diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index e5c61cae..cfadb793 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -1,5 +1,6 @@ -#include "../../serviceinterface/ServiceInterfaceStream.h" #include "MessageQueue.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../objectmanager/ObjectManagerIF.h" #include @@ -9,9 +10,11 @@ #include + MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE), - defaultDestination(MessageQueueIF::NO_QUEUE) { + defaultDestination(MessageQueueIF::NO_QUEUE), + maxMessageSize(maxMessageSize) { //debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl; mq_attr attributes; this->id = 0; @@ -46,7 +49,7 @@ MessageQueue::~MessageQueue() { status = mq_unlink(name); if(status != 0){ sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: " - << strerror(errno) <> defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) { - // See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html - // This happens if the msg_max value is not large enough - // It is ignored if the executable is run in privileged mode. - // Run the unlockRealtime script or grant the mode manually by using: - // sudo setcap 'CAP_SYS_RESOURCE=+ep' + /* + See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html + This happens if the msg_max value is not large enough + It is ignored if the executable is run in privileged mode. + Run the unlockRealtime script or grant the mode manually by using: + sudo setcap 'CAP_SYS_RESOURCE=+ep' - // Persistent solution for session: - // echo | sudo tee /proc/sys/fs/mqueue/msg_max + Persistent solution for session: + echo | sudo tee /proc/sys/fs/mqueue/msg_max - // Permanent solution: - // sudo nano /etc/sysctl.conf - // Append at end: fs/mqueue/msg_max = - // Apply changes with: sudo sysctl -p + Permanent solution: + sudo nano /etc/sysctl.conf + Append at end: fs/mqueue/msg_max = + Apply changes with: sudo sysctl -p + */ sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg << " is too small for requested size " << messageDepth << std::endl; + sif::error << "This error can be fixed by setting the maximum " + "allowed message size higher!" << std::endl; + } break; } @@ -118,15 +126,15 @@ 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 +142,34 @@ 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) { + if(message == nullptr) { + sif::error << "MessageQueue::receiveMessage: Message is " + "nullptr!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + if(message->getMaximumMessageSize() < maxMessageSize) { + sif::error << "MessageQueue::receiveMessage: Message size " + << message->getMaximumMessageSize() + << " too small to receive data!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + unsigned int messagePriority = 0; int status = mq_receive(id,reinterpret_cast(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 +179,7 @@ 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 @@ -258,18 +279,19 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) { this->defaultDestination = defaultDestination; } -ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, - MessageQueueMessage* 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); } + +ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault) { + return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault); + +} + MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; } @@ -281,11 +303,18 @@ 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) { + if(message == nullptr) { + sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is " + "nullptr!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + message->setSender(sentFrom); int result = mq_send(sendTo, - reinterpret_cast(message->getBuffer()), message->messageSize,0); + reinterpret_cast(message->getBuffer()), + message->getMessageSize(),0); //TODO: Check if we're in ISR. if (result != 0) { @@ -303,13 +332,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, //MQ_NONBLOCK flag was set in its attributes, and the //specified queue is full. return MessageQueueIF::FULL; - case EBADF: + case EBADF: { //mq_des doesn't represent a valid message queue descriptor, //or mq_des wasn't opened for writing. - sif::error << "MessageQueue::sendMessage: Configuration error " - << strerror(errno) << " in mq_send mqSendTo: " << sendTo - << " sent from " << sentFrom << std::endl; - /*NO BREAK*/ + sif::error << "MessageQueue::sendMessage: Configuration error, MQ" + << " destination invalid." << std::endl; + sif::error << strerror(errno) << " in " + <<"mq_send to: " << sendTo << " sent from " + << sentFrom << std::endl; + return DESTINVATION_INVALID; + } case EINTR: //The call was interrupted by a signal. case EINVAL: diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h index 31cdca11..239bbbdb 100644 --- a/osal/linux/MessageQueue.h +++ b/osal/linux/MessageQueue.h @@ -1,5 +1,5 @@ -#ifndef MESSAGEQUEUE_H_ -#define MESSAGEQUEUE_H_ +#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ +#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ #include "../../internalError/InternalErrorReporterIF.h" #include "../../ipc/MessageQueueIF.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. @@ -171,11 +176,12 @@ private: /** * The name of the message queue, stored for unlinking */ - char name[5]; + char name[16]; static uint16_t queueCounter; + const size_t maxMessageSize; ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth); }; -#endif /* MESSAGEQUEUE_H_ */ +#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */