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added new interface to host and linux osal

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This commit is contained in:
Robin Müller 2020-06-11 02:03:18 +02:00
parent c1fe326f67
commit a9c7ad84c8
11 changed files with 90 additions and 40 deletions
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8
ipc/CommandMessage.cpp
View File

@ -160,3 +160,11 @@ uint8_t* CommandMessage::getData() {
const uint8_t* CommandMessage::getData() const {
return internalMessage->getData();
}
size_t CommandMessage::getMessageSize() const {
return COMMAND_MESSAGE_SIZE;
}
size_t CommandMessage::getMaximumMessageSize() const {
return MessageQueueMessage::MAX_MESSAGE_SIZE;
}

2
ipc/CommandMessage.h
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@ -85,6 +85,8 @@ public:
uint8_t * getData() override;
const uint8_t* getData() const override;
size_t getMinimumMessageSize() const override;
size_t getMessageSize() const override;
size_t getMaximumMessageSize() const override;
/**
* Extract message ID, which is the first byte of the command ID.

8
ipc/MessageQueueMessage.cpp
View File

@ -67,3 +67,11 @@ void MessageQueueMessage::print() {
void MessageQueueMessage::clear() {
memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
}
size_t MessageQueueMessage::getMessageSize() const {
return this->messageSize;
}
size_t MessageQueueMessage::getMaximumMessageSize() const {
return this->MAX_MESSAGE_SIZE;
}

4
ipc/MessageQueueMessage.h
View File

@ -149,6 +149,10 @@ public:
*/
virtual size_t getMinimumMessageSize() const override;
virtual size_t getMessageSize() const override;
virtual size_t getMaximumMessageSize() const override;
/**
* @brief This is a debug method that prints the content
* (till messageSize) to the debug output.

12
ipc/MessageQueueMessageIF.h
View File

@ -71,6 +71,18 @@ public:
* check the size of an incoming message.
*/
virtual size_t getMinimumMessageSize() const = 0;
/**
* Get message size of current message implementation.
* @return
*/
virtual size_t getMessageSize() const = 0;
/**
* Get maximum allowed size of current message implementation.
* @return
*/
virtual size_t getMaximumMessageSize() const = 0;
};

30
osal/host/MessageQueue.cpp
View File

@ -18,20 +18,20 @@ MessageQueue::~MessageQueue() {
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
MessageQueueMessageIF* message, bool 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());
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
@ -40,13 +40,13 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom,
ignoreFault);
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if(status == HasReturnvaluesIF::RETURN_OK) {
@ -55,7 +55,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if(messageQueue.empty()) {
return MessageQueueIF::EMPTY;
}
@ -102,9 +102,9 @@ bool MessageQueue::isDefaultDestinationSet() const {
// static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
if(message->messageSize > MessageQueueMessage::MAX_DATA_SIZE) {
if(message->getMessageSize() > message->getMaximumMessageSize()) {
// Actually, this should never happen or an error will be emitted
// in MessageQueueMessage.
// But I will still return a failure here.
@ -127,7 +127,17 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
MutexHelper mutexLock(targetQueue->queueLock, 20);
targetQueue->messageQueue.push(*message);
// not ideal, works for now though.
MessageQueueMessage* mqmMessage =
dynamic_cast<MessageQueueMessage*>(message);
if(message != nullptr) {
targetQueue->messageQueue.push(*mqmMessage);
}
else {
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
"is not MessageQueueMessage!" << std::endl;
}
}
else {
return MessageQueueIF::FULL;

16
osal/host/MessageQueue.h
View File

@ -77,7 +77,7 @@ public:
* is not incremented if queue is full.
*/
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault = false) override;
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
@ -85,7 +85,7 @@ public:
* queue id as "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t sendToDefault(MessageQueueMessage* message) override;
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using
@ -93,7 +93,7 @@ public:
* 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) override;
ReturnValue_t reply(MessageQueueMessageIF* message) override;
/**
* @brief With the sendMessage call, a queue message is sent to a
@ -113,7 +113,7 @@ public:
* is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
/**
@ -127,7 +127,7 @@ public:
* sender's queue id into the message. This variable is set to zero by
* default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
@ -140,7 +140,7 @@ public:
* @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,
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) override;
/**
@ -153,7 +153,7 @@ public:
* function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
@ -205,7 +205,7 @@ protected:
* @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,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false);
//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);

2
osal/host/QueueFactory.cpp
View File

@ -7,7 +7,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);

25
osal/linux/MessageQueue.cpp
View File

@ -118,15 +118,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
@ -134,21 +134,21 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
unsigned int messagePriority = 0;
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
message->MAX_MESSAGE_SIZE,&messagePriority);
message->getMaximumMessageSize(),&messagePriority);
if (status > 0) {
this->lastPartner = message->getSender();
//Check size of incoming message.
if (message->messageSize < message->getMinimumMessageSize()) {
if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
@ -158,7 +158,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
} else {
//No message was received. Keep lastPartner anyway, I might send
//something later. But still, delete packet content.
memset(message->getData(), 0, message->MAX_DATA_SIZE);
memset(message->getData(), 0, message->getMaximumMessageSize());
switch(errno){
case EAGAIN:
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@ -259,13 +259,13 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
@ -281,11 +281,12 @@ bool MessageQueue::isDefaultDestinationSet() const {
uint16_t MessageQueue::queueCounter = 0;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
message->setSender(sentFrom);
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.
if (result != 0) {

21
osal/linux/MessageQueue.h
View File

@ -56,14 +56,14 @@ public:
* @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,
MessageQueueMessage* message, bool ignoreFault = false );
MessageQueueMessageIF* message, bool ignoreFault = false );
/**
* @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.
*/
virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
/**
* @brief This operation sends a message to the last communication partner.
* @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.
* @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.
@ -80,7 +80,7 @@ public:
* @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,
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom);
/**
@ -91,7 +91,7 @@ public:
* message's content is cleared and the function returns immediately.
* @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.
* @param count The number of flushed messages.
@ -114,7 +114,9 @@ public:
* 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, 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.
* \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.
* 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.
*/
@ -145,7 +148,9 @@ protected:
* 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.
*/
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:
/**
* @brief The class stores the queue id it got assigned from the operating system in this attribute.

2
osal/linux/QueueFactory.cpp
View File

@ -9,7 +9,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);