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ChibiOS
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C++ API improvements. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7857 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio 2015-04-05 13:03:46 +00:00
parent ae3021458a
commit 0f063da229
2 changed files with 232 additions and 204 deletions
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138
os/various/cpp_wrappers/ch.cpp
View File

@ -25,67 +25,10 @@
namespace chibios_rt { namespace chibios_rt {
/*------------------------------------------------------------------------*
* chibios_rt::System *
*------------------------------------------------------------------------*/
void System::init(void) {
chSysInit();
}
void System::lock(void) {
chSysLock();
}
void System::unlock(void) {
chSysUnlock();
}
void System::lockFromIsr(void) {
chSysLockFromISR();
}
void System::unlockFromIsr(void) {
chSysUnlockFromISR();
}
systime_t System::getTime(void) {
return chVTGetSystemTimeX();
}
bool System::isTimeWithin(systime_t start, systime_t end) {
return chVTIsSystemTimeWithinX(start, end);
}
/*------------------------------------------------------------------------*
* chibios_rt::Core *
*------------------------------------------------------------------------*/
#if CH_CFG_USE_MEMCORE
void *Core::alloc(size_t size) {
return chCoreAlloc(size);
}
void *Core::allocI(size_t size) {
return chCoreAllocI(size);
}
size_t Core::getStatus(void) {
return chCoreGetStatusX();
}
#endif /* CH_CFG_USE_MEMCORE */
/*------------------------------------------------------------------------* /*------------------------------------------------------------------------*
* chibios_rt::Timer * * chibios_rt::Timer *
*------------------------------------------------------------------------*/ *------------------------------------------------------------------------*/
void Timer::setI(systime_t time, vtfunc_t vtfunc, void *par) { void Timer::setI(systime_t time, vtfunc_t vtfunc, void *par) {
chVTSetI(&timer_ref, time, vtfunc, par); chVTSetI(&timer_ref, time, vtfunc, par);
@ -102,6 +45,30 @@ namespace chibios_rt {
return chVTIsArmedI(&timer_ref); return chVTIsArmedI(&timer_ref);
} }
/*------------------------------------------------------------------------*
* chibios_rt::ThreadStayPoint *
*------------------------------------------------------------------------*/
msg_t ThreadStayPoint::suspendS(void) {
return chThdSuspendS(&thread_ref);
}
msg_t ThreadStayPoint::suspendS(systime_t timeout) {
return chThdSuspendTimeoutS(&thread_ref, timeout);
}
void ThreadStayPoint::resumeI(msg_t msg) {
chThdResumeI(&thread_ref, msg);
}
void ThreadStayPoint::resumeS(msg_t msg) {
chThdResumeS(&thread_ref, msg);
}
/*------------------------------------------------------------------------* /*------------------------------------------------------------------------*
* chibios_rt::ThreadReference * * chibios_rt::ThreadReference *
*------------------------------------------------------------------------*/ *------------------------------------------------------------------------*/
@ -111,61 +78,6 @@ namespace chibios_rt {
chSysHalt("invoked unimplemented method stop()"); chSysHalt("invoked unimplemented method stop()");
} }
msg_t ThreadReference::suspend(void) {
msg_t msg;
chSysLock();
chDbgAssert(thread_ref != NULL,
"already referenced");
thread_ref = chThdGetSelfX();
chSchGoSleepS(CH_STATE_SUSPENDED);
msg = thread_ref->p_u.rdymsg;
chSysUnlock();
return msg;
}
msg_t ThreadReference::suspendS(void) {
chDbgAssert(thread_ref == NULL,
"already referenced");
thread_ref = chThdGetSelfX();
chSchGoSleepS(CH_STATE_SUSPENDED);
return thread_ref->p_u.rdymsg;
}
void ThreadReference::resume(msg_t msg) {
chSysLock();
chDbgAssert(thread_ref != NULL,
"not referenced");
if (thread_ref) {
thread_t *tp = thread_ref;
thread_ref = NULL;
chSchWakeupS(tp, msg);
}
chSysUnlock();
}
void ThreadReference::resumeI(msg_t msg) {
chDbgAssert(thread_ref != NULL,
"not referenced");
if (thread_ref) {
thread_t *tp = thread_ref;
thread_ref = NULL;
tp->p_msg = msg;
chSchReadyI(tp);
}
}
void ThreadReference::requestTerminate(void) { void ThreadReference::requestTerminate(void) {
chDbgAssert(thread_ref != NULL, chDbgAssert(thread_ref != NULL,

298
os/various/cpp_wrappers/ch.hpp
View File

@ -55,21 +55,76 @@ namespace chibios_rt {
* *
* @special * @special
*/ */
static void init(void); static inline void init(void) {
chSysInit();
}
/**
* @brief Halts the system.
* @details This function is invoked by the operating system when an
* unrecoverable error is detected, for example because a programming
* error in the application code that triggers an assertion while
* in debug mode.
* @note Can be invoked from any system state.
*
* @param[in] reason pointer to an error string
*
* @special
*/
static inline void halt(const char *reason) {
chSysHalt(reason);
}
/**
* @brief System integrity check.
* @details Performs an integrity check of the important ChibiOS/RT data
* structures.
* @note The appropriate action in case of failure is to halt the system
* before releasing the critical zone.
* @note If the system is corrupted then one possible outcome of this
* function is an exception caused by @p NULL or corrupted pointers
* in list elements. Exception vectors must be monitored as well.
* @note This function is not used internally, it is up to the
* application to define if and where to perform system
* checking.
* @note Performing all tests at once can be a slow operation and can
* degrade the system response time. It is suggested to execute
* one test at time and release the critical zone in between tests.
*
* @param[in] testmask Each bit in this mask is associated to a test to be
* performed.
* @return The test result.
* @retval false The test succeeded.
* @retval true Test failed.
*
* @iclass
*/
static inline bool integrityCheckI(unsigned int testmask) {
return chSysIntegrityCheckI(testmask);
}
/** /**
* @brief Enters the kernel lock mode. * @brief Enters the kernel lock mode.
* *
* @special * @special
*/ */
static void lock(void); static inline void lock(void) {
chSysLock();
}
/** /**
* @brief Leaves the kernel lock mode. * @brief Leaves the kernel lock mode.
* *
* @special * @special
*/ */
static void unlock(void); static inline void unlock(void) {
chSysUnlock();
}
/** /**
* @brief Enters the kernel lock mode from within an interrupt handler. * @brief Enters the kernel lock mode from within an interrupt handler.
@ -83,7 +138,10 @@ namespace chibios_rt {
* *
* @special * @special
*/ */
static void lockFromIsr(void); static inline void lockFromIsr(void) {
chSysLockFromISR();
}
/** /**
* @brief Leaves the kernel lock mode from within an interrupt handler. * @brief Leaves the kernel lock mode from within an interrupt handler.
@ -98,8 +156,10 @@ namespace chibios_rt {
* *
* @special * @special
*/ */
static void unlockFromIsr(void); static inline void unlockFromIsr(void) {
chSysUnlockFromISR();
}
/** /**
* @brief Returns the system time as system ticks. * @brief Returns the system time as system ticks.
@ -109,7 +169,23 @@ namespace chibios_rt {
* *
* @api * @api
*/ */
static systime_t getTime(void); static inline systime_t getTime(void) {
return chVTGetSystemTime();
}
/**
* @brief Returns the system time as system ticks.
* @note The system tick time interval is implementation dependent.
*
* @return The system time.
*
* @xclass
*/
static inline systime_t getTimeX(void) {
return chVTGetSystemTimeX();
}
/** /**
* @brief Checks if the current system time is within the specified time * @brief Checks if the current system time is within the specified time
@ -124,12 +200,15 @@ namespace chibios_rt {
* *
* @api * @api
*/ */
static bool isTimeWithin(systime_t start, systime_t end); static inline bool isSystemTimeWithin(systime_t start, systime_t end) {
return chVTIsSystemTimeWithin(start, end);
}
}; };
#if CH_CFG_USE_MEMCORE || defined(__DOXYGEN__) #if CH_CFG_USE_MEMCORE || defined(__DOXYGEN__)
/*------------------------------------------------------------------------* /*------------------------------------------------------------------------*
* chibios_rt::System * * chibios_rt::Core *
*------------------------------------------------------------------------*/ *------------------------------------------------------------------------*/
/** /**
* @brief Class encapsulating the base system functionalities. * @brief Class encapsulating the base system functionalities.
@ -149,7 +228,10 @@ namespace chibios_rt {
* *
* @api * @api
*/ */
static void *alloc(size_t size); static inline void *alloc(size_t size) {
return chCoreAlloc(size);
}
/** /**
* @brief Allocates a memory block. * @brief Allocates a memory block.
@ -163,16 +245,22 @@ namespace chibios_rt {
* *
* @iclass * @iclass
*/ */
static void *allocI(size_t size); static inline void *allocI(size_t size) {
return chCoreAllocI(size);
}
/** /**
* @brief Core memory status. * @brief Core memory status.
* *
* @return The size, in bytes, of the free core memory. * @return The size, in bytes, of the free core memory.
* *
* @api * @xclass
*/ */
static size_t getStatus(void); static inline size_t getStatusX(void) {
return chCoreGetStatusX();
}
}; };
#endif /* CH_CFG_USE_MEMCORE */ #endif /* CH_CFG_USE_MEMCORE */
@ -207,14 +295,14 @@ namespace chibios_rt {
* *
* @iclass * @iclass
*/ */
void setI(systime_t time, vtfunc_t vtfunc, void *par); inline void setI(systime_t time, vtfunc_t vtfunc, void *par);
/** /**
* @brief Resets the timer, if armed. * @brief Resets the timer, if armed.
* *
* @iclass * @iclass
*/ */
void resetI(); inline void resetI();
/** /**
* @brief Returns the timer status. * @brief Returns the timer status.
@ -224,7 +312,77 @@ namespace chibios_rt {
* *
* @iclass * @iclass
*/ */
bool isArmedI(void); inline bool isArmedI(void);
};
/*------------------------------------------------------------------------*
* chibios_rt::ThreadStayPoint *
*------------------------------------------------------------------------*/
/**
* @brief Thread suspension point class.
* @details This class encapsulates a reference to a suspended thread.
*/
class ThreadStayPoint {
public:
/**
* @brief Pointer to the system thread.
*/
::thread_reference_t thread_ref;
/**
* @brief Suspends the current thread on the reference.
* @details The suspended thread becomes the referenced thread. It is
* possible to use this method only if the thread reference
* was set to @p NULL.
*
* @return The incoming message.
*
* @sclass
*/
inline msg_t suspendS(void);
/**
* @brief Suspends the current thread on the reference with timeout.
* @details The suspended thread becomes the referenced thread. It is
* possible to use this method only if the thread reference
* was set to @p NULL.
*
*
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return A message specifying how the invoking thread has
* been released from the semaphore.
* @retval MSG_OK if the binary semaphore has been successfully
* taken.
* @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset().
* @retval MSG_TIMEOUT if the binary semaphore has not been signaled
* or reset within the specified timeout.
*
* @sclass
*/
inline msg_t suspendS(systime_t timeout);
/**
* @brief Resumes the currently referenced thread, if any.
*
* @param[in] msg the wakeup message
*
* @iclass
*/
inline void resumeI(msg_t msg);
/**
* @brief Resumes the currently referenced thread, if any.
*
* @param[in] msg the wakeup message
*
* @sclass
*/
inline void resumeS(msg_t msg);
}; };
/*------------------------------------------------------------------------* /*------------------------------------------------------------------------*
@ -263,48 +421,6 @@ namespace chibios_rt {
*/ */
virtual void stop(void); virtual void stop(void);
/**
* @brief Suspends the current thread on the reference.
* @details The suspended thread becomes the referenced thread. It is
* possible to use this method only if the thread reference
* was set to @p NULL.
*
* @return The incoming message.
*
* @api
*/
msg_t suspend(void);
/**
* @brief Suspends the current thread on the reference.
* @details The suspended thread becomes the referenced thread. It is
* possible to use this method only if the thread reference
* was set to @p NULL.
*
* @return The incoming message.
*
* @sclass
*/
msg_t suspendS(void);
/**
* @brief Resumes the currently referenced thread, if any.
*
* @param[in] msg the wakeup message
*
* @api
*/
void resume(msg_t msg);
/**
* @brief Resumes the currently referenced thread, if any.
*
* @param[in] msg the wakeup message
*
* @iclass
*/
void resumeI(msg_t msg);
/** /**
* @brief Requests a thread termination. * @brief Requests a thread termination.
* @pre The target thread must be written to invoke periodically * @pre The target thread must be written to invoke periodically
@ -826,7 +942,7 @@ namespace chibios_rt {
* set to the specified, non negative, value. * set to the specified, non negative, value.
* @note The released threads can recognize they were waked up by a * @note The released threads can recognize they were waked up by a
* reset rather than a signal because the @p chSemWait() will * reset rather than a signal because the @p chSemWait() will
* return @p RDY_RESET instead of @p RDY_OK. * return @p MSG_RESET instead of @p MSG_OK.
* *
* @param[in] n the new value of the semaphore counter. The value * @param[in] n the new value of the semaphore counter. The value
* must be non-negative. * must be non-negative.
@ -846,7 +962,7 @@ namespace chibios_rt {
* explicit reschedule must not be performed in ISRs. * explicit reschedule must not be performed in ISRs.
* @note The released threads can recognize they were waked up by a * @note The released threads can recognize they were waked up by a
* reset rather than a signal because the @p chSemWait() will * reset rather than a signal because the @p chSemWait() will
* return @p RDY_RESET instead of @p RDY_OK. * return @p MSG_RESET instead of @p MSG_OK.
* *
* @param[in] n the new value of the semaphore counter. The value * @param[in] n the new value of the semaphore counter. The value
* must be non-negative. * must be non-negative.
@ -860,9 +976,9 @@ namespace chibios_rt {
* *
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the semaphore. * been released from the semaphore.
* @retval RDY_OK if the thread has not stopped on the semaphore or * @retval MSG_OK if the thread has not stopped on the semaphore or
* the semaphore has been signaled. * the semaphore has been signaled.
* @retval RDY_RESET if the semaphore has been reset using * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset(). * @p chSemReset().
* *
* @api * @api
@ -874,9 +990,9 @@ namespace chibios_rt {
* *
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the semaphore. * been released from the semaphore.
* @retval RDY_OK if the thread has not stopped on the semaphore or * @retval MSG_OK if the thread has not stopped on the semaphore or
* the semaphore has been signaled. * the semaphore has been signaled.
* @retval RDY_RESET if the semaphore has been reset using * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset(). * @p chSemReset().
* *
* @sclass * @sclass
@ -894,11 +1010,11 @@ namespace chibios_rt {
* . * .
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the semaphore. * been released from the semaphore.
* @retval RDY_OK if the thread has not stopped on the semaphore or * @retval MSG_OK if the thread has not stopped on the semaphore or
* the semaphore has been signaled. * the semaphore has been signaled.
* @retval RDY_RESET if the semaphore has been reset using * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset(). * @p chSemReset().
* @retval RDY_TIMEOUT if the semaphore has not been signaled or reset * @retval MSG_TIMEOUT if the semaphore has not been signaled or reset
* within the specified timeout. * within the specified timeout.
* *
* @api * @api
@ -916,11 +1032,11 @@ namespace chibios_rt {
* . * .
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the semaphore. * been released from the semaphore.
* @retval RDY_OK if the thread has not stopped on the semaphore or * @retval MSG_OK if the thread has not stopped on the semaphore or
* the semaphore has been signaled. * the semaphore has been signaled.
* @retval RDY_RESET if the semaphore has been reset using * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset(). * @p chSemReset().
* @retval RDY_TIMEOUT if the semaphore has not been signaled or reset * @retval MSG_TIMEOUT if the semaphore has not been signaled or reset
* within the specified timeout. * within the specified timeout.
* *
* @sclass * @sclass
@ -975,9 +1091,9 @@ namespace chibios_rt {
* @param[in] wsem @p Semaphore object to wait on * @param[in] wsem @p Semaphore object to wait on
* @return A message specifying how the invoking thread * @return A message specifying how the invoking thread
* has been released from the semaphore. * has been released from the semaphore.
* @retval RDY_OK if the thread has not stopped on the semaphore * @retval MSG_OK if the thread has not stopped on the semaphore
* or the semaphore has been signaled. * or the semaphore has been signaled.
* @retval RDY_RESET if the semaphore has been reset using * @retval MSG_RESET if the semaphore has been reset using
* @p chSemReset(). * @p chSemReset().
* *
* @api * @api
@ -1016,9 +1132,9 @@ namespace chibios_rt {
* *
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the semaphore. * been released from the semaphore.
* @retval RDY_OK if the binary semaphore has been successfully * @retval MSG_OK if the binary semaphore has been successfully
* taken. * taken.
* @retval RDY_RESET if the binary semaphore has been reset using * @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset(). * @p bsemReset().
* *
* @api * @api
@ -1030,9 +1146,9 @@ namespace chibios_rt {
* *
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the semaphore. * been released from the semaphore.
* @retval RDY_OK if the binary semaphore has been successfully * @retval MSG_OK if the binary semaphore has been successfully
* taken. * taken.
* @retval RDY_RESET if the binary semaphore has been reset using * @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset(). * @p bsemReset().
* *
* @sclass * @sclass
@ -1049,11 +1165,11 @@ namespace chibios_rt {
* . * .
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the semaphore. * been released from the semaphore.
* @retval RDY_OK if the binary semaphore has been successfully * @retval MSG_OK if the binary semaphore has been successfully
* taken. * taken.
* @retval RDY_RESET if the binary semaphore has been reset using * @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset(). * @p bsemReset().
* @retval RDY_TIMEOUT if the binary semaphore has not been signaled * @retval MSG_TIMEOUT if the binary semaphore has not been signaled
* or reset within the specified timeout. * or reset within the specified timeout.
* *
* @api * @api
@ -1070,11 +1186,11 @@ namespace chibios_rt {
* . * .
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the semaphore. * been released from the semaphore.
* @retval RDY_OK if the binary semaphore has been successfully * @retval MSG_OK if the binary semaphore has been successfully
* taken. * taken.
* @retval RDY_RESET if the binary semaphore has been reset using * @retval MSG_RESET if the binary semaphore has been reset using
* @p bsemReset(). * @p bsemReset().
* @retval RDY_TIMEOUT if the binary semaphore has not been signaled * @retval MSG_TIMEOUT if the binary semaphore has not been signaled
* or reset within the specified timeout. * or reset within the specified timeout.
* *
* @sclass * @sclass
@ -1085,7 +1201,7 @@ namespace chibios_rt {
* @brief Reset operation on the binary semaphore. * @brief Reset operation on the binary semaphore.
* @note The released threads can recognize they were waked up by a * @note The released threads can recognize they were waked up by a
* reset rather than a signal because the @p bsemWait() will * reset rather than a signal because the @p bsemWait() will
* return @p RDY_RESET instead of @p RDY_OK. * return @p MSG_RESET instead of @p MSG_OK.
* *
* @param[in] taken new state of the binary semaphore * @param[in] taken new state of the binary semaphore
* - @a FALSE, the new state is not taken. * - @a FALSE, the new state is not taken.
@ -1100,7 +1216,7 @@ namespace chibios_rt {
* @brief Reset operation on the binary semaphore. * @brief Reset operation on the binary semaphore.
* @note The released threads can recognize they were waked up by a * @note The released threads can recognize they were waked up by a
* reset rather than a signal because the @p bsemWait() will * reset rather than a signal because the @p bsemWait() will
* return @p RDY_RESET instead of @p RDY_OK. * return @p MSG_RESET instead of @p MSG_OK.
* @note This function does not reschedule. * @note This function does not reschedule.
* *
* @param[in] taken new state of the binary semaphore * @param[in] taken new state of the binary semaphore
@ -1308,9 +1424,9 @@ namespace chibios_rt {
* *
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the condition variable. * been released from the condition variable.
* @retval RDY_OK if the condvar has been signaled using * @retval MSG_OK if the condvar has been signaled using
* @p chCondSignal(). * @p chCondSignal().
* @retval RDY_RESET if the condvar has been signaled using * @retval MSG_RESET if the condvar has been signaled using
* @p chCondBroadcast(). * @p chCondBroadcast().
* *
* @api * @api
@ -1326,9 +1442,9 @@ namespace chibios_rt {
* *
* @return A message specifying how the invoking thread has * @return A message specifying how the invoking thread has
* been released from the condition variable. * been released from the condition variable.
* @retval RDY_OK if the condvar has been signaled using * @retval MSG_OK if the condvar has been signaled using
* @p chCondSignal(). * @p chCondSignal().
* @retval RDY_RESET if the condvar has been signaled using * @retval MSG_RESET if the condvar has been signaled using
* @p chCondBroadcast(). * @p chCondBroadcast().
* *
* @sclass * @sclass
@ -1341,11 +1457,11 @@ namespace chibios_rt {
* *
* @param[in] time the number of ticks before the operation fails * @param[in] time the number of ticks before the operation fails
* @return The wakep mode. * @return The wakep mode.
* @retval RDY_OK if the condvar was signaled using * @retval MSG_OK if the condvar was signaled using
* @p chCondSignal(). * @p chCondSignal().
* @retval RDY_RESET if the condvar was signaled using * @retval MSG_RESET if the condvar was signaled using
* @p chCondBroadcast(). * @p chCondBroadcast().
* @retval RDY_TIMEOUT if the condvar was not signaled within the * @retval MSG_TIMEOUT if the condvar was not signaled within the
* specified timeout. * specified timeout.
* *
* @api * @api
@ -1875,7 +1991,7 @@ namespace chibios_rt {
/** /**
* @brief Resets a Mailbox object. * @brief Resets a Mailbox object.
* @details All the waiting threads are resumed with status @p RDY_RESET * @details All the waiting threads are resumed with status @p MSG_RESET
* and the queued messages are lost. * and the queued messages are lost.
* *
* @api * @api