freertos-in-rust 0.3.0

/*
 * FreeRTOS Kernel <DEVELOPMENT BRANCH>
 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

//! FreeRTOS Queue Implementation
//!
//! This module provides queues, semaphores, and mutexes.
//! Items are queued by copy, not reference.
//!
//! ## Queue Types
//!
//! - Base queue - FIFO data queue
//! - Binary semaphore - For synchronization
//! - Counting semaphore - For resource counting
//! - Mutex - For mutual exclusion with priority inheritance
//! - Recursive mutex - Can be taken multiple times by same task

use crate::config::*;
use crate::kernel::list::*;
use crate::kernel::tasks::*;
#[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
use crate::memory::{pvPortMalloc, vPortFree};
use crate::port::*;
use crate::trace::*;
use crate::types::*;
use core::ffi::c_void;
use core::ptr;

// =============================================================================
// Queue Lock Constants
// =============================================================================

/// Queue is unlocked
const queueUNLOCKED: i8 = -1;

/// Queue is locked but unmodified
const queueLOCKED_UNMODIFIED: i8 = 0;

/// Maximum value for i8
const queueINT8_MAX: i8 = 127;

// =============================================================================
// Queue Position Constants (from queue.h)
// =============================================================================

/// Send to back of queue
pub const queueSEND_TO_BACK: BaseType_t = 0;

/// Send to front of queue
pub const queueSEND_TO_FRONT: BaseType_t = 1;

/// Overwrite the queue (for queues of length 1)
pub const queueOVERWRITE: BaseType_t = 2;

// =============================================================================
// Queue Type Constants (from queue.h)
// =============================================================================

/// Base queue type
pub const queueQUEUE_TYPE_BASE: u8 = 0;

/// Mutex type
pub const queueQUEUE_TYPE_MUTEX: u8 = 1;

/// Counting semaphore type
pub const queueQUEUE_TYPE_COUNTING_SEMAPHORE: u8 = 2;

/// Binary semaphore type
pub const queueQUEUE_TYPE_BINARY_SEMAPHORE: u8 = 3;

/// Recursive mutex type
pub const queueQUEUE_TYPE_RECURSIVE_MUTEX: u8 = 4;

/// Queue set type
pub const queueQUEUE_TYPE_SET: u8 = 5;

// =============================================================================
// Semaphore Constants
// =============================================================================

/// Semaphores have item size of 0
const queueSEMAPHORE_QUEUE_ITEM_LENGTH: UBaseType_t = 0;

/// Mutex give should not block
const queueMUTEX_GIVE_BLOCK_TIME: TickType_t = 0;

// =============================================================================
// Queue Pointers Structure (for queue mode)
// =============================================================================

/// Data required exclusively when structure is used as a queue
#[repr(C)]
#[derive(Clone, Copy)]
pub struct QueuePointers_t {
    /// Points to the byte at the end of the queue storage area
    pub pcTail: *mut i8,
    /// Points to the last place that a queued item was read from
    pub pcReadFrom: *mut i8,
}

// =============================================================================
// Semaphore Data Structure (for mutex mode)
// =============================================================================

/// Data required exclusively when structure is used as a semaphore/mutex
#[repr(C)]
#[derive(Clone, Copy)]
pub struct SemaphoreData_t {
    /// The handle of the task that holds the mutex
    pub xMutexHolder: TaskHandle_t,
    /// Recursive call count for recursive mutexes
    pub uxRecursiveCallCount: UBaseType_t,
}

// =============================================================================
// Queue/Semaphore Union
// =============================================================================

/// Union of queue and semaphore data
///
/// \[AMENDMENT\] Using Copy-able raw types to avoid ManuallyDrop complexity.
/// Both variants contain only raw pointers and primitive types which are Copy.
#[repr(C)]
#[derive(Clone, Copy)]
pub union QueueUnion_t {
    /// Queue-specific data
    pub xQueue: QueuePointers_t,
    /// Semaphore/mutex-specific data
    pub xSemaphore: SemaphoreData_t,
}

// =============================================================================
// Queue Definition Structure
// =============================================================================

/*
 * Definition of the queue used by the scheduler.
 * Items are queued by copy, not reference.  See the following link for the
 * rationale: https://www.FreeRTOS.org/Embedded-RTOS-Queues.html
 */

/// The old naming convention is used to prevent breaking kernel aware debuggers.
#[repr(C)]
pub struct xQUEUE {
    /// Points to the beginning of the queue storage area.
    /// \[AMENDMENT\] Also used as uxQueueType - NULL means mutex
    pub pcHead: *mut i8,

    /// Points to the free next place in the storage area.
    pub pcWriteTo: *mut i8,

    /// Data required for queue or semaphore operation
    pub u: QueueUnion_t,

    /// List of tasks blocked waiting to post onto this queue
    pub xTasksWaitingToSend: List_t,

    /// List of tasks blocked waiting to read from this queue
    pub xTasksWaitingToReceive: List_t,

    /// The number of items currently in the queue
    pub uxMessagesWaiting: UBaseType_t,

    /// The length of the queue (number of items it will hold)
    pub uxLength: UBaseType_t,

    /// The size of each item in bytes
    pub uxItemSize: UBaseType_t,

    /// Stores the number of items received while locked
    pub cRxLock: i8,

    /// Stores the number of items transmitted while locked
    pub cTxLock: i8,

    /// Set to pdTRUE if statically allocated
    #[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
    pub ucStaticallyAllocated: u8,

    /// Pointer to the queue set this queue/semaphore belongs to (if any)
    #[cfg(feature = "queue-sets")]
    pub pxQueueSetContainer: *mut xQUEUE,

    /// Queue number for trace facility (kernel-aware debugging)
    #[cfg(feature = "trace-facility")]
    pub uxQueueNumber: UBaseType_t,

    /// Queue type for trace facility (kernel-aware debugging)
    #[cfg(feature = "trace-facility")]
    pub ucQueueType: u8,
}

/// Typedef for Queue_t
pub type Queue_t = xQUEUE;

/// Queue handle type
pub type QueueHandle_t = *mut Queue_t;

/// Queue set handle type (a queue set is itself a queue)
#[cfg(feature = "queue-sets")]
pub type QueueSetHandle_t = *mut Queue_t;

/// Queue set member handle type (a queue or semaphore that belongs to a set)
#[cfg(feature = "queue-sets")]
pub type QueueSetMemberHandle_t = *mut Queue_t;

// =============================================================================
// Static Queue (for static allocation)
// =============================================================================

/// StaticQueue_t - same size as Queue_t for static allocation
/// \[AMENDMENT\] This must be the same size as Queue_t
#[repr(C)]
pub struct StaticQueue_t {
    _data: xQUEUE,
}

impl StaticQueue_t {
    /// Create a zeroed StaticQueue_t for use in static allocation.
    ///
    /// # Example
    /// ```ignore
    /// static mut QUEUE_STORAGE: StaticQueue_t = StaticQueue_t::new();
    /// ```
    pub const fn new() -> Self {
        StaticQueue_t {
            _data: xQUEUE {
                pcHead: core::ptr::null_mut(),
                pcWriteTo: core::ptr::null_mut(),
                u: QueueUnion_t {
                    xQueue: QueuePointers_t {
                        pcTail: core::ptr::null_mut(),
                        pcReadFrom: core::ptr::null_mut(),
                    },
                },
                xTasksWaitingToSend: List_t::new(),
                xTasksWaitingToReceive: List_t::new(),
                uxMessagesWaiting: 0,
                uxLength: 0,
                uxItemSize: 0,
                cRxLock: 0,
                cTxLock: 0,
                #[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
                ucStaticallyAllocated: 0,
                #[cfg(feature = "queue-sets")]
                pxQueueSetContainer: core::ptr::null_mut(),
                #[cfg(feature = "trace-facility")]
                uxQueueNumber: 0,
                #[cfg(feature = "trace-facility")]
                ucQueueType: 0,
            },
        }
    }
}

// =============================================================================
// Helper Macros as Functions
// =============================================================================

/// Coverage test delay (no-op)
#[inline(always)]
fn mtCOVERAGE_TEST_DELAY() {}

/// Coverage test marker (no-op)
#[inline(always)]
fn mtCOVERAGE_TEST_MARKER() {}

/// Yield if using preemption
#[inline(always)]
unsafe fn queueYIELD_IF_USING_PREEMPTION() {
    if configUSE_PREEMPTION != 0 {
        portYIELD_WITHIN_API();
    }
}

/// Lock a queue
#[inline(always)]
unsafe fn prvLockQueue(pxQueue: *mut Queue_t) {
    taskENTER_CRITICAL();
    {
        if (*pxQueue).cRxLock == queueUNLOCKED {
            (*pxQueue).cRxLock = queueLOCKED_UNMODIFIED;
        }
        if (*pxQueue).cTxLock == queueUNLOCKED {
            (*pxQueue).cTxLock = queueLOCKED_UNMODIFIED;
        }
    }
    taskEXIT_CRITICAL();
}

/// Increment a queue transmit lock without recording more deferred events than
/// there are tasks that could be unblocked.
#[inline(always)]
unsafe fn prvIncrementQueueTxLock(pxQueue: *mut Queue_t, cTxLock: i8) {
    let uxNumberOfTasks = uxTaskGetNumberOfTasks();

    if (cTxLock as UBaseType_t) < uxNumberOfTasks {
        configASSERT(cTxLock != queueINT8_MAX);
        (*pxQueue).cTxLock = cTxLock + 1;
    }
}

/// Increment a queue receive lock without recording more deferred events than
/// there are tasks that could be unblocked.
#[inline(always)]
unsafe fn prvIncrementQueueRxLock(pxQueue: *mut Queue_t, cRxLock: i8) {
    let uxNumberOfTasks = uxTaskGetNumberOfTasks();

    if (cRxLock as UBaseType_t) < uxNumberOfTasks {
        configASSERT(cRxLock != queueINT8_MAX);
        (*pxQueue).cRxLock = cRxLock + 1;
    }
}

// =============================================================================
// Queue Reset
// =============================================================================

/// Reset a queue to its initial state
///
/// Note: Prefer using `sync::Queue::reset()` which provides a safe wrapper
/// around this function. Direct use of xQueueGenericReset is only needed
/// for interop with raw FreeRTOS code.
///
/// # Safety
///
/// xQueue must be a valid queue handle
pub unsafe fn xQueueGenericReset(xQueue: QueueHandle_t, xNewQueue: BaseType_t) -> BaseType_t {
    let mut xReturn: BaseType_t = pdPASS;
    let pxQueue: *mut Queue_t = xQueue;

    traceENTER_xQueueGenericReset(pxQueue as *mut c_void, xNewQueue);

    configASSERT(!pxQueue.is_null());

    if !pxQueue.is_null()
        && (*pxQueue).uxLength >= 1
        && (usize::MAX / (*pxQueue).uxLength as usize) >= (*pxQueue).uxItemSize as usize
    {
        taskENTER_CRITICAL();
        {
            (*pxQueue).u.xQueue.pcTail = (*pxQueue)
                .pcHead
                .add(((*pxQueue).uxLength * (*pxQueue).uxItemSize) as usize);
            (*pxQueue).uxMessagesWaiting = 0;
            (*pxQueue).pcWriteTo = (*pxQueue).pcHead;
            (*pxQueue).u.xQueue.pcReadFrom = (*pxQueue)
                .pcHead
                .add((((*pxQueue).uxLength - 1) * (*pxQueue).uxItemSize) as usize);
            (*pxQueue).cRxLock = queueUNLOCKED;
            (*pxQueue).cTxLock = queueUNLOCKED;

            if xNewQueue == pdFALSE {
                /* If there are tasks blocked waiting to read from the queue, then
                 * the tasks will remain blocked as after this function exits the queue
                 * will still be empty.  If there are tasks blocked waiting to write to
                 * the queue, then one should be unblocked as after this function exits
                 * it will be possible to write to it. */
                if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToSend)) == pdFALSE {
                    if xTaskRemoveFromEventList(ptr::addr_of!((*pxQueue).xTasksWaitingToSend))
                        != pdFALSE
                    {
                        queueYIELD_IF_USING_PREEMPTION();
                    } else {
                        mtCOVERAGE_TEST_MARKER();
                    }
                } else {
                    mtCOVERAGE_TEST_MARKER();
                }
            } else {
                /* Ensure the event queues start in the correct state. */
                /* [AMENDMENT] Queue event lists retain self-links, so form
                 * their addresses without creating Rust references. */
                vListInitialise(ptr::addr_of_mut!((*pxQueue).xTasksWaitingToSend));
                vListInitialise(ptr::addr_of_mut!((*pxQueue).xTasksWaitingToReceive));
            }
        }
        taskEXIT_CRITICAL();
    } else {
        xReturn = pdFAIL;
    }

    configASSERT(xReturn != pdFAIL);

    traceRETURN_xQueueGenericReset(xReturn);

    xReturn
}

// =============================================================================
// Queue Initialization
// =============================================================================

/// Initialize a new queue structure
unsafe fn prvInitialiseNewQueue(
    uxQueueLength: UBaseType_t,
    uxItemSize: UBaseType_t,
    pucQueueStorage: *mut u8,
    #[allow(unused_variables)] ucQueueType: u8,
    pxNewQueue: *mut Queue_t,
) {
    if uxItemSize == 0 {
        /* No RAM was allocated for the queue storage area, but PC head cannot
         * be set to NULL because NULL is used as a key to say the queue is used as
         * a mutex.  Therefore just set pcHead to point to the queue as a benign
         * value that is known to be within the memory map. */
        (*pxNewQueue).pcHead = pxNewQueue as *mut i8;
    } else {
        /* Set the head to the start of the queue storage area. */
        (*pxNewQueue).pcHead = pucQueueStorage as *mut i8;
    }

    /* Initialise the queue members as described where the queue type is
     * defined. */
    (*pxNewQueue).uxLength = uxQueueLength;
    (*pxNewQueue).uxItemSize = uxItemSize;
    xQueueGenericReset(pxNewQueue, pdTRUE);

    #[cfg(feature = "trace-facility")]
    {
        (*pxNewQueue).ucQueueType = ucQueueType;
    }

    // Initialize queue set container pointer
    #[cfg(feature = "queue-sets")]
    {
        (*pxNewQueue).pxQueueSetContainer = ptr::null_mut();
    }

    traceQUEUE_CREATE(pxNewQueue as *mut c_void);
}

// =============================================================================
// Static Queue Creation
// =============================================================================

/// Create a queue using statically allocated memory
///
/// # Safety
///
/// pucQueueStorage must point to valid memory of size uxQueueLength * uxItemSize
/// pxStaticQueue must point to valid memory for StaticQueue_t
pub unsafe fn xQueueGenericCreateStatic(
    uxQueueLength: UBaseType_t,
    uxItemSize: UBaseType_t,
    pucQueueStorage: *mut u8,
    pxStaticQueue: *mut StaticQueue_t,
    ucQueueType: u8,
) -> QueueHandle_t {
    let mut pxNewQueue: *mut Queue_t = ptr::null_mut();

    traceENTER_xQueueGenericCreateStatic(
        uxQueueLength,
        uxItemSize,
        pucQueueStorage as *mut c_void,
        pxStaticQueue as *mut c_void,
        ucQueueType,
    );

    /* The StaticQueue_t structure and the queue storage area must be
     * supplied. */
    configASSERT(!pxStaticQueue.is_null());

    if uxQueueLength > 0
        && !pxStaticQueue.is_null()
        /* A queue storage area should be provided if the item size is not 0, and
         * should not be provided if the item size is 0. */
        && !((!pucQueueStorage.is_null()) && (uxItemSize == 0))
        && !((pucQueueStorage.is_null()) && (uxItemSize != 0))
    {
        /* The address of a statically allocated queue was passed in, use it. */
        pxNewQueue = pxStaticQueue as *mut Queue_t;

        #[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
        {
            /* Queues can be allocated either statically or dynamically, so
             * note this queue was allocated statically in case the queue is
             * later deleted. */
            (*pxNewQueue).ucStaticallyAllocated = pdTRUE as u8;
        }

        prvInitialiseNewQueue(
            uxQueueLength,
            uxItemSize,
            pucQueueStorage,
            ucQueueType,
            pxNewQueue,
        );
    } else {
        configASSERT(!pxNewQueue.is_null());
        mtCOVERAGE_TEST_MARKER();
    }

    traceRETURN_xQueueGenericCreateStatic(pxNewQueue as *mut c_void);

    pxNewQueue
}

/// Retrieve the static buffers used by a statically allocated queue.
///
/// Returns pdTRUE if the queue was created statically, pdFALSE otherwise.
///
/// # Safety
///
/// - xQueue must be a valid queue handle
/// - ppucQueueStorage and ppxStaticQueue must be valid pointers (or null)
///
/// [ORIGINAL C] BaseType_t xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
///                                                        uint8_t ** ppucQueueStorage,
///                                                        StaticQueue_t ** ppxStaticQueue )
pub unsafe fn xQueueGenericGetStaticBuffers(
    xQueue: QueueHandle_t,
    ppucQueueStorage: *mut *mut u8,
    ppxStaticQueue: *mut *mut StaticQueue_t,
) -> BaseType_t {
    let xReturn: BaseType_t;
    let pxQueue = xQueue as *const Queue_t;

    traceENTER_xQueueGenericGetStaticBuffers(
        xQueue,
        ppucQueueStorage as *mut c_void,
        ppxStaticQueue as *mut c_void,
    );

    configASSERT(!pxQueue.is_null());
    configASSERT(!ppxStaticQueue.is_null());

    #[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
    {
        // Check if the queue was statically allocated.
        if (*pxQueue).ucStaticallyAllocated == pdTRUE as u8 {
            if !ppucQueueStorage.is_null() {
                *ppucQueueStorage = (*pxQueue).pcHead as *mut u8;
            }

            *ppxStaticQueue = pxQueue as *mut StaticQueue_t;
            xReturn = pdTRUE;
        } else {
            xReturn = pdFALSE;
        }
    }

    #[cfg(not(any(feature = "alloc", feature = "heap-4", feature = "heap-5")))]
    {
        // Queue must have been statically allocated.
        if !ppucQueueStorage.is_null() {
            *ppucQueueStorage = (*pxQueue).pcHead as *mut u8;
        }

        *ppxStaticQueue = pxQueue as *mut StaticQueue_t;
        xReturn = pdTRUE;
    }

    traceRETURN_xQueueGenericGetStaticBuffers(xReturn);

    xReturn
}

// =============================================================================
// Dynamic Queue Creation
// =============================================================================

/// Create a queue using dynamically allocated memory
///
/// Note: Prefer using `sync::Queue::new()` which provides a type-safe wrapper.
/// For mutexes, use `sync::Mutex::new()`. For semaphores, use
/// `sync::BinarySemaphore::new()` or `sync::CountingSemaphore::new()`.
/// Direct use of xQueueGenericCreate is only needed for raw FreeRTOS interop.
///
/// # Safety
///
/// Requires the `alloc` feature for dynamic allocation
#[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
pub unsafe fn xQueueGenericCreate(
    uxQueueLength: UBaseType_t,
    uxItemSize: UBaseType_t,
    ucQueueType: u8,
) -> QueueHandle_t {
    let mut pxNewQueue: *mut Queue_t = ptr::null_mut();

    traceENTER_xQueueGenericCreate(uxQueueLength, uxItemSize, ucQueueType);

    if uxQueueLength > 0
        && (usize::MAX / uxQueueLength as usize) >= uxItemSize as usize
        && (usize::MAX - core::mem::size_of::<Queue_t>())
            >= (uxQueueLength as usize * uxItemSize as usize)
    {
        /* Allocate enough space to hold the maximum number of items that
         * can be in the queue at any time.  It is valid for uxItemSize to be
         * zero in the case the queue is used as a semaphore. */
        let xQueueSizeInBytes: usize = uxQueueLength as usize * uxItemSize as usize;

        pxNewQueue =
            pvPortMalloc(core::mem::size_of::<Queue_t>() + xQueueSizeInBytes) as *mut Queue_t;

        if !pxNewQueue.is_null() {
            /* Jump past the queue structure to find the location of the queue
             * storage area. */
            let pucQueueStorage: *mut u8 =
                (pxNewQueue as *mut u8).add(core::mem::size_of::<Queue_t>());

            /* Queues can be created either statically or dynamically, so
             * note this task was created dynamically in case it is later
             * deleted. */
            (*pxNewQueue).ucStaticallyAllocated = pdFALSE as u8;

            prvInitialiseNewQueue(
                uxQueueLength,
                uxItemSize,
                pucQueueStorage,
                ucQueueType,
                pxNewQueue,
            );
        } else {
            traceQUEUE_CREATE_FAILED(ucQueueType);
            mtCOVERAGE_TEST_MARKER();
        }
    } else {
        configASSERT(!pxNewQueue.is_null());
        mtCOVERAGE_TEST_MARKER();
    }

    traceRETURN_xQueueGenericCreate(pxNewQueue as *mut c_void);

    pxNewQueue
}

// =============================================================================
// Convenience Macros as Functions
// =============================================================================

/// Create a queue (wrapper for xQueueGenericCreate).
///
/// # Safety
///
/// The selected allocator and task-context critical-section primitives must
/// be initialized. The caller owns a non-null returned handle and must keep it
/// live until a matching [`vQueueDelete`] with no outstanding users.
#[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
#[inline(always)]
pub unsafe fn xQueueCreate(uxQueueLength: UBaseType_t, uxItemSize: UBaseType_t) -> QueueHandle_t {
    xQueueGenericCreate(uxQueueLength, uxItemSize, queueQUEUE_TYPE_BASE)
}

/// Create a queue using static memory (wrapper for xQueueGenericCreateStatic).
///
/// # Safety
///
/// `pxQueueBuffer` must be non-null, aligned, uniquely writable initialized
/// storage for a [`StaticQueue_t`]. For nonzero item size,
/// `pucQueueStorage` must remain valid for `uxQueueLength * uxItemSize` bytes
/// until the queue is retired. Neither allocation may move or be reused while
/// the returned handle can be accessed.
#[inline(always)]
pub unsafe fn xQueueCreateStatic(
    uxQueueLength: UBaseType_t,
    uxItemSize: UBaseType_t,
    pucQueueStorage: *mut u8,
    pxQueueBuffer: *mut StaticQueue_t,
) -> QueueHandle_t {
    xQueueGenericCreateStatic(
        uxQueueLength,
        uxItemSize,
        pucQueueStorage,
        pxQueueBuffer,
        queueQUEUE_TYPE_BASE,
    )
}

// =============================================================================
// Copy Data To/From Queue
// =============================================================================

/// Copy an item into the queue
///
/// Returns pdTRUE if a higher priority task was woken (for mutex case)
unsafe fn prvCopyDataToQueue(
    pxQueue: *mut Queue_t,
    pvItemToQueue: *const c_void,
    xPosition: BaseType_t,
) -> BaseType_t {
    #[allow(unused_mut)] // Assigned only when mutex support is compiled in.
    let mut xReturn: BaseType_t = pdFALSE;
    let uxMessagesWaiting: UBaseType_t = (*pxQueue).uxMessagesWaiting;

    if (*pxQueue).uxItemSize == 0 {
        /* This is a mutex - handle priority inheritance */
        #[cfg(feature = "use-mutexes")]
        {
            if (*pxQueue).pcHead.is_null() {
                /* Queue is being used as a mutex */
                // SAFETY: the mutex holder was recorded on successful take;
                // this give path runs in the task critical section and only
                // the owning current task can release the mutex.
                xReturn = unsafe { xTaskPriorityDisinherit((*pxQueue).u.xSemaphore.xMutexHolder) };
                (*pxQueue).u.xSemaphore.xMutexHolder = ptr::null_mut();
            } else {
                mtCOVERAGE_TEST_MARKER();
            }
        }
    } else if xPosition == queueSEND_TO_BACK {
        ptr::copy_nonoverlapping(
            pvItemToQueue as *const u8,
            (*pxQueue).pcWriteTo as *mut u8,
            (*pxQueue).uxItemSize as usize,
        );
        (*pxQueue).pcWriteTo = (*pxQueue).pcWriteTo.add((*pxQueue).uxItemSize as usize);
        if (*pxQueue).pcWriteTo >= (*pxQueue).u.xQueue.pcTail {
            (*pxQueue).pcWriteTo = (*pxQueue).pcHead;
        } else {
            mtCOVERAGE_TEST_MARKER();
        }
    } else {
        ptr::copy_nonoverlapping(
            pvItemToQueue as *const u8,
            (*pxQueue).u.xQueue.pcReadFrom as *mut u8,
            (*pxQueue).uxItemSize as usize,
        );
        /* [AMENDMENT] The C source subtracts first and then compares against
         * pcHead. Rust may not even form a pointer before the allocation, so
         * perform the equivalent wrap before subtraction. */
        if (*pxQueue).u.xQueue.pcReadFrom == (*pxQueue).pcHead {
            (*pxQueue).u.xQueue.pcReadFrom = (*pxQueue).u.xQueue.pcTail;
        }
        (*pxQueue).u.xQueue.pcReadFrom = (*pxQueue)
            .u
            .xQueue
            .pcReadFrom
            .sub((*pxQueue).uxItemSize as usize);

        if xPosition == queueOVERWRITE {
            if uxMessagesWaiting > 0 {
                /* An item is not being added but overwritten, so subtract
                 * one from the recorded number of items in the queue so when
                 * one is added again below the number of recorded items remains
                 * correct. */
                (*pxQueue).uxMessagesWaiting = uxMessagesWaiting - 1;
            } else {
                mtCOVERAGE_TEST_MARKER();
            }
        } else {
            mtCOVERAGE_TEST_MARKER();
        }
    }

    (*pxQueue).uxMessagesWaiting = (*pxQueue).uxMessagesWaiting + 1;

    xReturn
}

/// Copy an item out of a queue
unsafe fn prvCopyDataFromQueue(pxQueue: *mut Queue_t, pvBuffer: *mut c_void) {
    if (*pxQueue).uxItemSize != 0 {
        (*pxQueue).u.xQueue.pcReadFrom = (*pxQueue)
            .u
            .xQueue
            .pcReadFrom
            .add((*pxQueue).uxItemSize as usize);
        if (*pxQueue).u.xQueue.pcReadFrom >= (*pxQueue).u.xQueue.pcTail {
            (*pxQueue).u.xQueue.pcReadFrom = (*pxQueue).pcHead;
        } else {
            mtCOVERAGE_TEST_MARKER();
        }
        ptr::copy_nonoverlapping(
            (*pxQueue).u.xQueue.pcReadFrom as *const u8,
            pvBuffer as *mut u8,
            (*pxQueue).uxItemSize as usize,
        );
    }
}

// =============================================================================
// Queue Empty/Full Checks
// =============================================================================

/// Check if queue is empty
unsafe fn prvIsQueueEmpty(pxQueue: *const Queue_t) -> BaseType_t {
    let xReturn: BaseType_t;

    taskENTER_CRITICAL();
    {
        if (*pxQueue).uxMessagesWaiting == 0 {
            xReturn = pdTRUE;
        } else {
            xReturn = pdFALSE;
        }
    }
    taskEXIT_CRITICAL();

    xReturn
}

/// Check if queue is full
unsafe fn prvIsQueueFull(pxQueue: *const Queue_t) -> BaseType_t {
    let xReturn: BaseType_t;

    taskENTER_CRITICAL();
    {
        if (*pxQueue).uxMessagesWaiting == (*pxQueue).uxLength {
            xReturn = pdTRUE;
        } else {
            xReturn = pdFALSE;
        }
    }
    taskEXIT_CRITICAL();

    xReturn
}

// =============================================================================
// Queue Send (Generic)
// =============================================================================

/// Send an item to a queue
///
/// Note: Prefer using `sync::Queue::send()` or `sync::Queue::send_to_front()`
/// which provide type-safe wrappers. For mutex/semaphore operations, use the
/// corresponding `sync::Mutex` or `sync::Semaphore` methods.
/// Direct use of xQueueGenericSend is only needed for raw FreeRTOS interop.
///
/// # Safety
///
/// xQueue must be a valid queue handle
/// pvItemToQueue must point to valid data of the queue's item size
pub unsafe fn xQueueGenericSend(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    mut xTicksToWait: TickType_t,
    xCopyPosition: BaseType_t,
) -> BaseType_t {
    let mut xEntryTimeSet: BaseType_t = pdFALSE;
    let xYieldRequired: BaseType_t;
    let mut xTimeOut = TimeOut_t::new();
    let pxQueue: *mut Queue_t = xQueue;

    traceENTER_xQueueGenericSend(
        pxQueue as *mut c_void,
        pvItemToQueue,
        xTicksToWait,
        xCopyPosition,
    );

    configASSERT(!pxQueue.is_null());
    configASSERT(!(pvItemToQueue.is_null() && (*pxQueue).uxItemSize != 0));
    configASSERT(!(xCopyPosition == queueOVERWRITE && (*pxQueue).uxLength != 1));
    configASSERT(!(xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED && xTicksToWait != 0));

    loop {
        taskENTER_CRITICAL();
        {
            /* Is there room on the queue now?  The running task must be the
             * highest priority task wanting to access the queue. */
            if (*pxQueue).uxMessagesWaiting < (*pxQueue).uxLength || xCopyPosition == queueOVERWRITE
            {
                traceQUEUE_SEND(pxQueue as *mut c_void);

                // Queue set support: track previous message count for overwrite detection
                #[cfg(feature = "queue-sets")]
                let uxPreviousMessagesWaiting = (*pxQueue).uxMessagesWaiting;

                xYieldRequired = prvCopyDataToQueue(pxQueue, pvItemToQueue, xCopyPosition);

                // Queue set handling: if this queue is a member of a set, notify the set
                #[cfg(feature = "queue-sets")]
                {
                    if !(*pxQueue).pxQueueSetContainer.is_null() {
                        if xCopyPosition == queueOVERWRITE && uxPreviousMessagesWaiting != 0 {
                            // Do not notify the queue set as an existing item was
                            // overwritten, so the number of items hasn't changed.
                            mtCOVERAGE_TEST_MARKER();
                        } else if prvNotifyQueueSetContainer(pxQueue) != pdFALSE {
                            // The queue is a member of a queue set, and posting to
                            // the queue set caused a higher priority task to unblock.
                            queueYIELD_IF_USING_PREEMPTION();
                        }
                    } else {
                        // Not a member of a queue set - normal unblock logic
                        if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                            == pdFALSE
                        {
                            if xTaskRemoveFromEventList(ptr::addr_of!(
                                (*pxQueue).xTasksWaitingToReceive
                            )) != pdFALSE
                            {
                                queueYIELD_IF_USING_PREEMPTION();
                            }
                        } else if xYieldRequired != pdFALSE {
                            queueYIELD_IF_USING_PREEMPTION();
                        }
                    }
                }

                // Without queue sets, use simpler logic
                #[cfg(not(feature = "queue-sets"))]
                {
                    /* If there was a task waiting for data to arrive on the
                     * queue then unblock it now. */
                    if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                        == pdFALSE
                    {
                        if xTaskRemoveFromEventList(ptr::addr_of!(
                            (*pxQueue).xTasksWaitingToReceive
                        )) != pdFALSE
                        {
                            /* The unblocked task has a priority higher than
                             * our own so yield immediately. */
                            queueYIELD_IF_USING_PREEMPTION();
                        } else {
                            mtCOVERAGE_TEST_MARKER();
                        }
                    } else if xYieldRequired != pdFALSE {
                        /* This path is a special case for mutex priority inheritance */
                        queueYIELD_IF_USING_PREEMPTION();
                    } else {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }

                taskEXIT_CRITICAL();

                traceRETURN_xQueueGenericSend(pdPASS);

                return pdPASS;
            } else {
                if xTicksToWait == 0 {
                    /* The queue was full and no block time is specified */
                    taskEXIT_CRITICAL();

                    traceQUEUE_SEND_FAILED(pxQueue as *mut c_void);
                    traceRETURN_xQueueGenericSend(errQUEUE_FULL);

                    return errQUEUE_FULL;
                } else if xEntryTimeSet == pdFALSE {
                    /* Queue is full and a block time was specified */
                    // SAFETY: xTimeOut is uniquely owned and this call is
                    // inside the queue's task critical section.
                    unsafe { vTaskInternalSetTimeOutState(&mut xTimeOut) };
                    xEntryTimeSet = pdTRUE;
                } else {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        }
        taskEXIT_CRITICAL();

        /* Interrupts and other tasks can send/receive now */
        vTaskSuspendAll();
        prvLockQueue(pxQueue);

        /* Check timeout */
        // SAFETY: both timeout values are initialized, uniquely owned locals;
        // this queue API runs in task context.
        if unsafe { xTaskCheckForTimeOut(&mut xTimeOut, &mut xTicksToWait) } == pdFALSE {
            if prvIsQueueFull(pxQueue) != pdFALSE {
                traceBLOCKING_ON_QUEUE_SEND(pxQueue as *mut c_void);
                vTaskPlaceOnEventList(
                    ptr::addr_of_mut!((*pxQueue).xTasksWaitingToSend),
                    xTicksToWait,
                );
                prvUnlockQueue(pxQueue);

                if xTaskResumeAll() == pdFALSE {
                    portYIELD_WITHIN_API();
                }
            } else {
                /* Queue not full, try again */
                prvUnlockQueue(pxQueue);
                xTaskResumeAll();
            }
        } else {
            /* Timeout expired */
            prvUnlockQueue(pxQueue);
            xTaskResumeAll();

            traceQUEUE_SEND_FAILED(pxQueue as *mut c_void);
            traceRETURN_xQueueGenericSend(errQUEUE_FULL);

            return errQUEUE_FULL;
        }
    }
}

// =============================================================================
// Queue Receive
// =============================================================================

/// Receive an item from a queue
///
/// # Safety
///
/// xQueue must be a valid queue handle
/// pvBuffer must point to valid memory of at least the queue's item size
pub unsafe fn xQueueReceive(
    xQueue: QueueHandle_t,
    pvBuffer: *mut c_void,
    mut xTicksToWait: TickType_t,
) -> BaseType_t {
    let mut xEntryTimeSet: BaseType_t = pdFALSE;
    let mut xTimeOut = TimeOut_t::new();
    let pxQueue: *mut Queue_t = xQueue;

    traceENTER_xQueueReceive(pxQueue as *mut c_void, pvBuffer, xTicksToWait);

    configASSERT(!pxQueue.is_null());
    configASSERT(!(pvBuffer.is_null() && (*pxQueue).uxItemSize != 0));
    configASSERT(!(xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED && xTicksToWait != 0));

    loop {
        taskENTER_CRITICAL();
        {
            let uxMessagesWaiting = (*pxQueue).uxMessagesWaiting;

            if uxMessagesWaiting > 0 {
                /* Data available */
                prvCopyDataFromQueue(pxQueue, pvBuffer);
                traceQUEUE_RECEIVE(pxQueue as *mut c_void);
                (*pxQueue).uxMessagesWaiting = uxMessagesWaiting - 1;

                /* If there was a task waiting to send, unblock it */
                if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToSend)) == pdFALSE {
                    if xTaskRemoveFromEventList(ptr::addr_of!((*pxQueue).xTasksWaitingToSend))
                        != pdFALSE
                    {
                        queueYIELD_IF_USING_PREEMPTION();
                    } else {
                        mtCOVERAGE_TEST_MARKER();
                    }
                } else {
                    mtCOVERAGE_TEST_MARKER();
                }

                taskEXIT_CRITICAL();
                traceRETURN_xQueueReceive(pdPASS);
                return pdPASS;
            } else {
                if xTicksToWait == 0 {
                    /* Queue empty and no block time */
                    taskEXIT_CRITICAL();
                    traceQUEUE_RECEIVE_FAILED(pxQueue as *mut c_void);
                    traceRETURN_xQueueReceive(errQUEUE_EMPTY);
                    return errQUEUE_EMPTY;
                } else if xEntryTimeSet == pdFALSE {
                    // SAFETY: xTimeOut is uniquely owned and this call is
                    // inside the queue's task critical section.
                    unsafe { vTaskInternalSetTimeOutState(&mut xTimeOut) };
                    xEntryTimeSet = pdTRUE;
                } else {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        }
        taskEXIT_CRITICAL();

        vTaskSuspendAll();
        prvLockQueue(pxQueue);

        // SAFETY: both timeout values are initialized, uniquely owned locals;
        // this queue API runs in task context.
        if unsafe { xTaskCheckForTimeOut(&mut xTimeOut, &mut xTicksToWait) } == pdFALSE {
            if prvIsQueueEmpty(pxQueue) != pdFALSE {
                traceBLOCKING_ON_QUEUE_RECEIVE(pxQueue as *mut c_void);
                vTaskPlaceOnEventList(
                    ptr::addr_of_mut!((*pxQueue).xTasksWaitingToReceive),
                    xTicksToWait,
                );
                prvUnlockQueue(pxQueue);

                if xTaskResumeAll() == pdFALSE {
                    portYIELD_WITHIN_API();
                }
            } else {
                prvUnlockQueue(pxQueue);
                xTaskResumeAll();
            }
        } else {
            prvUnlockQueue(pxQueue);
            xTaskResumeAll();

            /* Timed out. If data arrived while the queue was being unlocked,
             * loop once more and receive it rather than reporting a false
             * timeout. */
            if prvIsQueueEmpty(pxQueue) != pdFALSE {
                traceQUEUE_RECEIVE_FAILED(pxQueue as *mut c_void);
                traceRETURN_xQueueReceive(errQUEUE_EMPTY);
                return errQUEUE_EMPTY;
            }
        }
    }
}

/// Peek at the front of a queue without removing the item.
///
/// This function returns a copy of the item at the front of the queue without
/// removing it from the queue. The item remains in the queue.
///
/// [ORIGINAL C] BaseType_t xQueuePeek( QueueHandle_t xQueue,
///                                     void * const pvBuffer,
///                                     TickType_t xTicksToWait )
///
/// # Safety
///
/// `xQueue` must identify a live queue and remain valid for the call. For a
/// queue with nonzero item size, `pvBuffer` must be non-null, aligned for the
/// queued item, and writable for that many bytes. This is a task-context API;
/// a nonzero wait requires a running, unsuspended scheduler.
pub unsafe fn xQueuePeek(
    xQueue: QueueHandle_t,
    pvBuffer: *mut c_void,
    mut xTicksToWait: TickType_t,
) -> BaseType_t {
    let mut xEntryTimeSet: BaseType_t = pdFALSE;
    let mut xTimeOut = TimeOut_t::new();
    let pxQueue: *mut Queue_t = xQueue;

    traceENTER_xQueuePeek(pxQueue as *mut c_void, pvBuffer, xTicksToWait);

    configASSERT(!pxQueue.is_null());
    configASSERT(!(pvBuffer.is_null() && (*pxQueue).uxItemSize != 0));
    configASSERT(!(xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED && xTicksToWait != 0));

    loop {
        taskENTER_CRITICAL();
        {
            let uxMessagesWaiting = (*pxQueue).uxMessagesWaiting;

            if uxMessagesWaiting > 0 {
                // Data available - copy WITHOUT removing
                // For peek, we read from pcReadFrom but don't update it
                let pcOriginalReadPosition = (*pxQueue).u.xQueue.pcReadFrom;

                prvCopyDataFromQueue(pxQueue, pvBuffer);

                // Restore read position - this is the key difference from Receive
                (*pxQueue).u.xQueue.pcReadFrom = pcOriginalReadPosition;

                traceQUEUE_PEEK(pxQueue as *mut c_void);

                // If there was a task waiting to receive, unblock it
                // (another task might also want to peek)
                if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive)) == pdFALSE {
                    if xTaskRemoveFromEventList(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                        != pdFALSE
                    {
                        queueYIELD_IF_USING_PREEMPTION();
                    }
                }

                taskEXIT_CRITICAL();
                traceRETURN_xQueuePeek(pdPASS);
                return pdPASS;
            } else {
                if xTicksToWait == 0 {
                    // Queue empty and no block time
                    taskEXIT_CRITICAL();
                    traceQUEUE_PEEK_FAILED(pxQueue as *mut c_void);
                    traceRETURN_xQueuePeek(errQUEUE_EMPTY);
                    return errQUEUE_EMPTY;
                } else if xEntryTimeSet == pdFALSE {
                    // SAFETY: xTimeOut is uniquely owned and this call is
                    // inside the queue's task critical section.
                    unsafe { vTaskInternalSetTimeOutState(&mut xTimeOut) };
                    xEntryTimeSet = pdTRUE;
                }
            }
        }
        taskEXIT_CRITICAL();

        vTaskSuspendAll();
        prvLockQueue(pxQueue);

        // SAFETY: both timeout values are initialized, uniquely owned locals;
        // this queue API runs in task context.
        if unsafe { xTaskCheckForTimeOut(&mut xTimeOut, &mut xTicksToWait) } == pdFALSE {
            if prvIsQueueEmpty(pxQueue) != pdFALSE {
                traceBLOCKING_ON_QUEUE_PEEK(pxQueue as *mut c_void);
                vTaskPlaceOnEventList(
                    ptr::addr_of_mut!((*pxQueue).xTasksWaitingToReceive),
                    xTicksToWait,
                );
                prvUnlockQueue(pxQueue);

                if xTaskResumeAll() == pdFALSE {
                    portYIELD_WITHIN_API();
                }
            } else {
                prvUnlockQueue(pxQueue);
                xTaskResumeAll();
            }
        } else {
            prvUnlockQueue(pxQueue);
            xTaskResumeAll();

            /* Data can arrive between the timeout check and the queue being
             * unlocked. In that case loop back and peek at the available
             * item, matching the upstream race handling. */
            if prvIsQueueEmpty(pxQueue) != pdFALSE {
                traceQUEUE_PEEK_FAILED(pxQueue as *mut c_void);
                traceRETURN_xQueuePeek(errQUEUE_EMPTY);
                return errQUEUE_EMPTY;
            }
        }
    }
}

/// Receive an item from a queue from an ISR.
///
/// It is safe to use this function from within an interrupt service routine.
///
/// [ORIGINAL C] BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
///                                               void * const pvBuffer,
///                                               BaseType_t * const pxHigherPriorityTaskWoken )
///
/// # Safety
///
/// The caller must be in an interrupt priority permitted to call FreeRTOS.
/// `xQueue` must remain live for the call. For nonzero item size, `pvBuffer`
/// must be writable for one complete item. If non-null,
/// `pxHigherPriorityTaskWoken` must be aligned and writable for a
/// [`BaseType_t`], normally initialized to `pdFALSE` by the caller.
pub unsafe fn xQueueReceiveFromISR(
    xQueue: QueueHandle_t,
    pvBuffer: *mut c_void,
    pxHigherPriorityTaskWoken: *mut BaseType_t,
) -> BaseType_t {
    let xReturn: BaseType_t;
    let pxQueue = xQueue as *mut Queue_t;

    traceENTER_xQueueReceiveFromISR(xQueue, pvBuffer, pxHigherPriorityTaskWoken);

    configASSERT(!pxQueue.is_null());
    configASSERT(!(pvBuffer.is_null() && (*pxQueue).uxItemSize != 0));

    let uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
    {
        let uxMessagesWaiting = (*pxQueue).uxMessagesWaiting;

        if uxMessagesWaiting > 0 {
            let cRxLock = (*pxQueue).cRxLock;

            traceQUEUE_RECEIVE_FROM_ISR(pxQueue as *mut c_void);

            prvCopyDataFromQueue(pxQueue, pvBuffer);
            (*pxQueue).uxMessagesWaiting = uxMessagesWaiting - 1;

            // If the queue was locked, increment lock count
            if cRxLock == queueUNLOCKED {
                if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToSend)) == pdFALSE {
                    if xTaskRemoveFromEventList(ptr::addr_of!((*pxQueue).xTasksWaitingToSend))
                        != pdFALSE
                    {
                        if !pxHigherPriorityTaskWoken.is_null() {
                            *pxHigherPriorityTaskWoken = pdTRUE;
                        }
                    }
                }
            } else {
                prvIncrementQueueRxLock(pxQueue, cRxLock);
            }

            xReturn = pdPASS;
        } else {
            traceQUEUE_RECEIVE_FROM_ISR_FAILED(pxQueue as *mut c_void);
            xReturn = pdFAIL;
        }
    }
    portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);

    traceRETURN_xQueueReceiveFromISR(xReturn);

    xReturn
}

/// Peek at the front of a queue from an ISR without removing the item.
///
/// It is safe to use this function from within an interrupt service routine.
///
/// [ORIGINAL C] BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
///                                            void * const pvBuffer )
///
/// # Safety
///
/// The caller must be in an interrupt priority permitted to call FreeRTOS.
/// `xQueue` must be a live data queue, not a semaphore, and `pvBuffer` must be
/// non-null, aligned for its item type, and writable for one complete item.
pub unsafe fn xQueuePeekFromISR(xQueue: QueueHandle_t, pvBuffer: *mut c_void) -> BaseType_t {
    let xReturn: BaseType_t;
    let pxQueue = xQueue as *mut Queue_t;

    traceENTER_xQueuePeekFromISR(xQueue, pvBuffer);

    configASSERT(!pxQueue.is_null());
    configASSERT(!pvBuffer.is_null());
    configASSERT((*pxQueue).uxItemSize != 0); // Can't peek from semaphore

    let uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
    {
        if (*pxQueue).uxMessagesWaiting > 0 {
            traceQUEUE_PEEK_FROM_ISR(pxQueue as *mut c_void);

            // Copy data without removing - store and restore read position
            let pcOriginalReadPosition = (*pxQueue).u.xQueue.pcReadFrom;
            prvCopyDataFromQueue(pxQueue, pvBuffer);
            (*pxQueue).u.xQueue.pcReadFrom = pcOriginalReadPosition;

            xReturn = pdPASS;
        } else {
            traceQUEUE_PEEK_FROM_ISR_FAILED(pxQueue as *mut c_void);
            xReturn = pdFAIL;
        }
    }
    portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);

    traceRETURN_xQueuePeekFromISR(xReturn);

    xReturn
}

// =============================================================================
// Queue Unlock
// =============================================================================

/// Unlock a previously locked queue
unsafe fn prvUnlockQueue(pxQueue: *mut Queue_t) {
    /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */

    taskENTER_CRITICAL();
    {
        let mut cTxLock: i8 = (*pxQueue).cTxLock;

        /* See if data was added while locked */
        while cTxLock > queueLOCKED_UNMODIFIED {
            /* Data was posted while the queue was locked. Are any tasks
             * blocked waiting for data to become available? */
            #[cfg(feature = "queue-sets")]
            {
                if !(*pxQueue).pxQueueSetContainer.is_null() {
                    if prvNotifyQueueSetContainer(pxQueue) != pdFALSE {
                        vTaskMissedYield();
                    }
                } else if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                    == pdFALSE
                {
                    if xTaskRemoveFromEventList(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                        != pdFALSE
                    {
                        vTaskMissedYield();
                    }
                } else {
                    break;
                }
            }

            #[cfg(not(feature = "queue-sets"))]
            {
                if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive)) == pdFALSE {
                    if xTaskRemoveFromEventList(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                        != pdFALSE
                    {
                        vTaskMissedYield();
                    }
                } else {
                    break;
                }
            }

            cTxLock -= 1;
        }

        (*pxQueue).cTxLock = queueUNLOCKED;
    }
    taskEXIT_CRITICAL();

    taskENTER_CRITICAL();
    {
        let mut cRxLock: i8 = (*pxQueue).cRxLock;

        while cRxLock > queueLOCKED_UNMODIFIED {
            if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToSend)) == pdFALSE {
                if xTaskRemoveFromEventList(ptr::addr_of!((*pxQueue).xTasksWaitingToSend))
                    != pdFALSE
                {
                    vTaskMissedYield();
                }
                cRxLock -= 1;
            } else {
                break;
            }
        }

        (*pxQueue).cRxLock = queueUNLOCKED;
    }
    taskEXIT_CRITICAL();
}

// =============================================================================
// Queue Utility Functions
// =============================================================================

/// Get the number of messages waiting in a queue.
///
/// # Safety
///
/// `xQueue` must identify a live queue and must not be concurrently deleted.
/// This task-context API requires the active port critical-section machinery.
pub unsafe fn uxQueueMessagesWaiting(xQueue: QueueHandle_t) -> UBaseType_t {
    let uxReturn: UBaseType_t;

    configASSERT(!xQueue.is_null());

    taskENTER_CRITICAL();
    {
        uxReturn = (*xQueue).uxMessagesWaiting;
    }
    taskEXIT_CRITICAL();

    uxReturn
}

/// Get the number of free spaces in a queue.
///
/// # Safety
///
/// `xQueue` must identify a live queue and must not be concurrently deleted.
/// This task-context API requires the active port critical-section machinery.
pub unsafe fn uxQueueSpacesAvailable(xQueue: QueueHandle_t) -> UBaseType_t {
    let uxReturn: UBaseType_t;

    configASSERT(!xQueue.is_null());

    taskENTER_CRITICAL();
    {
        uxReturn = (*xQueue).uxLength - (*xQueue).uxMessagesWaiting;
    }
    taskEXIT_CRITICAL();

    uxReturn
}

/// Get the number of messages waiting in a queue (ISR safe).
///
/// This function can be called from an ISR.
///
/// [ORIGINAL C] UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
///
/// # Safety
///
/// The caller must be in an interrupt priority permitted to call FreeRTOS,
/// and `xQueue` must identify a live queue that cannot be deleted during the
/// read.
pub unsafe fn uxQueueMessagesWaitingFromISR(xQueue: QueueHandle_t) -> UBaseType_t {
    let uxReturn: UBaseType_t;

    traceENTER_uxQueueMessagesWaitingFromISR(xQueue);

    configASSERT(!xQueue.is_null());

    // No critical section needed - single read is atomic
    uxReturn = (*xQueue).uxMessagesWaiting;

    traceRETURN_uxQueueMessagesWaitingFromISR(uxReturn);

    uxReturn
}

/// Delete a queue.
///
/// This function frees all memory allocated for storing the queue structure
/// and the items placed in the queue. A statically allocated queue has no
/// storage to release; it is only unregistered and traced, as upstream does.
///
/// [ORIGINAL C] void vQueueDelete( QueueHandle_t xQueue )
///
/// # Safety
///
/// `xQueue` must identify a live queue owned by the caller. No task, ISR,
/// queue set, registry user, or raw alias may access or be blocked on it after
/// this call. This is not an ISR-safe operation and may free dynamic storage.
pub unsafe fn vQueueDelete(xQueue: QueueHandle_t) {
    let pxQueue = xQueue as *mut Queue_t;

    traceENTER_vQueueDelete(xQueue);

    configASSERT(!pxQueue.is_null());

    traceQUEUE_DELETE(pxQueue as *mut c_void);

    #[cfg(feature = "queue-registry")]
    {
        // Remove from registry if registered
        vQueueUnregisterQueue(xQueue);
    }

    #[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
    {
        // Check if dynamically allocated
        if (*pxQueue).ucStaticallyAllocated == pdFALSE as u8 {
            // Free the queue memory
            vPortFree(pxQueue as *mut c_void);
        } else {
            // A statically allocated queue has no storage to release.
            mtCOVERAGE_TEST_MARKER();
        }
    }

    traceRETURN_vQueueDelete();
}

/// Get the item size of a queue.
///
/// [ORIGINAL C] UBaseType_t uxQueueGetQueueItemSize( QueueHandle_t xQueue )
///
/// # Safety
///
/// `xQueue` must identify a live queue and remain readable for the call.
pub unsafe fn uxQueueGetQueueItemSize(xQueue: QueueHandle_t) -> UBaseType_t {
    configASSERT(!xQueue.is_null());
    (*xQueue).uxItemSize
}

/// Get the length (capacity) of a queue.
///
/// [ORIGINAL C] UBaseType_t uxQueueGetQueueLength( QueueHandle_t xQueue )
///
/// # Safety
///
/// `xQueue` must identify a live queue and remain readable for the call.
pub unsafe fn uxQueueGetQueueLength(xQueue: QueueHandle_t) -> UBaseType_t {
    configASSERT(!xQueue.is_null());
    (*xQueue).uxLength
}

/// Check if a queue is empty (ISR safe).
///
/// [ORIGINAL C] BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
///
/// # Safety
///
/// The caller must be in an interrupt priority permitted to call FreeRTOS,
/// and `xQueue` must identify a live queue that cannot be deleted during the
/// read.
pub unsafe fn xQueueIsQueueEmptyFromISR(xQueue: QueueHandle_t) -> BaseType_t {
    let xReturn: BaseType_t;

    traceENTER_xQueueIsQueueEmptyFromISR(xQueue);

    configASSERT(!xQueue.is_null());

    if (*xQueue).uxMessagesWaiting == 0 {
        xReturn = pdTRUE;
    } else {
        xReturn = pdFALSE;
    }

    traceRETURN_xQueueIsQueueEmptyFromISR(xReturn);

    xReturn
}

/// Check if a queue is full (ISR safe).
///
/// [ORIGINAL C] BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
///
/// # Safety
///
/// The caller must be in an interrupt priority permitted to call FreeRTOS,
/// and `xQueue` must identify a live queue that cannot be deleted during the
/// read.
pub unsafe fn xQueueIsQueueFullFromISR(xQueue: QueueHandle_t) -> BaseType_t {
    let xReturn: BaseType_t;

    traceENTER_xQueueIsQueueFullFromISR(xQueue);

    configASSERT(!xQueue.is_null());

    if (*xQueue).uxMessagesWaiting == (*xQueue).uxLength {
        xReturn = pdTRUE;
    } else {
        xReturn = pdFALSE;
    }

    traceRETURN_xQueueIsQueueFullFromISR(xReturn);

    xReturn
}

// =============================================================================
// Trace Facility Functions
// =============================================================================

/// Get the queue number (for kernel-aware debugging).
///
/// The queue number is a value that can be used by a trace tool to identify
/// this queue. It is assigned using vQueueSetQueueNumber().
///
/// [ORIGINAL C] UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
///
/// # Safety
///
/// `xQueue` must identify a live queue with trace-facility fields present and
/// remain readable for the call.
#[cfg(feature = "trace-facility")]
pub unsafe fn uxQueueGetQueueNumber(xQueue: QueueHandle_t) -> UBaseType_t {
    traceENTER_uxQueueGetQueueNumber(xQueue);

    let uxReturn = (*xQueue).uxQueueNumber;

    traceRETURN_uxQueueGetQueueNumber(uxReturn);

    uxReturn
}

/// Set the queue number (for kernel-aware debugging).
///
/// The queue number is a value that can be used by a trace tool to identify
/// this queue.
///
/// [ORIGINAL C] void vQueueSetQueueNumber( QueueHandle_t xQueue,
///                                         UBaseType_t uxQueueNumber )
///
/// # Safety
///
/// `xQueue` must identify a live queue with trace-facility fields present.
/// The caller must exclude conflicting access while the number is updated.
#[cfg(feature = "trace-facility")]
pub unsafe fn vQueueSetQueueNumber(xQueue: QueueHandle_t, uxQueueNumber: UBaseType_t) {
    traceENTER_vQueueSetQueueNumber(xQueue, uxQueueNumber);

    (*xQueue).uxQueueNumber = uxQueueNumber;

    traceRETURN_vQueueSetQueueNumber();
}

/// Get the queue type (for kernel-aware debugging).
///
/// Returns the type of the queue (base queue, mutex, counting semaphore, etc.).
///
/// [ORIGINAL C] uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
///
/// # Safety
///
/// `xQueue` must identify a live queue with trace-facility fields present and
/// remain readable for the call.
#[cfg(feature = "trace-facility")]
pub unsafe fn ucQueueGetQueueType(xQueue: QueueHandle_t) -> u8 {
    traceENTER_ucQueueGetQueueType(xQueue);

    let ucReturn = (*xQueue).ucQueueType;

    traceRETURN_ucQueueGetQueueType(ucReturn);

    ucReturn
}

// =============================================================================
// Additional Trace Functions (stubs)
// =============================================================================

#[inline(always)]
fn traceENTER_xQueueGenericReset(_pxQueue: *mut c_void, _xNewQueue: BaseType_t) {}

#[inline(always)]
fn traceRETURN_xQueueGenericReset(_xReturn: BaseType_t) {}

#[inline(always)]
fn traceENTER_xQueueGenericCreateStatic(
    _uxQueueLength: UBaseType_t,
    _uxItemSize: UBaseType_t,
    _pucQueueStorage: *mut c_void,
    _pxStaticQueue: *mut c_void,
    _ucQueueType: u8,
) {
}

#[inline(always)]
fn traceRETURN_xQueueGenericCreateStatic(_pxNewQueue: *mut c_void) {}

#[inline(always)]
fn traceENTER_xQueueGenericGetStaticBuffers(
    _xQueue: QueueHandle_t,
    _ppucQueueStorage: *mut c_void,
    _ppxStaticQueue: *mut c_void,
) {
}

#[inline(always)]
fn traceRETURN_xQueueGenericGetStaticBuffers(_xReturn: BaseType_t) {}

#[inline(always)]
fn traceENTER_xQueueGenericCreate(
    _uxQueueLength: UBaseType_t,
    _uxItemSize: UBaseType_t,
    _ucQueueType: u8,
) {
}

#[inline(always)]
fn traceRETURN_xQueueGenericCreate(_pxNewQueue: *mut c_void) {}

#[inline(always)]
fn traceENTER_xQueueGenericSend(
    _pxQueue: *mut c_void,
    _pvItemToQueue: *const c_void,
    _xTicksToWait: TickType_t,
    _xCopyPosition: BaseType_t,
) {
}

#[inline(always)]
fn traceRETURN_xQueueGenericSend(_xReturn: BaseType_t) {}

#[inline(always)]
fn traceENTER_xQueueReceive(
    _pxQueue: *mut c_void,
    _pvBuffer: *mut c_void,
    _xTicksToWait: TickType_t,
) {
}

#[inline(always)]
fn traceRETURN_xQueueReceive(_xReturn: BaseType_t) {}

// Mutex trace stubs
#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceENTER_xQueueCreateMutexStatic(_ucQueueType: u8, _pxStaticQueue: *mut StaticQueue_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceRETURN_xQueueCreateMutexStatic(_xNewQueue: QueueHandle_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceENTER_xQueueCreateMutex(_ucQueueType: u8) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceRETURN_xQueueCreateMutex(_xNewQueue: QueueHandle_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceCREATE_MUTEX(_pxNewQueue: *mut c_void) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceCREATE_MUTEX_FAILED() {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceENTER_xQueueGetMutexHolder(_xSemaphore: QueueHandle_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceRETURN_xQueueGetMutexHolder(_pxReturn: TaskHandle_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceENTER_xQueueGetMutexHolderFromISR(_xSemaphore: QueueHandle_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceRETURN_xQueueGetMutexHolderFromISR(_pxReturn: TaskHandle_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceENTER_xQueueGiveMutexRecursive(_xMutex: QueueHandle_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceRETURN_xQueueGiveMutexRecursive(_xReturn: BaseType_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceGIVE_MUTEX_RECURSIVE(_pxMutex: *mut c_void) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceGIVE_MUTEX_RECURSIVE_FAILED(_pxMutex: *mut c_void) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceENTER_xQueueTakeMutexRecursive(_xMutex: QueueHandle_t, _xTicksToWait: TickType_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceRETURN_xQueueTakeMutexRecursive(_xReturn: BaseType_t) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceTAKE_MUTEX_RECURSIVE(_pxMutex: *mut c_void) {}

#[cfg(feature = "use-mutexes")]
#[inline(always)]
fn traceTAKE_MUTEX_RECURSIVE_FAILED(_pxMutex: *mut c_void) {}

// Counting semaphore trace stubs
#[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
#[inline(always)]
fn traceENTER_xQueueCreateCountingSemaphore(
    _uxMaxCount: UBaseType_t,
    _uxInitialCount: UBaseType_t,
) {
}

#[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
#[inline(always)]
fn traceRETURN_xQueueCreateCountingSemaphore(_xHandle: QueueHandle_t) {}

#[inline(always)]
fn traceENTER_xQueueCreateCountingSemaphoreStatic(
    _uxMaxCount: UBaseType_t,
    _uxInitialCount: UBaseType_t,
    _pxStaticQueue: *mut StaticQueue_t,
) {
}

#[inline(always)]
fn traceRETURN_xQueueCreateCountingSemaphoreStatic(_xHandle: QueueHandle_t) {}

#[inline(always)]
fn traceCREATE_COUNTING_SEMAPHORE() {}

#[inline(always)]
fn traceCREATE_COUNTING_SEMAPHORE_FAILED() {}

// ISR trace stubs
#[inline(always)]
fn traceENTER_xQueueGiveFromISR(
    _xQueue: QueueHandle_t,
    _pxHigherPriorityTaskWoken: *mut BaseType_t,
) {
}

#[inline(always)]
fn traceRETURN_xQueueGiveFromISR(_xReturn: BaseType_t) {}

#[inline(always)]
fn traceQUEUE_SEND_FROM_ISR(_pxQueue: *mut c_void) {}

#[inline(always)]
fn traceQUEUE_SEND_FROM_ISR_FAILED(_pxQueue: *mut c_void) {}

// Peek trace stubs
#[inline(always)]
fn traceENTER_xQueuePeek(_pxQueue: *mut c_void, _pvBuffer: *mut c_void, _xTicksToWait: TickType_t) {
}

#[inline(always)]
fn traceRETURN_xQueuePeek(_xReturn: BaseType_t) {}

#[inline(always)]
fn traceQUEUE_PEEK(_pxQueue: *mut c_void) {}

#[inline(always)]
fn traceQUEUE_PEEK_FAILED(_pxQueue: *mut c_void) {}

#[inline(always)]
fn traceBLOCKING_ON_QUEUE_PEEK(_pxQueue: *mut c_void) {}

// Receive from ISR trace stubs
#[inline(always)]
fn traceENTER_xQueueReceiveFromISR(
    _xQueue: QueueHandle_t,
    _pvBuffer: *mut c_void,
    _pxHigherPriorityTaskWoken: *mut BaseType_t,
) {
}

#[inline(always)]
fn traceRETURN_xQueueReceiveFromISR(_xReturn: BaseType_t) {}

#[inline(always)]
fn traceQUEUE_RECEIVE_FROM_ISR(_pxQueue: *mut c_void) {}

#[inline(always)]
fn traceQUEUE_RECEIVE_FROM_ISR_FAILED(_pxQueue: *mut c_void) {}

// Peek from ISR trace stubs
#[inline(always)]
fn traceENTER_xQueuePeekFromISR(_xQueue: QueueHandle_t, _pvBuffer: *mut c_void) {}

#[inline(always)]
fn traceRETURN_xQueuePeekFromISR(_xReturn: BaseType_t) {}

#[inline(always)]
fn traceQUEUE_PEEK_FROM_ISR(_pxQueue: *mut c_void) {}

#[inline(always)]
fn traceQUEUE_PEEK_FROM_ISR_FAILED(_pxQueue: *mut c_void) {}

// Utility function trace stubs
#[inline(always)]
fn traceENTER_uxQueueMessagesWaitingFromISR(_xQueue: QueueHandle_t) {}

#[inline(always)]
fn traceRETURN_uxQueueMessagesWaitingFromISR(_uxReturn: UBaseType_t) {}

#[inline(always)]
fn traceENTER_vQueueDelete(_xQueue: QueueHandle_t) {}

#[inline(always)]
fn traceRETURN_vQueueDelete() {}

#[inline(always)]
fn traceQUEUE_DELETE(_pxQueue: *mut c_void) {}

#[inline(always)]
fn traceENTER_xQueueIsQueueEmptyFromISR(_xQueue: QueueHandle_t) {}

#[inline(always)]
fn traceRETURN_xQueueIsQueueEmptyFromISR(_xReturn: BaseType_t) {}

#[inline(always)]
fn traceENTER_xQueueIsQueueFullFromISR(_xQueue: QueueHandle_t) {}

#[inline(always)]
fn traceRETURN_xQueueIsQueueFullFromISR(_xReturn: BaseType_t) {}

// Trace facility function stubs
#[cfg(feature = "trace-facility")]
#[inline(always)]
fn traceENTER_uxQueueGetQueueNumber(_xQueue: QueueHandle_t) {}

#[cfg(feature = "trace-facility")]
#[inline(always)]
fn traceRETURN_uxQueueGetQueueNumber(_uxReturn: UBaseType_t) {}

#[cfg(feature = "trace-facility")]
#[inline(always)]
fn traceENTER_vQueueSetQueueNumber(_xQueue: QueueHandle_t, _uxQueueNumber: UBaseType_t) {}

#[cfg(feature = "trace-facility")]
#[inline(always)]
fn traceRETURN_vQueueSetQueueNumber() {}

#[cfg(feature = "trace-facility")]
#[inline(always)]
fn traceENTER_ucQueueGetQueueType(_xQueue: QueueHandle_t) {}

#[cfg(feature = "trace-facility")]
#[inline(always)]
fn traceRETURN_ucQueueGetQueueType(_ucReturn: u8) {}

// =============================================================================
// Queue Wrapper Functions
// =============================================================================

/// Send an item to the back of a queue (wrapper for xQueueGenericSend).
///
/// # Safety
///
/// The caller must uphold [`xQueueGenericSend`]'s handle, item-buffer, and
/// task-context requirements.
#[inline(always)]
pub unsafe fn xQueueSendToBack(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    xTicksToWait: TickType_t,
) -> BaseType_t {
    xQueueGenericSend(xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK)
}

/// Send an item to the front of a queue (wrapper for xQueueGenericSend).
///
/// # Safety
///
/// The caller must uphold [`xQueueGenericSend`]'s handle, item-buffer, and
/// task-context requirements.
#[inline(always)]
pub unsafe fn xQueueSendToFront(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    xTicksToWait: TickType_t,
) -> BaseType_t {
    xQueueGenericSend(xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT)
}

/// Send an item to a queue (same as xQueueSendToBack).
///
/// # Safety
///
/// The caller must uphold [`xQueueGenericSend`]'s handle, item-buffer, and
/// task-context requirements.
#[inline(always)]
pub unsafe fn xQueueSend(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    xTicksToWait: TickType_t,
) -> BaseType_t {
    xQueueSendToBack(xQueue, pvItemToQueue, xTicksToWait)
}

/// Overwrite the item in a queue of length one.
///
/// # Safety
///
/// `xQueue` must identify a live queue of exactly length one. For nonzero item
/// size, `pvItemToQueue` must be readable for one complete item and must not
/// overlap queue storage. This is a task-context operation.
#[inline(always)]
pub unsafe fn xQueueOverwrite(xQueue: QueueHandle_t, pvItemToQueue: *const c_void) -> BaseType_t {
    xQueueGenericSend(xQueue, pvItemToQueue, 0, queueOVERWRITE)
}

/// Send an item to the back of a queue from an ISR.
///
/// # Safety
///
/// The caller must uphold [`xQueueGenericSendFromISR`]'s queue, item-buffer,
/// wake-flag, and interrupt-priority requirements.
#[inline(always)]
pub unsafe fn xQueueSendToBackFromISR(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    pxHigherPriorityTaskWoken: *mut BaseType_t,
) -> BaseType_t {
    xQueueGenericSendFromISR(
        xQueue,
        pvItemToQueue,
        pxHigherPriorityTaskWoken,
        queueSEND_TO_BACK,
    )
}

/// Send an item to the front of a queue from an ISR.
///
/// # Safety
///
/// The caller must uphold [`xQueueGenericSendFromISR`]'s queue, item-buffer,
/// wake-flag, and interrupt-priority requirements.
#[inline(always)]
pub unsafe fn xQueueSendToFrontFromISR(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    pxHigherPriorityTaskWoken: *mut BaseType_t,
) -> BaseType_t {
    xQueueGenericSendFromISR(
        xQueue,
        pvItemToQueue,
        pxHigherPriorityTaskWoken,
        queueSEND_TO_FRONT,
    )
}

/// Overwrite the item in a queue of length one from an ISR.
///
/// # Safety
///
/// The caller must uphold [`xQueueGenericSendFromISR`]'s requirements, and
/// `xQueue` must have exactly one slot.
#[inline(always)]
pub unsafe fn xQueueOverwriteFromISR(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    pxHigherPriorityTaskWoken: *mut BaseType_t,
) -> BaseType_t {
    xQueueGenericSendFromISR(
        xQueue,
        pvItemToQueue,
        pxHigherPriorityTaskWoken,
        queueOVERWRITE,
    )
}

/// Send an item to a queue from an ISR (same as xQueueSendToBackFromISR).
///
/// # Safety
///
/// The caller must uphold [`xQueueGenericSendFromISR`]'s queue, item-buffer,
/// wake-flag, and interrupt-priority requirements.
#[inline(always)]
pub unsafe fn xQueueSendFromISR(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    pxHigherPriorityTaskWoken: *mut BaseType_t,
) -> BaseType_t {
    xQueueSendToBackFromISR(xQueue, pvItemToQueue, pxHigherPriorityTaskWoken)
}

/// Generic send to queue from ISR.
///
/// # Safety
///
/// The caller must execute at an interrupt priority permitted to call
/// FreeRTOS. `xQueue` must remain live for the call. For nonzero item size,
/// `pvItemToQueue` must be non-null and readable for one complete item. If
/// non-null, `pxHigherPriorityTaskWoken` must be aligned and writable for a
/// [`BaseType_t`], normally initialized to `pdFALSE`. `xCopyPosition` must be
/// a supported queue position, and overwrite requires a one-slot queue.
#[allow(unused_assignments)] // C pattern: initialize to fail
pub unsafe fn xQueueGenericSendFromISR(
    xQueue: QueueHandle_t,
    pvItemToQueue: *const c_void,
    pxHigherPriorityTaskWoken: *mut BaseType_t,
    xCopyPosition: BaseType_t,
) -> BaseType_t {
    let mut xReturn: BaseType_t = pdFAIL;
    let pxQueue = xQueue as *mut Queue_t;

    configASSERT(!pxQueue.is_null());
    configASSERT(!(pvItemToQueue.is_null() && (*pxQueue).uxItemSize != 0));
    configASSERT(!(xCopyPosition == queueOVERWRITE && (*pxQueue).uxLength != 1));

    // Critical section for ISR - using interrupt mask
    let uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
    {
        if (*pxQueue).uxMessagesWaiting < (*pxQueue).uxLength || xCopyPosition == queueOVERWRITE {
            let cTxLock = (*pxQueue).cTxLock;
            #[cfg(feature = "queue-sets")]
            let uxPreviousMessagesWaiting = (*pxQueue).uxMessagesWaiting;

            traceQUEUE_SEND_FROM_ISR(pxQueue as *mut c_void);

            // Copy data to queue
            prvCopyDataToQueue(pxQueue, pvItemToQueue, xCopyPosition);

            // Queue set handling for ISR context
            #[cfg(feature = "queue-sets")]
            {
                if cTxLock == queueUNLOCKED && !(*pxQueue).pxQueueSetContainer.is_null() {
                    if xCopyPosition == queueOVERWRITE && uxPreviousMessagesWaiting != 0 {
                        /* An existing item was overwritten, so queue-set
                         * membership did not gain another readable item. */
                        mtCOVERAGE_TEST_MARKER();
                    } else if prvNotifyQueueSetContainer(pxQueue) != pdFALSE {
                        if !pxHigherPriorityTaskWoken.is_null() {
                            *pxHigherPriorityTaskWoken = pdTRUE;
                        }
                    }
                } else if (*pxQueue).pxQueueSetContainer.is_null() {
                    // Not a member of a queue set - normal unblock logic
                    if cTxLock == queueUNLOCKED {
                        if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                            == pdFALSE
                        {
                            if xTaskRemoveFromEventList(ptr::addr_of!(
                                (*pxQueue).xTasksWaitingToReceive
                            )) != pdFALSE
                            {
                                if !pxHigherPriorityTaskWoken.is_null() {
                                    *pxHigherPriorityTaskWoken = pdTRUE;
                                }
                            }
                        }
                    } else {
                        prvIncrementQueueTxLock(pxQueue, cTxLock);
                    }
                } else {
                    prvIncrementQueueTxLock(pxQueue, cTxLock);
                }
            }

            // Without queue sets, use simpler logic
            #[cfg(not(feature = "queue-sets"))]
            {
                // If queue was locked, increment lock count instead of waking tasks
                if cTxLock == queueUNLOCKED {
                    // Queue not locked - can unblock waiting task
                    if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                        == pdFALSE
                    {
                        if xTaskRemoveFromEventList(ptr::addr_of!(
                            (*pxQueue).xTasksWaitingToReceive
                        )) != pdFALSE
                        {
                            if !pxHigherPriorityTaskWoken.is_null() {
                                *pxHigherPriorityTaskWoken = pdTRUE;
                            }
                        }
                    }
                } else {
                    // Queue is locked - increment tx lock count
                    prvIncrementQueueTxLock(pxQueue, cTxLock);
                }
            }

            xReturn = pdPASS;
        } else {
            traceQUEUE_SEND_FROM_ISR_FAILED(pxQueue as *mut c_void);
            xReturn = errQUEUE_FULL;
        }
    }
    portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);

    xReturn
}

/// Give a semaphore from an ISR.
///
/// This is an optimized version of xQueueGenericSendFromISR for semaphores.
/// Semaphores have an item size of 0, so no data copy is needed.
///
/// [ORIGINAL C] BaseType_t xQueueGiveFromISR(
///                  QueueHandle_t xQueue,
///                  BaseType_t * const pxHigherPriorityTaskWoken )
///
/// # Safety
///
/// The caller must execute at an interrupt priority permitted to call
/// FreeRTOS. `xQueue` must be a live non-mutex semaphore with zero item size.
/// If non-null, `pxHigherPriorityTaskWoken` must be aligned and writable for a
/// [`BaseType_t`], normally initialized to `pdFALSE`.
pub unsafe fn xQueueGiveFromISR(
    xQueue: QueueHandle_t,
    pxHigherPriorityTaskWoken: *mut BaseType_t,
) -> BaseType_t {
    let xReturn: BaseType_t;
    let pxQueue = xQueue as *mut Queue_t;

    // Unlike xQueueGenericSendFromISR() this function does not require an
    // interrupt safe version of the prvCopyDataToQueue() function because
    // the semaphore has no data.

    traceENTER_xQueueGiveFromISR(xQueue, pxHigherPriorityTaskWoken);

    configASSERT(!pxQueue.is_null());
    // Check it really is a semaphore (item size 0)
    configASSERT((*pxQueue).uxItemSize == 0);
    // Can't use priority inheritance from ISR - pcHead must not be NULL
    configASSERT(!(*pxQueue).pcHead.is_null() || (*pxQueue).u.xSemaphore.xMutexHolder.is_null());

    let uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
    {
        let uxMessagesWaiting = (*pxQueue).uxMessagesWaiting;

        // Check there is room for the semaphore
        if uxMessagesWaiting < (*pxQueue).uxLength {
            let cTxLock = (*pxQueue).cTxLock;

            traceQUEUE_SEND_FROM_ISR(pxQueue as *mut c_void);

            // Just increment the count - no data to copy
            (*pxQueue).uxMessagesWaiting = uxMessagesWaiting + 1;

            // Handle queue set membership
            #[cfg(feature = "queue-sets")]
            {
                /* The event list and queue-set container must not be altered
                 * while the queue is locked.  Defer exactly as upstream does
                 * for both set members and ordinary semaphores. */
                if cTxLock == queueUNLOCKED {
                    if !(*pxQueue).pxQueueSetContainer.is_null() {
                        if prvNotifyQueueSetContainer(pxQueue) != pdFALSE {
                            if !pxHigherPriorityTaskWoken.is_null() {
                                *pxHigherPriorityTaskWoken = pdTRUE;
                            }
                        }
                    } else {
                        if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                            == pdFALSE
                        {
                            if xTaskRemoveFromEventList(ptr::addr_of!(
                                (*pxQueue).xTasksWaitingToReceive
                            )) != pdFALSE
                            {
                                if !pxHigherPriorityTaskWoken.is_null() {
                                    *pxHigherPriorityTaskWoken = pdTRUE;
                                }
                            }
                        }
                    }
                } else {
                    prvIncrementQueueTxLock(pxQueue, cTxLock);
                }
            }

            #[cfg(not(feature = "queue-sets"))]
            {
                if cTxLock == queueUNLOCKED {
                    if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                        == pdFALSE
                    {
                        if xTaskRemoveFromEventList(ptr::addr_of!(
                            (*pxQueue).xTasksWaitingToReceive
                        )) != pdFALSE
                        {
                            if !pxHigherPriorityTaskWoken.is_null() {
                                *pxHigherPriorityTaskWoken = pdTRUE;
                            }
                        }
                    }
                } else {
                    prvIncrementQueueTxLock(pxQueue, cTxLock);
                }
            }

            xReturn = pdPASS;
        } else {
            traceQUEUE_SEND_FROM_ISR_FAILED(pxQueue as *mut c_void);
            xReturn = errQUEUE_FULL;
        }
    }
    portCLEAR_INTERRUPT_MASK_FROM_ISR(uxSavedInterruptStatus);

    traceRETURN_xQueueGiveFromISR(xReturn);

    xReturn
}

/// Wait for a message to arrive on a queue with restricted wake
///
/// This function is used by the timer task to wait for timer commands.
/// It places the calling task on the queue's receive wait list.
///
/// # Safety
///
/// `xQueue` must be the live timer-command queue. The scheduler must already
/// be suspended by the caller, the current task must be the timer daemon, and
/// the caller must preserve the required lock/resume pairing around this
/// operation.
#[cfg(feature = "timers")]
pub unsafe fn vQueueWaitForMessageRestricted(
    xQueue: QueueHandle_t,
    xTicksToWait: TickType_t,
    xWaitIndefinitely: BaseType_t,
) {
    let pxQueue = xQueue as *mut Queue_t;

    // Lock the queue
    prvLockQueue(pxQueue);

    // Check if queue is still empty
    if (*pxQueue).uxMessagesWaiting == 0 {
        // Place ourselves on the waiting list
        // The actual blocking is handled by the caller (vTaskSuspendAll was already called)
        vTaskPlaceOnEventListRestricted(
            ptr::addr_of_mut!((*pxQueue).xTasksWaitingToReceive),
            xTicksToWait,
            xWaitIndefinitely,
        );
    }

    // Unlock the queue
    prvUnlockQueue(pxQueue);
}

// =============================================================================
// Mutex and Semaphore Functions
// =============================================================================

/// Create a mutex using dynamic allocation
///
/// Note: Prefer using `sync::Mutex::new()` which provides a safe, RAII-based
/// wrapper with automatic unlock on drop. Direct use of xQueueCreateMutex
/// is only needed for raw FreeRTOS interop.
///
/// Mutexes support priority inheritance - if a high priority task blocks
/// on a mutex held by a low priority task, the low priority task inherits
/// the high priority until it releases the mutex.
///
/// # Safety
///
/// The allocator and task-context critical-section machinery must be ready.
/// `ucQueueType` must be a supported mutex type. A non-null returned handle is
/// uniquely owned by the caller until deletion and must not be used from ISR
/// context.
#[cfg(all(
    any(feature = "alloc", feature = "heap-4", feature = "heap-5"),
    feature = "use-mutexes"
))]
pub unsafe fn xQueueCreateMutex(ucQueueType: u8) -> QueueHandle_t {
    traceENTER_xQueueCreateMutex(ucQueueType);

    let xNewQueue = xQueueGenericCreate(1, 0, ucQueueType);
    prvInitialiseMutex(xNewQueue as *mut Queue_t);

    traceRETURN_xQueueCreateMutex(xNewQueue);

    xNewQueue
}

/// Create a mutex using static allocation
///
/// Mutexes support priority inheritance - if a high priority task blocks
/// on a mutex held by a low priority task, the low priority task inherits
/// the high priority until it releases the mutex.
///
/// [ORIGINAL C] QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType,
///                                                     StaticQueue_t * pxStaticQueue )
///
/// # Safety
///
/// `ucQueueType` must be a supported mutex type. `pxStaticQueue` must be
/// non-null, aligned, uniquely writable initialized storage that remains live
/// and unmoved for the mutex lifetime. The returned mutex is task-context only.
#[cfg(feature = "use-mutexes")]
pub unsafe fn xQueueCreateMutexStatic(
    ucQueueType: u8,
    pxStaticQueue: *mut StaticQueue_t,
) -> QueueHandle_t {
    traceENTER_xQueueCreateMutexStatic(ucQueueType, pxStaticQueue);

    // Mutexes have length 1 and item size 0
    let xNewQueue = xQueueGenericCreateStatic(1, 0, ptr::null_mut(), pxStaticQueue, ucQueueType);

    prvInitialiseMutex(xNewQueue as *mut Queue_t);

    traceRETURN_xQueueCreateMutexStatic(xNewQueue);

    xNewQueue
}

/// Initialize a mutex (shared by xQueueCreateMutex and xQueueCreateMutexStatic)
///
/// [ORIGINAL C] static void prvInitialiseMutex( Queue_t * pxNewQueue )
#[cfg(feature = "use-mutexes")]
unsafe fn prvInitialiseMutex(pxNewQueue: *mut Queue_t) {
    if !pxNewQueue.is_null() {
        // Initialize mutex-specific fields
        (*pxNewQueue).u.xSemaphore.xMutexHolder = ptr::null_mut();
        (*pxNewQueue).u.xSemaphore.uxRecursiveCallCount = 0;

        // Set pcHead to NULL to indicate this is a mutex
        // (This is how FreeRTOS distinguishes mutexes from queues)
        (*pxNewQueue).pcHead = ptr::null_mut();

        traceCREATE_MUTEX(pxNewQueue as *mut c_void);

        // Give the mutex initially (it starts available)
        xQueueGenericSend(
            pxNewQueue as QueueHandle_t,
            ptr::null(),
            0,
            queueSEND_TO_BACK,
        );
    } else {
        traceCREATE_MUTEX_FAILED();
    }
}

/// Get the task handle of the task that holds the mutex.
///
/// Returns the handle of the task that currently holds the mutex, or NULL
/// if the mutex is not held.
///
/// [ORIGINAL C] TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore )
///
/// # Safety
///
/// `xSemaphore` must identify a live mutex and remain valid for the call. This
/// is a task-context query; the returned non-owning task handle can become
/// stale immediately and must not be dereferenced or retained without further
/// synchronization.
#[cfg(feature = "use-mutexes")]
pub unsafe fn xQueueGetMutexHolder(xSemaphore: QueueHandle_t) -> TaskHandle_t {
    let mut pxReturn: TaskHandle_t = ptr::null_mut();
    let pxSemaphore = xSemaphore as *mut Queue_t;

    traceENTER_xQueueGetMutexHolder(xSemaphore);

    configASSERT(!xSemaphore.is_null());

    // This function is called by xSemaphoreGetMutexHolder(), and should not
    // be called directly. Note: This is a good way of determining if the
    // calling task is the mutex holder, but not a good way of determining the
    // identity of the mutex holder, as the holder may change between the
    // following critical section exiting and the function returning.
    taskENTER_CRITICAL();
    {
        // Check if this is a mutex (pcHead == NULL indicates mutex)
        if (*pxSemaphore).pcHead.is_null() {
            pxReturn = (*pxSemaphore).u.xSemaphore.xMutexHolder;
        }
    }
    taskEXIT_CRITICAL();

    traceRETURN_xQueueGetMutexHolder(pxReturn);

    pxReturn
}

/// Get the task handle of the task that holds the mutex (ISR safe).
///
/// [ORIGINAL C] TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
///
/// # Safety
///
/// The caller must execute at an interrupt priority permitted to call
/// FreeRTOS. `xSemaphore` must identify a live mutex. The returned non-owning
/// task handle may become stale after interrupt exit.
#[cfg(feature = "use-mutexes")]
pub unsafe fn xQueueGetMutexHolderFromISR(xSemaphore: QueueHandle_t) -> TaskHandle_t {
    let pxReturn: TaskHandle_t;

    traceENTER_xQueueGetMutexHolderFromISR(xSemaphore);

    configASSERT(!xSemaphore.is_null());

    // Mutexes cannot be used in interrupt service routines, so the mutex
    // holder should not change in an ISR, and therefore a critical section is
    // not required here.
    // Check if this is a mutex (pcHead == NULL indicates mutex)
    if (*(xSemaphore as *mut Queue_t)).pcHead.is_null() {
        pxReturn = (*(xSemaphore as *mut Queue_t)).u.xSemaphore.xMutexHolder;
    } else {
        pxReturn = ptr::null_mut();
    }

    traceRETURN_xQueueGetMutexHolderFromISR(pxReturn);

    pxReturn
}

/// Give (release) a recursive mutex.
///
/// A recursive mutex can be 'taken' repeatedly by the same task. The mutex
/// is only made available when the holder has called xQueueGiveMutexRecursive()
/// for each successful take.
///
/// [ORIGINAL C] BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
///
/// # Safety
///
/// `xMutex` must identify a live recursive mutex owned by the current task.
/// This is a task-context operation, and the caller must not concurrently
/// delete or reconfigure the mutex.
#[cfg(feature = "use-mutexes")]
pub unsafe fn xQueueGiveMutexRecursive(xMutex: QueueHandle_t) -> BaseType_t {
    let xReturn: BaseType_t;
    let pxMutex = xMutex as *mut Queue_t;

    traceENTER_xQueueGiveMutexRecursive(xMutex);

    configASSERT(!pxMutex.is_null());

    // If this is the task that holds the mutex then xMutexHolder will not
    // change outside of this task.
    if (*pxMutex).u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() {
        traceGIVE_MUTEX_RECURSIVE(pxMutex as *mut c_void);

        // uxRecursiveCallCount cannot be zero if xMutexHolder is equal to
        // the task handle, therefore no underflow check is required.
        (*pxMutex).u.xSemaphore.uxRecursiveCallCount -= 1;

        // Has the recursive call count unwound to 0?
        if (*pxMutex).u.xSemaphore.uxRecursiveCallCount == 0 {
            // Return the mutex. This will automatically unblock any other
            // task that might be waiting to access the mutex.
            xQueueGenericSend(pxMutex as QueueHandle_t, ptr::null(), 0, queueSEND_TO_BACK);
        }

        xReturn = pdPASS;
    } else {
        // The mutex cannot be given because the calling task is not the holder.
        xReturn = pdFAIL;
        traceGIVE_MUTEX_RECURSIVE_FAILED(pxMutex as *mut c_void);
    }

    traceRETURN_xQueueGiveMutexRecursive(xReturn);

    xReturn
}

/// Take a semaphore (or mutex)
///
/// Note: Prefer using `sync::Mutex::lock()`, `sync::BinarySemaphore::take()`,
/// or `sync::CountingSemaphore::take()` which provide safe wrappers.
/// Direct use of xQueueSemaphoreTake is only needed for raw FreeRTOS interop.
///
/// This wraps xQueueReceive with mutex-specific handling for priority inheritance.
///
/// # Safety
///
/// `xQueue` must identify a live semaphore or mutex with zero item size. This
/// must run in task context; a nonzero wait requires a running, unsuspended
/// scheduler. The object must not be deleted while this call can block.
pub unsafe fn xQueueSemaphoreTake(
    xQueue: QueueHandle_t,
    mut xTicksToWait: TickType_t,
) -> BaseType_t {
    let pxQueue = xQueue as *mut Queue_t;
    let mut xEntryTimeSet = pdFALSE;
    let mut xTimeOut = TimeOut_t::new();
    #[cfg(feature = "use-mutexes")]
    let mut xInheritanceOccurred = pdFALSE;

    configASSERT(!pxQueue.is_null());
    configASSERT((*pxQueue).uxItemSize == 0);
    configASSERT(!(xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED && xTicksToWait != 0));

    loop {
        taskENTER_CRITICAL();
        {
            let uxSemaphoreCount = (*pxQueue).uxMessagesWaiting;

            if uxSemaphoreCount > 0 {
                traceQUEUE_RECEIVE(pxQueue as *mut c_void);
                (*pxQueue).uxMessagesWaiting = uxSemaphoreCount - 1;

                #[cfg(feature = "use-mutexes")]
                {
                    if (*pxQueue).pcHead.is_null() {
                        /* Record both ownership and the number of mutexes held
                         * for priority inheritance/disinheritance. */
                        (*pxQueue).u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
                    }
                }

                if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueue).xTasksWaitingToSend)) == pdFALSE
                    && xTaskRemoveFromEventList(ptr::addr_of!((*pxQueue).xTasksWaitingToSend))
                        != pdFALSE
                {
                    queueYIELD_IF_USING_PREEMPTION();
                }

                taskEXIT_CRITICAL();
                return pdPASS;
            }

            if xTicksToWait == 0 {
                taskEXIT_CRITICAL();
                traceQUEUE_RECEIVE_FAILED(pxQueue as *mut c_void);
                return errQUEUE_EMPTY;
            } else if xEntryTimeSet == pdFALSE {
                // SAFETY: xTimeOut is uniquely owned and this call is inside
                // the queue's task critical section.
                unsafe { vTaskInternalSetTimeOutState(&mut xTimeOut) };
                xEntryTimeSet = pdTRUE;
            }
        }
        taskEXIT_CRITICAL();

        vTaskSuspendAll();
        prvLockQueue(pxQueue);

        // SAFETY: both timeout values are initialized, uniquely owned locals;
        // this queue API runs in task context.
        if unsafe { xTaskCheckForTimeOut(&mut xTimeOut, &mut xTicksToWait) } == pdFALSE {
            if prvIsQueueEmpty(pxQueue) != pdFALSE {
                traceBLOCKING_ON_QUEUE_RECEIVE(pxQueue as *mut c_void);

                #[cfg(feature = "use-mutexes")]
                {
                    if (*pxQueue).pcHead.is_null() {
                        taskENTER_CRITICAL();
                        // SAFETY: the queue records a live mutex holder, and
                        // the required task critical section is active.
                        xInheritanceOccurred =
                            unsafe { xTaskPriorityInherit((*pxQueue).u.xSemaphore.xMutexHolder) };
                        taskEXIT_CRITICAL();
                    }
                }

                vTaskPlaceOnEventList(
                    ptr::addr_of_mut!((*pxQueue).xTasksWaitingToReceive),
                    xTicksToWait,
                );
                prvUnlockQueue(pxQueue);

                if xTaskResumeAll() == pdFALSE {
                    portYIELD_WITHIN_API();
                }
            } else {
                prvUnlockQueue(pxQueue);
                xTaskResumeAll();
            }
        } else {
            prvUnlockQueue(pxQueue);
            xTaskResumeAll();

            if prvIsQueueEmpty(pxQueue) != pdFALSE {
                #[cfg(feature = "use-mutexes")]
                {
                    if xInheritanceOccurred != pdFALSE {
                        taskENTER_CRITICAL();
                        let uxHighestWaitingPriority =
                            prvGetHighestPriorityOfWaitToReceiveList(pxQueue);
                        // SAFETY: the recorded holder remains live while the
                        // queue is locked, and the task critical section is
                        // active for list/priority mutation.
                        unsafe {
                            vTaskPriorityDisinheritAfterTimeout(
                                (*pxQueue).u.xSemaphore.xMutexHolder,
                                uxHighestWaitingPriority,
                            )
                        };
                        taskEXIT_CRITICAL();
                    }
                }

                traceQUEUE_RECEIVE_FAILED(pxQueue as *mut c_void);
                return errQUEUE_EMPTY;
            }
        }
    }
}

#[cfg(feature = "use-mutexes")]
unsafe fn prvGetHighestPriorityOfWaitToReceiveList(pxQueue: *const Queue_t) -> UBaseType_t {
    if listCURRENT_LIST_LENGTH(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive)) > 0 {
        configMAX_PRIORITIES
            - listGET_ITEM_VALUE_OF_HEAD_ENTRY(ptr::addr_of!((*pxQueue).xTasksWaitingToReceive))
                as UBaseType_t
    } else {
        tskIDLE_PRIORITY
    }
}

/// Take a recursive mutex.
///
/// A recursive mutex can be 'taken' repeatedly by the same task. The mutex
/// is only made unavailable when the holder has called xQueueTakeMutexRecursive()
/// more times than xQueueGiveMutexRecursive().
///
/// [ORIGINAL C] BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex,
///                                                   TickType_t xTicksToWait )
///
/// # Safety
///
/// `xMutex` must identify a live recursive mutex. This must run in task
/// context; a nonzero wait requires a running, unsuspended scheduler, and the
/// mutex must remain live while the call can block.
#[cfg(feature = "use-mutexes")]
pub unsafe fn xQueueTakeMutexRecursive(
    xMutex: QueueHandle_t,
    xTicksToWait: TickType_t,
) -> BaseType_t {
    let xReturn: BaseType_t;
    let pxMutex = xMutex as *mut Queue_t;

    traceENTER_xQueueTakeMutexRecursive(xMutex, xTicksToWait);

    configASSERT(!pxMutex.is_null());

    // Check if we already hold this mutex. If xMutexHolder is equal to the
    // task handle then xMutexHolder won't change as the calling task is
    // still running.
    let xCurrentTaskHandle = xTaskGetCurrentTaskHandle();

    if (*pxMutex).u.xSemaphore.xMutexHolder == xCurrentTaskHandle {
        (*pxMutex).u.xSemaphore.uxRecursiveCallCount =
            (*pxMutex).u.xSemaphore.uxRecursiveCallCount.wrapping_add(1);
        configASSERT((*pxMutex).u.xSemaphore.uxRecursiveCallCount != 0);
        xReturn = pdPASS;
        traceTAKE_MUTEX_RECURSIVE(pxMutex as *mut c_void);
    } else {
        xReturn = xQueueSemaphoreTake(xMutex, xTicksToWait);

        if xReturn == pdPASS {
            (*pxMutex).u.xSemaphore.uxRecursiveCallCount =
                (*pxMutex).u.xSemaphore.uxRecursiveCallCount.wrapping_add(1);
            configASSERT((*pxMutex).u.xSemaphore.uxRecursiveCallCount != 0);
            traceTAKE_MUTEX_RECURSIVE(pxMutex as *mut c_void);
        } else {
            traceTAKE_MUTEX_RECURSIVE_FAILED(pxMutex as *mut c_void);
        }
    }

    traceRETURN_xQueueTakeMutexRecursive(xReturn);

    xReturn
}

// =============================================================================
// Counting Semaphores
// =============================================================================

/// Create a counting semaphore using dynamic allocation.
///
/// A counting semaphore can be 'given' multiple times (up to uxMaxCount).
/// Each 'take' decrements the count. A task blocks when trying to take
/// from a semaphore with count 0.
///
/// [ORIGINAL C] QueueHandle_t xQueueCreateCountingSemaphore(
///                  const UBaseType_t uxMaxCount,
///                  const UBaseType_t uxInitialCount )
///
/// # Safety
///
/// The allocator and task-context critical-section machinery must be ready.
/// `uxMaxCount` must be nonzero and `uxInitialCount <= uxMaxCount`. The caller
/// uniquely owns a non-null returned handle until deletion.
#[cfg(any(feature = "alloc", feature = "heap-4", feature = "heap-5"))]
pub unsafe fn xQueueCreateCountingSemaphore(
    uxMaxCount: UBaseType_t,
    uxInitialCount: UBaseType_t,
) -> QueueHandle_t {
    let xHandle: QueueHandle_t;

    traceENTER_xQueueCreateCountingSemaphore(uxMaxCount, uxInitialCount);

    configASSERT(uxMaxCount != 0);
    configASSERT(uxInitialCount <= uxMaxCount);

    xHandle = xQueueGenericCreate(
        uxMaxCount,
        queueSEMAPHORE_QUEUE_ITEM_LENGTH,
        queueQUEUE_TYPE_COUNTING_SEMAPHORE,
    );

    if !xHandle.is_null() {
        let pxQueue = xHandle as *mut Queue_t;
        (*pxQueue).uxMessagesWaiting = uxInitialCount;
        traceCREATE_COUNTING_SEMAPHORE();
    } else {
        traceCREATE_COUNTING_SEMAPHORE_FAILED();
    }

    traceRETURN_xQueueCreateCountingSemaphore(xHandle);

    xHandle
}

/// Create a counting semaphore using static allocation.
///
/// [ORIGINAL C] QueueHandle_t xQueueCreateCountingSemaphoreStatic(
///                  const UBaseType_t uxMaxCount,
///                  const UBaseType_t uxInitialCount,
///                  StaticQueue_t * pxStaticQueue )
///
/// # Safety
///
/// `uxMaxCount` must be nonzero and `uxInitialCount <= uxMaxCount`.
/// `pxStaticQueue` must be non-null, aligned, uniquely writable initialized
/// storage that remains live and unmoved for the semaphore lifetime.
pub unsafe fn xQueueCreateCountingSemaphoreStatic(
    uxMaxCount: UBaseType_t,
    uxInitialCount: UBaseType_t,
    pxStaticQueue: *mut StaticQueue_t,
) -> QueueHandle_t {
    let xHandle: QueueHandle_t;

    traceENTER_xQueueCreateCountingSemaphoreStatic(uxMaxCount, uxInitialCount, pxStaticQueue);

    configASSERT(uxMaxCount != 0);
    configASSERT(uxInitialCount <= uxMaxCount);

    xHandle = xQueueGenericCreateStatic(
        uxMaxCount,
        queueSEMAPHORE_QUEUE_ITEM_LENGTH,
        ptr::null_mut(),
        pxStaticQueue,
        queueQUEUE_TYPE_COUNTING_SEMAPHORE,
    );

    if !xHandle.is_null() {
        let pxQueue = xHandle as *mut Queue_t;
        (*pxQueue).uxMessagesWaiting = uxInitialCount;
        traceCREATE_COUNTING_SEMAPHORE();
    } else {
        traceCREATE_COUNTING_SEMAPHORE_FAILED();
    }

    traceRETURN_xQueueCreateCountingSemaphoreStatic(xHandle);

    xHandle
}

// =============================================================================
// Queue Sets (if enabled)
// =============================================================================

/// Notify a queue set container that a member has data.
///
/// This is called from within xQueueGenericSend and xQueueGenericSendFromISR
/// when data is posted to a queue that is a member of a queue set. The queue
/// set is notified by posting the handle of the queue to the queue set.
///
/// # Safety
/// - Must be called from within a critical section
/// - pxQueue must be a valid queue handle
#[cfg(feature = "queue-sets")]
unsafe fn prvNotifyQueueSetContainer(pxQueue: *const Queue_t) -> BaseType_t {
    let pxQueueSetContainer = (*pxQueue).pxQueueSetContainer;
    let mut xReturn: BaseType_t = pdFALSE;

    // This function must be called from a critical section.
    configASSERT(!pxQueueSetContainer.is_null());
    configASSERT((*pxQueueSetContainer).uxMessagesWaiting < (*pxQueueSetContainer).uxLength);

    if (*pxQueueSetContainer).uxMessagesWaiting < (*pxQueueSetContainer).uxLength {
        let cTxLock = (*pxQueueSetContainer).cTxLock;

        traceQUEUE_SET_SEND(pxQueueSetContainer as *mut c_void);

        // The data copied is the handle of the queue that contains data.
        // A queue set is a queue whose items are queue handles (pointers).
        xReturn = prvCopyDataToQueue(
            pxQueueSetContainer,
            &pxQueue as *const *const Queue_t as *const c_void,
            queueSEND_TO_BACK,
        );

        if cTxLock == queueUNLOCKED {
            if listLIST_IS_EMPTY(ptr::addr_of!((*pxQueueSetContainer).xTasksWaitingToReceive))
                == pdFALSE
            {
                if xTaskRemoveFromEventList(ptr::addr_of!(
                    (*pxQueueSetContainer).xTasksWaitingToReceive
                )) != pdFALSE
                {
                    // The task waiting has a higher priority.
                    xReturn = pdTRUE;
                }
            }
        } else {
            // Queue set is locked, increment tx lock count.
            prvIncrementQueueTxLock(pxQueueSetContainer, cTxLock);
        }
    }

    xReturn
}

/// Create a queue set.
///
/// A queue set is a collection of queues and/or semaphores. A task can block
/// on a queue set to wait for data to become available on any of the queues
/// or semaphores in the set.
///
/// # Parameters
/// - uxEventQueueLength: The maximum number of events that can be queued at once.
///   This should be the sum of the lengths of all queues in the set plus the
///   maximum count of all semaphores in the set.
///
/// # Returns
/// - A handle to the queue set on success
/// - null on failure
///
/// # Safety
/// - Requires heap allocation (alloc feature)
#[cfg(all(
    feature = "queue-sets",
    any(feature = "alloc", feature = "heap-4", feature = "heap-5")
))]
pub unsafe fn xQueueCreateSet(uxEventQueueLength: UBaseType_t) -> QueueSetHandle_t {
    // A queue set is just a queue where each item is a pointer to a queue/semaphore.
    // [AMENDMENT] In C, this uses sizeof(Queue_t *). In Rust, we use size_of::<*mut Queue_t>().
    let pxQueue = xQueueGenericCreate(
        uxEventQueueLength,
        core::mem::size_of::<*mut Queue_t>() as UBaseType_t,
        queueQUEUE_TYPE_SET,
    );

    pxQueue
}

/// Create a queue set using statically allocated memory.
///
/// # Parameters
/// - uxEventQueueLength: The maximum number of events that can be queued at once.
/// - pucQueueStorage: Pointer to storage for the queue data. Must be at least
///   uxEventQueueLength * sizeof(pointer) bytes.
/// - pxStaticQueue: Pointer to a StaticQueue_t structure for the queue state.
///
/// # Returns
/// - A handle to the queue set on success
/// - null on failure
///
/// # Safety
/// - pucQueueStorage must point to valid memory of sufficient size
/// - pxStaticQueue must point to valid memory for StaticQueue_t
#[cfg(feature = "queue-sets")]
pub unsafe fn xQueueCreateSetStatic(
    uxEventQueueLength: UBaseType_t,
    pucQueueStorage: *mut u8,
    pxStaticQueue: *mut StaticQueue_t,
) -> QueueSetHandle_t {
    // [AMENDMENT] In C, this uses sizeof(Queue_t *). In Rust, we use size_of::<*mut Queue_t>().
    let pxQueue = xQueueGenericCreateStatic(
        uxEventQueueLength,
        core::mem::size_of::<*mut Queue_t>() as UBaseType_t,
        pucQueueStorage,
        pxStaticQueue,
        queueQUEUE_TYPE_SET,
    );

    pxQueue
}

/// Add a queue or semaphore to a queue set.
///
/// A queue or semaphore can only be a member of one queue set at a time.
/// The queue/semaphore must be empty when added to a set.
///
/// # Parameters
/// - xQueueOrSemaphore: Handle of the queue or semaphore to add
/// - xQueueSet: Handle of the queue set to add it to
///
/// # Returns
/// - pdPASS if successfully added
/// - pdFAIL if already a member of a set or not empty
///
/// # Safety
/// - Both handles must be valid
#[cfg(feature = "queue-sets")]
pub unsafe fn xQueueAddToSet(
    xQueueOrSemaphore: QueueSetMemberHandle_t,
    xQueueSet: QueueSetHandle_t,
) -> BaseType_t {
    let xReturn: BaseType_t;

    taskENTER_CRITICAL();
    {
        if !(*xQueueOrSemaphore).pxQueueSetContainer.is_null() {
            // Cannot add a queue/semaphore to more than one queue set.
            xReturn = pdFAIL;
        } else if (*xQueueOrSemaphore).uxMessagesWaiting != 0 {
            // Cannot add a queue/semaphore to a queue set if there are already
            // items in the queue/semaphore.
            xReturn = pdFAIL;
        } else {
            (*xQueueOrSemaphore).pxQueueSetContainer = xQueueSet;
            xReturn = pdPASS;
        }
    }
    taskEXIT_CRITICAL();

    xReturn
}

/// Remove a queue or semaphore from a queue set.
///
/// The queue/semaphore must be empty when removed from a set.
///
/// # Parameters
/// - xQueueOrSemaphore: Handle of the queue or semaphore to remove
/// - xQueueSet: Handle of the queue set it belongs to
///
/// # Returns
/// - pdPASS if successfully removed
/// - pdFAIL if not a member of the specified set or not empty
///
/// # Safety
/// - Both handles must be valid
#[cfg(feature = "queue-sets")]
pub unsafe fn xQueueRemoveFromSet(
    xQueueOrSemaphore: QueueSetMemberHandle_t,
    xQueueSet: QueueSetHandle_t,
) -> BaseType_t {
    let xReturn: BaseType_t;

    if (*xQueueOrSemaphore).pxQueueSetContainer != xQueueSet {
        // The queue was not a member of the set.
        xReturn = pdFAIL;
    } else if (*xQueueOrSemaphore).uxMessagesWaiting != 0 {
        // It is dangerous to remove a queue from a set when the queue is
        // not empty because the queue set will still hold pending events.
        xReturn = pdFAIL;
    } else {
        taskENTER_CRITICAL();
        {
            // The queue is no longer contained in the set.
            (*xQueueOrSemaphore).pxQueueSetContainer = ptr::null_mut();
        }
        taskEXIT_CRITICAL();
        xReturn = pdPASS;
    }

    xReturn
}

/// Select a queue or semaphore from a queue set that has data available.
///
/// Blocks until a member of the set has data available or the timeout expires.
///
/// # Parameters
/// - xQueueSet: Handle of the queue set to select from
/// - xTicksToWait: Maximum time to wait for data to become available
///
/// # Returns
/// - Handle of a queue/semaphore with available data, or null if timeout
///
/// # Safety
/// - xQueueSet must be a valid queue set handle
#[cfg(feature = "queue-sets")]
pub unsafe fn xQueueSelectFromSet(
    xQueueSet: QueueSetHandle_t,
    xTicksToWait: TickType_t,
) -> QueueSetMemberHandle_t {
    let mut xReturn: QueueSetMemberHandle_t = ptr::null_mut();

    // A queue set is a queue containing pointers to other queues.
    // Receiving from a queue set gives us the handle of a queue with data.
    xQueueReceive(
        xQueueSet,
        &mut xReturn as *mut QueueSetMemberHandle_t as *mut c_void,
        xTicksToWait,
    );

    xReturn
}

/// Select a queue or semaphore from a queue set from ISR context.
///
/// Non-blocking version for use in interrupt service routines.
///
/// # Parameters
/// - xQueueSet: Handle of the queue set to select from
///
/// # Returns
/// - Handle of a queue/semaphore with available data, or null if none available
///
/// # Safety
/// - xQueueSet must be a valid queue set handle
/// - Must be called from an ISR or with interrupts disabled
#[cfg(feature = "queue-sets")]
pub unsafe fn xQueueSelectFromSetFromISR(xQueueSet: QueueSetHandle_t) -> QueueSetMemberHandle_t {
    let mut xReturn: QueueSetMemberHandle_t = ptr::null_mut();

    /* Keep the queue-set receive path identical to the queue ISR path.  In
     * particular this preserves cRxLock accounting when the set is locked. */
    let _ = xQueueReceiveFromISR(
        xQueueSet,
        &mut xReturn as *mut QueueSetMemberHandle_t as *mut c_void,
        ptr::null_mut(),
    );

    xReturn
}

/// Trace hook for queue set send (no-op by default)
#[cfg(feature = "queue-sets")]
#[inline(always)]
fn traceQUEUE_SET_SEND(_pxQueue: *mut c_void) {}

// =============================================================================
// Queue Registry (for kernel-aware debugging)
// =============================================================================

#[cfg(feature = "queue-registry")]
mod queue_registry {
    use super::*;
    use crate::config::configQUEUE_REGISTRY_SIZE;

    /// Queue registry item - associates a name with a queue handle
    ///
    /// [ORIGINAL C]
    /// typedef struct QUEUE_REGISTRY_ITEM
    /// {
    ///     const char * pcQueueName;
    ///     QueueHandle_t xHandle;
    /// } xQueueRegistryItem;
    #[repr(C)]
    struct QueueRegistryItem {
        /// Name of the queue (pointer to string, not owned)
        pcQueueName: *const u8,
        /// Handle to the queue
        xHandle: QueueHandle_t,
    }

    impl QueueRegistryItem {
        const fn new() -> Self {
            QueueRegistryItem {
                pcQueueName: ptr::null(),
                xHandle: ptr::null_mut(),
            }
        }
    }

    /// The queue registry array
    ///
    /// [ORIGINAL C]
    /// PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
    static mut QUEUE_REGISTRY: [QueueRegistryItem; configQUEUE_REGISTRY_SIZE] =
        [const { QueueRegistryItem::new() }; configQUEUE_REGISTRY_SIZE];

    /// Add a queue to the registry for kernel-aware debugging.
    ///
    /// Associates a textual name with a queue handle for display in
    /// kernel-aware debuggers. If the queue is already in the registry,
    /// the name is updated.
    ///
    /// # Safety
    ///
    /// - xQueue must be a valid queue handle
    /// - pcQueueName must be a valid null-terminated string that outlives the registration
    ///
    /// [ORIGINAL C] void vQueueAddToRegistry( QueueHandle_t xQueue, const char * pcQueueName )
    pub unsafe fn vQueueAddToRegistry(xQueue: QueueHandle_t, pcQueueName: *const u8) {
        traceENTER_vQueueAddToRegistry(xQueue, pcQueueName);

        configASSERT(!xQueue.is_null());

        if !pcQueueName.is_null() {
            let mut pxEntryToWrite: Option<usize> = None;

            // See if there is an empty space in the registry. A NULL name denotes
            // a free slot.
            for ux in 0..configQUEUE_REGISTRY_SIZE {
                // Replace an existing entry if the queue is already in the registry.
                if xQueue == QUEUE_REGISTRY[ux].xHandle {
                    pxEntryToWrite = Some(ux);
                    break;
                }
                // Otherwise, store in the next empty location
                else if pxEntryToWrite.is_none() && QUEUE_REGISTRY[ux].pcQueueName.is_null() {
                    pxEntryToWrite = Some(ux);
                }
            }

            if let Some(ux) = pxEntryToWrite {
                // Store the information on this queue.
                QUEUE_REGISTRY[ux].pcQueueName = pcQueueName;
                QUEUE_REGISTRY[ux].xHandle = xQueue;

                traceQUEUE_REGISTRY_ADD(xQueue, pcQueueName);
            }
        }

        traceRETURN_vQueueAddToRegistry();
    }

    /// Get the name of a queue from the registry.
    ///
    /// Returns the name associated with a queue handle, or NULL if the
    /// queue is not in the registry.
    ///
    /// # Safety
    ///
    /// - xQueue must be a valid queue handle
    ///
    /// [ORIGINAL C] const char * pcQueueGetName( QueueHandle_t xQueue )
    pub unsafe fn pcQueueGetName(xQueue: QueueHandle_t) -> *const u8 {
        traceENTER_pcQueueGetName(xQueue);

        configASSERT(!xQueue.is_null());

        let mut pcReturn: *const u8 = ptr::null();

        // Note there is nothing here to protect against another task adding or
        // removing entries from the registry while it is being searched.
        for ux in 0..configQUEUE_REGISTRY_SIZE {
            if QUEUE_REGISTRY[ux].xHandle == xQueue {
                pcReturn = QUEUE_REGISTRY[ux].pcQueueName;
                break;
            }
        }

        traceRETURN_pcQueueGetName(pcReturn);

        pcReturn
    }

    /// Remove a queue from the registry.
    ///
    /// Removes a queue from the registry, freeing its slot for reuse.
    /// Should be called when a queue is deleted.
    ///
    /// # Safety
    ///
    /// - xQueue must be a valid queue handle
    ///
    /// [ORIGINAL C] void vQueueUnregisterQueue( QueueHandle_t xQueue )
    pub unsafe fn vQueueUnregisterQueue(xQueue: QueueHandle_t) {
        traceENTER_vQueueUnregisterQueue(xQueue);

        configASSERT(!xQueue.is_null());

        // See if the handle of the queue being unregistered is actually in the
        // registry.
        for ux in 0..configQUEUE_REGISTRY_SIZE {
            if QUEUE_REGISTRY[ux].xHandle == xQueue {
                // Set the name to NULL to show that this slot is free again.
                QUEUE_REGISTRY[ux].pcQueueName = ptr::null();

                // Set the handle to NULL to ensure the same queue handle cannot
                // appear in the registry twice if it is added, removed, then
                // added again.
                QUEUE_REGISTRY[ux].xHandle = ptr::null_mut();
                break;
            }
        }

        traceRETURN_vQueueUnregisterQueue();
    }

    // Trace hooks (no-op by default)
    #[inline(always)]
    fn traceENTER_vQueueAddToRegistry(_xQueue: QueueHandle_t, _pcQueueName: *const u8) {}
    #[inline(always)]
    fn traceRETURN_vQueueAddToRegistry() {}
    #[inline(always)]
    fn traceQUEUE_REGISTRY_ADD(_xQueue: QueueHandle_t, _pcQueueName: *const u8) {}
    #[inline(always)]
    fn traceENTER_pcQueueGetName(_xQueue: QueueHandle_t) {}
    #[inline(always)]
    fn traceRETURN_pcQueueGetName(_pcReturn: *const u8) {}
    #[inline(always)]
    fn traceENTER_vQueueUnregisterQueue(_xQueue: QueueHandle_t) {}
    #[inline(always)]
    fn traceRETURN_vQueueUnregisterQueue() {}
}

#[cfg(feature = "queue-registry")]
pub use queue_registry::*;

#[cfg(all(test, feature = "port-test"))]
mod tests {
    use super::*;

    #[cfg(feature = "use-mutexes")]
    use crate::kernel::tasks::{pxCurrentTCB, TCB_t};

    #[test]
    fn capacity_one_send_to_front_wraps_within_storage() {
        let mut queue_buffer = StaticQueue_t::new();
        let mut storage = [0u32; 1];
        let queue = unsafe {
            xQueueCreateStatic(
                1,
                core::mem::size_of::<u32>() as UBaseType_t,
                storage.as_mut_ptr() as *mut u8,
                &mut queue_buffer,
            )
        };
        assert!(!queue.is_null());

        let sent = 0x1234_5678u32;
        assert_eq!(
            unsafe {
                xQueueGenericSend(
                    queue,
                    &sent as *const u32 as *const c_void,
                    0,
                    queueSEND_TO_FRONT,
                )
            },
            pdPASS
        );

        let mut received = 0u32;
        assert_eq!(
            unsafe { xQueueReceive(queue, &mut received as *mut u32 as *mut c_void, 0,) },
            pdPASS
        );
        assert_eq!(received, sent);
    }

    #[test]
    fn capacity_one_overwrite_from_isr_replaces_existing_item() {
        let mut queue_buffer = StaticQueue_t::new();
        let mut storage = [0u32; 1];
        let queue = unsafe {
            xQueueCreateStatic(
                1,
                core::mem::size_of::<u32>() as UBaseType_t,
                storage.as_mut_ptr() as *mut u8,
                &mut queue_buffer,
            )
        };
        assert!(!queue.is_null());

        let first = 0x1111_1111u32;
        let replacement = 0x2222_2222u32;
        assert_eq!(
            unsafe {
                xQueueGenericSend(
                    queue,
                    &first as *const u32 as *const c_void,
                    0,
                    queueSEND_TO_BACK,
                )
            },
            pdPASS
        );
        assert_eq!(
            unsafe {
                xQueueOverwriteFromISR(
                    queue,
                    &replacement as *const u32 as *const c_void,
                    ptr::null_mut(),
                )
            },
            pdPASS
        );
        assert_eq!(unsafe { uxQueueMessagesWaiting(queue) }, 1);

        let mut received = 0u32;
        assert_eq!(
            unsafe { xQueueReceive(queue, &mut received as *mut u32 as *mut c_void, 0,) },
            pdPASS
        );
        assert_eq!(received, replacement);
    }

    #[cfg(feature = "queue-sets")]
    #[test]
    fn locked_queue_set_isr_paths_defer_events_and_cap_lock_counts() {
        crate::port::test_port_reset();

        let mut member_buffer = StaticQueue_t::new();
        let mut set_buffer = StaticQueue_t::new();
        let mut set_storage = [ptr::null_mut::<Queue_t>(); 1];

        unsafe {
            let member = xQueueGenericCreateStatic(
                1,
                queueSEMAPHORE_QUEUE_ITEM_LENGTH,
                ptr::null_mut(),
                &mut member_buffer,
                queueQUEUE_TYPE_BINARY_SEMAPHORE,
            );
            let set =
                xQueueCreateSetStatic(1, set_storage.as_mut_ptr().cast::<u8>(), &mut set_buffer);
            assert!(!member.is_null() && !set.is_null());
            assert_eq!(xQueueAddToSet(member, set), pdPASS);

            /* A give while the member is locked must not touch its set.  Any
             * deferred notification is accounted through the capped cTxLock. */
            (*member).cTxLock = queueLOCKED_UNMODIFIED;
            assert_eq!(xQueueGiveFromISR(member, ptr::null_mut()), pdPASS);
            /* No tasks exist in this host fixture, so the upstream lock-count
             * cap keeps the deferred count at zero. */
            assert_eq!((*member).cTxLock, queueLOCKED_UNMODIFIED);
            assert_eq!((*set).uxMessagesWaiting, 0);

            /* Exercise the unlocked queue-set notification path separately. */
            (*member).uxMessagesWaiting = 0;
            (*member).cTxLock = queueUNLOCKED;
            assert_eq!(xQueueGiveFromISR(member, ptr::null_mut()), pdPASS);
            assert_eq!((*set).uxMessagesWaiting, 1);

            /* Upstream implements set selection through xQueueReceiveFromISR,
             * including deferred receive accounting while the set is locked. */
            (*set).cRxLock = queueLOCKED_UNMODIFIED;
            assert_eq!(xQueueSelectFromSetFromISR(set), member);
            assert_eq!((*set).cRxLock, queueLOCKED_UNMODIFIED);
            assert_eq!((*set).uxMessagesWaiting, 0);
        }
    }

    #[cfg(feature = "use-mutexes")]
    #[test]
    fn ordinary_mutex_take_records_and_give_clears_owner() {
        crate::port::test_port_reset();

        let mut current = TCB_t::new();
        current.uxPriority = 2;
        current.uxBasePriority = 2;
        let current_ptr = core::ptr::addr_of_mut!(current);
        let mut mutex_buffer = StaticQueue_t::new();

        unsafe {
            pxCurrentTCB = current_ptr;
            let mutex = xQueueCreateMutexStatic(queueQUEUE_TYPE_MUTEX, &mut mutex_buffer);
            assert!(!mutex.is_null());
            assert_eq!(xQueueSemaphoreTake(mutex, 0), pdPASS);
            assert!((*mutex).u.xSemaphore.xMutexHolder == current_ptr.cast());
            assert_eq!((*current_ptr).uxMutexesHeld, 1);
            assert_eq!((*mutex).uxMessagesWaiting, 0);

            assert_eq!(
                xQueueGenericSend(mutex, ptr::null(), 0, queueSEND_TO_BACK),
                pdPASS
            );
            assert!((*mutex).u.xSemaphore.xMutexHolder.is_null());
            assert_eq!((*current_ptr).uxMutexesHeld, 0);
            assert_eq!((*mutex).uxMessagesWaiting, 1);
            pxCurrentTCB = ptr::null_mut();
        }
    }

    #[cfg(feature = "use-mutexes")]
    #[test]
    fn recursive_mutex_counts_depth_but_only_one_held_mutex() {
        crate::port::test_port_reset();

        let mut current = TCB_t::new();
        current.uxPriority = 2;
        current.uxBasePriority = 2;
        let current_ptr = core::ptr::addr_of_mut!(current);
        let mut mutex_buffer = StaticQueue_t::new();

        unsafe {
            pxCurrentTCB = current_ptr;
            let mutex = xQueueCreateMutexStatic(queueQUEUE_TYPE_RECURSIVE_MUTEX, &mut mutex_buffer);
            assert!(!mutex.is_null());

            assert_eq!(xQueueTakeMutexRecursive(mutex, 0), pdPASS);
            assert_eq!(xQueueTakeMutexRecursive(mutex, 0), pdPASS);
            assert_eq!((*mutex).u.xSemaphore.uxRecursiveCallCount, 2);
            assert_eq!((*current_ptr).uxMutexesHeld, 1);
            assert_eq!((*mutex).uxMessagesWaiting, 0);

            assert_eq!(xQueueGiveMutexRecursive(mutex), pdPASS);
            assert_eq!((*mutex).u.xSemaphore.uxRecursiveCallCount, 1);
            assert_eq!((*current_ptr).uxMutexesHeld, 1);
            assert_eq!((*mutex).uxMessagesWaiting, 0);

            assert_eq!(xQueueGiveMutexRecursive(mutex), pdPASS);
            assert_eq!((*mutex).u.xSemaphore.uxRecursiveCallCount, 0);
            assert_eq!((*current_ptr).uxMutexesHeld, 0);
            assert_eq!((*mutex).uxMessagesWaiting, 1);
            assert!((*mutex).u.xSemaphore.xMutexHolder.is_null());
            pxCurrentTCB = ptr::null_mut();
        }
    }
}