renormalization
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a6b2b4dd93
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@ -1,129 +1,129 @@
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#ifndef FSFW_IPC_COMMANDMESSAGE_H_
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#define FSFW_IPC_COMMANDMESSAGE_H_
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#include "CommandMessageIF.h"
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#include "MessageQueueMessage.h"
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#include "FwMessageTypes.h"
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/**
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* @brief Default command message used to pass command messages between tasks.
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* Primary message type for IPC. Contains sender, 2-byte command ID
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* field, and 2 4-byte parameters.
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* @details
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* It operates on an external memory which is contained inside a
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* class implementing MessageQueueMessageIF by taking its address.
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* This allows for a more flexible designs of message implementations.
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* The pointer can be passed to different message implementations without
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* the need of unnecessary copying.
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*
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* The command message is based of the generic MessageQueueMessage which
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* currently has an internal message size of 28 bytes.
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* @author Bastian Baetz
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*/
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class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
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public:
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/**
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* Default size can accomodate 2 4-byte parameters.
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*/
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static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
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CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
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/**
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* @brief Default Constructor, does not initialize anything.
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* @details
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* This constructor should be used when receiving a Message, as the
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* content is filled by the MessageQueue.
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*/
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CommandMessage();
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/**
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* This constructor creates a new message with all message content
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* initialized
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*
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* @param command The DeviceHandlerCommand_t that will be sent
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* @param parameter1 The first parameter
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* @param parameter2 The second parameter
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*/
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CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
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/**
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* @brief Default Destructor
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*/
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virtual ~CommandMessage() {}
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/**
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* Read the DeviceHandlerCommand_t that is stored in the message,
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* usually used after receiving.
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*
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* @return the Command stored in the Message
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*/
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virtual Command_t getCommand() const override;
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/**
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* Set the command type of the message. Default implementation also
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* sets the message type, which will be the first byte of the command ID.
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* @param the Command to be sent
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*/
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virtual void setCommand(Command_t command);
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virtual uint8_t* getData() override;
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virtual const uint8_t* getData() const override;
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/**
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* Get the first parameter of the message
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* @return the first Parameter of the message
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*/
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uint32_t getParameter() const;
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/**
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* Set the first parameter of the message
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* @param the first parameter of the message
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*/
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void setParameter(uint32_t parameter1);
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uint32_t getParameter2() const;
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void setParameter2(uint32_t parameter2);
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uint32_t getParameter3() const;
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void setParameter3(uint32_t parameter3);
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/**
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* check if a message was cleared
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*
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* @return if the command is CMD_NONE
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*/
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bool isClearedCommandMessage();
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/**
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* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
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* Is needed quite often, so we better code it once only.
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*/
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void setToUnknownCommand() override;
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/**
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* A command message can be rejected and needs to offer a function
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* to set a rejected reply
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* @param reason
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* @param initialCommand
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*/
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void setReplyRejected(ReturnValue_t reason,
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Command_t initialCommand) override;
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/**
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* Corrensonding getter function.
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* @param initialCommand
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* @return
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*/
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ReturnValue_t getReplyRejectedReason(
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Command_t* initialCommand = nullptr) const override;
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virtual void clear() override;
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void clearCommandMessage();
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/**
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* Extract message ID, which is the first byte of the command ID for the
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* default implementation.
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* @return
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*/
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virtual uint8_t getMessageType() const override;
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/** MessageQueueMessageIF functions used for minimum size check. */
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size_t getMinimumMessageSize() const override;
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};
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#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */
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#ifndef FSFW_IPC_COMMANDMESSAGE_H_
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#define FSFW_IPC_COMMANDMESSAGE_H_
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#include "CommandMessageIF.h"
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#include "MessageQueueMessage.h"
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#include "FwMessageTypes.h"
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/**
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* @brief Default command message used to pass command messages between tasks.
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* Primary message type for IPC. Contains sender, 2-byte command ID
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* field, and 2 4-byte parameters.
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* @details
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* It operates on an external memory which is contained inside a
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* class implementing MessageQueueMessageIF by taking its address.
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* This allows for a more flexible designs of message implementations.
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* The pointer can be passed to different message implementations without
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* the need of unnecessary copying.
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*
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* The command message is based of the generic MessageQueueMessage which
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* currently has an internal message size of 28 bytes.
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* @author Bastian Baetz
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*/
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class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
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public:
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/**
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* Default size can accomodate 2 4-byte parameters.
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*/
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static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
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CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
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/**
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* @brief Default Constructor, does not initialize anything.
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* @details
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* This constructor should be used when receiving a Message, as the
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* content is filled by the MessageQueue.
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*/
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CommandMessage();
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/**
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* This constructor creates a new message with all message content
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* initialized
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*
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* @param command The DeviceHandlerCommand_t that will be sent
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* @param parameter1 The first parameter
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* @param parameter2 The second parameter
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*/
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CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
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/**
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* @brief Default Destructor
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*/
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virtual ~CommandMessage() {}
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/**
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* Read the DeviceHandlerCommand_t that is stored in the message,
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* usually used after receiving.
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*
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* @return the Command stored in the Message
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*/
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virtual Command_t getCommand() const override;
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/**
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* Set the command type of the message. Default implementation also
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* sets the message type, which will be the first byte of the command ID.
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* @param the Command to be sent
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*/
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virtual void setCommand(Command_t command);
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virtual uint8_t* getData() override;
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virtual const uint8_t* getData() const override;
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/**
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* Get the first parameter of the message
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* @return the first Parameter of the message
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*/
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uint32_t getParameter() const;
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/**
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* Set the first parameter of the message
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* @param the first parameter of the message
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*/
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void setParameter(uint32_t parameter1);
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uint32_t getParameter2() const;
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void setParameter2(uint32_t parameter2);
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uint32_t getParameter3() const;
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void setParameter3(uint32_t parameter3);
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/**
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* check if a message was cleared
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*
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* @return if the command is CMD_NONE
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*/
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bool isClearedCommandMessage();
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/**
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* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
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* Is needed quite often, so we better code it once only.
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*/
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void setToUnknownCommand() override;
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/**
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* A command message can be rejected and needs to offer a function
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* to set a rejected reply
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* @param reason
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* @param initialCommand
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*/
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void setReplyRejected(ReturnValue_t reason,
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Command_t initialCommand) override;
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/**
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* Corrensonding getter function.
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* @param initialCommand
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* @return
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*/
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ReturnValue_t getReplyRejectedReason(
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Command_t* initialCommand = nullptr) const override;
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virtual void clear() override;
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void clearCommandMessage();
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/**
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* Extract message ID, which is the first byte of the command ID for the
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* default implementation.
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* @return
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*/
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virtual uint8_t getMessageType() const override;
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/** MessageQueueMessageIF functions used for minimum size check. */
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size_t getMinimumMessageSize() const override;
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};
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#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */
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@ -1,45 +1,45 @@
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#include "../ipc/CommandMessageCleaner.h"
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#include "../devicehandlers/DeviceHandlerMessage.h"
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#include "../health/HealthMessage.h"
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#include "../memory/MemoryMessage.h"
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#include "../modes/ModeMessage.h"
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#include "../monitoring/MonitoringMessage.h"
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#include "../subsystem/modes/ModeSequenceMessage.h"
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#include "../tmstorage/TmStoreMessage.h"
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#include "../parameters/ParameterMessage.h"
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void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
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switch(message->getMessageType()){
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case messagetypes::MODE_COMMAND:
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ModeMessage::clear(message);
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break;
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case messagetypes::HEALTH_COMMAND:
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HealthMessage::clear(message);
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break;
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case messagetypes::MODE_SEQUENCE:
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ModeSequenceMessage::clear(message);
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break;
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case messagetypes::ACTION:
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ActionMessage::clear(message);
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break;
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case messagetypes::DEVICE_HANDLER_COMMAND:
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DeviceHandlerMessage::clear(message);
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break;
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case messagetypes::MEMORY:
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MemoryMessage::clear(message);
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break;
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case messagetypes::MONITORING:
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MonitoringMessage::clear(message);
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break;
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case messagetypes::TM_STORE:
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TmStoreMessage::clear(message);
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break;
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case messagetypes::PARAMETER:
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ParameterMessage::clear(message);
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break;
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default:
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messagetypes::clearMissionMessage(message);
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break;
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}
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}
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#include "../ipc/CommandMessageCleaner.h"
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#include "../devicehandlers/DeviceHandlerMessage.h"
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#include "../health/HealthMessage.h"
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#include "../memory/MemoryMessage.h"
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#include "../modes/ModeMessage.h"
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#include "../monitoring/MonitoringMessage.h"
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#include "../subsystem/modes/ModeSequenceMessage.h"
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#include "../tmstorage/TmStoreMessage.h"
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#include "../parameters/ParameterMessage.h"
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void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
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switch(message->getMessageType()){
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case messagetypes::MODE_COMMAND:
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ModeMessage::clear(message);
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break;
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case messagetypes::HEALTH_COMMAND:
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HealthMessage::clear(message);
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break;
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case messagetypes::MODE_SEQUENCE:
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ModeSequenceMessage::clear(message);
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break;
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case messagetypes::ACTION:
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ActionMessage::clear(message);
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break;
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case messagetypes::DEVICE_HANDLER_COMMAND:
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DeviceHandlerMessage::clear(message);
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break;
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case messagetypes::MEMORY:
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MemoryMessage::clear(message);
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break;
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case messagetypes::MONITORING:
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MonitoringMessage::clear(message);
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break;
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case messagetypes::TM_STORE:
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TmStoreMessage::clear(message);
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break;
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case messagetypes::PARAMETER:
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ParameterMessage::clear(message);
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break;
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default:
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messagetypes::clearMissionMessage(message);
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break;
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}
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}
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@ -1,16 +1,16 @@
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#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
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#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
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#include "../ipc/CommandMessage.h"
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namespace messagetypes {
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// Implemented in config.
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void clearMissionMessage(CommandMessage* message);
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}
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class CommandMessageCleaner {
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public:
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static void clearCommandMessage(CommandMessage* message);
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};
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#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */
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#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
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#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
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#include "../ipc/CommandMessage.h"
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namespace messagetypes {
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// Implemented in config.
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void clearMissionMessage(CommandMessage* message);
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}
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class CommandMessageCleaner {
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public:
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static void clearCommandMessage(CommandMessage* message);
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};
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#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */
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@ -1,73 +1,73 @@
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#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
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#define FSFW_IPC_COMMANDMESSAGEIF_H_
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#include "MessageQueueMessageIF.h"
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#include "FwMessageTypes.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
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typedef uint16_t Command_t;
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class CommandMessageIF {
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public:
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/**
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* Header consists of sender ID and command ID.
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*/
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static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
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sizeof(Command_t);
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/**
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* This minimum size is derived from the interface requirement to be able
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* to set a rejected reply, which contains a returnvalue and the initial
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* command.
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*/
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static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
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CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
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sizeof(Command_t);
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static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
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static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
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static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
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//! Used internally, shall be ignored
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static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
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static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
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//! Reply indicating that the current command was rejected,
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//! par1 should contain the error code
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static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
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virtual ~CommandMessageIF() {};
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/**
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* A command message shall have a uint16_t command ID field.
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* @return
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*/
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virtual Command_t getCommand() const = 0;
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/**
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* A command message shall have a uint8_t message type ID field.
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* @return
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*/
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virtual uint8_t getMessageType() const = 0;
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/**
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* A command message can be rejected and needs to offer a function
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* to set a rejected reply
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* @param reason
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* @param initialCommand
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*/
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virtual void setReplyRejected(ReturnValue_t reason,
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Command_t initialCommand) = 0;
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/**
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* Corrensonding getter function.
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* @param initialCommand
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* @return
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*/
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virtual ReturnValue_t getReplyRejectedReason(
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Command_t* initialCommand = nullptr) const = 0;
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virtual void setToUnknownCommand() = 0;
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virtual void clear() = 0;
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};
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#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */
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#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
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#define FSFW_IPC_COMMANDMESSAGEIF_H_
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#include "MessageQueueMessageIF.h"
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#include "FwMessageTypes.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
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typedef uint16_t Command_t;
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class CommandMessageIF {
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public:
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/**
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* Header consists of sender ID and command ID.
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*/
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static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
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sizeof(Command_t);
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/**
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* This minimum size is derived from the interface requirement to be able
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* to set a rejected reply, which contains a returnvalue and the initial
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* command.
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*/
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static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
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CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
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sizeof(Command_t);
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static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
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static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
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static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
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//! Used internally, shall be ignored
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static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
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static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
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//! Reply indicating that the current command was rejected,
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//! par1 should contain the error code
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static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
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virtual ~CommandMessageIF() {};
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/**
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* A command message shall have a uint16_t command ID field.
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* @return
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*/
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virtual Command_t getCommand() const = 0;
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/**
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* A command message shall have a uint8_t message type ID field.
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* @return
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*/
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virtual uint8_t getMessageType() const = 0;
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/**
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* A command message can be rejected and needs to offer a function
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* to set a rejected reply
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||||
* @param reason
|
||||
* @param initialCommand
|
||||
*/
|
||||
virtual void setReplyRejected(ReturnValue_t reason,
|
||||
Command_t initialCommand) = 0;
|
||||
/**
|
||||
* Corrensonding getter function.
|
||||
* @param initialCommand
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t getReplyRejectedReason(
|
||||
Command_t* initialCommand = nullptr) const = 0;
|
||||
|
||||
virtual void setToUnknownCommand() = 0;
|
||||
|
||||
virtual void clear() = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */
|
||||
|
||||
@ -1,84 +1,84 @@
|
||||
#include "MessageQueueMessage.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../globalfunctions/arrayprinter.h"
|
||||
#include <cstring>
|
||||
|
||||
MessageQueueMessage::MessageQueueMessage() :
|
||||
messageSize(getMinimumMessageSize()) {
|
||||
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
|
||||
}
|
||||
|
||||
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
|
||||
messageSize(this->HEADER_SIZE + size) {
|
||||
if (size <= this->MAX_DATA_SIZE) {
|
||||
memcpy(this->getData(), data, size);
|
||||
this->messageSize = this->HEADER_SIZE + size;
|
||||
}
|
||||
else {
|
||||
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
|
||||
"allowed size! Setting content to 0" << std::endl;
|
||||
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
|
||||
this->messageSize = this->HEADER_SIZE;
|
||||
}
|
||||
}
|
||||
|
||||
MessageQueueMessage::~MessageQueueMessage() {
|
||||
}
|
||||
|
||||
const uint8_t* MessageQueueMessage::getBuffer() const {
|
||||
return this->internalBuffer;
|
||||
}
|
||||
|
||||
uint8_t* MessageQueueMessage::getBuffer() {
|
||||
return this->internalBuffer;
|
||||
}
|
||||
|
||||
const uint8_t* MessageQueueMessage::getData() const {
|
||||
return this->internalBuffer + this->HEADER_SIZE;
|
||||
}
|
||||
|
||||
uint8_t* MessageQueueMessage::getData() {
|
||||
return this->internalBuffer + this->HEADER_SIZE;
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueueMessage::getSender() const {
|
||||
MessageQueueId_t temp_id;
|
||||
memcpy(&temp_id, this->internalBuffer, sizeof(MessageQueueId_t));
|
||||
return temp_id;
|
||||
}
|
||||
|
||||
void MessageQueueMessage::setSender(MessageQueueId_t setId) {
|
||||
memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
|
||||
}
|
||||
|
||||
void MessageQueueMessage::print(bool printWholeMessage) {
|
||||
sif::debug << "MessageQueueMessage content: " << std::endl;
|
||||
if(printWholeMessage) {
|
||||
arrayprinter::print(getData(), getMaximumMessageSize());
|
||||
}
|
||||
else {
|
||||
arrayprinter::print(getData(), getMessageSize());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void MessageQueueMessage::clear() {
|
||||
memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
|
||||
}
|
||||
|
||||
size_t MessageQueueMessage::getMessageSize() const {
|
||||
return this->messageSize;
|
||||
}
|
||||
|
||||
void MessageQueueMessage::setMessageSize(size_t messageSize) {
|
||||
this->messageSize = messageSize;
|
||||
}
|
||||
|
||||
size_t MessageQueueMessage::getMinimumMessageSize() const {
|
||||
return this->MIN_MESSAGE_SIZE;
|
||||
}
|
||||
|
||||
size_t MessageQueueMessage::getMaximumMessageSize() const {
|
||||
return this->MAX_MESSAGE_SIZE;
|
||||
}
|
||||
|
||||
#include "MessageQueueMessage.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../globalfunctions/arrayprinter.h"
|
||||
#include <cstring>
|
||||
|
||||
MessageQueueMessage::MessageQueueMessage() :
|
||||
messageSize(getMinimumMessageSize()) {
|
||||
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
|
||||
}
|
||||
|
||||
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
|
||||
messageSize(this->HEADER_SIZE + size) {
|
||||
if (size <= this->MAX_DATA_SIZE) {
|
||||
memcpy(this->getData(), data, size);
|
||||
this->messageSize = this->HEADER_SIZE + size;
|
||||
}
|
||||
else {
|
||||
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
|
||||
"allowed size! Setting content to 0" << std::endl;
|
||||
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
|
||||
this->messageSize = this->HEADER_SIZE;
|
||||
}
|
||||
}
|
||||
|
||||
MessageQueueMessage::~MessageQueueMessage() {
|
||||
}
|
||||
|
||||
const uint8_t* MessageQueueMessage::getBuffer() const {
|
||||
return this->internalBuffer;
|
||||
}
|
||||
|
||||
uint8_t* MessageQueueMessage::getBuffer() {
|
||||
return this->internalBuffer;
|
||||
}
|
||||
|
||||
const uint8_t* MessageQueueMessage::getData() const {
|
||||
return this->internalBuffer + this->HEADER_SIZE;
|
||||
}
|
||||
|
||||
uint8_t* MessageQueueMessage::getData() {
|
||||
return this->internalBuffer + this->HEADER_SIZE;
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueueMessage::getSender() const {
|
||||
MessageQueueId_t temp_id;
|
||||
memcpy(&temp_id, this->internalBuffer, sizeof(MessageQueueId_t));
|
||||
return temp_id;
|
||||
}
|
||||
|
||||
void MessageQueueMessage::setSender(MessageQueueId_t setId) {
|
||||
memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
|
||||
}
|
||||
|
||||
void MessageQueueMessage::print(bool printWholeMessage) {
|
||||
sif::debug << "MessageQueueMessage content: " << std::endl;
|
||||
if(printWholeMessage) {
|
||||
arrayprinter::print(getData(), getMaximumMessageSize());
|
||||
}
|
||||
else {
|
||||
arrayprinter::print(getData(), getMessageSize());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void MessageQueueMessage::clear() {
|
||||
memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
|
||||
}
|
||||
|
||||
size_t MessageQueueMessage::getMessageSize() const {
|
||||
return this->messageSize;
|
||||
}
|
||||
|
||||
void MessageQueueMessage::setMessageSize(size_t messageSize) {
|
||||
this->messageSize = messageSize;
|
||||
}
|
||||
|
||||
size_t MessageQueueMessage::getMinimumMessageSize() const {
|
||||
return this->MIN_MESSAGE_SIZE;
|
||||
}
|
||||
|
||||
size_t MessageQueueMessage::getMaximumMessageSize() const {
|
||||
return this->MAX_MESSAGE_SIZE;
|
||||
}
|
||||
|
||||
|
||||
@ -1,150 +1,150 @@
|
||||
#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
|
||||
#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
|
||||
|
||||
#include "../ipc/MessageQueueMessageIF.h"
|
||||
#include "../ipc/MessageQueueSenderIF.h"
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* @brief This class is the representation and data organizer
|
||||
* for interprocess messages.
|
||||
* @details
|
||||
* To facilitate and standardize interprocess communication, this class was
|
||||
* created to handle a lightweight "interprocess message protocol".
|
||||
*
|
||||
* It adds a header with the sender's queue id to every sent message and
|
||||
* defines the maximum total message size. Specialized messages, such as
|
||||
* device commanding messages, can be created by inheriting from this class
|
||||
* and filling the buffer provided by getData with additional content.
|
||||
*
|
||||
* If larger amounts of data must be sent between processes, the data shall
|
||||
* be stored in the IPC Store object and only the storage id is passed in a
|
||||
* queue message.The class is used both to generate and send messages and to
|
||||
* receive messages from other tasks.
|
||||
* @ingroup message_queue
|
||||
*/
|
||||
class MessageQueueMessage: public MessageQueueMessageIF {
|
||||
public:
|
||||
/**
|
||||
* @brief The class is initialized empty with this constructor.
|
||||
* @details
|
||||
* The messageSize attribute is set to the header's size and the whole
|
||||
* content is set to zero.
|
||||
*/
|
||||
MessageQueueMessage();
|
||||
/**
|
||||
* @brief With this constructor the class is initialized with
|
||||
* the given content.
|
||||
* @details
|
||||
* If the passed message size fits into the buffer, the passed data is
|
||||
* copied to the internal buffer and the messageSize information is set.
|
||||
* Otherwise, messageSize is set to the header's size and the whole
|
||||
* content is set to zero.
|
||||
* @param data The data to be put in the message.
|
||||
* @param size Size of the data to be copied. Must be smaller than
|
||||
* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
|
||||
*/
|
||||
MessageQueueMessage(uint8_t* data, size_t size);
|
||||
|
||||
/**
|
||||
* @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
|
||||
* 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,
|
||||
* as every child class is responsible for managing the size information by
|
||||
* itself. When using the class to receive a message, the size information
|
||||
* is updated automatically.
|
||||
*
|
||||
* Please note that the minimum size is limited by the size of the header
|
||||
* while the maximum size is limited by the maximum allowed message size.
|
||||
*/
|
||||
size_t messageSize;
|
||||
/**
|
||||
* @brief This constant defines the maximum size of the data content,
|
||||
* 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;
|
||||
|
||||
/**
|
||||
* @brief This constant defines the maximum total size in bytes
|
||||
* of a sent message.
|
||||
* @details
|
||||
* 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 constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
|
||||
/**
|
||||
* @brief Defines the minimum size of a message where only the
|
||||
* header is included
|
||||
*/
|
||||
static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
|
||||
private:
|
||||
/**
|
||||
* @brief This is the internal buffer that contains the
|
||||
* actual message data.
|
||||
*/
|
||||
uint8_t internalBuffer[MAX_MESSAGE_SIZE];
|
||||
public:
|
||||
/**
|
||||
* @brief This method is used to get the complete data of the message.
|
||||
*/
|
||||
const uint8_t* getBuffer() const override;
|
||||
/**
|
||||
* @brief This method is used to get the complete data of the message.
|
||||
*/
|
||||
uint8_t* getBuffer() override;
|
||||
/**
|
||||
* @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.
|
||||
*/
|
||||
const uint8_t* getData() const override;
|
||||
/**
|
||||
* @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.
|
||||
*/
|
||||
uint8_t* getData() override;
|
||||
/**
|
||||
* @brief This method is used to extract the sender's message
|
||||
* queue id information from a received message.
|
||||
*/
|
||||
MessageQueueId_t getSender() const override;
|
||||
/**
|
||||
* @brief With this method, the whole content
|
||||
* and the message size is set to zero.
|
||||
*/
|
||||
void clear() override;
|
||||
|
||||
/**
|
||||
* @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 setSender(MessageQueueId_t setId) override;
|
||||
|
||||
virtual size_t getMessageSize() const override;
|
||||
virtual void setMessageSize(size_t messageSize) override;
|
||||
virtual size_t getMinimumMessageSize() const override;
|
||||
virtual size_t getMaximumMessageSize() const override;
|
||||
|
||||
/**
|
||||
* @brief This is a debug method that prints the content.
|
||||
*/
|
||||
void print(bool printWholeMessage);
|
||||
};
|
||||
|
||||
#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */
|
||||
#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
|
||||
#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
|
||||
|
||||
#include "../ipc/MessageQueueMessageIF.h"
|
||||
#include "../ipc/MessageQueueSenderIF.h"
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* @brief This class is the representation and data organizer
|
||||
* for interprocess messages.
|
||||
* @details
|
||||
* To facilitate and standardize interprocess communication, this class was
|
||||
* created to handle a lightweight "interprocess message protocol".
|
||||
*
|
||||
* It adds a header with the sender's queue id to every sent message and
|
||||
* defines the maximum total message size. Specialized messages, such as
|
||||
* device commanding messages, can be created by inheriting from this class
|
||||
* and filling the buffer provided by getData with additional content.
|
||||
*
|
||||
* If larger amounts of data must be sent between processes, the data shall
|
||||
* be stored in the IPC Store object and only the storage id is passed in a
|
||||
* queue message.The class is used both to generate and send messages and to
|
||||
* receive messages from other tasks.
|
||||
* @ingroup message_queue
|
||||
*/
|
||||
class MessageQueueMessage: public MessageQueueMessageIF {
|
||||
public:
|
||||
/**
|
||||
* @brief The class is initialized empty with this constructor.
|
||||
* @details
|
||||
* The messageSize attribute is set to the header's size and the whole
|
||||
* content is set to zero.
|
||||
*/
|
||||
MessageQueueMessage();
|
||||
/**
|
||||
* @brief With this constructor the class is initialized with
|
||||
* the given content.
|
||||
* @details
|
||||
* If the passed message size fits into the buffer, the passed data is
|
||||
* copied to the internal buffer and the messageSize information is set.
|
||||
* Otherwise, messageSize is set to the header's size and the whole
|
||||
* content is set to zero.
|
||||
* @param data The data to be put in the message.
|
||||
* @param size Size of the data to be copied. Must be smaller than
|
||||
* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
|
||||
*/
|
||||
MessageQueueMessage(uint8_t* data, size_t size);
|
||||
|
||||
/**
|
||||
* @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
|
||||
* 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,
|
||||
* as every child class is responsible for managing the size information by
|
||||
* itself. When using the class to receive a message, the size information
|
||||
* is updated automatically.
|
||||
*
|
||||
* Please note that the minimum size is limited by the size of the header
|
||||
* while the maximum size is limited by the maximum allowed message size.
|
||||
*/
|
||||
size_t messageSize;
|
||||
/**
|
||||
* @brief This constant defines the maximum size of the data content,
|
||||
* 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;
|
||||
|
||||
/**
|
||||
* @brief This constant defines the maximum total size in bytes
|
||||
* of a sent message.
|
||||
* @details
|
||||
* 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 constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
|
||||
/**
|
||||
* @brief Defines the minimum size of a message where only the
|
||||
* header is included
|
||||
*/
|
||||
static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
|
||||
private:
|
||||
/**
|
||||
* @brief This is the internal buffer that contains the
|
||||
* actual message data.
|
||||
*/
|
||||
uint8_t internalBuffer[MAX_MESSAGE_SIZE];
|
||||
public:
|
||||
/**
|
||||
* @brief This method is used to get the complete data of the message.
|
||||
*/
|
||||
const uint8_t* getBuffer() const override;
|
||||
/**
|
||||
* @brief This method is used to get the complete data of the message.
|
||||
*/
|
||||
uint8_t* getBuffer() override;
|
||||
/**
|
||||
* @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.
|
||||
*/
|
||||
const uint8_t* getData() const override;
|
||||
/**
|
||||
* @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.
|
||||
*/
|
||||
uint8_t* getData() override;
|
||||
/**
|
||||
* @brief This method is used to extract the sender's message
|
||||
* queue id information from a received message.
|
||||
*/
|
||||
MessageQueueId_t getSender() const override;
|
||||
/**
|
||||
* @brief With this method, the whole content
|
||||
* and the message size is set to zero.
|
||||
*/
|
||||
void clear() override;
|
||||
|
||||
/**
|
||||
* @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 setSender(MessageQueueId_t setId) override;
|
||||
|
||||
virtual size_t getMessageSize() const override;
|
||||
virtual void setMessageSize(size_t messageSize) override;
|
||||
virtual size_t getMinimumMessageSize() const override;
|
||||
virtual size_t getMaximumMessageSize() const override;
|
||||
|
||||
/**
|
||||
* @brief This is a debug method that prints the content.
|
||||
*/
|
||||
void print(bool printWholeMessage);
|
||||
};
|
||||
|
||||
#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user