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Use xQueueCreateStatic to avoid heap allocation

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Storage buffer and control block are now class members, matching
LockFreeQueue's static buffer approach. Removes all null handle checks.
This commit is contained in:
J. Nick Koston
2026-03-31 20:42:13 -10:00
parent 42c2f1906f
commit 9db5c8ac2d
1 changed files with 13 additions and 20 deletions
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esphome/core/freertos_queue.h
+13 -20
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@@ -14,6 +14,9 @@
* empty, full, size) but uses xQueue internally, which synchronizes via
* FreeRTOS critical sections.
*
* Uses xQueueCreateStatic so the queue storage lives in the object itself
* with no heap allocation, matching LockFreeQueue's static buffer approach.
*
* @tparam T The type of elements stored in the queue (stored as pointers)
* @tparam SIZE The maximum number of elements
*/
@@ -22,10 +25,12 @@ namespace esphome {
template<class T, uint8_t SIZE> class FreeRTOSQueue {
public:
FreeRTOSQueue() : dropped_count_(0) { this->handle_ = xQueueCreate(SIZE, sizeof(T *)); }
FreeRTOSQueue() : dropped_count_(0) {
this->handle_ = xQueueCreateStatic(SIZE, sizeof(T *), this->storage_, &this->queue_buf_);
}
bool push(T *element) {
if (element == nullptr || this->handle_ == nullptr)
if (element == nullptr)
return false;
if (xQueueSend(this->handle_, &element, 0) != pdPASS) {
@@ -36,9 +41,6 @@ template<class T, uint8_t SIZE> class FreeRTOSQueue {
}
T *pop() {
if (this->handle_ == nullptr)
return nullptr;
T *element;
if (xQueueReceive(this->handle_, &element, 0) != pdTRUE) {
return nullptr;
@@ -56,25 +58,16 @@ template<class T, uint8_t SIZE> class FreeRTOSQueue {
void increment_dropped_count() { this->dropped_count_++; }
bool empty() const {
if (this->handle_ == nullptr)
return true;
return uxQueueMessagesWaiting(this->handle_) == 0;
}
bool empty() const { return uxQueueMessagesWaiting(this->handle_) == 0; }
bool full() const {
if (this->handle_ == nullptr)
return true;
return uxQueueSpacesAvailable(this->handle_) == 0;
}
bool full() const { return uxQueueSpacesAvailable(this->handle_) == 0; }
size_t size() const {
if (this->handle_ == nullptr)
return 0;
return uxQueueMessagesWaiting(this->handle_);
}
size_t size() const { return uxQueueMessagesWaiting(this->handle_); }
protected:
// Static storage for the queue - sized for SIZE pointer-sized items
uint8_t storage_[SIZE * sizeof(T *)];
StaticQueue_t queue_buf_;
QueueHandle_t handle_;
volatile uint16_t dropped_count_;
};