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;
 }