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* Copyright (c) 2018 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <kernel.h>
#include <string.h>
#include "wrapper.h"
K_MEM_SLAB_DEFINE(cv2_msgq_slab, sizeof(struct cv2_msgq),
CONFIG_CMSIS_V2_MSGQ_MAX_COUNT, 4);
static const osMessageQueueAttr_t init_msgq_attrs = {
.name = "ZephyrMsgQ",
.attr_bits = 0,
.cb_mem = NULL,
.cb_size = 0,
.mq_mem = NULL,
.mq_size = 0,
};
/**
* @brief Create and Initialize Message queue.
*/
osMessageQueueId_t osMessageQueueNew(uint32_t msg_count, uint32_t msg_size,
const osMessageQueueAttr_t *attr)
{
struct cv2_msgq *msgq;
BUILD_ASSERT(CONFIG_HEAP_MEM_POOL_SIZE >=
CONFIG_CMSIS_V2_MSGQ_MAX_DYNAMIC_SIZE,
"heap must be configured to be at least the max dynamic size");
if (k_is_in_isr()) {
return NULL;
}
if ((attr != NULL) && (attr->mq_size < msg_count * msg_size)) {
return NULL;
}
if (attr == NULL) {
attr = &init_msgq_attrs;
}
if (k_mem_slab_alloc(&cv2_msgq_slab, (void **)&msgq, K_MSEC(100)) == 0) {
(void)memset(msgq, 0, sizeof(struct cv2_msgq));
} else {
return NULL;
}
if (attr->mq_mem == NULL) {
__ASSERT((msg_count * msg_size) <=
CONFIG_CMSIS_V2_MSGQ_MAX_DYNAMIC_SIZE,
"message queue size exceeds dynamic maximum");
msgq->pool = k_calloc(msg_count, msg_size);
if (msgq->pool == NULL) {
k_mem_slab_free(&cv2_msgq_slab, (void *) &msgq);
return NULL;
}
msgq->is_dynamic_allocation = TRUE;
} else {
msgq->pool = attr->mq_mem;
msgq->is_dynamic_allocation = FALSE;
}
k_msgq_init(&msgq->z_msgq, msgq->pool, msg_size, msg_count);
if (attr->name == NULL) {
strncpy(msgq->name, init_msgq_attrs.name,
sizeof(msgq->name) - 1);
} else {
strncpy(msgq->name, attr->name, sizeof(msgq->name) - 1);
}
return (osMessageQueueId_t)(msgq);
}
/**
* @brief Put a message to a Queue.
*/
osStatus_t osMessageQueuePut(osMessageQueueId_t msgq_id, const void *msg_ptr,
uint8_t msg_prio, uint32_t timeout)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
int retval;
ARG_UNUSED(msg_prio);
if (msgq == NULL) {
return osErrorParameter;
}
/* Can be called from ISRs only if timeout is set to 0 */
if (timeout > 0 && k_is_in_isr()) {
return osErrorParameter;
}
if (timeout == 0U) {
retval = k_msgq_put(&msgq->z_msgq, (void *)msg_ptr, K_NO_WAIT);
} else if (timeout == osWaitForever) {
retval = k_msgq_put(&msgq->z_msgq, (void *)msg_ptr, K_FOREVER);
} else {
retval = k_msgq_put(&msgq->z_msgq, (void *)msg_ptr,
K_TICKS(timeout));
}
if (retval == 0) {
return osOK;
} else if (retval == -EAGAIN) {
return osErrorTimeout;
} else {
return osErrorResource;
}
}
/**
* @brief Get a message or Wait for a Message from a Queue.
*/
osStatus_t osMessageQueueGet(osMessageQueueId_t msgq_id, void *msg_ptr,
uint8_t *msg_prio, uint32_t timeout)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
int retval;
ARG_UNUSED(msg_prio);
if (msgq == NULL) {
return osErrorParameter;
}
/* Can be called from ISRs only if timeout is set to 0 */
if (timeout > 0 && k_is_in_isr()) {
return osErrorParameter;
}
if (timeout == 0U) {
retval = k_msgq_get(&msgq->z_msgq, msg_ptr, K_NO_WAIT);
} else if (timeout == osWaitForever) {
retval = k_msgq_get(&msgq->z_msgq, msg_ptr, K_FOREVER);
} else {
retval = k_msgq_get(&msgq->z_msgq, msg_ptr,
K_TICKS(timeout));
}
if (retval == 0) {
return osOK;
} else if (retval == -EAGAIN) {
return osErrorTimeout;
} else if (retval == -ENOMSG) {
return osErrorResource;
}
return osOK;
}
/**
* @brief Get maximum number of messages in a Message Queue.
*/
uint32_t osMessageQueueGetCapacity(osMessageQueueId_t msgq_id)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
if (msgq == NULL) {
return 0;
} else {
return msgq->z_msgq.max_msgs;
}
}
/**
* @brief Get maximum message size in a Message Queue.
*/
uint32_t osMessageQueueGetMsgSize(osMessageQueueId_t msgq_id)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
if (msgq == NULL) {
return 0;
} else {
return msgq->z_msgq.msg_size;
}
}
/**
* @brief Get number of queued messages in a Message Queue.
*/
uint32_t osMessageQueueGetCount(osMessageQueueId_t msgq_id)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
if (msgq == NULL) {
return 0;
} else {
return k_msgq_num_used_get(&msgq->z_msgq);
}
}
/**
* @brief Get number of available slots for messages in a Message Queue.
*/
uint32_t osMessageQueueGetSpace(osMessageQueueId_t msgq_id)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
if (msgq == NULL) {
return 0;
} else {
return k_msgq_num_free_get(&msgq->z_msgq);
}
}
/**
* @brief Get name of a Message Queue object.
*/
const char *osMessageQueueGetName(osMessageQueueId_t msgq_id)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
if (!k_is_in_isr() && (msgq_id != NULL)) {
return msgq->name;
} else {
return NULL;
}
}
/**
* @brief Reset a Message Queue to initial empty state.
*/
osStatus_t osMessageQueueReset(osMessageQueueId_t msgq_id)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
if (msgq == NULL) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
/* The status code "osErrorResource" (the message queue specified by
* parameter msgq_id is in an invalid message queue state) is not
* supported in Zephyr.
*/
k_msgq_purge(&msgq->z_msgq);
return osOK;
}
/**
* @brief Delete a Message Queue object.
*/
osStatus_t osMessageQueueDelete(osMessageQueueId_t msgq_id)
{
struct cv2_msgq *msgq = (struct cv2_msgq *)msgq_id;
if (msgq == NULL) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
/* The status code "osErrorResource" (the message queue specified by
* parameter msgq_id is in an invalid message queue state) is not
* supported in Zephyr.
*/
if (msgq->is_dynamic_allocation) {
k_free(msgq->pool);
}
k_mem_slab_free(&cv2_msgq_slab, (void *)&msgq);
return osOK;
}
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