Merge branch 'master' into mueller/DHB-update
This commit is contained in:
commit
f7b84c4732
@ -1,61 +1,77 @@
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#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
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#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
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#define FSFW_IPC_MESSAGEQUEUEIF_H_
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#define FSFW_IPC_MESSAGEQUEUEIF_H_
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// COULDDO: We could support blocking calls
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#include "messageQueueDefinitions.h"
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#include "messageQueueDefinitions.h"
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#include "MessageQueueMessage.h"
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#include "MessageQueueMessageIF.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#include <cstdint>
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// COULDDO: We could support blocking calls
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// semaphores are being implemented, which makes this idea even more iteresting.
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/**
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* @defgroup message_queue Message Queue
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* @brief Message Queue related software components
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*/
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class MessageQueueIF {
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class MessageQueueIF {
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public:
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public:
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static const MessageQueueId_t NO_QUEUE = 0;
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static const MessageQueueId_t NO_QUEUE = 0;
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static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
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static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
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/**
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//! No new messages on the queue
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* No new messages on the queue
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*/
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static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
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static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
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/**
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//! No space left for more messages
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* No space left for more messages
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*/
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static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
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static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
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/**
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//! Returned if a reply method was called without partner
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* Returned if a reply method was called without partner
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*/
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static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
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static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
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//! Returned if the target destination is invalid.
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static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
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virtual ~MessageQueueIF() {}
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virtual ~MessageQueueIF() {}
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/**
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/**
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* @brief This operation sends a message to the last communication partner.
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* @brief This operation sends a message to the last communication partner.
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* @details This operation simplifies answering an incoming message by using the stored
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* @details
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* lastParnter information as destination. If there was no message received yet
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* This operation simplifies answering an incoming message by using the
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* (i.e. lastPartner is zero), an error code is returned.
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* stored lastParnter information as destination. If there was no message
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* @param message A pointer to a previously created message, which is sent.
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* received yet (i.e. lastPartner is zero), an error code is returned.
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* \return RETURN_OK if ok
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* @param message
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* \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
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* A pointer to a previously created message, which is sent.
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* @return
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* -@c RETURN_OK if ok
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* -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found.
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*/
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*/
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virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
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virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
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/**
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/**
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* @brief This function reads available messages from the message queue and returns the sender.
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* @brief This function reads available messages from the message queue
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* @details It works identically to the other receiveMessage call, but in addition returns the
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* and returns the sender.
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* sender's queue id.
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* @details
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* @param message A pointer to a message in which the received data is stored.
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* It works identically to the other receiveMessage call, but in addition
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* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
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* returns the sender's queue id.
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* @param message
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* A pointer to a message in which the received data is stored.
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* @param receivedFrom
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* A pointer to a queue id in which the sender's id is stored.
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*/
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*/
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virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
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virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
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MessageQueueId_t *receivedFrom) = 0;
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MessageQueueId_t *receivedFrom) = 0;
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/**
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/**
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* @brief This function reads available messages from the message queue.
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* @brief This function reads available messages from the message queue.
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* @details If data is available it is stored in the passed message pointer. The message's
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* @details
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* original content is overwritten and the sendFrom information is stored in the
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* If data is available it is stored in the passed message pointer.
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* lastPartner attribute. Else, the lastPartner information remains untouched, the
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* The message's original content is overwritten and the sendFrom
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* message's content is cleared and the function returns immediately.
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* information is stored in theblastPartner attribute. Else, the lastPartner
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* @param message A pointer to a message in which the received data is stored.
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* information remains untouched, the message's content is cleared and the
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* function returns immediately.
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* @param message
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* A pointer to a message in which the received data is stored.
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* @return -@c RETURN_OK on success
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* -@c MessageQueueIF::EMPTY if queue is empty
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*/
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*/
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virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0;
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virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
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/**
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/**
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* Deletes all pending messages in the queue.
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* Deletes all pending messages in the queue.
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* @param count The number of flushed messages.
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* @param count The number of flushed messages.
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@ -63,57 +79,89 @@ public:
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*/
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*/
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virtual ReturnValue_t flush(uint32_t* count) = 0;
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virtual ReturnValue_t flush(uint32_t* count) = 0;
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/**
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/**
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* @brief This method returns the message queue id of the last communication partner.
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* @brief This method returns the message queue
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* id of the last communication partner.
|
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*/
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*/
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virtual MessageQueueId_t getLastPartner() const = 0;
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virtual MessageQueueId_t getLastPartner() const = 0;
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/**
|
/**
|
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* @brief This method returns the message queue id of this class's message queue.
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* @brief This method returns the message queue
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|
* id of this class's message queue.
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*/
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*/
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virtual MessageQueueId_t getId() const = 0;
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virtual MessageQueueId_t getId() const = 0;
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|
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/**
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/**
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* \brief With the sendMessage call, a queue message is sent to a receiving queue.
|
* @brief With the sendMessage call, a queue message
|
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* \details This method takes the message provided, adds the sentFrom information and passes
|
* is sent to a receiving queue.
|
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* 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
|
||||||
* \param sendTo This parameter specifies the message queue id to send the message to.
|
* and passes it on to the destination provided with an operating system
|
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* \param message This is a pointer to a previously created message, which is sent.
|
* call. The OS's returnvalue is returned.
|
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
* @param sendTo
|
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* This variable is set to zero by default.
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* 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 (if implemented).
|
* @param message
|
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|
* 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
|
||||||
*/
|
*/
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virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
|
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
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/**
|
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
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* @brief This operation sends a message to the given destination.
|
bool ignoreFault = false ) = 0;
|
||||||
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
|
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* queue id as "sentFrom" parameter.
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* @param sendTo This parameter specifies the message queue id of the destination message queue.
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||||||
* @param message A pointer to a previously created message, which is sent.
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* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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*/
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virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
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|
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/**
|
/**
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* \brief The sendToDefaultFrom method sends a queue message to the default destination.
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* @brief This operation sends a message to the given destination.
|
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* \details In all other aspects, it works identical to the sendMessage method.
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* @details
|
||||||
* \param message This is a pointer to a previously created message, which is sent.
|
* It directly uses the sendMessage call of the MessageQueueSender parent,
|
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
* but passes its queue id as "sentFrom" parameter.
|
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* This variable is set to zero by default.
|
* @param sendTo
|
||||||
|
* This parameter specifies the message queue id of the destination
|
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|
* message queue.
|
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|
* @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.
|
||||||
*/
|
*/
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
|
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
|
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|
MessageQueueMessageIF* message, bool ignoreFault = false ) = 0;
|
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|
|
||||||
|
/**
|
||||||
|
* @brief The sendToDefaultFrom method sends a queue message
|
||||||
|
* to the default destination.
|
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|
* @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
|
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|
* 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
|
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|
* -@c MessageQueueIF::FULL if queue is full
|
||||||
|
*/
|
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|
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
|
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|
MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
|
||||||
/**
|
/**
|
||||||
* @brief This operation sends a message to the default destination.
|
* @brief This operation sends a message to the default destination.
|
||||||
* @details As in the sendMessage method, this function uses the sendToDefault call of the
|
* @details
|
||||||
* Implementation class and adds its queue id as "sentFrom" information.
|
* 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.
|
* @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;
|
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;
|
virtual MessageQueueId_t getDefaultDestination() const = 0;
|
||||||
|
|
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@ -122,4 +170,4 @@ public:
|
|||||||
|
|
||||||
|
|
||||||
|
|
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#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */
|
#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */
|
||||||
|
@ -1,8 +1,8 @@
|
|||||||
#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
|
#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
|
||||||
#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
|
#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
|
||||||
|
|
||||||
#include "../ipc/MessageQueueIF.h"
|
#include "MessageQueueIF.h"
|
||||||
#include "../ipc/MessageQueueMessageIF.h"
|
#include "MessageQueueMessageIF.h"
|
||||||
#include "../objectmanager/ObjectManagerIF.h"
|
#include "../objectmanager/ObjectManagerIF.h"
|
||||||
|
|
||||||
class MessageQueueSenderIF {
|
class MessageQueueSenderIF {
|
||||||
@ -15,7 +15,7 @@ public:
|
|||||||
* Not sure whether this is actually a good idea.
|
* Not sure whether this is actually a good idea.
|
||||||
*/
|
*/
|
||||||
static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
||||||
MessageQueueMessage* message,
|
MessageQueueMessageIF* message,
|
||||||
MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
|
MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
|
||||||
bool ignoreFault = false);
|
bool ignoreFault = false);
|
||||||
private:
|
private:
|
||||||
|
@ -1,8 +1,10 @@
|
|||||||
#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
|
#ifndef FSFW_IPC_QUEUEFACTORY_H_
|
||||||
#define FRAMEWORK_IPC_QUEUEFACTORY_H_
|
#define FSFW_IPC_QUEUEFACTORY_H_
|
||||||
|
|
||||||
#include "MessageQueueIF.h"
|
#include "MessageQueueIF.h"
|
||||||
#include <stdint.h>
|
#include "MessageQueueMessage.h"
|
||||||
|
#include <cstdint>
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Creates message queues.
|
* Creates message queues.
|
||||||
* This class is a "singleton" interface, i.e. it provides an
|
* This class is a "singleton" interface, i.e. it provides an
|
||||||
@ -30,4 +32,4 @@ private:
|
|||||||
static QueueFactory* factoryInstance;
|
static QueueFactory* factoryInstance;
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */
|
#endif /* FSFW_IPC_QUEUEFACTORY_H_ */
|
||||||
|
@ -1,42 +1,76 @@
|
|||||||
#include "MessageQueue.h"
|
#include "MessageQueue.h"
|
||||||
|
|
||||||
#include "../../objectmanager/ObjectManagerIF.h"
|
#include "../../objectmanager/ObjectManagerIF.h"
|
||||||
#include "../../serviceinterface/ServiceInterfaceStream.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
|
// 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) :
|
// As a first step towards this, introduces system context variable which needs
|
||||||
defaultDestination(0),lastPartner(0) {
|
// to be switched manually
|
||||||
handle = xQueueCreate(message_depth, max_message_size);
|
// Haven't found function to find system context.
|
||||||
if (handle == NULL) {
|
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
|
||||||
sif::error << "MessageQueue creation failed" << std::endl;
|
maxMessageSize(maxMessageSize) {
|
||||||
|
handle = xQueueCreate(messageDepth, maxMessageSize);
|
||||||
|
if (handle == nullptr) {
|
||||||
|
sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
MessageQueue::~MessageQueue() {
|
MessageQueue::~MessageQueue() {
|
||||||
if (handle != NULL) {
|
if (handle != nullptr) {
|
||||||
vQueueDelete(handle);
|
vQueueDelete(handle);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void MessageQueue::switchSystemContext(CallContext callContext) {
|
||||||
|
this->callContext = callContext;
|
||||||
|
}
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
||||||
MessageQueueMessage* message, bool ignoreFault) {
|
MessageQueueMessageIF* message, bool ignoreFault) {
|
||||||
return sendMessageFrom(sendTo, message, this->getId(), 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());
|
return sendToDefaultFrom(message, this->getId());
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
|
||||||
if (this->lastPartner != 0) {
|
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());
|
return sendMessageFrom(this->lastPartner, message, this->getId());
|
||||||
} else {
|
} else {
|
||||||
return NO_REPLY_PARTNER;
|
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<InternalErrorReporterIF>(
|
||||||
|
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) {
|
MessageQueueId_t* receivedFrom) {
|
||||||
ReturnValue_t status = this->receiveMessage(message);
|
ReturnValue_t status = this->receiveMessage(message);
|
||||||
if(status == HasReturnvaluesIF::RETURN_OK) {
|
if(status == HasReturnvaluesIF::RETURN_OK) {
|
||||||
@ -45,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
|
|||||||
return status;
|
return status;
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
|
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* 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;
|
||||||
@ -67,51 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
MessageQueueId_t MessageQueue::getId() const {
|
MessageQueueId_t MessageQueue::getId() const {
|
||||||
return (MessageQueueId_t) handle;
|
return reinterpret_cast<MessageQueueId_t>(handle);
|
||||||
}
|
}
|
||||||
|
|
||||||
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
||||||
|
defaultDestinationSet = true;
|
||||||
this->defaultDestination = 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,
|
|
||||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
|
||||||
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
|
|
||||||
}
|
|
||||||
|
|
||||||
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||||
return defaultDestination;
|
return defaultDestination;
|
||||||
}
|
}
|
||||||
|
|
||||||
bool MessageQueue::isDefaultDestinationSet() const {
|
bool MessageQueue::isDefaultDestinationSet() const {
|
||||||
return 0;
|
return defaultDestinationSet;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// static core function to send messages.
|
||||||
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||||
MessageQueueMessage *message, MessageQueueId_t sentFrom,
|
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||||
bool ignoreFault) {
|
bool ignoreFault, CallContext callContext) {
|
||||||
message->setSender(sentFrom);
|
BaseType_t result = pdFALSE;
|
||||||
|
QueueHandle_t destination = nullptr;
|
||||||
|
|
||||||
BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
|
if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
|
||||||
reinterpret_cast<const void*>(message->getBuffer()), 0);
|
return MessageQueueIF::DESTINVATION_INVALID;
|
||||||
if (result != pdPASS) {
|
}
|
||||||
if (!ignoreFault) {
|
else {
|
||||||
InternalErrorReporterIF* internalErrorReporter =
|
destination = reinterpret_cast<QueueHandle_t>(sendTo);
|
||||||
objectManager->get<InternalErrorReporterIF>(
|
|
||||||
objects::INTERNAL_ERROR_REPORTER);
|
|
||||||
if (internalErrorReporter != NULL) {
|
|
||||||
internalErrorReporter->queueMessageNotSent();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return MessageQueueIF::FULL;
|
|
||||||
}
|
}
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
|
|
||||||
|
message->setSender(sentFrom);
|
||||||
|
|
||||||
|
|
||||||
|
if(callContext == CallContext::TASK) {
|
||||||
|
result = xQueueSendToBack(destination,
|
||||||
|
static_cast<const void*>(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<QueueHandle_t>(sendTo),
|
||||||
|
static_cast<const void*>(message->getBuffer()),
|
||||||
|
&xHigherPriorityTaskWoken);
|
||||||
|
if(xHigherPriorityTaskWoken == pdTRUE) {
|
||||||
|
TaskManagement::requestContextSwitch(callContext);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return handleSendResult(result, ignoreFault);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -1,159 +1,150 @@
|
|||||||
#ifndef MESSAGEQUEUE_H_
|
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
|
||||||
#define MESSAGEQUEUE_H_
|
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
|
||||||
|
|
||||||
#include "../../internalError/InternalErrorReporterIF.h"
|
#include "../../internalError/InternalErrorReporterIF.h"
|
||||||
#include "../../ipc/MessageQueueIF.h"
|
#include "../../ipc/MessageQueueIF.h"
|
||||||
#include "../../ipc/MessageQueueMessage.h"
|
#include "../../ipc/MessageQueueMessageIF.h"
|
||||||
|
#include "../../osal/FreeRTOS/TaskManagement.h"
|
||||||
|
|
||||||
#include <FreeRTOS.h>
|
#include <freertos/FreeRTOS.h>
|
||||||
#include <queue.h>
|
#include <freertos/queue.h>
|
||||||
|
#include <fsfw/ipc/MessageQueueMessage.h>
|
||||||
|
|
||||||
//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.
|
||||||
|
* 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.
|
* The MessageQueue should be used as "post box" for a single owning object.
|
||||||
* They work like post boxes, where all incoming messages are stored in FIFO
|
* So all message queue communication is "n-to-one".
|
||||||
* order. This class creates a new receiving queue and provides methods to fetch
|
* For creating the queue, as well as sending and receiving messages, the class
|
||||||
* received messages. Being a child of MessageQueueSender, this class also provides
|
* makes use of the operating system calls provided.
|
||||||
* 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
|
* Please keep in mind that FreeRTOS offers different calls for message queue
|
||||||
* from.
|
* operations if called from an ISR.
|
||||||
* The MessageQueue should be used as "post box" for a single owning object. So all
|
* For now, the system context needs to be switched manually.
|
||||||
* message queue communication is "n-to-one".
|
* @ingroup osal
|
||||||
* For creating the queue, as well as sending and receiving messages, the class makes
|
* @ingroup message_queue
|
||||||
* use of the operating system calls provided.
|
|
||||||
* \ingroup message_queue
|
|
||||||
*/
|
*/
|
||||||
class MessageQueue : public MessageQueueIF {
|
class MessageQueue : public MessageQueueIF {
|
||||||
friend class MessageQueueSenderIF;
|
friend class MessageQueueSenderIF;
|
||||||
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
|
||||||
* and initialized. The message depth - the maximum number of messages to be
|
* By making use of the according operating system call, a message queue
|
||||||
* buffered - may be set with the help of a parameter, whereas the message size is
|
* is created and initialized. The message depth - the maximum number of
|
||||||
* automatically set to the maximum message queue message size. The operating system
|
* messages to be buffered - may be set with the help of a parameter,
|
||||||
* sets the message queue id, or i case of failure, it is set to zero.
|
* whereas the message size is automatically set to the maximum message
|
||||||
* @param message_depth The number of messages to be buffered before passing an error to the
|
* queue message size. The operating system sets the message queue id, or
|
||||||
* sender. Default is three.
|
* in case of failure, it is set to zero.
|
||||||
* @param max_message_size With this parameter, the maximum message size can be adjusted.
|
* @param message_depth
|
||||||
* This should be left default.
|
* 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.
|
* @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();
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief This operation sends a message to the given destination.
|
* This function is used to switch the call context. This has to be called
|
||||||
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
|
* if a message is sent or received from an ISR!
|
||||||
* queue id as "sentFrom" parameter.
|
* @param callContext
|
||||||
* @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.
|
|
||||||
*/
|
*/
|
||||||
|
void switchSystemContext(CallContext callContext);
|
||||||
|
|
||||||
|
/** MessageQueueIF implementation */
|
||||||
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
||||||
MessageQueueMessage* message, bool ignoreFault = false );
|
MessageQueueMessageIF* message, bool ignoreFault = false) override;
|
||||||
/**
|
|
||||||
* @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 );
|
|
||||||
|
|
||||||
/**
|
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) 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 reply(MessageQueueMessageIF* message) override;
|
||||||
* @brief This function reads available messages from the message queue.
|
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
|
||||||
* @details If data is available it is stored in the passed message pointer. The message's
|
MessageQueueMessageIF* message,
|
||||||
* original content is overwritten and the sendFrom information is stored in the
|
MessageQueueId_t sentFrom = NO_QUEUE,
|
||||||
* lastPartner attribute. Else, the lastPartner information remains untouched, the
|
bool ignoreFault = false) override;
|
||||||
* message's content is cleared and the function returns immediately.
|
|
||||||
* @param message A pointer to a message in which the received data is stored.
|
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
|
||||||
*/
|
MessageQueueId_t sentFrom = NO_QUEUE,
|
||||||
ReturnValue_t receiveMessage(MessageQueueMessage* message);
|
bool ignoreFault = false) override;
|
||||||
/**
|
|
||||||
* Deletes all pending messages in the queue.
|
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
|
||||||
* @param count The number of flushed messages.
|
MessageQueueId_t *receivedFrom) override;
|
||||||
* @return RETURN_OK on success.
|
|
||||||
*/
|
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
|
||||||
ReturnValue_t flush(uint32_t* count);
|
|
||||||
/**
|
ReturnValue_t flush(uint32_t* count) override;
|
||||||
* @brief This method returns the message queue id of the last communication partner.
|
|
||||||
*/
|
MessageQueueId_t getLastPartner() const override;
|
||||||
MessageQueueId_t getLastPartner() const;
|
|
||||||
/**
|
MessageQueueId_t getId() const override;
|
||||||
* @brief This method returns the message queue id of this class's message queue.
|
|
||||||
*/
|
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
|
||||||
MessageQueueId_t getId() const;
|
|
||||||
/**
|
MessageQueueId_t getDefaultDestination() const override;
|
||||||
* \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
|
bool isDefaultDestinationSet() const override;
|
||||||
* 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;
|
|
||||||
|
|
||||||
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
|
||||||
|
* 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:
|
private:
|
||||||
|
bool defaultDestinationSet = false;
|
||||||
QueueHandle_t handle;
|
QueueHandle_t handle;
|
||||||
MessageQueueId_t defaultDestination;
|
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
|
||||||
MessageQueueId_t lastPartner;
|
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_ */
|
||||||
|
@ -1,14 +1,14 @@
|
|||||||
|
#include "MessageQueue.h"
|
||||||
|
|
||||||
#include "../../ipc/MessageQueueSenderIF.h"
|
#include "../../ipc/MessageQueueSenderIF.h"
|
||||||
#include "../../ipc/QueueFactory.h"
|
#include "../../ipc/QueueFactory.h"
|
||||||
|
|
||||||
#include "MessageQueue.h"
|
|
||||||
|
|
||||||
|
|
||||||
QueueFactory* QueueFactory::factoryInstance = nullptr;
|
QueueFactory* QueueFactory::factoryInstance = nullptr;
|
||||||
|
|
||||||
|
|
||||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||||
bool ignoreFault) {
|
bool ignoreFault) {
|
||||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
||||||
sentFrom,ignoreFault);
|
sentFrom,ignoreFault);
|
||||||
|
@ -9,9 +9,11 @@
|
|||||||
#include <errno.h>
|
#include <errno.h>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
|
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
|
||||||
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
|
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;
|
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
|
||||||
mq_attr attributes;
|
mq_attr attributes;
|
||||||
this->id = 0;
|
this->id = 0;
|
||||||
@ -46,7 +48,7 @@ MessageQueue::~MessageQueue() {
|
|||||||
status = mq_unlink(name);
|
status = mq_unlink(name);
|
||||||
if(status != 0){
|
if(status != 0){
|
||||||
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
|
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
|
||||||
<< strerror(errno) <<std::endl;
|
<< strerror(errno) << std::endl;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -61,22 +63,27 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
|
|||||||
// Just an additional helpful printout :-)
|
// Just an additional helpful printout :-)
|
||||||
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
|
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
|
||||||
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
|
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
|
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
|
||||||
// It is ignored if the executable is run in privileged mode.
|
This happens if the msg_max value is not large enough
|
||||||
// Run the unlockRealtime script or grant the mode manually by using:
|
It is ignored if the executable is run in privileged mode.
|
||||||
// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
|
Run the unlockRealtime script or grant the mode manually by using:
|
||||||
|
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
|
||||||
|
|
||||||
// Persistent solution for session:
|
Persistent solution for session:
|
||||||
// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
|
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
|
||||||
|
|
||||||
// Permanent solution:
|
Permanent solution:
|
||||||
// sudo nano /etc/sysctl.conf
|
sudo nano /etc/sysctl.conf
|
||||||
// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
|
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
|
||||||
// Apply changes with: sudo sysctl -p
|
Apply changes with: sudo sysctl -p
|
||||||
|
*/
|
||||||
sif::error << "MessageQueue::MessageQueue: Default MQ size "
|
sif::error << "MessageQueue::MessageQueue: Default MQ size "
|
||||||
<< defaultMqMaxMsg << " is too small for requested size "
|
<< defaultMqMaxMsg << " is too small for requested size "
|
||||||
<< messageDepth << std::endl;
|
<< messageDepth << std::endl;
|
||||||
|
sif::error << "This error can be fixed by setting the maximum "
|
||||||
|
"allowed message size higher!" << std::endl;
|
||||||
|
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
@ -118,15 +125,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
|
|||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
||||||
MessageQueueMessage* message, bool ignoreFault) {
|
MessageQueueMessageIF* message, bool ignoreFault) {
|
||||||
return sendMessageFrom(sendTo, message, this->getId(), false);
|
return sendMessageFrom(sendTo, message, this->getId(), false);
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
|
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
|
||||||
return sendToDefaultFrom(message, this->getId());
|
return sendToDefaultFrom(message, this->getId());
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
|
||||||
if (this->lastPartner != 0) {
|
if (this->lastPartner != 0) {
|
||||||
return sendMessageFrom(this->lastPartner, message, this->getId());
|
return sendMessageFrom(this->lastPartner, message, this->getId());
|
||||||
} else {
|
} else {
|
||||||
@ -134,21 +141,34 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
|
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
|
||||||
MessageQueueId_t* receivedFrom) {
|
MessageQueueId_t* receivedFrom) {
|
||||||
ReturnValue_t status = this->receiveMessage(message);
|
ReturnValue_t status = this->receiveMessage(message);
|
||||||
*receivedFrom = this->lastPartner;
|
*receivedFrom = this->lastPartner;
|
||||||
return status;
|
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;
|
unsigned int messagePriority = 0;
|
||||||
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
|
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
|
||||||
message->MAX_MESSAGE_SIZE,&messagePriority);
|
message->getMaximumMessageSize(),&messagePriority);
|
||||||
if (status > 0) {
|
if (status > 0) {
|
||||||
this->lastPartner = message->getSender();
|
this->lastPartner = message->getSender();
|
||||||
//Check size of incoming message.
|
//Check size of incoming message.
|
||||||
if (message->messageSize < message->getMinimumMessageSize()) {
|
if (message->getMessageSize() < message->getMinimumMessageSize()) {
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
}
|
}
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
@ -158,7 +178,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
|
|||||||
} else {
|
} else {
|
||||||
//No message was received. Keep lastPartner anyway, I might send
|
//No message was received. Keep lastPartner anyway, I might send
|
||||||
//something later. But still, delete packet content.
|
//something later. But still, delete packet content.
|
||||||
memset(message->getData(), 0, message->MAX_DATA_SIZE);
|
memset(message->getData(), 0, message->getMaximumMessageSize());
|
||||||
switch(errno){
|
switch(errno){
|
||||||
case EAGAIN:
|
case EAGAIN:
|
||||||
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
|
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
|
||||||
@ -258,18 +278,19 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
|||||||
this->defaultDestination = defaultDestination;
|
this->defaultDestination = defaultDestination;
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
|
||||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
|
||||||
bool ignoreFault) {
|
|
||||||
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
|
|
||||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||||
return sendMessageFrom(defaultDestination, message, sentFrom, 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 {
|
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||||
return this->defaultDestination;
|
return this->defaultDestination;
|
||||||
}
|
}
|
||||||
@ -281,11 +302,18 @@ bool MessageQueue::isDefaultDestinationSet() const {
|
|||||||
uint16_t MessageQueue::queueCounter = 0;
|
uint16_t MessageQueue::queueCounter = 0;
|
||||||
|
|
||||||
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||||
MessageQueueMessage *message, MessageQueueId_t sentFrom,
|
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
|
||||||
bool ignoreFault) {
|
bool ignoreFault) {
|
||||||
|
if(message == nullptr) {
|
||||||
|
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
|
||||||
|
"nullptr!" << std::endl;
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
|
|
||||||
message->setSender(sentFrom);
|
message->setSender(sentFrom);
|
||||||
int result = mq_send(sendTo,
|
int result = mq_send(sendTo,
|
||||||
reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
|
reinterpret_cast<const char*>(message->getBuffer()),
|
||||||
|
message->getMessageSize(),0);
|
||||||
|
|
||||||
//TODO: Check if we're in ISR.
|
//TODO: Check if we're in ISR.
|
||||||
if (result != 0) {
|
if (result != 0) {
|
||||||
@ -303,13 +331,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
|||||||
//MQ_NONBLOCK flag was set in its attributes, and the
|
//MQ_NONBLOCK flag was set in its attributes, and the
|
||||||
//specified queue is full.
|
//specified queue is full.
|
||||||
return MessageQueueIF::FULL;
|
return MessageQueueIF::FULL;
|
||||||
case EBADF:
|
case EBADF: {
|
||||||
//mq_des doesn't represent a valid message queue descriptor,
|
//mq_des doesn't represent a valid message queue descriptor,
|
||||||
//or mq_des wasn't opened for writing.
|
//or mq_des wasn't opened for writing.
|
||||||
sif::error << "MessageQueue::sendMessage: Configuration error "
|
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
|
||||||
<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
|
<< " destination invalid." << std::endl;
|
||||||
<< " sent from " << sentFrom << std::endl;
|
sif::error << strerror(errno) << " in "
|
||||||
/*NO BREAK*/
|
<<"mq_send to: " << sendTo << " sent from "
|
||||||
|
<< sentFrom << std::endl;
|
||||||
|
return DESTINVATION_INVALID;
|
||||||
|
}
|
||||||
case EINTR:
|
case EINTR:
|
||||||
//The call was interrupted by a signal.
|
//The call was interrupted by a signal.
|
||||||
case EINVAL:
|
case EINVAL:
|
||||||
|
@ -1,5 +1,5 @@
|
|||||||
#ifndef MESSAGEQUEUE_H_
|
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
|
||||||
#define MESSAGEQUEUE_H_
|
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
|
||||||
|
|
||||||
#include "../../internalError/InternalErrorReporterIF.h"
|
#include "../../internalError/InternalErrorReporterIF.h"
|
||||||
#include "../../ipc/MessageQueueIF.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.
|
* @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,
|
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.
|
* @brief This operation sends a message to the default destination.
|
||||||
* @details As in the sendMessage method, this function uses the sendToDefault call of the
|
* @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.
|
* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
|
||||||
* @param message A pointer to a previously created message, which is sent.
|
* @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.
|
* @brief This operation sends a message to the last communication partner.
|
||||||
* @details This operation simplifies answering an incoming message by using the stored
|
* @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.
|
* (i.e. lastPartner is zero), an error code is returned.
|
||||||
* @param message A pointer to a previously created message, which is sent.
|
* @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.
|
* @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 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.
|
* @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);
|
MessageQueueId_t *receivedFrom);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@ -91,7 +91,7 @@ public:
|
|||||||
* message's content is cleared and the function returns immediately.
|
* message's content is cleared and the function returns immediately.
|
||||||
* @param message A pointer to a message in which the received data is stored.
|
* @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.
|
* Deletes all pending messages in the queue.
|
||||||
* @param count The number of flushed messages.
|
* @param count The number of flushed messages.
|
||||||
@ -114,7 +114,9 @@ public:
|
|||||||
* 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, 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.
|
* \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.
|
||||||
@ -122,7 +124,8 @@ public:
|
|||||||
* \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( MessageQueueMessageIF* message,
|
||||||
|
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||||
/**
|
/**
|
||||||
* \brief This method is a simple setter for the default destination.
|
* \brief This method is a simple setter for the default destination.
|
||||||
*/
|
*/
|
||||||
@ -145,7 +148,9 @@ protected:
|
|||||||
* 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.
|
||||||
*/
|
*/
|
||||||
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:
|
private:
|
||||||
/**
|
/**
|
||||||
* @brief The class stores the queue id it got assigned from the operating system in this attribute.
|
* @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
|
* The name of the message queue, stored for unlinking
|
||||||
*/
|
*/
|
||||||
char name[5];
|
char name[16];
|
||||||
|
|
||||||
static uint16_t queueCounter;
|
static uint16_t queueCounter;
|
||||||
|
const size_t maxMessageSize;
|
||||||
|
|
||||||
ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
|
ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* MESSAGEQUEUE_H_ */
|
#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */
|
||||||
|
@ -15,7 +15,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
|
|||||||
|
|
||||||
|
|
||||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||||
bool ignoreFault) {
|
bool ignoreFault) {
|
||||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
||||||
sentFrom,ignoreFault);
|
sentFrom,ignoreFault);
|
||||||
|
Loading…
Reference in New Issue
Block a user