/**
* @brief Posts an high priority message into a mailbox.
* @details The invoking thread waits until a empty slot in the mailbox becomes
* available or the specified time runs out.
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
* @param[in] msg the message to be posted on the mailbox
* @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
* @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval MSG_TIMEOUT if the operation has timed out.
*
* @api
*/
msg_t chMBPostAhead(mailbox_t *mbp, msg_t msg, systime_t time) {
msg_t rdymsg;
chSysLock();
rdymsg = chMBPostAheadS(mbp, msg, time);
chSysUnlock();
return rdymsg;
}
/**
* @brief Queues a sensor read to the reading thread.
*
* @param[in] srdp Pointer to the SensorReadDriver object.
* @param[in] senp Pointer the generic_sensor_t object to be queued.
* @param[in] time The number of ticks before the operation timeouts.
* TIME_IMMEDIATE and TIME_INFINITE is allowed.
*
* @return The operation status.
* @retval MSG_OK If a read request has been correctly queued.
* @retval MSG_RESET If the queue has been reset while waiting.
* @retval MSG_TIMEOUT If the queue operation timed out and the request
* cannot be queued.
*
* @sclass
*/
msg_t SensorReadInjectReadS(SensorReadDriver *srdp,
const generic_sensor_t *senp,
systime_t time)
{
if (senp->priority_sensor == true)
/* Priority sensor, put it at the front of the queue */
return chMBPostAheadS(&srdp->srd_mailbox, (msg_t)senp, time);
else
/* Not a priority sensor, put it at the end of the queue */
return chMBPostS(&srdp->srd_mailbox, (msg_t)senp, time);
}
msg_t Mailbox::postAheadS(msg_t msg, systime_t time) {
return chMBPostAheadS(&mb, msg, time);
}
