/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011,2012,2013 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 . */ /** * @file chsys.c * @brief System related code. * * @addtogroup system * @details System related APIs and services: * - Initialization. * - Locks. * - Interrupt Handling. * - Power Management. * - Abnormal Termination. * . * @{ */ #include "ch.h" #if !CH_NO_IDLE_THREAD || defined(__DOXYGEN__) /** * @brief Idle thread working area. */ WORKING_AREA(_idle_thread_wa, PORT_IDLE_THREAD_STACK_SIZE); /** * @brief This function implements the idle thread infinite loop. * @details The function puts the processor in the lowest power mode capable * to serve interrupts.
* The priority is internally set to the minimum system value so * that this thread is executed only if there are no other ready * threads in the system. * * @param[in] p the thread parameter, unused in this scenario */ void _idle_thread(void *p) { (void)p; chRegSetThreadName("idle"); while (TRUE) { port_wait_for_interrupt(); IDLE_LOOP_HOOK(); } } #endif /* CH_NO_IDLE_THREAD */ /** * @brief ChibiOS/RT initialization. * @details After executing this function the current instructions stream * becomes the main thread. * @pre Interrupts must be still disabled when @p chSysInit() is invoked * and are internally enabled. * @post The main thread is created with priority @p NORMALPRIO. * @note This function has special, architecture-dependent, requirements, * see the notes into the various port reference manuals. * * @special */ void chSysInit(void) { static Thread mainthread; #if CH_DBG_ENABLE_STACK_CHECK extern stkalign_t __main_thread_stack_base__; #endif port_init(); _scheduler_init(); _vt_init(); #if CH_USE_MEMCORE _core_init(); #endif #if CH_USE_HEAP _heap_init(); #endif #if CH_DBG_ENABLE_TRACE _trace_init(); #endif /* Now this instructions flow becomes the main thread.*/ setcurrp(_thread_init(&mainthread, NORMALPRIO)); currp->p_state = THD_STATE_CURRENT; #if CH_DBG_ENABLE_STACK_CHECK /* This is a special case because the main thread Thread structure is not adjacent to its stack area.*/ currp->p_stklimit = &__main_thread_stack_base__; #endif chSysEnable(); /* Note, &ch_debug points to the string "main" if the registry is active, else the parameter is ignored.*/ chRegSetThreadName((const char *)&ch_debug); #if !CH_NO_IDLE_THREAD /* This thread has the lowest priority in the system, its role is just to serve interrupts in its context while keeping the lowest energy saving mode compatible with the system status.*/ chThdCreateStatic(_idle_thread_wa, sizeof(_idle_thread_wa), IDLEPRIO, (tfunc_t)_idle_thread, NULL); #endif } /** * @brief Handles time ticks for round robin preemption and timer increments. * @details Decrements the remaining time quantum of the running thread * and preempts it when the quantum is used up. Increments system * time and manages the timers. * @note The frequency of the timer determines the system tick granularity * and, together with the @p CH_TIME_QUANTUM macro, the round robin * interval. * * @iclass */ void chSysTimerHandlerI(void) { chDbgCheckClassI(); #if CH_TIME_QUANTUM > 0 /* Running thread has not used up quantum yet? */ if (currp->p_preempt > 0) /* Decrement remaining quantum.*/ currp->p_preempt--; #endif #if CH_DBG_THREADS_PROFILING currp->p_time++; #endif chVTDoTickI(); #if defined(SYSTEM_TICK_EVENT_HOOK) SYSTEM_TICK_EVENT_HOOK(); #endif } /** @} */ href='#n44'>44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172
// Copyright 2005, Google Inc.
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// modification, are permitted provided that the following conditions are
// met:
//
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// A sample program demonstrating using Google C++ testing framework.
//
// Author: wan@google.com (Zhanyong Wan)

#ifndef GTEST_SAMPLES_SAMPLE3_INL_H_
#define GTEST_SAMPLES_SAMPLE3_INL_H_

#include <stddef.h>


// Queue is a simple queue implemented as a singled-linked list.
//
// The element type must support copy constructor.
template <typename E>  // E is the element type
class Queue;

// QueueNode is a node in a Queue, which consists of an element of
// type E and a pointer to the next node.
template <typename E>  // E is the element type
class QueueNode {
  friend class Queue<E>;

 public:
  // Gets the element in this node.
  const E& element() const { return element_; }

  // Gets the next node in the queue.
  QueueNode* next() { return next_; }
  const QueueNode* next() const { return next_; }

 private:
  // Creates a node with a given element value.  The next pointer is
  // set to NULL.
  explicit QueueNode(const E& an_element) : element_(an_element), next_(NULL) {}

  // We disable the default assignment operator and copy c'tor.
  const QueueNode& operator = (const QueueNode&);
  QueueNode(const QueueNode&);

  E element_;
  QueueNode* next_;
};

template <typename E>  // E is the element type.
class Queue {
 public:
  // Creates an empty queue.
  Queue() : head_(NULL), last_(NULL), size_(0) {}

  // D'tor.  Clears the queue.
  ~Queue() { Clear(); }

  // Clears the queue.
  void Clear() {
    if (size_ > 0) {
      // 1. Deletes every node.
      QueueNode<E>* node = head_;
      QueueNode<E>* next = node->next();
      for (; ;) {
        delete node;
        node = next;
        if (node == NULL) break;
        next = node->next();
      }

      // 2. Resets the member variables.
      head_ = last_ = NULL;
      size_ = 0;
    }
  }

  // Gets the number of elements.
  size_t Size() const { return size_; }

  // Gets the first element of the queue, or NULL if the queue is empty.
  QueueNode<E>* Head() { return head_; }
  const QueueNode<E>* Head() const { return head_; }

  // Gets the last element of the queue, or NULL if the queue is empty.
  QueueNode<E>* Last() { return last_; }
  const QueueNode<E>* Last() const { return last_; }

  // Adds an element to the end of the queue.  A copy of the element is
  // created using the copy constructor, and then stored in the queue.
  // Changes made to the element in the queue doesn't affect the source
  // object, and vice versa.
  void Enqueue(const E& element) {
    QueueNode<E>* new_node = new QueueNode<E>(element);

    if (size_ == 0) {
      head_ = last_ = new_node;
      size_ = 1;
    } else {
      last_->next_ = new_node;
      last_ = new_node;
      size_++;
    }
  }

  // Removes the head of the queue and returns it.  Returns NULL if
  // the queue is empty.
  E* Dequeue() {
    if (size_ == 0) {
      return NULL;
    }

    const QueueNode<E>* const old_head = head_;
    head_ = head_->next_;
    size_--;
    if (size_ == 0) {
      last_ = NULL;
    }

    E* element = new E(old_head->element());
    delete old_head;

    return element;
  }

  // Applies a function/functor on each element of the queue, and
  // returns the result in a new queue.  The original queue is not
  // affected.
  template <typename F>
  Queue* Map(F function) const {
    Queue* new_queue = new Queue();
    for (const QueueNode<E>* node = head_; node != NULL; node = node->next_) {
      new_queue->Enqueue(function(node->element()));
    }

    return new_queue;
  }

 private:
  QueueNode<E>* head_;  // The first node of the queue.
  QueueNode<E>* last_;  // The last node of the queue.
  size_t size_;  // The number of elements in the queue.

  // We disallow copying a queue.
  Queue(const Queue&);
  const Queue& operator = (const Queue&);
};

#endif  // GTEST_SAMPLES_SAMPLE3_INL_H_