some refactoring
This commit is contained in:
parent
7d57988979
commit
b673e13892
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@ -36,8 +36,8 @@ public:
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* lastParnter information as destination. If there was no message received yet
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* (i.e. lastPartner is zero), an error code is returned.
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* @param message A pointer to a previously created message, which is sent.
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* \return RETURN_OK if ok
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* \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
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* @return RETURN_OK if ok
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* @return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
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*/
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virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
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@ -53,10 +53,12 @@ public:
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/**
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* @brief This function reads available messages from the message queue.
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* @details If data is available it is stored in the passed message pointer. The message's
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* original content is overwritten and the sendFrom information is stored in the
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* lastPartner attribute. Else, the lastPartner information remains untouched, the
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* message's content is cleared and the function returns immediately.
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* @details
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* If data is available it is stored in the passed message pointer.
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* The message's original content is overwritten and the sendFrom
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* information is stored in theblastPartner attribute. Else, the lastPartner
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* information remains untouched, the message's content is cleared and the
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* function returns immediately.
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* @param message A pointer to a message in which the received data is stored.
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* @return -@c RETURN_OK on success
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* -@c MessageQueueIF::EMPTY if queue is empty
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@ -90,7 +92,9 @@ public:
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* @return -@c RETURN_OK on success
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* -@c MessageQueueIF::FULL if queue is full
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*/
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virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
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virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
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MessageQueueMessage* message, MessageQueueId_t sentFrom,
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bool ignoreFault = false ) = 0;
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/**
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* @brief This operation sends a message to the given destination.
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@ -100,7 +104,8 @@ public:
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* @param message A pointer to a previously created message, which is sent.
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* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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*/
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virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
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virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
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MessageQueueMessage* message, bool ignoreFault = false ) = 0;
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/**
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* @brief The sendToDefaultFrom method sends a queue message to the default destination.
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@ -111,7 +116,8 @@ public:
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* @return -@c RETURN_OK on success
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* -@c MessageQueueIF::FULL if queue is full
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*/
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
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MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
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/**
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* @brief This operation sends a message to the default destination.
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* @details As in the sendMessage method, this function uses the sendToDefault call of the
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@ -8,6 +8,20 @@ MessageQueueMessage::MessageQueueMessage() :
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memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
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}
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MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
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messageSize(this->HEADER_SIZE + size) {
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if (size <= this->MAX_DATA_SIZE) {
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memcpy(this->getData(), data, size);
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this->messageSize = this->HEADER_SIZE + size;
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}
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else {
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sif::warning << "MessageQueueMessage: Passed size larger than maximum"
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"allowed size! Setting content to 0" << std::endl;
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memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
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this->messageSize = this->HEADER_SIZE;
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}
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}
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MessageQueueMessage::~MessageQueueMessage() {
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}
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@ -37,23 +51,13 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
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memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
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}
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MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) :
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messageSize(this->HEADER_SIZE + size) {
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if (size <= this->MAX_DATA_SIZE) {
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memcpy(this->getData(), data, size);
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} else {
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memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
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this->messageSize = this->HEADER_SIZE;
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}
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}
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size_t MessageQueueMessage::getMinimumMessageSize() {
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return this->HEADER_SIZE;
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}
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void MessageQueueMessage::print() {
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sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
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<< std::endl;
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sif::debug << "MessageQueueMessage has size: " << this->messageSize <<
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std::hex << std::endl;
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for (uint8_t count = 0; count < this->messageSize; count++) {
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sif::debug << (uint32_t) this->internalBuffer[count] << ":";
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}
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@ -5,111 +5,129 @@
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#include <stddef.h>
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/**
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* \brief This class is the representation and data organizer for interprocess messages.
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* @brief This class is the representation and data organizer
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* for interprocess messages.
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*
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* \details To facilitate and standardize interprocess communication, this class was created
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* to handle a lightweight "interprocess message protocol". It adds a header with the
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* sender's queue id to every sent message and defines the maximum total message size.
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* Specialized messages, such as device commanding messages, can be created by inheriting
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* from this class and filling the buffer provided by getData with additional content.
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* If larger amounts of data must be sent between processes, the data shall be stored in
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* the IPC Store object and only the storage id is passed in a queue message.
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* The class is used both to generate and send messages and to receive messages from
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* other tasks.
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* \ingroup message_queue
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* @details
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* To facilitate and standardize interprocess communication, this class was
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* created to handle a lightweight "interprocess message protocol".
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*
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* It adds a header with the sender's queue id to every sent message and
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* defines the maximum total message size. Specialized messages, such as
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* device commanding messages, can be created by inheriting from this class
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* and filling the buffer provided by getData with additional content.
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*
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* If larger amounts of data must be sent between processes, the data shall
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* be stored in the IPC Store object and only the storage id is passed in a
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* queue message.The class is used both to generate and send messages and to
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* receive messages from other tasks.
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* @ingroup message_queue
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*/
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class MessageQueueMessage {
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public:
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/**
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* \brief This constant defines the maximum size of the data content, excluding the header.
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* \details It may be changed if necessary, but in general should be kept as small as possible.
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* @brief The class is initialized empty with this constructor.
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* @details The messageSize attribute is set to the header's size and the
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* whole content is set to zero.
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*/
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MessageQueueMessage();
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/**
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* @brief With this constructor the class is initialized with the given content.
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* @details
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* If the passed message size fits into the buffer, the passed data is
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* copied to the internal buffer and the messageSize information is set.
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* Otherwise, messageSize is set to the header's size and the whole
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* content is set to zero.
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* @param data The data to be put in the message.
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* @param size Size of the data to be copied. Must be smaller than
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* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
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*/
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MessageQueueMessage(uint8_t* data, size_t size);
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/**
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* @brief The size information of each message is stored in this attribute.
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* @details
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* It is public to simplify usage and to allow for passing the size
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* address as a pointer. Care must be taken when inheriting from this class,
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* as every child class is responsible for managing the size information by
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* itself. When using the class to receive a message, the size information
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* is updated automatically.
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*
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* Please note that the minimum size is limited by the size of the header
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* while the maximum size is limited by the maximum allowed message size.
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*/
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size_t messageSize;
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/**
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* @brief This constant defines the maximum size of the data content, excluding the header.
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* @details It may be changed if necessary, but in general should be kept as small as possible.
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*/
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static const size_t MAX_DATA_SIZE = 24;
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/**
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* \brief This constants defines the size of the header, which is added to every message.
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* @brief This constants defines the size of the header, which is added to every message.
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*/
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static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
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/**
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* \brief This constant defines the maximum total size in bytes of a sent message.
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* \details It is the sum of the maximum data and the header size. Be aware that this constant
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* @brief This constant defines the maximum total size in bytes of a sent message.
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* @details It is the sum of the maximum data and the header size. Be aware that this constant
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* is used to define the buffer sizes for every message queue in the system. So, a change
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* here may have significant impact on the required resources.
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*/
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static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
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/**
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* @brief Defines the minimum size of a message where only the
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* header is included
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*/
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static const size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
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private:
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/**
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* \brief This is the internal buffer that contains the actual message data.
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* @brief This is the internal buffer that contains the actual message data.
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*/
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uint8_t internalBuffer[MAX_MESSAGE_SIZE];
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public:
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/**
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* \brief The size information of each message is stored in this attribute.
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* \details It is public to simplify usage and to allow for passing the variable's address as a
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* pointer. Care must be taken when inheriting from this class, as every child class is
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* responsible for managing the size information by itself. When using the class to
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* receive a message, the size information is updated automatically.
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*/
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size_t messageSize;
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/**
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* \brief The class is initialized empty with this constructor.
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* \details The messageSize attribute is set to the header's size and the whole content is set to
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* zero.
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*/
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MessageQueueMessage();
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/**
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* \brief With this constructor the class is initialized with the given content.
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* \details If the passed message size fits into the buffer, the passed data is copied to the
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* internal buffer and the messageSize information is set. Otherwise, messageSize
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* is set to the header's size and the whole content is set to zero.
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* \param data The data to be put in the message.
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* \param size Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
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*/
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MessageQueueMessage(uint8_t* data, uint32_t size);
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/**
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* \brief As no memory is allocated in this class, the destructor is empty.
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* @brief As no memory is allocated in this class, the destructor is empty.
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*/
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virtual ~MessageQueueMessage();
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/**
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* \brief This method is used to get the complete data of the message.
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* @brief This method is used to get the complete data of the message.
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*/
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const uint8_t* getBuffer() const;
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/**
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* \brief This method is used to get the complete data of the message.
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* @brief This method is used to get the complete data of the message.
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*/
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uint8_t* getBuffer();
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/**
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* \brief This method is used to fetch the data content of the message.
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* \details It shall be used by child classes to add data at the right position.
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* @brief This method is used to fetch the data content of the message.
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* @details It shall be used by child classes to add data at the right position.
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*/
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const uint8_t* getData() const;
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/**
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* \brief This method is used to fetch the data content of the message.
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* \details It shall be used by child classes to add data at the right position.
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* @brief This method is used to fetch the data content of the message.
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* @details It shall be used by child classes to add data at the right position.
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*/
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uint8_t* getData();
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/**
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* \brief This method is used to extract the sender's message queue id information from a
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* @brief This method is used to extract the sender's message queue id information from a
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* received message.
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*/
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MessageQueueId_t getSender() const;
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/**
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* \brief With this method, the whole content and the message size is set to zero.
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* @brief With this method, the whole content and the message size is set to zero.
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*/
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void clear();
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/**
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* \brief This is a debug method that prints the content (till messageSize) to the debug output.
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* @brief This is a debug method that prints the content (till messageSize) to the debug output.
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*/
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void print();
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/**
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* \brief This method is used to set the sender's message queue id information prior to
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* @brief This method is used to set the sender's message queue id information prior to
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* sending the message.
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* \param setId The message queue id that identifies the sending message queue.
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* @param setId The message queue id that identifies the sending message queue.
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*/
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void setSender(MessageQueueId_t setId);
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/**
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* \brief This helper function is used by the MessageQueue class to check the size of an
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* @brief This helper function is used by the MessageQueue class to check the size of an
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* incoming message.
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* \details The method must be overwritten by child classes if size checks shall be more strict.
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* @details The method must be overwritten by child classes if size checks shall be more strict.
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* @return The default implementation returns HEADER_SIZE.
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*/
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virtual size_t getMinimumMessageSize();
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@ -2,7 +2,7 @@
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#define FRAMEWORK_IPC_QUEUEFACTORY_H_
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#include <framework/ipc/MessageQueueIF.h>
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#include <stdint.h>
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#include <cstdint>
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/**
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* Creates message queues.
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* This class is a "singleton" interface, i.e. it provides an
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@ -18,8 +18,8 @@ public:
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*/
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static QueueFactory* instance();
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MessageQueueIF* createMessageQueue(uint32_t message_depth = 3,
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uint32_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
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MessageQueueIF* createMessageQueue(size_t messageDepth = 3,
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size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
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void deleteMessageQueue(MessageQueueIF* queue);
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private:
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@ -2,12 +2,14 @@
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
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// As a first step towards this, introduces system context variable which needs to be switched manually
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// TODO I guess we should have a way of checking if we are in an ISR and then
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// use the "fromISR" versions of all calls
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// As a first step towards this, introduces system context variable which needs
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// to be switched manually
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// Haven't found function to find system context.
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MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
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MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) :
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defaultDestination(0),lastPartner(0), callContext(CallContext::task) {
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handle = xQueueCreate(message_depth, max_message_size);
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handle = xQueueCreate(messageDepth, maxMessageSize);
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if (handle == NULL) {
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sif::error << "MessageQueue creation failed" << std::endl;
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}
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@ -3,16 +3,18 @@
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#include <framework/osal/FreeRTOS/MessageQueue.h>
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QueueFactory* QueueFactory::factoryInstance = NULL;
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QueueFactory* QueueFactory::factoryInstance = nullptr;
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ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
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return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
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MessageQueueMessage* message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
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sentFrom,ignoreFault);
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}
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QueueFactory* QueueFactory::instance() {
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if (factoryInstance == NULL) {
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if (factoryInstance == nullptr) {
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factoryInstance = new QueueFactory;
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}
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return factoryInstance;
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@ -24,9 +26,9 @@ QueueFactory::QueueFactory() {
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QueueFactory::~QueueFactory() {
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}
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MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
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uint32_t max_message_size) {
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return new MessageQueue(message_depth, max_message_size);
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MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
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size_t maxMessageSize) {
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return new MessageQueue(messageDepth, maxMessageSize);
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}
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void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
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@ -7,15 +7,15 @@
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#include <framework/osal/linux/MessageQueue.h>
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MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
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MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) :
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id(0), lastPartner(0), defaultDestination(NO_QUEUE) {
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//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
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mq_attr attributes;
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this->id = 0;
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//Set attributes
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attributes.mq_curmsgs = 0;
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attributes.mq_maxmsg = message_depth;
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attributes.mq_msgsize = max_message_size;
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attributes.mq_maxmsg = messageDepth;
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attributes.mq_msgsize = maxMessageSize;
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attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
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//Set the name of the queue
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sprintf(name, "/Q%u\n", queueCounter++);
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@ -265,7 +265,11 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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<< strerror(errno) << " in mq_send" << std::endl;
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/*NO BREAK*/
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case EMSGSIZE:
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//The msg_len is greater than the msgsize associated with the specified queue.
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// The msg_len is greater than the msgsize associated with
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//the specified queue.
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sif::error << "MessageQueue::sendMessage: Size error [" <<
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strerror(errno) << "] in mq_send" << std::endl;
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/*NO BREAK*/
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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@ -5,20 +5,23 @@
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#include <framework/ipc/MessageQueueIF.h>
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#include <framework/ipc/MessageQueueMessage.h>
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/**
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* @brief This class manages sending and receiving of message queue messages.
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* @brief This class manages sending and receiving of message queue messages.
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*
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* @details Message queues are used to pass asynchronous messages between processes.
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* They work like post boxes, where all incoming messages are stored in FIFO
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* order. This class creates a new receiving queue and provides methods to fetch
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||||
* received messages. Being a child of MessageQueueSender, this class also provides
|
||||
* methods to send a message to a user-defined or a default destination. In addition
|
||||
* it also provides a reply method to answer to the queue it received its last message
|
||||
* from.
|
||||
* The MessageQueue should be used as "post box" for a single owning object. So all
|
||||
* message queue communication is "n-to-one".
|
||||
* For creating the queue, as well as sending and receiving messages, the class makes
|
||||
* use of the operating system calls provided.
|
||||
* \ingroup message_queue
|
||||
* @details
|
||||
* Message queues are used to pass asynchronous messages between processes.
|
||||
* They work like post boxes, where all incoming messages are stored in FIFO
|
||||
* order. This class creates a new receiving queue and provides methods to fetch
|
||||
* received messages. Being a child of MessageQueueSender, this class also
|
||||
* provides methods to send a message to a user-defined or a default destination.
|
||||
* In addition it also provides a reply method to answer to the queue it
|
||||
* received its last message from.
|
||||
*
|
||||
* The MessageQueue should be used as "post box" for a single owning object.
|
||||
* So all message queue communication is "n-to-one".
|
||||
*
|
||||
* The creation of message queues, as well as sending and receiving messages,
|
||||
* makes use of the operating system calls provided.
|
||||
* @ingroup message_queue
|
||||
*/
|
||||
class MessageQueue : public MessageQueueIF {
|
||||
friend class MessageQueueSenderIF;
|
||||
|
|
@ -35,7 +38,8 @@ public:
|
|||
* @param max_message_size With this parameter, the maximum message size can be adjusted.
|
||||
* This should be left default.
|
||||
*/
|
||||
MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
|
||||
MessageQueue(size_t messageDepth = 3,
|
||||
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
|
||||
/**
|
||||
* @brief The destructor deletes the formerly created message queue.
|
||||
* @details This is accomplished by using the delete call provided by the operating system.
|
||||
|
|
|
|||
|
|
@ -5,16 +5,18 @@
|
|||
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <cstring>
|
||||
|
||||
QueueFactory* QueueFactory::factoryInstance = NULL;
|
||||
QueueFactory* QueueFactory::factoryInstance = nullptr;
|
||||
|
||||
|
||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
|
||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
||||
sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
QueueFactory* QueueFactory::instance() {
|
||||
if (factoryInstance == NULL) {
|
||||
if (factoryInstance == nullptr) {
|
||||
factoryInstance = new QueueFactory;
|
||||
}
|
||||
return factoryInstance;
|
||||
|
|
@ -26,9 +28,9 @@ QueueFactory::QueueFactory() {
|
|||
QueueFactory::~QueueFactory() {
|
||||
}
|
||||
|
||||
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
|
||||
uint32_t max_message_size) {
|
||||
return new MessageQueue(message_depth, max_message_size);
|
||||
MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
|
||||
size_t maxMessageSize) {
|
||||
return new MessageQueue(messageDepth, maxMessageSize);
|
||||
}
|
||||
|
||||
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user