117 lines
4.8 KiB
C++
117 lines
4.8 KiB
C++
#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
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#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
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#include <memory>
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#include <queue>
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#include "fsfw/internalerror/InternalErrorReporterIF.h"
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#include "fsfw/ipc/MessageQueueBase.h"
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#include "fsfw/ipc/MessageQueueIF.h"
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#include "fsfw/ipc/MessageQueueMessage.h"
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#include "fsfw/ipc/MutexIF.h"
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#include "fsfw/ipc/definitions.h"
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#include "fsfw/timemanager/Clock.h"
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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 MessageQueueBase {
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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
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* created and initialized. The message depth - the maximum number of
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* messages to be buffered - may be set with the help of a parameter,
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* whereas the message size is automatically set to the maximum message
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* queue message size. The operating system sets the message queue id, or
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* in 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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MqArgs* args = nullptr);
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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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~MessageQueue() override;
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// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
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virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault = false) override;
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ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
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ReturnValue_t flush(uint32_t* count) override;
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ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout);
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ReturnValue_t unlockQueue();
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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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MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault = false);
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private:
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std::queue<std::vector<uint8_t>> messageQueue;
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size_t messageSize = 0;
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size_t messageDepth = 0;
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MutexIF* queueLock;
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};
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#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
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