQueue::get(void* msg_ptr, TickType_t timeout) {
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bool result = true;
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BaseType_t yield;
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if (TT_IS_ISR()) {
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if ((handle == nullptr) || (msg_ptr == nullptr) || (timeout != 0U)) {
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result = false;
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} else {
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yield = pdFALSE;
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if (xQueueReceiveFromISR(handle.get(), msg_ptr, &yield) != pdPASS) {
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result = false;
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} else {
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portYIELD_FROM_ISR(yield);
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}
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}
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} else {
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if ((handle == nullptr) || (msg_ptr == nullptr)) {
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result = false;
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} else if (xQueueReceive(handle.get(), msg_ptr, (TickType_t)timeout) != pdPASS) {
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result = false;
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}
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}
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return result;
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}
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uint32_t MessageQueue::getCapacity() const {
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auto* mq = (StaticQueue_t*)(handle.get());
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if (mq == nullptr) {
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return 0U;
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} else {
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return mq->uxDummy4[1];
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}
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}
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uint32_t MessageQueue::getMessageSize() const {
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auto* mq = (StaticQueue_t*)(handle.get());
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if (mq == nullptr) {
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return 0U;
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} else {
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return mq->uxDummy4[2];
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}
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}
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uint32_t MessageQueue::getCount() const {
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UBaseType_t count;
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if (handle == nullptr) {
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count = 0U;
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} else if (TT_IS_ISR()) {
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count = uxQueueMessagesWaitingFromISR(handle.get());
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} else {
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count = uxQueueMessagesWaiting(handle.get());
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}
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/* Return number of queued messages */
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return (uint32_t)count;
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}
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uint32_t MessageQueue::getSpace() const {
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auto* mq = (StaticQueue_t*)(handle.get());
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uint32_t space;
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uint32_t isrm;
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if (mq == nullptr) {
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space = 0U;
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} else if (TT_IS_ISR()) {
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isrm = taskENTER_CRITICAL_FROM_ISR();
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/* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */
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space = mq->uxDummy4[1] - mq->uxDummy4[0];
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taskEXIT_CRITICAL_FROM_ISR(isrm);
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} else {
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space = (uint32_t)uxQueueSpacesAvailable((QueueHandle_t)mq);
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}
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return space;
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}
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bool MessageQueue::reset() {
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tt_check(!TT_IS_ISR());
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if (handle == nullptr) {
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return false;
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} else {
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xQueueReset(handle.get());
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return true;
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}
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}
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} // namespace
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