os-mqueue.h

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/*
 * This file is part of the µOS++ project (https://micro-os-plus.github.io/).
 * Copyright (c) 2016-2025 Liviu Ionescu. All rights reserved.
 *
 * Permission to use, copy, modify, and/or distribute this software
 * for any purpose is hereby granted, under the terms of the MIT license.
 *
 * If a copy of the license was not distributed with this file, it can
 * be obtained from https://opensource.org/licenses/mit.
 */
 
#ifndef CMSIS_PLUS_RTOS_OS_MQUEUE_H_
#define CMSIS_PLUS_RTOS_OS_MQUEUE_H_
 
// ----------------------------------------------------------------------------
 
#if defined(__cplusplus)
 
// ----------------------------------------------------------------------------
 
#if defined(OS_USE_OS_APP_CONFIG_H)
#include <cmsis-plus/os-app-config.h>
#endif
 
#include <cmsis-plus/rtos/os-decls.h>
#include <cmsis-plus/rtos/os-memory.h>
 
#include <cmsis-plus/diag/trace.h>
 
// ----------------------------------------------------------------------------
 
#pragma GCC diagnostic push
#if defined(__clang__)
#pragma clang diagnostic ignored "-Wc++98-compat"
#pragma clang diagnostic ignored "-Wdocumentation-unknown-command"
#endif
 
// ----------------------------------------------------------------------------
 
namespace os
{
  namespace rtos
  {
 
    // ========================================================================
 
#pragma GCC diagnostic push
#if defined(__clang__)
#pragma clang diagnostic ignored "-Wpadded"
#elif defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wpadded"
#endif
 
#pragma GCC diagnostic push
#if defined(__clang__)
#elif defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wsuggest-final-methods"
#pragma GCC diagnostic ignored "-Wsuggest-final-types"
#endif
    class message_queue : public internal::object_named_system
    {
    public:
      // ======================================================================
 
#if defined(OS_BOOL_RTOS_MESSAGE_QUEUE_SIZE_16BITS)
      using size_t = uint16_t;
#else
      using size_t = uint8_t;
#endif
 
      static constexpr message_queue::size_t max_size = 0xFF;
 
      using msg_size_t = uint16_t;
 
      static constexpr msg_size_t max_msg_size = 0xFFFF;
 
      using index_t = message_queue::size_t;
 
      static constexpr index_t no_index = max_size;
 
      using priority_t = uint8_t;
 
      static constexpr priority_t default_priority = 0;
 
      static constexpr priority_t max_priority = 0xFF;
 
      // ======================================================================
 
      class attributes : public internal::attributes_clocked
      {
      public:
        constexpr attributes ();
 
        // The rule of five.
        attributes (const attributes&) = default;
        attributes (attributes&&) = default;
        attributes&
        operator= (const attributes&)
            = default;
        attributes&
        operator= (attributes&&)
            = default;
 
        ~attributes () = default;
 
      public:
        // Public members; no accessors and mutators required.
        // Warning: must match the type & order of the C file header.
        void* mq_queue_address = nullptr;
 
        std::size_t mq_queue_size_bytes = 0;
 
        // Add more attributes here.
 
      }; /* class attributes */
 
      static const attributes initializer;
 
      using allocator_type
          = memory::allocator<thread::stack::allocation_element_t>;
 
      template <typename T, std::size_t msgs, std::size_t msg_size_bytes>
      class arena
      {
      public:
        T queue[(msgs * msg_size_bytes + sizeof (T) - 1) / sizeof (T)];
        T links[((2 * msgs) * sizeof (index_t) + sizeof (T) - 1) / sizeof (T)];
        T prios[(msgs * sizeof (priority_t) + sizeof (T) - 1) / sizeof (T)];
      };
 
      template <typename T>
      constexpr std::size_t
      compute_allocated_size_bytes (std::size_t msgs,
                                    std::size_t msg_size_bytes)
      {
        // Align each message
        return (msgs
                * ((msg_size_bytes + (sizeof (T) - 1)) & ~(sizeof (T) - 1)))
               // Align the indices array
               + ((2 * msgs * sizeof (index_t) + (sizeof (T) - 1))
                  & ~(sizeof (T) - 1))
               // Align the priority array
               + ((msgs * sizeof (priority_t) + (sizeof (T) - 1))
                  & ~(sizeof (T) - 1));
      }
 
      // ======================================================================
 
      message_queue (std::size_t msgs, std::size_t msg_size_bytes,
                     const attributes& attr = initializer,
                     const allocator_type& allocator = allocator_type ());
 
      message_queue (const char* name, std::size_t msgs,
                     std::size_t msg_size_bytes,
                     const attributes& attr = initializer,
                     const allocator_type& allocator = allocator_type ());
 
    protected:
      // Internal constructors, used from templates.
      message_queue ();
      message_queue (const char* name);
 
    public:
      // The rule of five.
      message_queue (const message_queue&) = delete;
      message_queue (message_queue&&) = delete;
      message_queue&
      operator= (const message_queue&)
          = delete;
      message_queue&
      operator= (message_queue&&)
          = delete;
 
      virtual ~message_queue ();
 
      bool
      operator== (const message_queue& rhs) const;
 
    public:
      result_t
      send (const void* msg, std::size_t nbytes,
            priority_t mprio = default_priority);
 
      result_t
      try_send (const void* msg, std::size_t nbytes,
                priority_t mprio = default_priority);
 
      result_t
      timed_send (const void* msg, std::size_t nbytes,
                  clock::duration_t timeout,
                  priority_t mprio = default_priority);
 
      result_t
      receive (void* msg, std::size_t nbytes, priority_t* mprio = nullptr);
 
      result_t
      try_receive (void* msg, std::size_t nbytes, priority_t* mprio = nullptr);
 
      result_t
      timed_receive (void* msg, std::size_t nbytes, clock::duration_t timeout,
                     priority_t* mprio = nullptr);
 
      // TODO: check if some kind of peek() is useful.
 
      std::size_t
      capacity (void) const;
 
      std::size_t
      length (void) const;
 
      std::size_t
      msg_size (void) const;
 
      bool
      empty (void) const;
 
      bool
      full (void) const;
 
      result_t
      reset (void);
 
    protected:
      void
      internal_construct_ (std::size_t msgs, std::size_t msg_size_bytes,
                           const attributes& attr, void* queue_address,
                           std::size_t queue_size_bytes);
 
      void
      internal_init_ (void);
 
#if !defined(OS_USE_RTOS_PORT_MESSAGE_QUEUE)
 
      bool
      internal_try_send_ (const void* msg, std::size_t nbytes,
                          priority_t mprio);
 
      bool
      internal_try_receive_ (void* msg, std::size_t nbytes, priority_t* mprio);
 
#endif /* !defined(OS_USE_RTOS_PORT_MESSAGE_QUEUE) */
 
    protected:
      // Keep these in sync with the structure declarations in os-c-decl.h.
#if !defined(OS_USE_RTOS_PORT_MESSAGE_QUEUE)
      internal::waiting_threads_list send_list_;
      internal::waiting_threads_list receive_list_;
      clock* clock_ = nullptr;
 
      // To save space, the double linked list is built
      // using short indexes, not pointers.
      volatile index_t* prev_array_ = nullptr;
      volatile index_t* next_array_ = nullptr;
      volatile priority_t* prio_array_ = nullptr;
 
      void* volatile first_free_ = nullptr;
#endif /* !defined(OS_USE_RTOS_PORT_MESSAGE_QUEUE) */
 
      void* queue_addr_ = nullptr;
      void* allocated_queue_addr_ = nullptr;
      const void* allocator_ = nullptr;
 
#if defined(OS_USE_RTOS_PORT_MESSAGE_QUEUE)
      friend class port::message_queue;
      os_mqueue_port_data_t port_;
#endif
 
      std::size_t queue_size_bytes_ = 0;
      std::size_t allocated_queue_size_elements_ = 0;
 
      message_queue::msg_size_t msg_size_bytes_ = 0;
      message_queue::size_t msgs_ = 0;
      message_queue::size_t count_ = 0;
 
#if !defined(OS_USE_RTOS_PORT_MESSAGE_QUEUE)
      index_t head_ = 0;
#endif /* !defined(OS_USE_RTOS_PORT_MESSAGE_QUEUE) */
 
    };
#pragma GCC diagnostic pop
 
    // ========================================================================
 
    template <typename Allocator = memory::allocator<void*>>
    class message_queue_allocated : public message_queue
    {
    public:
      using allocator_type = Allocator;
 
      message_queue_allocated (std::size_t msgs, std::size_t msg_size_bytes,
                               const attributes& attr = initializer,
                               const allocator_type& allocator
                               = allocator_type ());
 
      message_queue_allocated (const char* name, std::size_t msgs,
                               std::size_t msg_size_bytes,
                               const attributes& attr = initializer,
                               const allocator_type& allocator
                               = allocator_type ());
 
    public:
      // The rule of five.
      message_queue_allocated (const message_queue_allocated&) = delete;
      message_queue_allocated (message_queue_allocated&&) = delete;
      message_queue_allocated&
      operator= (const message_queue_allocated&)
          = delete;
      message_queue_allocated&
      operator= (message_queue_allocated&&)
          = delete;
 
      virtual ~message_queue_allocated () override;
 
    };
 
    // ========================================================================
 
#pragma GCC diagnostic push
#if defined(__clang__)
#elif defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wsuggest-final-methods"
#pragma GCC diagnostic ignored "-Wsuggest-final-types"
#endif
    template <typename T, typename Allocator = memory::allocator<void*>>
    class message_queue_typed : public message_queue_allocated<Allocator>
    {
    public:
      using value_type = T;
 
      using allocator_type = Allocator;
 
      message_queue_typed (std::size_t msgs,
                           const message_queue::attributes& attr
                           = message_queue::initializer,
                           const allocator_type& allocator
                           = allocator_type ());
 
      message_queue_typed (const char* name, std::size_t msgs,
                           const message_queue::attributes& attr
                           = message_queue::initializer,
                           const allocator_type& allocator
                           = allocator_type ());
 
      // The rule of five.
      message_queue_typed (const message_queue_typed&) = delete;
      message_queue_typed (message_queue_typed&&) = delete;
      message_queue_typed&
      operator= (const message_queue_typed&)
          = delete;
      message_queue_typed&
      operator= (message_queue_typed&&)
          = delete;
 
      virtual ~message_queue_typed () override;
 
    public:
      result_t
      send (const value_type* msg,
            message_queue::priority_t mprio = message_queue::default_priority);
 
      result_t
      try_send (const value_type* msg, message_queue::priority_t mprio
                                       = message_queue::default_priority);
 
      result_t
      timed_send (const value_type* msg, clock::duration_t timeout,
                  message_queue::priority_t mprio
                  = message_queue::default_priority);
 
      result_t
      receive (value_type* msg, message_queue::priority_t* mprio = nullptr);
 
      result_t
      try_receive (value_type* msg,
                   message_queue::priority_t* mprio = nullptr);
 
      result_t
      timed_receive (value_type* msg, clock::duration_t timeout,
                     message_queue::priority_t* mprio = nullptr);
 
    };
#pragma GCC diagnostic pop
 
    // ========================================================================
 
    template <typename T, std::size_t N>
    class message_queue_inclusive : public message_queue
    {
    public:
      using value_type = T;
 
      static const std::size_t msgs = N;
 
      message_queue_inclusive (const attributes& attr = initializer);
 
      message_queue_inclusive (const char* name,
                               const attributes& attr = initializer);
 
      // The rule of five.
      message_queue_inclusive (const message_queue_inclusive&) = delete;
      message_queue_inclusive (message_queue_inclusive&&) = delete;
      message_queue_inclusive&
      operator= (const message_queue_inclusive&)
          = delete;
      message_queue_inclusive&
      operator= (message_queue_inclusive&&)
          = delete;
 
      virtual ~message_queue_inclusive () override;
 
    public:
      result_t
      send (const value_type* msg, priority_t mprio = default_priority);
 
      result_t
      try_send (const value_type* msg, priority_t mprio = default_priority);
 
      result_t
      timed_send (const value_type* msg, clock::duration_t timeout,
                  priority_t mprio = default_priority);
 
      result_t
      receive (value_type* msg, priority_t* mprio = nullptr);
 
      result_t
      try_receive (value_type* msg, priority_t* mprio = nullptr);
 
      result_t
      timed_receive (value_type* msg, clock::duration_t timeout,
                     priority_t* mprio = nullptr);
 
    protected:
      arena<void*, msgs, sizeof (value_type)> arena_;
 
    };
 
#pragma GCC diagnostic pop
 
  } // namespace rtos
  /* namespace rtos */
} /* namespace os */
 
// ===== Inline & template implementations ====================================
 
namespace os
{
  namespace rtos
  {
    constexpr message_queue::attributes::attributes ()
    {
    }
 
    // ========================================================================
 
    inline bool
    message_queue::operator== (const message_queue& rhs) const
    {
      return this == &rhs;
    }
 
    inline std::size_t
    message_queue::length (void) const
    {
      return count_;
    }
 
    inline std::size_t
    message_queue::capacity (void) const
    {
      return msgs_;
    }
 
    inline std::size_t
    message_queue::msg_size (void) const
    {
      return msg_size_bytes_;
    }
 
    inline bool
    message_queue::empty (void) const
    {
      return (length () == 0);
    }
 
    inline bool
    message_queue::full (void) const
    {
      return (length () == capacity ());
    }
 
    // ========================================================================
 
    template <typename Allocator>
    inline message_queue_allocated<Allocator>::message_queue_allocated (
        std::size_t msgs, std::size_t msg_size_bytes, const attributes& attr,
        const allocator_type& allocator)
        : message_queue_allocated{ nullptr, msgs, msg_size_bytes, attr,
                                   allocator }
    {
    }
 
    template <typename Allocator>
    message_queue_allocated<Allocator>::message_queue_allocated (
        const char* name, std::size_t msgs, std::size_t msg_size_bytes,
        const attributes& attr, const allocator_type& allocator)
        : message_queue{ name }
    {
#if defined(OS_TRACE_RTOS_MQUEUE)
      trace::printf ("%s() @%p %s %d %d\n", __func__, this, this->name (),
                     msgs, msg_size_bytes);
#endif
 
      if (attr.mq_queue_address != nullptr)
        {
          // Do not use any allocator at all.
          internal_construct_ (msgs, msg_size_bytes, attr, nullptr, 0);
        }
      else
        {
          allocator_ = &allocator;
 
          // If no user storage was provided via attributes,
          // allocate it dynamically via the allocator.
          allocated_queue_size_elements_
              = (compute_allocated_size_bytes<
                     typename allocator_type::value_type> (msgs,
                                                           msg_size_bytes)
                 + sizeof (typename allocator_type::value_type) - 1)
                / sizeof (typename allocator_type::value_type);
 
          allocated_queue_addr_
              = const_cast<allocator_type&> (allocator).allocate (
                  allocated_queue_size_elements_);
 
          internal_construct_ (
              msgs, msg_size_bytes, attr, allocated_queue_addr_,
              allocated_queue_size_elements_
                  * sizeof (typename allocator_type::value_type));
        }
    }
 
    template <typename Allocator>
    message_queue_allocated<Allocator>::~message_queue_allocated ()
    {
#if defined(OS_TRACE_RTOS_MQUEUE)
      trace::printf ("%s() @%p %s\n", __func__, this, name ());
#endif
      typedef typename std::allocator_traits<allocator_type>::pointer pointer;
 
      if (allocated_queue_addr_ != nullptr)
        {
          static_cast<allocator_type*> (const_cast<void*> (allocator_))
              ->deallocate (static_cast<pointer> (allocated_queue_addr_),
                            allocated_queue_size_elements_);
 
          allocated_queue_addr_ = nullptr;
        }
    }
 
    // ========================================================================
 
    template <typename T, typename Allocator>
    inline message_queue_typed<T, Allocator>::message_queue_typed (
        std::size_t msgs, const message_queue::attributes& attr,
        const allocator_type& allocator)
        : message_queue_allocated<allocator_type>{ msgs, sizeof (value_type),
                                                   attr, allocator }
    {
    }
 
    template <typename T, typename Allocator>
    inline message_queue_typed<T, Allocator>::message_queue_typed (
        const char* name, std::size_t msgs,
        const message_queue::attributes& attr, const allocator_type& allocator)
        : message_queue_allocated<allocator_type>{ name, msgs,
                                                   sizeof (value_type), attr,
                                                   allocator }
    {
    }
 
#pragma GCC diagnostic push
#if defined(__clang__)
#elif defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wsuggest-final-methods"
#endif
    template <typename T, typename Allocator>
    message_queue_typed<T, Allocator>::~message_queue_typed ()
    {
    }
#pragma GCC diagnostic pop
 
    template <typename T, typename Allocator>
    inline result_t
    message_queue_typed<T, Allocator>::send (const value_type* msg,
                                             message_queue::priority_t mprio)
    {
      return message_queue_allocated<allocator_type>::send (
          reinterpret_cast<const char*> (msg), sizeof (value_type), mprio);
    }
 
    template <typename T, typename Allocator>
    inline result_t
    message_queue_typed<T, Allocator>::try_send (
        const value_type* msg, message_queue::priority_t mprio)
    {
      return message_queue_allocated<allocator_type>::try_send (
          reinterpret_cast<const char*> (msg), sizeof (value_type), mprio);
    }
 
    template <typename T, typename Allocator>
    inline result_t
    message_queue_typed<T, Allocator>::timed_send (
        const value_type* msg, clock::duration_t timeout,
        message_queue::priority_t mprio)
    {
      return message_queue_allocated<allocator_type>::timed_send (
          reinterpret_cast<const char*> (msg), sizeof (value_type), timeout,
          mprio);
    }
 
    template <typename T, typename Allocator>
    inline result_t
    message_queue_typed<T, Allocator>::receive (
        value_type* msg, message_queue::priority_t* mprio)
    {
      return message_queue_allocated<allocator_type>::receive (
          reinterpret_cast<char*> (msg), sizeof (value_type), mprio);
    }
 
    template <typename T, typename Allocator>
    inline result_t
    message_queue_typed<T, Allocator>::try_receive (
        value_type* msg, message_queue::priority_t* mprio)
    {
      return message_queue_allocated<allocator_type>::try_receive (
          reinterpret_cast<char*> (msg), sizeof (value_type), mprio);
    }
 
    template <typename T, typename Allocator>
    inline result_t
    message_queue_typed<T, Allocator>::timed_receive (
        value_type* msg, clock::duration_t timeout,
        message_queue::priority_t* mprio)
    {
      return message_queue_allocated<allocator_type>::timed_receive (
          reinterpret_cast<char*> (msg), sizeof (value_type), timeout, mprio);
    }
 
    // ========================================================================
 
    template <typename T, std::size_t N>
    inline message_queue_inclusive<T, N>::message_queue_inclusive (
        const attributes& attr)
        : message_queue_inclusive{ nullptr, attr }
    {
    }
 
    template <typename T, std::size_t N>
    message_queue_inclusive<T, N>::message_queue_inclusive (
        const char* name, const attributes& attr)
        : message_queue (name)
    {
      static_assert (sizeof (T) >= sizeof (void*),
                     "Messages of message_queue need to have at least the "
                     "size of a pointer");
 
      internal_construct_ (msgs, sizeof (value_type), attr, &arena_,
                           sizeof (arena_));
    }
 
    template <typename T, std::size_t N>
    message_queue_inclusive<T, N>::~message_queue_inclusive ()
    {
    }
 
    template <typename T, std::size_t N>
    inline result_t
    message_queue_inclusive<T, N>::send (const value_type* msg,
                                         priority_t mprio)
    {
      return message_queue::send (reinterpret_cast<const char*> (msg),
                                  sizeof (value_type), mprio);
    }
 
    template <typename T, std::size_t N>
    inline result_t
    message_queue_inclusive<T, N>::try_send (const value_type* msg,
                                             priority_t mprio)
    {
      return message_queue::try_send (reinterpret_cast<const char*> (msg),
                                      sizeof (value_type), mprio);
    }
 
    template <typename T, std::size_t N>
    inline result_t
    message_queue_inclusive<T, N>::timed_send (const value_type* msg,
                                               clock::duration_t timeout,
                                               priority_t mprio)
    {
      return message_queue::timed_send (reinterpret_cast<const char*> (msg),
                                        sizeof (value_type), timeout, mprio);
    }
 
    template <typename T, std::size_t N>
    inline result_t
    message_queue_inclusive<T, N>::receive (value_type* msg, priority_t* mprio)
    {
      return message_queue::receive (reinterpret_cast<char*> (msg),
                                     sizeof (value_type), mprio);
    }
 
    template <typename T, std::size_t N>
    inline result_t
    message_queue_inclusive<T, N>::try_receive (value_type* msg,
                                                priority_t* mprio)
    {
      return message_queue::try_receive (reinterpret_cast<char*> (msg),
                                         sizeof (value_type), mprio);
    }
 
    template <typename T, std::size_t N>
    inline result_t
    message_queue_inclusive<T, N>::timed_receive (value_type* msg,
                                                  clock::duration_t timeout,
                                                  priority_t* mprio)
    {
      return message_queue::timed_receive (
          reinterpret_cast<char*> (msg), sizeof (value_type), timeout, mprio);
    }
 
  } /* namespace rtos */
} /* namespace os */
 
#pragma GCC diagnostic pop
 
// ----------------------------------------------------------------------------
 
#endif /* __cplusplus */
 
// ----------------------------------------------------------------------------
 
#endif /* CMSIS_PLUS_RTOS_OS_MQUEUE_H_ */