working on queues

mission/freeRTOS_rust_helper.c

@@ -2,27 +2,40 @@
 #include "semphr.h"
 #include "task.h"
 
-#define NUMBER_OF_TASKS 1
+/**
+ * Task descriptors
+*/
+#define NUMBER_OF_TASKS 100
 SemaphoreHandle_t taskMutex = NULL;
 StaticSemaphore_t taskMutexDescriptor;
 size_t nextFreeTaskDescriptor = 0;
 StaticTask_t taskDescriptors[NUMBER_OF_TASKS];
 
+/**
+ * Queue descriptors
+*/
+#define NUMBER_OF_QUEUES 300
+SemaphoreHandle_t queueMutex = NULL;
+StaticSemaphore_t queueMutexDescriptor;
+size_t nextFreeQueueDescriptor = 0;
+StaticQueue_t queueDescriptors[NUMBER_OF_QUEUES];
+
 // TODO check and return
 void initFreeRTOSHelper() {
   taskMutex = xSemaphoreCreateRecursiveMutexStatic(&taskMutexDescriptor);
+  queueMutex = xSemaphoreCreateRecursiveMutexStatic(&queueMutexDescriptor);
 }
 
-const char * getTaskName() {
+const char * get_task_name() {
     return pcTaskGetName( NULL );
 }
 
-void stopIt() {
+void stop_it() {
     taskENTER_CRITICAL();
 }
 
 // TODO return some error code?
-void *createTask(TaskFunction_t taskFunction, void *parameter, void *buffer,
+void *create_task(TaskFunction_t taskFunction, void *parameter, void *buffer,
                  size_t buffersize) {
   if (xSemaphoreTakeRecursive(taskMutex, portMAX_DELAY) != pdTRUE) {
     return NULL;
@@ -45,4 +58,19 @@ void *createTask(TaskFunction_t taskFunction, void *parameter, void *buffer,
 
 void task_delay(uint32_t milliseconds) {
   vTaskDelay(pdMS_TO_TICKS(milliseconds));
+}
+
+void * create_queue(size_t length, size_t element_size, uint8_t * buffer) {
+    if (xSemaphoreTakeRecursive(queueMutex, portMAX_DELAY) != pdTRUE) {
+    return NULL;
+  }
+  // we hold the queue mutex and are now allowed to access the taskDescriptors
+  if (nextFreeQueueDescriptor >=
+      sizeof(queueDescriptors) / sizeof(*queueDescriptors)) {
+    return NULL;
+  }
+QueueHandle_t newQueue = xQueueCreateStatic(length, element_size, buffer, queueDescriptors + nextFreeQueueDescriptor);
+nextFreeQueueDescriptor++;
+xSemaphoreGiveRecursive(queueMutex);
+  return newQueue;
 }

mission_rust/src/lib.rs

@@ -1,5 +1,7 @@
 #![no_std]
 
+//TODO look into using core::ffi (some types do not seem to work)
+
 #[macro_export]
 macro_rules! sifln {
     ($(,)?) => (
@@ -25,12 +27,12 @@ use core::panic::PanicInfo;
 #[panic_handler]
 fn panic(panic: &PanicInfo<'_>) -> ! {
     unsafe {
-        stopIt();
+        stop_it();
     }
     // TODO: Make this unicode-safe
     sif!("In Task \"");
     unsafe {
-        let task_name = getTaskName();
+        let task_name = get_task_name();
         let mut offset = 0;
         while *task_name.offset(offset) != 0 {
             sif!("{}", *task_name.offset(offset) as char);
@@ -48,24 +50,32 @@ type TaskFunction = unsafe extern "C" fn(*mut cty::c_void);
 extern "C" {
     fn outbyte(c: cty::c_char);
 
-    fn createTask(
+    fn create_task(
         taskFunction: TaskFunction,
         parameter: *mut cty::c_void,
         buffer: *mut cty::c_void,
         buffersize: cty::size_t,
     ) -> *const cty::c_void;
 
-    fn getTaskName() -> *const cty::c_char;
-    fn stopIt();
+    fn get_task_name() -> *const core::ffi::c_uchar;
 
+    fn stop_it();
+
+    //TODO wrap os agnostic
     fn vTaskDelete(handle: *const cty::c_void);
 
     fn task_delay(milliseconds: cty::uint32_t);
+
+    fn create_queue(
+        length: cty::size_t,
+        element_size: cty::size_t,
+        buffer: *mut cty::c_void,
+    ) -> *const cty::c_void;
 }
 
 #[no_mangle]
 extern "C" fn rust_main() {
-    sifln!("Rust startup");
+    sifln!("Rust startup 🚀");
     mission();
 
     sifln!("Mission done");
@@ -119,8 +129,9 @@ impl<'a, const STACKSIZE: usize> PeriodicTask<'a, STACKSIZE> {
         let runner_pointer: *mut cty::c_void = &mut instance.runner as *mut _ as *mut cty::c_void;
         let stack_pointer: *mut cty::c_void = &mut instance.stack as *mut _ as *mut cty::c_void;
         unsafe {
-            instance.task = createTask(task_entry, runner_pointer, stack_pointer, STACKSIZE);
+            instance.task = create_task(task_entry, runner_pointer, stack_pointer, STACKSIZE);
         }
+        let a: core::ffi::c_char;
         if instance.task == 0 as *mut cty::c_void {
             panic!("could not create Task");
         }
@@ -146,6 +157,45 @@ impl ExecutableObjectIF for Handler {
     }
 }
 
+struct MessageQueue<T, const LENGTH: usize> {
+    queueId: *const cty::c_void,
+    buffer: [T; LENGTH],
+}
+
+struct MessageQueueSender<T> {
+    queueId: *const cty::c_void,
+}
+
+impl<T: Copy, const LENGTH: usize> MessageQueue<T, LENGTH> {
+    fn new() -> Self {
+        unsafe {
+        let mut instance = Self {
+            queueId: 0 as *const cty::c_void,
+            buffer: [core::mem::MaybeUninit::zeroed().assume_init();LENGTH]
+        };
+            let buffer_pointer: *mut cty::c_void =
+                &mut instance.buffer as *mut _ as *mut cty::c_void;
+            instance.queueId = create_queue(LENGTH, core::mem::size_of::<T>(), buffer_pointer);
+        
+        if instance.queueId == 0 as *mut cty::c_void {
+            panic!("could not create Queue");
+        }
+        instance
+    }
+    }
+
+    fn getSender(self) -> MessageQueueSender<T> {
+        let  instance:MessageQueueSender<T>  = MessageQueueSender::<T>{queueId: self.queueId};
+        instance
+    }
+}
+
+impl<T> MessageQueueSender<T> {
+    fn send(message: T) {
+
+    }
+}
+
 struct Outbytes {}
 
 use core::fmt::{Error, Write};