Messaging / IPC

Messaging API for inter process communication. More...

Detailed Description

Messaging API for inter process communication.

Messages

IPC messages consist of a sender PID, a type, and some content. The sender PID will be set by the IPC internally and is not required to be set by the user. The type helps the receiver to multiplex different message types. The content can either be provided as a 32-bit integer or a pointer.

Some message types are predefined; for example, GNRC_NETAPI_MSG_TYPE_RCV & co are defined. These are fixed in the sense that registering for a particular set of messages (for the above, e.g. gnrc_netreg_register) will use these message types. Threads that do nothing to receive such messages can safely use the same numbers for other purposes. The predefined types use non-conflicting ranges (e.g. 0x02NN) to avoid ruling out simultaneous use of different components in the same thread.

In general, threads may consider it an error to send them a message they did not request. Best practice is to log (but otherwise ignore) unexpected messages.

Blocking vs non-blocking

Messages can be sent and received blocking and non-blocking. Both can be used combined: A message send while blocking the sender thread can be received with the non-blocking variant and vice-versa.

Blocking IPC

For the blocking variant use msg_send() or msg_receive() respectively.

Additionally, one can use msg_send_receive() to simultaneously block the sending thread and expect a response from the receiving thread. In this case, the receiving thread must use msg_reply() to reply to the message of the sender thread.

#include <inttypes.h>
#include <stdio.h>
 
#include "msg.h"
#include "thread.h"
 
static kernel_pid_t rcv_pid;
static char rcv_stack[THREAD_STACKSIZE_DEFAULT];
 
static void *rcv(void *arg)
{
    msg_t msg_req, msg_resp;
 
    (void)arg;
    while (1) {
        msg_receive(&msg_req);
        msg_resp.content.value = msg_req.content.value + 1;
        msg_reply(&msg_req, &msg_resp);
    }
    return NULL;
}
 
int main(void)
{
    msg_t msg_req, msg_resp;
 
    msg_resp.content.value = 0;
    rcv_pid = thread_create(rcv_stack, sizeof(rcv_stack),
                            THREAD_PRIORITY_MAIN - 1, 0, rcv, NULL, "rcv");
    while (1) {
        msg_req.content.value = msg_resp.content.value;
        msg_send_receive(&msg_req, &msg_resp, rcv_pid);
        printf("Result: %" PRIu32 "\n", msg_resp.content.value);
    }
    return 0;
}

Non-blocking IPC

For the non-blocking variant use msg_try_send() or msg_try_receive() respectively. If a message is sent in synchronous mode or the message queue (see below) of the receiving thread is full messages sent this way will be dropped.

You can use the example on asynchronous IPC below - but without the queue - to get an impression of how to use non-blocking IPC.

Synchronous vs Asynchronous

RIOT's IPC supports both synchronous and asynchronous IPC.

Synchronous IPC

Synchronous IPC is the default mode i.e. is active when the receiving thread has no message queue initialized. Messages that can't be delivered when sending non-blocking (because the receiver already received a message) or which are sent when the receiver is not receive-blocked will be dropped.

Asynchronous IPC

To use asynchronous IPC one needs to initialize a message queue using msg_init_queue() (note that it must be of a size equal to a power of two). Messages sent to a thread with a message queue that isn't full are never dropped and the sending never blocks, even when using msg_send(). If the queue is full and the sending thread has a higher priority than the receiving thread the send-behavior is equivalent to synchronous mode.

#include <inttypes.h>
#include <stdio.h>
 
#include "msg.h"
#include "thread.h"
 
#define RCV_QUEUE_SIZE  (8)
 
static kernel_pid_t rcv_pid;
static char rcv_stack[THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF];
static msg_t rcv_queue[RCV_QUEUE_SIZE];
 
static void *rcv(void *arg)
{
    msg_t msg;
 
    (void)arg;
    msg_init_queue(rcv_queue, RCV_QUEUE_SIZE);
    while (1) {
        msg_receive(&msg);
        printf("Received %" PRIu32 "\n", msg.content.value);
    }
    return NULL;
}
 
int main(void)
{
    msg_t msg;
 
    msg.content.value = 0;
    rcv_pid = thread_create(rcv_stack, sizeof(rcv_stack),
                            THREAD_PRIORITY_MAIN - 1, 0, rcv, NULL, "rcv");
    while (1) {
        if (msg_try_send(&msg, rcv_pid) == 0) {
            printf("Receiver queue full.\n");
        }
        msg.content.value++;
    }
    return 0;
}

Timing & messages

Timing out the reception of a message or sending messages at a certain time is out of scope for the basic IPC provided by the kernel. See the xtimer module on information for these functionalities.

Files
file	msg.h
	Messaging API for inter process communication.
file	msg_bus.h
	Messaging Bus API for inter process message broadcast.

Data Structures
struct	msg_t
	Describes a message object which can be sent between threads. More...

Macros
#define	KERNEL_PID_ISR   (KERNEL_PID_LAST + 1)
	Value of msg_t::sender_pid if the sender was an interrupt service routine.
#define	CONFIG_MSG_QUEUE_PRINT_MAX   16U
	Number of messages to be maximally printed through msg_queue_print.

Functions
int	msg_send (msg_t *m, kernel_pid_t target_pid)
	Send a message (blocking).
int	msg_try_send (msg_t *m, kernel_pid_t target_pid)
	Send a message (non-blocking).
int	msg_send_to_self (msg_t *m)
	Send a message to the current thread.
int	msg_send_int (msg_t *m, kernel_pid_t target_pid)
	Send message from interrupt.
static int	msg_sent_by_int (const msg_t *m)
	Test if the message was sent inside an ISR.
int	msg_receive (msg_t *m)
	Receive a message.
int	msg_try_receive (msg_t *m)
	Try to receive a message.
int	msg_send_receive (msg_t *m, msg_t *reply, kernel_pid_t target_pid)
	Send a message, block until reply received.
int	msg_reply (msg_t *m, msg_t *reply)
	Replies to a message.
int	msg_reply_int (msg_t *m, msg_t *reply)
	Replies to a message from interrupt.
unsigned	msg_avail_thread (kernel_pid_t pid)
	Check how many messages are available (waiting) in the message queue of a specific thread.
unsigned	msg_avail (void)
	Check how many messages are available (waiting) in the message queue.
unsigned	msg_queue_capacity (kernel_pid_t pid)
	Get maximum capacity of a thread's queue length.
void	msg_init_queue (msg_t *array, int num)
	Initialize the current thread's message queue.
void	msg_queue_print (void)
	Prints the message queue of the current thread.

Macro Definition Documentation

CONFIG_MSG_QUEUE_PRINT_MAX

#define CONFIG_MSG_QUEUE_PRINT_MAX   16U

Number of messages to be maximally printed through msg_queue_print.

Definition at line 418 of file msg.h.

KERNEL_PID_ISR

#define KERNEL_PID_ISR   (KERNEL_PID_LAST + 1)

Value of msg_t::sender_pid if the sender was an interrupt service routine.

Definition at line 262 of file msg.h.

Function Documentation

msg_avail()

unsigned msg_avail

(

void

)

Check how many messages are available (waiting) in the message queue.

Returns

Number of messages available in our queue on success

0, if no caller's message queue is initialized

msg_avail_thread()

unsigned msg_avail_thread

(

kernel_pid_t

pid

)

Check how many messages are available (waiting) in the message queue of a specific thread.

Parameters

[in]

pid

a PID

Returns

Number of messages available in queue of pid on success

0, if no caller's message queue is initialized

msg_init_queue()

void msg_init_queue	(	msg_t *	array,
		int	num
	)

Initialize the current thread's message queue.

Precondition

num MUST BE A POWER OF TWO!

Parameters

[in]	array	Pointer to preallocated array of msg_t structures, must not be NULL.
[in]	num	Number of msg_t structures in array. MUST BE POWER OF TWO!

If array resides on the stack, the containing stack frame must never be left, not even if it is the current thread's entry function.

msg_queue_capacity()

unsigned msg_queue_capacity

(

kernel_pid_t

pid

)

Get maximum capacity of a thread's queue length.

Returns

Number of total messages that fit in the queue of pid on success

0, if no caller's message queue is initialized

msg_queue_print()

void msg_queue_print

(

void

)

Prints the message queue of the current thread.

Note

Prints at most CONFIG_MSG_QUEUE_PRINT_MAX messages.

msg_receive()

int msg_receive

(

msg_t *

m

)

Receive a message.

This function blocks until a message was received.

Parameters

[out]

m

Pointer to preallocated msg_t structure, must not be NULL.

Returns

1, Function always succeeds or blocks forever.

msg_reply()

int msg_reply	(	msg_t *	m,
		msg_t *	reply
	)

Replies to a message.

Sender must have sent the message with msg_send_receive().

Parameters

[in]	m	message to reply to, must not be NULL.
[out]	reply	message that target will get as reply, must not be NULL.

Returns

1, if successful

-1, on error

msg_reply_int()

int msg_reply_int	(	msg_t *	m,
		msg_t *	reply
	)

Replies to a message from interrupt.

An ISR can obviously not receive messages, however a thread might delegate replying to a message to an ISR.

Parameters

[in]	m	message to reply to, must not be NULL.
[out]	reply	message that target will get as reply, must not be NULL.

Returns

1, if successful

-1, on error

msg_send()

int msg_send	(	msg_t *	m,
		kernel_pid_t	target_pid
	)

Send a message (blocking).

This function sends a message to another thread. The msg_t structure has to be allocated (e.g. on the stack) before calling the function and can be freed afterwards. If called from an interrupt, this function will never block.

Parameters

[in]	m	Pointer to preallocated msg_t structure, must not be NULL.
[in]	target_pid	PID of target thread

Returns

1, if sending was successful (message delivered directly or to a queue)

0, if called from ISR and receiver cannot receive the message now (it is not waiting or it's message queue is full)

-1, on error (invalid PID)

msg_send_int()

int msg_send_int	(	msg_t *	m,
		kernel_pid_t	target_pid
	)

Send message from interrupt.

Will be automatically chosen instead of msg_send() if called from an interrupt/ISR.

The value of m->sender_pid is set to KERNEL_PID_ISR.

See also

msg_sent_by_int()

Parameters

[in]	m	Pointer to preallocated msg_t structure, must not be NULL.
[in]	target_pid	PID of target thread.

Returns

1, if sending was successful

0, if receiver is not waiting and block == 0

-1, on error (invalid PID)

msg_send_receive()

int msg_send_receive	(	msg_t *	m,
		msg_t *	reply,
		kernel_pid_t	target_pid
	)

Send a message, block until reply received.

This function sends a message to target_pid and then blocks until target has sent a reply which is then stored in reply. The responding thread must use msg_reply().

Any incoming messages other than the reply are put into the queue (if one is configured), block the sender (if sent with msg_send from a thread), or rejected (if sent with msg_try_send or from an interrupt) – just like if the thread were blocked on anything different than message reception.

Precondition

target_pid is not the PID of the current thread.

Parameters

[in]	m	Pointer to preallocated msg_t structure with the message to send, must not be NULL.
[out]	reply	Pointer to preallocated msg. Reply will be written here, must not be NULL. Can be identical to m.
[in]	target_pid	The PID of the target process

Returns

1, if successful.

msg_send_to_self()

int msg_send_to_self

(

msg_t *

m

)

Send a message to the current thread.

Will work only if the thread has a message queue.

Will be automatically chosen instead of msg_send if target_pid == thread_pid. This function never blocks.

Parameters

m	pointer to message structure

Returns

1 if sending was successful

0 if the thread's message queue is full (or inexistent)

msg_sent_by_int()

static int msg_sent_by_int ( const msg_t *  m )

inlinestatic

Test if the message was sent inside an ISR.

See also

msg_send_int()

Parameters

[in]

m

The message in question.

Returns

== 0 if not sent by an ISR

!= 0 if sent by an ISR

Definition at line 291 of file msg.h.

msg_try_receive()

int msg_try_receive

(

msg_t *

m

)

Try to receive a message.

This function does not block if no message can be received.

Parameters

[out]

m

Pointer to preallocated msg_t structure, must not be NULL.

Returns

1, if a message was received

-1, otherwise.

msg_try_send()

int msg_try_send	(	msg_t *	m,
		kernel_pid_t	target_pid
	)

Send a message (non-blocking).

This function sends a message to another thread. The msg_t structure has to be allocated (e.g. on the stack) before calling the function and can be freed afterwards. This function will never block.

Parameters

[in]	m	Pointer to preallocated msg_t structure, must not be NULL.
[in]	target_pid	PID of target thread

Returns

1, if sending was successful (message delivered directly or to a queue)

0, if receiver is not waiting or has a full message queue

-1, on error (invalid PID)