Shuto Naruse / Eurobot_2012_Primary

IC Eurobot 2012 Program published from Shuto's account

Dependents:   Eurobot2012_Primary

Mail.h@0:62626fd22b30, 2012-08-07 (annotated)

Committer:
narshu
Date:
Tue Aug 07 10:25:51 2012 +0000
Revision:
0:62626fd22b30
[mbed] converted /Eurobot_2012_Primary/rtos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 0:62626fd22b30 1 /* Copyright (c) 2012 mbed.org */
narshu 0:62626fd22b30 2 #ifndef MAIL_H
narshu 0:62626fd22b30 3 #define MAIL_H
narshu 0:62626fd22b30 4
narshu 0:62626fd22b30 5 #include <stdint.h>
narshu 0:62626fd22b30 6 #include <string.h>
narshu 0:62626fd22b30 7
narshu 0:62626fd22b30 8 #include "cmsis_os.h"
narshu 0:62626fd22b30 9
narshu 0:62626fd22b30 10 namespace rtos {
narshu 0:62626fd22b30 11
narshu 0:62626fd22b30 12 /*! The Mail class allow to control, send, receive, or wait for mail.
narshu 0:62626fd22b30 13 A mail is a memory block that is send to a thread or interrupt service routine.
narshu 0:62626fd22b30 14 \tparam T data type of a single message element.
narshu 0:62626fd22b30 15 \tparam queue_sz maximum number of messages in queue.
narshu 0:62626fd22b30 16 */
narshu 0:62626fd22b30 17 template<typename T, uint32_t queue_sz>
narshu 0:62626fd22b30 18 class Mail {
narshu 0:62626fd22b30 19 public:
narshu 0:62626fd22b30 20 /*! Create and Initialise Mail queue. */
narshu 0:62626fd22b30 21 Mail() {
narshu 0:62626fd22b30 22 #ifdef CMSIS_OS_RTX
narshu 0:62626fd22b30 23 memset(_mail_q, 0, sizeof(_mail_q));
narshu 0:62626fd22b30 24 _mail_p[0] = _mail_q;
narshu 0:62626fd22b30 25
narshu 0:62626fd22b30 26 memset(_mail_m, 0, sizeof(_mail_m));
narshu 0:62626fd22b30 27 _mail_p[1] = _mail_m;
narshu 0:62626fd22b30 28
narshu 0:62626fd22b30 29 _mail_def.pool = _mail_p;
narshu 0:62626fd22b30 30 _mail_def.queue_sz = queue_sz;
narshu 0:62626fd22b30 31 _mail_def.item_sz = sizeof(T);
narshu 0:62626fd22b30 32 #endif
narshu 0:62626fd22b30 33 _mail_id = osMailCreate(&_mail_def, NULL);
narshu 0:62626fd22b30 34 }
narshu 0:62626fd22b30 35
narshu 0:62626fd22b30 36 /*! Allocate a memory block of type T
narshu 0:62626fd22b30 37 \param millisec timeout value or 0 in case of no time-out. (default: 0).
narshu 0:62626fd22b30 38 \return pointer to memory block that can be filled with mail or NULL in case error.
narshu 0:62626fd22b30 39 */
narshu 0:62626fd22b30 40 T* alloc(uint32_t millisec=0) {
narshu 0:62626fd22b30 41 return (T*)osMailAlloc(_mail_id, millisec);
narshu 0:62626fd22b30 42 }
narshu 0:62626fd22b30 43
narshu 0:62626fd22b30 44 /*! Allocate a memory block of type T and set memory block to zero.
narshu 0:62626fd22b30 45 \param millisec timeout value or 0 in case of no time-out. (default: 0).
narshu 0:62626fd22b30 46 \return pointer to memory block that can be filled with mail or NULL in case error.
narshu 0:62626fd22b30 47 */
narshu 0:62626fd22b30 48 T* calloc(uint32_t millisec=0) {
narshu 0:62626fd22b30 49 return (T*)osMailCAlloc(_mail_id, millisec);
narshu 0:62626fd22b30 50 }
narshu 0:62626fd22b30 51
narshu 0:62626fd22b30 52 /*! Put a mail in the queue.
narshu 0:62626fd22b30 53 \param mptr memory block previously allocated with Mail::alloc or Mail::calloc.
narshu 0:62626fd22b30 54 \return status code that indicates the execution status of the function.
narshu 0:62626fd22b30 55 */
narshu 0:62626fd22b30 56 osStatus put(T *mptr) {
narshu 0:62626fd22b30 57 return osMailPut(_mail_id, (void*)mptr);
narshu 0:62626fd22b30 58 }
narshu 0:62626fd22b30 59
narshu 0:62626fd22b30 60 /*! Get a mail from a queue.
narshu 0:62626fd22b30 61 \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
narshu 0:62626fd22b30 62 \return event that contains mail information or error code.
narshu 0:62626fd22b30 63 */
narshu 0:62626fd22b30 64 osEvent get(uint32_t millisec=osWaitForever) {
narshu 0:62626fd22b30 65 return osMailGet(_mail_id, millisec);
narshu 0:62626fd22b30 66 }
narshu 0:62626fd22b30 67
narshu 0:62626fd22b30 68 /*! Free a memory block from a mail.
narshu 0:62626fd22b30 69 \param mptr pointer to the memory block that was obtained with Mail::get.
narshu 0:62626fd22b30 70 \return status code that indicates the execution status of the function.
narshu 0:62626fd22b30 71 */
narshu 0:62626fd22b30 72 osStatus free(T *mptr) {
narshu 0:62626fd22b30 73 return osMailFree(_mail_id, (void*)mptr);
narshu 0:62626fd22b30 74 }
narshu 0:62626fd22b30 75
narshu 0:62626fd22b30 76 private:
narshu 0:62626fd22b30 77 osMailQId _mail_id;
narshu 0:62626fd22b30 78 osMailQDef_t _mail_def;
narshu 0:62626fd22b30 79 #ifdef CMSIS_OS_RTX
narshu 0:62626fd22b30 80 uint32_t _mail_q[4+(queue_sz)];
narshu 0:62626fd22b30 81 uint32_t _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
narshu 0:62626fd22b30 82 void *_mail_p[2];
narshu 0:62626fd22b30 83 #endif
narshu 0:62626fd22b30 84 };
narshu 0:62626fd22b30 85
narshu 0:62626fd22b30 86 }
narshu 0:62626fd22b30 87
narshu 0:62626fd22b30 88 #endif
narshu 0:62626fd22b30 89