added FreeRTOS queue map manager

osal/FreeRTOS/CMakeLists.txt

@@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
 		TaskFactory.cpp
 		Timekeeper.cpp
 		TaskManagement.cpp
+		QueueMapManager.cpp
 )
 
 # FreeRTOS is required to link the FSFW now. It is recommended to compile 

osal/FreeRTOS/QueueMapManager.cpp

@@ -0,0 +1,49 @@
+#include "QueueMapManager.h"
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexGuard.h"
+
+QueueMapManager::QueueMapManager() {
+    mapLock = MutexFactory::instance()->createMutex();
+}
+
+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);
+}

osal/FreeRTOS/QueueMapManager.h

@@ -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_ */

osal/host/QueueMapManager.cpp

@@ -23,9 +23,7 @@ QueueMapManager* QueueMapManager::instance() {
 
 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. */
+    MutexGuard lock(mapLock);
     uint32_t currentId = queueCounter++;
     auto returnPair = queueMap.emplace(currentId, queueToInsert);
     if(not returnPair.second) {
@@ -47,7 +45,6 @@ ReturnValue_t QueueMapManager::addMessageQueue(
 
 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;
@@ -60,7 +57,7 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
         sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
                 messageQueueId);
 #endif
-		return nullptr;
     }
+    return nullptr;
 }
 

osal/host/QueueMapManager.h

@@ -15,7 +15,9 @@ using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
  */
 class QueueMapManager {
 public:
-	//! Returns the single instance of SemaphoreFactory.
+
+
+    //! Returns the single instance of QueueMapManager.
     static QueueMapManager* instance();
 
     /**
@@ -27,14 +29,15 @@ public:
     ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
             id = nullptr);
     /**
-	 * Get the message queue handle by providing a message queue ID.
+     * 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.
+    //! External instantiation is forbidden. Constructor still required for singleton instantiation.
     QueueMapManager();
     ~QueueMapManager();