queue.hpp

[詳解]

#pragma once
 
#include <cstddef>
#include <cstdint>
#include <memory>
#include <optional>
#include <type_traits>
 
#include <cmsis_os2.h>
 
namespace halx::rtos {
 
template <class T> class Queue {
private:
  struct Deleter {
    void operator()(osMessageQueueId_t queue_id) {
      osMessageQueueDelete(queue_id);
    }
  };
 
  using QueueId =
      std::unique_ptr<std::remove_pointer_t<osMessageQueueId_t>, Deleter>;
 
public:
  Queue(size_t capacity, uint32_t attr_bits = 0) {
    osMessageQueueAttr_t attr{};
    attr.attr_bits = attr_bits;
    queue_id_ = QueueId{osMessageQueueNew(capacity, sizeof(T), &attr)};
  }
 
  bool push(const T &value, uint32_t timeout = 0) {
    return osMessageQueuePut(queue_id_.get(), &value, 0, timeout) == osOK;
  }
 
  std::optional<T> pop(uint32_t timeout = 0) {
    T value;
    if (osMessageQueueGet(queue_id_.get(), &value, nullptr, timeout) != osOK) {
      return std::nullopt;
    }
    return value;
  }
 
  void clear() { osMessageQueueReset(queue_id_.get()); }
 
  size_t size() const { return osMessageQueueGetCount(queue_id_.get()); }
 
  size_t capacity() const { return osMessageQueueGetCapacity(queue_id_.get()); }
 
private:
  QueueId queue_id_;
};
 
} // namespace halx::rtos