KSat/fsfw
15
4
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests 1 Releases Wiki Activity

Merge pull request 'IPC Pass Arbitrary Args to MQ IF' (#58) from mueller/ipc-pass-arbitrary-args-to-mq-eive into eive/develop

Browse Source 
Reviewed-on: eive/fsfw#58
This commit is contained in:
Jakob Meier 2022-04-11 14:55:54 +02:00
commit 28e93696df
16 changed files with 245 additions and 682 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
CMakeLists.txt
View File

@ -48,9 +48,10 @@ add_library(${LIB_FSFW_NAME})
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
message(STATUS "Building the FSFW unittests in addition to the static library") message(STATUS "Building the FSFW unittests in addition to the static library")
# Check whether the user has already installed Catch2 first # Check whether the user has already installed Catch2 first
find_package(Catch2 3) find_package(Catch2 3 QUIET)
# Not installed, so use FetchContent to download and provide Catch2 # Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND) if(NOT Catch2_FOUND)
message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent")
include(FetchContent) include(FetchContent)
FetchContent_Declare( FetchContent_Declare(

10
src/fsfw/ipc/CMakeLists.txt
View File

@ -1,6 +1,6 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME} PRIVATE
PRIVATE CommandMessage.cpp
CommandMessage.cpp CommandMessageCleaner.cpp
CommandMessageCleaner.cpp MessageQueueMessage.cpp
MessageQueueMessage.cpp MessageQueueBase.cpp
) )

64
src/fsfw/ipc/MessageQueueBase.cpp Normal file
View File

@ -0,0 +1,64 @@
#include "MessageQueueBase.h"
MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest,
MqArgs* args): id(id) {
this->defaultDest = defaultDest;
if(args != nullptr) {
this->args = *args;
}
}
MessageQueueBase::~MessageQueueBase() {}
ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId(), false);
}
ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) {
if (this->last != MessageQueueIF::NO_QUEUE) {
return sendMessageFrom(this->last, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->last;
return status;
}
MessageQueueId_t MessageQueueBase::getLastPartner() const {
return last;
}
MessageQueueId_t MessageQueueBase::getId() const {
return id;
}
MqArgs& MessageQueueBase::getMqArgs() {
return args;
}
void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDest = defaultDestination;
}
MessageQueueId_t MessageQueueBase::getDefaultDestination() const {
return defaultDest;
}
bool MessageQueueBase::isDefaultDestinationSet() const {
return (defaultDest != NO_QUEUE);
}
ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueueBase::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDest, message, sentFrom, ignoreFault);
}

41
src/fsfw/ipc/MessageQueueBase.h Normal file
View File

@ -0,0 +1,41 @@
#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#include <fsfw/ipc/definitions.h>
#include <fsfw/ipc/MessageQueueIF.h>
class MessageQueueBase: public MessageQueueIF {
public:
MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
virtual ~MessageQueueBase();
// Default implementations for MessageQueueIF where possible
virtual MessageQueueId_t getLastPartner() const override;
virtual MessageQueueId_t getId() const override;
virtual MqArgs& getMqArgs() override;
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
virtual MessageQueueId_t getDefaultDestination() const override;
virtual bool isDefaultDestinationSet() const override;
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) override;
virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) override;
// OSAL specific, forward the abstract function
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
protected:
MessageQueueId_t id = MessageQueueIF::NO_QUEUE;
MessageQueueId_t last = MessageQueueIF::NO_QUEUE;
MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
MqArgs args = {};
};
#endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */

18
src/fsfw/ipc/MessageQueueIF.h
View File

@ -1,6 +1,7 @@
#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FSFW_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_
#include <fsfw/ipc/definitions.h>
#include <cstdint> #include <cstdint>
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
@ -44,8 +45,7 @@ class MessageQueueIF {
virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0; virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
/** /**
* @brief This function reads available messages from the message queue * @brief This function reads available messages from the message queue and returns the sender.
* and returns the sender.
* @details * @details
* It works identically to the other receiveMessage call, but in addition * It works identically to the other receiveMessage call, but in addition
* returns the sender's queue id. * returns the sender's queue id.
@ -78,19 +78,16 @@ class MessageQueueIF {
*/ */
virtual ReturnValue_t flush(uint32_t* count) = 0; virtual ReturnValue_t flush(uint32_t* count) = 0;
/** /**
* @brief This method returns the message queue * @brief This method returns the message queue ID of the last communication partner.
* id of the last communication partner.
*/ */
virtual MessageQueueId_t getLastPartner() const = 0; virtual MessageQueueId_t getLastPartner() const = 0;
/** /**
* @brief This method returns the message queue * @brief This method returns the message queue ID of this class's message queue.
* id of this class's message queue.
*/ */
virtual MessageQueueId_t getId() const = 0; virtual MessageQueueId_t getId() const = 0;
/** /**
* @brief With the sendMessage call, a queue message * @brief With the sendMessage call, a queue message is sent to a receiving queue.
* is sent to a receiving queue.
* @details * @details
* This method takes the message provided, adds the sentFrom information * This method takes the message provided, adds the sentFrom information
* and passes it on to the destination provided with an operating system * and passes it on to the destination provided with an operating system
@ -129,8 +126,7 @@ class MessageQueueIF {
bool ignoreFault = false) = 0; bool ignoreFault = false) = 0;
/** /**
* @brief The sendToDefaultFrom method sends a queue message * @brief The sendToDefaultFrom method sends a queue message to the default destination.
* to the default destination.
* @details * @details
* In all other aspects, it works identical to the sendMessage method. * In all other aspects, it works identical to the sendMessage method.
* @param message * @param message
@ -164,6 +160,8 @@ class MessageQueueIF {
virtual MessageQueueId_t getDefaultDestination() const = 0; virtual MessageQueueId_t getDefaultDestination() const = 0;
virtual bool isDefaultDestinationSet() const = 0; virtual bool isDefaultDestinationSet() const = 0;
virtual MqArgs& getMqArgs() = 0;
}; };
#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */ #endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

4
src/fsfw/ipc/definitions.h
View File

@ -1,11 +1,13 @@
#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ #ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ #define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
#include <fsfw/objectmanager/SystemObjectIF.h> #include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/objectmanager/frameworkObjects.h>
struct MqArgs { struct MqArgs {
MqArgs(){}; MqArgs(){};
MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {} MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
object_id_t objectId = 0; object_id_t objectId = objects::NO_OBJECT;
void* args = nullptr; void* args = nullptr;
}; };

53
src/fsfw/osal/freertos/MessageQueue.cpp
View File

@ -5,7 +5,8 @@
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args) MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
: maxMessageSize(maxMessageSize) { : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize); handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) { if (handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -15,10 +16,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
#else #else
sif::printError("MessageQueue::MessageQueue: Creation failed\n"); sif::printError("MessageQueue::MessageQueue: Creation failed\n");
sif::printError("Specified Message Depth: %d\n", messageDepth); sif::printError("Specified Message Depth: %d\n", messageDepth);
sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize); sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
#endif #endif
} }
QueueMapManager::instance()->addMessageQueue(handle, &queueId); QueueMapManager::instance()->addMessageQueue(handle, &id);
} }
MessageQueue::~MessageQueue() { MessageQueue::~MessageQueue() {
@ -29,28 +30,6 @@ MessageQueue::~MessageQueue() {
void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; } void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; }
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) { MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext); return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext);
@ -72,27 +51,16 @@ ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if (status == HasReturnvaluesIF::RETURN_OK) {
*receivedFrom = this->lastPartner;
}
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0); BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0);
if (result == pdPASS) { if (result == pdPASS) {
this->lastPartner = message->getSender(); this->last = message->getSender();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
} }
} }
MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) { ReturnValue_t MessageQueue::flush(uint32_t* count) {
// TODO FreeRTOS does not support flushing partially // TODO FreeRTOS does not support flushing partially
// Is always successful // Is always successful
@ -100,17 +68,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueId_t MessageQueue::getId() const { return queueId; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
defaultDestinationSet = true;
this->defaultDestination = defaultDestination;
}
MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
// static core function to send messages. // static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueMessageIF* message,

36
src/fsfw/osal/freertos/MessageQueue.h
View File

@ -1,6 +1,7 @@
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "TaskManagement.h" #include "TaskManagement.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
@ -33,7 +34,7 @@
* @ingroup osal * @ingroup osal
* @ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueue : public MessageQueueIF { class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF; friend class MessageQueueSenderIF;
public: public:
@ -75,40 +76,15 @@ class MessageQueue : public MessageQueueIF {
*/ */
void switchSystemContext(CallContext callContext); void switchSystemContext(CallContext callContext);
/** MessageQueueIF implementation */ QueueHandle_t getNativeQueueHandle();
ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false) override;
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override; // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override; bool ignoreFault = false) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override; ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override; ReturnValue_t flush(uint32_t* count) override;
MessageQueueId_t getLastPartner() const override;
MessageQueueId_t getId() const override;
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
QueueHandle_t getNativeQueueHandle();
protected: protected:
/** /**
* @brief Implementation to be called from any send Call within * @brief Implementation to be called from any send Call within
@ -138,12 +114,8 @@ class MessageQueue : public MessageQueueIF {
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault); static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private: private:
bool defaultDestinationSet = false;
QueueHandle_t handle; QueueHandle_t handle;
MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
const size_t maxMessageSize; const size_t maxMessageSize;
//! Stores the current system context //! Stores the current system context
CallContext callContext = CallContext::TASK; CallContext callContext = CallContext::TASK;

52
src/fsfw/osal/host/MessageQueue.cpp
View File

@ -9,9 +9,11 @@
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args) MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
: messageSize(maxMessageSize), messageDepth(messageDepth) { : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
messageSize(maxMessageSize),
messageDepth(messageDepth) {
queueLock = MutexFactory::instance()->createMutex(); queueLock = MutexFactory::instance()->createMutex();
auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId); auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl; sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
@ -23,42 +25,11 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* a
MessageQueue::~MessageQueue() { MutexFactory::instance()->deleteMutex(queueLock); } MessageQueue::~MessageQueue() { MutexFactory::instance()->deleteMutex(queueLock); }
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return MessageQueueIF::NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) { MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault); return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
} }
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if (status == HasReturnvaluesIF::RETURN_OK) {
*receivedFrom = this->lastPartner;
}
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if (messageQueue.empty()) { if (messageQueue.empty()) {
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
@ -68,12 +39,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
message->getBuffer()); message->getBuffer());
messageQueue.pop(); messageQueue.pop();
// The last partner is the first uint32_t field in the message // The last partner is the first uint32_t field in the message
this->lastPartner = message->getSender(); this->last = message->getSender();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) { ReturnValue_t MessageQueue::flush(uint32_t* count) {
*count = messageQueue.size(); *count = messageQueue.size();
// Clears the queue. // Clears the queue.
@ -81,17 +50,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueId_t MessageQueue::getId() const { return mqId; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
defaultDestinationSet = true;
this->defaultDestination = defaultDestination;
}
MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
// static core function to send messages. // static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueMessageIF* message,

129
src/fsfw/osal/host/MessageQueue.h
View File

@ -1,9 +1,7 @@
#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ #ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ #define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
#include <memory> #include "fsfw/ipc/MessageQueueBase.h"
#include <queue>
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
@ -11,6 +9,9 @@
#include "fsfw/ipc/definitions.h" #include "fsfw/ipc/definitions.h"
#include "fsfw/timemanager/Clock.h" #include "fsfw/timemanager/Clock.h"
#include <memory>
#include <queue>
/** /**
* @brief This class manages sending and receiving of * @brief This class manages sending and receiving of
* message queue messages. * message queue messages.
@ -34,7 +35,7 @@
* @ingroup osal * @ingroup osal
* @ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueue : public MessageQueueIF { class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF; friend class MessageQueueSenderIF;
public: public:
@ -69,121 +70,12 @@ class MessageQueue : public MessageQueueIF {
*/ */
virtual ~MessageQueue(); virtual ~MessageQueue();
/** // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender
* parent, but passes its queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the
* destination message queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter
* is not incremented if queue is full.
*/
ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false) override;
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the
* sendToDefault call of the MessageQueueSender parent class and adds its
* queue id as "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using
* the stored lastPartner information as destination. If there was no
* message received yet (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply(MessageQueueMessageIF* message) override;
/**
* @brief With the sendMessage call, a queue message is sent to a
* receiving queue.
* @details
* This method takes the message provided, adds the sentFrom information and
* passes it on to the destination provided with an operating system call.
* The OS's return value is returned.
* @param sendTo This parameter specifies the message queue id to send
* the message to.
* @param message This is a pointer to a previously created message,
* which is sent.
* @param sentFrom The sentFrom information can be set to inject the
* sender's queue id into the message. This variable is set to zero by
* default.
* @param ignoreFault If set to true, the internal software fault counter
* is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override; bool ignoreFault = false) override;
/**
* @brief The sendToDefault method sends a queue message to the default
* destination.
* @details
* In all other aspects, it works identical to the sendMessage method.
* @param message This is a pointer to a previously created message,
* which is sent.
* @param sentFrom The sentFrom information can be set to inject the
* sender's queue id into the message. This variable is set to zero by
* default.
*/
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
/**
* @brief This function reads available messages from the message queue
* and returns the sender.
* @details
* It works identically to the other receiveMessage call, but in addition
* returns the sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
/**
* @brief This function reads available messages from the message queue.
* @details
* If data is available it is stored in the passed message pointer.
* The message's original content is overwritten and the sendFrom
* information is stored in the lastPartner attribute. Else, the lastPartner
* information remains untouched, the message's content is cleared and the
* function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override; ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
* @return RETURN_OK on success.
*/
ReturnValue_t flush(uint32_t* count) override; ReturnValue_t flush(uint32_t* count) override;
/**
* @brief This method returns the message queue id of the last
* communication partner.
*/
MessageQueueId_t getLastPartner() const override;
/**
* @brief This method returns the message queue id of this class's
* message queue.
*/
MessageQueueId_t getId() const override;
/**
* @brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
/**
* @brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout); ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout);
ReturnValue_t unlockQueue(); ReturnValue_t unlockQueue();
@ -213,23 +105,14 @@ class MessageQueue : public MessageQueueIF {
MessageQueueId_t sentFrom = NO_QUEUE, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false); bool ignoreFault = false);
// static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private: private:
std::queue<std::vector<uint8_t>> messageQueue; std::queue<std::vector<uint8_t>> messageQueue;
/**
* @brief The class stores the queue id it got assigned.
* If initialization fails, the queue id is set to zero.
*/
MessageQueueId_t mqId = MessageQueueIF::NO_QUEUE;
size_t messageSize = 0; size_t messageSize = 0;
size_t messageDepth = 0; size_t messageDepth = 0;
MutexIF* queueLock; MutexIF* queueLock;
bool defaultDestinationSet = false;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE; MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
}; };
#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */ #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

51
src/fsfw/osal/linux/MessageQueue.cpp
View File

@ -12,12 +12,9 @@
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
: id(MessageQueueIF::NO_QUEUE), : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE),
maxMessageSize(maxMessageSize) { maxMessageSize(maxMessageSize) {
mq_attr attributes; mq_attr attributes;
this->id = 0;
// Set attributes // Set attributes
attributes.mq_curmsgs = 0; attributes.mq_curmsgs = 0;
attributes.mq_maxmsg = messageDepth; attributes.mq_maxmsg = messageDepth;
@ -37,9 +34,6 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
// Successful mq_open call // Successful mq_open call
this->id = tempId; this->id = tempId;
} }
if (args != nullptr) {
this->mqArgs = *args;
}
} }
MessageQueue::~MessageQueue() { MessageQueue::~MessageQueue() {
@ -53,30 +47,6 @@ MessageQueue::~MessageQueue() {
} }
} }
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if (message == nullptr) { if (message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -99,7 +69,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()), int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()),
message->getMaximumMessageSize(), &messagePriority); message->getMaximumMessageSize(), &messagePriority);
if (status > 0) { if (status > 0) {
this->lastPartner = message->getSender(); this->last = message->getSender();
// Check size of incoming message. // Check size of incoming message.
if (message->getMessageSize() < message->getMinimumMessageSize()) { if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -167,8 +137,6 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
} }
} }
MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) { ReturnValue_t MessageQueue::flush(uint32_t* count) {
mq_attr attrib; mq_attr attrib;
int status = mq_getattr(id, &attrib); int status = mq_getattr(id, &attrib);
@ -215,26 +183,11 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueId_t MessageQueue::getId() const { return this->id; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) { MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault); return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
} }
MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
uint16_t MessageQueue::queueCounter = 0; uint16_t MessageQueue::queueCounter = 0;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,

130
src/fsfw/osal/linux/MessageQueue.h
View File

@ -1,6 +1,7 @@
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ #ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ #define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include <mqueue.h> #include <mqueue.h>
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
@ -26,7 +27,7 @@
* makes use of the operating system calls provided. * makes use of the operating system calls provided.
* @ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueue : public MessageQueueIF { class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF; friend class MessageQueueSenderIF;
public: public:
@ -45,103 +46,23 @@ class MessageQueue : public MessageQueueIF {
MessageQueue(uint32_t messageDepth = 3, MessageQueue(uint32_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr); MqArgs* args = nullptr);
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/** /**
* @brief The destructor deletes the formerly created message queue. * @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system. * @details This is accomplished by using the delete call provided by the operating system.
*/ */
virtual ~MessageQueue(); virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes
* its queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message
* queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if
* queue is full.
*/
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false);
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* MessageQueueSender parent class and adds its queue id as "sentFrom"
* information.
* @param message A pointer to a previously created message, which is sent.
*/
virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply(MessageQueueMessageIF* message);
/** // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
* @brief This function reads available messages from the message queue and returns the ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
* sender. ReturnValue_t flush(uint32_t* count) override;
* @details It works identically to the other receiveMessage call, but in addition returns the ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
* sender's queue id. MessageQueueId_t sentFrom,
* @param message A pointer to a message in which the received data is stored. bool ignoreFault = false) override;
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in
* the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
* content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
* @return RETURN_OK on success.
*/
ReturnValue_t flush(uint32_t* count);
/**
* @brief This method returns the message queue id of the last communication partner.
*/
MessageQueueId_t getLastPartner() const;
/**
* @brief This method returns the message queue id of this class's message queue.
*/
MessageQueueId_t getId() const;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the
* message. This variable is set to zero by default. \param ignoreFault If set to true, the
* internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false);
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the
* message. This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false);
/**
* \brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination);
/**
* \brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const;
bool isDefaultDestinationSet() const;
protected: protected:
/** /**
@ -160,33 +81,10 @@ class MessageQueue : public MessageQueueIF {
bool ignoreFault = false); bool ignoreFault = false);
private: private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this
* attribute. If initialization fails, the queue id is set to zero.
*/
MessageQueueId_t id;
/**
* @brief In this attribute, the queue id of the last communication partner is stored
* to allow for replying.
*/
MessageQueueId_t lastPartner;
/**
* @brief The message queue's name -a user specific information for the operating system- is
* generated automatically with the help of this static counter.
*/
/**
* \brief This attribute stores a default destination to send messages to.
* \details It is stored to simplify sending to always-the-same receiver. The attribute may
* be set in the constructor or by a setter call to setDefaultDestination.
*/
MessageQueueId_t defaultDestination;
/** /**
* The name of the message queue, stored for unlinking * The name of the message queue, stored for unlinking
*/ */
char name[16]; char name[16] = {};
MqArgs mqArgs = {};
static uint16_t queueCounter; static uint16_t queueCounter;
const size_t maxMessageSize; const size_t maxMessageSize;

48
src/fsfw/osal/rtems/MessageQueue.cpp
View File

@ -7,7 +7,8 @@
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args) MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
: id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) { : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
internalErrorReporter(nullptr) {
rtems_name name = ('Q' << 24) + (queueCounter++ << 8); rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
rtems_status_code status = rtems_status_code status =
rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id)); rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id));
@ -16,43 +17,19 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs
sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec
<< " failed with status:" << (uint32_t)status << std::endl; << " failed with status:" << (uint32_t)status << std::endl;
#endif #endif
this->id = 0; this->id = MessageQueueIF::NO_QUEUE;
} }
} }
MessageQueue::~MessageQueue() { rtems_message_queue_delete(id); } MessageQueue::~MessageQueue() { rtems_message_queue_delete(id); }
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessage(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
size_t size = 0; size_t size = 0;
rtems_status_code status = rtems_status_code status =
rtems_message_queue_receive(id, message->getBuffer(), &size, RTEMS_NO_WAIT, 1); rtems_message_queue_receive(id, message->getBuffer(), &size, RTEMS_NO_WAIT, 1);
if (status == RTEMS_SUCCESSFUL) { if (status == RTEMS_SUCCESSFUL) {
message->setMessageSize(size); message->setMessageSize(size);
this->lastPartner = message->getSender(); this->last = message->getSender();
// Check size of incoming message. // Check size of incoming message.
if (message->getMessageSize() < message->getMinimumMessageSize()) { if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -65,19 +42,11 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
return convertReturnCode(status); return convertReturnCode(status);
} }
MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) { ReturnValue_t MessageQueue::flush(uint32_t* count) {
rtems_status_code status = rtems_message_queue_flush(id, count); rtems_status_code status = rtems_message_queue_flush(id, count);
return convertReturnCode(status); return convertReturnCode(status);
} }
MessageQueueId_t MessageQueue::getId() const { return this->id; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) { MessageQueueId_t sentFrom, bool ignoreFault) {
message->setSender(sentFrom); message->setSender(sentFrom);
@ -103,15 +72,6 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
return returnCode; return returnCode;
} }
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue) { ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue) {
switch (inValue) { switch (inValue) {
case RTEMS_SUCCESSFUL: case RTEMS_SUCCESSFUL:

127
src/fsfw/osal/rtems/MessageQueue.h
View File

@ -1,6 +1,7 @@
#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ #ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "RtemsBasic.h" #include "RtemsBasic.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
@ -20,7 +21,7 @@
*as well as sending and receiving messages, the class makes use of the operating system calls *as well as sending and receiving messages, the class makes use of the operating system calls
*provided. \ingroup message_queue *provided. \ingroup message_queue
*/ */
class MessageQueue : public MessageQueueIF { class MessageQueue : public MessageQueueBase {
public: public:
/** /**
* @brief The constructor initializes and configures the message queue. * @brief The constructor initializes and configures the message queue.
@ -37,130 +38,24 @@ class MessageQueue : public MessageQueueIF {
MessageQueue(size_t message_depth = 3, MessageQueue(size_t message_depth = 3,
size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr); MqArgs* args = nullptr);
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/** /**
* @brief The destructor deletes the formerly created message queue. * @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system. * @details This is accomplished by using the delete call provided by the operating system.
*/ */
virtual ~MessageQueue(); virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes
* its queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message
* queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if
* queue is full.
*/
ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false);
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* MessageQueueSender parent class and adds its queue id as "sentFrom"
* information.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply(MessageQueueMessageIF* message);
/** // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
* @brief This function reads available messages from the message queue and returns the ReturnValue_t flush(uint32_t* count) override;
* sender. ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in
* the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
* content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
* @return RETURN_OK on success.
*/
ReturnValue_t flush(uint32_t* count);
/**
* @brief This method returns the message queue id of the last communication partner.
*/
MessageQueueId_t getLastPartner() const;
/**
* @brief This method returns the message queue id of this class's message queue.
*/
MessageQueueId_t getId() const;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's
* return value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the
* message. This variable is set to zero by default. \param ignoreFault If set to true, the
* internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false); bool ignoreFault = false) override;
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the
* message. This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false);
/**
* \brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination);
/**
* \brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const;
bool isDefaultDestinationSet() const;
private: private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this
* attribute. If initialization fails, the queue id is set to zero.
*/
MessageQueueId_t id;
/**
* @brief In this attribute, the queue id of the last communication partner is stored
* to allow for replying.
*/
MessageQueueId_t lastPartner;
/**
* @brief The message queue's name -a user specific information for the operating system- is
* generated automatically with the help of this static counter.
*/
/**
* \brief This attribute stores a default destination to send messages to.
* \details It is stored to simplify sending to always-the-same receiver. The attribute may
* be set in the constructor or by a setter call to setDefaultDestination.
*/
MessageQueueId_t defaultDestination;
/** /**
* \brief This attribute stores a reference to the internal error reporter for reporting full * \brief This attribute stores a reference to the internal error reporter for reporting full
* queues. \details In the event of a full destination queue, the reporter will be notified. The * queues. \details In the event of a full destination queue, the reporter will be notified. The

116
tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp
View File

@ -21,8 +21,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK); REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK); REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK);
MessageQueueMockBase* mqMock = poolOwner->getMockQueueHandle(); MessageQueueMockBase* poolOwnerMock = poolOwner->getMockQueueHandle();
REQUIRE(mqMock != nullptr); REQUIRE(poolOwnerMock != nullptr);
// MessageQueueIF* hkCommander = QueueFactory::instance()->createMessageQueue();
CommandMessage messageSent; CommandMessage messageSent;
uint8_t messagesSent = 0; uint8_t messagesSent = 0;
@ -41,9 +43,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
/* Now the update message should be generated. */ /* Now the update message should be generated. */
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent() == true); REQUIRE(poolOwnerMock->wasMessageSent() == true);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
@ -53,9 +55,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
@ -63,15 +65,15 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK); REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK);
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 2); CHECK(messagesSent == 2);
/* first message sent should be the update notification, considering /* first message sent should be the update notification, considering
the internal list is a vector checked in insertion order. */ the internal list is a vector checked in insertion order. */
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT)); CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
/* Clear message to avoid memory leak, our mock won't do it for us (yet) */ /* Clear message to avoid memory leak, our mock won't do it for us (yet) */
CommandMessageCleaner::clearCommandMessage(&messageSent); CommandMessageCleaner::clearCommandMessage(&messageSent);
@ -99,9 +101,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
/* Trigger generation of snapshot */ /* Trigger generation of snapshot */
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
/* Check that snapshot was generated */ /* Check that snapshot was generated */
CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_SET)); CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_SET));
/* Now we deserialize the snapshot into a new dataset instance */ /* Now we deserialize the snapshot into a new dataset instance */
@ -162,12 +164,12 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Check update snapshot was sent. */ /* Check update snapshot was sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
/* Should have been reset. */ /* Should have been reset. */
CHECK(poolVar->hasChanged() == false); CHECK(poolVar->hasChanged() == false);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE)); static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE));
/* Now we deserialize the snapshot into a new dataset instance */ /* Now we deserialize the snapshot into a new dataset instance */
@ -209,11 +211,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Check update notification was sent. */ /* Check update notification was sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
/* Should have been reset. */ /* Should have been reset. */
CHECK(poolVar->hasChanged() == false); CHECK(poolVar->hasChanged() == false);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
/* Now subscribe for the dataset update (HK and update) again with subscription interface */ /* Now subscribe for the dataset update (HK and update) again with subscription interface */
@ -225,26 +227,26 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Now two messages should be sent. */ /* Now two messages should be sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 2); CHECK(messagesSent == 2);
mqMock->clearMessages(true); poolOwnerMock->clearMessages(true);
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
poolVar->setChanged(true); poolVar->setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Now three messages should be sent. */ /* Now three messages should be sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 3); CHECK(messagesSent == 3);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT)); CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
CommandMessageCleaner::clearCommandMessage(&messageSent); CommandMessageCleaner::clearCommandMessage(&messageSent);
REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY)); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
} }
SECTION("PeriodicHKAndMessaging") { SECTION("PeriodicHKAndMessaging") {
@ -255,38 +257,38 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK); REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Now HK packet should be sent as message immediately. */ /* Now HK packet should be sent as message immediately. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid); LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid);
REQUIRE(setHandle != nullptr); REQUIRE(setHandle != nullptr);
CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid, setHandle, false) == CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid, setHandle, false) ==
retval::CATCH_OK); retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
CHECK(setHandle->getReportingEnabled() == true); CHECK(setHandle->getReportingEnabled() == true);
CommandMessage hkCmd; CommandMessage hkCmd;
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
CHECK(setHandle->getReportingEnabled() == false); CHECK(setHandle->getReportingEnabled() == false);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
CHECK(setHandle->getReportingEnabled() == true); CHECK(setHandle->getReportingEnabled() == true);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
CHECK(setHandle->getReportingEnabled() == false); CHECK(setHandle->getReportingEnabled() == false);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4, HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
false); false);
@ -294,23 +296,23 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
/* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the /* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the
resulting collection interval should be 1.0 second */ resulting collection interval should be 1.0 second */
CHECK(poolOwner->dataset.getCollectionInterval() == 1.0); CHECK(poolOwner->dataset.getCollectionInterval() == 1.0);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false); HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
/* Now HK packet should be sent as message. */ /* Now HK packet should be sent as message. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false); HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid); HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid);
sid_t sidToCheck; sid_t sidToCheck;
@ -326,62 +328,62 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
/* We still expect a failure message being sent */ /* We still expect a failure message being sent */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4, HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
false); false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false); HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true); HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4, HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
true); true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false); HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true); HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid); HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid);
gp_id_t gpidToCheck; gp_id_t gpidToCheck;
@ -407,5 +409,5 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
/* we need to reset the subscription list because the pool owner /* we need to reset the subscription list because the pool owner
is a global object. */ is a global object. */
CHECK(poolOwner->reset() == retval::CATCH_OK); CHECK(poolOwner->reset() == retval::CATCH_OK);
mqMock->clearMessages(true); poolOwnerMock->clearMessages(true);
} }

45
tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h
View File

@ -4,16 +4,18 @@
#include <cstring> #include <cstring>
#include <queue> #include <queue>
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/CommandMessage.h" #include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw_tests/unit/CatchDefinitions.h" #include "fsfw_tests/unit/CatchDefinitions.h"
class MessageQueueMockBase : public MessageQueueIF { class MessageQueueMockBase : public MessageQueueBase {
public: public:
MessageQueueId_t myQueueId = tconst::testQueueId; MessageQueueMockBase()
: MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {}
uint8_t messageSentCounter = 0; uint8_t messageSentCounter = 0;
bool defaultDestSet = false;
bool messageSent = false; bool messageSent = false;
bool wasMessageSent(uint8_t* messageSentCounter = nullptr, bool resetCounter = true) { bool wasMessageSent(uint8_t* messageSentCounter = nullptr, bool resetCounter = true) {
@ -38,53 +40,30 @@ class MessageQueueMockBase : public MessageQueueIF {
return receiveMessage(&message); return receiveMessage(&message);
} }
virtual ReturnValue_t reply(MessageQueueMessageIF* message) { virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override {
return sendMessage(myQueueId, message);
};
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
return receiveMessage(message);
}
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
if (messagesSentQueue.empty()) { if (messagesSentQueue.empty()) {
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
} }
this->last = message->getSender();
std::memcpy(message->getBuffer(), messagesSentQueue.front().getBuffer(), std::memcpy(message->getBuffer(), messagesSentQueue.front().getBuffer(),
message->getMessageSize()); message->getMessageSize());
messagesSentQueue.pop(); messagesSentQueue.pop();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
virtual ReturnValue_t flush(uint32_t* count) { return HasReturnvaluesIF::RETURN_OK; } virtual ReturnValue_t flush(uint32_t* count) { return HasReturnvaluesIF::RETURN_OK; }
virtual MessageQueueId_t getLastPartner() const { return myQueueId; }
virtual MessageQueueId_t getId() const { return myQueueId; }
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) { MessageQueueId_t sentFrom,
return sendMessage(sendTo, message); bool ignoreFault = false) override {
}
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false) {
return sendMessage(myQueueId, message);
}
virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) {
return sendMessage(myQueueId, message);
}
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false) override {
messageSent = true; messageSent = true;
messageSentCounter++; messageSentCounter++;
MessageQueueMessage& messageRef = *(dynamic_cast<MessageQueueMessage*>(message)); MessageQueueMessage& messageRef = *(dynamic_cast<MessageQueueMessage*>(message));
messagesSentQueue.push(messageRef); messagesSentQueue.push(messageRef);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
myQueueId = defaultDestination;
defaultDestSet = true;
}
virtual MessageQueueId_t getDefaultDestination() const { return myQueueId; } virtual ReturnValue_t reply(MessageQueueMessageIF* message) override {
virtual bool isDefaultDestinationSet() const { return defaultDestSet; } return sendMessageFrom(MessageQueueIF::NO_QUEUE, message, this->getId(), false);
}
void clearMessages(bool clearCommandMessages = true) { void clearMessages(bool clearCommandMessages = true) {
while (not messagesSentQueue.empty()) { while (not messagesSentQueue.empty()) {