CMSIS_5/CMSIS/RTOS2/RTX/Source/rtx_msgqueue.c

/*
 * Copyright (c) 2013-2016 ARM Limited. All rights reserved.
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed under the Apache License, Version 2.0 (the License); you may
 * not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * -----------------------------------------------------------------------------
 *
 * Project:     CMSIS-RTOS RTX
 * Title:       Message Queue functions
 *
 * -----------------------------------------------------------------------------
 */

#include "rtx_lib.h"


//  ==== Helper functions ====

/// Put a Message into Queue sorted by Priority (Highest at Head).
/// \param[in]  mq              message queue object.
/// \param[in]  msg             message object.
static void os_MessageQueuePut (os_message_queue_t *mq, os_message_t *msg) {
#ifdef __NO_EXCLUSIVE_ACCESS
  uint32_t      primask = __get_PRIMASK();
#endif
  os_message_t *prev, *next;

  if (mq->msg_last != NULL) {
    prev = mq->msg_last;
    next = NULL;
    while ((prev != NULL) && (prev->priority < msg->priority)) {
      next = prev;
      prev = prev->prev;
    }
    msg->prev = prev;
    msg->next = next;
    if (prev != NULL) {
      prev->next = msg;
    } else {
      mq->msg_first = msg;
    }
    if (next != NULL) {
      next->prev = msg;
    } else {
      mq->msg_last = msg;
    }
  } else {
    msg->prev = NULL;
    msg->next = NULL;
    mq->msg_first= msg;
    mq->msg_last = msg;
  }

#ifdef __NO_EXCLUSIVE_ACCESS
  __disable_irq();

  mq->msg_count++;

  if (primask == 0U) {
    __enable_irq();
  }
#else
  os_exc_inc32(&mq->msg_count);
#endif
}

/// Get a Message from Queue with Highest Priority.
/// \param[in]  mq              message queue object.
/// \return message object or NULL.
static os_message_t *os_MessageQueueGet (os_message_queue_t *mq) {
#ifdef __NO_EXCLUSIVE_ACCESS
  uint32_t      primask = __get_PRIMASK();
#endif
  os_message_t *msg;
  uint32_t      count;
  uint8_t       flags;

#ifdef __NO_EXCLUSIVE_ACCESS
  __disable_irq();

  count = mq->msg_count;
  if (count != 0U) {
    mq->msg_count--;
  }

  if (primask == 0U) {
    __enable_irq();
  }
#else
  count = os_exc_dec32_nz(&mq->msg_count);
#endif

  if (count == 0U) {
    return NULL;
  }

  msg = mq->msg_first;

  while (msg != NULL) {
#ifdef __NO_EXCLUSIVE_ACCESS
    __disable_irq();

    flags = msg->flags;
    msg->flags = 1U;

    if (primask == 0U) {
      __enable_irq();
    }
#else
    flags = os_exc_wr8(&msg->flags, 1U);
#endif
    if (flags == 0U) {
      break;
    }
    msg = msg->next;
  }

  return msg;
}

/// Remove a Message from Queue
/// \param[in]  mq              message queue object.
/// \param[in]  msg             message object.
static void os_MessageQueueRemove (os_message_queue_t *mq, os_message_t *msg) {

  if (msg->prev != NULL) {
    msg->prev->next = msg->next;
  } else {
    mq->msg_first = msg->next;
  }
  if (msg->next != NULL) {
    msg->next->prev = msg->prev;
  } else {
    mq->msg_last = msg->prev;
  }
}


//  ==== Library functions ====

/// Message Queue post ISR processing.
/// \param[in]  msg             message object.
void os_MessageQueuePostProcess (os_message_t *msg) {
  os_message_queue_t *mq;
  os_thread_t        *thread;
  uint32_t           *reg;
  void              **ptr;

  if (msg->state == os_ObjectInactive) {
    return;
  }

  if (msg->flags != 0U) {
    // Remove Message
    ptr = (void *)((uint8_t *)msg + sizeof(os_message_t));
    mq = *ptr;
    if (mq->state == os_ObjectInactive) {
      return;
    }
    os_MessageQueueRemove(mq, msg);
    // Free memory
    msg->state = os_ObjectInactive;
    os_MemoryPoolFree(&mq->mp_info, msg);
    // Check if Thread is waiting to send a Message
    if ((mq->thread_list != NULL) && (mq->thread_list->state == os_ThreadWaitingMessagePut)) {
      // Try to allocate memory
      msg = os_MemoryPoolAlloc(&mq->mp_info);
      if (msg != NULL) {
        // Wakeup waiting Thread with highest Priority
        thread = os_ThreadListGet((os_object_t*)mq);
        os_ThreadWaitExit(thread, (uint32_t)osOK, false);
        // Copy Message (R1 = const void *msg_ptr, R2 = msg_prio)
        reg = os_ThreadRegPtr(thread);
        memcpy((uint8_t *)msg + sizeof(os_message_t), (void *)reg[1], mq->msg_size);
        // Store Message into Queue
        msg->id       = os_IdMessage;
        msg->state    = os_ObjectActive;
        msg->flags    = 0U;
        msg->priority = (uint8_t)reg[2];
        os_MessageQueuePut(mq, msg);
      }
    }
  } else {
    // New Message
    ptr = (void *)((uint8_t *)msg + sizeof(os_message_t) - sizeof(os_message_queue_t *));
    mq = *ptr;
    if (mq->state == os_ObjectInactive) {
      return;
    }
    // Check if Thread is waiting to receive a Message
    if ((mq->thread_list != NULL) && (mq->thread_list->state == os_ThreadWaitingMessageGet)) {
      // Wakeup waiting Thread with highest Priority
      thread = os_ThreadListGet((os_object_t*)mq);
      os_ThreadWaitExit(thread, (uint32_t)osOK, false);
      // Copy Message (R1 = void *msg_ptr, R2 = *msg_prio)
      reg = os_ThreadRegPtr(thread);
      memcpy((void *)reg[1], (uint8_t *)msg + sizeof(os_message_t), mq->msg_size);
      if (reg[2] != 0U) {
        *((uint8_t *)reg[2]) = msg->priority;
      }
      // Free memory
      msg->state = os_ObjectInactive;
      os_MemoryPoolFree(&mq->mp_info, msg);
    } else {
      os_MessageQueuePut(mq, msg);
    }
  }
}


//  ==== Service Calls ====

SVC0_3(MessageQueueNew,         osMessageQueueId_t, uint32_t, uint32_t, const osMessageQueueAttr_t *)
SVC0_4(MessageQueuePut,         osStatus_t,         osMessageQueueId_t, const void *, uint8_t,   uint32_t)
SVC0_4(MessageQueueGet,         osStatus_t,         osMessageQueueId_t,       void *, uint8_t *, uint32_t)
SVC0_1(MessageQueueGetCapacity, uint32_t,           osMessageQueueId_t)
SVC0_1(MessageQueueGetMsgSize,  uint32_t,           osMessageQueueId_t)
SVC0_1(MessageQueueGetCount,    uint32_t,           osMessageQueueId_t)
SVC0_1(MessageQueueGetSpace,    uint32_t,           osMessageQueueId_t)
SVC0_1(MessageQueueReset,       osStatus_t,         osMessageQueueId_t)
SVC0_1(MessageQueueDelete,      osStatus_t,         osMessageQueueId_t)

/// Create and Initialize a Message Queue object.
/// \note API identical to osMessageQueueNew
osMessageQueueId_t os_svcMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr) {
  os_message_queue_t *mq;
  void               *mq_mem;
  uint32_t            mq_size;
  uint32_t            block_size;
  uint32_t            size;
  uint8_t             flags;
  const char         *name;

  // Check parameters
  if ((msg_count == 0U) ||
      (msg_size  == 0U)) {
    return (osMessageQueueId_t)NULL;
  }
  msg_size = (msg_size + 3U) & ~3UL;
  block_size = msg_size + sizeof(os_message_t);
  if ((__CLZ(msg_count) + __CLZ(block_size)) < 32) {
    return (osMessageQueueId_t)NULL;
  }

  size = msg_count * block_size;

  // Process attributes
  if (attr != NULL) {
    name    = attr->name;
    mq      = attr->cb_mem;
    mq_mem  = attr->mq_mem;
    mq_size = attr->mq_size;
    if (mq != NULL) {
      if (((uint32_t)mq & 3U) || (attr->cb_size < sizeof(os_message_queue_t))) {
        return (osMessageQueueId_t)NULL;
      }
    } else {
      if (attr->cb_size != 0U) {
        return (osMessageQueueId_t)NULL;
      }
    }
    if (mq_mem != NULL) {
      if (((uint32_t)mq_mem & 3U) || (mq_size < size)) {
        return (osMessageQueueId_t)NULL;
      }
    } else {
      if (mq_size != 0U) {
        return (osMessageQueueId_t)NULL;
      }
    }
  } else {
    name   = NULL;
    mq     = NULL;
    mq_mem = NULL;
  }

  // Allocate object memory if not provided
  if (mq == NULL) {
    if (os_Info.mpi.message_queue != NULL) {
      mq = os_MemoryPoolAlloc(os_Info.mpi.message_queue);
    } else {
      mq = os_MemoryAlloc(os_Info.mem.cb, sizeof(os_message_queue_t));
    }
    if (mq == NULL) {
      return (osMessageQueueId_t)NULL;
    }
    flags = os_FlagSystemObject;
  } else {
    flags = 0U;
  }

  // Allocate data memory if not provided
  if (mq_mem == NULL) {
    mq_mem = os_MemoryAlloc(os_Info.mem.data, size);
    if (mq_mem == NULL) {
      if (flags & os_FlagSystemObject) {
        if (os_Info.mpi.message_queue != NULL) {
          os_MemoryPoolFree(os_Info.mpi.message_queue, mq);
        } else {
          os_MemoryFree(os_Info.mem.cb, mq);
        }
      }
      return (osMessageQueueId_t)NULL;
    }
    memset(mq_mem, 0, size);
    flags |= os_FlagSystemMemory;
  }

  // Initialize control block
  mq->id          = os_IdMessageQueue;
  mq->state       = os_ObjectActive;
  mq->flags       = flags;
  mq->name        = name;
  mq->thread_list = NULL;
  mq->msg_size    = msg_size;
  mq->msg_count   = 0U;
  mq->msg_first   = NULL;
  mq->msg_last    = NULL;
  os_MemoryPoolInit(&mq->mp_info, msg_count, block_size, mq_mem);

  // Register post ISR processing function
  os_Info.post_process.message_queue = os_MessageQueuePostProcess;

  return (osMessageQueueId_t)mq;
}

/// Put a Message into a Queue or timeout if Queue is full.
/// \note API identical to osMessageQueuePut
osStatus_t os_svcMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t millisec) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;
  os_message_t       *msg;
  os_thread_t        *thread;
  uint32_t           *reg;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return osErrorParameter;
  }
  if (msg_ptr == NULL) {
    return osErrorParameter;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return osErrorResource;
  }

  // Check if Thread is waiting to receive a Message
  if ((mq->thread_list != NULL) && (mq->thread_list->state == os_ThreadWaitingMessageGet)) {
    // Wakeup waiting Thread with highest Priority
    thread = os_ThreadListGet((os_object_t*)mq);
    os_ThreadWaitExit(thread, (uint32_t)osOK, true);
    // Copy Message (R1 = void *msg_ptr, R2 = *msg_prio)
    reg = os_ThreadRegPtr(thread);
    memcpy((void *)reg[1], msg_ptr, mq->msg_size);
    if (reg[2] != 0U) {
      *((uint8_t *)reg[2]) = msg_prio;
    }
    return osOK;
  }

  // Try to allocate memory
  msg = os_MemoryPoolAlloc(&mq->mp_info);
  if (msg != NULL) {
    // Copy Message
    memcpy((uint8_t *)msg + sizeof(os_message_t), msg_ptr, mq->msg_size);
    // Put Message into Queue
    msg->id       = os_IdMessage;
    msg->state    = os_ObjectActive;
    msg->flags    = 0U;
    msg->priority = msg_prio;
    os_MessageQueuePut(mq, msg);
  } else {
    // No memory available
    if (millisec != 0U) {
      // Suspend current Thread
      os_ThreadListPut((os_object_t*)mq, os_ThreadGetRunning());
      os_ThreadWaitEnter(os_ThreadWaitingMessagePut, millisec);
      return osErrorTimeout;
    } else {
      return osErrorResource;
    }
  }

  return osOK;
}

/// Get a Message from a Queue or timeout if Queue is empty.
/// \note API identical to osMessageQueueGet
osStatus_t os_svcMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t millisec) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;
  os_message_t       *msg;
  os_thread_t        *thread;
  uint32_t           *reg;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return osErrorParameter;
  }
  if (msg_ptr == NULL) {
    return osErrorParameter;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return osErrorResource;
  }

  // Get Message from Queue
  msg = os_MessageQueueGet(mq);
  if (msg != NULL) {
    os_MessageQueueRemove(mq, msg);
    // Copy Message
    memcpy(msg_ptr, (uint8_t *)msg + sizeof(os_message_t), mq->msg_size);
    if (msg_prio != NULL) {
      *msg_prio = msg->priority;
    }
    // Free memory
    msg->state = os_ObjectInactive;
    os_MemoryPoolFree(&mq->mp_info, msg);
  } else {
    // No Message available
    if (millisec != 0U) {
      // Suspend current Thread
      os_ThreadListPut((os_object_t*)mq, os_ThreadGetRunning());
      os_ThreadWaitEnter(os_ThreadWaitingMessageGet, millisec);
      return osErrorTimeout;
    } else {
      return osErrorResource;
    }
  }

  // Check if Thread is waiting to send a Message
  if ((mq->thread_list != NULL) && (mq->thread_list->state == os_ThreadWaitingMessagePut)) {
    // Try to allocate memory
    msg = os_MemoryPoolAlloc(&mq->mp_info);
    if (msg != NULL) {
      // Wakeup waiting Thread with highest Priority
      thread = os_ThreadListGet((os_object_t*)mq);
      os_ThreadWaitExit(thread, (uint32_t)osOK, true);
      // Copy Message (R1 = const void *msg_ptr, R2 = msg_prio)
      reg = os_ThreadRegPtr(thread);
      memcpy((uint8_t *)msg + sizeof(os_message_t), (void *)reg[1], mq->msg_size);
      // Store Message into Queue
      msg->id       = os_IdMessage;
      msg->state    = os_ObjectActive;
      msg->flags    = 0U;
      msg->priority = (uint8_t)reg[2];
      os_MessageQueuePut(mq, msg);
    }
  }

  return osOK;
}

/// Get maximum number of messages in a Message Queue.
/// \note API identical to osMessageGetCapacity
uint32_t os_svcMessageQueueGetCapacity (osMessageQueueId_t mq_id) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return 0U;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return 0U;
  }

  return mq->mp_info.max_blocks;
}

/// Get maximum message size in a Memory Pool.
/// \note API identical to osMessageGetMsgSize
uint32_t os_svcMessageQueueGetMsgSize (osMessageQueueId_t mq_id) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return 0U;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return 0U;
  }

  return mq->msg_size;
}

/// Get number of queued messages in a Message Queue.
/// \note API identical to osMessageGetCount
uint32_t os_svcMessageQueueGetCount (osMessageQueueId_t mq_id) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return 0U;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return 0U;
  }

  return mq->msg_count;
}

/// Get number of available slots for messages in a Message Queue.
/// \note API identical to osMessageGetSpace
uint32_t os_svcMessageQueueGetSpace (osMessageQueueId_t mq_id) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return 0U;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return 0U;
  }

  return (mq->mp_info.max_blocks - mq->msg_count);
}

/// Reset a Message Queue to initial empty state.
/// \note API identical to osMessageQueueReset
osStatus_t os_svcMessageQueueReset (osMessageQueueId_t mq_id) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;
  os_message_t       *msg;
  os_thread_t        *thread;
  uint32_t           *reg;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return osErrorParameter;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return osErrorResource;
  }

  // Remove Messages from Queue
  for (;;) {
    // Get Message from Queue
    msg = os_MessageQueueGet(mq);
    if (msg == NULL) {
      break;
    }
    os_MessageQueueRemove(mq, msg);
    // Free memory
    msg->state = os_ObjectInactive;
    os_MemoryPoolFree(&mq->mp_info, msg);
  }

  // Check if Threads are waiting to send Messages
  if ((mq->thread_list != NULL) && (mq->thread_list->state == os_ThreadWaitingMessagePut)) {
    do {
      // Try to allocate memory
      msg = os_MemoryPoolAlloc(&mq->mp_info);
      if (msg != NULL) {
        // Wakeup waiting Thread with highest Priority
        thread = os_ThreadListGet((os_object_t*)mq);
        os_ThreadWaitExit(thread, (uint32_t)osOK, false);
        // Copy Message (R1 = const void *msg_ptr, R2 = msg_prio)
        reg = os_ThreadRegPtr(thread);
        memcpy((uint8_t *)msg + sizeof(os_message_t), (void *)reg[1], mq->msg_size);
        // Store Message into Queue
        msg->id       = os_IdMessage;
        msg->state    = os_ObjectActive;
        msg->flags    = 0U;
        msg->priority = (uint8_t)reg[2];
        os_MessageQueuePut(mq, msg);
      }
    } while ((msg != NULL) && (mq->thread_list != NULL));
    os_ThreadDispatch(NULL);
  }

  return osOK;
}

/// Delete a Message Queue object.
/// \note API identical to osMessageQueueDelete
osStatus_t os_svcMessageQueueDelete (osMessageQueueId_t mq_id) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;
  os_thread_t        *thread;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return osErrorParameter;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return osErrorResource;
  }

  // Mark object as inactive
  mq->state = os_ObjectInactive;

  // Unblock waiting threads
  if (mq->thread_list != NULL) {
    do {
      thread = os_ThreadListGet((os_object_t*)mq);
      os_ThreadWaitExit(thread, (uint32_t)osErrorResource, false);
    } while (mq->thread_list != NULL);
    os_ThreadDispatch(NULL);
  }

  // Free data memory
  if (mq->flags & os_FlagSystemMemory) {
    os_MemoryFree(os_Info.mem.data, mq->mp_info.block_base);
  }

  // Free object memory
  if (mq->flags & os_FlagSystemObject) {
    if (os_Info.mpi.message_queue != NULL) {
      os_MemoryPoolFree(os_Info.mpi.message_queue, mq);
    } else {
      os_MemoryFree(os_Info.mem.cb, mq);
    }
  }

  return osOK;
}


//  ==== ISR Calls ====

/// Put a Message into a Queue or timeout if Queue is full.
/// \note API identical to osMessageQueuePut
__STATIC_INLINE
osStatus_t os_isrMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t millisec) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;
  os_message_t       *msg;
  void              **ptr;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return osErrorParameter;
  }
  if (msg_ptr == NULL) {
    return osErrorParameter;
  }
  if (millisec != 0U) {
    return osErrorParameter;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return osErrorResource;
  }

  // Try to allocate memory
  msg = os_MemoryPoolAlloc(&mq->mp_info);
  if (msg != NULL) {
    // Copy Message
    memcpy((uint8_t *)msg + sizeof(os_message_t), msg_ptr, mq->msg_size);
    msg->id       = os_IdMessage;
    msg->state    = os_ObjectActive;
    msg->flags    = 0U;
    msg->priority = msg_prio;
    // Register post ISR processing
     ptr = (void *)((uint8_t *)msg + sizeof(os_message_t) - sizeof(os_message_queue_t *));
    *ptr = mq;
    os_PostProcess((os_object_t *)msg);
  } else {
    // No memory available
    return osErrorResource;
  }

  return osOK;
}

/// Get a Message from a Queue or timeout if Queue is empty.
/// \note API identical to osMessageQueueGet
__STATIC_INLINE
osStatus_t os_isrMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t millisec) {
  os_message_queue_t *mq = (os_message_queue_t *)mq_id;
  os_message_t       *msg;
  void              **ptr;

  // Check parameters
  if ((mq == NULL) ||
      (mq->id != os_IdMessageQueue)) {
    return osErrorParameter;
  }
  if (msg_ptr == NULL) {
    return osErrorParameter;
  }
  if (millisec != 0U) {
    return osErrorParameter;
  }

  // Check object state
  if (mq->state == os_ObjectInactive) {
    return osErrorResource;
  }

  // Get Message from Queue
  msg = os_MessageQueueGet(mq);
  if (msg != NULL) {
    // Copy Message
    memcpy(msg_ptr, (uint8_t *)msg + sizeof(os_message_t), mq->msg_size);
    if (msg_prio != NULL) {
      *msg_prio = msg->priority;
    }
    // Register post ISR processing
     ptr = (void *)((uint8_t *)msg + sizeof(os_message_t));
    *ptr = mq;
    os_PostProcess((os_object_t *)msg);
  } else {
    // No Message available
    return osErrorResource;
  }

  return osOK;
}


//  ==== Public API ====

/// Create and Initialize a Message Queue object.
osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr) {
  if (__get_IPSR() != 0U) {
    return (osMessageQueueId_t)NULL;            // Not allowed in ISR
  }
  if ((os_KernelGetState() == os_KernelReady) && ((__get_CONTROL() & 1U) == 0U)) {
    // Kernel Ready (not running) and in Privileged mode
    return os_svcMessageQueueNew(msg_count, msg_size, attr);
  } else {
    return  __svcMessageQueueNew(msg_count, msg_size, attr);
  }
}

/// Put a Message into a Queue or timeout if Queue is full.
osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t millisec) {
  if (__get_IPSR() != 0U) {                     // in ISR
    return os_isrMessageQueuePut(mq_id, msg_ptr, msg_prio, millisec);
  } else {                                      // in Thread
    return  __svcMessageQueuePut(mq_id, msg_ptr, msg_prio, millisec);
  }
}

/// Get a Message from a Queue or timeout if Queue is empty.
osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t millisec) {
  if (__get_IPSR() != 0U) {                     // in ISR
    return os_isrMessageQueueGet(mq_id, msg_ptr, msg_prio, millisec);
  } else {                                      // in Thread
    return  __svcMessageQueueGet(mq_id, msg_ptr, msg_prio, millisec);
  }
}

/// Get maximum number of messages in a Message Queue.
uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id) {
  if (__get_IPSR() != 0U) {                     // in ISR
    return os_svcMessageQueueGetCapacity(mq_id);
  } else {                                      // in Thread
    return  __svcMessageQueueGetCapacity(mq_id);
  }
}

/// Get maximum message size in a Memory Pool.
uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id) {
  if (__get_IPSR() != 0U) {                     // in ISR
    return os_svcMessageQueueGetMsgSize(mq_id);
  } else {                                      // in Thread
    return  __svcMessageQueueGetMsgSize(mq_id);
  }
}

/// Get number of queued messages in a Message Queue.
uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id) {
  if (__get_IPSR() != 0U) {                     // in ISR
    return os_svcMessageQueueGetCount(mq_id);
  } else {                                      // in Thread
    return  __svcMessageQueueGetCount(mq_id);
  }
}

/// Get number of available slots for messages in a Message Queue.
uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id) {
  if (__get_IPSR() != 0U) {                     // in ISR
    return os_svcMessageQueueGetSpace(mq_id);
  } else {                                      // in Thread
    return  __svcMessageQueueGetSpace(mq_id);
  }
}

/// Reset a Message Queue to initial empty state.
osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id) {
  if (__get_IPSR() != 0U) {
    return osErrorISR;                          // Not allowed in ISR
  }
  return __svcMessageQueueReset(mq_id);
}

/// Delete a Message Queue object.
osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id) {
  if (__get_IPSR() != 0U) {
    return osErrorISR;                          // Not allowed in ISR
  }
  return __svcMessageQueueDelete(mq_id);
}