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diff --git a/include/distortos/RawFifoQueue.hpp b/include/distortos/RawFifoQueue.hpp new file mode 100644 index 0000000..94456a7 --- /dev/null +++ b/include/distortos/RawFifoQueue.hpp @@ -0,0 +1,463 @@ +/** + * \file + * \brief RawFifoQueue class header + * + * \author Copyright (C) 2014-2015 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_RAWFIFOQUEUE_HPP_ +#define INCLUDE_DISTORTOS_RAWFIFOQUEUE_HPP_ + +#include "distortos/internal/synchronization/FifoQueueBase.hpp" + +namespace distortos +{ + +/** + * \brief RawFifoQueue class is very similar to FifoQueue, but optimized for binary serializable types (like POD types). + * + * Type \a T can be used with both RawFifoQueue and FifoQueue only when + * <em>std::is_trivially_copyable<T>::value == true</em>, otherwise only FifoQueue use is safe, while using RawFifoQueue + * results in undefined behavior. + * + * \ingroup queues + */ + +class RawFifoQueue +{ +public: + + /// unique_ptr (with deleter) to storage + using StorageUniquePointer = internal::FifoQueueBase::StorageUniquePointer; + + /** + * \brief RawFifoQueue's constructor + * + * \param [in] storageUniquePointer is a rvalue reference to StorageUniquePointer with storage for queue elements + * (sufficiently large for \a maxElements, each \a elementSize bytes long) and appropriate deleter + * \param [in] elementSize is the size of single queue element, bytes + * \param [in] maxElements is the number of elements in storage memory block + */ + + RawFifoQueue(StorageUniquePointer&& storageUniquePointer, size_t elementSize, size_t maxElements); + + /** + * \brief Pops the oldest (first) element from the queue. + * + * \param [out] buffer is a pointer to buffer for popped element + * \param [in] size is the size of \a buffer, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::wait(); + * - error codes returned by Semaphore::post(); + */ + + int pop(void* buffer, size_t size); + + /** + * \brief Pops the oldest (first) element from the queue. + * + * \tparam T is the type of data popped from the queue + * + * \param [out] buffer is a reference to object that will be used to return popped value + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - sizeof(T) doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::wait(); + * - error codes returned by Semaphore::post(); + */ + + template<typename T> + int pop(T& buffer) + { + return pop(&buffer, sizeof(buffer)); + } + + /** + * \brief Pushes the element to the queue. + * + * \param [in] data is a pointer to data that will be pushed to RawFifoQueue + * \param [in] size is the size of \a data, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::wait(); + * - error codes returned by Semaphore::post(); + */ + + int push(const void* data, size_t size); + + /** + * \brief Pushes the element to the queue. + * + * \tparam T is the type of data pushed to the queue + * + * \param [in] data is a reference to data that will be pushed to RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - sizeof(T) doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::wait(); + * - error codes returned by Semaphore::post(); + */ + + template<typename T> + int push(const T& data) + { + return push(&data, sizeof(data)); + } + + /** + * \brief Tries to pop the oldest (first) element from the queue. + * + * \param [out] buffer is a pointer to buffer for popped element + * \param [in] size is the size of \a buffer, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWait(); + * - error codes returned by Semaphore::post(); + */ + + int tryPop(void* buffer, size_t size); + + /** + * \brief Tries to pop the oldest (first) element from the queue. + * + * \tparam T is the type of data popped from the queue + * + * \param [out] buffer is a reference to object that will be used to return popped value + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - sizeof(T) doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWait(); + * - error codes returned by Semaphore::post(); + */ + + template<typename T> + int tryPop(T& buffer) + { + return tryPop(&buffer, sizeof(buffer)); + } + + /** + * \brief Tries to pop the oldest (first) element from the queue for a given duration of time. + * + * \param [in] duration is the duration after which the call will be terminated without popping the element + * \param [out] buffer is a pointer to buffer for popped element + * \param [in] size is the size of \a buffer, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + int tryPopFor(TickClock::duration duration, void* buffer, size_t size); + + /** + * \brief Tries to pop the oldest (first) element from the queue for a given duration of time. + * + * Template variant of tryPopFor(TickClock::duration, void*, size_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] buffer is a pointer to buffer for popped element + * \param [in] size is the size of \a buffer, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - 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, void* const buffer, const size_t size) + { + return tryPopFor(std::chrono::duration_cast<TickClock::duration>(duration), buffer, size); + } + + /** + * \brief Tries to pop the oldest (first) element from the queue for a given duration of time. + * + * \tparam Rep is type of tick counter + * \tparam Period is std::ratio type representing the tick period of the clock, in seconds + * \tparam T is the type of data popped from the queue + * + * \param [in] duration is the duration after which the call will be terminated without popping the element + * \param [out] buffer is a reference to object that will be used to return popped value + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - sizeof(T) doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Rep, typename Period, typename T> + int tryPopFor(const std::chrono::duration<Rep, Period> duration, T& buffer) + { + return tryPopFor(std::chrono::duration_cast<TickClock::duration>(duration), &buffer, sizeof(buffer)); + } + + /** + * \brief Tries to pop the oldest (first) element from the queue until a given time point. + * + * \param [in] timePoint is the time point at which the call will be terminated without popping the element + * \param [out] buffer is a pointer to buffer for popped element + * \param [in] size is the size of \a buffer, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + int tryPopUntil(TickClock::time_point timePoint, void* buffer, size_t size); + + /** + * \brief Tries to pop the oldest (first) element from the queue until a given time point. + * + * Template variant of tryPopUntil(TickClock::time_point, void*, size_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] buffer is a pointer to buffer for popped element + * \param [in] size is the size of \a buffer, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - 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, void* const buffer, const size_t size) + { + return tryPopUntil(std::chrono::time_point_cast<TickClock::duration>(timePoint), buffer, size); + } + + /** + * \brief Tries to pop the oldest (first) element from the queue until a given time point. + * + * \tparam Duration is a std::chrono::duration type used to measure duration + * \tparam T is the type of data popped from the queue + * + * \param [in] timePoint is the time point at which the call will be terminated without popping the element + * \param [out] buffer is a reference to object that will be used to return popped value + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - sizeof(T) doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Duration, typename T> + int tryPopUntil(const std::chrono::time_point<TickClock, Duration> timePoint, T& buffer) + { + return tryPopUntil(std::chrono::time_point_cast<TickClock::duration>(timePoint), &buffer, sizeof(buffer)); + } + + /** + * \brief Tries to push the element to the queue. + * + * \param [in] data is a pointer to data that will be pushed to RawFifoQueue + * \param [in] size is the size of \a data, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWait(); + * - error codes returned by Semaphore::post(); + */ + + int tryPush(const void* data, size_t size); + + /** + * \brief Tries to push the element to the queue. + * + * \tparam T is the type of data pushed to the queue + * + * \param [in] data is a reference to data that will be pushed to RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - sizeof(T) doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWait(); + * - error codes returned by Semaphore::post(); + */ + + template<typename T> + int tryPush(const T& data) + { + return tryPush(&data, sizeof(data)); + } + + /** + * \brief Tries to push the element to the queue for a given duration of time. + * + * \param [in] duration is the duration after which the wait will be terminated without pushing the element + * \param [in] data is a pointer to data that will be pushed to RawFifoQueue + * \param [in] size is the size of \a data, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + int tryPushFor(TickClock::duration duration, const void* data, size_t size); + + /** + * \brief Tries to push the element to the queue for a given duration of time. + * + * Template variant of tryPushFor(TickClock::duration, const void*, size_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] data is a pointer to data that will be pushed to RawFifoQueue + * \param [in] size is the size of \a data, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - 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 void* const data, const size_t size) + { + return tryPushFor(std::chrono::duration_cast<TickClock::duration>(duration), data, size); + } + + /** + * \brief Tries to push the element to the queue for a given duration of time. + * + * \tparam Rep is type of tick counter + * \tparam Period is std::ratio type representing the tick period of the clock, in seconds + * \tparam T is the type of data pushed to the queue + * + * \param [in] duration is the duration after which the wait will be terminated without pushing the element + * \param [in] data is a reference to data that will be pushed to RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - sizeof(T) doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWaitFor(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Rep, typename Period, typename T> + int tryPushFor(const std::chrono::duration<Rep, Period> duration, const T& data) + { + return tryPushFor(std::chrono::duration_cast<TickClock::duration>(duration), &data, sizeof(data)); + } + + /** + * \brief Tries to push the element to the queue until a given time point. + * + * \param [in] timePoint is the time point at which the call will be terminated without pushing the element + * \param [in] data is a pointer to data that will be pushed to RawFifoQueue + * \param [in] size is the size of \a data, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + int tryPushUntil(TickClock::time_point timePoint, const void* data, size_t size); + + /** + * \brief Tries to push the element to the queue until a given time point. + * + * Template variant of tryPushUntil(TickClock::time_point, const void*, size_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] data is a pointer to data that will be pushed to RawFifoQueue + * \param [in] size is the size of \a data, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - 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 void* const data, + const size_t size) + { + return tryPushUntil(std::chrono::time_point_cast<TickClock::duration>(timePoint), data, size); + } + + /** + * \brief Tries to push the element to the queue until a given time point. + * + * \tparam Duration is a std::chrono::duration type used to measure duration + * \tparam T is the type of data pushed to the queue + * + * \param [in] timePoint is the time point at which the call will be terminated without pushing the element + * \param [in] data is a reference to data that will be pushed to RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - sizeof(T) doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by Semaphore::tryWaitUntil(); + * - error codes returned by Semaphore::post(); + */ + + template<typename Duration, typename T> + int tryPushUntil(const std::chrono::time_point<TickClock, Duration> timePoint, const T& data) + { + return tryPushUntil(std::chrono::time_point_cast<TickClock::duration>(timePoint), &data, sizeof(data)); + } + +private: + + /** + * \brief Pops the oldest (first) element 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] buffer is a pointer to buffer for popped element + * \param [in] size is the size of \a buffer, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was popped successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by \a waitSemaphoreFunctor's operator() call; + * - error codes returned by Semaphore::post(); + */ + + int popInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, void* buffer, size_t size); + + /** + * \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] data is a pointer to data that will be pushed to RawFifoQueue + * \param [in] size is the size of \a data, bytes - must be equal to the \a elementSize attribute of RawFifoQueue + * + * \return zero if element was pushed successfully, error code otherwise: + * - EMSGSIZE - \a size doesn't match the \a elementSize attribute of RawFifoQueue; + * - error codes returned by \a waitSemaphoreFunctor's operator() call; + * - error codes returned by Semaphore::post(); + */ + + int pushInternal(const internal::SemaphoreFunctor& waitSemaphoreFunctor, const void* data, size_t size); + + /// contained internal::FifoQueueBase object which implements base functionality + internal::FifoQueueBase fifoQueueBase_; +}; + +} // namespace distortos + +#endif // INCLUDE_DISTORTOS_RAWFIFOQUEUE_HPP_ |