174 lines
8.6 KiB
C
174 lines
8.6 KiB
C
/**
|
||
* @file zh_vector.h
|
||
*
|
||
* @brief Thread-safe dynamic array (vector) implementation for ESP-IDF.
|
||
*
|
||
* This vector stores elements by pointer (i.e., it holds `void*` to heap-allocated copies of items).
|
||
* The vector is protected by a FreeRTOS mutex, making it safe for use in multi-threaded environments.
|
||
*
|
||
* @note The vector allocates memory for each item on push operations.
|
||
* @note The vector does **not** own the lifetime of the data pointed to by the user — it copies the data.
|
||
* @warning The `item` parameter of zh_vector_get_item must point to a buffer of at least `unit` bytes.
|
||
* The function copies the element *by value* — no pointers are returned.
|
||
*/
|
||
|
||
#pragma once
|
||
|
||
#include "esp_err.h"
|
||
#include "esp_log.h"
|
||
#include "esp_heap_caps.h"
|
||
#include "freertos/FreeRTOS.h"
|
||
#include "freertos/semphr.h"
|
||
|
||
#ifdef __cplusplus
|
||
extern "C"
|
||
{
|
||
#endif
|
||
|
||
/**
|
||
* @brief Opaque vector type.
|
||
*/
|
||
typedef struct _zh_vector_t zh_vector_t;
|
||
|
||
/**
|
||
* @brief Initializes a vector.
|
||
*
|
||
* Allocates memory for the vector structure, internal item pointer array and a FreeRTOS mutex.
|
||
*
|
||
* @note Safe to call with `*vector == NULL` or with `*vector` pointing to uninitialized memory.
|
||
* @warning Do **not** call this function twice on the same variable without an intervening `zh_vector_free()` — it will return `ESP_ERR_INVALID_STATE`.
|
||
* To reuse a vector, call `zh_vector_free(&v);` then `zh_vector_init(&v, ...);`.
|
||
*
|
||
* @param[out] vector Double pointer to vector structure (`zh_vector_t **`). On success, `*vector` points to newly allocated structure.
|
||
* @param[in] unit Size (in bytes) of each item. Must be > 0.
|
||
*
|
||
* @return ESP_OK on success.
|
||
* @return ESP_ERR_NO_MEM if memory allocation fails (vector struct or mutex).
|
||
* @return ESP_ERR_INVALID_ARG if `vector == NULL` or `unit == 0`.
|
||
* @return ESP_ERR_INVALID_STATE if `*vector != NULL` (already initialized).
|
||
*/
|
||
esp_err_t zh_vector_init(zh_vector_t **vector, uint16_t unit);
|
||
|
||
/**
|
||
* @brief Deinitializes and frees the entire vector.
|
||
*
|
||
* Frees all item copies, the internal pointer array, and the mutex. Sets `*vector` to `NULL` before returning.
|
||
*
|
||
* @warning After this call, all previously obtained item pointers become invalid.
|
||
* @note Safe to call with `vector == NULL` or `*vector == NULL` (returns `ESP_OK`).
|
||
*
|
||
* @param[in,out] vector Double pointer to vector structure (`zh_vector_t **`). Must not be `NULL`. Set to `NULL` on exit.
|
||
*
|
||
* @return ESP_OK on success.
|
||
* @return ESP_ERR_INVALID_ARG if `vector == NULL` or `*vector == NULL` (not initialized).
|
||
* @return ESP_ERR_INVALID_STATE if the internal mutex cannot be acquired (rare, indicates a system error).
|
||
*/
|
||
esp_err_t zh_vector_free(zh_vector_t **vector);
|
||
|
||
/**
|
||
* @brief Gets the current number of items in the vector.
|
||
*
|
||
* @note Thread-safe: internally locks/unlocks the mutex.
|
||
*
|
||
* @param[in] vector Double pointer to vector structure (`zh_vector_t **`). Must not be `NULL`.
|
||
* @param[out] size Pointer to store the number of items. Must not be `NULL`.
|
||
*
|
||
* @return ESP_OK on success.
|
||
* @return ESP_ERR_INVALID_ARG if `vector == NULL` or `size == NULL` or `*vector == NULL` (not initialized).
|
||
* @return ESP_ERR_INVALID_STATE if the internal mutex cannot be acquired (rare, indicates a system error).
|
||
*/
|
||
esp_err_t zh_vector_get_size(zh_vector_t **vector, uint16_t *size);
|
||
|
||
/**
|
||
* @brief Adds a copy of the item to the beginning of the vector.
|
||
*
|
||
* A copy of `item` is allocated on the heap and stored in the vector.
|
||
* The vector owns the lifetime of this copy (freed on `zh_vector_free()` or `zh_vector_delete_item()`).
|
||
* All existing items are shifted one position to the right.
|
||
* This may involve reallocation of the internal pointer array via `heap_caps_realloc`.
|
||
*
|
||
* @note Memory for the item and potential reallocation is done via `heap_caps_calloc`/`heap_caps_realloc` (`MALLOC_CAP_8BIT`).
|
||
*
|
||
* @param[in,out] vector Double pointer to vector structure (`zh_vector_t **`). Must not be `NULL`.
|
||
* @param[in] item Pointer to the data to copy into the new item. Must not be `NULL`.
|
||
*
|
||
* @return ESP_OK on success.
|
||
* @return ESP_ERR_INVALID_ARG if `vector == NULL` or `item == NULL` or `*vector == NULL` (not initialized).
|
||
* @return ESP_ERR_NO_MEM if memory allocation fails.
|
||
* @return ESP_ERR_INVALID_STATE if the internal mutex cannot be acquired (rare, indicates a system error).
|
||
*/
|
||
esp_err_t zh_vector_push_front(zh_vector_t **vector, const void *item);
|
||
|
||
/**
|
||
* @brief Adds a copy of the item to the end of the vector.
|
||
*
|
||
* A copy of `item` is allocated on the heap and stored in the vector.
|
||
* The vector owns the lifetime of this copy (freed on `zh_vector_free()` or `zh_vector_delete_item()`).
|
||
* This may involve reallocation of the internal pointer array via `heap_caps_realloc`.
|
||
*
|
||
* @note Memory for the item and potential reallocation is done via `heap_caps_calloc`/`heap_caps_realloc` (`MALLOC_CAP_8BIT`).
|
||
*
|
||
* @param[in,out] vector Double pointer to vector structure (`zh_vector_t **`). Must not be `NULL`.
|
||
* @param[in] item Pointer to the data to copy into the new item. Must not be `NULL`.
|
||
*
|
||
* @return ESP_OK on success.
|
||
* @return ESP_ERR_INVALID_ARG if `vector == NULL` or `item == NULL` or `*vector == NULL` (not initialized).
|
||
* @return ESP_ERR_NO_MEM if memory allocation fails.
|
||
* @return ESP_ERR_INVALID_STATE if the internal mutex cannot be acquired (rare, indicates a system error).
|
||
*/
|
||
esp_err_t zh_vector_push_back(zh_vector_t **vector, const void *item);
|
||
|
||
/**
|
||
* @brief Replaces the item at the specified index with a copy of the provided data.
|
||
*
|
||
* @warning Modifies the existing item *in-place* — no new memory allocation occurs.
|
||
* Only the data is overwritten (via `memcpy`). The item size must match the vector’s `unit`.
|
||
*
|
||
* @param[in,out] vector Double pointer to vector structure (`zh_vector_t **`). Must not be `NULL`.
|
||
* @param[in] index Index of the item to replace (must be < `(*vector)->size`).
|
||
* @param[in] item Pointer to new data to copy into the item. Must not be `NULL`.
|
||
*
|
||
* @return ESP_OK on success.
|
||
* @return ESP_ERR_INVALID_ARG if `vector == NULL`, `item == NULL`, `index >= (*vector)->size` or `*vector == NULL` (not initialized).
|
||
* @return ESP_ERR_INVALID_STATE if the internal mutex cannot be acquired (rare, indicates a system error).
|
||
*/
|
||
esp_err_t zh_vector_change_item(zh_vector_t **vector, uint16_t index, const void *item);
|
||
|
||
/**
|
||
* @brief Retrieves the item at the specified index by copying it into the user-provided buffer.
|
||
*
|
||
* @note Thread-safe: internally locks/unlocks the mutex.
|
||
* @note This function **copies** the element — no pointers are returned or stored.
|
||
*
|
||
* @param[in] vector Double pointer to vector structure (`zh_vector_t **`). Must not be `NULL`.
|
||
* @param[in] index Index of the item to retrieve (0-based).
|
||
* @param[out] item Pointer to a buffer of at least `unit` bytes, where the item will be copied.
|
||
*
|
||
* @return ESP_OK on success.
|
||
* @return ESP_ERR_INVALID_ARG if `vector == NULL`, `item == NULL`, `index >= (*vector)->size` or `*vector == NULL` (not initialized).
|
||
* @return ESP_ERR_INVALID_STATE if the internal mutex cannot be acquired (rare, indicates a system error).
|
||
*/
|
||
esp_err_t zh_vector_get_item(zh_vector_t **vector, uint16_t index, void *item);
|
||
|
||
/**
|
||
* @brief Deletes the item at the specified index and shifts subsequent items one position left.
|
||
*
|
||
* The deleted item’s memory is freed.
|
||
* If the size drops below half of the capacity (and size > 0), the capacity is reduced via `_resize(size)`.
|
||
* If the size reaches 0, capacity is set to 0 and the pointer array is freed.
|
||
*
|
||
* @note Thread-safe: internally locks/unlocks the mutex.
|
||
*
|
||
* @param[in,out] vector Double pointer to vector structure (`zh_vector_t **`). Must not be `NULL`.
|
||
* @param[in] index Index of the item to delete (must be < `(*vector)->size`).
|
||
*
|
||
* @return ESP_OK on success.
|
||
* @return ESP_ERR_INVALID_ARG if `vector == NULL`, `index >= (*vector)->size` or `*vector == NULL` (not initialized).
|
||
* @return ESP_ERR_NO_MEM if memory allocation fails.
|
||
* @return ESP_ERR_INVALID_STATE if the internal mutex cannot be acquired (rare, indicates a system error).
|
||
*/
|
||
esp_err_t zh_vector_delete_item(zh_vector_t **vector, uint16_t index);
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif |