git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@781 35acf78f-673a-0410-8e92-d51de3d6d3f4

readme.txt

@@ -80,6 +80,7 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 - FIX: Fixed wrong assertions in chThdWait() and chHeapFree() (backported in
   stable branch).
 - FIX: Fixed a small problem in the chcore.c template file.
+- NEW: Mailboxes (asynchronous messages) subsystem and test cases added.
 - NEW: Mode flexible debug configuration options, removed the old CH_USE_DEBUG
   and CH_USE_TRACE. Replaced with CH_DBG_ENABLE_ASSERTS, CH_DBG_ENABLE_TRACE
   and CH_DBG_FILL_THREADS.

src/chdebug.c

@@ -40,6 +40,7 @@ void trace_init(void) {
   trace_buffer.tb_size = TRACE_BUFFER_SIZE;
   trace_buffer.tb_ptr = &trace_buffer.tb_buffer[0];
 }
+
 /**
  * @brief Inserts in the circular debug trace buffer a context switch record.
  *

src/include/debug.h

@@ -86,6 +86,7 @@ extern "C" {
 #endif
 #if CH_DBG_ENABLE_TRACE
   extern TraceBuffer trace_buffer;
+  void trace_init(void);
   void chDbgTrace(Thread *otp, Thread *ntp);
 #endif
 #if CH_DBG_ENABLE_ASSERTS

src/include/mailboxes.h

@@ -52,22 +52,33 @@ extern "C" {
 #endif
 
 /**
- * Verifies if the mailbox has space for an immediate message.
+ * Returns the mailbox buffer size.
+ * @param[in] mbp the pointer to an initialized Mailbox object
+ */
+#define chMBSize(mbp)                                                   \
+        ((mbp)->mb_top - (mbp)->mb_buffer)
+
+/**
+ * Returns the free space into the mailbox.
  * @param[in] mbp the pointer to an initialized Mailbox object
  * @return The number of empty message slots.
  * @note Can be invoked in any system state but if invoked out of a locked
  *       state then the returned value may change after reading.
+ * @note The returned value can be less than zero when there are waiting
+ *       threads on the internal semaphore.
  */
-#define chMBHasSpace(mbp) chSemGetCounterI(&(mbp)->mb_emptysem)
+#define chMBGetEmpty(mbp) chSemGetCounterI(&(mbp)->mb_emptysem)
 
 /**
- * Verifies if the mailbox has incoming messages.
+ * Returns the number of messages into the mailbox.
  * @param[in] mbp the pointer to an initialized Mailbox object
  * @return The number of queued messages.
  * @note Can be invoked in any system state but if invoked out of a locked
  *       state then the returned value may change after reading.
+ * @note The returned value can be less than zero when there are waiting
+ *       threads on the internal semaphore.
  */
-#define chMBContainsMessages(mbp) chSemGetCounterI(&(mbp)->mb_fullsem)
+#define chMBGetFull(mbp) chSemGetCounterI(&(mbp)->mb_fullsem)
 
 /**
  * Returns the next message in the queue without removing it.

src/include/queues.h

@@ -58,29 +58,27 @@ typedef struct {
 } Queue;
 
 /** Returns the queue's buffer size. */
-#define chQSize(q) \
+#define chQSize(q) ((q)->q_top - (q)->q_buffer)
-        ((q)->q_top - (q)->q_buffer)
 
-/** Returns the used space if used on an Input Queue and the empty space if
+/**
- *  used on an Output Queue. */
+ * Returns the used space if used on an Input Queue and the empty space if
-#define chQSpace(q) \
+ * used on an Output Queue.
-        ((q)->q_sem.s_cnt)
+ * @note The returned value can be less than zero when there are waiting
+ *       threads on the internal semaphore.
+ */
+#define chQSpace(q) chSemGetCounterI(&(q)->q_sem)
 
 /** Evaluates to TRUE if the specified Input Queue is empty. */
-#define chIQIsEmpty(q) \
+#define chIQIsEmpty(q) (chQSpace(q) <= 0)
-        (chQSpace(q) <= 0)
 
 /** Evaluates to TRUE if the specified Input Queue is full. */
-#define chIQIsFull(q) \
+#define chIQIsFull(q) (chQSpace(q) >= chQSize(q))
-        (chQSpace(q) >= chQSize(q))
 
 /** Evaluates to TRUE if the specified Output Queue is empty. */
-#define chOQIsEmpty(q) \
+#define chOQIsEmpty(q) (chQSpace(q) >= chQSize(q))
-        (chQSpace(q) >= chQSize(q))
 
 /** Evaluates to TRUE if the specified Output Queue is full. */
-#define chOQIsFull(q) \
+#define chOQIsFull(q) (chQSpace(q) <= 0)
-        (chQSpace(q) <= 0)
 
 #ifdef __cplusplus
 extern "C" {
@@ -131,28 +129,30 @@ typedef struct {
 } HalfDuplexQueue;
 
 /** Returns the queue's buffer size. */
-#define chHDQSize(q) \
+#define chHDQSize(q) ((q)->hdq_top - (q)->hdq_buffer)
-        ((q)->hdq_top - (q)->hdq_buffer)
 
-/** Returns the queue space when in transmission mode. */
+/**
-#define chHDQEmptySpace(q) \
+ * Returns the queue space when in transmission mode.
-        ((q)->hdq_osem.s_cnt)
+ * @note The returned value can be less than zero when there are waiting
+ *       threads on the internal semaphore.
+ */
+#define chHDQEmptySpace(q) chSemGetCounterI(&(q)->hdq_osem)
 
-/** Returns the number of the bytes in the queue when in receive mode. */
+/**
-#define chHDQFilledSpace(q) \
+ * Returns the number of the bytes in the queue when in receive mode.
-        ((q)->hdq_isem.s_cnt)
+ * @note The returned value can be less than zero when there are waiting
+ *       threads on the internal semaphore.
+ */
+#define chHDQFilledSpace(q) chSemGetCounterI(&(q)->hdq_isem)
 
 /** Evaluates to TRUE if the queue is in transmit mode. */
-#define chHDQIsTransmitting(q) \
+#define chHDQIsTransmitting(q) (chHDQEmptySpace(q) < chHDQSize(q))
-        (chHDQEmptySpace(q) < chHDQSize(q))
 
 /** Evaluates to TRUE if the queue is in receive mode. */
-#define chHDQIsReceiving(q) \
+#define chHDQIsReceiving(q) (chHDQEmptySpaceQ(q) >= chHDQSize(q))
-        (chHDQEmptySpaceQ(q) >= chHDQSize(q))
 
 /** Evaluates to TRUE if the receive queue is full. */
-#define chHDQIsFullReceive(q) \
+#define chHDQIsFullReceive(q) (chHDQFilledSpace(q) >= chHDQSize(q))
-        (chHDQFilledSpace(q) >= chHDQSize(q))
 
 #ifdef __cplusplus
 extern "C" {

test/test.c

@@ -25,6 +25,7 @@
 #include "testmtx.h"
 #include "testcond.h"
 #include "testmsg.h"
+#include "testmbox.h"
 #include "testevt.h"
 #include "testheap.h"
 #include "testpools.h"
@@ -40,6 +41,7 @@ static const struct testcase **patterns[] = {
   patternmtx,
   patterncond,
   patternmsg,
+  patternmbox,
   patternevt,
   patternheap,
   patternpools,

test/test.mk

@@ -1,8 +1,8 @@
 # List of all the ChibiOS/RT test files.
 TESTSRC = ../../test/test.c      ../../test/testrdy.c   ../../test/testsem.c \
           ../../test/testmtx.c   ../../test/testcond.c  ../../test/testmsg.c \
-          ../../test/testevt.c   ../../test/testheap.c  ../../test/testpools.c \
+          ../../test/testmbox.c  ../../test/testevt.c   ../../test/testheap.c \
-          ../../test/testdyn.c   ../../test/testbmk.c
+          ../../test/testpools.c ../../test/testdyn.c   ../../test/testbmk.c
 
 # Required include directories
 TESTINC = ../../test

test/testcond.c

@@ -55,7 +55,7 @@ static void cond1_execute(void) {
   threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread1, "C");
   threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread1, "B");
   threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread1, "A");
-  test_assert(prio == chThdGetPriority(), "priority return failure");
+  test_assert(prio == chThdGetPriority(), "#1"); /* Priority return failure.*/
   chCondSignal(&c1);
   chCondSignal(&c1);
   chCondSignal(&c1);
@@ -86,7 +86,7 @@ static void cond2_execute(void) {
   threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread1, "C");
   threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread1, "B");
   threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread1, "A");
-  test_assert(prio == chThdGetPriority(), "priority return failure");
+  test_assert(prio == chThdGetPriority(), "#1"); /* Priority return failure.*/
   chCondBroadcast(&c1);
   test_wait_threads();
   test_assert_sequence("ABCDE");

test/testdyn.c

@@ -52,15 +52,15 @@ static void dyn1_execute(void) {
                 (threads[2] == NULL) &&
                 (threads[3] == NULL) &&
                 (threads[4] == NULL),
-                "thread creation failed");
+                "#1"); /* Thread creation failed.*/
 
     /* Claiming the memory from terminated threads. */
     test_wait_threads();
     test_assert_sequence("AB");
 
     /* Heap status checked again.*/
-    test_assert(chHeapStatus(&n) == 1, "heap fragmented");
+    test_assert(chHeapStatus(&n) == 1, "#2"); /* Heap fragmented.*/
-    test_assert(n == sz, "heap size changed");
+    test_assert(n == sz, "#3"); /* Heap size changed.*/
   }
 }
 
@@ -105,7 +105,7 @@ static void dyn2_execute(void) {
               (threads[2] != NULL) &&
               (threads[3] != NULL) &&
               (threads[4] != NULL),
-              "thread creation failed");
+              "#1"); /* Thread creation failed.*/
 
   /* Claiming the memory from terminated threads. */
   test_wait_threads();
@@ -113,8 +113,8 @@ static void dyn2_execute(void) {
 
   /* Now the pool must be full again. */
   for (i = 0; i < 5; i++)
-    test_assert(chPoolAlloc(&mp1) != NULL, "pool list empty");
+    test_assert(chPoolAlloc(&mp1) != NULL, "#2"); /* Pool list empty.*/
-  test_assert(chPoolAlloc(&mp1) == NULL, "pool list not empty");
+  test_assert(chPoolAlloc(&mp1) == NULL, "#3"); /* Pool list not empty.*/
 }
 
 const struct testcase testdyn2 = {

test/testevt.c

@@ -55,20 +55,20 @@ static void evt1_execute(void) {
    */
   chEvtPend(5);
   m = chEvtWaitOne(ALL_EVENTS);
-  test_assert(m == 1, "chEvtWaitOne() error");
+  test_assert(m == 1, "#1"); /* Single bit error.*/
   m = chEvtWaitOne(ALL_EVENTS);
-  test_assert(m == 4, "chEvtWaitOne() error");
+  test_assert(m == 4, "#2"); /* Single bit error.*/
   m = chEvtClear(0);
-  test_assert(m == 0, "stuck event");
+  test_assert(m == 0, "#3"); /* Stuck event.*/
 
   /*
    * Test on chEvtWaitAny().
    */
   chEvtPend(5);
   m = chEvtWaitAny(ALL_EVENTS);
-  test_assert(m == 5, "chEvtWaitAny() error");
+  test_assert(m == 5, "#4"); /* Unexpected pending.*/
   m = chEvtClear(0);
-  test_assert(m == 0, "stuck event");
+  test_assert(m == 0, "#5"); /* Stuck event.*/
 
   /*
    * Test on chEvtWaitAll(), chEvtRegisterMask() and chEvtUnregister().
@@ -82,13 +82,13 @@ static void evt1_execute(void) {
   m = chEvtWaitAll(5);
   test_assert_time_window(target_time, target_time + ALLOWED_DELAY);
   m = chEvtClear(0);
-  test_assert(m == 0, "stuck event");
+  test_assert(m == 0, "#6"); /* Stuck event.*/
 
   test_wait_threads();
   chEvtUnregister(&es1, &el1);
   chEvtUnregister(&es2, &el2);
-  test_assert(!chEvtIsListening(&es1), "stuck listener");
+  test_assert(!chEvtIsListening(&es1), "#7"); /* Stuck listener.*/
-  test_assert(!chEvtIsListening(&es2), "stuck listener");
+  test_assert(!chEvtIsListening(&es2), "#8"); /* Stuck listener.*/
 }
 
 const struct testcase testevt1 = {

test/testheap.c

@@ -47,7 +47,7 @@ static void heap1_execute(void) {
     chHeapFree(p1);               /* Does not merge */
     chHeapFree(p2);               /* Merges backward */
     chHeapFree(p3);               /* Merges both sides */
-    test_assert(chHeapStatus(&n) == 1, "heap fragmented #1");
+    test_assert(chHeapStatus(&n) == 1, "#1"); /* Heap fragmented.*/
 
     /* Reverse order */
     p1 = chHeapAlloc(SIZE);
@@ -56,9 +56,9 @@ static void heap1_execute(void) {
     chHeapFree(p3);               /* Merges forward */
     chHeapFree(p2);               /* Merges forward */
     chHeapFree(p1);               /* Merges forward */
-    test_assert(chHeapStatus(&n) == 1, "heap fragmented #2");
+    test_assert(chHeapStatus(&n) == 1, "#2"); /* Heap fragmented.*/
 
-    test_assert(n == sz, "heap size changed");
+    test_assert(n == sz, "#3"); /* Heap size changed.*/
   }
   else {
     test_print("--- Size  : ");

test/testmbox.c

@@ -0,0 +1,101 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <ch.h>
+
+#include "test.h"
+
+#if CH_USE_MAILBOXES && CH_USE_SEMAPHORES_TIMEOUT
+
+#define ALLOWED_DELAY MS2ST(5)
+#define MB_SIZE 5
+
+static msg_t mb1_buf[MB_SIZE];
+static Mailbox mb1;
+
+static char *mbox1_gettest(void) {
+
+  return "Mailboxes, queuing and timeouts";
+}
+
+static void mbox1_setup(void) {
+
+  chMBInit(&mb1, mb1_buf, MB_SIZE);
+}
+
+static void mbox1_execute(void) {
+  msg_t msg1, msg2;
+  unsigned i;
+
+  /* Testing initial space.*/
+  test_assert(chMBGetEmpty(&mb1) == MB_SIZE, "#1");
+
+  /* Testing enqueuing.*/
+  for (i = 0; i < MB_SIZE - 1; i++) {
+    msg1 = chMBPost(&mb1, 'B' + i, TIME_INFINITE);
+    test_assert(msg1 == RDY_OK, "#2");
+  }
+  msg1 = chMBPostAhead(&mb1, 'A', TIME_INFINITE);
+  test_assert(msg1 == RDY_OK, "#3");
+
+  /* Testing post timeout.*/
+  msg1 = chMBPost(&mb1, 'X', 1);
+  test_assert(msg1 == RDY_TIMEOUT, "#4");
+
+  /* Testing final conditions.*/
+  test_assert(chMBGetEmpty(&mb1) == 0, "#5");
+  test_assert(chMBGetFull(&mb1) == MB_SIZE, "#6");
+  test_assert(mb1.mb_rdptr == mb1.mb_wrptr, "#7");
+
+  /* Testing dequeuing.*/
+  for (i = 0; i < MB_SIZE; i++) {
+  msg1 = chMBFetch(&mb1, &msg2, TIME_INFINITE);
+    test_assert(msg1 == RDY_OK, "#8");
+    test_emit_token(msg2);
+  }
+  test_assert_sequence("ABCDE");
+
+  /* Testing fetch timeout.*/
+  msg1 = chMBFetch(&mb1, &msg2, 1);
+  test_assert(msg1 == RDY_TIMEOUT, "#9");
+
+  /* Testing final conditions.*/
+  test_assert(chMBGetEmpty(&mb1) == MB_SIZE, "#10");
+  test_assert(chMBGetFull(&mb1) == 0, "#11");
+  test_assert(mb1.mb_rdptr == mb1.mb_wrptr, "#12");
+}
+
+const struct testcase testmbox1 = {
+  mbox1_gettest,
+  mbox1_setup,
+  NULL,
+  mbox1_execute
+};
+
+#endif /* CH_USE_MAILBOXES && CH_USE_SEMAPHORES_TIMEOUT */
+
+/*
+ * Test sequence for mailboxes pattern.
+ */
+const struct testcase *patternmbox[] = {
+#if CH_USE_MAILBOXES && CH_USE_SEMAPHORES_TIMEOUT
+  &testmbox1,
+#endif
+  NULL
+};

test/testmbox.h

@@ -0,0 +1,25 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef _TESTMBOX_H_
+#define _TESTMBOX_H_
+
+extern const struct testcase *patternmbox[];
+
+#endif /* _TESTMBOX_H_ */

test/testmtx.c

@@ -56,7 +56,7 @@ static void mtx1_execute(void) {
   threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread1, "A");
   chMtxUnlock();
   test_wait_threads();
-  test_assert(prio == chThdGetPriority(), "priority return failure");
+  test_assert(prio == chThdGetPriority(), "#1"); /* Priority return failure.*/
   test_assert_sequence("ABCDE");
 }
 

test/testpools.c

@@ -44,10 +44,10 @@ static void pools1_execute(void) {
 
   /* Empting the pool again. */
   for (i = 0; i < MAX_THREADS; i++)
-    test_assert(chPoolAlloc(&mp1) != NULL, "pool list empty");
+    test_assert(chPoolAlloc(&mp1) != NULL, "#1"); /* Pool list empty.*/
 
   /* Now must be empty. */
-  test_assert(chPoolAlloc(&mp1) == NULL, "pool list not empty");
+  test_assert(chPoolAlloc(&mp1) == NULL, "#2"); /* Pool list not empty.*/
 }
 
 const struct testcase testpools1 = {

test/testsem.c

@@ -86,8 +86,8 @@ static void sem2_execute(void) {
   for (i = 0; i < 5; i++) {
     test_emit_token('A' + i);
     chSemWaitTimeout(&sem1, MS2ST(500));
-    test_assert(isempty(&sem1.s_queue), "queue not empty");
+    test_assert(isempty(&sem1.s_queue), "#1");    /* Queue not empty */
-    test_assert(&sem1.s_cnt != 0, "counter not zero");
+    test_assert(&sem1.s_cnt != 0, "#2");          /* Counter not zero */
   }
   test_assert_sequence("ABCDE");
   test_assert_time_window(target_time, target_time + ALLOWED_DELAY);

todo.txt

@@ -1,27 +1,22 @@
 After 1.0.0:
 X Improve makefiles by adding an options head section and making it shared.
-- Update C++ wrapper (Heap, Pools).
+* Queues macros should not refer to the semaphore counters directly.
 * Priority ordering option for semaphores.
 * chSysLock() and chSysUnlock() with counter (option).
 * OSEK-style chSysSuspendAll()/chSysResumeAll()/chSysEnable()/chSysDisable(),
   implemented this as the new Suspended and Disabled states in 1.1.
-X lwIP TCP/IP stack integration and demo.
+* Mailboxes subsystem (lwIP requires them).
-  X "Wide Queues" or Mailboxes, lwIP requires them.
-X FatFS library integration and demo.
 * Multiple debug switches.
   X Stack checks option.
   * Threads profiling option.
-  - Objects registry.
 * Idle loop hook macro.
 * Switch the configuration options to TRUE/FALSE rather than def/undef.
+
+After 1.2.0:
 - Threads Pools manager in the library.
   - New chThdCreate() that takes just two parameters, a pointer to a thread
     descriptor and the tread parameter. It could wrap the current variants
     or just be an alternative.
-- Fix the names of the Queues macros, also do not refer to the semaphore
-  counters directly.
-
-After 1.2.0:
 - Minimal optional C-runtime library (complete enough for lwIP).
 - OSEK-style simple tasks within the idle thread.
 - Think to something for threads restart.
@@ -30,6 +25,7 @@ After 1.2.0:
   - Move the serial drivers implementations in library al keep the I/O channel
     interface as part of the kernel. Better keep the core as compact as
     possible.
+- Update C++ wrapper (Heap, Pools, Mailboxes and any new feature).
 
 Ideas for 2.x.x:
 - Reference counter for threads, concept of detached threads, threads
@@ -38,12 +34,15 @@ Ideas for 2.x.x:
 - Multicore support.
 
 Side projects:
+X lwIP TCP/IP stack integration and demo.
+X FatFS library integration and demo.
 X ChibiOS Wizard, UML modeling and ChibiOS applications code and
   documentation generator.
 X OSEK layer.
 - Posix layer.
 X File System
 - Visual debugger interfaced to OpenOCD.
+  - Objects registry.
 
 Lower priority:
 - More demos