begin adding rx from radio handling

src/TypedQueue.h

@@ -0,0 +1,50 @@
+#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);
+    }
+
+    // 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);
+    }
+};
+
+
+/**
+ * A wrapper for freertos queues that assumes each element is a pointer
+ */
+template <class T> class PointerQueue: public TypedQueue<T *> {
+    TypedQueue h;
+public:
+    PointerQueue(int maxElements) : TypedQueue(maxElements) {
+    }
+
+    // preturns a ptr or null if the queue was empty
+    T *dequeuePtr(TickType_t maxWait = portMAX_DELAY) {
+        T *p;
+        
+        return dequeue(&p, maxWait)  == pdTRUE ? p : NULL;
+    }
+};
+