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use crate::prelude::v1::*; use crate::base::*; use crate::mutex::*; use crate::queue::*; use crate::units::*; pub type SharedClientWithReplyQueue<O> = Arc<ClientWithReplyQueue<O>>; pub type Client<I> = ProcessorClient<I, ()>; pub type ClientWithReplies<I, O> = ProcessorClient<I, SharedClientWithReplyQueue<O>>; pub trait ReplyableMessage { fn reply_to_client_id(&self) -> Option<usize>; } #[derive(Copy, Clone)] pub struct InputMessage<I> where I: Copy { val: I, reply_to_client_id: Option<usize> } impl<I> InputMessage<I> where I: Copy { pub fn request(val: I) -> Self { InputMessage { val: val, reply_to_client_id: None } } pub fn request_with_reply(val: I, client_id: usize) -> Self { InputMessage { val: val, reply_to_client_id: Some(client_id) } } pub fn get_val(&self) -> I { self.val } } impl<I> ReplyableMessage for InputMessage<I> where I: Copy { fn reply_to_client_id(&self) -> Option<usize> { self.reply_to_client_id } } pub struct Processor<I, O> where I: ReplyableMessage + Copy, O: Copy { queue: Arc<Queue<I>>, inner: Arc<Mutex<ProcessorInner<O>>>, } impl<I, O> Processor<I, O> where I: ReplyableMessage + Copy, O: Copy { pub fn new(queue_size: usize) -> Result<Self, FreeRtosError> { let p = ProcessorInner { clients: Vec::new(), next_client_id: 1 }; let p = Arc::new(Mutex::new(p)?); let p = Processor { queue: Arc::new(Queue::new(queue_size)?), inner: p }; Ok(p) } pub fn new_client(&self) -> Result<Client<I>, FreeRtosError> { let c = ProcessorClient { processor_queue: Arc::downgrade(&self.queue), client_reply: () }; Ok(c) } pub fn new_client_with_reply<D: DurationTicks>(&self, client_receive_queue_size: usize, max_wait: D) -> Result<ProcessorClient<I, SharedClientWithReplyQueue<O>>, FreeRtosError> { if client_receive_queue_size == 0 { return Err(FreeRtosError::InvalidQueueSize); } let client_reply = { let mut processor = self.inner.lock(max_wait)?; let c = ClientWithReplyQueue { id: processor.next_client_id, processor_inner: self.inner.clone(), receive_queue: Queue::new(client_receive_queue_size)? }; let c = Arc::new(c); processor.clients.push((c.id, Arc::downgrade(&c))); processor.next_client_id += 1; c }; let c = ProcessorClient { processor_queue: Arc::downgrade(&self.queue), client_reply: client_reply }; Ok(c) } pub fn get_receive_queue(&self) -> &Queue<I> { &*self.queue } pub fn reply<D: DurationTicks>(&self, received_message: I, reply: O, max_wait: D) -> Result<bool, FreeRtosError> { if let Some(client_id) = received_message.reply_to_client_id() { let inner = self.inner.lock(max_wait)?; if let Some(client) = inner.clients.iter().flat_map(|ref x| x.1.upgrade().into_iter()).find(|x| x.id == client_id) { client.receive_queue.send(reply, max_wait)?; return Ok(true); } } Ok(false) } } impl<I, O> Processor<InputMessage<I>, O> where I: Copy, O: Copy { pub fn reply_val<D: DurationTicks>(&self, received_message: InputMessage<I>, reply: O, max_wait: D) -> Result<bool, FreeRtosError> { self.reply(received_message, reply, max_wait) } } struct ProcessorInner<O> where O: Copy { clients: Vec<(usize, Weak<ClientWithReplyQueue<O>>)>, next_client_id: usize } impl<O> ProcessorInner<O> where O: Copy { fn remove_client_reply(&mut self, client: &ClientWithReplyQueue<O>) { self.clients.retain(|ref x| x.0 != client.id) } } pub struct ProcessorClient<I, C> where I: ReplyableMessage + Copy { processor_queue: Weak<Queue<I>>, client_reply: C } impl<I, O> ProcessorClient<I, O> where I: ReplyableMessage + Copy { pub fn send<D: DurationTicks>(&self, message: I, max_wait: D) -> Result<(), FreeRtosError> { let processor_queue = self.processor_queue.upgrade().ok_or(FreeRtosError::ProcessorHasShutDown)?; processor_queue.send(message, max_wait)?; Ok(()) } pub fn send_from_isr(&self, context: &mut crate::isr::InterruptContext, message: I) -> Result<(), FreeRtosError> { let processor_queue = self.processor_queue.upgrade().ok_or(FreeRtosError::ProcessorHasShutDown)?; processor_queue.send_from_isr(context, message) } } impl<I> ProcessorClient<InputMessage<I>, ()> where I: Copy { pub fn send_val<D: DurationTicks>(&self, val: I, max_wait: D) -> Result<(), FreeRtosError> { self.send(InputMessage::request(val), max_wait) } pub fn send_val_from_isr(&self, context: &mut crate::isr::InterruptContext, val: I) -> Result<(), FreeRtosError> { self.send_from_isr(context, InputMessage::request(val)) } } impl<I, O> ProcessorClient<I, SharedClientWithReplyQueue<O>> where I: ReplyableMessage + Copy, O: Copy { pub fn call<D: DurationTicks>(&self, message: I, max_wait: D) -> Result<O, FreeRtosError> { self.send(message, max_wait)?; self.client_reply.receive_queue.receive(max_wait) } pub fn get_receive_queue(&self) -> &Queue<O> { &self.client_reply.receive_queue } } impl<I, O> ProcessorClient<InputMessage<I>, SharedClientWithReplyQueue<O>> where I: Copy, O: Copy { pub fn send_val<D: DurationTicks>(&self, val: I, max_wait: D) -> Result<(), FreeRtosError> { self.send(InputMessage::request(val), max_wait) } pub fn call_val<D: DurationTicks>(&self, val: I, max_wait: D) -> Result<O, FreeRtosError> { let reply = self.call(InputMessage::request_with_reply(val, self.client_reply.id), max_wait)?; Ok(reply) } } impl<I, C> Clone for ProcessorClient<I, C> where I: ReplyableMessage + Copy, C: Clone { fn clone(&self) -> Self { ProcessorClient { processor_queue: self.processor_queue.clone(), client_reply: self.client_reply.clone() } } } pub struct ClientWithReplyQueue<O> where O: Copy { id: usize, processor_inner: Arc<Mutex<ProcessorInner<O>>>, receive_queue: Queue<O> } impl<O> Drop for ClientWithReplyQueue<O> where O: Copy { fn drop(&mut self) { if let Ok(mut p) = self.processor_inner.lock(Duration::ms(1000)) { p.remove_client_reply(&self); } } }