eive/fsfw
15
1
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests Releases 1 Wiki Activity

message queue adaptions for calls from ISR

Browse Source 
functions moved to top
binary sempahore file init
mutex return values
This commit is contained in:
Robin Müller
2020-02-25 12:54:28 +01:00
parent 54eeb71f02
commit bfc7a768ce
10 changed files with 171 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files

90
osal/FreeRTOS/MessageQueue.cpp
View File

@ -1,11 +1,13 @@
#include "MessageQueue.h"
#include "task.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 message_depth, size_t max_message_size) :
defaultDestination(0),lastPartner(0) {
defaultDestination(0),lastPartner(0), callContext(SystemContext::task_context) {
handle = xQueueCreate(message_depth, max_message_size);
if (handle == NULL) {
error << "MessageQueue creation failed" << std::endl;
@ -18,6 +20,10 @@ MessageQueue::~MessageQueue() {
}
}
void MessageQueue::switchSystemContext(SystemContext callContext) {
this->callContext = callContext;
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
@ -27,6 +33,11 @@ ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
@ -35,6 +46,52 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
}
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault, callContext);
}
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault, SystemContext callContext) {
message->setSender(sentFrom);
BaseType_t result;
if(callContext == SystemContext::task_context) {
result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),
reinterpret_cast<const void*>(message->getBuffer()), 0);
}
else {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
result = xQueueSendFromISR(reinterpret_cast<void*>(sendTo),
reinterpret_cast<const void*>(message->getBuffer()), &xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken == pdTRUE) {
requestContextSwitch(callContext);
}
}
return handleSendResult(result, ignoreFault);
}
void MessageQueue::requestContextSwitch(SystemContext callContext) {
if(callContext == SystemContext::isr_context) {
portYIELD_FROM_ISR();
}
}
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
@ -73,17 +130,6 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return defaultDestination;
}
@ -92,23 +138,5 @@ bool MessageQueue::isDefaultDestinationSet() const {
return 0;
}
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
message->setSender(sentFrom);
BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
}