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<td><big><big>ChibiOS/RT</big></big><br><br>Architecture - Reference Manual - Guides</td>
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<h1>chmsg.c</h1> </div>
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<div class="contents">
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<a href="chmsg_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment"> ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.</span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment"> This file is part of ChibiOS/RT.</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment"> ChibiOS/RT is free software; you can redistribute it and/or modify</span>
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<a name="l00007"></a>00007 <span class="comment"> it under the terms of the GNU General Public License as published by</span>
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<a name="l00008"></a>00008 <span class="comment"> the Free Software Foundation; either version 3 of the License, or</span>
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<a name="l00009"></a>00009 <span class="comment"> (at your option) any later version.</span>
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<a name="l00010"></a>00010 <span class="comment"></span>
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<a name="l00011"></a>00011 <span class="comment"> ChibiOS/RT is distributed in the hope that it will be useful,</span>
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<a name="l00012"></a>00012 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00013"></a>00013 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
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<a name="l00014"></a>00014 <span class="comment"> GNU General Public License for more details.</span>
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<a name="l00015"></a>00015 <span class="comment"></span>
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<a name="l00016"></a>00016 <span class="comment"> You should have received a copy of the GNU General Public License</span>
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<a name="l00017"></a>00017 <span class="comment"> along with this program. If not, see <http://www.gnu.org/licenses/>.</span>
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<a name="l00018"></a>00018 <span class="comment"></span>
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<a name="l00019"></a>00019 <span class="comment"> ---</span>
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<a name="l00020"></a>00020 <span class="comment"></span>
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<a name="l00021"></a>00021 <span class="comment"> A special exception to the GPL can be applied should you wish to distribute</span>
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<a name="l00022"></a>00022 <span class="comment"> a combined work that includes ChibiOS/RT, without being obliged to provide</span>
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<a name="l00023"></a>00023 <span class="comment"> the source code for any proprietary components. See the file exception.txt</span>
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<a name="l00024"></a>00024 <span class="comment"> for full details of how and when the exception can be applied.</span>
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<a name="l00025"></a>00025 <span class="comment">*/</span>
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<a name="l00026"></a>00026 <span class="comment"></span>
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<a name="l00027"></a>00027 <span class="comment">/**</span>
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<a name="l00028"></a>00028 <span class="comment"> * @file chmsg.c</span>
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<a name="l00029"></a>00029 <span class="comment"> * @brief Messages code.</span>
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<a name="l00030"></a>00030 <span class="comment"> *</span>
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<a name="l00031"></a>00031 <span class="comment"> * @addtogroup messages</span>
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<a name="l00032"></a>00032 <span class="comment"> * @details Synchronous inter-thread messages APIs and services.</span>
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<a name="l00033"></a>00033 <span class="comment"> * <h2>Operation Mode</h2></span>
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<a name="l00034"></a>00034 <span class="comment"> * Synchronous messages are an easy to use and fast IPC mechanism,</span>
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<a name="l00035"></a>00035 <span class="comment"> * threads can both act as message servers and/or message clients,</span>
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<a name="l00036"></a>00036 <span class="comment"> * the mechanism allows data to be carried in both directions. Note</span>
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<a name="l00037"></a>00037 <span class="comment"> * that messages are not copied between the client and server threads</span>
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<a name="l00038"></a>00038 <span class="comment"> * but just a pointer passed so the exchange is very time</span>
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<a name="l00039"></a>00039 <span class="comment"> * efficient.<br></span>
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<a name="l00040"></a>00040 <span class="comment"> * Messages are usually processed in FIFO order but it is possible to</span>
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<a name="l00041"></a>00041 <span class="comment"> * process them in priority order by enabling the</span>
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<a name="l00042"></a>00042 <span class="comment"> * @p CH_USE_MESSAGES_PRIORITY option in @p chconf.h.<br></span>
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<a name="l00043"></a>00043 <span class="comment"> * Applications do not need to allocate buffers for synchronous</span>
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<a name="l00044"></a>00044 <span class="comment"> * message queues, the mechanism just requires two extra pointers in</span>
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<a name="l00045"></a>00045 <span class="comment"> * the @p Thread structure (the message queue header).<br></span>
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<a name="l00046"></a>00046 <span class="comment"> * In order to use the Messages APIs the @p CH_USE_MESSAGES option</span>
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<a name="l00047"></a>00047 <span class="comment"> * must be enabled in @p chconf.h.</span>
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<a name="l00048"></a>00048 <span class="comment"> * @{</span>
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<a name="l00049"></a>00049 <span class="comment"> */</span>
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<a name="l00050"></a>00050
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<a name="l00051"></a>00051 <span class="preprocessor">#include "<a class="code" href="ch_8h.html" title="ChibiOS/RT main include file.">ch.h</a>"</span>
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<a name="l00052"></a>00052
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<a name="l00053"></a>00053 <span class="preprocessor">#if CH_USE_MESSAGES</span>
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<a name="l00054"></a>00054 <span class="preprocessor"></span>
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<a name="l00055"></a>00055 <span class="preprocessor">#if CH_USE_MESSAGES_PRIORITY</span>
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<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define msg_insert(tp, qp) prio_insert(tp, qp)</span>
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<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#else</span>
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<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define msg_insert(tp, qp) queue_insert(tp, qp)</span>
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<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="comment"></span>
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<a name="l00061"></a>00061 <span class="comment">/**</span>
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<a name="l00062"></a>00062 <span class="comment"> * @brief Sends a message to the specified thread.</span>
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<a name="l00063"></a>00063 <span class="comment"> * @details The sender is stopped until the receiver executes a</span>
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<a name="l00064"></a>00064 <span class="comment"> * @p chMsgRelease()after receiving the message.</span>
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<a name="l00065"></a>00065 <span class="comment"> *</span>
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<a name="l00066"></a>00066 <span class="comment"> * @param[in] tp the pointer to the thread</span>
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<a name="l00067"></a>00067 <span class="comment"> * @param[in] msg the message</span>
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<a name="l00068"></a>00068 <span class="comment"> * @return The answer message from @p chMsgRelease().</span>
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<a name="l00069"></a>00069 <span class="comment"> */</span>
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<a name="l00070"></a><a class="code" href="group__messages.html#ga29a48a438e97dc47cb798a84e13764cb">00070</a> <a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> <a class="code" href="group__messages.html#ga29a48a438e97dc47cb798a84e13764cb" title="Sends a message to the specified thread.">chMsgSend</a>(<a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *tp, <a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> msg) {
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<a name="l00071"></a>00071 <a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *ctp = currp;
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<a name="l00072"></a>00072
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<a name="l00073"></a>00073 <a class="code" href="group__debug.html#ga6bb6c0f97caab3a66332c8bfbf7a3844" title="Function parameter check.">chDbgCheck</a>(tp != NULL, <span class="stringliteral">"chMsgSend"</span>);
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<a name="l00074"></a>00074
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<a name="l00075"></a>00075 <a class="code" href="group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title="Enters the kernel lock mode.">chSysLock</a>();
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<a name="l00076"></a>00076 ctp-><a class="code" href="struct_thread.html#a8651bb33a6947efd9061c035ca0b728f" title="Thread message.">p_msg</a> = msg;
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<a name="l00077"></a>00077 ctp-><a class="code" href="struct_thread.html#a72cd0424b6098ca241fac1f74d21b56a" title="State-specific fields.">p_u</a>.<a class="code" href="struct_thread.html#a4f016b01444741e6f9b420436b748862" title="Pointer to a generic &quot;wait&quot; object.">wtobjp</a> = &tp-><a class="code" href="struct_thread.html#a282cb59bdbe00fcdf9741c47b735fa1f" title="Messages queue.">p_msgqueue</a>;
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<a name="l00078"></a>00078 msg_insert(ctp, &tp-><a class="code" href="struct_thread.html#a282cb59bdbe00fcdf9741c47b735fa1f" title="Messages queue.">p_msgqueue</a>);
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<a name="l00079"></a>00079 <span class="keywordflow">if</span> (tp-><a class="code" href="struct_thread.html#a3c3e9d6abccb62c3a5fab6ef043a391f" title="Current thread state.">p_state</a> == <a class="code" href="group__threads.html#gaf46c55b4468f0dad5cd0b3ef73e1be26" title="Thread state: Waiting in chMsgWait().">THD_STATE_WTMSG</a>)
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<a name="l00080"></a>00080 <a class="code" href="group__scheduler.html#ga535d58cfb3436c8d4e4586c31c062298" title="Inserts a thread in the Ready List.">chSchReadyI</a>(tp);
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<a name="l00081"></a>00081 <a class="code" href="group__scheduler.html#ga97c1c514b755a1e71caf2f19c1ccf986" title="Puts the current thread to sleep into the specified state.">chSchGoSleepS</a>(<a class="code" href="group__threads.html#gaff813590802bfd53cbf0560b680b89f5" title="Thread state: Waiting in chMsgSend().">THD_STATE_SNDMSG</a>);
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<a name="l00082"></a>00082 msg = ctp-><a class="code" href="struct_thread.html#a72cd0424b6098ca241fac1f74d21b56a" title="State-specific fields.">p_u</a>.<a class="code" href="struct_thread.html#ad5792c30fbd60df0de223b0f398fc6d7" title="Thread wakeup code.">rdymsg</a>;
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<a name="l00083"></a>00083 <a class="code" href="group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title="Leaves the kernel lock mode.">chSysUnlock</a>();
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<a name="l00084"></a>00084 <span class="keywordflow">return</span> msg;
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<a name="l00085"></a>00085 }
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<a name="l00086"></a>00086 <span class="comment"></span>
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<a name="l00087"></a>00087 <span class="comment">/**</span>
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<a name="l00088"></a>00088 <span class="comment"> * @brief Suspends the thread and waits for an incoming message.</span>
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<a name="l00089"></a>00089 <span class="comment"> * @note You can assume that the data contained in the message is stable</span>
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<a name="l00090"></a>00090 <span class="comment"> * until you invoke @p chMsgRelease() because the sending thread is</span>
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<a name="l00091"></a>00091 <span class="comment"> * suspended until then.</span>
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<a name="l00092"></a>00092 <span class="comment"> *</span>
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<a name="l00093"></a>00093 <span class="comment"> * @return The pointer to the message structure. Note, it is</span>
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<a name="l00094"></a>00094 <span class="comment"> * always the message associated to the thread on the</span>
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<a name="l00095"></a>00095 <span class="comment"> * top of the messages queue.</span>
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<a name="l00096"></a>00096 <span class="comment"> */</span>
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<a name="l00097"></a><a class="code" href="group__messages.html#gae68fefbf9d0404bbf56ae354961fae41">00097</a> <a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> <a class="code" href="group__messages.html#gae68fefbf9d0404bbf56ae354961fae41" title="Suspends the thread and waits for an incoming message.">chMsgWait</a>(<span class="keywordtype">void</span>) {
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<a name="l00098"></a>00098 <a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> msg;
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<a name="l00099"></a>00099
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<a name="l00100"></a>00100 <a class="code" href="group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title="Enters the kernel lock mode.">chSysLock</a>();
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<a name="l00101"></a>00101 <span class="keywordflow">if</span> (!<a class="code" href="group__messages.html#ga4e0eafdfd51c042d765e2949e6171093" title="Evaluates to TRUE if the thread has pending messages.">chMsgIsPendingI</a>(<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>))
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<a name="l00102"></a>00102 <a class="code" href="group__scheduler.html#ga97c1c514b755a1e71caf2f19c1ccf986" title="Puts the current thread to sleep into the specified state.">chSchGoSleepS</a>(<a class="code" href="group__threads.html#gaf46c55b4468f0dad5cd0b3ef73e1be26" title="Thread state: Waiting in chMsgWait().">THD_STATE_WTMSG</a>);
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<a name="l00103"></a>00103 <span class="preprocessor">#if defined(CH_ARCHITECTURE_STM8)</span>
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<a name="l00104"></a>00104 <span class="preprocessor"></span> msg = <a class="code" href="group__messages.html#ga3ed579be01280d265d0a7c02e0c7c1d8" title="Returns the first message in the queue.">chMsgGetI</a>((<span class="keyword">volatile</span> <a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *)<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>); <span class="comment">/* Temporary hack.*/</span>
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<a name="l00105"></a>00105 <span class="preprocessor">#else</span>
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<a name="l00106"></a>00106 <span class="preprocessor"></span> msg = <a class="code" href="group__messages.html#ga3ed579be01280d265d0a7c02e0c7c1d8" title="Returns the first message in the queue.">chMsgGetI</a>(currp);
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<a name="l00107"></a>00107 <span class="preprocessor">#endif</span>
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<a name="l00108"></a>00108 <span class="preprocessor"></span> <a class="code" href="group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title="Leaves the kernel lock mode.">chSysUnlock</a>();
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<a name="l00109"></a>00109 <span class="keywordflow">return</span> msg;
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<a name="l00110"></a>00110 }
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<a name="l00111"></a>00111 <span class="comment"></span>
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<a name="l00112"></a>00112 <span class="comment">/**</span>
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<a name="l00113"></a>00113 <span class="comment"> * @brief Returns the next message in the queue.</span>
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<a name="l00114"></a>00114 <span class="comment"> * @note You can assume that the data pointed by the message is stable until</span>
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<a name="l00115"></a>00115 <span class="comment"> * you invoke @p chMsgRelease() because the sending thread is</span>
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<a name="l00116"></a>00116 <span class="comment"> * suspended until then. Always remember that the message data is not</span>
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<a name="l00117"></a>00117 <span class="comment"> * copied between the sender and the receiver, just a pointer is</span>
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<a name="l00118"></a>00118 <span class="comment"> * passed.</span>
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<a name="l00119"></a>00119 <span class="comment"> *</span>
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<a name="l00120"></a>00120 <span class="comment"> * @return The pointer to the message structure. Note, it is</span>
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<a name="l00121"></a>00121 <span class="comment"> * always the message associated to the thread on the</span>
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<a name="l00122"></a>00122 <span class="comment"> * top of the messages queue.</span>
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<a name="l00123"></a>00123 <span class="comment"> * @retval NULL if the queue is empty.</span>
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<a name="l00124"></a>00124 <span class="comment"> */</span>
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<a name="l00125"></a><a class="code" href="group__messages.html#ga65dda189b03b238412301ce5d80bfcf4">00125</a> <a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> <a class="code" href="group__messages.html#ga65dda189b03b238412301ce5d80bfcf4" title="Returns the next message in the queue.">chMsgGet</a>(<span class="keywordtype">void</span>) {
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<a name="l00126"></a>00126 <a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> msg;
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<a name="l00127"></a>00127
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<a name="l00128"></a>00128 <a class="code" href="group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title="Enters the kernel lock mode.">chSysLock</a>();
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<a name="l00129"></a>00129 msg = <a class="code" href="group__messages.html#ga4e0eafdfd51c042d765e2949e6171093" title="Evaluates to TRUE if the thread has pending messages.">chMsgIsPendingI</a>(<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>) ? <a class="code" href="group__messages.html#ga3ed579be01280d265d0a7c02e0c7c1d8" title="Returns the first message in the queue.">chMsgGetI</a>(<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>) : (msg_t)NULL;
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<a name="l00130"></a>00130 <a class="code" href="group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title="Leaves the kernel lock mode.">chSysUnlock</a>();
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<a name="l00131"></a>00131 <span class="keywordflow">return</span> msg;
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<a name="l00132"></a>00132 }
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<a name="l00133"></a>00133 <span class="comment"></span>
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<a name="l00134"></a>00134 <span class="comment">/**</span>
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<a name="l00135"></a>00135 <span class="comment"> * @brief Releases the thread waiting on top of the messages queue.</span>
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<a name="l00136"></a>00136 <span class="comment"> * @note You can call this function only if there is a message already in</span>
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<a name="l00137"></a>00137 <span class="comment"> * the queue else the result will be unpredictable (a crash most likely).</span>
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<a name="l00138"></a>00138 <span class="comment"> * Exiting from the @p chMsgWait() ensures you have at least one</span>
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<a name="l00139"></a>00139 <span class="comment"> * message in the queue so it is not a big deal.<br></span>
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<a name="l00140"></a>00140 <span class="comment"> * The condition is only tested in debug mode in order to make this</span>
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<a name="l00141"></a>00141 <span class="comment"> * code as fast as possible.</span>
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<a name="l00142"></a>00142 <span class="comment"> *</span>
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<a name="l00143"></a>00143 <span class="comment"> * @param[in] msg the message returned to the message sender</span>
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<a name="l00144"></a>00144 <span class="comment"> */</span>
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<a name="l00145"></a><a class="code" href="group__messages.html#ga19a54b3b4b0e3677c47d650a3be3c7aa">00145</a> <span class="keywordtype">void</span> <a class="code" href="group__messages.html#ga19a54b3b4b0e3677c47d650a3be3c7aa" title="Releases the thread waiting on top of the messages queue.">chMsgRelease</a>(<a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> msg) {
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<a name="l00146"></a>00146
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<a name="l00147"></a>00147 <a class="code" href="group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title="Enters the kernel lock mode.">chSysLock</a>();
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<a name="l00148"></a>00148 <a class="code" href="group__debug.html#ga43d50c69eb730d0f024eb832d61f30c9" title="Condition assertion.">chDbgAssert</a>(<a class="code" href="group__messages.html#ga4e0eafdfd51c042d765e2949e6171093" title="Evaluates to TRUE if the thread has pending messages.">chMsgIsPendingI</a>(<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>),
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<a name="l00149"></a>00149 <span class="stringliteral">"chMsgRelease(), #1"</span>,
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<a name="l00150"></a>00150 <span class="stringliteral">"no message pending"</span>);
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<a name="l00151"></a>00151 <a class="code" href="group__scheduler.html#gae47a8819a21ef2d521124e76bfb37c95" title="Wakes up a thread.">chSchWakeupS</a>(<a class="code" href="group__internals.html#ga042479f09357fc59befebf4dfe0e9f4a" title="Removes the first-out Thread from a queue and returns it.">fifo_remove</a>(&<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>->p_msgqueue), msg);
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<a name="l00152"></a>00152 <a class="code" href="group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title="Leaves the kernel lock mode.">chSysUnlock</a>();
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<a name="l00153"></a>00153 }
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<a name="l00154"></a>00154
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<a name="l00155"></a>00155 <span class="preprocessor">#endif </span><span class="comment">/* CH_USE_MESSAGES */</span>
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<a name="l00156"></a>00156 <span class="comment"></span>
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<a name="l00157"></a>00157 <span class="comment">/** @} */</span>
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</pre></div></div>
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Generated on Sun Nov 28 2010 14:09:48 for ChibiOS/RT by <a href="http://www.doxygen.org/index.html"><img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.7.1</small></address>
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