#pragma once
#include "basic/zlog.h"
#include "cmsis_os.h"
namespace iflytop {
template <typename T>
class ZQueue {
 private:
  int32_t       m_num      = 0;
  int32_t       m_eachsize = 0;
  QueueHandle_t xQueue;

 public:
  void initialize(int32_t num, int32_t eachsize) {
    xQueue = xQueueCreate(num, eachsize);
    ZASSERT(xQueue);
  }
  void clear() { xQueueReset(xQueue); }

  bool send(T *data, int32_t overtime) { return _send((uint8_t *)data, sizeof(T), overtime); }
  bool receive(T *data, int32_t overtime) { return _receive((uint8_t *)data, overtime); }

  bool isFull() {
    BaseType_t xStatus = xQueueIsQueueFullFromISR(xQueue);
    return xStatus == pdTRUE;
  }
  bool isEmpty() {
    BaseType_t xStatus = xQueueIsQueueEmptyFromISR(xQueue);
    return xStatus == pdTRUE;
  }

 private:
  bool _send(uint8_t *data, int32_t len, int32_t overtime) {
    if (xPortIsInsideInterrupt()) {
      BaseType_t xHigherPriorityTaskWoken = pdFALSE;
      BaseType_t xStatus                  = xQueueSendToFrontFromISR(xQueue, data, &xHigherPriorityTaskWoken);
      return xStatus == pdPASS;
    } else {
      BaseType_t xStatus = xQueueSend(xQueue, data, overtime);
      return xStatus == pdPASS;
    }
  }
  bool _receive(uint8_t *data, int32_t overtime) {
    BaseType_t xStatus = xQueueReceive(xQueue, data, overtime);
    return xStatus == pdPASS;
  }
};

}  // namespace iflytop