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diff --git a/include/distortos/MessageQueue.hpp b/include/distortos/MessageQueue.hpp new file mode 100644 index 0000000..0f44d8f --- /dev/null +++ b/include/distortos/MessageQueue.hpp @@ -0,0 +1,762 @@ +/** + * \file + * \brief MessageQueue class header + * + * \author Copyright (C) 2015 Kamil Szczygiel http://www.distortec.com http://www.freddiechopin.info + * + * \par License + * This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not + * distributed with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + */ + +#ifndef INCLUDE_DISTORTOS_MESSAGEQUEUE_HPP_ +#define INCLUDE_DISTORTOS_MESSAGEQUEUE_HPP_ + +#include "distortos/internal/synchronization/MessageQueueBase.hpp" +#include "distortos/internal/synchronization/BoundQueueFunctor.hpp" +#include "distortos/internal/synchronization/CopyConstructQueueFunctor.hpp" +#include "distortos/internal/synchronization/MoveConstructQueueFunctor.hpp" +#include "distortos/internal/synchronization/SwapPopQueueFunctor.hpp" +#include "distortos/internal/synchronization/SemaphoreWaitFunctor.hpp" +#include "distortos/internal/synchronization/SemaphoreTryWaitFunctor.hpp" +#include "distortos/internal/synchronization/SemaphoreTryWaitForFunctor.hpp" +#include "distortos/internal/synchronization/SemaphoreTryWaitUntilFunctor.hpp" + +namespace distortos +{ + +/// GCC 4.9 is needed for all MessageQueue::*emplace*() functions - earlier versions don't support parameter pack +/// expansion in lambdas +#define DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED __GNUC_PREREQ(4, 9) + +/** + * \brief MessageQueue class is a message queue for thread-thread, thread-interrupt or interrupt-interrupt + * communication. It supports multiple readers and multiple writers. It is implemented as a wrapper for + * internal::MessageQueueBase. + * + * Similar to POSIX mqd_t - http://pubs.opengroup.org/onlinepubs/9699919799/basedefs/mqueue.h.html + * + * \tparam T is the type of data in queue + * + * \ingroup queues + */ + +template<typename T> +class MessageQueue +{ +public: + + /// type of uninitialized storage for Entry with link + using EntryStorage = internal::MessageQueueBase::EntryStorage; + + /// type of uninitialized storage for value + using ValueStorage = internal::MessageQueueBase::ValueStorage<T>; + + /// import EntryStorageUniquePointer type from internal::MessageQueueBase class + using EntryStorageUniquePointer = internal::MessageQueueBase::EntryStorageUniquePointer; + + /// unique_ptr (with deleter) to ValueStorage[] + using ValueStorageUniquePointer = + std::unique_ptr<ValueStorage[], internal::MessageQueueBase::ValueStorageUniquePointer::deleter_type>; + + /** + * \brief MessageQueue's constructor + * + * \param [in] entryStorageUniquePointer is a rvalue reference to EntryStorageUniquePointer with storage for queue + * entries (sufficiently large for \a maxElements EntryStorage objects) and appropriate deleter + * \param [in] valueStorageUniquePointer is a rvalue reference to ValueStorageUniquePointer with storage for queue + * elements (sufficiently large for \a maxElements, each sizeof(T) bytes long) and appropriate deleter + * \param [in] maxElements is the number of elements in \a entryStorage and \a valueStorage arrays + */ + + MessageQueue(EntryStorageUniquePointer&& entryStorageUniquePointer, + ValueStorageUniquePointer&& valueStorageUniquePointer, const size_t maxElements) : + messageQueueBase_{std::move(entryStorageUniquePointer), + {valueStorageUniquePointer.release(), valueStorageUniquePointer.get_deleter()}, + sizeof(*valueStorageUniquePointer.get()), maxElements} + { + + } + + /** + * \brief MessageQueue's destructor + * + * Pops all remaining elements from the queue. + */ + + ~MessageQueue(); + +#if DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED == 1 || DOXYGEN == 1 + + /** + * \brief Emplaces the element in the queue. + * + * Similar to mq_send() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \note This function requires GCC 4.9. + * + * \tparam Args are types of arguments for constructor of T + * + * \param [in] priority is the priority of new element + * \param [in] args are arguments for constructor of T + * + * \return zero if element was emplaced successfully, error code otherwise: + * - error codes returned by Semaphore::wait(); + * - error codes returned by Semaphore::post(); + */ + + template<typename... Args> + int emplace(const uint8_t priority, Args&&... args) + { + const internal::SemaphoreWaitFunctor semaphoreWaitFunctor; + return emplaceInternal(semaphoreWaitFunctor, priority, std::forward<Args>(args)...); + } + +#endif // DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED == 1 || DOXYGEN == 1 + + /** + * \brief Pops oldest element with highest priority from the queue. + * + * Similar to mq_receive() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_receive.html# + * + * \param [out] priority is a reference to variable that will be used to return priority of popped value + * \param [out] value is a reference to object that will be used to return popped value, its contents are swapped + * with the value in the queue's storage and destructed when no longer needed + * + * \return zero if element was popped successfully, error code otherwise: + * - error codes returned by Semaphore::wait(); + * - error codes returned by Semaphore::post(); + */ + + int pop(uint8_t& priority, T& value) + { + const internal::SemaphoreWaitFunctor semaphoreWaitFunctor; + return popInternal(semaphoreWaitFunctor, priority, value); + } + + /** + * \brief Pushes the element to the queue. + * + * Similar to mq_send() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \param [in] priority is the priority of new element + * \param [in] value is a reference to object that will be pushed, value in queue's storage is copy-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::wait(); + * - error codes returned by Semaphore::post(); + */ + + int push(const uint8_t priority, const T& value) + { + const internal::SemaphoreWaitFunctor semaphoreWaitFunctor; + return pushInternal(semaphoreWaitFunctor, priority, value); + } + + /** + * \brief Pushes the element to the queue. + * + * Similar to mq_send() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \param [in] priority is the priority of new element + * \param [in] value is a rvalue reference to object that will be pushed, value in queue's storage is + * move-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::wait(); + * - error codes returned by Semaphore::post(); + */ + + int push(const uint8_t priority, T&& value) + { + const internal::SemaphoreWaitFunctor semaphoreWaitFunctor; + return pushInternal(semaphoreWaitFunctor, priority, std::move(value)); + } + +#if DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED == 1 || DOXYGEN == 1 + + /** + * \brief Tries to emplace the element in the queue. + * + * Similar to mq_send() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \note This function requires GCC 4.9. + * + * \tparam Args are types of arguments for constructor of T + * + * \param [in] priority is the priority of new element + * \param [in] args are arguments for constructor of T + * + * \return zero if element was emplaced successfully, error code otherwise: + * - error codes returned by Semaphore::tryWait(); + * - error codes returned by Semaphore::post(); + */ + + template<typename... Args> + int tryEmplace(const uint8_t priority, Args&&... args) + { + const internal::SemaphoreTryWaitFunctor semaphoreTryWaitFunctor; + return emplaceInternal(semaphoreTryWaitFunctor, priority, std::forward<Args>(args)...); + } + + /** + * \brief Tries to emplace the element in the queue for a given duration of time. + * + * Similar to mq_timedsend() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \note This function requires GCC 4.9. + * + * \tparam Args are types of arguments for constructor of T + * + * \param [in] duration is the duration after which the wait will be terminated without emplacing the element + * \param [in] priority is the priority of new element + * \param [in] args are arguments for constructor of T + * + * \return zero if element was emplaced successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + template<typename... Args> + int tryEmplaceFor(const TickClock::duration duration, const uint8_t priority, Args&&... args) + { + const internal::SemaphoreTryWaitForFunctor semaphoreTryWaitForFunctor {duration}; + return emplaceInternal(semaphoreTryWaitForFunctor, priority, std::forward<Args>(args)...); + } + + /** + * \brief Tries to emplace the element in the queue for a given duration of time. + * + * Template variant of MessageQueue::tryEmplaceFor(TickClock::duration, uint8_t, Args&&...). + * + * \note This function requires GCC 4.9. + * + * \tparam Rep is type of tick counter + * \tparam Period is std::ratio type representing the tick period of the clock, in seconds + * \tparam Args are types of arguments for constructor of T + * + * \param [in] duration is the duration after which the wait will be terminated without emplacing the element + * \param [in] priority is the priority of new element + * \param [in] args are arguments for constructor of T + * + * \return zero if element was emplaced successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Rep, typename Period, typename... Args> + int tryEmplaceFor(const std::chrono::duration<Rep, Period> duration, const uint8_t priority, Args&&... args) + { + return tryEmplaceFor(std::chrono::duration_cast<TickClock::duration>(duration), priority, + std::forward<Args>(args)...); + } + + /** + * \brief Tries to emplace the element in the queue until a given time point. + * + * Similar to mq_timedsend() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \note This function requires GCC 4.9. + * + * \tparam Args are types of arguments for constructor of T + * + * \param [in] timePoint is the time point at which the call will be terminated without emplacing the element + * \param [in] priority is the priority of new element + * \param [in] args are arguments for constructor of T + * + * \return zero if element was emplaced successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + template<typename... Args> + int tryEmplaceUntil(const TickClock::time_point timePoint, const uint8_t priority, Args&&... args) + { + const internal::SemaphoreTryWaitUntilFunctor semaphoreTryWaitUntilFunctor {timePoint}; + return emplaceInternal(semaphoreTryWaitUntilFunctor, priority, std::forward<Args>(args)...); + } + + /** + * \brief Tries to emplace the element in the queue until a given time point. + * + * Template variant of FifoQueue::tryEmplaceUntil(TickClock::time_point, uint8_t, Args&&...). + * + * \note This function requires GCC 4.9. + * + * \tparam Duration is a std::chrono::duration type used to measure duration + * \tparam Args are types of arguments for constructor of T + * + * \param [in] timePoint is the time point at which the call will be terminated without emplacing the element + * \param [in] priority is the priority of new element + * \param [in] args are arguments for constructor of T + * + * \return zero if element was emplaced successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Duration, typename... Args> + int tryEmplaceUntil(const std::chrono::time_point<TickClock, Duration> timePoint, const uint8_t priority, + Args&&... args) + { + return tryEmplaceUntil(std::chrono::time_point_cast<TickClock::duration>(timePoint), priority, + std::forward<Args>(args)...); + } + +#endif // DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED == 1 || DOXYGEN == 1 + + /** + * \brief Tries to pop oldest element with highest priority from the queue. + * + * Similar to mq_receive() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_receive.html# + * + * \param [out] priority is a reference to variable that will be used to return priority of popped value + * \param [out] value is a reference to object that will be used to return popped value, its contents are swapped + * with the value in the queue's storage and destructed when no longer needed + * + * \return zero if element was popped successfully, error code otherwise: + * - error codes returned by Semaphore::tryWait(); + * - error codes returned by Semaphore::post(); + */ + + int tryPop(uint8_t& priority, T& value) + { + const internal::SemaphoreTryWaitFunctor semaphoreTryWaitFunctor; + return popInternal(semaphoreTryWaitFunctor, priority, value); + } + + /** + * \brief Tries to pop oldest element with highest priority from the queue for a given duration of time. + * + * Similar to mq_timedreceive() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_receive.html# + * + * \param [in] duration is the duration after which the call will be terminated without popping the element + * \param [out] priority is a reference to variable that will be used to return priority of popped value + * \param [out] value is a reference to object that will be used to return popped value, its contents are swapped + * with the value in the queue's storage and destructed when no longer needed + * + * \return zero if element was popped successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + int tryPopFor(const TickClock::duration duration, uint8_t& priority, T& value) + { + const internal::SemaphoreTryWaitForFunctor semaphoreTryWaitForFunctor {duration}; + return popInternal(semaphoreTryWaitForFunctor, priority, value); + } + + /** + * \brief Tries to pop oldest element with highest priority from the queue for a given duration of time. + * + * Template variant of tryPopFor(TickClock::duration, uint8_t&, T&). + * + * \tparam Rep is type of tick counter + * \tparam Period is std::ratio type representing the tick period of the clock, in seconds + * + * \param [in] duration is the duration after which the call will be terminated without popping the element + * \param [out] priority is a reference to variable that will be used to return priority of popped value + * \param [out] value is a reference to object that will be used to return popped value, its contents are swapped + * with the value in the queue's storage and destructed when no longer needed + * + * \return zero if element was popped successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Rep, typename Period> + int tryPopFor(const std::chrono::duration<Rep, Period> duration, uint8_t& priority, T& value) + { + return tryPopFor(std::chrono::duration_cast<TickClock::duration>(duration), priority, value); + } + + /** + * \brief Tries to pop oldest element with highest priority from the queue until a given time point. + * + * Similar to mq_timedreceive() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_receive.html# + * + * \param [in] timePoint is the time point at which the call will be terminated without popping the element + * \param [out] priority is a reference to variable that will be used to return priority of popped value + * \param [out] value is a reference to object that will be used to return popped value, its contents are swapped + * with the value in the queue's storage and destructed when no longer needed + * + * \return zero if element was popped successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + int tryPopUntil(const TickClock::time_point timePoint, uint8_t& priority, T& value) + { + const internal::SemaphoreTryWaitUntilFunctor semaphoreTryWaitUntilFunctor {timePoint}; + return popInternal(semaphoreTryWaitUntilFunctor, priority, value); + } + + /** + * \brief Tries to pop oldest element with highest priority from the queue until a given time point. + * + * Template variant of tryPopUntil(TickClock::time_point, uint8_t&, T&). + * + * \tparam Duration is a std::chrono::duration type used to measure duration + * + * \param [in] timePoint is the time point at which the call will be terminated without popping the element + * \param [out] priority is a reference to variable that will be used to return priority of popped value + * \param [out] value is a reference to object that will be used to return popped value, its contents are swapped + * with the value in the queue's storage and destructed when no longer needed + * + * \return zero if element was popped successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Duration> + int tryPopUntil(const std::chrono::time_point<TickClock, Duration> timePoint, uint8_t& priority, T& value) + { + return tryPopUntil(std::chrono::time_point_cast<TickClock::duration>(timePoint), priority, value); + } + + /** + * \brief Tries to push the element to the queue. + * + * Similar to mq_send() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \param [in] priority is the priority of new element + * \param [in] value is a reference to object that will be pushed, value in queue's storage is copy-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWait(); + * - error codes returned by Semaphore::post(); + */ + + int tryPush(const uint8_t priority, const T& value) + { + const internal::SemaphoreTryWaitFunctor semaphoreTryWaitFunctor; + return pushInternal(semaphoreTryWaitFunctor, priority, value); + } + + /** + * \brief Tries to push the element to the queue. + * + * Similar to mq_send() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \param [in] priority is the priority of new element + * \param [in] value is a rvalue reference to object that will be pushed, value in queue's storage is + * move-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWait(); + * - error codes returned by Semaphore::post(); + */ + + int tryPush(const uint8_t priority, T&& value) + { + const internal::SemaphoreTryWaitFunctor semaphoreTryWaitFunctor; + return pushInternal(semaphoreTryWaitFunctor, priority, std::move(value)); + } + + /** + * \brief Tries to push the element to the queue for a given duration of time. + * + * Similar to mq_timedsend() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \param [in] duration is the duration after which the wait will be terminated without pushing the element + * \param [in] priority is the priority of new element + * \param [in] value is a reference to object that will be pushed, value in queue's storage is copy-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + int tryPushFor(const TickClock::duration duration, const uint8_t priority, const T& value) + { + const internal::SemaphoreTryWaitForFunctor semaphoreTryWaitForFunctor {duration}; + return pushInternal(semaphoreTryWaitForFunctor, priority, value); + } + + /** + * \brief Tries to push the element to the queue for a given duration of time. + * + * Template variant of tryPushFor(TickClock::duration, uint8_t, const T&). + * + * \tparam Rep is type of tick counter + * \tparam Period is std::ratio type representing the tick period of the clock, in seconds + * + * \param [in] duration is the duration after which the wait will be terminated without pushing the element + * \param [in] priority is the priority of new element + * \param [in] value is a reference to object that will be pushed, value in queue's storage is copy-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Rep, typename Period> + int tryPushFor(const std::chrono::duration<Rep, Period> duration, const uint8_t priority, const T& value) + { + return tryPushFor(std::chrono::duration_cast<TickClock::duration>(duration), priority, value); + } + + /** + * \brief Tries to push the element to the queue for a given duration of time. + * + * Similar to mq_timedsend() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \param [in] duration is the duration after which the wait will be terminated without pushing the element + * \param [in] priority is the priority of new element + * \param [in] value is a rvalue reference to object that will be pushed, value in queue's storage is + * move-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + int tryPushFor(const TickClock::duration duration, const uint8_t priority, T&& value) + { + const internal::SemaphoreTryWaitForFunctor semaphoreTryWaitForFunctor {duration}; + return pushInternal(semaphoreTryWaitForFunctor, priority, std::move(value)); + } + + /** + * \brief Tries to push the element to the queue for a given duration of time. + * + * Template variant of tryPushFor(TickClock::duration, uint8_t, T&&). + * + * \tparam Rep is type of tick counter + * \tparam Period is std::ratio type representing the tick period of the clock, in seconds + * + * \param [in] duration is the duration after which the call will be terminated without pushing the element + * \param [in] priority is the priority of new element + * \param [in] value is a rvalue reference to object that will be pushed, value in queue's storage is + * move-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Rep, typename Period> + int tryPushFor(const std::chrono::duration<Rep, Period> duration, const uint8_t priority, T&& value) + { + return tryPushFor(std::chrono::duration_cast<TickClock::duration>(duration), priority, std::move(value)); + } + + /** + * \brief Tries to push the element to the queue until a given time point. + * + * Similar to mq_timedsend() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \param [in] timePoint is the time point at which the call will be terminated without pushing the element + * \param [in] priority is the priority of new element + * \param [in] value is a reference to object that will be pushed, value in queue's storage is copy-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + int tryPushUntil(const TickClock::time_point timePoint, const uint8_t priority, const T& value) + { + const internal::SemaphoreTryWaitUntilFunctor semaphoreTryWaitUntilFunctor {timePoint}; + return pushInternal(semaphoreTryWaitUntilFunctor, priority, value); + } + + /** + * \brief Tries to push the element to the queue until a given time point. + * + * Template variant of tryPushUntil(TickClock::time_point, uint8_t, const T&). + * + * \tparam Duration is a std::chrono::duration type used to measure duration + * + * \param [in] timePoint is the time point at which the call will be terminated without pushing the element + * \param [in] priority is the priority of new element + * \param [in] value is a reference to object that will be pushed, value in queue's storage is copy-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Duration> + int tryPushUntil(const std::chrono::time_point<TickClock, Duration> timePoint, const uint8_t priority, + const T& value) + { + return tryPushUntil(std::chrono::time_point_cast<TickClock::duration>(timePoint), priority, value); + } + + /** + * \brief Tries to push the element to the queue until a given time point. + * + * Similar to mq_timedsend() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/mq_send.html# + * + * \param [in] timePoint is the time point at which the call will be terminated without pushing the element + * \param [in] priority is the priority of new element + * \param [in] value is a rvalue reference to object that will be pushed, value in queue's storage is + * move-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + int tryPushUntil(const TickClock::time_point timePoint, const uint8_t priority, T&& value) + { + const internal::SemaphoreTryWaitUntilFunctor semaphoreTryWaitUntilFunctor {timePoint}; + return pushInternal(semaphoreTryWaitUntilFunctor, priority, std::move(value)); + } + + /** + * \brief Tries to push the element to the queue until a given time point. + * + * Template variant of tryPushUntil(TickClock::time_point, uint8_t, T&&). + * + * \tparam Duration is a std::chrono::duration type used to measure duration + * + * \param [in] timePoint is the time point at which the call will be terminated without pushing the element + * \param [in] priority is the priority of new element + * \param [in] value is a rvalue reference to object that will be pushed, value in queue's storage is + * move-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Duration> + int tryPushUntil(const std::chrono::time_point<TickClock, Duration> timePoint, const uint8_t priority, T&& value) + { + return tryPushUntil(std::chrono::time_point_cast<TickClock::duration>(timePoint), priority, std::move(value)); + } + +private: + +#if DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED == 1 || DOXYGEN == 1 + + /** + * \brief Emplaces the element in the queue. + * + * Internal version - builds the Functor object. + * + * \note This function requires GCC 4.9. + * + * \tparam Args are types of arguments for constructor of T + * + * \param [in] waitSemaphoreFunctor is a reference to SemaphoreFunctor which will be executed with \a pushSemaphore_ + * \param [in] priority is the priority of new element + * \param [in] args are arguments for constructor of T + * + * \return zero if element was emplaced successfully, error code otherwise: + * - error codes returned by \a waitSemaphoreFunctor's operator() call; + * - error codes returned by Semaphore::post(); + */ + + template<typename... Args> + int emplaceInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, uint8_t priority, Args&&... args); + +#endif // DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED == 1 || DOXYGEN == 1 + + /** + * \brief Pops oldest element with highest priority from the queue. + * + * Internal version - builds the Functor object. + * + * \param [in] waitSemaphoreFunctor is a reference to SemaphoreFunctor which will be executed with \a popSemaphore_ + * \param [out] priority is a reference to variable that will be used to return priority of popped value + * \param [out] value is a reference to object that will be used to return popped value, its contents are swapped + * with the value in the queue's storage and destructed when no longer needed + * + * \return zero if element was popped successfully, error code otherwise: + * - error codes returned by \a waitSemaphoreFunctor's operator() call; + * - error codes returned by Semaphore::post(); + */ + + int popInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, uint8_t& priority, T& value); + + /** + * \brief Pushes the element to the queue. + * + * Internal version - builds the Functor object. + * + * \param [in] waitSemaphoreFunctor is a reference to SemaphoreFunctor which will be executed with \a pushSemaphore_ + * \param [in] priority is the priority of new element + * \param [in] value is a reference to object that will be pushed, value in queue's storage is copy-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by \a waitSemaphoreFunctor's operator() call; + * - error codes returned by Semaphore::post(); + */ + + int pushInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, uint8_t priority, const T& value); + + /** + * \brief Pushes the element to the queue. + * + * Internal version - builds the Functor object. + * + * \param [in] waitSemaphoreFunctor is a reference to SemaphoreFunctor which will be executed with \a pushSemaphore_ + * \param [in] priority is the priority of new element + * \param [in] value is a rvalue reference to object that will be pushed, value in queue's storage is + * move-constructed + * + * \return zero if element was pushed successfully, error code otherwise: + * - error codes returned by \a waitSemaphoreFunctor's operator() call; + * - error codes returned by Semaphore::post(); + */ + + int pushInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, uint8_t priority, T&& value); + + /// contained internal::MessageQueueBase object which implements whole functionality + internal::MessageQueueBase messageQueueBase_; +}; + +template<typename T> +MessageQueue<T>::~MessageQueue() +{ + uint8_t priority; + T value; + while (tryPop(priority, value) == 0); +} + +#if DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED == 1 || DOXYGEN == 1 + +template<typename T> +template<typename... Args> +int MessageQueue<T>::emplaceInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, const uint8_t priority, + Args&&... args) +{ + const auto emplaceFunctor = internal::makeBoundQueueFunctor( + [&args...](void* const storage) + { + new (storage) T{std::forward<Args>(args)...}; + }); + return messageQueueBase_.push(waitSemaphoreFunctor, priority, emplaceFunctor); +} + +#endif // DISTORTOS_MESSAGEQUEUE_EMPLACE_SUPPORTED == 1 || DOXYGEN == 1 + +template<typename T> +int MessageQueue<T>::popInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, uint8_t& priority, T& value) +{ + const internal::SwapPopQueueFunctor<T> swapPopQueueFunctor {value}; + return messageQueueBase_.pop(waitSemaphoreFunctor, priority, swapPopQueueFunctor); +} + +template<typename T> +int MessageQueue<T>::pushInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, const uint8_t priority, + const T& value) +{ + const internal::CopyConstructQueueFunctor<T> copyConstructQueueFunctor {value}; + return messageQueueBase_.push(waitSemaphoreFunctor, priority, copyConstructQueueFunctor); +} + +template<typename T> +int MessageQueue<T>::pushInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, const uint8_t priority, + T&& value) +{ + const internal::MoveConstructQueueFunctor<T> moveConstructQueueFunctor {std::move(value)}; + return messageQueueBase_.push(waitSemaphoreFunctor, priority, moveConstructQueueFunctor); +} + +} // namespace distortos + +#endif // INCLUDE_DISTORTOS_MESSAGEQUEUE_HPP_ |