queues initial version

mission_rust/src/lib.rs

@@ -2,6 +2,7 @@
 
 //TODO look into using core::ffi (some types do not seem to work)
 //TODO os errors in API calls
+//TODO look into a pattern for late initialized stuff, currently using Option (can we make it compile time safe?)
 
 #[macro_export]
 macro_rules! sifln {
@@ -48,6 +49,7 @@ fn panic(panic: &PanicInfo<'_>) -> ! {
 
 type TaskFunction = unsafe extern "C" fn(*mut cty::c_void);
 
+
 extern "C" {
     fn outbyte(c: cty::c_char);
     //void *create_task(TaskFunction_t taskFunction, void *parameter, size_t stack_size)
@@ -185,53 +187,53 @@ impl<'a> Drop for TaskExecutor<'a> {
 
 struct Handler {
     id: u32,
-    //command_queue: MessageQueue<Message, 10>,
+    command_queue: MessageQueue<Message>,
 }
 
 struct HandlerSender {
     id: u32,
     cycle: u8,
-    //other_handler: MessageQueueSender<Message>,
+    other_handler: MessageQueueSender<Message>,
 }
 
-// impl Handler {
-//     fn handle_message(&self, message: Message) {
-//         match message {
-//             Message::OK=> {sifln!("OK");},
-//             Message::FAILED => {sifln!("FAILED");},
-//             Message::DATA(data) => {sifln!("p1: {}, p2 {}", data.p1, data.p2);}
-//         }
+impl Handler {
+    fn handle_message(&self, message: Message) {
+        match message {
+            Message::OK=> {sifln!("OK");},
+            Message::FAILED => {sifln!("FAILED");},
+            Message::DATA(data) => {sifln!("p1: {}, p2 {}", data.p1, data.p2);}
+        }
 
-//     }
-// }
+    }
+}
 
 impl ExecutableObjectIF for Handler {
     fn perform(&mut self) {
         sifln!("Handler {} performs", self.id);
-        // let result = self.command_queue.receive();
-        // match result {
-        //     Ok(message) => self.handle_message(message),
-        //     Err(_) => {sifln!("Handler {} got nothing", self.id);}
-        // }
+        let result = self.command_queue.receive();
+        match result {
+            Ok(message) => self.handle_message(message),
+            Err(_) => {sifln!("Handler {} got nothing", self.id);}
+        }
     }
 }
 
 impl ExecutableObjectIF for HandlerSender {
     fn perform(&mut self) {
         sifln!("HandlerSender {} performs step {}", self.id, self.cycle);
-        // match self.cycle {
-        //     0 => {let _ = self.other_handler.send(Message::OK);},
-        //     1 => {let _ = self.other_handler.send(Message::FAILED);},
-        //     2 => {let _ = self.other_handler.send(Message::DATA(GenericMessageData { p1: 1, p2: 2 }));},
-        //     _ => (),
-        // }
-        // self.cycle += 1;
+        match self.cycle {
+            0 => {let _ = self.other_handler.send(Message::OK);},
+            1 => {let _ = self.other_handler.send(Message::FAILED);},
+            2 => {let _ = self.other_handler.send(Message::DATA(GenericMessageData { p1: 13, p2: 2 }));},
+            _ => (),
+        }
+        self.cycle += 1;
     }
 }
 
-/*struct MessageQueue<T, const LENGTH: usize> {
+struct MessageQueue<T> {
     queue_id: *const cty::c_void,
-    buffer: [T; LENGTH],
+    _unused: Option<T>, //need to constrain the queue to one message type for safety, but compiler needs that to be used
 }
 
 struct MessageQueueSender<T> {
@@ -239,17 +241,16 @@ struct MessageQueueSender<T> {
     _unused: Option<T>, //need to constrain the sender to one message type for safety, but compiler needs that to be used
 }
 
-impl<T: Copy, const LENGTH: usize> MessageQueue<T, LENGTH> {
-    fn new() -> Self {
+impl<T: Default> MessageQueue<T> {
+    fn new(depth: usize) -> Self {
         let mut instance: Self;
         unsafe {
             instance = Self {
                 queue_id: 0 as *const cty::c_void,
-                buffer: [core::mem::MaybeUninit::zeroed().assume_init(); LENGTH], //Gets passed to C/FreeRTOS, so we never ever touch it ever again
+                _unused: None
             };
-            let buffer_pointer: *mut cty::c_void =
-                &mut instance.buffer as *mut _ as *mut cty::c_void;
-            instance.queue_id = create_queue(LENGTH, core::mem::size_of::<T>(), buffer_pointer);
+            //TODO check cast of depth
+            instance.queue_id = create_queue(depth, core::mem::size_of::<T>());
 
             if instance.queue_id == 0 as *mut cty::c_void {
                 panic!("could not create Queue");
@@ -267,10 +268,10 @@ impl<T: Copy, const LENGTH: usize> MessageQueue<T, LENGTH> {
     }
 
     fn receive(&self) -> Result<T, ()> {
-        let mut message: T;
+        let mut message: T = T::default();
         let res: cty::uint8_t;
         unsafe {
-            message = core::mem::MaybeUninit::zeroed().assume_init(); // We only return it if the queue received something
+            //message = core::mem::MaybeUninit::zeroed().assume_init(); // We only return it if the queue received something
             let message_pointer: *mut cty::c_void = &mut message as *mut _ as *mut cty::c_void;
             res = queue_receive(self.queue_id, message_pointer);
         }
@@ -305,17 +306,16 @@ impl<T> MessageQueueSender<T> {
     }
 }
 
-*/
-
 #[derive(Clone, Copy)]
 struct GenericMessageData {
     p1: u32,
     p2: u32,
 }
 
-#[derive(Copy, Clone)]
+#[derive(Copy, Clone, Default)]
 enum Message {
     OK,
+    #[default]
     FAILED,
     DATA(GenericMessageData),
 }
@@ -339,15 +339,15 @@ fn mission() {
 
     let mut h1 = Handler {
         id: 1,
-        //command_queue: MessageQueue::new(),
+        command_queue: MessageQueue::new(5),
     };
-    let mut h2 = Handler {
+    let mut h2 = HandlerSender {
         id: 2,
-        //     cycle: 0,
-        //     other_handler: MessageQueueSender::<Message>::new(),
+            cycle: 0,
+            other_handler: MessageQueueSender::<Message>::new(),
     };
 
-    // h2.other_handler = h1.command_queue.get_sender();
+    h2.other_handler = h1.command_queue.get_sender();
 
     let mut t1: PeriodicTask = PeriodicTask {
         task_objects: &mut [&mut h1],