From cea748676ea2f99343ec0f0dcbd5face9e114fe8 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 15:47:29 +0200 Subject: [PATCH 01/10] linux message queue update --- osal/linux/MessageQueue.cpp | 106 +++++++++++++++++++++++------------- osal/linux/MessageQueue.h | 30 ++++++---- 2 files changed, 87 insertions(+), 49 deletions(-) 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_ */ From 8652f2f13f1ff7e358e6d0b803a04772b9b83e58 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 15:50:10 +0200 Subject: [PATCH 02/10] message queue IF update --- ipc/MessageQueueIF.h | 178 +++++++++++++++++++++++++++---------------- 1 file changed, 113 insertions(+), 65 deletions(-) diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index b0347db9..44b6f4c0 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -1,61 +1,77 @@ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_ -// COULDDO: We could support blocking calls - -#include "messageQueueDefinitions.h" -#include "MessageQueueMessage.h" +#include +#include "MessageQueueMessageIF.h" #include "../returnvalues/HasReturnvaluesIF.h" +#include + + +// COULDDO: We could support blocking calls +// semaphores are being implemented, which makes this idea even more iteresting. + +/** + * @defgroup message_queue Message Queue + * @brief Message Queue related software components + */ class MessageQueueIF { public: static const MessageQueueId_t NO_QUEUE = 0; static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF; - /** - * No new messages on the queue - */ + //! No new messages on the queue static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1); - /** - * No space left for more messages - */ + //! No space left for more messages static const ReturnValue_t FULL = MAKE_RETURN_CODE(2); - /** - * Returned if a reply method was called without partner - */ + //! Returned if a reply method was called without partner static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3); + //! Returned if the target destination is invalid. + static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4); virtual ~MessageQueueIF() {} /** * @brief This operation sends a message to the last communication partner. - * @details This operation simplifies answering an incoming message by using the stored - * lastParnter information as destination. If there was no message received yet - * (i.e. lastPartner is zero), an error code is returned. - * @param message A pointer to a previously created message, which is sent. - * \return RETURN_OK if ok - * \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found + * @details + * This operation simplifies answering an incoming message by using the + * stored lastParnter information as destination. If there was no message + * received yet (i.e. lastPartner is zero), an error code is returned. + * @param message + * A pointer to a previously created message, which is sent. + * @return + * -@c RETURN_OK if ok + * -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found. */ - virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0; + virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0; /** - * @brief This function reads available messages from the message queue and returns the sender. - * @details It works identically to the other receiveMessage call, but in addition returns the - * sender's queue id. - * @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. + * @brief This function reads available messages from the message queue + * and returns the sender. + * @details + * It works identically to the other receiveMessage call, but in addition + * returns the sender's queue id. + * @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. */ - virtual ReturnValue_t receiveMessage(MessageQueueMessage* message, + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t *receivedFrom) = 0; /** * @brief This function reads available messages from the message queue. - * @details If data is available it is stored in the passed message pointer. The message's - * original content is overwritten and the sendFrom information is stored in the - * lastPartner attribute. Else, the lastPartner information remains untouched, the - * message's content is cleared and the function returns immediately. - * @param message A pointer to a message in which the received data is stored. + * @details + * If data is available it is stored in the passed message pointer. + * The message's original content is overwritten and the sendFrom + * information is stored in theblastPartner attribute. Else, the lastPartner + * information remains untouched, the message's content is cleared and the + * function returns immediately. + * @param message + * A pointer to a message in which the received data is stored. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::EMPTY if queue is empty */ - virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0; + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0; /** * Deletes all pending messages in the queue. * @param count The number of flushed messages. @@ -63,57 +79,89 @@ public: */ virtual ReturnValue_t flush(uint32_t* count) = 0; /** - * @brief This method returns the message queue id of the last communication partner. + * @brief This method returns the message queue + * id of the last communication partner. */ virtual MessageQueueId_t getLastPartner() const = 0; /** - * @brief This method returns the message queue id of this class's message queue. + * @brief This method returns the message queue + * id of this class's message queue. */ virtual MessageQueueId_t getId() const = 0; /** - * \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 - * 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 (if implemented). + * @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 it on to the destination provided with an operating system + * call. The OS's returnvalue 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 (if implemented). + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; - /** - * @brief This operation sends a message to the given destination. - * @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its - * queue id as "sentFrom" parameter. - * @param sendTo This parameter specifies the message queue id of the destination message queue. - * @param message A pointer to a previously created message, which is sent. - * @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 ) = 0; + virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault = false ) = 0; /** - * \brief The sendToDefaultFrom method sends a queue message to the default destination. - * \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 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. + * @brief This operation sends a message to the given destination. + * @details + * It directly uses the sendMessage call of the MessageQueueSender parent, + * but passes its queue id as "sentFrom" parameter. + * @param sendTo + * This parameter specifies the message queue id of the destination + * message queue. + * @param message + * A pointer to a previously created message, which is sent. + * @param ignoreFault + * If set to true, the internal software fault counter is not incremented + * if queue is full. */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; + virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, bool ignoreFault = false ) = 0; + + /** + * @brief The sendToDefaultFrom method sends a queue message + * to the default destination. + * @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 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. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full + */ + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, + MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; /** * @brief This operation sends a message to the default destination. - * @details As in the sendMessage method, this function uses the sendToDefault call of the - * Implementation class and adds its queue id as "sentFrom" information. + * @details + * As in the sendMessage method, this function uses the sendToDefault + * call of the Implementation class and adds its queue id as + * "sentFrom" information. * @param message A pointer to a previously created message, which is sent. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full */ - virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) = 0; + virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) = 0; /** - * \brief This method is a simple setter for the default destination. + * @brief This method is a simple setter for the default destination. */ virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0; /** - * \brief This method is a simple getter for the default destination. + * @brief This method is a simple getter for the default destination. */ virtual MessageQueueId_t getDefaultDestination() const = 0; @@ -122,4 +170,4 @@ public: -#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */ +#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */ From 87fb17f39a4320eb8b40517ae79e170950b1b3a5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 15:52:26 +0200 Subject: [PATCH 03/10] IF replacements --- ipc/MessageQueueSenderIF.h | 2 +- osal/FreeRTOS/QueueFactory.cpp | 2 +- osal/linux/Clock.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h index 7eea5146..42d4078f 100644 --- a/ipc/MessageQueueSenderIF.h +++ b/ipc/MessageQueueSenderIF.h @@ -15,7 +15,7 @@ public: * Not sure whether this is actually a good idea. */ static ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE, bool ignoreFault = false); private: diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index 153d9b51..493ec925 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -8,7 +8,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr; ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { return MessageQueue::sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault); diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp index b14f2a97..4de18f83 100644 --- a/osal/linux/Clock.cpp +++ b/osal/linux/Clock.cpp @@ -6,8 +6,8 @@ #include #include #include +#include -//#include uint16_t Clock::leapSeconds = 0; MutexIF* Clock::timeMutex = NULL; From de840dcf8df69d5b734951fa7128257fa472cd46 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 16:10:43 +0200 Subject: [PATCH 04/10] last fixes for linux --- ipc/QueueFactory.h | 8 +++++--- osal/linux/QueueFactory.cpp | 2 +- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h index 4f4d72c7..0310e534 100644 --- a/ipc/QueueFactory.h +++ b/ipc/QueueFactory.h @@ -1,7 +1,9 @@ -#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_ -#define FRAMEWORK_IPC_QUEUEFACTORY_H_ +#ifndef FSFW_IPC_QUEUEFACTORY_H_ +#define FSFW_IPC_QUEUEFACTORY_H_ + #include "MessageQueueIF.h" +#include "../ipc/MessageQueueMessage.h" #include /** * Creates message queues. @@ -30,4 +32,4 @@ private: static QueueFactory* factoryInstance; }; -#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */ +#endif /* FSFW_IPC_QUEUEFACTORY_H_ */ diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp index 0860950c..44def48a 100644 --- a/osal/linux/QueueFactory.cpp +++ b/osal/linux/QueueFactory.cpp @@ -15,7 +15,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr; ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { return MessageQueue::sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault); From 13b68f10a017adb82e5f9158af72a13eff3cf5cb Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 26 Sep 2020 14:24:09 +0200 Subject: [PATCH 05/10] added usage of new interface --- osal/FreeRTOS/MessageQueue.cpp | 131 ++++++++++++------ osal/FreeRTOS/MessageQueue.h | 243 ++++++++++++++++----------------- osal/FreeRTOS/QueueFactory.cpp | 17 ++- 3 files changed, 213 insertions(+), 178 deletions(-) diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index 3bbd4d9d..2dfe5ab6 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -1,41 +1,76 @@ #include "MessageQueue.h" - +#include "../../objectmanager/ObjectManagerIF.h" #include "../../serviceinterface/ServiceInterfaceStream.h" -// 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 - -MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : -defaultDestination(0),lastPartner(0) { - handle = xQueueCreate(message_depth, max_message_size); - if (handle == NULL) { - sif::error << "MessageQueue creation failed" << std::endl; +// 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 +// As a first step towards this, introduces system context variable which needs +// to be switched manually +// Haven't found function to find system context. +MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): + maxMessageSize(maxMessageSize) { + handle = xQueueCreate(messageDepth, maxMessageSize); + if (handle == nullptr) { + sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl; } } MessageQueue::~MessageQueue() { - if (handle != NULL) { + if (handle != nullptr) { vQueueDelete(handle); } } +void MessageQueue::switchSystemContext(CallContext callContext) { + this->callContext = callContext; +} + ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault) { + MessageQueueMessageIF* message, bool ignoreFault) { return sendMessageFrom(sendTo, message, this->getId(), ignoreFault); } -ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) { return sendToDefaultFrom(message, this->getId()); } -ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) { - if (this->lastPartner != 0) { +ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message, + MessageQueueId_t sentFrom, bool ignoreFault) { + return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault); +} + +ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) { + if (this->lastPartner != MessageQueueIF::NO_QUEUE) { return sendMessageFrom(this->lastPartner, message, this->getId()); } else { return NO_REPLY_PARTNER; } } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, +ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault) { + return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, + callContext); +} + + +ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) { + if (result != pdPASS) { + if (not ignoreFault) { + InternalErrorReporterIF* internalErrorReporter = objectManager-> + get( + objects::INTERNAL_ERROR_REPORTER); + if (internalErrorReporter != nullptr) { + internalErrorReporter->queueMessageNotSent(); + } + } + return MessageQueueIF::FULL; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom) { ReturnValue_t status = this->receiveMessage(message); if(status == HasReturnvaluesIF::RETURN_OK) { @@ -44,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, return status; } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { - BaseType_t result = xQueueReceive(handle,reinterpret_cast(message->getBuffer()), 0); +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { + BaseType_t result = xQueueReceive(handle,reinterpret_cast( + message->getBuffer()), 0); if (result == pdPASS){ this->lastPartner = message->getSender(); return HasReturnvaluesIF::RETURN_OK; @@ -66,50 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) { } MessageQueueId_t MessageQueue::getId() const { - return (MessageQueueId_t) handle; + return reinterpret_cast(handle); } void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) { + defaultDestinationSet = true; 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, - MessageQueueId_t sentFrom, bool ignoreFault) { - return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault); -} - MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; } bool MessageQueue::isDefaultDestinationSet() const { - return 0; + return defaultDestinationSet; } + +// static core function to send messages. ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, - MessageQueueMessage *message, MessageQueueId_t sentFrom, - bool ignoreFault) { - message->setSender(sentFrom); + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault, CallContext callContext) { + BaseType_t result = pdFALSE; + QueueHandle_t destination = nullptr; - BaseType_t result = xQueueSendToBack(reinterpret_cast(sendTo), - reinterpret_cast(message->getBuffer()), 0); - if (result != pdPASS) { - if (!ignoreFault) { - InternalErrorReporterIF* internalErrorReporter = objectManager->get( - objects::INTERNAL_ERROR_REPORTER); - if (internalErrorReporter != NULL) { - internalErrorReporter->queueMessageNotSent(); - } - } - return MessageQueueIF::FULL; + if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) { + return MessageQueueIF::DESTINVATION_INVALID; + } + else { + destination = reinterpret_cast(sendTo); } - return HasReturnvaluesIF::RETURN_OK; + message->setSender(sentFrom); + + + if(callContext == CallContext::TASK) { + result = xQueueSendToBack(destination, + static_cast(message->getBuffer()), 0); + } + else { + /* If the call context is from an interrupt, + * request a context switch if a higher priority task + * was blocked by the interrupt. */ + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + result = xQueueSendFromISR(reinterpret_cast(sendTo), + static_cast(message->getBuffer()), + &xHigherPriorityTaskWoken); + if(xHigherPriorityTaskWoken == pdTRUE) { + TaskManagement::requestContextSwitch(callContext); + } + } + return handleSendResult(result, ignoreFault); } - diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h index aa3d54c1..b99bf7c8 100644 --- a/osal/FreeRTOS/MessageQueue.h +++ b/osal/FreeRTOS/MessageQueue.h @@ -1,159 +1,150 @@ -#ifndef MESSAGEQUEUE_H_ -#define MESSAGEQUEUE_H_ +#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ +#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #include "../../internalError/InternalErrorReporterIF.h" #include "../../ipc/MessageQueueIF.h" -#include "../../ipc/MessageQueueMessage.h" +#include "../../ipc/MessageQueueMessageIF.h" +#include "../../osal/FreeRTOS/TaskManagement.h" -#include -#include +#include +#include +#include -//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/ /** - * @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. + * 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. * - * @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". - * For creating the queue, as well as sending and receiving messages, the class makes - * use of the operating system calls provided. - * \ingroup message_queue + * 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. + * + * Please keep in mind that FreeRTOS offers different calls for message queue + * operations if called from an ISR. + * For now, the system context needs to be switched manually. + * @ingroup osal + * @ingroup message_queue */ class MessageQueue : public MessageQueueIF { friend class MessageQueueSenderIF; public: /** * @brief The constructor initializes and configures the message queue. - * @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 - * 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 - * 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 - * sender. Default is three. - * @param max_message_size With this parameter, the maximum message size can be adjusted. - * This should be left default. + * @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 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 sets the message queue id, or + * in case of failure, it is set to zero. + * @param message_depth + * The number of messages to be buffered before passing an error to the + * sender. Default is three. + * @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 ); + + /** Copying message queues forbidden */ + MessageQueue(const MessageQueue&) = delete; + MessageQueue& operator=(const MessageQueue&) = delete; + /** * @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(); + /** - * @brief This operation sends a message to the given destination. - * @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its - * queue id as "sentFrom" parameter. - * @param sendTo This parameter specifies the message queue id of the destination message queue. - * @param message A pointer to a previously created message, which is sent. - * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. + * This function is used to switch the call context. This has to be called + * if a message is sent or received from an ISR! + * @param callContext */ + void switchSystemContext(CallContext callContext); + + /** MessageQueueIF implementation */ ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* 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. - */ - ReturnValue_t sendToDefault( MessageQueueMessage* message ); - /** - * @brief This operation sends a message to the last communication partner. - * @details This operation simplifies answering an incoming message by using the stored - * lastParnter information as destination. If there was no message received yet - * (i.e. lastPartner is zero), an error code is returned. - * @param message A pointer to a previously created message, which is sent. - */ - ReturnValue_t reply( MessageQueueMessage* message ); + MessageQueueMessageIF* message, bool ignoreFault = false) override; - /** - * @brief This function reads available messages from the message queue and returns the sender. - * @details It works identically to the other receiveMessage call, but in addition returns the - * sender's queue id. - * @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, - MessageQueueId_t *receivedFrom); + ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override; - /** - * @brief This function reads available messages from the message queue. - * @details If data is available it is stored in the passed message pointer. The message's - * original content is overwritten and the sendFrom information is stored in the - * lastPartner attribute. Else, the lastPartner information remains untouched, the - * 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); - /** - * Deletes all pending messages in the queue. - * @param count The number of flushed messages. - * @return RETURN_OK on success. - */ - ReturnValue_t flush(uint32_t* count); - /** - * @brief This method returns the message queue id of the last communication partner. - */ - MessageQueueId_t getLastPartner() const; - /** - * @brief This method returns the message queue id of this class's message queue. - */ - MessageQueueId_t getId() const; - /** - * \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 - * 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. - */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, 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. - * \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. - */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); - /** - * \brief This method is a simple setter for the default destination. - */ - void setDefaultDestination(MessageQueueId_t defaultDestination); - /** - * \brief This method is a simple getter for the default destination. - */ - MessageQueueId_t getDefaultDestination() const; + ReturnValue_t reply(MessageQueueMessageIF* message) override; + virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, + MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault = false) override; + + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, + MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault = false) override; + + ReturnValue_t receiveMessage(MessageQueueMessageIF* message, + MessageQueueId_t *receivedFrom) override; + + ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override; + + ReturnValue_t flush(uint32_t* count) override; + + MessageQueueId_t getLastPartner() const override; + + MessageQueueId_t getId() const override; + + void setDefaultDestination(MessageQueueId_t defaultDestination) override; + + MessageQueueId_t getDefaultDestination() const override; + + bool isDefaultDestinationSet() const override; - bool isDefaultDestinationSet() const; protected: /** - * 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. + * @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,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, CallContext callContext = CallContext::TASK); + + static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault); + private: + bool defaultDestinationSet = false; QueueHandle_t handle; - MessageQueueId_t defaultDestination; - MessageQueueId_t lastPartner; + 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 /* MESSAGEQUEUE_H_ */ +#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */ diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index e639179a..5b3c73dc 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,18 +1,21 @@ +#include "../../ipc/MessageQueueSenderIF.h" #include "../../ipc/QueueFactory.h" -#include "MessageQueue.h" +#include "../../osal/FreeRTOS/MessageQueue.h" -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); + MessageQueueMessageIF* 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; @@ -24,9 +27,9 @@ QueueFactory::QueueFactory() { QueueFactory::~QueueFactory() { } -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth, +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { - return new MessageQueue(message_depth, maxMessageSize); + return new MessageQueue(messageDepth, maxMessageSize); } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { From a0bc6b3c1fb3a5f8ef268b2b71d731786d51b3c2 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 26 Sep 2020 14:34:49 +0200 Subject: [PATCH 06/10] MQM IF update --- ipc/MessageQueueIF.h | 176 +++++++++++++++++++++++++++---------------- 1 file changed, 112 insertions(+), 64 deletions(-) diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index b0347db9..1c06521c 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -1,61 +1,77 @@ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_ -// COULDDO: We could support blocking calls - #include "messageQueueDefinitions.h" -#include "MessageQueueMessage.h" +#include "MessageQueueMessageIF.h" #include "../returnvalues/HasReturnvaluesIF.h" +#include + + +// COULDDO: We could support blocking calls +// semaphores are being implemented, which makes this idea even more iteresting. + +/** + * @defgroup message_queue Message Queue + * @brief Message Queue related software components + */ class MessageQueueIF { public: static const MessageQueueId_t NO_QUEUE = 0; static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF; - /** - * No new messages on the queue - */ + //! No new messages on the queue static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1); - /** - * No space left for more messages - */ + //! No space left for more messages static const ReturnValue_t FULL = MAKE_RETURN_CODE(2); - /** - * Returned if a reply method was called without partner - */ + //! Returned if a reply method was called without partner static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3); + //! Returned if the target destination is invalid. + static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4); virtual ~MessageQueueIF() {} /** * @brief This operation sends a message to the last communication partner. - * @details This operation simplifies answering an incoming message by using the stored - * lastParnter information as destination. If there was no message received yet - * (i.e. lastPartner is zero), an error code is returned. - * @param message A pointer to a previously created message, which is sent. - * \return RETURN_OK if ok - * \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found + * @details + * This operation simplifies answering an incoming message by using the + * stored lastParnter information as destination. If there was no message + * received yet (i.e. lastPartner is zero), an error code is returned. + * @param message + * A pointer to a previously created message, which is sent. + * @return + * -@c RETURN_OK if ok + * -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found. */ - virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0; + virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0; /** - * @brief This function reads available messages from the message queue and returns the sender. - * @details It works identically to the other receiveMessage call, but in addition returns the - * sender's queue id. - * @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. + * @brief This function reads available messages from the message queue + * and returns the sender. + * @details + * It works identically to the other receiveMessage call, but in addition + * returns the sender's queue id. + * @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. */ - virtual ReturnValue_t receiveMessage(MessageQueueMessage* message, + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t *receivedFrom) = 0; /** * @brief This function reads available messages from the message queue. - * @details If data is available it is stored in the passed message pointer. The message's - * original content is overwritten and the sendFrom information is stored in the - * lastPartner attribute. Else, the lastPartner information remains untouched, the - * message's content is cleared and the function returns immediately. - * @param message A pointer to a message in which the received data is stored. + * @details + * If data is available it is stored in the passed message pointer. + * The message's original content is overwritten and the sendFrom + * information is stored in theblastPartner attribute. Else, the lastPartner + * information remains untouched, the message's content is cleared and the + * function returns immediately. + * @param message + * A pointer to a message in which the received data is stored. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::EMPTY if queue is empty */ - virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0; + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0; /** * Deletes all pending messages in the queue. * @param count The number of flushed messages. @@ -63,57 +79,89 @@ public: */ virtual ReturnValue_t flush(uint32_t* count) = 0; /** - * @brief This method returns the message queue id of the last communication partner. + * @brief This method returns the message queue + * id of the last communication partner. */ virtual MessageQueueId_t getLastPartner() const = 0; /** - * @brief This method returns the message queue id of this class's message queue. + * @brief This method returns the message queue + * id of this class's message queue. */ virtual MessageQueueId_t getId() const = 0; /** - * \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 - * 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 (if implemented). + * @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 it on to the destination provided with an operating system + * call. The OS's returnvalue 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 (if implemented). + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; - /** - * @brief This operation sends a message to the given destination. - * @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its - * queue id as "sentFrom" parameter. - * @param sendTo This parameter specifies the message queue id of the destination message queue. - * @param message A pointer to a previously created message, which is sent. - * @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 ) = 0; + virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault = false ) = 0; /** - * \brief The sendToDefaultFrom method sends a queue message to the default destination. - * \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 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. + * @brief This operation sends a message to the given destination. + * @details + * It directly uses the sendMessage call of the MessageQueueSender parent, + * but passes its queue id as "sentFrom" parameter. + * @param sendTo + * This parameter specifies the message queue id of the destination + * message queue. + * @param message + * A pointer to a previously created message, which is sent. + * @param ignoreFault + * If set to true, the internal software fault counter is not incremented + * if queue is full. */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; + virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, bool ignoreFault = false ) = 0; + + /** + * @brief The sendToDefaultFrom method sends a queue message + * to the default destination. + * @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 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. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full + */ + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, + MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; /** * @brief This operation sends a message to the default destination. - * @details As in the sendMessage method, this function uses the sendToDefault call of the - * Implementation class and adds its queue id as "sentFrom" information. + * @details + * As in the sendMessage method, this function uses the sendToDefault + * call of the Implementation class and adds its queue id as + * "sentFrom" information. * @param message A pointer to a previously created message, which is sent. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full */ - virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) = 0; + virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) = 0; /** - * \brief This method is a simple setter for the default destination. + * @brief This method is a simple setter for the default destination. */ virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0; /** - * \brief This method is a simple getter for the default destination. + * @brief This method is a simple getter for the default destination. */ virtual MessageQueueId_t getDefaultDestination() const = 0; @@ -122,4 +170,4 @@ public: -#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */ +#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */ From bf5688c8d8399817d276b58ff22768c54d311df9 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 26 Sep 2020 14:36:56 +0200 Subject: [PATCH 07/10] last fixes --- ipc/MessageQueueSenderIF.h | 6 +++--- ipc/QueueFactory.h | 10 ++++++---- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h index 7eea5146..683c2908 100644 --- a/ipc/MessageQueueSenderIF.h +++ b/ipc/MessageQueueSenderIF.h @@ -1,8 +1,8 @@ #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_ #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_ -#include "../ipc/MessageQueueIF.h" -#include "../ipc/MessageQueueMessageIF.h" +#include "MessageQueueIF.h" +#include "MessageQueueMessageIF.h" #include "../objectmanager/ObjectManagerIF.h" class MessageQueueSenderIF { @@ -15,7 +15,7 @@ public: * Not sure whether this is actually a good idea. */ static ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE, bool ignoreFault = false); private: diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h index 4f4d72c7..9853d256 100644 --- a/ipc/QueueFactory.h +++ b/ipc/QueueFactory.h @@ -1,8 +1,10 @@ -#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_ -#define FRAMEWORK_IPC_QUEUEFACTORY_H_ +#ifndef FSFW_IPC_QUEUEFACTORY_H_ +#define FSFW_IPC_QUEUEFACTORY_H_ #include "MessageQueueIF.h" -#include +#include "MessageQueueMessage.h" +#include + /** * Creates message queues. * This class is a "singleton" interface, i.e. it provides an @@ -30,4 +32,4 @@ private: static QueueFactory* factoryInstance; }; -#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */ +#endif /* FSFW_IPC_QUEUEFACTORY_H_ */ From 6879045ef3866e5631e617b2400ce1e8ce381573 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 29 Sep 2020 15:21:33 +0200 Subject: [PATCH 08/10] include fix --- ipc/MessageQueueIF.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index 44b6f4c0..1c06521c 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -1,7 +1,7 @@ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_ -#include +#include "messageQueueDefinitions.h" #include "MessageQueueMessageIF.h" #include "../returnvalues/HasReturnvaluesIF.h" From 47c21cfc6c693614c1ed0627d94643d08aeeba0a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 29 Sep 2020 15:22:38 +0200 Subject: [PATCH 09/10] include fix --- ipc/QueueFactory.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h index 0310e534..9853d256 100644 --- a/ipc/QueueFactory.h +++ b/ipc/QueueFactory.h @@ -1,10 +1,10 @@ #ifndef FSFW_IPC_QUEUEFACTORY_H_ #define FSFW_IPC_QUEUEFACTORY_H_ - #include "MessageQueueIF.h" -#include "../ipc/MessageQueueMessage.h" -#include +#include "MessageQueueMessage.h" +#include + /** * Creates message queues. * This class is a "singleton" interface, i.e. it provides an From 8cea7b05db428b80bc90abd1ae5440bd9e9562a7 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 20 Oct 2020 14:42:58 +0200 Subject: [PATCH 10/10] include improvement --- osal/FreeRTOS/QueueFactory.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index 5b3c73dc..ed29e10c 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,8 +1,8 @@ +#include "MessageQueue.h" + #include "../../ipc/MessageQueueSenderIF.h" #include "../../ipc/QueueFactory.h" -#include "../../osal/FreeRTOS/MessageQueue.h" - QueueFactory* QueueFactory::factoryInstance = nullptr;