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diff --git a/c/pthread_extra/pthread_msgqueue.c b/c/pthread_extra/pthread_msgqueue.c
index 0d4e07ea78c4f58cecc6b4f804cd85e9e0c9d9b6..9531d7884b8e2e13cc7cdf8ef6ef7b74fc0eb145 100644 (file)
--- a/c/pthread_extra/pthread_msgqueue.c
+++ b/c/pthread_extra/pthread_msgqueue.c
@@ -8,11 +8,12 @@
 #include <stdio.h>
 #include <stdbool.h>
 #include <stdlib.h>
+#include <assert.h>
 
 typedef struct pthread_mq_t {
-       static pthread_mutex_t lock;
-       static pthread_cond_t cond_readable;
-       static pthread_cond_t cond_writable;
+       pthread_mutex_t lock;
+       pthread_cond_t cond_readable;
+       pthread_cond_t cond_writable;
        void * data;
        size_t msg_size;
        size_t msg_count;
@@ -21,13 +22,13 @@ typedef struct pthread_mq_t {
        char * name;
 } pthread_mq_t;
 
-bool pthread_mq_readable(pthread_mq_t *mq) { return (mq->count > 0); }
-bool pthread_mq_writable(pthread_mq_t *mq) { return (mq->count < mq->count_max); }
+bool pthread_mq_readable(pthread_mq_t *mq) { return (mq->msg_count > 0); }
+bool pthread_mq_writable(pthread_mq_t *mq) { return (mq->msg_count < mq->msg_count_max); }
 
 bool pthread_mq_init(pthread_mq_t *mq, size_t msg_size, size_t msg_count_max) {
-       mq->lock = PTHREAD_MUTEX_INITIALIZER;
-       mq->cond_readable = PTHREAD_COND_INITIALIZER;
-       mq->cond_writable = PTHREAD_COND_INITIALIZER;
+       pthread_mutex_init(&mq->lock, NULL);
+       pthread_cond_init(&mq->cond_readable, NULL);
+       pthread_cond_init(&mq->cond_writable, NULL);
        mq->data = malloc(msg_size*msg_count_max);
        mq->msg_size = msg_size;
        mq->msg_count_max = msg_count_max;
@@ -43,51 +44,45 @@ void pthread_mq_free(pthread_mq_t *mq) {
        free(mq->data);
 }
 
-
 void pthread_mq_cond(pthread_mq_t *mq) {
        if(pthread_mq_readable(mq)) pthread_cond_broadcast(&mq->cond_readable);
        if(pthread_mq_writable(mq)) pthread_cond_broadcast(&mq->cond_writable);
 }
 
+bool pthread_mq_reset(pthread_mq_t *mq) {
+       if(pthread_mutex_lock(&mq->lock)) return false;
+       mq->msg_count = 0;
+       mq->head_idx = 0;
+       pthread_mq_cond(mq);
+       pthread_mutex_unlock(&mq->lock);
+       return true;
+}
+
 bool pthread_mq_send_generic(pthread_mq_t *mq, void * data, bool to_front, bool block, const struct timespec *restrict abs_timeout) {
-       pthread_mutex_timedlock(&mq->lock, abs_timeout);
+       //Lock queue
+       if(pthread_mutex_timedlock(&mq->lock, abs_timeout)) return false;
 
+       //Wait for queue to be in writable condition
        while(!pthread_mq_writable(mq)) {
-               pthread_mutex_unlock(&mq->lock);
-               return false;
+               if(pthread_cond_timedwait(&mq->cond_writable, &mq->lock, abs_timeout)) {
+                       pthread_mutex_unlock(&mq->lock);
+                       return false;
+               }
        }
 
-       size_t idx = ( ( mq->count_max + mq->head_idx + (to_front?-1:mq->count) ) % mq->count_max );
+       //Write data to queue
+       size_t idx = ( ( mq->msg_count_max + mq->head_idx + (to_front?-1:mq->msg_count) ) % mq->msg_count_max );
        void *ptr = mq->data + (idx * mq->msg_size);
        mq->msg_count++;
+       if(to_front) mq->head_idx = (mq->msg_count_max + mq->head_idx - 1) % mq->msg_count_max;
        memcpy(ptr, data, mq->msg_size);
 
+       //Signal conditions and unlock
        pthread_mq_cond(mq);
        pthread_mutex_unlock(&mq->lock);
        return true;
 }
 
-/*
-              mq_timedreceive(3)   mq_timedreceive(2)
-
-              mq_timedsend(3)      mq_timedsend(2)
-
-void vQueueDelete( QueueHandle_t xQueue );
-BaseType_t xQueueReset( QueueHandle_t xQueue );
-
- BaseType_t xQueueSend(
-                            QueueHandle_t xQueue,
-                            const void * pvItemToQueue,
-                            TickType_t xTicksToWait
-                         );
- BaseType_t xQueueReceive(
-                               QueueHandle_t xQueue,
-                               void *pvBuffer,
-                               TickType_t xTicksToWait
-                            );
-
-*/
-
 int main() {
 
 }