osal/linux/MessageQueue.cpp

@@ -11,7 +11,8 @@
 
 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;
@@ -142,6 +143,19 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* 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<char*>(message->getBuffer()),
 			message->getMaximumMessageSize(),&messagePriority);
@@ -258,18 +272,20 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 	this->defaultDestination = defaultDestination;
 }
 
-ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
-
-}
-
 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, maxMessageSize,
+			sentFrom,ignoreFault);
+
+}
+
 MessageQueueId_t MessageQueue::getDefaultDestination() const {
 	return this->defaultDestination;
 }
@@ -281,8 +297,22 @@ bool MessageQueue::isDefaultDestinationSet() const {
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-		MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
+		MessageQueueMessageIF *message, size_t maxSize,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	if(message == nullptr) {
+		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
+				"nullptr!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(message->getMaximumMessageSize() > maxSize) {
+		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message size "
+				<< message->getMaximumMessageSize() << " too large for queue"
+				" with max. message size " << maxSize << "!"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 	message->setSender(sentFrom);
 	int result = mq_send(sendTo,
 			reinterpret_cast<const char*>(message->getBuffer()),

osal/linux/MessageQueue.h

@@ -149,7 +149,8 @@ protected:
 	 * \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,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			MessageQueueMessageIF* message, size_t maxSize,
+			MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault=false);
 private:
 	/**
@@ -176,9 +177,10 @@ 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);
 };

osal/linux/PeriodicPosixTask.cpp

@@ -31,10 +31,11 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 	            "it implements ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	objectList.push_back(newObject);
+
 	if(setTaskIF) {
 	    newObject->setTaskIF(this);
 	}
-	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -43,14 +44,14 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 }
 
 
-ReturnValue_t PeriodicPosixTask::startTask(void){
+ReturnValue_t PeriodicPosixTask::startTask(void) {
 	started = true;
 	//sif::info << stackSize << std::endl;
 	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicPosixTask::taskFunctionality(void){
+void PeriodicPosixTask::taskFunctionality(void) {
 	if(!started){
 		suspend();
 	}
@@ -64,14 +65,15 @@ void PeriodicPosixTask::taskFunctionality(void){
 		if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
 			char name[20] = {0};
 			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
-			if(status==0){
+			if(status == 0){
 				sif::error << "PeriodicPosixTask " << name << ": Deadline "
 						"missed." << std::endl;
-			}else{
+			}
+			else {
 				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
 						status << std::endl;
 			}
-			if (this->deadlineMissedFunc != NULL) {
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}

osal/linux/PeriodicPosixTask.h

@@ -32,7 +32,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask(void) override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
@@ -42,9 +42,9 @@ public:
 	ReturnValue_t addComponent(object_id_t object,
 	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 private:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.

osal/linux/QueueFactory.cpp

@@ -9,10 +9,10 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-			bool ignoreFault) {
+			MessageQueueMessageIF* message, size_t maxSize,
+			MessageQueueId_t sentFrom, bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
-			sentFrom,ignoreFault);
+			maxSize, sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {