144 lines
5.5 KiB
C++
144 lines
5.5 KiB
C++
#include "fsfw/osal/freertos/MessageQueue.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/osal/freertos/QueueMapManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
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: maxMessageSize(maxMessageSize) {
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handle = xQueueCreate(messageDepth, maxMessageSize);
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if (handle == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "MessageQueue::MessageQueue: Creation failed" << std::endl;
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sif::error << "Specified Message Depth: " << messageDepth << std::endl;
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sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl;
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#else
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sif::printError("MessageQueue::MessageQueue: Creation failed\n");
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sif::printError("Specified Message Depth: %d\n", messageDepth);
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sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
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#endif
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}
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QueueMapManager::instance()->addMessageQueue(handle, &queueId);
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}
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MessageQueue::~MessageQueue() {
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if (handle != nullptr) {
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vQueueDelete(handle);
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}
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}
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void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; }
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ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
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bool ignoreFault) {
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return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
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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::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::reply(MessageQueueMessageIF* message) {
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if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
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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::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom, bool ignoreFault) {
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return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext);
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}
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QueueHandle_t MessageQueue::getNativeQueueHandle() { return handle; }
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ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
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if (result != pdPASS) {
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if (not ignoreFault) {
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InternalErrorReporterIF* internalErrorReporter =
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ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
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if (internalErrorReporter != nullptr) {
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internalErrorReporter->queueMessageNotSent();
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}
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}
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return MessageQueueIF::FULL;
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}
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return HasReturnvaluesIF::RETURN_OK;
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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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if (status == HasReturnvaluesIF::RETURN_OK) {
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*receivedFrom = this->lastPartner;
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}
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return status;
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
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BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0);
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if (result == pdPASS) {
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this->lastPartner = message->getSender();
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return MessageQueueIF::EMPTY;
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}
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}
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MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
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ReturnValue_t MessageQueue::flush(uint32_t* count) {
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// TODO FreeRTOS does not support flushing partially
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// Is always successful
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xQueueReset(handle);
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return HasReturnvaluesIF::RETURN_OK;
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}
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MessageQueueId_t MessageQueue::getId() const { return queueId; }
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void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
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defaultDestinationSet = true;
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this->defaultDestination = defaultDestination;
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}
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MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
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bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
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// static core function to send messages.
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ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom, bool ignoreFault,
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CallContext callContext) {
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BaseType_t result = pdFALSE;
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if (sendTo == MessageQueueIF::NO_QUEUE) {
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return MessageQueueIF::DESTINATION_INVALID;
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}
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QueueHandle_t destination = QueueMapManager::instance()->getMessageQueue(sendTo);
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if (destination == nullptr) {
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return MessageQueueIF::DESTINATION_INVALID;
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}
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message->setSender(sentFrom);
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if (callContext == CallContext::TASK) {
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result = xQueueSendToBack(destination, static_cast<const void*>(message->getBuffer()), 0);
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} else {
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/* If the call context is from an interrupt, request a context switch if a higher priority
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task was blocked by the interrupt. */
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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result = xQueueSendFromISR(destination, static_cast<const void*>(message->getBuffer()),
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&xHigherPriorityTaskWoken);
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if (xHigherPriorityTaskWoken == pdTRUE) {
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TaskManagement::requestContextSwitch(callContext);
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}
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}
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return handleSendResult(result, ignoreFault);
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}
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