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renormalization

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Robin Müller 2020-09-04 14:59:59 +02:00
parent a6b2b4dd93
commit a53b9dc3db
6 changed files with 497 additions and 497 deletions
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258
ipc/CommandMessage.h
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#ifndef FSFW_IPC_COMMANDMESSAGE_H_ #ifndef FSFW_IPC_COMMANDMESSAGE_H_
#define FSFW_IPC_COMMANDMESSAGE_H_ #define FSFW_IPC_COMMANDMESSAGE_H_
#include "CommandMessageIF.h" #include "CommandMessageIF.h"
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "FwMessageTypes.h" #include "FwMessageTypes.h"
/** /**
* @brief Default command message used to pass command messages between tasks. * @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID * Primary message type for IPC. Contains sender, 2-byte command ID
* field, and 2 4-byte parameters. * field, and 2 4-byte parameters.
* @details * @details
* It operates on an external memory which is contained inside a * It operates on an external memory which is contained inside a
* class implementing MessageQueueMessageIF by taking its address. * class implementing MessageQueueMessageIF by taking its address.
* This allows for a more flexible designs of message implementations. * This allows for a more flexible designs of message implementations.
* The pointer can be passed to different message implementations without * The pointer can be passed to different message implementations without
* the need of unnecessary copying. * the need of unnecessary copying.
* *
* The command message is based of the generic MessageQueueMessage which * The command message is based of the generic MessageQueueMessage which
* currently has an internal message size of 28 bytes. * currently has an internal message size of 28 bytes.
* @author Bastian Baetz * @author Bastian Baetz
*/ */
class CommandMessage: public MessageQueueMessage, public CommandMessageIF { class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
public: public:
/** /**
* Default size can accomodate 2 4-byte parameters. * Default size can accomodate 2 4-byte parameters.
*/ */
static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE = static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t); CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
/** /**
* @brief Default Constructor, does not initialize anything. * @brief Default Constructor, does not initialize anything.
* @details * @details
* This constructor should be used when receiving a Message, as the * This constructor should be used when receiving a Message, as the
* content is filled by the MessageQueue. * content is filled by the MessageQueue.
*/ */
CommandMessage(); CommandMessage();
/** /**
* This constructor creates a new message with all message content * This constructor creates a new message with all message content
* initialized * initialized
* *
* @param command The DeviceHandlerCommand_t that will be sent * @param command The DeviceHandlerCommand_t that will be sent
* @param parameter1 The first parameter * @param parameter1 The first parameter
* @param parameter2 The second parameter * @param parameter2 The second parameter
*/ */
CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2); CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
/** /**
* @brief Default Destructor * @brief Default Destructor
*/ */
virtual ~CommandMessage() {} virtual ~CommandMessage() {}
/** /**
* 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.
* *
* @return the Command stored in the Message * @return the Command stored in the Message
*/ */
virtual Command_t getCommand() const override; virtual Command_t getCommand() const override;
/** /**
* Set the command type of the message. Default implementation also * Set the command type of the message. Default implementation also
* sets the message type, which will be the first byte of the command ID. * sets the message type, which will be the first byte of the command ID.
* @param the Command to be sent * @param the Command to be sent
*/ */
virtual void setCommand(Command_t command); virtual void setCommand(Command_t command);
virtual uint8_t* getData() override; virtual uint8_t* getData() override;
virtual const uint8_t* getData() const override; virtual const uint8_t* getData() const override;
/** /**
* 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);
uint32_t getParameter2() const; uint32_t getParameter2() const;
void setParameter2(uint32_t parameter2); void setParameter2(uint32_t parameter2);
uint32_t getParameter3() const; uint32_t getParameter3() const;
void setParameter3(uint32_t parameter3); void setParameter3(uint32_t parameter3);
/** /**
* check if a message was cleared * check if a message was cleared
* *
* @return if the command is CMD_NONE * @return if the command is CMD_NONE
*/ */
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.
*/ */
void setToUnknownCommand() override; void setToUnknownCommand() override;
/** /**
* A command message can be rejected and needs to offer a function * A command message can be rejected and needs to offer a function
* to set a rejected reply * to set a rejected reply
* @param reason * @param reason
* @param initialCommand * @param initialCommand
*/ */
void setReplyRejected(ReturnValue_t reason, void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) override; Command_t initialCommand) override;
/** /**
* Corrensonding getter function. * Corrensonding getter function.
* @param initialCommand * @param initialCommand
* @return * @return
*/ */
ReturnValue_t getReplyRejectedReason( ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const override; Command_t* initialCommand = nullptr) const override;
virtual void clear() override; virtual void clear() override;
void clearCommandMessage(); void clearCommandMessage();
/** /**
* Extract message ID, which is the first byte of the command ID for the * Extract message ID, which is the first byte of the command ID for the
* default implementation. * default implementation.
* @return * @return
*/ */
virtual uint8_t getMessageType() const override; virtual uint8_t getMessageType() const override;
/** MessageQueueMessageIF functions used for minimum size check. */ /** MessageQueueMessageIF functions used for minimum size check. */
size_t getMinimumMessageSize() const override; size_t getMinimumMessageSize() const override;
}; };
#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */ #endif /* FSFW_IPC_COMMANDMESSAGE_H_ */

90
ipc/CommandMessageCleaner.cpp
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#include "../ipc/CommandMessageCleaner.h" #include "../ipc/CommandMessageCleaner.h"
#include "../devicehandlers/DeviceHandlerMessage.h" #include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h" #include "../health/HealthMessage.h"
#include "../memory/MemoryMessage.h" #include "../memory/MemoryMessage.h"
#include "../modes/ModeMessage.h" #include "../modes/ModeMessage.h"
#include "../monitoring/MonitoringMessage.h" #include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h" #include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h" #include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h" #include "../parameters/ParameterMessage.h"
void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) { void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
switch(message->getMessageType()){ switch(message->getMessageType()){
case messagetypes::MODE_COMMAND: case messagetypes::MODE_COMMAND:
ModeMessage::clear(message); ModeMessage::clear(message);
break; break;
case messagetypes::HEALTH_COMMAND: case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(message); HealthMessage::clear(message);
break; break;
case messagetypes::MODE_SEQUENCE: case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(message); ModeSequenceMessage::clear(message);
break; break;
case messagetypes::ACTION: case messagetypes::ACTION:
ActionMessage::clear(message); ActionMessage::clear(message);
break; break;
case messagetypes::DEVICE_HANDLER_COMMAND: case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(message); DeviceHandlerMessage::clear(message);
break; break;
case messagetypes::MEMORY: case messagetypes::MEMORY:
MemoryMessage::clear(message); MemoryMessage::clear(message);
break; break;
case messagetypes::MONITORING: case messagetypes::MONITORING:
MonitoringMessage::clear(message); MonitoringMessage::clear(message);
break; break;
case messagetypes::TM_STORE: case messagetypes::TM_STORE:
TmStoreMessage::clear(message); TmStoreMessage::clear(message);
break; break;
case messagetypes::PARAMETER: case messagetypes::PARAMETER:
ParameterMessage::clear(message); ParameterMessage::clear(message);
break; break;
default: default:
messagetypes::clearMissionMessage(message); messagetypes::clearMissionMessage(message);
break; break;
} }
} }

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ipc/CommandMessageCleaner.h
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#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ #ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ #define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#include "../ipc/CommandMessage.h" #include "../ipc/CommandMessage.h"
namespace messagetypes { namespace messagetypes {
// Implemented in config. // Implemented in config.
void clearMissionMessage(CommandMessage* message); void clearMissionMessage(CommandMessage* message);
} }
class CommandMessageCleaner { class CommandMessageCleaner {
public: public:
static void clearCommandMessage(CommandMessage* message); static void clearCommandMessage(CommandMessage* message);
}; };
#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */ #endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */

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ipc/CommandMessageIF.h
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#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_ #ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
#define FSFW_IPC_COMMANDMESSAGEIF_H_ #define FSFW_IPC_COMMANDMESSAGEIF_H_
#include "MessageQueueMessageIF.h" #include "MessageQueueMessageIF.h"
#include "FwMessageTypes.h" #include "FwMessageTypes.h"
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.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;
class CommandMessageIF { class CommandMessageIF {
public: public:
/** /**
* Header consists of sender ID and command ID. * Header consists of sender ID and command ID.
*/ */
static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE + static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
sizeof(Command_t); sizeof(Command_t);
/** /**
* This minimum size is derived from the interface requirement to be able * This minimum size is derived from the interface requirement to be able
* to set a rejected reply, which contains a returnvalue and the initial * to set a rejected reply, which contains a returnvalue and the initial
* command. * command.
*/ */
static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE = static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) + CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
sizeof(Command_t); sizeof(Command_t);
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE; static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01); static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND; static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, shall be ignored //! Used internally, shall be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 ); static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 ); static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
//! Reply indicating that the current command was rejected, //! Reply indicating that the current command was rejected,
//! par1 should contain the error code //! par1 should contain the error code
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 ); static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
virtual ~CommandMessageIF() {}; virtual ~CommandMessageIF() {};
/** /**
* A command message shall have a uint16_t command ID field. * A command message shall have a uint16_t command ID field.
* @return * @return
*/ */
virtual Command_t getCommand() const = 0; virtual Command_t getCommand() const = 0;
/** /**
* A command message shall have a uint8_t message type ID field. * A command message shall have a uint8_t message type ID field.
* @return * @return
*/ */
virtual uint8_t getMessageType() const = 0; virtual uint8_t getMessageType() const = 0;
/** /**
* A command message can be rejected and needs to offer a function * A command message can be rejected and needs to offer a function
* to set a rejected reply * to set a rejected reply
* @param reason * @param reason
* @param initialCommand * @param initialCommand
*/ */
virtual void setReplyRejected(ReturnValue_t reason, virtual void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) = 0; Command_t initialCommand) = 0;
/** /**
* Corrensonding getter function. * Corrensonding getter function.
* @param initialCommand * @param initialCommand
* @return * @return
*/ */
virtual ReturnValue_t getReplyRejectedReason( virtual ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const = 0; Command_t* initialCommand = nullptr) const = 0;
virtual void setToUnknownCommand() = 0; virtual void setToUnknownCommand() = 0;
virtual void clear() = 0; virtual void clear() = 0;
}; };
#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */ #endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */

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ipc/MessageQueueMessage.cpp
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#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h" #include "../globalfunctions/arrayprinter.h"
#include <cstring> #include <cstring>
MessageQueueMessage::MessageQueueMessage() : MessageQueueMessage::MessageQueueMessage() :
messageSize(getMinimumMessageSize()) { messageSize(getMinimumMessageSize()) {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer)); memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
} }
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) : MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
messageSize(this->HEADER_SIZE + size) { messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) { if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size); memcpy(this->getData(), data, size);
this->messageSize = this->HEADER_SIZE + size; this->messageSize = this->HEADER_SIZE + size;
} }
else { else {
sif::warning << "MessageQueueMessage: Passed size larger than maximum" sif::warning << "MessageQueueMessage: Passed size larger than maximum"
"allowed size! Setting content to 0" << std::endl; "allowed size! Setting content to 0" << std::endl;
memset(this->internalBuffer, 0, sizeof(this->internalBuffer)); memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE; this->messageSize = this->HEADER_SIZE;
} }
} }
MessageQueueMessage::~MessageQueueMessage() { MessageQueueMessage::~MessageQueueMessage() {
} }
const uint8_t* MessageQueueMessage::getBuffer() const { const uint8_t* MessageQueueMessage::getBuffer() const {
return this->internalBuffer; return this->internalBuffer;
} }
uint8_t* MessageQueueMessage::getBuffer() { uint8_t* MessageQueueMessage::getBuffer() {
return this->internalBuffer; return this->internalBuffer;
} }
const uint8_t* MessageQueueMessage::getData() const { const uint8_t* MessageQueueMessage::getData() const {
return this->internalBuffer + this->HEADER_SIZE; return this->internalBuffer + this->HEADER_SIZE;
} }
uint8_t* MessageQueueMessage::getData() { uint8_t* MessageQueueMessage::getData() {
return this->internalBuffer + this->HEADER_SIZE; return this->internalBuffer + this->HEADER_SIZE;
} }
MessageQueueId_t MessageQueueMessage::getSender() const { MessageQueueId_t MessageQueueMessage::getSender() const {
MessageQueueId_t temp_id; MessageQueueId_t temp_id;
memcpy(&temp_id, this->internalBuffer, sizeof(MessageQueueId_t)); memcpy(&temp_id, this->internalBuffer, sizeof(MessageQueueId_t));
return temp_id; return temp_id;
} }
void MessageQueueMessage::setSender(MessageQueueId_t setId) { void MessageQueueMessage::setSender(MessageQueueId_t setId) {
memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t)); memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
} }
void MessageQueueMessage::print(bool printWholeMessage) { void MessageQueueMessage::print(bool printWholeMessage) {
sif::debug << "MessageQueueMessage content: " << std::endl; sif::debug << "MessageQueueMessage content: " << std::endl;
if(printWholeMessage) { if(printWholeMessage) {
arrayprinter::print(getData(), getMaximumMessageSize()); arrayprinter::print(getData(), getMaximumMessageSize());
} }
else { else {
arrayprinter::print(getData(), getMessageSize()); arrayprinter::print(getData(), getMessageSize());
} }
} }
void MessageQueueMessage::clear() { void MessageQueueMessage::clear() {
memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE); memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
} }
size_t MessageQueueMessage::getMessageSize() const { size_t MessageQueueMessage::getMessageSize() const {
return this->messageSize; return this->messageSize;
} }
void MessageQueueMessage::setMessageSize(size_t messageSize) { void MessageQueueMessage::setMessageSize(size_t messageSize) {
this->messageSize = messageSize; this->messageSize = messageSize;
} }
size_t MessageQueueMessage::getMinimumMessageSize() const { size_t MessageQueueMessage::getMinimumMessageSize() const {
return this->MIN_MESSAGE_SIZE; return this->MIN_MESSAGE_SIZE;
} }
size_t MessageQueueMessage::getMaximumMessageSize() const { size_t MessageQueueMessage::getMaximumMessageSize() const {
return this->MAX_MESSAGE_SIZE; return this->MAX_MESSAGE_SIZE;
} }

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ipc/MessageQueueMessage.h
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#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ #ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ #define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#include "../ipc/MessageQueueMessageIF.h" #include "../ipc/MessageQueueMessageIF.h"
#include "../ipc/MessageQueueSenderIF.h" #include "../ipc/MessageQueueSenderIF.h"
#include <cstddef> #include <cstddef>
/** /**
* @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".
* *
* It adds a header with the sender's queue id to every sent message and * 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 * defines the maximum total message size. Specialized messages, such as
* device commanding messages, can be created by inheriting from this class * device commanding messages, can be created by inheriting from this class
* and filling the buffer provided by getData with additional content. * and filling the buffer provided by getData with additional content.
* *
* If larger amounts of data must be sent between processes, the data shall * 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 * 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 * queue message.The class is used both to generate and send messages and to
* receive messages from other tasks. * receive messages from other tasks.
* @ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueueMessage: public MessageQueueMessageIF { 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 * @details
* The messageSize attribute is set to the header's size and the whole * The messageSize attribute is set to the header's size and the whole
* content is set to zero. * content is set to zero.
*/ */
MessageQueueMessage(); MessageQueueMessage();
/** /**
* @brief With this constructor the class is initialized with * @brief With this constructor the class is initialized with
* the given content. * 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.
* Otherwise, messageSize is set to the header's size and the whole * Otherwise, messageSize is set to the header's size and the whole
* content is set to zero. * content is set to zero.
* @param data The data to be put in the message. * @param data The data to be put in the message.
* @param size Size of the data to be copied. Must be smaller than * @param size Size of the data to be copied. Must be smaller than
* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE. * MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
*/ */
MessageQueueMessage(uint8_t* data, size_t size); MessageQueueMessage(uint8_t* data, size_t size);
/** /**
* @brief As no memory is allocated in this class, * @brief As no memory is allocated in this class,
* the destructor is empty. * the destructor is empty.
*/ */
virtual ~MessageQueueMessage(); virtual ~MessageQueueMessage();
/** /**
* @brief The size information of each message is stored in * @brief The size information of each message is stored in
* this attribute. * 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,
* as every child class is responsible for managing the size information by * as every child class is responsible for managing the size information by
* itself. When using the class to receive a message, the size information * itself. When using the class to receive a message, the size information
* is updated automatically. * is updated automatically.
* *
* Please note that the minimum size is limited by the size of the header * 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. * while the maximum size is limited by the maximum allowed message size.
*/ */
size_t messageSize; size_t messageSize;
/** /**
* @brief This constant defines the maximum size of the data content, * @brief This constant defines the maximum size of the data content,
* excluding the header. * excluding the header.
* @details * @details
* It may be changed if necessary, but in general should be kept * It may be changed if necessary, but in general should be kept
* as small as possible. * as small as possible.
*/ */
static const size_t MAX_DATA_SIZE = 24; static const size_t MAX_DATA_SIZE = 24;
/** /**
* @brief This constant defines the maximum total size in bytes * @brief This constant defines the maximum total size in bytes
* of a sent message. * of a sent message.
* @details * @details
* It is the sum of the maximum data and the header size. Be aware that * 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 * 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 * queue in the system. So, a change here may have significant impact on
* the required resources. * the required resources.
*/ */
static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE; static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/** /**
* @brief Defines the minimum size of a message where only the * @brief Defines the minimum size of a message where only the
* header is included * header is included
*/ */
static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE; static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private: private:
/** /**
* @brief This is the internal buffer that contains the * @brief This is the internal buffer that contains the
* actual message data. * actual message data.
*/ */
uint8_t internalBuffer[MAX_MESSAGE_SIZE]; uint8_t internalBuffer[MAX_MESSAGE_SIZE];
public: public:
/** /**
* @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 override; 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.
*/ */
uint8_t* getBuffer() override; uint8_t* getBuffer() 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 * @details
* It shall be used by child classes to add data at the right position. * It shall be used by child classes to add data at the right position.
*/ */
const uint8_t* getData() const override; 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 * @details
* It shall be used by child classes to add data at the right position. * It shall be used by child classes to add data at the right position.
*/ */
uint8_t* getData() override; uint8_t* getData() override;
/** /**
* @brief This method is used to extract the sender's message * @brief This method is used to extract the sender's message
* queue id information from a received message. * queue id information from a received message.
*/ */
MessageQueueId_t getSender() const override; MessageQueueId_t getSender() const override;
/** /**
* @brief With this method, the whole content * @brief With this method, the whole content
* and the message size is set to zero. * and the message size is set to zero.
*/ */
void clear() override; void clear() override;
/** /**
* @brief This method is used to set the sender's message queue id * @brief This method is used to set the sender's message queue id
* information prior to ing the message. * information prior to ing the message.
* @param setId * @param setId
* The message queue id that identifies the sending message queue. * The message queue id that identifies the sending message queue.
*/ */
void setSender(MessageQueueId_t setId) override; void setSender(MessageQueueId_t setId) override;
virtual size_t getMessageSize() const override; virtual size_t getMessageSize() const override;
virtual void setMessageSize(size_t messageSize) override; virtual void setMessageSize(size_t messageSize) override;
virtual size_t getMinimumMessageSize() const override; virtual size_t getMinimumMessageSize() const override;
virtual size_t getMaximumMessageSize() const override; virtual size_t getMaximumMessageSize() const override;
/** /**
* @brief This is a debug method that prints the content. * @brief This is a debug method that prints the content.
*/ */
void print(bool printWholeMessage); void print(bool printWholeMessage);
}; };
#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */ #endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */