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doc for mqm improved

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This commit is contained in:
Robin Müller 2020-06-09 02:46:19 +02:00
parent 8ff6506ad9
commit 47aa9ddcc3
4 changed files with 127 additions and 72 deletions
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8
ipc/CommandMessage.cpp
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@ -152,3 +152,11 @@ void CommandMessage::setSender(MessageQueueId_t setId) {
const uint8_t* CommandMessage::getBuffer() const { const uint8_t* CommandMessage::getBuffer() const {
return internalMessage->getBuffer(); return internalMessage->getBuffer();
} }
uint8_t* CommandMessage::getData() {
return internalMessage->getData();
}
const uint8_t* CommandMessage::getData() const {
return internalMessage->getData();
}

56
ipc/CommandMessage.h
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@ -1,16 +1,25 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_ #ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
#define FRAMEWORK_IPC_COMMANDMESSAGE_H_ #define FRAMEWORK_IPC_COMMANDMESSAGE_H_
#include <framework/ipc/MessageQueueMessage.h>
#include <framework/ipc/FwMessageTypes.h> #include <framework/ipc/FwMessageTypes.h>
#include <config/ipc/MissionMessageTypes.h> #include <config/ipc/MissionMessageTypes.h>
#include <framework/ipc/MessageQueueMessage.h>
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number)) #define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t; typedef uint16_t Command_t;
/** /**
* @brief Used to pass command messages between tasks * @brief Used to pass command messages between tasks. Primary message type
* for IPC. Contains sender, 2-byte command field, and 2 4-byte
* parameters.
* @details
* It operates on an external memory which is contained inside a
* MessageQueueMessage by taking its address.
* This allows for a more flexible designs of message implementations.
* The pointer can be passed to different message implementations without
* the need of unnecessary copying.
* @author Bastian Baetz * @author Bastian Baetz
*/ */
class CommandMessage: public MessageQueueMessageIF { class CommandMessage: public MessageQueueMessageIF {
@ -53,13 +62,10 @@ public:
uint32_t parameter1, uint32_t parameter2); uint32_t parameter1, uint32_t parameter2);
/** /**
* Default Destructor * @brief Default Destructor
*/ */
virtual ~CommandMessage() { virtual ~CommandMessage() {}
}
uint8_t * getBuffer() override;
const uint8_t * getBuffer() const override;
/** /**
* Read the DeviceHandlerCommand_t that is stored in the message, * Read the DeviceHandlerCommand_t that is stored in the message,
* usually used after receiving. * usually used after receiving.
@ -68,53 +74,54 @@ public:
*/ */
Command_t getCommand() const; Command_t getCommand() const;
/** /*
* @brief This method is used to set the sender's message queue id * MessageQueueMessageIF functions, which generally just call the
* information prior to sending the message. * respective functions of the internal message
* @param setId
* The message queue id that identifies the sending message queue.
*/ */
uint8_t * getBuffer() override;
const uint8_t * getBuffer() const override;
void setSender(MessageQueueId_t setId) override; void setSender(MessageQueueId_t setId) override;
MessageQueueId_t getSender() const override; MessageQueueId_t getSender() const override;
uint8_t * getData() override;
const uint8_t* getData() const override;
size_t getMinimumMessageSize() const override;
/**
* Extract message ID, which is the first byte of the command ID.
* @return
*/
uint8_t getMessageType() const; uint8_t getMessageType() const;
/** /**
* Set the DeviceHandlerCOmmand_t of the message * Set the command type of the message
*
* @param the Command to be sent * @param the Command to be sent
*/ */
void setCommand(Command_t command); void setCommand(Command_t command);
/** /**
* Get the first parameter of the message * Get the first parameter of the message
*
* @return the first Parameter of the message * @return the first Parameter of the message
*/ */
uint32_t getParameter() const; uint32_t getParameter() const;
/** /**
* Set the first parameter of the message * Set the first parameter of the message
*
* @param the first parameter of the message * @param the first parameter of the message
*/ */
void setParameter(uint32_t parameter1); void setParameter(uint32_t parameter1);
/** /**
* Get the second parameter of the message * Get the second parameter of the message
*
* @return the second Parameter of the message * @return the second Parameter of the message
*/ */
uint32_t getParameter2() const; uint32_t getParameter2() const;
/** /**
* Set the second parameter of the message * Set the second parameter of the message
*
* @param the second parameter of the message * @param the second parameter of the message
*/ */
void setParameter2(uint32_t parameter2); void setParameter2(uint32_t parameter2);
void clear() override;
/** /**
* Set the command to CMD_NONE and try to find * Set the command to CMD_NONE and try to find
* the correct class to handle a more detailed * the correct class to handle a more detailed
@ -126,6 +133,7 @@ public:
* *
*/ */
void clearCommandMessage(); void clearCommandMessage();
void clear() override;
/** /**
* check if a message was cleared * check if a message was cleared
@ -134,7 +142,6 @@ public:
*/ */
bool isClearedCommandMessage(); bool isClearedCommandMessage();
/** /**
* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND. * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
* Is needed quite often, so we better code it once only. * Is needed quite often, so we better code it once only.
@ -142,9 +149,14 @@ public:
void setToUnknownCommand(); void setToUnknownCommand();
void setReplyRejected(ReturnValue_t reason, void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand = CMD_NONE); Command_t initialCommand = CMD_NONE);
size_t getMinimumMessageSize() const override;
private: private:
/**
* @brief Pointer to the message containing the data.
* @details
* The command message does not actually own the memory containing a
* message, it just oprates on it via a pointer to a message queue message.
*/
MessageQueueMessage* internalMessage; MessageQueueMessage* internalMessage;
}; };

107
ipc/MessageQueueMessage.h
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@ -1,5 +1,5 @@
#ifndef MESSAGEQUEUEMESSAGE_H_ #ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGE_H_
#define MESSAGEQUEUEMESSAGE_H_ #define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGE_H_
#include <framework/ipc/MessageQueueMessageIF.h> #include <framework/ipc/MessageQueueMessageIF.h>
#include <framework/ipc/MessageQueueSenderIF.h> #include <framework/ipc/MessageQueueSenderIF.h>
@ -8,7 +8,6 @@
/** /**
* @brief This class is the representation and data organizer * @brief This class is the representation and data organizer
* for interprocess messages. * for interprocess messages.
*
* @details * @details
* To facilitate and standardize interprocess communication, this class was * To facilitate and standardize interprocess communication, this class was
* created to handle a lightweight "interprocess message protocol". * created to handle a lightweight "interprocess message protocol".
@ -28,12 +27,14 @@ class MessageQueueMessage: public MessageQueueMessageIF {
public: public:
/** /**
* @brief The class is initialized empty with this constructor. * @brief The class is initialized empty with this constructor.
* @details The messageSize attribute is set to the header's size and the * @details
* whole content is set to zero. * The messageSize attribute is set to the header's size and the whole
* content is set to zero.
*/ */
MessageQueueMessage(); MessageQueueMessage();
/** /**
* @brief With this constructor the class is initialized with the given content. * @brief With this constructor the class is initialized with
* the given content.
* @details * @details
* If the passed message size fits into the buffer, the passed data is * If the passed message size fits into the buffer, the passed data is
* copied to the internal buffer and the messageSize information is set. * copied to the internal buffer and the messageSize information is set.
@ -46,7 +47,14 @@ public:
MessageQueueMessage(uint8_t* data, size_t size); MessageQueueMessage(uint8_t* data, size_t size);
/** /**
* @brief The size information of each message is stored in this attribute. * @brief As no memory is allocated in this class,
* the destructor is empty.
*/
virtual ~MessageQueueMessage();
/**
* @brief The size information of each message is stored in
* this attribute.
* @details * @details
* It is public to simplify usage and to allow for passing the size * It is public to simplify usage and to allow for passing the size
* address as a pointer. Care must be taken when inheriting from this class, * address as a pointer. Care must be taken when inheriting from this class,
@ -59,19 +67,26 @@ public:
*/ */
size_t messageSize; size_t messageSize;
/** /**
* @brief This constant defines the maximum size of the data content, excluding the header. * @brief This constant defines the maximum size of the data content,
* @details It may be changed if necessary, but in general should be kept as small as possible. * excluding the header.
* @details
* It may be changed if necessary, but in general should be kept
* as small as possible.
*/ */
static const size_t MAX_DATA_SIZE = 24; static const size_t MAX_DATA_SIZE = 24;
/** /**
* @brief This constants defines the size of the header, which is added to every message. * @brief This constants defines the size of the header,
* which is added to every message.
*/ */
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t); static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
/** /**
* @brief This constant defines the maximum total size in bytes of a sent message. * @brief This constant defines the maximum total size in bytes
* @details It is the sum of the maximum data and the header size. Be aware that this constant * of a sent message.
* is used to define the buffer sizes for every message queue in the system. So, a change * @details
* here may have significant impact on the required resources. * It is the sum of the maximum data and the header size. Be aware that
* this constant is used to define the buffer sizes for every message
* queue in the system. So, a change here may have significant impact on
* the required resources.
*/ */
static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE; static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/** /**
@ -81,58 +96,64 @@ public:
static const size_t MIN_MESSAGE_SIZE = HEADER_SIZE; static const size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private: private:
/** /**
* @brief This is the internal buffer that contains the actual message data. * @brief This is the internal buffer that contains the
* actual message data.
*/ */
uint8_t internalBuffer[MAX_MESSAGE_SIZE]; uint8_t internalBuffer[MAX_MESSAGE_SIZE];
public: public:
/** /**
* @brief As no memory is allocated in this class, the destructor is empty. * @brief This method is used to get the complete data of the message.
*/ */
virtual ~MessageQueueMessage(); const uint8_t* getBuffer() const override;
/** /**
* @brief This method is used to get the complete data of the message. * @brief This method is used to get the complete data of the message.
*/ */
const uint8_t* getBuffer() const; uint8_t* getBuffer() override;
/**
* @brief This method is used to get the complete data of the message.
*/
uint8_t* getBuffer();
/** /**
* @brief This method is used to fetch the data content of the message. * @brief This method is used to fetch the data content of the message.
* @details It shall be used by child classes to add data at the right position. * @details
* It shall be used by child classes to add data at the right position.
*/ */
const uint8_t* getData() const; const uint8_t* getData() const override;
/** /**
* @brief This method is used to fetch the data content of the message. * @brief This method is used to fetch the data content of the message.
* @details It shall be used by child classes to add data at the right position. * @details
* It shall be used by child classes to add data at the right position.
*/ */
uint8_t* getData(); uint8_t* getData() override;
/** /**
* @brief This method is used to extract the sender's message queue id information from a * @brief This method is used to extract the sender's message
* received message. * queue id information from a received message.
*/ */
MessageQueueId_t getSender() const; MessageQueueId_t getSender() const override;
/** /**
* @brief With this method, the whole content and the message size is set to zero. * @brief With this method, the whole content
* and the message size is set to zero.
*/ */
void clear(); void clear() override;
/** /**
* @brief This is a debug method that prints the content (till messageSize) to the debug output. * @brief This method is used to set the sender's message queue id
* information prior to ing the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/ */
void print(); void setSender(MessageQueueId_t setId) override;
/** /**
* @brief This method is used to set the sender's message queue id information prior to * @brief This helper function is used by the MessageQueue class to check
* sending the message. * the size of an incoming message.
* @param setId The message queue id that identifies the sending message queue. * @details
*/ * The method must be overwritten by child classes if size
void setSender(MessageQueueId_t setId); * checks shall be more strict.
/**
* @brief This helper function is used by the MessageQueue class to check the size of an
* incoming message.
* @details The method must be overwritten by child classes if size checks shall be more strict.
* @return The default implementation returns HEADER_SIZE. * @return The default implementation returns HEADER_SIZE.
*/ */
virtual size_t getMinimumMessageSize() const; virtual size_t getMinimumMessageSize() const override;
/**
* @brief This is a debug method that prints the content
* (till messageSize) to the debug output.
*/
void print();
}; };
#endif /* MESSAGEQUEUEMESSAGE_H_ */ #endif /* MESSAGEQUEUEMESSAGE_H_ */

28
ipc/MessageQueueMessageIF.h
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@ -11,7 +11,9 @@
* lookup of queueIDs for every call does not sound ideal. * lookup of queueIDs for every call does not sound ideal.
* In a first step, I'll circumvent the issue by not touching it, * In a first step, I'll circumvent the issue by not touching it,
* maybe in a second step. This also influences Interface design * maybe in a second step. This also influences Interface design
* (getCommandQueue) and some other issues.. */ * (getCommandQueue) and some other issues..
*/
typedef uint32_t MessageQueueId_t; typedef uint32_t MessageQueueId_t;
class MessageQueueMessageIF { class MessageQueueMessageIF {
@ -25,14 +27,9 @@ public:
* size is set to zero. * size is set to zero.
*/ */
virtual void clear() = 0; virtual void clear() = 0;
// /**
// * @brief This is a debug method that prints the content
// * (till messageSize) to the debug output.
// */
// virtual void print() = 0;
/** /**
* @brief Get read-only pointer to the raw buffer. * @brief Get read-only pointer to the complete data of the message.
* @return * @return
*/ */
virtual const uint8_t* getBuffer() const = 0; virtual const uint8_t* getBuffer() const = 0;
@ -50,8 +47,25 @@ public:
*/ */
virtual void setSender(MessageQueueId_t setId) = 0; virtual void setSender(MessageQueueId_t setId) = 0;
/**
* @brief This method is used to extract the sender's message queue id
* information from a received message.
*/
virtual MessageQueueId_t getSender() const = 0; virtual MessageQueueId_t getSender() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual const uint8_t* getData() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual uint8_t* getData() = 0;
/** /**
* @brief This helper function is used by the MessageQueue class to * @brief This helper function is used by the MessageQueue class to
* check the size of an incoming message. * check the size of an incoming message.