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jLynx 2023-05-19 08:16:05 +12:00 • committed by GitHub
parent 7aca7ce74d
commit 033c4e9a5b
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599 changed files with 70746 additions and 66896 deletions
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142
firmware/common/message_queue.hpp
View file

@ -30,89 +30,89 @@
#include <ch.h>
class MessageQueue {
public:
MessageQueue() = delete;
MessageQueue(const MessageQueue&) = delete;
MessageQueue(MessageQueue&&) = delete;
MessageQueue(
uint8_t* const data,
size_t k
) : fifo { data, k }
{
chMtxInit(&mutex_write);
}
public:
MessageQueue() = delete;
MessageQueue(const MessageQueue&) = delete;
MessageQueue(MessageQueue&&) = delete;
template<typename T>
bool push(const T& message) {
static_assert(sizeof(T) <= Message::MAX_SIZE, "Message::MAX_SIZE too small for message type");
static_assert(std::is_base_of<Message, T>::value, "type is not based on Message");
MessageQueue(
uint8_t* const data,
size_t k)
: fifo{data, k} {
chMtxInit(&mutex_write);
}
return push(&message, sizeof(message));
}
template <typename T>
bool push(const T& message) {
static_assert(sizeof(T) <= Message::MAX_SIZE, "Message::MAX_SIZE too small for message type");
static_assert(std::is_base_of<Message, T>::value, "type is not based on Message");
template<typename T>
bool push_and_wait(const T& message) {
const bool result = push(message);
if( result ) {
// TODO: More graceful method of waiting for empty? Maybe sleep for a bit?
while( !is_empty() );
}
return result;
}
return push(&message, sizeof(message));
}
template<typename HandlerFn>
void handle(HandlerFn handler) {
std::array<uint8_t, Message::MAX_SIZE> message_buffer;
while(Message* const message = peek(message_buffer)) {
handler(message);
skip();
}
}
template <typename T>
bool push_and_wait(const T& message) {
const bool result = push(message);
if (result) {
// TODO: More graceful method of waiting for empty? Maybe sleep for a bit?
while (!is_empty())
;
}
return result;
}
bool is_empty() const {
return fifo.is_empty();
}
template <typename HandlerFn>
void handle(HandlerFn handler) {
std::array<uint8_t, Message::MAX_SIZE> message_buffer;
while (Message* const message = peek(message_buffer)) {
handler(message);
skip();
}
}
void reset() {
fifo.reset();
}
private:
FIFO<uint8_t> fifo;
Mutex mutex_write { };
bool is_empty() const {
return fifo.is_empty();
}
Message* peek(std::array<uint8_t, Message::MAX_SIZE>& buf) {
Message* const p = reinterpret_cast<Message*>(buf.data());
return fifo.peek_r(buf.data(), buf.size()) ? p : nullptr;
}
void reset() {
fifo.reset();
}
bool skip() {
return fifo.skip();
}
private:
FIFO<uint8_t> fifo;
Mutex mutex_write{};
Message* pop(std::array<uint8_t, Message::MAX_SIZE>& buf) {
Message* const p = reinterpret_cast<Message*>(buf.data());
return fifo.out_r(buf.data(), buf.size()) ? p : nullptr;
}
Message* peek(std::array<uint8_t, Message::MAX_SIZE>& buf) {
Message* const p = reinterpret_cast<Message*>(buf.data());
return fifo.peek_r(buf.data(), buf.size()) ? p : nullptr;
}
size_t len() const {
return fifo.len();
}
bool skip() {
return fifo.skip();
}
bool push(const void* const buf, const size_t len) {
chMtxLock(&mutex_write);
const auto result = fifo.in_r(buf, len);
chMtxUnlock();
Message* pop(std::array<uint8_t, Message::MAX_SIZE>& buf) {
Message* const p = reinterpret_cast<Message*>(buf.data());
return fifo.out_r(buf.data(), buf.size()) ? p : nullptr;
}
const bool success = (result == len);
if( success ) {
signal();
}
return success;
}
size_t len() const {
return fifo.len();
}
void signal();
bool push(const void* const buf, const size_t len) {
chMtxLock(&mutex_write);
const auto result = fifo.in_r(buf, len);
chMtxUnlock();
const bool success = (result == len);
if (success) {
signal();
}
return success;
}
void signal();
};
#endif/*__MESSAGE_QUEUE_H__*/
#endif /*__MESSAGE_QUEUE_H__*/