Xenomai
3.1
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real-time IPC mechanism for sending messages of arbitrary size More...
Data Structures | |
struct | RT_QUEUE_INFO |
Queue status descriptor. More... | |
Macros | |
#define | Q_PRIO 0x1 /* Pend by task priority order. */ |
Creation flags. More... | |
Functions | |
int | rt_queue_create (RT_QUEUE *queue, const char *name, size_t poolsize, size_t qlimit, int mode) |
Create a message queue. More... | |
int | rt_queue_delete (RT_QUEUE *queue) |
Delete a message queue. More... | |
void * | rt_queue_alloc (RT_QUEUE *queue, size_t size) |
Allocate a message buffer. More... | |
int | rt_queue_free (RT_QUEUE *queue, void *buf) |
Free a message buffer. More... | |
int | rt_queue_send (RT_QUEUE *queue, const void *buf, size_t size, int mode) |
Send a message to a queue. More... | |
ssize_t | rt_queue_receive_timed (RT_QUEUE *queue, void **bufp, const struct timespec *abs_timeout) |
Receive a message from a queue (with absolute timeout date). More... | |
static ssize_t | rt_queue_receive_until (RT_QUEUE *queue, void **bufp, RTIME timeout) |
Receive from a queue (with absolute scalar timeout). More... | |
static ssize_t | rt_queue_receive (RT_QUEUE *queue, void **bufp, RTIME timeout) |
Receive from a queue (with relative scalar timeout). More... | |
ssize_t | rt_queue_read_timed (RT_QUEUE *queue, void *buf, size_t size, const struct timespec *abs_timeout) |
Read from a queue. More... | |
static ssize_t | rt_queue_read_until (RT_QUEUE *queue, void *buf, size_t size, RTIME timeout) |
Read from a queue (with absolute scalar timeout). More... | |
static ssize_t | rt_queue_read (RT_QUEUE *queue, void *buf, size_t size, RTIME timeout) |
Read from a queue (with relative scalar timeout). More... | |
int | rt_queue_flush (RT_QUEUE *queue) |
Flush pending messages from a queue. More... | |
int | rt_queue_inquire (RT_QUEUE *queue, RT_QUEUE_INFO *info) |
Query queue status. More... | |
int | rt_queue_bind (RT_QUEUE *queue, const char *name, RTIME timeout) |
Bind to a message queue. More... | |
int | rt_queue_unbind (RT_QUEUE *queue) |
Unbind from a message queue. More... | |
real-time IPC mechanism for sending messages of arbitrary size
Message queueing is a method by which real-time tasks can exchange or pass data through a Xenomai-managed queue of messages. Messages can vary in length and be assigned different types or usages. A message queue can be created by one task and used by multiple tasks that send and/or receive messages to the queue.
#define Q_PRIO 0x1 /* Pend by task priority order. */ |
Creation flags.
Referenced by rt_queue_create().
void * rt_queue_alloc | ( | RT_QUEUE * | q, |
size_t | size | ||
) |
Allocate a message buffer.
This service allocates a message buffer from the queue's internal pool. This buffer can be filled in with payload information, prior enqueuing it by a call to rt_queue_send(). When used in pair, these services provide a zero-copy interface for sending messages.
q | The queue descriptor. |
size | The requested size in bytes of the buffer. Zero is an acceptable value, which means that the message conveys no payload; in this case, the receiver will get a zero-sized message. |
int rt_queue_bind | ( | RT_QUEUE * | q, |
const char * | name, | ||
RTIME | timeout | ||
) |
Bind to a message queue.
This routine creates a new descriptor to refer to an existing message queue identified by its symbolic name. If the object does not exist on entry, the caller may block until a queue of the given name is created.
q | The address of a queue descriptor filled in by the operation. Contents of this memory is undefined upon failure. |
name | A valid NULL-terminated name which identifies the queue to bind to. This string should match the object name argument passed to rt_queue_create(). |
timeout | The number of clock ticks to wait for the registration to occur (see note). Passing TM_INFINITE causes the caller to block indefinitely until the object is registered. Passing TM_NONBLOCK causes the service to return immediately without waiting if the object is not registered on entry. |
int rt_queue_create | ( | RT_QUEUE * | q, |
const char * | name, | ||
size_t | poolsize, | ||
size_t | qlimit, | ||
int | mode | ||
) |
Create a message queue.
Create a message queue object which allows multiple tasks to exchange data through the use of variable-sized messages. A message queue is created empty.
q | The address of a queue descriptor which can be later used to identify uniquely the created object, upon success of this call. |
name | An ASCII string standing for the symbolic name of the queue. When non-NULL and non-empty, a copy of this string is used for indexing the created queue into the object registry. |
poolsize | The size (in bytes) of the message buffer pool to be pre-allocated for holding messages. Message buffers will be claimed and released to this pool. The buffer pool memory cannot be extended. See note. |
qlimit | This parameter allows to limit the maximum number of messages which can be queued at any point in time, sending to a full queue begets an error. The special value Q_UNLIMITED can be passed to disable the limit check. |
mode | The queue creation mode. The following flags can be OR'ed into this bitmask, each of them affecting the new queue: |
When qlimit is given (i.e. different from Q_UNLIMITED), this overhead is accounted for automatically, so that qlimit messages of poolsize / qlimit bytes can be stored into the pool concurrently. Otherwise, poolsize is increased by 5% internally to cope with such overhead.
References Q_PRIO.
int rt_queue_delete | ( | RT_QUEUE * | q | ) |
Delete a message queue.
This routine deletes a queue object previously created by a call to rt_queue_create(). All resources attached to that queue are automatically released, including all pending messages.
q | The queue descriptor. |
int rt_queue_flush | ( | RT_QUEUE * | q | ) |
Flush pending messages from a queue.
This routine flushes all messages currently pending in a queue, releasing all message buffers appropriately.
q | The queue descriptor. |
int rt_queue_free | ( | RT_QUEUE * | q, |
void * | buf | ||
) |
Free a message buffer.
This service releases a message buffer to the queue's internal pool.
q | The queue descriptor. |
buf | The address of the message buffer to free. Even zero-sized messages carrying no payload data must be freed, since they are assigned a valid memory space to store internal information. |
int rt_queue_inquire | ( | RT_QUEUE * | q, |
RT_QUEUE_INFO * | info | ||
) |
Query queue status.
This routine returns the status information about the specified queue.
q | The queue descriptor. |
info | A pointer to the return buffer" to copy the information to. |
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inlinestatic |
Read from a queue (with relative scalar timeout).
This routine is a variant of rt_queue_read_timed() accepting a relative timeout specification expressed as a scalar value.
q | The queue descriptor. |
buf | A pointer to a memory area which will be written upon success with the received message payload. |
size | The length in bytes of the memory area pointed to by buf. |
timeout | A delay expressed in clock ticks. Passing TM_INFINITE causes the caller to block indefinitely until a message is available. Passing TM_NONBLOCK causes the service to return immediately without blocking in case no message is available. |
ssize_t rt_queue_read_timed | ( | RT_QUEUE * | q, |
void * | buf, | ||
size_t | size, | ||
const struct timespec * | abs_timeout | ||
) |
Read from a queue.
This service reads the next available message from a given queue.
q | The queue descriptor. |
buf | A pointer to a memory area which will be written upon success with the received message payload. The internal message buffer conveying the data is automatically freed by this call. If –enable-pshared is enabled in the configuration, buf must have been obtained from the Xenomai memory allocator via xnmalloc() or any service based on it, such as rt_heap_alloc(). |
size | The length in bytes of the memory area pointed to by buf. Messages larger than size are truncated appropriately. |
abs_timeout | An absolute date expressed in clock ticks, specifying a time limit to wait for a message to be available from the queue (see note). Passing NULL causes the caller to block indefinitely until a message is available. Passing { .tv_sec = 0, .tv_nsec = 0 } causes the service to return immediately without blocking in case no message is available. |
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inlinestatic |
Read from a queue (with absolute scalar timeout).
This routine is a variant of rt_queue_read_timed() accepting an absolute timeout specification expressed as a scalar value.
q | The queue descriptor. |
buf | A pointer to a memory area which will be written upon success with the received message payload. |
size | The length in bytes of the memory area pointed to by buf. |
abs_timeout | An absolute date expressed in clock ticks. Passing TM_INFINITE causes the caller to block indefinitely until a message is available. Passing TM_NONBLOCK causes the service to return immediately without blocking in case no message is available. |
|
inlinestatic |
Receive from a queue (with relative scalar timeout).
This routine is a variant of rt_queue_receive_timed() accepting a relative timeout specification expressed as a scalar value.
q | The queue descriptor. |
bufp | A pointer to a memory location which will be written with the address of the received message. |
timeout | A delay expressed in clock ticks. Passing TM_INFINITE causes the caller to block indefinitely until a message is available. Passing TM_NONBLOCK causes the service to return immediately without blocking in case no message is available. |
ssize_t rt_queue_receive_timed | ( | RT_QUEUE * | q, |
void ** | bufp, | ||
const struct timespec * | abs_timeout | ||
) |
Receive a message from a queue (with absolute timeout date).
This service receives the next available message from a given queue.
q | The queue descriptor. |
bufp | A pointer to a memory location which will be written with the address of the received message, upon success. Once consumed, the message space should be freed using rt_queue_free(). |
abs_timeout | An absolute date expressed in clock ticks, specifying a time limit to wait for a message to be available from the queue (see note). Passing NULL causes the caller to block indefinitely until a message is available. Passing { .tv_sec = 0, .tv_nsec = 0 } causes the service to return immediately without blocking in case no message is available. |
|
inlinestatic |
Receive from a queue (with absolute scalar timeout).
This routine is a variant of rt_queue_receive_timed() accepting an absolute timeout specification expressed as a scalar value.
q | The queue descriptor. |
bufp | A pointer to a memory location which will be written with the address of the received message. |
abs_timeout | An absolute date expressed in clock ticks. Passing TM_INFINITE causes the caller to block indefinitely until a message is available. Passing TM_NONBLOCK causes the service to return immediately without blocking in case no message is available. |
int rt_queue_send | ( | RT_QUEUE * | q, |
const void * | buf, | ||
size_t | size, | ||
int | mode | ||
) |
Send a message to a queue.
This service sends a complete message to a given queue. The message must have been allocated by a previous call to rt_queue_alloc().
q | The queue descriptor. |
buf | The address of the message buffer to be sent. The message buffer must have been allocated using the rt_queue_alloc() service. Once passed to rt_queue_send(), the memory pointed to by buf is no more under the control of the sender and thus should not be referenced by it anymore; deallocation of this memory must be handled on the receiving side. |
size | The actual size in bytes of the message, which may be lower than the allocated size for the buffer obtained from rt_queue_alloc(). Zero is a valid value, in which case an empty message will be sent. |
mode | A set of flags affecting the operation: |
int rt_queue_unbind | ( | RT_QUEUE * | q | ) |
Unbind from a message queue.
q | The queue descriptor. |
This routine releases a previous binding to a message queue. After this call has returned, the descriptor is no more valid for referencing this object.