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106/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @addtogroup Messages
* @{
*/
#include <ch.h>
#ifdef CH_USE_MESSAGES
/**
* Sends a message to the specified thread. The client is stopped until the
* server executes a \p chMsgRelease() after receiving the message.
*
* @param tp the pointer to the thread
* @param msg the message, it can be a pointer to a complex structure
* @return the return message from \p chMsgRelease()
*/
t_msg chMsgSend(Thread *tp, t_msg msg) {
chSysLock();
fifo_insert(currp, &tp->p_msgqueue);
if (tp->p_state == PRWTMSG)
chSchReadyI(tp);
currp->p_msg = msg;
chSchGoSleepS(PRSNDMSG);
msg = currp->p_rdymsg;
chSysUnlock();
return msg;
}
#ifdef CH_USE_MESSAGES_EVENT
/**
* Sends a message to the specified thread and atomically triggers an event.
* The client is stopped until the server executes a \p chMsgRelease()
* after receiving the message.
*
* @param tp the pointer to the thread
* @param msg the message, it can be a pointer to a complex structure
* @param esp the event source to pulse while sending the message
* @return the return message from \p chMsgRelease()
* @return the message return status from \p chMsgRelease()
* @note This function assumes that the receiving thread is not sleeping into
* a \p chMsgWait(). The use case is that the server thread is waiting
* for both messages AND events while waiting into \p chEvtWait().
*/
t_msg chMsgSendWithEvent(Thread *tp, t_msg msg, EventSource *esp) {
chSysLock();
fifo_insert(currp, &tp->p_msgqueue);
// if (tp->p_state == PRWTMSG)
// chSchReadyI(tp);
chEvtSendI(esp);
currp->p_msg = msg;
chSchGoSleepS(PRSNDMSG);
msg = currp->p_rdymsg;
chSysUnlock();
return msg;
}
#endif
#ifdef CH_USE_MESSAGES_TIMEOUT
static void unsend(void *p) {
// Test removed, it should never happen.
// if (((Thread *)p)->p_state == PRSNDMSG)
chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
}
/**
* Sends a message to the specified thread with timeout specification. The
* sender is stopped until the receiver executes a \p chMsgRelease().
*
* @param tp the pointer to the thread
* @param msg the message. Note that it can be a pointer to a complex
* message structure.
* @param time the number of ticks before the operation fails
* @return the message return status from \p chMsgRelease() or
* \p RDY_TIMEOUT the specified time expired.
* @note The server thread can also return data into the message structure
* if you need messages to be bidirectional, just define the structure
* according your needs. If you dont need complicated messages exchange
* you may just use the \p chMsgRelease() status code as response
* to the message.
*/
t_msg chMsgSendTimeout(Thread *tp, t_msg msg, t_time time) {
VirtualTimer vt;
chSysLock();
chVTSetI(&vt, time, unsend, currp);
fifo_insert(currp, &tp->p_msgqueue);
if (tp->p_state == PRWTMSG)
chSchReadyI(tp);
currp->p_msg = msg;
chSchGoSleepS(PRSNDMSG);
msg = currp->p_rdymsg;
if (chVTIsArmedI(&vt))
chVTResetI(&vt);
chSysUnlock();
return msg;
}
#endif /* CH_USE_MESSAGES_TIMEOUT */
/**
* Suspends the thread and waits for an incoming message.
*
* @return the pointer to the message structure. Note, it is always the
* message associated to the thread on the top of the messages queue.
* @note You can assume that the data contained in the message is stable until
* you invoke \p chMsgRelease() because the sending thread is
* suspended until then.
*/
t_msg chMsgWait(void) {
t_msg msg;
chSysLock();
if (!chMsgIsPendingI(currp))
chSchGoSleepS(PRWTMSG);
msg = chMsgGetI(currp);
chSysUnlock();
return msg;
}
/**
* Returns the next message in the queue.
*
* @return the pointer to the message structure. Note, it is always the
* message associated to the thread on the top of the messages queue.
* If the queue is empty then \p NULL is returned.
* @note You can assume that the data contained in the message is stable until
* you invoke \p chMsgRelease() because the sending thread is
* suspended until then. Always remember that the message data is not
* copied between the sender and the receiver, just a pointer is passed.
*/
t_msg chMsgGet(void) {
t_msg msg;
chSysLock();
msg = chMsgIsPendingI(currp) ? chMsgGetI(currp) : NULL;
chSysUnlock();
return msg;
}
/**
* Releases the thread waiting on top of the messages queue.
*
* @param msg the message returned to the message sender
* @note You can call this function only if there is a message already in the
* queue else the result will be unpredictable (a crash most likely).
* Exiting from the \p chMsgWait() ensures you have at least one
* message in the queue so it is not a big deal.<br>
* The condition is not checked in order to make this code as fast as
* possible.
*/
void chMsgRelease(t_msg msg) {
chSysLock();
// if (!chMsgIsPendingI(currp)
chSchWakeupS(fifo_remove(&currp->p_msgqueue), msg);
chSysUnlock();
}
#endif /* CH_USE_MESSAGES */
/** @} */
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