216 lines
9.3 KiB
C++
216 lines
9.3 KiB
C++
#ifndef MESSAGEQUEUE_H_
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#define MESSAGEQUEUE_H_
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#include <framework/internalError/InternalErrorReporterIF.h>
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#include <framework/ipc/MessageQueueIF.h>
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#include <framework/ipc/MessageQueueMessage.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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extern "C" {
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#include <freertos/FreeRTOS.h>
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#include <freertos/queue.h>
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}
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// TODO: this class assumes that MessageQueueId_t is the same size as void*
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// (the FreeRTOS handle type), compiler will catch this but it might be nice
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// to have something checking or even an always working solution
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// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
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/**
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* @brief This class manages sending and receiving of
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* message queue messages.
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* @details
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* Message queues are used to pass asynchronous messages between processes.
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* They work like post boxes, where all incoming messages are stored in FIFO
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* order. This class creates a new receiving queue and provides methods to fetch
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* received messages. Being a child of MessageQueueSender, this class also
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* provides methods to send a message to a user-defined or a default destination.
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* In addition it also provides a reply method to answer to the queue it
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* received its last message from.
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*
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* The MessageQueue should be used as "post box" for a single owning object.
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* So all message queue communication is "n-to-one".
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* For creating the queue, as well as sending and receiving messages, the class
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* makes use of the operating system calls provided.
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*
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* Please keep in mind that FreeRTOS offers different calls for message queue
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* operations if called from an ISR.
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* For now, the system context needs to be switched manually.
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* @ingroup osal
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* @ingroup message_queue
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*/
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class MessageQueue : public MessageQueueIF {
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friend class MessageQueueSenderIF;
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public:
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/**
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* @brief The constructor initializes and configures the message queue.
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* @details
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* By making use of the according operating system call, a message queue is created
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* and initialized. The message depth - the maximum number of messages to be
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* buffered - may be set with the help of a parameter, whereas the message size is
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* automatically set to the maximum message queue message size. The operating system
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* sets the message queue id, or i case of failure, it is set to zero.
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* @param message_depth
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* The number of messages to be buffered before passing an error to the
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* sender. Default is three.
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* @param max_message_size
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* With this parameter, the maximum message size can be adjusted.
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* This should be left default.
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*/
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MessageQueue( size_t messageDepth = 3,
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size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
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/** Copying message queues forbidden */
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MessageQueue(const MessageQueue&) = delete;
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MessageQueue& operator=(const MessageQueue&) = delete;
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/**
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* @brief The destructor deletes the formerly created message queue.
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* @details This is accomplished by using the delete call provided
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* by the operating system.
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*/
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virtual ~MessageQueue();
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/**
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* This function is used to switch the call context. This has to be called
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* if a message is sent or received from an ISR!
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* @param callContext
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*/
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void switchSystemContext(CallContext callContext);
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/**
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* @brief This operation sends a message to the given destination.
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* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
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* queue id as "sentFrom" parameter.
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* @param sendTo This parameter specifies the message queue id of the destination message queue.
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* @param message A pointer to a previously created message, which is sent.
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* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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*/
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ReturnValue_t sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessage* message, bool ignoreFault = false );
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/**
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* @brief This operation sends a message to the default destination.
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* @details As in the sendMessage method, this function uses the sendToDefault call of the
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* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
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* @param message A pointer to a previously created message, which is sent.
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*/
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ReturnValue_t sendToDefault( MessageQueueMessage* message );
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/**
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* @brief This operation sends a message to the last communication partner.
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* @details This operation simplifies answering an incoming message by using the stored
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* lastParnter information as destination. If there was no message received yet
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* (i.e. lastPartner is zero), an error code is returned.
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* @param message A pointer to a previously created message, which is sent.
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*/
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ReturnValue_t reply( MessageQueueMessage* message );
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/**
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* @brief With the sendMessage call, a queue message is sent to a receiving queue.
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* @details This method takes the message provided, adds the sentFrom information and passes
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* it on to the destination provided with an operating system call. The OS's return
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* value is returned.
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* @param sendTo This parameter specifies the message queue id to send the message to.
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* @param message This is a pointer to a previously created message, which is sent.
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* @param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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*/
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virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message,
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MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
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/**
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* @brief The sendToDefault method sends a queue message to the default destination.
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* @details In all other aspects, it works identical to the sendMessage method.
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* @param message This is a pointer to a previously created message, which is sent.
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* @param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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*/
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
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MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
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/**
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* @brief This function reads available messages from the message queue and returns the sender.
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* @details It works identically to the other receiveMessage call, but in addition returns the
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* sender's queue id.
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* @param message A pointer to a message in which the received data is stored.
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* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
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*/
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ReturnValue_t receiveMessage(MessageQueueMessage* message,
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MessageQueueId_t *receivedFrom);
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/**
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* @brief This function reads available messages from the message queue.
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* @details If data is available it is stored in the passed message pointer. The message's
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* original content is overwritten and the sendFrom information is stored in the
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* lastPartner attribute. Else, the lastPartner information remains untouched, the
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* message's content is cleared and the function returns immediately.
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* @param message A pointer to a message in which the received data is stored.
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*/
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ReturnValue_t receiveMessage(MessageQueueMessage* message);
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/**
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* Deletes all pending messages in the queue.
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* @param count The number of flushed messages.
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* @return RETURN_OK on success.
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*/
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ReturnValue_t flush(uint32_t* count);
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/**
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* @brief This method returns the message queue id of the last communication partner.
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*/
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MessageQueueId_t getLastPartner() const;
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/**
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* @brief This method returns the message queue id of this class's message queue.
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*/
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MessageQueueId_t getId() const;
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/**
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<<<<<<< HEAD
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* \brief This method is a simple setter for the default destination.
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=======
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* @brief This method is a simple setter for the default destination.
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>>>>>>> mueller_BinSempahInterface
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*/
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void setDefaultDestination(MessageQueueId_t defaultDestination);
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/**
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* @brief This method is a simple getter for the default destination.
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*/
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MessageQueueId_t getDefaultDestination() const;
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bool isDefaultDestinationSet() const;
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protected:
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/**
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* @brief Implementation to be called from any send Call within
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* MessageQueue and MessageQueueSenderIF.
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* @details
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* This method takes the message provided, adds the sentFrom information and
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* passes it on to the destination provided with an operating system call.
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* The OS's return value is returned.
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* @param sendTo
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* This parameter specifies the message queue id to send the message to.
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* @param message
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* This is a pointer to a previously created message, which is sent.
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* @param sentFrom
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* The sentFrom information can be set to inject the sender's queue id into
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* the message. This variable is set to zero by default.
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* @param ignoreFault
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* If set to true, the internal software fault counter is not incremented
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* if queue is full.
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* @param context Specify whether call is made from task or from an ISR.
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*/
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static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault=false, CallContext callContext = CallContext::task);
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static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
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private:
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bool defaultDestinationSet = false;
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QueueHandle_t handle;
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MessageQueueId_t defaultDestination = 0;
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MessageQueueId_t lastPartner = 0;
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//!< Stores the current system context
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CallContext callContext = CallContext::task;
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};
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#endif /* MESSAGEQUEUE_H_ */
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