393 lines
14 KiB
C++
393 lines
14 KiB
C++
#include "MessageQueue.h"
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#include "unixUtility.h"
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#include "../../serviceinterface/ServiceInterface.h"
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#include "../../objectmanager/ObjectManager.h"
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#include <fstream>
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#include <fcntl.h> /* For O_* constants */
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#include <sys/stat.h> /* For mode constants */
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#include <cstring>
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#include <errno.h>
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MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
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id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
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defaultDestination(MessageQueueIF::NO_QUEUE), maxMessageSize(maxMessageSize) {
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mq_attr attributes;
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this->id = 0;
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//Set attributes
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attributes.mq_curmsgs = 0;
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attributes.mq_maxmsg = messageDepth;
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attributes.mq_msgsize = maxMessageSize;
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attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
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//Set the name of the queue. The slash is mandatory!
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sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
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// Create a nonblocking queue if the name is available (the queue is read
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// and writable for the owner as well as the group)
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int oflag = O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL;
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mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
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mqd_t tempId = mq_open(name, oflag, mode, &attributes);
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if (tempId == -1) {
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handleOpenError(&attributes, messageDepth);
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}
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else {
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//Successful mq_open call
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this->id = tempId;
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}
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}
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MessageQueue::~MessageQueue() {
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int status = mq_close(this->id);
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if(status != 0){
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utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "close");
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}
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status = mq_unlink(name);
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if(status != 0){
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utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "unlink");
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}
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}
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ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, bool ignoreFault) {
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return sendMessageFrom(sendTo, message, this->getId(), false);
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}
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ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
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return sendToDefaultFrom(message, this->getId());
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}
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ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
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if (this->lastPartner != 0) {
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return sendMessageFrom(this->lastPartner, message, this->getId());
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} else {
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return NO_REPLY_PARTNER;
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}
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
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MessageQueueId_t* receivedFrom) {
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ReturnValue_t status = this->receiveMessage(message);
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*receivedFrom = this->lastPartner;
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return status;
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
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if(message == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "MessageQueue::receiveMessage: Message is "
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"nullptr!" << std::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if(message->getMaximumMessageSize() < maxMessageSize) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "MessageQueue::receiveMessage: Message size "
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<< message->getMaximumMessageSize()
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<< " too small to receive data!" << std::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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unsigned int messagePriority = 0;
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int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
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message->getMaximumMessageSize(),&messagePriority);
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if (status > 0) {
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this->lastPartner = message->getSender();
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//Check size of incoming message.
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if (message->getMessageSize() < message->getMinimumMessageSize()) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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else if (status==0) {
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//Success but no message received
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return MessageQueueIF::EMPTY;
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}
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else {
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//No message was received. Keep lastPartner anyway, I might send
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//something later. But still, delete packet content.
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memset(message->getData(), 0, message->getMaximumDataSize());
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switch(errno){
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case EAGAIN:
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//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
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//currently on the specified queue.
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return MessageQueueIF::EMPTY;
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case EBADF: {
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//mqdes doesn't represent a valid queue open for reading.
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utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EBADF");
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break;
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}
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case EINVAL: {
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/*
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* This value indicates one of the following:
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* - The pointer to the buffer for storing the received message,
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* msg_ptr, is NULL.
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* - The number of bytes requested, msg_len is less than zero.
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* - msg_len is anything other than the mq_msgsize of the specified
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* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
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* been set in the queue's mq_flags.
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*/
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utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINVAL");
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break;
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}
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case EMSGSIZE: {
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/*
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* This value indicates one of the following:
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* - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
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* and the given msg_len is shorter than the mq_msgsize for
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* the given queue.
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* - the extended option MQ_READBUF_DYNAMIC has been set, but the
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* given msg_len is too short for the message that would have
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* been received.
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*/
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utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EMSGSIZE");
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break;
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}
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case EINTR: {
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//The operation was interrupted by a signal.
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utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINTR");
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break;
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}
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case ETIMEDOUT: {
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//The operation was interrupted by a signal.
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utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "ETIMEDOUT");
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break;
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}
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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MessageQueueId_t MessageQueue::getLastPartner() const {
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return this->lastPartner;
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}
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ReturnValue_t MessageQueue::flush(uint32_t* count) {
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mq_attr attrib;
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int status = mq_getattr(id,&attrib);
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if(status != 0){
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switch(errno){
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case EBADF:
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//mqdes doesn't represent a valid message queue.
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utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
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break;
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/*NO BREAK*/
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case EINVAL:
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//mq_attr is NULL
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utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
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break;
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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*count = attrib.mq_curmsgs;
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attrib.mq_curmsgs = 0;
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status = mq_setattr(id,&attrib,NULL);
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if(status != 0){
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switch(errno) {
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case EBADF:
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//mqdes doesn't represent a valid message queue.
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utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
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break;
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case EINVAL:
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/*
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* This value indicates one of the following:
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* - mq_attr is NULL.
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* - MQ_MULT_NOTIFY had been set for this queue, and the given
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* mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
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* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
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*/
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utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
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break;
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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MessageQueueId_t MessageQueue::getId() const {
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return this->id;
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}
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void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
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this->defaultDestination = defaultDestination;
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}
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ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom, bool ignoreFault) {
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return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
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}
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ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
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}
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MessageQueueId_t MessageQueue::getDefaultDestination() const {
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return this->defaultDestination;
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}
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bool MessageQueue::isDefaultDestinationSet() const {
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return (defaultDestination != NO_QUEUE);
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}
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uint16_t MessageQueue::queueCounter = 0;
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ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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if(message == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
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#else
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sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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message->setSender(sentFrom);
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int result = mq_send(sendTo,
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reinterpret_cast<const char*>(message->getBuffer()),
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message->getMessageSize(),0);
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//TODO: Check if we're in ISR.
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if (result != 0) {
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if(!ignoreFault){
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InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->
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get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
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if (internalErrorReporter != NULL) {
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internalErrorReporter->queueMessageNotSent();
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}
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}
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switch(errno){
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case EAGAIN:
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//The O_NONBLOCK flag was set when opening the queue, or the
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//MQ_NONBLOCK flag was set in its attributes, and the
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//specified queue is full.
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return MessageQueueIF::FULL;
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case EBADF: {
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//mq_des doesn't represent a valid message queue descriptor,
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//or mq_des wasn't opened for writing.
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utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "mq_send to: " << sendTo << " sent from "
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<< sentFrom << "failed" << std::endl;
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#else
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sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
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#endif
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return DESTINATION_INVALID;
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}
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case EINTR:
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//The call was interrupted by a signal.
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utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINTR");
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break;
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case EINVAL:
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/*
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* This value indicates one of the following:
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* - msg_ptr is NULL.
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* - msg_len is negative.
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* - msg_prio is greater than MQ_PRIO_MAX.
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* - msg_prio is less than 0.
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* - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
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* msg_prio is greater than the priority of the calling process.
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*/
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utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINVAL");
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break;
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case EMSGSIZE:
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// The msg_len is greater than the msgsize associated with
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//the specified queue.
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utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EMSGSIZE");
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break;
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes,
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uint32_t messageDepth) {
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switch(errno) {
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case(EINVAL): {
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utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EINVAL");
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size_t defaultMqMaxMsg = 0;
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// Not POSIX conformant, but should work for all UNIX systems.
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// Just an additional helpful printout :-)
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if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
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defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
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/*
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See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
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This happens if the msg_max value is not large enough
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It is ignored if the executable is run in privileged mode.
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Run the unlockRealtime script or grant the mode manually by using:
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sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
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Persistent solution for session:
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echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
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Permanent solution:
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sudo nano /etc/sysctl.conf
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Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
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Apply changes with: sudo sysctl -p
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*/
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg <<
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" is too small for requested size " << messageDepth << std::endl;
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sif::error << "This error can be fixed by setting the maximum "
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"allowed message size higher!" << std::endl;
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#else
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sif::printError("MessageQueue::MessageQueue: Default MQ size %d is too small for"
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"requested size %d\n");
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sif::printError("This error can be fixes by setting the maximum allowed"
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"message size higher!\n");
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#endif
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}
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break;
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}
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case(EEXIST): {
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// An error occured during open.
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// We need to distinguish if it is caused by an already created queue
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// There's another queue with the same name
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// We unlink the other queue
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int status = mq_unlink(name);
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if (status != 0) {
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utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EEXIST");
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}
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else {
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// Successful unlinking, try to open again
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mqd_t tempId = mq_open(name,
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O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
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S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
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if (tempId != -1) {
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//Successful mq_open
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this->id = tempId;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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break;
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}
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default: {
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// Failed either the first time or the second time
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utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "Unknown");
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}
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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