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mq doc improvements

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This commit is contained in:
Robin Müller 2020-05-18 17:31:05 +02:00
parent 1d4d01d190
commit d1500a7868
2 changed files with 72 additions and 57 deletions
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9
osal/FreeRTOS/MessageQueue.cpp
View File

@ -50,14 +50,16 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom, MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) { bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault, callContext); return sendMessageFromMessageQueue(sendTo, message, sentFrom,
ignoreFault, callContext);
} }
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) { ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
if (result != pdPASS) { if (result != pdPASS) {
if (!ignoreFault) { if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>( InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER); objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) { if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent(); internalErrorReporter->queueMessageNotSent();
@ -78,7 +80,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
} }
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0); BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
message->getBuffer()), 0);
if (result == pdPASS){ if (result == pdPASS){
this->lastPartner = message->getSender(); this->lastPartner = message->getSender();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;

98
osal/FreeRTOS/MessageQueue.h
View File

@ -12,28 +12,28 @@ extern "C" {
} }
//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution //TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/ // https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
/** /**
* @brief This class manages sending and receiving of message queue messages. * @brief This class manages sending and receiving of
* * message queue messages.
* @details Message queues are used to pass asynchronous messages between processes. * @details
* Message queues are used to pass asynchronous messages between processes.
* They work like post boxes, where all incoming messages are stored in FIFO * 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 * order. This class creates a new receiving queue and provides methods to fetch
* received messages. Being a child of MessageQueueSender, this class also provides * received messages. Being a child of MessageQueueSender, this class also
* methods to send a message to a user-defined or a default destination. In addition * provides methods to send a message to a user-defined or a default destination.
* it also provides a reply method to answer to the queue it received its last message * In addition it also provides a reply method to answer to the queue it
* from. * received its last message from.
* *
* The MessageQueue should be used as "post box" for a single owning object. So all * The MessageQueue should be used as "post box" for a single owning object.
* message queue communication is "n-to-one". * So all message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class makes * For creating the queue, as well as sending and receiving messages, the class
* use of the operating system calls provided. * makes use of the operating system calls provided.
* *
* Please keep in mind that FreeRTOS offers * Please keep in mind that FreeRTOS offers different calls for message queue
* different calls for message queue operations if called from an ISR. * operations if called from an ISR.
* For now, the system context needs to be switched manually. * For now, the system context needs to be switched manually.
* @ingroup osal * @ingroup osal
* @ingroup message_queue * @ingroup message_queue
@ -43,21 +43,26 @@ class MessageQueue : public MessageQueueIF {
public: public:
/** /**
* @brief The constructor initializes and configures the message queue. * @brief The constructor initializes and configures the message queue.
* @details By making use of the according operating system call, a message queue is created * @details
* By making use of the according operating system call, a message queue is created
* and initialized. The message depth - the maximum number of messages to be * and initialized. The message depth - the maximum number of messages to be
* buffered - may be set with the help of a parameter, whereas the message size is * buffered - may be set with the help of a parameter, whereas the message size is
* automatically set to the maximum message queue message size. The operating system * automatically set to the maximum message queue message size. The operating system
* sets the message queue id, or i case of failure, it is set to zero. * sets the message queue id, or i case of failure, it is set to zero.
* @param message_depth The number of messages to be buffered before passing an error to the * @param message_depth
* The number of messages to be buffered before passing an error to the
* sender. Default is three. * sender. Default is three.
* @param max_message_size With this parameter, the maximum message size can be adjusted. * @param max_message_size
* With this parameter, the maximum message size can be adjusted.
* This should be left default. * This should be left default.
*/ */
MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE ); MessageQueue( size_t message_depth = 3,
size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
/** /**
* @brief The destructor deletes the formerly created message queue. * @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system. * @details This is accomplished by using the delete call provided
* by the operating system.
*/ */
virtual ~MessageQueue(); virtual ~MessageQueue();
@ -90,27 +95,28 @@ public:
ReturnValue_t reply( MessageQueueMessage* message ); ReturnValue_t reply( MessageQueueMessage* message );
/** /**
* \brief With the sendMessage call, a queue message is sent to a receiving queue. * @brief With the sendMessage call, a queue message is sent to a receiving queue.
* \details This method takes the message provided, adds the sentFrom information and passes * @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 * it on to the destination provided with an operating system call. The OS's return
* value is returned. * value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to. * @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 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. * @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. * 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 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, virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message,
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/** /**
* \brief The sendToDefault method sends a queue message to the default destination. * @brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method. * @details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent. * @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. * @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. * 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( MessageQueueMessage* message,
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/** /**
* @brief This function reads available messages from the message queue and returns the sender. * @brief This function reads available messages from the message queue and returns the sender.
@ -147,27 +153,34 @@ public:
MessageQueueId_t getId() const; MessageQueueId_t getId() const;
/** /**
* \brief This method is a simple setter for the default destination. * @brief This method is a simple setter for the default destination.
*/ */
void setDefaultDestination(MessageQueueId_t defaultDestination); void setDefaultDestination(MessageQueueId_t defaultDestination);
/** /**
* \brief This method is a simple getter for the default destination. * @brief This method is a simple getter for the default destination.
*/ */
MessageQueueId_t getDefaultDestination() const; MessageQueueId_t getDefaultDestination() const;
bool isDefaultDestinationSet() const; bool isDefaultDestinationSet() const;
protected: protected:
/** /**
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF * @brief Implementation to be called from any send Call within
* \details This method takes the message provided, adds the sentFrom information and passes * MessageQueue and MessageQueueSenderIF.
* it on to the destination provided with an operating system call. The OS's return * @details
* value is returned. * This method takes the message provided, adds the sentFrom information and
* \param sendTo This parameter specifies the message queue id to send the message to. * passes it on to the destination provided with an operating system call.
* \param message This is a pointer to a previously created message, which is sent. * The OS's return value is returned.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. * @param sendTo
* This variable is set to zero by default. * This parameter specifies the message queue id to send the message to.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. * @param message
* \param context * 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, static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
@ -175,7 +188,6 @@ protected:
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault); static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private: private:
QueueHandle_t handle; QueueHandle_t handle;
MessageQueueId_t defaultDestination; MessageQueueId_t defaultDestination;