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https://github.com/ByteWelder/Tactility.git
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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`
88 lines
2.1 KiB
C++
88 lines
2.1 KiB
C++
/**
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* @file MessageQueue.h
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*
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* MessageQueue is a wrapper for FreeRTOS xQueue functionality.
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* There is no additional thread-safety on top of the xQueue functionality,
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* so make sure you create a lock if needed.
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*/
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#pragma once
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#include <memory>
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#ifdef ESP_PLATFORM
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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#else
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#include "FreeRTOS.h"
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#include "queue.h"
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#endif
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namespace tt {
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/**
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* Message Queue implementation.
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* Calls can be done from ISR/IRQ mode unless otherwise specified.
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*/
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class MessageQueue {
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private:
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struct QueueHandleDeleter {
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void operator()(QueueHandle_t handleToDelete) {
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vQueueDelete(handleToDelete);
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}
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};
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std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, QueueHandleDeleter> handle;
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public:
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/** Allocate message queue
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* @param[in] capacity Maximum messages in queue
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* @param[in] messageSize The size in bytes of a single message
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*/
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MessageQueue(uint32_t capacity, uint32_t messageSize);
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~MessageQueue();
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/** Post a message to the queue.
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* The message is queued by copy, not by reference.
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* @param[in] message A pointer to a message. The message will be copied into a buffer.
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* @param[in] timeout
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* @return success result
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*/
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bool put(const void* message, TickType_t timeout);
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/** Get message from queue
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* @param[out] message A pointer to an already allocated message object
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* @param[in] timeout
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* @return success result
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*/
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bool get(void* message, TickType_t timeout);
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/**
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* @return The maximum amount of messages that can be in the queue at any given time.
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*/
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uint32_t getCapacity() const;
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/**
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* @return The size of a single message in bytes
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*/
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uint32_t getMessageSize() const;
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/**
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* @return How many messages are currently in the queue.
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*/
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uint32_t getCount() const;
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/**
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* @return How many messages can be added to the queue before the put() method starts blocking.
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*/
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uint32_t getSpace() const;
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/** Reset queue (cannot be called in ISR/IRQ mode)
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* @return success result
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*/
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bool reset();
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};
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} // namespace
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