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[CPP wrappers] Base mailbox class now strongly typed and template based. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7260 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
barthess 2014-09-11 08:36:13 +00:00
parent 05f8c30707
commit 7e5f127c41
3 changed files with 94 additions and 120 deletions
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6
demos/STM32/RT-STM32F407-DISCOVERY-G++/Makefile
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@ -88,6 +88,7 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
include $(CHIBIOS)/os/rt/rt.mk include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f4xx.mk include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f4xx.mk
include $(CHIBIOS)/test/rt/test.mk include $(CHIBIOS)/test/rt/test.mk
include $(CHIBIOS)/os/various/cpp_wrappers/chcpp.mk
# Define linker script file here # Define linker script file here
LDSCRIPT= $(PORTLD)/STM32F407xG.ld LDSCRIPT= $(PORTLD)/STM32F407xG.ld
@ -108,9 +109,8 @@ CSRC = $(PORTSRC) \
# C++ sources that can be compiled in ARM or THUMB mode depending on the global # C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting. # setting.
CPPSRC = main.cpp \ CPPSRC = $(CHCPPSRC) \
$(CHIBIOS)/os/various/cpp_wrappers/ch.cpp \ main.cpp
$(CHIBIOS)/os/various/cpp_wrappers/syscalls_cpp.cpp \
# C sources to be compiled in ARM mode regardless of the global setting. # C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

70
os/various/cpp_wrappers/ch.cpp
View File

@ -745,76 +745,6 @@ namespace chibios_rt {
} }
#endif /* CH_CFG_USE_QUEUES */ #endif /* CH_CFG_USE_QUEUES */
#if CH_CFG_USE_MAILBOXES
/*------------------------------------------------------------------------*
* chibios_rt::Mailbox *
*------------------------------------------------------------------------*/
Mailbox::Mailbox(msg_t *buf, cnt_t n) {
chMBObjectInit(&mb, buf, n);
}
void Mailbox::reset(void) {
chMBReset(&mb);
}
msg_t Mailbox::post(msg_t msg, systime_t time) {
return chMBPost(&mb, msg, time);
}
msg_t Mailbox::postS(msg_t msg, systime_t time) {
return chMBPostS(&mb, msg, time);
}
msg_t Mailbox::postI(msg_t msg) {
return chMBPostI(&mb, msg);
}
msg_t Mailbox::postAhead(msg_t msg, systime_t time) {
return chMBPostAhead(&mb, msg, time);
}
msg_t Mailbox::postAheadS(msg_t msg, systime_t time) {
return chMBPostAheadS(&mb, msg, time);
}
msg_t Mailbox::postAheadI(msg_t msg) {
return chMBPostAheadI(&mb, msg);
}
msg_t Mailbox::fetch(msg_t *msgp, systime_t time) {
return chMBFetch(&mb, msgp, time);
}
msg_t Mailbox::fetchS(msg_t *msgp, systime_t time) {
return chMBFetchS(&mb, msgp, time);
}
msg_t Mailbox::fetchI(msg_t *msgp) {
return chMBFetchI(&mb, msgp);
}
cnt_t Mailbox::getFreeCountI(void) {
return chMBGetFreeCountI(&mb);
}
cnt_t Mailbox::getUsedCountI(void) {
return chMBGetUsedCountI(&mb);
}
#endif /* CH_CFG_USE_MAILBOXES */
#if CH_CFG_USE_MEMPOOLS #if CH_CFG_USE_MEMPOOLS
/*------------------------------------------------------------------------* /*------------------------------------------------------------------------*
* chibios_rt::MemoryPool * * chibios_rt::MemoryPool *

138
os/various/cpp_wrappers/ch.hpp
View File

@ -1843,10 +1843,14 @@ namespace chibios_rt {
* chibios_rt::Mailbox * * chibios_rt::Mailbox *
*------------------------------------------------------------------------*/ *------------------------------------------------------------------------*/
/** /**
* @brief Class encapsulating a mailbox. * @brief Base mailbox class.
*
* @param T type of objects that mailbox able to handle
*/ */
class Mailbox { template <typename T>
class MailboxBase {
public: public:
/** /**
* @brief Embedded @p ::Mailbox structure. * @brief Embedded @p ::Mailbox structure.
*/ */
@ -1862,7 +1866,11 @@ namespace chibios_rt {
* *
* @init * @init
*/ */
Mailbox(msg_t *buf, cnt_t n); MailboxBase(msg_t *buf, cnt_t n) {
/* static_assert(sizeof(msg_t) >= sizeof(T),
"You can not pass objects bigger than msg_t"); */
chMBObjectInit(&mb, buf, n);
}
/** /**
* @brief Resets a Mailbox object. * @brief Resets a Mailbox object.
@ -1871,7 +1879,10 @@ namespace chibios_rt {
* *
* @api * @api
*/ */
void reset(void); void reset(void) {
chMBReset(&mb);
}
/** /**
* @brief Posts a message into a mailbox. * @brief Posts a message into a mailbox.
@ -1885,13 +1896,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval RDY_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval RDY_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @api * @api
*/ */
msg_t post(msg_t msg, systime_t time); msg_t post(T msg, systime_t time) {
return chMBPost(&mb, reinterpret_cast<msg_t>(msg), time);
}
/** /**
* @brief Posts a message into a mailbox. * @brief Posts a message into a mailbox.
@ -1905,13 +1919,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval RDY_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval RDY_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @sclass * @sclass
*/ */
msg_t postS(msg_t msg, systime_t time); msg_t postS(T msg, systime_t time) {
return chMBPostS(&mb, reinterpret_cast<msg_t>(msg), time);
}
/** /**
* @brief Posts a message into a mailbox. * @brief Posts a message into a mailbox.
@ -1920,13 +1937,16 @@ namespace chibios_rt {
* *
* @param[in] msg the message to be posted on the mailbox * @param[in] msg the message to be posted on the mailbox
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval RDY_TIMEOUT if the mailbox is full and the message cannot be * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
* posted. * posted.
* *
* @iclass * @iclass
*/ */
msg_t postI(msg_t msg); msg_t postI(T msg) {
return chMBPostI(&mb, reinterpret_cast<msg_t>(msg));
}
/** /**
* @brief Posts an high priority message into a mailbox. * @brief Posts an high priority message into a mailbox.
@ -1940,13 +1960,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval RDY_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval RDY_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @api * @api
*/ */
msg_t postAhead(msg_t msg, systime_t time); msg_t postAhead(T msg, systime_t time) {
return chMBPostAhead(&mb, reinterpret_cast<msg_t>(msg), time);
}
/** /**
* @brief Posts an high priority message into a mailbox. * @brief Posts an high priority message into a mailbox.
@ -1960,13 +1983,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval RDY_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval RDY_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @sclass * @sclass
*/ */
msg_t postAheadS(msg_t msg, systime_t time); msg_t postAheadS(T msg, systime_t time) {
return chMBPostAheadS(&mb, reinterpret_cast<msg_t>(msg), time);
}
/** /**
* @brief Posts an high priority message into a mailbox. * @brief Posts an high priority message into a mailbox.
@ -1975,13 +2001,16 @@ namespace chibios_rt {
* *
* @param[in] msg the message to be posted on the mailbox * @param[in] msg the message to be posted on the mailbox
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval RDY_TIMEOUT if the mailbox is full and the message cannot be * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
* posted. * posted.
* *
* @iclass * @iclass
*/ */
msg_t postAheadI(msg_t msg); msg_t postAheadI(T msg) {
return chMBPostAheadI(&mb, reinterpret_cast<msg_t>(msg));
}
/** /**
* @brief Retrieves a message from a mailbox. * @brief Retrieves a message from a mailbox.
@ -1995,13 +2024,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly fetched. * @retval MSG_OK if a message has been correctly fetched.
* @retval RDY_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval RDY_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @api * @api
*/ */
msg_t fetch(msg_t *msgp, systime_t time); msg_t fetch(T *msgp, systime_t time) {
return chMBFetch(&mb, reinterpret_cast<msg_t*>(msgp), time);
}
/** /**
* @brief Retrieves a message from a mailbox. * @brief Retrieves a message from a mailbox.
@ -2015,13 +2047,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly fetched. * @retval MSG_OK if a message has been correctly fetched.
* @retval RDY_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval RDY_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @sclass * @sclass
*/ */
msg_t fetchS(msg_t *msgp, systime_t time); msg_t fetchS(T *msgp, systime_t time) {
return chMBFetchS(&mb, reinterpret_cast<msg_t*>(msgp), time);
}
/** /**
* @brief Retrieves a message from a mailbox. * @brief Retrieves a message from a mailbox.
@ -2031,13 +2066,16 @@ namespace chibios_rt {
* @param[out] msgp pointer to a message variable for the received * @param[out] msgp pointer to a message variable for the received
* message * message
* @return The operation status. * @return The operation status.
* @retval RDY_OK if a message has been correctly fetched. * @retval MSG_OK if a message has been correctly fetched.
* @retval RDY_TIMEOUT if the mailbox is empty and a message cannot be * @retval MSG_TIMEOUT if the mailbox is empty and a message cannot be
* fetched. * fetched.
* *
* @iclass * @iclass
*/ */
msg_t fetchI(msg_t *msgp); msg_t fetchI(T *msgp) {
return chMBFetchI(&mb, reinterpret_cast<msg_t*>(msgp));
}
/** /**
* @brief Returns the number of free message slots into a mailbox. * @brief Returns the number of free message slots into a mailbox.
@ -2050,7 +2088,10 @@ namespace chibios_rt {
* *
* @iclass * @iclass
*/ */
cnt_t getFreeCountI(void); cnt_t getFreeCountI(void) {
return chMBGetFreeCountI(&mb);
}
/** /**
* @brief Returns the number of used message slots into a mailbox. * @brief Returns the number of used message slots into a mailbox.
@ -2063,30 +2104,33 @@ namespace chibios_rt {
* *
* @iclass * @iclass
*/ */
cnt_t getUsedCountI(void); cnt_t getUsedCountI(void) {
return chMBGetUsedCountI(&mb);
}
}; };
/*------------------------------------------------------------------------* /*------------------------------------------------------------------------*
* chibios_rt::MailboxBuffer * * chibios_rt::Mailbox *
*------------------------------------------------------------------------*/ *------------------------------------------------------------------------*/
/** /**
* @brief Template class encapsulating a mailbox and its messages buffer. * @brief Template class encapsulating a mailbox and its messages buffer.
* *
* @param N size of the mailbox * @param N length of the mailbox buffer
*/ */
template <int N> template <typename T, int N>
class MailboxBuffer : public Mailbox { class Mailbox : public MailboxBase<T> {
private: private:
msg_t mb_buf[N]; msg_t mb_buf[N];
public: public:
/** /**
* @brief BufferMailbox constructor. * @brief Mailbox constructor.
* *
* @init * @init
*/ */
MailboxBuffer(void) : Mailbox(mb_buf, Mailbox(void) :
(cnt_t)(sizeof mb_buf / sizeof (msg_t))) { MailboxBase<T>(mb_buf, (cnt_t)(sizeof mb_buf / sizeof (msg_t))) {
} }
}; };
#endif /* CH_CFG_USE_MAILBOXES */ #endif /* CH_CFG_USE_MAILBOXES */