QueueCPP.h

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#ifndef QUEUECPP_H
#define QUEUECPP_H

#include "FreeRTOS.h"
#include "queue.h"

//#include <type_traits>

template<class T> class Queue {
//  static_assert(::std::is_pod<T>, "Queues only work with PODs"); ///@todo need to get later version of C++ compile working
public:
  Queue(unsigned portBASE_TYPE length, char const* name){
    handle = xQueueCreate(length, sizeof(T));
#if configQUEUE_REGISTRY_SIZE > 0
    vQueueAddToRegistry(handle, name);
#endif

  };

  ~Queue() {
    vQueueDelete(handle);
  }

  unsigned portBASE_TYPE waiting() const {
    return uxQueueMessagesWaiting(handle);
  }

  bool push(T const& item, TickType_t time = portMAX_DELAY){
    return xQueueSendToFront(handle, &item, time);
  }

  bool add(T const& item, TickType_t time = portMAX_DELAY){
    return xQueueSendToBack(handle, &item, time);
  }

  bool pop(T& var, TickType_t time = portMAX_DELAY) {
    return xQueueReceive(handle, &var, time);
  }

  bool peek(T& var, TickType_t time = portMAX_DELAY) {
    return xQueuePeek(handle, &var, time);
  }

  bool full() {
    return 0 < uxQueueSpacesAvailable(handle);
  }

  bool empty() {
    return uxQueueMessagesWaiting(handle) == 0;
  }

  bool push_ISR(T const& item){
    return xQueueSendToFrontFromISR(handle, &item, waswoken);
  }

  bool add_ISR(T const& item){
    return xQueueSendToBackFromISR(handle, &item, waswoken);
  }

  bool pop_ISR(T& var) {
    return xQueueReceiveFromISR(handle, &var, waswoken);
  }

  bool peek_ISR(T& var) {
    return xQueuePeekFromISR(handle, &var, waswoken);
  }

  bool full_ISR() {
    return xQueueIsQueueFullFromISR(handle);
  }

  bool empty_ISR() {
    return xQueueIsQueueEmptyFromISR(handle);
  }

  unsigned waiting_ISR() {
    return uxQueueMessagesWaitingFromISR(handle);
  }

    void start_ISR(portBASE_TYPE& flag) { waswoken = &flag; }

private:
    xQueueHandle handle;
//    portBASE_TYPE* waswoken;
#if __cplusplus < 201101L
    Queue(Queue const&);      
    void operator =(Queue const&);  
#else
    Queue(Queue const&) = delete;      
    void operator =(Queue const&) = delete;  
#endif // __cplusplus
  
};

#endif