Furi: wrap message queue in container, prepare it for epoll. Accessor: disable expansion service on start. (#3672)

* Furi: wrap message queue in container, prepare it for epoll. Accessor: disable expansion service on start.
* Furi: one allocation, smaller message queue struct, type compatibility with FreeRTOS.

applications/debug/accessor/accessor_app.cpp

@@ -34,12 +34,16 @@ void AccessorApp::run(void) {
 AccessorApp::AccessorApp()
     : text_store{0} {
     notification = static_cast<NotificationApp*>(furi_record_open(RECORD_NOTIFICATION));
+    expansion = static_cast<Expansion*>(furi_record_open(RECORD_EXPANSION));
     onewire_host = onewire_host_alloc(&gpio_ibutton);
+    expansion_disable(expansion);
     furi_hal_power_enable_otg();
 }
 
 AccessorApp::~AccessorApp() {
     furi_hal_power_disable_otg();
+    expansion_enable(expansion);
+    furi_record_close(RECORD_EXPANSION);
     furi_record_close(RECORD_NOTIFICATION);
     onewire_host_free(onewire_host);
 }

applications/debug/accessor/accessor_app.h

@@ -6,6 +6,7 @@
 #include "helpers/wiegand.h"
 #include <one_wire/one_wire_host.h>
 #include <notification/notification_messages.h>
+#include <expansion/expansion.h>
 
 class AccessorApp {
 public:
@@ -51,4 +52,5 @@ private:
     OneWireHost* onewire_host;
 
     NotificationApp* notification;
+    Expansion* expansion;
 };

applications/system/snake_game/snake_game.c

@@ -136,15 +136,17 @@ static void snake_game_render_callback(Canvas* const canvas, void* ctx) {
     furi_mutex_release(snake_state->mutex);
 }
 
-static void snake_game_input_callback(InputEvent* input_event, FuriMessageQueue* event_queue) {
-    furi_assert(event_queue);
+static void snake_game_input_callback(InputEvent* input_event, void* context) {
+    furi_assert(context);
+    FuriMessageQueue* event_queue = context;
 
     SnakeEvent event = {.type = EventTypeKey, .input = *input_event};
     furi_message_queue_put(event_queue, &event, FuriWaitForever);
 }
 
-static void snake_game_update_timer_callback(FuriMessageQueue* event_queue) {
-    furi_assert(event_queue);
+static void snake_game_update_timer_callback(void* context) {
+    furi_assert(context);
+    FuriMessageQueue* event_queue = context;
 
     SnakeEvent event = {.type = EventTypeTick};
     furi_message_queue_put(event_queue, &event, 0);

furi/core/message_queue.c

@@ -5,13 +5,30 @@
 #include <FreeRTOS.h>
 #include <queue.h>
 
+struct FuriMessageQueue {
+    // !!! Semi-Opaque type inheritance, Very Fragile, DO NOT MOVE !!!
+    StaticQueue_t container;
+
+    // !!! Data buffer, must be last in the structure, DO NOT MOVE !!!
+    uint8_t buffer[];
+};
+
 FuriMessageQueue* furi_message_queue_alloc(uint32_t msg_count, uint32_t msg_size) {
     furi_check((furi_kernel_is_irq_or_masked() == 0U) && (msg_count > 0U) && (msg_size > 0U));
 
-    QueueHandle_t handle = xQueueCreate(msg_count, msg_size);
-    furi_check(handle);
+    FuriMessageQueue* instance = malloc(sizeof(FuriMessageQueue) + msg_count * msg_size);
 
-    return ((FuriMessageQueue*)handle);
+    // 3 things happens here:
+    // - create queue
+    // - check results
+    // - ensure that queue container is first in the FuriMessageQueue structure
+    //
+    // As a bonus it guarantees that FuriMessageQueue* can be casted into StaticQueue_t* or QueueHandle_t.
+    furi_check(
+        xQueueCreateStatic(msg_count, msg_size, instance->buffer, &instance->container) ==
+        (void*)instance);
+
+    return instance;
 }
 
 void furi_message_queue_free(FuriMessageQueue* instance) {
@@ -19,6 +36,7 @@ void furi_message_queue_free(FuriMessageQueue* instance) {
     furi_check(instance);
 
     vQueueDelete((QueueHandle_t)instance);
+    free(instance);
 }
 
 FuriStatus
@@ -102,11 +120,10 @@ FuriStatus furi_message_queue_get(FuriMessageQueue* instance, void* msg_ptr, uin
 uint32_t furi_message_queue_get_capacity(FuriMessageQueue* instance) {
     furi_check(instance);
 
-    StaticQueue_t* mq = (StaticQueue_t*)instance;
     uint32_t capacity;
 
     /* capacity = pxQueue->uxLength */
-    capacity = mq->uxDummy4[1];
+    capacity = instance->container.uxDummy4[1];
 
     /* Return maximum number of messages */
     return (capacity);
@@ -115,11 +132,10 @@ uint32_t furi_message_queue_get_capacity(FuriMessageQueue* instance) {
 uint32_t furi_message_queue_get_message_size(FuriMessageQueue* instance) {
     furi_check(instance);
 
-    StaticQueue_t* mq = (StaticQueue_t*)instance;
     uint32_t size;
 
     /* size = pxQueue->uxItemSize */
-    size = mq->uxDummy4[2];
+    size = instance->container.uxDummy4[2];
 
     /* Return maximum message size */
     return (size);
@@ -144,7 +160,6 @@ uint32_t furi_message_queue_get_count(FuriMessageQueue* instance) {
 uint32_t furi_message_queue_get_space(FuriMessageQueue* instance) {
     furi_check(instance);
 
-    StaticQueue_t* mq = (StaticQueue_t*)instance;
     uint32_t space;
     uint32_t isrm;
 
@@ -152,11 +167,11 @@ uint32_t furi_message_queue_get_space(FuriMessageQueue* instance) {
         isrm = taskENTER_CRITICAL_FROM_ISR();
 
         /* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */
-        space = mq->uxDummy4[1] - mq->uxDummy4[0];
+        space = instance->container.uxDummy4[1] - instance->container.uxDummy4[0];
 
         taskEXIT_CRITICAL_FROM_ISR(isrm);
     } else {
-        space = (uint32_t)uxQueueSpacesAvailable((QueueHandle_t)mq);
+        space = (uint32_t)uxQueueSpacesAvailable((QueueHandle_t)instance);
     }
 
     /* Return number of available slots */

furi/core/message_queue.h

@@ -10,7 +10,7 @@
 extern "C" {
 #endif
 
-typedef void FuriMessageQueue;
+typedef struct FuriMessageQueue FuriMessageQueue;
 
 /** Allocate furi message queue
  *