/*
ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS 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 version 3 of the License.
ChibiOS 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 rt/src/chmsg.c
* @brief Messages code.
*
* @addtogroup messages
* @details Synchronous inter-thread messages APIs and services.
* Operation Mode
* Synchronous messages are an easy to use and fast IPC mechanism,
* threads can both act as message servers and/or message clients,
* the mechanism allows data to be carried in both directions. Note
* that messages are not copied between the client and server threads
* but just a pointer passed so the exchange is very time
* efficient.
* Messages are scalar data types of type @p msg_t that are guaranteed
* to be size compatible with data pointers. Note that on some
* architectures function pointers can be larger that @p msg_t.
* Messages are usually processed in FIFO order but it is possible to
* process them in priority order by enabling the
* @p CH_CFG_USE_MESSAGES_PRIORITY option in @p chconf.h.
* @pre In order to use the message APIs the @p CH_CFG_USE_MESSAGES option
* must be enabled in @p chconf.h.
* @post Enabling messages requires 6-12 (depending on the architecture)
* extra bytes in the @p thread_t structure.
* @{
*/
#include "ch.h"
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief Sends a message to the specified thread.
* @details The sender is stopped until the receiver executes a
* @p chMsgRelease()after receiving the message.
*
* @param[in] tp the pointer to the thread
* @param[in] msg the message
* @return The answer message from @p chMsgRelease().
*
* @api
*/
msg_t chMsgSend(thread_t *tp, msg_t msg) {
thread_t *currtp = chThdGetSelfX();
chDbgCheck(tp != NULL);
chSysLock();
currtp->u.sentmsg = msg;
__ch_msg_insert(&tp->msgqueue, currtp);
if (tp->state == CH_STATE_WTMSG) {
(void) chSchReadyI(tp);
}
chSchGoSleepS(CH_STATE_SNDMSGQ);
msg = currtp->u.rdymsg;
chSysUnlock();
return msg;
}
/**
* @brief Suspends the thread and waits for an incoming message.
* @post After receiving a message the function @p chMsgGet() must be
* called in order to retrieve the message and then @p chMsgRelease()
* must be invoked in order to acknowledge the reception and send
* the answer.
* @note If the message is a pointer then you can assume that the data
* pointed by the message is stable until you invoke @p chMsgRelease()
* because the sending thread is suspended until then.
* @note The reference counter of the sender thread is not increased, the
* returned pointer is a temporary reference.
*
* @return A pointer to the thread carrying the message.
*
* @sclass
*/
thread_t *chMsgWaitS(void) {
thread_t *currtp = chThdGetSelfX();
thread_t *tp;
chDbgCheckClassS();
if (!chMsgIsPendingI(currtp)) {
chSchGoSleepS(CH_STATE_WTMSG);
}
tp = threadref(ch_queue_fifo_remove(&currtp->msgqueue));
tp->state = CH_STATE_SNDMSG;
return tp;
}
/**
* @brief Suspends the thread and waits for an incoming message or a
* timeout to occur.
* @post After receiving a message the function @p chMsgGet() must be
* called in order to retrieve the message and then @p chMsgRelease()
* must be invoked in order to acknowledge the reception and send
* the answer.
* @note If the message is a pointer then you can assume that the data
* pointed by the message is stable until you invoke @p chMsgRelease()
* because the sending thread is suspended until then.
* @note The reference counter of the sender thread is not increased, the
* returned pointer is a temporary reference.
*
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_INFINITE no timeout.
* .
* @return A pointer to the thread carrying the message.
* @retval NULL if a timeout occurred.
*
* @sclass
*/
thread_t *chMsgWaitTimeoutS(sysinterval_t timeout) {
thread_t *currtp = chThdGetSelfX();
thread_t *tp;
chDbgCheckClassS();
if (!chMsgIsPendingI(currtp)) {
if (chSchGoSleepTimeoutS(CH_STATE_WTMSG, timeout) != MSG_OK) {
return NULL;
}
}
tp = threadref(ch_queue_fifo_remove(&currtp->msgqueue));
tp->state = CH_STATE_SNDMSG;
return tp;
}
/**
* @brief Poll to check for an incoming message.
* @post If a message is available the function @p chMsgGet() must be
* called in order to retrieve the message and then @p chMsgRelease()
* must be invoked in order to acknowledge the reception and send
* the answer.
* @note If the message is a pointer then you can assume that the data
* pointed by the message is stable until you invoke @p chMsgRelease()
* because the sending thread is suspended until then.
* @note The reference counter of the sender thread is not increased, the
* returned pointer is a temporary reference.
*
* @return Result of the poll.
* @retval NULL if no incoming message waiting.
*
* @sclass
*/
thread_t *chMsgPollS(void) {
thread_t *currtp = chThdGetSelfX();
thread_t *tp = NULL;
if (chMsgIsPendingI(currtp)) {
tp = threadref(ch_queue_fifo_remove(&currtp->msgqueue));
tp->state = CH_STATE_SNDMSG;
}
return tp;
}
/**
* @brief Releases a sender thread specifying a response message.
* @pre Invoke this function only after a message has been received
* using @p chMsgWait().
*
* @param[in] tp pointer to the thread
* @param[in] msg message to be returned to the sender
*
* @api
*/
void chMsgRelease(thread_t *tp, msg_t msg) {
chSysLock();
chDbgAssert(tp->state == CH_STATE_SNDMSG, "invalid state");
chMsgReleaseS(tp, msg);
chSysUnlock();
}
#endif /* CH_CFG_USE_MESSAGES == TRUE */
/** @} */