From 4d4d7c37467ce2ad2255f70e53ea40624834393a Mon Sep 17 00:00:00 2001 From: Alexander Hoffer Date: Tue, 21 Jul 2026 07:17:01 +0100 Subject: [PATCH] refactor: use FreeRTOS BLE receive queue --- src/helpers/BoundedQueue.h | 39 ------------- src/helpers/esp32/SerialBLEInterface.cpp | 16 +---- src/helpers/esp32/SerialBLEInterface.h | 10 +++- .../test_bounded_queue/test_bounded_queue.cpp | 58 ------------------- 4 files changed, 10 insertions(+), 113 deletions(-) delete mode 100644 src/helpers/BoundedQueue.h delete mode 100644 test/test_bounded_queue/test_bounded_queue.cpp diff --git a/src/helpers/BoundedQueue.h b/src/helpers/BoundedQueue.h deleted file mode 100644 index 07ecb4ff..00000000 --- a/src/helpers/BoundedQueue.h +++ /dev/null @@ -1,39 +0,0 @@ -#pragma once - -#include - -namespace mesh { - -template -class BoundedQueue { - static_assert(Capacity > 0, "BoundedQueue capacity must be greater than zero"); - - T _items[Capacity]; - size_t _head = 0; - size_t _size = 0; - -public: - bool push(const T& item) { - if (_size == Capacity) return false; - _items[(_head + _size) % Capacity] = item; - _size++; - return true; - } - - bool pop(T& item) { - if (_size == 0) return false; - item = _items[_head]; - _head = (_head + 1) % Capacity; - _size--; - return true; - } - - void clear() { - _head = 0; - _size = 0; - } - - size_t size() const { return _size; } -}; - -} // namespace mesh diff --git a/src/helpers/esp32/SerialBLEInterface.cpp b/src/helpers/esp32/SerialBLEInterface.cpp index 9c81dc7b..2dd20b2f 100644 --- a/src/helpers/esp32/SerialBLEInterface.cpp +++ b/src/helpers/esp32/SerialBLEInterface.cpp @@ -123,11 +123,7 @@ void SerialBLEInterface::onWrite(BLECharacteristic* pCharacteristic, esp_ble_gat frame.len = len; memcpy(frame.buf, rxValue, len); - portENTER_CRITICAL(&recv_queue_mux); - bool queued = recv_queue.push(frame); - portEXIT_CRITICAL(&recv_queue_mux); - - if (!queued) { + if (xQueueSend(recv_queue, &frame, 0) != pdTRUE) { BLE_DEBUG_PRINTLN("ERROR: onWrite(), recv_queue is full!"); } } @@ -136,9 +132,7 @@ void SerialBLEInterface::onWrite(BLECharacteristic* pCharacteristic, esp_ble_gat // ---------- public methods void SerialBLEInterface::clearBuffers() { - portENTER_CRITICAL(&recv_queue_mux); - recv_queue.clear(); - portEXIT_CRITICAL(&recv_queue_mux); + xQueueReset(recv_queue); send_queue_len = 0; } @@ -216,11 +210,7 @@ size_t SerialBLEInterface::checkRecvFrame(uint8_t dest[]) { } Frame frame = {}; - portENTER_CRITICAL(&recv_queue_mux); - bool received = recv_queue.pop(frame); - portEXIT_CRITICAL(&recv_queue_mux); - - if (received) { + if (xQueueReceive(recv_queue, &frame, 0) == pdTRUE) { memcpy(dest, frame.buf, frame.len); BLE_DEBUG_PRINTLN("readBytes: sz=%d, hdr=%d", (uint32_t) frame.len, (uint32_t) dest[0]); return frame.len; diff --git a/src/helpers/esp32/SerialBLEInterface.h b/src/helpers/esp32/SerialBLEInterface.h index e2d600a0..9fb6adba 100644 --- a/src/helpers/esp32/SerialBLEInterface.h +++ b/src/helpers/esp32/SerialBLEInterface.h @@ -1,12 +1,12 @@ #pragma once #include "../BaseSerialInterface.h" -#include "../BoundedQueue.h" #include #include #include #include #include +#include class SerialBLEInterface : public BaseSerialInterface, BLESecurityCallbacks, BLEServerCallbacks, BLECharacteristicCallbacks { BLEServer *pServer; @@ -26,8 +26,9 @@ class SerialBLEInterface : public BaseSerialInterface, BLESecurityCallbacks, BLE }; #define FRAME_QUEUE_SIZE 4 - portMUX_TYPE recv_queue_mux = portMUX_INITIALIZER_UNLOCKED; - mesh::BoundedQueue recv_queue; + StaticQueue_t recv_queue_state; + uint8_t recv_queue_storage[FRAME_QUEUE_SIZE * sizeof(Frame)]; + QueueHandle_t recv_queue; int send_queue_len; Frame send_queue[FRAME_QUEUE_SIZE]; @@ -60,6 +61,9 @@ public: _isEnabled = false; _last_write = 0; last_conn_id = 0; + recv_queue = xQueueCreateStatic( + FRAME_QUEUE_SIZE, sizeof(Frame), recv_queue_storage, &recv_queue_state + ); send_queue_len = 0; } diff --git a/test/test_bounded_queue/test_bounded_queue.cpp b/test/test_bounded_queue/test_bounded_queue.cpp deleted file mode 100644 index 3e2e2de7..00000000 --- a/test/test_bounded_queue/test_bounded_queue.cpp +++ /dev/null @@ -1,58 +0,0 @@ -#include - -#include - -TEST(BoundedQueue, PreservesOrderAcrossWraparound) { - mesh::BoundedQueue queue; - int value = 0; - - for (int i = 0; i < 4; i++) EXPECT_TRUE(queue.push(i)); - EXPECT_FALSE(queue.push(4)); - - EXPECT_TRUE(queue.pop(value)); - EXPECT_EQ(0, value); - EXPECT_TRUE(queue.pop(value)); - EXPECT_EQ(1, value); - - EXPECT_TRUE(queue.push(4)); - EXPECT_TRUE(queue.push(5)); - - for (int expected = 2; expected < 6; expected++) { - EXPECT_TRUE(queue.pop(value)); - EXPECT_EQ(expected, value); - } - EXPECT_FALSE(queue.pop(value)); -} - -TEST(BoundedQueue, SurvivesRepeatedFillAndDrainCycles) { - mesh::BoundedQueue queue; - int value = 0; - - for (int cycle = 0; cycle < 1000; cycle++) { - for (int i = 0; i < 4; i++) EXPECT_TRUE(queue.push(cycle * 4 + i)); - for (int i = 0; i < 4; i++) { - EXPECT_TRUE(queue.pop(value)); - EXPECT_EQ(cycle * 4 + i, value); - } - } -} - -TEST(BoundedQueue, ClearDropsPendingItems) { - mesh::BoundedQueue queue; - int value = 0; - - EXPECT_TRUE(queue.push(1)); - EXPECT_TRUE(queue.push(2)); - queue.clear(); - - EXPECT_EQ(0u, queue.size()); - EXPECT_FALSE(queue.pop(value)); - EXPECT_TRUE(queue.push(3)); - EXPECT_TRUE(queue.pop(value)); - EXPECT_EQ(3, value); -} - -int main(int argc, char **argv) { - ::testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -}