fsfw/osal/FreeRTOS/MessageQueue.cpp

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#include "MessageQueue.h"
#include <framework/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
// As a first step towards this, introduces system context variable which needs
// to be switched manually
// Haven't found function to find system context.
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) :
defaultDestination(0),lastPartner(0), callContext(CallContext::task) {
handle = xQueueCreate(messageDepth, maxMessageSize);
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if (handle == NULL) {
sif::error << "MessageQueue creation failed" << std::endl;
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}
}
MessageQueue::~MessageQueue() {
if (handle != NULL) {
vQueueDelete(handle);
}
}
void MessageQueue::switchSystemContext(CallContext callContext) {
this->callContext = callContext;
}
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ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
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return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
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}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
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return sendToDefaultFrom(message, this->getId());
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}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
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ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
if (this->lastPartner != 0) {
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return sendMessageFrom(this->lastPartner, message, this->getId());
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} else {
return NO_REPLY_PARTNER;
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}
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
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return sendMessageFromMessageQueue(sendTo, message, sentFrom,
ignoreFault, callContext);
}
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
if (result != pdPASS) {
if (!ignoreFault) {
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InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if(status == HasReturnvaluesIF::RETURN_OK) {
*receivedFrom = this->lastPartner;
}
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return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
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BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
message->getBuffer()), 0);
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if (result == pdPASS){
this->lastPartner = message->getSender();
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return HasReturnvaluesIF::RETURN_OK;
} else {
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return MessageQueueIF::EMPTY;
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}
}
MessageQueueId_t MessageQueue::getLastPartner() const {
return lastPartner;
}
ReturnValue_t MessageQueue::flush(uint32_t* count) {
//TODO FreeRTOS does not support flushing partially
//Is always successful
xQueueReset(handle);
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t MessageQueue::getId() const {
return (MessageQueueId_t) handle;
}
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return defaultDestination;
}
bool MessageQueue::isDefaultDestinationSet() const {
return 0;
}
// static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault, CallContext callContext) {
message->setSender(sentFrom);
BaseType_t result;
if(callContext == CallContext::task) {
result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
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);
}