added new interface to host and linux osal

ipc/CommandMessage.cpp

@@ -160,3 +160,11 @@ uint8_t* CommandMessage::getData() {
 const uint8_t* CommandMessage::getData() const {
 	return internalMessage->getData();
 }
+
+size_t CommandMessage::getMessageSize() const {
+	return COMMAND_MESSAGE_SIZE;
+}
+
+size_t CommandMessage::getMaximumMessageSize() const {
+	return MessageQueueMessage::MAX_MESSAGE_SIZE;
+}

ipc/CommandMessage.h

@@ -85,6 +85,8 @@ public:
 	uint8_t * getData() override;
 	const uint8_t* getData() const override;
 	size_t getMinimumMessageSize() const override;
+	size_t getMessageSize() const override;
+	size_t getMaximumMessageSize() const override;
 
 	/**
 	 * Extract message ID, which is the first byte of the command ID.

ipc/MessageQueueMessage.cpp

@@ -67,3 +67,11 @@ void MessageQueueMessage::print() {
 void MessageQueueMessage::clear() {
 	memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
 }
+
+size_t MessageQueueMessage::getMessageSize() const {
+	return this->messageSize;
+}
+
+size_t MessageQueueMessage::getMaximumMessageSize() const {
+	return this->MAX_MESSAGE_SIZE;
+}

ipc/MessageQueueMessage.h

@@ -149,6 +149,10 @@ public:
 	 */
 	virtual size_t getMinimumMessageSize() const override;
 
+	virtual size_t getMessageSize() const override;
+
+	virtual size_t getMaximumMessageSize() const override;
+
 	/**
 	 * @brief	This is a debug method that prints the content
 	 * 			(till messageSize) to the debug output.

ipc/MessageQueueMessageIF.h

@@ -71,6 +71,18 @@ public:
 	 * 			check the size of an incoming message.
 	 */
 	virtual size_t getMinimumMessageSize() const = 0;
+
+	/**
+	 * Get message size of current message implementation.
+	 * @return
+	 */
+	virtual size_t getMessageSize() const = 0;
+
+	/**
+	 * Get maximum allowed size of current message implementation.
+	 * @return
+	 */
+	virtual size_t getMaximumMessageSize() const = 0;
 };
 
 

osal/host/MessageQueue.cpp

@@ -18,20 +18,20 @@ MessageQueue::~MessageQueue() {
 }
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 	if (this->lastPartner != 0) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
@@ -40,13 +40,13 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 }
 
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
 			ignoreFault);
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	if(status == HasReturnvaluesIF::RETURN_OK) {
@@ -55,7 +55,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	if(messageQueue.empty()) {
 		return MessageQueueIF::EMPTY;
 	}
@@ -102,9 +102,9 @@ bool MessageQueue::isDefaultDestinationSet() const {
 
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-        MessageQueueMessage *message, MessageQueueId_t sentFrom,
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault) {
-	if(message->messageSize > MessageQueueMessage::MAX_DATA_SIZE) {
+	if(message->getMessageSize() > message->getMaximumMessageSize()) {
 		// Actually, this should never happen or an error will be emitted
 		// in MessageQueueMessage.
 		// But I will still return a failure here.
@@ -127,7 +127,17 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
 		MutexHelper mutexLock(targetQueue->queueLock, 20);
-		targetQueue->messageQueue.push(*message);
+		// not ideal, works for now though.
+		MessageQueueMessage* mqmMessage =
+				dynamic_cast<MessageQueueMessage*>(message);
+		if(message != nullptr) {
+			targetQueue->messageQueue.push(*mqmMessage);
+		}
+		else {
+			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
+					"is not MessageQueueMessage!" << std::endl;
+		}
+
 	}
 	else {
 		return MessageQueueIF::FULL;

osal/host/MessageQueue.h

@@ -77,7 +77,7 @@ public:
 	 * is not incremented if queue is full.
 	 */
 	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false) override;
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the
@@ -85,7 +85,7 @@ public:
 	 * queue id as "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t sendToDefault(MessageQueueMessage* message) override;
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using
@@ -93,7 +93,7 @@ public:
 	 * message received yet (i.e. lastPartner is zero), an error code is returned.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t reply(MessageQueueMessage* message) override;
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
 
 	/**
 	 * @brief	With the sendMessage call, a queue message is sent to a
@@ -113,7 +113,7 @@ public:
 	 * is not incremented if queue is full.
 	 */
 	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault = false) override;
 
 	/**
@@ -127,7 +127,7 @@ public:
 	 * sender's queue id into the message. This variable is set to zero by
 	 * default.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
 			MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault = false) override;
 
@@ -140,7 +140,7 @@ public:
 	 * @param message	A pointer to a message in which the received data is stored.
 	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom) override;
 
 	/**
@@ -153,7 +153,7 @@ public:
 	 * function returns immediately.
 	 * @param message	A pointer to a message in which the received data is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message) override;
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -205,7 +205,7 @@ protected:
 	 * @param context Specify whether call is made from task or from an ISR.
 	 */
 	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault=false);
 
 	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);

osal/host/QueueFactory.cpp

@@ -7,7 +7,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);

osal/linux/MessageQueue.cpp

@@ -118,15 +118,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 }
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), false);
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 	if (this->lastPartner != 0) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
@@ -134,21 +134,21 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 	}
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	*receivedFrom = this->lastPartner;
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	unsigned int messagePriority = 0;
 	int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
-			message->MAX_MESSAGE_SIZE,&messagePriority);
+			message->getMaximumMessageSize(),&messagePriority);
 	if (status > 0) {
 		this->lastPartner = message->getSender();
 		//Check size of incoming message.
-		if (message->messageSize < message->getMinimumMessageSize()) {
+		if (message->getMessageSize() < message->getMinimumMessageSize()) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
@@ -158,7 +158,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send
 		//something later. But still, delete packet content.
-		memset(message->getData(), 0, message->MAX_DATA_SIZE);
+		memset(message->getData(), 0, message->getMaximumMessageSize());
 		switch(errno){
 		case EAGAIN:
 			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@@ -259,13 +259,13 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 }
 
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
 
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }
@@ -281,11 +281,12 @@ bool MessageQueue::isDefaultDestinationSet() const {
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-		MessageQueueMessage *message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 	int result = mq_send(sendTo,
-			reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
+			reinterpret_cast<const char*>(message->getBuffer()),
+			message->getMessageSize(),0);
 
 	//TODO: Check if we're in ISR.
 	if (result != 0) {

osal/linux/MessageQueue.h

@@ -56,14 +56,14 @@ public:
 	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false );
+			MessageQueueMessageIF* message, bool ignoreFault = false );
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
 	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
+	virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using the stored
@@ -71,7 +71,7 @@ public:
 	 * 			(i.e. lastPartner is zero), an error code is returned.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t reply( MessageQueueMessage* message );
+	ReturnValue_t reply( MessageQueueMessageIF* message );
 
 	/**
 	 * @brief	This function reads available messages from the message queue and returns the sender.
@@ -80,7 +80,7 @@ public:
 	 * @param message	A pointer to a message in which the received data is stored.
 	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom);
 
 	/**
@@ -91,7 +91,7 @@ public:
 	 * 			message's content is cleared and the function returns immediately.
 	 * @param message	A pointer to a message in which the received data is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message);
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -114,7 +114,9 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault = false );
 	/**
 	 * \brief	The sendToDefault method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
@@ -122,7 +124,8 @@ public:
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */
@@ -145,7 +148,9 @@ protected:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false);
 private:
 	/**
 	 * @brief	The class stores the queue id it got assigned from the operating system in this attribute.

osal/linux/QueueFactory.cpp

@@ -9,7 +9,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);