firmware/src/TypedQueue.h

#pragma once 

#include <Arduino.h>
#include <assert.h>

/**
 * A wrapper for freertos queues.  Note: each element object must be quite small, so T should be only
 * pointer types or ints
 */
template <class T> class TypedQueue {
    QueueHandle_t h;
public:
    TypedQueue(int maxElements) {
        h = xQueueCreate(maxElements, sizeof(T));
        assert(h);
    }

    ~TypedQueue() {
        vQueueDelete(h);
    }

    int numFree() {
        return uxQueueSpacesAvailable(h);
    }

    // pdTRUE for success else failure
    BaseType_t enqueue(T x, TickType_t maxWait = portMAX_DELAY) {
        return xQueueSendToBack(h, &x, maxWait);
    }

    // pdTRUE for success else failure
    BaseType_t dequeue(T *p, TickType_t maxWait = portMAX_DELAY) {
        return xQueueReceive(h, p, maxWait);
    }
};