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px4-firmware/nuttx/sched/mq_internal.h

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/****************************************************************************
* sched/mq_internal.h
*
* Copyright (C) 2007, 2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __SCHED_MQ_INTERNAL_H
#define __SCHED_MQ_INTERNAL_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <limits.h>
#include <mqueue.h>
#include <sched.h>
#include <signal.h>
#include <nuttx/mqueue.h>
#if CONFIG_MQ_MAXMSGSIZE > 0
/****************************************************************************
* Definitions
****************************************************************************/
#define MQ_MAX_BYTES CONFIG_MQ_MAXMSGSIZE
#define MQ_MAX_MSGS 16
#define MQ_PRIO_MAX _POSIX_MQ_PRIO_MAX
/* This defines the number of messages descriptors to allocate at each
* "gulp."
*/
#define NUM_MSG_DESCRIPTORS 24
/* This defines the number of messages to set aside for exclusive use by
* interrupt handlers
*/
#define NUM_INTERRUPT_MSGS 8
/****************************************************************************
* Global Type Declarations
****************************************************************************/
enum mqalloc_e
{
MQ_ALLOC_FIXED = 0, /* pre-allocated; never freed */
MQ_ALLOC_DYN, /* dynamically allocated; free when unused */
MQ_ALLOC_IRQ /* Preallocated, reserved for interrupt handling */
};
typedef enum mqalloc_e mqalloc_t;
/* This structure describes one buffered POSIX message. */
struct mqmsg
{
FAR struct mqmsg *next; /* Forward link to next message */
uint8_t type; /* (Used to manage allocations) */
uint8_t priority; /* priority of message */
#if MQ_MAX_BYTES < 256
uint8_t msglen; /* Message data length */
#else
uint16_t msglen; /* Message data length */
#endif
uint8_t mail[MQ_MAX_BYTES]; /* Message data */
};
typedef struct mqmsg mqmsg_t;
/****************************************************************************
* Global Variables
****************************************************************************/
/* This is a list of all opened message queues */
extern sq_queue_t g_msgqueues;
/* The g_msgfree is a list of messages that are available for general use.
* The number of messages in this list is a system configuration item.
*/
extern sq_queue_t g_msgfree;
/* The g_msgfreeInt is a list of messages that are reserved for use by
* interrupt handlers.
*/
extern sq_queue_t g_msgfreeirq;
/* The g_desfree data structure is a list of message descriptors available
* to the operating system for general use. The number of messages in the
* pool is a constant.
*/
extern sq_queue_t g_desfree;
/****************************************************************************
* Global Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/* Functions defined in mq_initialize.c ************************************/
EXTERN void weak_function mq_initialize(void);
EXTERN void mq_desblockalloc(void);
EXTERN mqd_t mq_descreate(FAR _TCB* mtcb, FAR msgq_t* msgq, int oflags);
EXTERN FAR msgq_t *mq_findnamed(const char *mq_name);
EXTERN void mq_msgfree(FAR mqmsg_t *mqmsg);
EXTERN void mq_msgqfree(FAR msgq_t *msgq);
/* mq_waitirq.c ************************************************************/
EXTERN void mq_waitirq(FAR _TCB *wtcb, int errcode);
/* mq_rcvinternal.c ********************************************************/
EXTERN int mq_verifyreceive(mqd_t mqdes, void *msg, size_t msglen);
EXTERN FAR mqmsg_t *mq_waitreceive(mqd_t mqdes);
EXTERN ssize_t mq_doreceive(mqd_t mqdes, mqmsg_t *mqmsg, void *ubuffer,
int *prio);
/* mq_sndinternal.c ********************************************************/
EXTERN int mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen,
int prio);
EXTERN FAR mqmsg_t *mq_msgalloc(void);
EXTERN int mq_waitsend(mqd_t mqdes);
EXTERN int mq_dosend(mqd_t mqdes, FAR mqmsg_t *mqmsg, const void *msg,
size_t msglen, int prio);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_MQ_MAXMSGSIZE > 0 */
#endif /* __SCHED_MQ_INTERNAL_H */
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