Commit | Line | Data |
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90c3a0d4 | 1 | #include <pthread.h> |
3aac2619 | 2 | #include <pthread_extra.h> |
90c3a0d4 TM |
3 | #include <time.h> |
4 | #include <string.h> | |
5 | #include <stdio.h> | |
6 | #include <stdbool.h> | |
7 | #include <stdlib.h> | |
774d1b14 | 8 | #include <assert.h> |
90c3a0d4 | 9 | |
774d1b14 TM |
10 | bool pthread_mq_readable(pthread_mq_t *mq) { return (mq->msg_count > 0); } |
11 | bool pthread_mq_writable(pthread_mq_t *mq) { return (mq->msg_count < mq->msg_count_max); } | |
90c3a0d4 TM |
12 | |
13 | bool pthread_mq_init(pthread_mq_t *mq, size_t msg_size, size_t msg_count_max) { | |
774d1b14 TM |
14 | pthread_mutex_init(&mq->lock, NULL); |
15 | pthread_cond_init(&mq->cond_readable, NULL); | |
16 | pthread_cond_init(&mq->cond_writable, NULL); | |
63658368 | 17 | //pthread_mutexattr_setclock(&mq->lock, CLOCK_MONOTONIC); |
90c3a0d4 TM |
18 | mq->data = malloc(msg_size*msg_count_max); |
19 | mq->msg_size = msg_size; | |
20 | mq->msg_count_max = msg_count_max; | |
21 | mq->msg_count = 0; | |
22 | mq->head_idx = 0; | |
23 | mq->name = NULL; | |
24 | ||
25 | if(((msg_size*msg_count_max) > 0) && mq->data == NULL) return false; | |
26 | return true; | |
27 | } | |
28 | ||
29 | void pthread_mq_free(pthread_mq_t *mq) { | |
30 | free(mq->data); | |
31 | } | |
32 | ||
90c3a0d4 TM |
33 | void pthread_mq_cond(pthread_mq_t *mq) { |
34 | if(pthread_mq_readable(mq)) pthread_cond_broadcast(&mq->cond_readable); | |
35 | if(pthread_mq_writable(mq)) pthread_cond_broadcast(&mq->cond_writable); | |
36 | } | |
37 | ||
63658368 TM |
38 | size_t pthread_mq_waiting(pthread_mq_t *mq) { |
39 | return mq->msg_count; | |
40 | } | |
41 | ||
774d1b14 TM |
42 | bool pthread_mq_reset(pthread_mq_t *mq) { |
43 | if(pthread_mutex_lock(&mq->lock)) return false; | |
44 | mq->msg_count = 0; | |
45 | mq->head_idx = 0; | |
46 | pthread_mq_cond(mq); | |
47 | pthread_mutex_unlock(&mq->lock); | |
48 | return true; | |
49 | } | |
50 | ||
63658368 | 51 | bool pthread_mq_send_generic(pthread_mq_t *mq, void * data, bool to_front, const struct timespec *restrict abs_timeout) { |
3297654e TM |
52 | int ret; |
53 | ||
774d1b14 TM |
54 | //Lock queue |
55 | if(pthread_mutex_timedlock(&mq->lock, abs_timeout)) return false; | |
90c3a0d4 | 56 | |
774d1b14 | 57 | //Wait for queue to be in writable condition |
90c3a0d4 | 58 | while(!pthread_mq_writable(mq)) { |
3297654e TM |
59 | if(abs_timeout == NULL) { |
60 | ret = pthread_cond_wait(&mq->cond_writable, &mq->lock); | |
61 | } else { | |
62 | ret = pthread_cond_timedwait(&mq->cond_writable, &mq->lock, abs_timeout); | |
63 | } | |
64 | if(ret) { | |
774d1b14 TM |
65 | pthread_mutex_unlock(&mq->lock); |
66 | return false; | |
67 | } | |
90c3a0d4 TM |
68 | } |
69 | ||
774d1b14 TM |
70 | //Write data to queue |
71 | size_t idx = ( ( mq->msg_count_max + mq->head_idx + (to_front?-1:mq->msg_count) ) % mq->msg_count_max ); | |
90c3a0d4 TM |
72 | void *ptr = mq->data + (idx * mq->msg_size); |
73 | mq->msg_count++; | |
774d1b14 | 74 | if(to_front) mq->head_idx = (mq->msg_count_max + mq->head_idx - 1) % mq->msg_count_max; |
90c3a0d4 TM |
75 | memcpy(ptr, data, mq->msg_size); |
76 | ||
774d1b14 | 77 | //Signal conditions and unlock |
90c3a0d4 TM |
78 | pthread_mq_cond(mq); |
79 | pthread_mutex_unlock(&mq->lock); | |
80 | return true; | |
81 | } | |
82 | ||
63658368 TM |
83 | bool pthread_mq_receive_generic(pthread_mq_t *mq, void * data, bool peek, const struct timespec *restrict abs_timeout) { |
84 | int ret; | |
85 | ||
86 | //Lock queue | |
87 | if(pthread_mutex_timedlock(&mq->lock, abs_timeout)) return false; | |
88 | ||
89 | //Wait for queue to be in readable condition | |
90 | while(!pthread_mq_readable(mq)) { | |
91 | if(abs_timeout == NULL) { | |
92 | ret = pthread_cond_wait(&mq->cond_readable, &mq->lock); | |
93 | } else { | |
94 | ret = pthread_cond_timedwait(&mq->cond_readable, &mq->lock, abs_timeout); | |
95 | } | |
96 | if(ret) { | |
97 | pthread_mutex_unlock(&mq->lock); | |
98 | return false; | |
99 | } | |
100 | } | |
101 | ||
102 | //Read data from queue | |
103 | void *ptr = mq->data + (mq->head_idx * mq->msg_size); | |
104 | memcpy(data, ptr, mq->msg_size); | |
105 | ||
106 | //Delete data from queue if not peeking | |
107 | if(!peek) { | |
108 | mq->msg_count--; | |
109 | mq->head_idx = (mq->head_idx+1) % mq->msg_count_max; | |
110 | } | |
111 | ||
112 | //Signal conditions and unlock | |
113 | pthread_mq_cond(mq); | |
114 | pthread_mutex_unlock(&mq->lock); | |
115 | return true; | |
116 | } |