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//******************************************************************************
// @file RtosQueue.cpp
// @author Nicolai Shlapunov
//
// @details DevCore: FreeRTOS Rtos Wrapper Class, implementation
//
// @copyright Copyright (c) 2018, Devtronic & Nicolai Shlapunov
// All rights reserved.
//
// @section SUPPORT
//
// Devtronic invests time and resources providing this open source code,
// please support Devtronic and open-source hardware/software by
// donations and/or purchasing products from Devtronic.
//
//******************************************************************************
// *****************************************************************************
// *** Includes ************************************************************
// *****************************************************************************
#include "RtosQueue.h"
#include "Rtos.h"
// *****************************************************************************
// *** RtosQueue ***********************************************************
// *****************************************************************************
RtosQueue::RtosQueue(uint32_t q_len, uint32_t itm_size, const char* queue_name)
: queue(nullptr), queue_len(q_len), item_size(itm_size)
{
// Set name
SetName(queue_name);
}
// *****************************************************************************
// *** ~RtosQueue **********************************************************
// *****************************************************************************
RtosQueue::~RtosQueue()
{
// Check queue handle
if(queue != nullptr)
{
vQueueDelete(queue);
}
}
// *****************************************************************************
// *** ~RtosQueue **********************************************************
// *****************************************************************************
void RtosQueue::SetName(const char* name, const char* add_name)
{
uint32_t i = 0U;
// If name pointer isn't null
if(name != nullptr)
{
// Copy queue name
for(; (i < MAX_QUEUE_NAME_LEN - 1U) && (name[i] != '\0'); i++)
{
queue_name[i] = name[i];
}
}
// If additional name pointer isn't null
if(add_name != nullptr)
{
// Copy additional queue name
for(uint32_t j = 0U; (i < MAX_QUEUE_NAME_LEN - 1U) && (add_name[j] != '\0'); i++, j++)
{
queue_name[i] = add_name[j];
}
}
// Set null-terminator for string
queue_name[i] = '\0';
}
// *****************************************************************************
// *** Create **************************************************************
// *****************************************************************************
Result RtosQueue::Create()
{
Result result = Result::ERR_QUEUE_CREATE;
// Check queue handle
if(queue == nullptr)
{
// Create queue
queue = xQueueCreate(queue_len, item_size);
// Check result
if(queue != nullptr)
{
// If name present - add to registry
if(queue_name[0] != '\0')
{
vQueueAddToRegistry(queue, queue_name);
}
// Set result
result = Result::RESULT_OK;
}
}
// Return result
return result;
}
// *****************************************************************************
// *** Reset ***************************************************************
// *****************************************************************************
Result RtosQueue::Reset()
{
Result result = Result::ERR_QUEUE_RESET;
// Check queue handle
if(queue != nullptr)
{
// Reset queue
if(xQueueReset(queue) == pdPASS)
{
// Set result
result = Result::RESULT_OK;
}
}
// Return result
return result;
}
// *****************************************************************************
// *** IsEmpty *************************************************************
// *****************************************************************************
bool RtosQueue::IsEmpty() const
{
bool is_empty = false;
// Check queue handle
if(queue != nullptr)
{
// Check handler mode
if(Rtos::IsInHandlerMode())
{
// Check is queue empty
is_empty = (xQueueIsQueueEmptyFromISR(queue) != pdFALSE);
}
else
{
// Check is queue empty
is_empty = (uxQueueMessagesWaiting(queue) == 0U);
}
}
return is_empty;
}
// *****************************************************************************
// *** IsFull **************************************************************
// *****************************************************************************
bool RtosQueue::IsFull() const
{
bool is_full = false;
// Check queue handle
if(queue != nullptr)
{
// Check handler mode
if(Rtos::IsInHandlerMode())
{
// Check is queue full
is_full = (xQueueIsQueueFullFromISR(queue) != pdFALSE);
}
else
{
// Check is queue full
is_full = (uxQueueMessagesWaiting(queue) >= queue_len);
}
}
return is_full;
}
// *****************************************************************************
// *** GetMessagesWaiting **************************************************
// *****************************************************************************
Result RtosQueue::GetMessagesWaiting(uint32_t& msg_cnt) const
{
Result result = Result::ERR_QUEUE_GENERAL;
// Check queue handle
if(queue != nullptr)
{
// Check handler mode
if(Rtos::IsInHandlerMode())
{
msg_cnt = uxQueueMessagesWaitingFromISR(queue);
}
else
{
msg_cnt = uxQueueMessagesWaiting(queue);
}
// Set result
result = Result::RESULT_OK;
}
return result;
}
// *****************************************************************************
// *** SendToBack **********************************************************
// *****************************************************************************
Result RtosQueue::SendToBack(const void* item, uint32_t timeout_ms)
{
Result result = Result::ERR_QUEUE_WRITE;
// Check queue handle and item pointer
if((queue != nullptr) && (item != nullptr))
{
// Result of operation
portBASE_TYPE res = pdFALSE;
// Check handler mode
if(Rtos::IsInHandlerMode())
{
BaseType_t task_woken;
// Send item to back of queue from ISR
res = xQueueSendToBackFromISR(queue, item, &task_woken);
// Switch context if needed
portEND_SWITCHING_ISR((res == pdPASS) ? task_woken : pdFALSE);
}
else
{
// Send item to back of queue
res = xQueueSendToBack(queue, item, RtosTick::MsToTicks(timeout_ms));
}
// Check result
if(res == pdPASS)
{
result = Result::RESULT_OK;
}
}
return result;
}
// *****************************************************************************
// *** SendToFront *********************************************************
// *****************************************************************************
Result RtosQueue::SendToFront(const void* item, uint32_t timeout_ms)
{
Result result = Result::ERR_QUEUE_WRITE;
// Check queue handle and item pointer
if((queue != nullptr) && (item != nullptr))
{
// Result of operation
portBASE_TYPE res = pdFALSE;
// Check handler mode
if(Rtos::IsInHandlerMode())
{
BaseType_t task_woken;
// Send item to front of queue from ISR
res = xQueueSendToFrontFromISR(queue, item, &task_woken);
// Switch context if needed
portEND_SWITCHING_ISR((res == pdPASS) ? task_woken : pdFALSE);
}
else
{
// Send item to front of queue
res = xQueueSendToFront(queue, item, RtosTick::MsToTicks(timeout_ms));
}
// Check result
if(res == pdPASS)
{
result = Result::RESULT_OK;
}
}
return result;
}
// *****************************************************************************
// *** Receive *************************************************************
// *****************************************************************************
Result RtosQueue::Receive(void* item, uint32_t timeout_ms)
{
Result result = Result::ERR_NULL_PTR;
// Check queue handle and item pointer
if((queue != nullptr) && (item != nullptr))
{
// Set new error result
result = Result::ERR_QUEUE_READ;
// Result of operation
portBASE_TYPE res = pdFALSE;
// Check handler mode
if(Rtos::IsInHandlerMode())
{
if(IsEmpty() == false)
{
BaseType_t task_woken;
// Receive item from the queue from ISR
res = xQueueReceiveFromISR(queue, item, &task_woken);
// Switch context if needed
portEND_SWITCHING_ISR((res == pdPASS) ? task_woken : pdFALSE);
}
else
{
// Queue is empty - nothing to read
result = Result::ERR_QUEUE_EMPTY;
}
}
else
{
// Receive item from the queue
res = xQueueReceive(queue, item, RtosTick::MsToTicks(timeout_ms));
// Check empty error
if(res == errQUEUE_EMPTY)
{
result = Result::ERR_QUEUE_EMPTY;
}
}
// Check result
if(res == pdPASS)
{
result = Result::RESULT_OK;
}
}
return result;
}
// *****************************************************************************
// *** Peek ****************************************************************
// *****************************************************************************
Result RtosQueue::Peek(void* item, uint32_t timeout_ms) const
{
Result result = Result::ERR_QUEUE_READ;
// Check queue handle and item pointer
if((queue != nullptr) && (item != nullptr))
{
// Result of operation
portBASE_TYPE res = pdFALSE;
// Check handler mode
if(Rtos::IsInHandlerMode())
{
// Peek message from ISR
res = xQueuePeekFromISR(queue, item);
}
else
{
// Peek message
res = xQueuePeek(queue, item, RtosTick::MsToTicks(timeout_ms));
}
// Check result
if(res == pdPASS)
{
result = Result::RESULT_OK;
}
}
return result;
}
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