mirror of https://github.com/rusefi/ChibiOS.git
598 lines
17 KiB
C
598 lines
17 KiB
C
/*
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ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
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2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation version 3 of the License.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file chlists.h
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* @brief Lists and Queues header.
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*
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* @addtogroup os_lists
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* @{
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*/
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#ifndef CHLISTS_H
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#define CHLISTS_H
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Type of a generic single link list header and element.
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*/
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typedef struct ch_list ch_list_t;
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/**
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* @brief Structure representing a generic single link list header
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* and element.
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*/
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struct ch_list {
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ch_list_t *next; /**< @brief Next in the list/queue. */
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};
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/**
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* @brief Type of a generic bidirectional linked list header and element.
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*/
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typedef struct ch_queue ch_queue_t;
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/**
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* @brief Structure representing a generic bidirectional linked list header
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* and element.
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*/
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struct ch_queue {
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ch_queue_t *next; /**< @brief Next in the list/queue. */
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ch_queue_t *prev; /**< @brief Previous in the queue. */
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};
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/**
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* @brief Type of a generic priority-ordered bidirectional linked list
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* header and element.
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*/
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typedef struct ch_priority_queue ch_priority_queue_t;
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/**
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* @brief Structure representing a generic priority-ordered bidirectional
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* linked list header and element.
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* @note Link fields are void pointers in order to avoid aliasing issues.
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*/
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struct ch_priority_queue {
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ch_priority_queue_t *next; /**< @brief Next in the queue. */
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ch_priority_queue_t *prev; /**< @brief Previous in the queue. */
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tprio_t prio; /**< @brief Priority of this element. */
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};
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/**
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* @brief Type of a generic bidirectional linked delta list
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* header and element.
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*/
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typedef struct ch_delta_list ch_delta_list_t;
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/**
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* @brief Delta list element and header structure.
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*/
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struct ch_delta_list {
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ch_delta_list_t *next; /**< @brief Next in the delta list. */
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ch_delta_list_t *prev; /**< @brief Previous in the delta list. */
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sysinterval_t delta; /**< @brief Time interval from previous.*/
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};
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @brief Data part of a static queue object initializer.
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* @details This macro should be used when statically initializing a
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* queue that is part of a bigger structure.
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*
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* @param[in] name the name of the queue variable
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*/
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#define __CH_QUEUE_DATA(name) {(ch_queue_t *)&name, (ch_queue_t *)&name}
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/**
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* @brief Static queue object initializer.
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* @details Statically initialized queues require no explicit
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* initialization using @p queue_init().
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*
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* @param[in] name the name of the queue variable
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*/
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#define CH_QUEUE_DECL(name) \
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ch_queue_t name = __CH_QUEUE_DATA(name)
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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/* Early function prototypes required by the following headers.*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief List initialization.
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*
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* @param[out] lp pointer to the list header
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*
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* @notapi
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*/
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static inline void ch_list_init(ch_list_t *lp) {
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lp->next = lp;
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}
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/**
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* @brief Evaluates to @p true if the specified list is empty.
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*
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* @param[in] lp pointer to the list header
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* @return The status of the list.
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*
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* @notapi
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*/
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static inline bool ch_list_isempty(ch_list_t *lp) {
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return (bool)(lp->next == lp);
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}
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/**
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* @brief Evaluates to @p true if the specified list is not empty.
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*
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* @param[in] lp pointer to the list header
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* @return The status of the list.
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*
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* @notapi
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*/
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static inline bool ch_list_notempty(ch_list_t *lp) {
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return (bool)(lp->next != lp);
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}
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/**
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* @brief Pushes an element on top of a stack list.
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*
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* @param[in] lp the pointer to the list header
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* @param[in] p the pointer to the element to be inserted in the list
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*
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* @notapi
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*/
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static inline void ch_list_link(ch_list_t *lp, ch_list_t *p) {
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p->next = lp->next;
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lp->next = p;
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}
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/**
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* @brief Pops an element from the top of a stack list and returns it.
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* @pre The list must be non-empty before calling this function.
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*
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* @param[in] lp the pointer to the list header
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* @return The removed element pointer.
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*
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* @notapi
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*/
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static inline ch_list_t *ch_list_unlink(ch_list_t *lp) {
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ch_list_t *p = lp->next;
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lp->next = p->next;
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return p;
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}
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/**
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* @brief Queue initialization.
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*
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* @param[out] qp pointer to the queue header
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*
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* @notapi
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*/
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static inline void ch_queue_init(ch_queue_t *qp) {
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qp->next = qp;
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qp->prev = qp;
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}
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/**
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* @brief Evaluates to @p true if the specified queue is empty.
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*
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* @param[in] qp pointer to the queue header
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* @return The status of the queue.
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*
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* @notapi
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*/
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static inline bool ch_queue_isempty(const ch_queue_t *qp) {
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return (bool)(qp->next == qp);
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}
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/**
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* @brief Evaluates to @p true if the specified queue is not empty.
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*
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* @param[in] qp pointer to the queue header
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* @return The status of the queue.
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*
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* @notapi
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*/
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static inline bool ch_queue_notempty(const ch_queue_t *qp) {
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return (bool)(qp->next != qp);
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}
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/**
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* @brief Inserts an element into a queue.
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*
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* @param[in] qp the pointer to the queue header
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* @param[in] p the pointer to the element to be inserted in the queue
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*
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* @notapi
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*/
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static inline void ch_queue_insert(ch_queue_t *qp, ch_queue_t *p) {
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p->next = qp;
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p->prev = qp->prev;
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p->prev->next = p;
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qp->prev = p;
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}
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/**
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* @brief Removes the first-out element from a queue and returns it.
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* @note If the queue is priority ordered then this function returns the
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* element with the highest priority.
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*
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* @param[in] qp the pointer to the queue list header
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* @return The removed element pointer.
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*
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* @notapi
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*/
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static inline ch_queue_t *ch_queue_fifo_remove(ch_queue_t *qp) {
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ch_queue_t *p = qp->next;
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qp->next = p->next;
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qp->next->prev = qp;
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return p;
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}
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/**
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* @brief Removes the last-out element from a queue and returns it.
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* @note If the queue is priority ordered then this function returns the
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* element with the lowest priority.
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*
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* @param[in] qp the pointer to the queue list header
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* @return The removed element pointer.
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*
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* @notapi
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*/
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static inline ch_queue_t *ch_queue_lifo_remove(ch_queue_t *qp) {
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ch_queue_t *p = qp->prev;
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qp->prev = p->prev;
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qp->prev->next = qp;
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return p;
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}
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/**
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* @brief Removes an element from a queue and returns it.
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* @details The element is removed from the queue regardless of its relative
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* position and regardless the used insertion method.
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*
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* @param[in] p the pointer to the element to be removed from the queue
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* @return The removed element pointer.
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*
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* @notapi
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*/
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static inline ch_queue_t *ch_queue_dequeue(ch_queue_t *p) {
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p->prev->next = p->next;
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p->next->prev = p->prev;
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return p;
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}
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/**
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* @brief Priority queue initialization.
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* @note The queue header priority is initialized to zero, all other
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* elements in the queue are assumed to have priority greater
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* than zero.
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*
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* @param[out] pqp pointer to the priority queue header
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*
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* @notapi
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*/
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static inline void ch_pqueue_init(ch_priority_queue_t *pqp) {
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pqp->next = pqp;
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pqp->prev = pqp;
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pqp->prio = (tprio_t)0;
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}
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/**
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* @brief Removes the highest priority element from a priority queue and
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* returns it.
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*
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* @param[in] pqp the pointer to the priority queue list header
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* @return The removed element pointer.
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*
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* @notapi
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*/
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static inline ch_priority_queue_t *ch_pqueue_remove_highest(ch_priority_queue_t *pqp) {
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ch_priority_queue_t *p = pqp->next;
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pqp->next = p->next;
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pqp->next->prev = pqp;
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return p;
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}
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/**
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* @brief Inserts an element in the priority queue placing it behind
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* its peers.
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* @details The element is positioned behind all elements with higher or
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* equal priority.
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*
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* @param[in] pqp the pointer to the priority queue list header
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* @param[in] p the pointer to the element to be inserted in the queue
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* @return The inserted element pointer.
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*
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* @notapi
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*/
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static inline ch_priority_queue_t *ch_pqueue_insert_behind(ch_priority_queue_t *pqp,
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ch_priority_queue_t *p) {
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/* Scanning priority queue, the list is assumed to be mostly empty.*/
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do {
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pqp = pqp->next;
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} while (unlikely(pqp->prio >= p->prio));
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/* Insertion on prev.*/
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p->next = pqp;
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p->prev = pqp->prev;
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p->prev->next = p;
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pqp->prev = p;
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return p;
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}
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/**
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* @brief Inserts an element in the priority queue placing it ahead of
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* its peers.
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* @details The element is positioned ahead of all elements with higher or
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* equal priority.
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*
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* @param[in] pqp the pointer to the priority queue list header
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* @param[in] p the pointer to the element to be inserted in the queue
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* @return The inserted element pointer.
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*
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* @notapi
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*/
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static inline ch_priority_queue_t *ch_pqueue_insert_ahead(ch_priority_queue_t *pqp,
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ch_priority_queue_t *p) {
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/* Scanning priority queue, the list is assumed to be mostly empty.*/
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do {
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pqp = pqp->next;
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} while (unlikely(pqp->prio > p->prio));
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/* Insertion on prev.*/
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p->next = pqp;
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p->prev = pqp->prev;
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p->prev->next = p;
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pqp->prev = p;
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return p;
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}
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/**
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* @brief Delta list initialization.
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*
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* @param[out] dlhp pointer to the delta list header
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*
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* @notapi
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*/
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static inline void ch_dlist_init(ch_delta_list_t *dlhp) {
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dlhp->next = dlhp;
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dlhp->prev = dlhp;
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dlhp->delta = (sysinterval_t)-1;
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}
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/**
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* @brief Evaluates to @p true if the specified delta list is empty.
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*
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* @param[in] dlhp pointer to the delta list header
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* @return The status of the delta list.
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*
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* @notapi
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*/
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static inline bool ch_dlist_isempty(ch_delta_list_t *dlhp) {
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return (bool)(dlhp == dlhp->next);
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}
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/**
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* @brief Evaluates to @p true if the specified queue is not empty.
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*
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* @param[in] dlhp pointer to the delta list header
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* @return The status of the delta list.
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*
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* @notapi
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*/
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static inline bool ch_dlist_notempty(ch_delta_list_t *dlhp) {
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return (bool)(dlhp != dlhp->next);
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}
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/**
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* @brief Last element in the delta list check.
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*
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* @param[in] dlhp pointer to the delta list header
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* @param[in] dlp pointer to the delta list element
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*
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* @notapi
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*/
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static inline bool ch_dlist_islast(ch_delta_list_t *dlhp,
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ch_delta_list_t *dlp) {
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return (bool)(dlp->next == dlhp);
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}
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/**
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* @brief Fist element in the delta list check.
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*
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* @param[in] dlhp pointer to the delta list header
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* @param[in] dlp pointer to the delta list element
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*
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* @notapi
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*/
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static inline bool ch_dlist_isfirst(ch_delta_list_t *dlhp,
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ch_delta_list_t *dlp) {
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return (bool)(dlhp->next == dlp);
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}
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/**
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* @brief Inserts an element after another header element.
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*
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* @param[in] dlhp pointer to the delta list header element
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* @param[in] dlp element to be inserted after the header element
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* @param[in] delta delta of the element to be inserted
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*
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* @notapi
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*/
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static inline void ch_dlist_insert_after(ch_delta_list_t *dlhp,
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ch_delta_list_t *dlp,
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sysinterval_t delta) {
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dlp->delta = delta;
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dlp->prev = dlhp;
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dlp->next = dlp->prev->next;
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dlp->next->prev = dlp;
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dlhp->next = dlp;
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}
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/**
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* @brief Inserts an element before another header element.
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*
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* @param[in] dlhp pointer to the delta list header element
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* @param[in] dlp element to be inserted before the header element
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* @param[in] delta delta of the element to be inserted
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*
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* @notapi
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*/
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static inline void ch_dlist_insert_before(ch_delta_list_t *dlhp,
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ch_delta_list_t *dlp,
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sysinterval_t delta) {
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dlp->delta = delta;
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dlp->next = dlhp;
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dlp->prev = dlp->next->prev;
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dlp->prev->next = dlp;
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dlhp->prev = dlp;
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}
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/**
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* @brief Inserts an element in a delta list.
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*
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* @param[in] dlhp pointer to the delta list header element
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* @param[in] dlep element to be inserted before the header element
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* @param[in] delta delta of the element to be inserted
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*
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* @notapi
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*/
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static inline void ch_dlist_insert(ch_delta_list_t *dlhp,
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ch_delta_list_t *dlep,
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sysinterval_t delta) {
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ch_delta_list_t *dlp;
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/* The delta list is scanned in order to find the correct position for
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this element. */
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dlp = dlhp->next;
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while (likely(dlp->delta < delta)) {
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/* Debug assert if the element is already in the list.*/
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chDbgAssert(dlp != dlep, "element already in list");
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delta -= dlp->delta;
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dlp = dlp->next;
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}
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/* The timer is inserted in the delta list.*/
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ch_dlist_insert_before(dlp, dlep, delta);
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/* Adjusting delta for the following element.*/
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dlp->delta -= delta;
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/* Special case when the inserted element is in last position in the list,
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the value in the header must be restored, just doing it is faster than
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checking then doing.*/
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dlhp->delta = (sysinterval_t)-1;
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}
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/**
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* @brief Dequeues an element from the delta list.
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*
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* @param[in] dlhp pointer to the delta list header
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*
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* @notapi
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*/
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static inline ch_delta_list_t *ch_dlist_remove_first(ch_delta_list_t *dlhp) {
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ch_delta_list_t *dlp = dlhp->next;
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dlhp->next = dlp->next;
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dlhp->next->prev = dlhp;
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return dlp;
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}
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/**
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* @brief Dequeues an element from the delta list.
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*
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* @param[in] dlp pointer to the delta list element
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*
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* @notapi
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*/
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static inline ch_delta_list_t *ch_dlist_dequeue(ch_delta_list_t *dlp) {
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dlp->prev->next = dlp->next;
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dlp->next->prev = dlp->prev;
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return dlp;
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}
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#endif /* CHLISTS_H */
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/** @} */
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