153 lines
4.0 KiB
C++
153 lines
4.0 KiB
C++
#ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
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#define FRAMEWORK_IPC_COMMANDMESSAGE_H_
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#include <framework/ipc/FwMessageTypes.h>
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#include <config/ipc/MissionMessageTypes.h>
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#include <framework/ipc/MessageQueueMessage.h>
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#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
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typedef uint16_t Command_t;
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/**
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* @brief Used to pass command messages between tasks
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* @author Bastian Baetz
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*/
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class CommandMessage: public MessageQueueMessageIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
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static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
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static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
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//! Used internally, will be ignored
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static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
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static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
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//! Reply indicating that the current command was rejected,
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//! par1 should contain the error code
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static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );
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/**
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* This is the size of a message as it is seen by the MessageQueue.
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* 14 of the 24 available MessageQueueMessage bytes are used.
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*/
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static const size_t COMMAND_MESSAGE_SIZE = MessageQueueMessage::HEADER_SIZE
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+ sizeof(Command_t) + 2 * sizeof(uint32_t);
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/**
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* Default Constructor, does not initialize anything.
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*
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* This constructor should be used when receiving a Message, as the
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* content is filled by the MessageQueue.
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*/
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CommandMessage(MessageQueueMessage* receiverMessage);
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/**
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* This constructor creates a new message with all message content
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* initialized
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*
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* @param command The DeviceHandlerCommand_t that will be sent
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* @param parameter1 The first parameter
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* @param parameter2 The second parameter
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*/
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CommandMessage(MessageQueueMessage* messageToSet, Command_t command,
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uint32_t parameter1, uint32_t parameter2);
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/**
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* Default Destructor
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*/
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virtual ~CommandMessage() {
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}
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uint8_t * getBuffer() override;
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const uint8_t * getBuffer() const override;
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/**
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* Read the DeviceHandlerCommand_t that is stored in the message,
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* usually used after receiving.
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*
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* @return the Command stored in the Message
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*/
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Command_t getCommand() const;
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/**
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* @brief This method is used to set the sender's message queue id
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* information prior to sending the message.
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* @param setId
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* The message queue id that identifies the sending message queue.
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*/
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void setSender(MessageQueueId_t setId) override;
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MessageQueueId_t getSender() const override;
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uint8_t getMessageType() const;
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/**
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* Set the DeviceHandlerCOmmand_t of the message
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*
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* @param the Command to be sent
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*/
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void setCommand(Command_t command);
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/**
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* Get the first parameter of the message
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*
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* @return the first Parameter of the message
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*/
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uint32_t getParameter() const;
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/**
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* Set the first parameter of the message
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*
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* @param the first parameter of the message
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*/
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void setParameter(uint32_t parameter1);
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/**
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* Get the second parameter of the message
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*
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* @return the second Parameter of the message
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*/
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uint32_t getParameter2() const;
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/**
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* Set the second parameter of the message
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*
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* @param the second parameter of the message
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*/
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void setParameter2(uint32_t parameter2);
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void clear() override;
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/**
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* Set the command to CMD_NONE and try to find
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* the correct class to handle a more detailed
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* clear.
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* Also, calls a mission-specific clearMissionMessage
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* function to separate between framework and mission
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* messages. Not optimal, may be replaced by totally
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* different auto-delete solution (e.g. smart pointers).
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*
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*/
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void clearCommandMessage();
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/**
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* check if a message was cleared
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*
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* @return if the command is CMD_NONE
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*/
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bool isClearedCommandMessage();
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/**
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* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
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* Is needed quite often, so we better code it once only.
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*/
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void setToUnknownCommand();
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void setReplyRejected(ReturnValue_t reason,
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Command_t initialCommand = CMD_NONE);
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size_t getMinimumMessageSize() const override;
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private:
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MessageQueueMessage* internalMessage;
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};
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#endif /* COMMANDMESSAGE_H_ */
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