105 lines
2.7 KiB
C++
105 lines
2.7 KiB
C++
#include "MessageQueue.h"
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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// 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
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MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
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lastPartner(0), defaultDestination(0) {
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handle = xQueueCreate(message_depth, max_message_size);
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if (handle == NULL) {
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//TODO
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;
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}
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}
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MessageQueue::~MessageQueue() {
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if (handle != NULL) {
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vQueueDelete(handle);
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}
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}
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ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessage* message, bool ignoreFault) {
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return sendMessage(sendTo, message, this->getId(), ignoreFault);
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}
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ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
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return sendToDefault(message, this->getId());
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}
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ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
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if (this->lastPartner != 0) {
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return sendMessage(this->lastPartner, message, this->getId());
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} else {
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//TODO: Good returnCode
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
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MessageQueueId_t* receivedFrom) {
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ReturnValue_t status = this->receiveMessage(message);
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*receivedFrom = this->lastPartner;
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return status;
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
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BaseType_t result = xQueueReceive(handle, message, 0);
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if (result == pdPASS){
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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//TODO Queue Empty
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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MessageQueueId_t MessageQueue::getLastPartner() const {
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return lastPartner;
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}
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ReturnValue_t MessageQueue::flush(uint32_t* count) {
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//TODO FreeRTOS does not support flushing partially
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//Is always successful
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xQueueReset(handle);
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return HasReturnvaluesIF::RETURN_OK;
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}
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MessageQueueId_t MessageQueue::getId() const {
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return (MessageQueueId_t) handle;
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}
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void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
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this->defaultDestination = defaultDestination;
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}
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ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessage* message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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message->setSender(sentFrom);
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BaseType_t result = xQueueSendToBack((void * )sendTo, message, 0);
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if (result != pdPASS) {
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if (!ignoreFault) {
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//TODO errr reporter
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}
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//TODO queue is full
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message,
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MessageQueueId_t sentFrom, bool ignoreFault) {
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return 0;
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}
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MessageQueueId_t MessageQueue::getDefaultDestination() const {
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return defaultDestination;
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}
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bool MessageQueue::isDefaultDestinationSet() const {
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return 0;
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}
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