Merge pull request 'FreeRTOS Queue Map Manager' (#423) from KSat/fsfw:mueller/freertos-queue-map-manager into development
Reviewed-on: fsfw/fsfw#423
This commit is contained in:
commit
b6b144bcdb
@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
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TaskFactory.cpp
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Timekeeper.cpp
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TaskManagement.cpp
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QueueMapManager.cpp
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)
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# FreeRTOS is required to link the FSFW now. It is recommended to compile
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@ -1,129 +1,128 @@
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#include "MessageQueue.h"
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#include "QueueMapManager.h"
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../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
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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 messageDepth, size_t maxMessageSize):
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maxMessageSize(maxMessageSize) {
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handle = xQueueCreate(messageDepth, maxMessageSize);
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maxMessageSize(maxMessageSize) {
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handle = xQueueCreate(messageDepth, maxMessageSize);
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if (handle == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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if (handle == nullptr) {
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sif::error << "MessageQueue::MessageQueue:"
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<< " Creation failed." << std::endl;
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sif::error << "Specified Message Depth: " << messageDepth
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<< std::endl;
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sif::error << "Specified Maximum Message Size: "
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<< maxMessageSize << std::endl;
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}
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sif::error << "MessageQueue::MessageQueue: Creation failed" << std::endl;
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sif::error << "Specified Message Depth: " << messageDepth << std::endl;
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sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl;
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#else
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sif::printError("MessageQueue::MessageQueue: Creation failed\n");
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sif::printError("Specified Message Depth: %d\n", messageDepth);
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sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
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#endif
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}
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QueueMapManager::instance()->addMessageQueue(handle, &queueId);
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}
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MessageQueue::~MessageQueue() {
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if (handle != nullptr) {
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vQueueDelete(handle);
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}
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if (handle != nullptr) {
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vQueueDelete(handle);
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}
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}
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void MessageQueue::switchSystemContext(CallContext callContext) {
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this->callContext = callContext;
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this->callContext = callContext;
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}
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ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, bool ignoreFault) {
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return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
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MessageQueueMessageIF* message, bool ignoreFault) {
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return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
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}
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ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
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return sendToDefaultFrom(message, this->getId());
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return sendToDefaultFrom(message, this->getId());
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}
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ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom, bool ignoreFault) {
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return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
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MessageQueueId_t sentFrom, bool ignoreFault) {
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return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
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}
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ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
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if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
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return sendMessageFrom(this->lastPartner, message, this->getId());
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} else {
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return NO_REPLY_PARTNER;
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}
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if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
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return sendMessageFrom(this->lastPartner, message, this->getId());
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} else {
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return NO_REPLY_PARTNER;
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}
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}
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ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
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callContext);
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MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
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callContext);
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}
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QueueHandle_t MessageQueue::getNativeQueueHandle() {
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return handle;
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}
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ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
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if (result != pdPASS) {
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if (not ignoreFault) {
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InternalErrorReporterIF* internalErrorReporter = objectManager->
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get<InternalErrorReporterIF>(
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objects::INTERNAL_ERROR_REPORTER);
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if (internalErrorReporter != nullptr) {
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internalErrorReporter->queueMessageNotSent();
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}
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}
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return MessageQueueIF::FULL;
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}
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return HasReturnvaluesIF::RETURN_OK;
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if (result != pdPASS) {
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if (not ignoreFault) {
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InternalErrorReporterIF* internalErrorReporter = objectManager->
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get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
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if (internalErrorReporter != nullptr) {
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internalErrorReporter->queueMessageNotSent();
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}
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}
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return MessageQueueIF::FULL;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
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MessageQueueId_t* receivedFrom) {
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ReturnValue_t status = this->receiveMessage(message);
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if(status == HasReturnvaluesIF::RETURN_OK) {
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*receivedFrom = this->lastPartner;
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}
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return status;
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MessageQueueId_t* receivedFrom) {
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ReturnValue_t status = this->receiveMessage(message);
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if(status == HasReturnvaluesIF::RETURN_OK) {
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*receivedFrom = this->lastPartner;
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}
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return status;
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
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BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
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message->getBuffer()), 0);
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if (result == pdPASS){
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this->lastPartner = message->getSender();
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return MessageQueueIF::EMPTY;
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}
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BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
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message->getBuffer()), 0);
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if (result == pdPASS){
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this->lastPartner = message->getSender();
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return MessageQueueIF::EMPTY;
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}
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}
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MessageQueueId_t MessageQueue::getLastPartner() const {
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return lastPartner;
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return lastPartner;
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}
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ReturnValue_t MessageQueue::flush(uint32_t* count) {
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//TODO FreeRTOS does not support flushing partially
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//Is always successful
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xQueueReset(handle);
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return HasReturnvaluesIF::RETURN_OK;
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//TODO FreeRTOS does not support flushing partially
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//Is always successful
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xQueueReset(handle);
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return HasReturnvaluesIF::RETURN_OK;
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}
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MessageQueueId_t MessageQueue::getId() const {
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return reinterpret_cast<MessageQueueId_t>(handle);
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return queueId;
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}
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void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
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defaultDestinationSet = true;
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this->defaultDestination = defaultDestination;
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defaultDestinationSet = true;
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this->defaultDestination = defaultDestination;
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}
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MessageQueueId_t MessageQueue::getDefaultDestination() const {
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return defaultDestination;
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return defaultDestination;
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}
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bool MessageQueue::isDefaultDestinationSet() const {
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return defaultDestinationSet;
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return defaultDestinationSet;
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}
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@ -131,30 +130,25 @@ bool MessageQueue::isDefaultDestinationSet() const {
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ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
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bool ignoreFault, CallContext callContext) {
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BaseType_t result = pdFALSE;
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QueueHandle_t destination = nullptr;
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BaseType_t result = pdFALSE;
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if(sendTo == MessageQueueIF::NO_QUEUE) {
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return MessageQueueIF::DESTINATION_INVALID;
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}
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if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
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return MessageQueueIF::DESTINATION_INVALID;
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}
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else {
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destination = reinterpret_cast<QueueHandle_t>(sendTo);
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}
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QueueHandle_t destination = QueueMapManager::instance()->getMessageQueue(sendTo);
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if(destination == nullptr) {
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return MessageQueueIF::DESTINATION_INVALID;
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}
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message->setSender(sentFrom);
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if(callContext == CallContext::TASK) {
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result = xQueueSendToBack(destination,
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static_cast<const void*>(message->getBuffer()), 0);
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result = xQueueSendToBack(destination, static_cast<const void*>(message->getBuffer()), 0);
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}
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else {
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/* If the call context is from an interrupt,
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* request a context switch if a higher priority task
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* was blocked by the interrupt. */
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/* If the call context is from an interrupt, request a context switch if a higher priority
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task was blocked by the interrupt. */
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
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static_cast<const void*>(message->getBuffer()),
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result = xQueueSendFromISR(destination, static_cast<const void*>(message->getBuffer()),
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&xHigherPriorityTaskWoken);
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if(xHigherPriorityTaskWoken == pdTRUE) {
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TaskManagement::requestContextSwitch(callContext);
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@ -11,11 +11,6 @@
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#include <freertos/queue.h>
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#include <fsfw/ipc/MessageQueueMessage.h>
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// TODO: this class assumes that MessageQueueId_t is the same size as void*
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// (the FreeRTOS handle type), compiler will catch this but it might be nice
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// to have something checking or even an always working solution
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// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
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/**
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* @brief This class manages sending and receiving of
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* message queue messages.
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@ -40,112 +35,116 @@
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* @ingroup message_queue
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*/
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class MessageQueue : public MessageQueueIF {
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friend class MessageQueueSenderIF;
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friend class MessageQueueSenderIF;
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public:
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/**
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* @brief The constructor initializes and configures the message queue.
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* @details
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* By making use of the according operating system call, a message queue
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* is created and initialized. The message depth - the maximum number of
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* messages to be buffered - may be set with the help of a parameter,
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* whereas the message size is automatically set to the maximum message
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* queue message size. The operating system sets the message queue id, or
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* in case of failure, it is set to zero.
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* @param message_depth
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* The number of messages to be buffered before passing an error to the
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* sender. Default is three.
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* @param max_message_size
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* With this parameter, the maximum message size can be adjusted.
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* This should be left default.
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*/
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MessageQueue( size_t messageDepth = 3,
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size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
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/**
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* @brief The constructor initializes and configures the message queue.
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* @details
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* By making use of the according operating system call, a message queue
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* is created and initialized. The message depth - the maximum number of
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* messages to be buffered - may be set with the help of a parameter,
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* whereas the message size is automatically set to the maximum message
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* queue message size. The operating system sets the message queue id, or
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* in case of failure, it is set to zero.
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* @param message_depth
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* The number of messages to be buffered before passing an error to the
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* sender. Default is three.
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* @param max_message_size
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* With this parameter, the maximum message size can be adjusted.
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* This should be left default.
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*/
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MessageQueue( size_t messageDepth = 3,
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size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
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/** Copying message queues forbidden */
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MessageQueue(const MessageQueue&) = delete;
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MessageQueue& operator=(const MessageQueue&) = delete;
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/** Copying message queues forbidden */
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MessageQueue(const MessageQueue&) = delete;
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MessageQueue& operator=(const MessageQueue&) = delete;
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/**
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* @brief The destructor deletes the formerly created message queue.
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* @details This is accomplished by using the delete call provided
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* by the operating system.
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*/
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virtual ~MessageQueue();
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/**
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* @brief The destructor deletes the formerly created message queue.
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* @details This is accomplished by using the delete call provided
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* by the operating system.
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*/
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virtual ~MessageQueue();
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/**
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* This function is used to switch the call context. This has to be called
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* if a message is sent or received from an ISR!
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* @param callContext
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*/
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void switchSystemContext(CallContext callContext);
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/**
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* This function is used to switch the call context. This has to be called
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* if a message is sent or received from an ISR!
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* @param callContext
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*/
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void switchSystemContext(CallContext callContext);
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/** MessageQueueIF implementation */
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ReturnValue_t sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, bool ignoreFault = false) override;
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/** MessageQueueIF implementation */
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ReturnValue_t sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, bool ignoreFault = false) override;
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ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
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ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
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ReturnValue_t reply(MessageQueueMessageIF* message) override;
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virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault = false) override;
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ReturnValue_t reply(MessageQueueMessageIF* message) override;
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virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault = false) override;
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault = false) override;
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault = false) override;
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ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
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MessageQueueId_t *receivedFrom) override;
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ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
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MessageQueueId_t *receivedFrom) override;
|
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ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
|
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ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
|
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|
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ReturnValue_t flush(uint32_t* count) override;
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ReturnValue_t flush(uint32_t* count) override;
|
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|
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MessageQueueId_t getLastPartner() const override;
|
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MessageQueueId_t getLastPartner() const override;
|
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|
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MessageQueueId_t getId() const override;
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MessageQueueId_t getId() const override;
|
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|
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void setDefaultDestination(MessageQueueId_t defaultDestination) override;
|
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void setDefaultDestination(MessageQueueId_t defaultDestination) override;
|
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|
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MessageQueueId_t getDefaultDestination() const override;
|
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MessageQueueId_t getDefaultDestination() const override;
|
||||
|
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bool isDefaultDestinationSet() const override;
|
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bool isDefaultDestinationSet() const override;
|
||||
|
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QueueHandle_t getNativeQueueHandle();
|
||||
|
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protected:
|
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/**
|
||||
* @brief Implementation to be called from any send Call within
|
||||
* MessageQueue and MessageQueueSenderIF.
|
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* @details
|
||||
* This method takes the message provided, adds the sentFrom information and
|
||||
* passes it on to the destination provided with an operating system call.
|
||||
* The OS's return value is returned.
|
||||
* @param sendTo
|
||||
* This parameter specifies the message queue id to send the message to.
|
||||
* @param message
|
||||
* This is a pointer to a previously created message, which is sent.
|
||||
* @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.
|
||||
* @param ignoreFault
|
||||
* If set to true, the internal software fault counter is not incremented
|
||||
* if queue is full.
|
||||
* @param context Specify whether call is made from task or from an ISR.
|
||||
*/
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
|
||||
/**
|
||||
* @brief Implementation to be called from any send Call within
|
||||
* MessageQueue and MessageQueueSenderIF.
|
||||
* @details
|
||||
* This method takes the message provided, adds the sentFrom information and
|
||||
* passes it on to the destination provided with an operating system call.
|
||||
* The OS's return value is returned.
|
||||
* @param sendTo
|
||||
* This parameter specifies the message queue id to send the message to.
|
||||
* @param message
|
||||
* This is a pointer to a previously created message, which is sent.
|
||||
* @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.
|
||||
* @param ignoreFault
|
||||
* If set to true, the internal software fault counter is not incremented
|
||||
* if queue is full.
|
||||
* @param context Specify whether call is made from task or from an ISR.
|
||||
*/
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
|
||||
|
||||
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
|
||||
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
|
||||
|
||||
private:
|
||||
bool defaultDestinationSet = false;
|
||||
QueueHandle_t handle;
|
||||
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
|
||||
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
|
||||
const size_t maxMessageSize;
|
||||
//! Stores the current system context
|
||||
CallContext callContext = CallContext::TASK;
|
||||
bool defaultDestinationSet = false;
|
||||
QueueHandle_t handle;
|
||||
MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
|
||||
|
||||
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
|
||||
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
|
||||
const size_t maxMessageSize;
|
||||
//! Stores the current system context
|
||||
CallContext callContext = CallContext::TASK;
|
||||
};
|
||||
|
||||
#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */
|
||||
|
||||
58
osal/FreeRTOS/QueueMapManager.cpp
Normal file
58
osal/FreeRTOS/QueueMapManager.cpp
Normal file
@ -0,0 +1,58 @@
|
||||
#include "QueueMapManager.h"
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../ipc/MutexGuard.h"
|
||||
|
||||
QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
|
||||
|
||||
QueueMapManager::QueueMapManager() {
|
||||
mapLock = MutexFactory::instance()->createMutex();
|
||||
}
|
||||
|
||||
QueueMapManager* QueueMapManager::instance() {
|
||||
if (mqManagerInstance == nullptr){
|
||||
mqManagerInstance = new QueueMapManager();
|
||||
}
|
||||
return QueueMapManager::mqManagerInstance;
|
||||
}
|
||||
|
||||
ReturnValue_t QueueMapManager::addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id) {
|
||||
MutexGuard lock(mapLock);
|
||||
uint32_t currentId = queueCounter++;
|
||||
auto returnPair = queueMap.emplace(currentId, queue);
|
||||
if(not returnPair.second) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "QueueMapManager::addMessageQueue This ID is already "
|
||||
"inside the map!" << std::endl;
|
||||
#else
|
||||
sif::printError("QueueMapManager::addMessageQueue This ID is already "
|
||||
"inside the map!\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (id != nullptr) {
|
||||
*id = currentId;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
|
||||
}
|
||||
|
||||
QueueHandle_t QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId) const {
|
||||
auto queueIter = queueMap.find(messageQueueId);
|
||||
if(queueIter != queueMap.end()) {
|
||||
return queueIter->second;
|
||||
}
|
||||
else {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
|
||||
" does not exists in the map!" << std::endl;
|
||||
#else
|
||||
sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
|
||||
messageQueueId);
|
||||
#endif
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
QueueMapManager::~QueueMapManager() {
|
||||
MutexFactory::instance()->deleteMutex(mapLock);
|
||||
}
|
||||
50
osal/FreeRTOS/QueueMapManager.h
Normal file
50
osal/FreeRTOS/QueueMapManager.h
Normal file
@ -0,0 +1,50 @@
|
||||
#ifndef FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
|
||||
#define FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
|
||||
|
||||
#include "../../ipc/MutexIF.h"
|
||||
#include "../../ipc/messageQueueDefinitions.h"
|
||||
#include "../../ipc/MessageQueueIF.h"
|
||||
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/queue.h"
|
||||
|
||||
#include <map>
|
||||
|
||||
using QueueMap = std::map<MessageQueueId_t, QueueHandle_t>;
|
||||
|
||||
class QueueMapManager {
|
||||
public:
|
||||
|
||||
//! Returns the single instance of QueueMapManager
|
||||
static QueueMapManager* instance();
|
||||
|
||||
/**
|
||||
* Insert a message queue and the corresponding QueueHandle into the map
|
||||
* @param queue The message queue to insert.
|
||||
* @param id The passed value will be set unless a nullptr is passed
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id);
|
||||
|
||||
/**
|
||||
* Get the message queue handle by providing a message queue ID. Returns nullptr
|
||||
* if the queue ID does not exist in the internal map.
|
||||
* @param messageQueueId
|
||||
* @return
|
||||
*/
|
||||
QueueHandle_t getMessageQueue(MessageQueueId_t messageQueueId) const;
|
||||
|
||||
private:
|
||||
//! External instantiation forbidden. Constructor still required for singleton instantiation.
|
||||
QueueMapManager();
|
||||
~QueueMapManager();
|
||||
|
||||
uint32_t queueCounter = 0;
|
||||
MutexIF* mapLock;
|
||||
QueueMap queueMap;
|
||||
static QueueMapManager* mqManagerInstance;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_ */
|
||||
@ -15,52 +15,49 @@ QueueMapManager::~QueueMapManager() {
|
||||
}
|
||||
|
||||
QueueMapManager* QueueMapManager::instance() {
|
||||
if (mqManagerInstance == nullptr){
|
||||
mqManagerInstance = new QueueMapManager();
|
||||
}
|
||||
return QueueMapManager::mqManagerInstance;
|
||||
if (mqManagerInstance == nullptr){
|
||||
mqManagerInstance = new QueueMapManager();
|
||||
}
|
||||
return QueueMapManager::mqManagerInstance;
|
||||
}
|
||||
|
||||
ReturnValue_t QueueMapManager::addMessageQueue(
|
||||
MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
|
||||
/* Not thread-safe, but it is assumed all message queues are created at software initialization
|
||||
now. If this is to be made thread-safe in the future, it propably would be sufficient to lock
|
||||
the increment operation here. */
|
||||
uint32_t currentId = queueCounter++;
|
||||
auto returnPair = queueMap.emplace(currentId, queueToInsert);
|
||||
if(not returnPair.second) {
|
||||
/* This should never happen for the atomic variable. */
|
||||
MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
|
||||
MutexGuard lock(mapLock);
|
||||
uint32_t currentId = queueCounter++;
|
||||
auto returnPair = queueMap.emplace(currentId, queueToInsert);
|
||||
if(not returnPair.second) {
|
||||
/* This should never happen for the atomic variable. */
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "QueueMapManager::addMessageQueue This ID is already "
|
||||
"inside the map!" << std::endl;
|
||||
sif::error << "QueueMapManager::addMessageQueue This ID is already "
|
||||
"inside the map!" << std::endl;
|
||||
#else
|
||||
sif::printError("QueueMapManager::addMessageQueue This ID is already "
|
||||
sif::printError("QueueMapManager::addMessageQueue This ID is already "
|
||||
"inside the map!\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (id != nullptr) {
|
||||
*id = currentId;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (id != nullptr) {
|
||||
*id = currentId;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MessageQueueIF* QueueMapManager::getMessageQueue(
|
||||
MessageQueueId_t messageQueueId) const {
|
||||
MutexGuard(mapLock, MutexIF::TimeoutType::WAITING, 50);
|
||||
auto queueIter = queueMap.find(messageQueueId);
|
||||
if(queueIter != queueMap.end()) {
|
||||
return queueIter->second;
|
||||
}
|
||||
else {
|
||||
MessageQueueId_t messageQueueId) const {
|
||||
auto queueIter = queueMap.find(messageQueueId);
|
||||
if(queueIter != queueMap.end()) {
|
||||
return queueIter->second;
|
||||
}
|
||||
else {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
|
||||
" does not exists in the map!" << std::endl;
|
||||
sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
|
||||
" does not exists in the map!" << std::endl;
|
||||
#else
|
||||
sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
|
||||
messageQueueId);
|
||||
sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
|
||||
messageQueueId);
|
||||
#endif
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
|
||||
@ -15,33 +15,36 @@ using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
|
||||
*/
|
||||
class QueueMapManager {
|
||||
public:
|
||||
//! Returns the single instance of SemaphoreFactory.
|
||||
static QueueMapManager* instance();
|
||||
|
||||
/**
|
||||
* Insert a message queue into the map and returns a message queue ID
|
||||
* @param queue The message queue to insert.
|
||||
* @param id The passed value will be set unless a nullptr is passed
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
|
||||
id = nullptr);
|
||||
/**
|
||||
* Get the message queue handle by providing a message queue ID.
|
||||
* @param messageQueueId
|
||||
* @return
|
||||
*/
|
||||
MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
|
||||
|
||||
//! Returns the single instance of QueueMapManager.
|
||||
static QueueMapManager* instance();
|
||||
|
||||
/**
|
||||
* Insert a message queue into the map and returns a message queue ID
|
||||
* @param queue The message queue to insert.
|
||||
* @param id The passed value will be set unless a nullptr is passed
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
|
||||
id = nullptr);
|
||||
/**
|
||||
* Get the message queue handle by providing a message queue ID. Returns nullptr
|
||||
* if the queue ID is not contained inside the internal map.
|
||||
* @param messageQueueId
|
||||
* @return
|
||||
*/
|
||||
MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
|
||||
|
||||
private:
|
||||
//! External instantiation is forbidden.
|
||||
QueueMapManager();
|
||||
~QueueMapManager();
|
||||
//! External instantiation is forbidden. Constructor still required for singleton instantiation.
|
||||
QueueMapManager();
|
||||
~QueueMapManager();
|
||||
|
||||
uint32_t queueCounter = 0;
|
||||
MutexIF* mapLock;
|
||||
QueueMap queueMap;
|
||||
static QueueMapManager* mqManagerInstance;
|
||||
uint32_t queueCounter = 0;
|
||||
MutexIF* mapLock;
|
||||
QueueMap queueMap;
|
||||
static QueueMapManager* mqManagerInstance;
|
||||
};
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user