fsfw/ipc/CommandMessage.h

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#ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
#define FRAMEWORK_IPC_COMMANDMESSAGE_H_
#include <framework/ipc/CommandMessageIF.h>
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#include <framework/ipc/MessageQueueMessage.h>
#include <framework/ipc/FwMessageTypes.h>
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/**
* @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
* field, and 2 4-byte parameters.
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* @details
* It operates on an external memory which is contained inside a
* class implementing MessageQueueMessageIF by taking its address.
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* This allows for a more flexible designs of message implementations.
* The pointer can be passed to different message implementations without
* the need of unnecessary copying.
*
* The command message is based of the generic MessageQueueMessage which
* currently has an internal message size of 28 bytes.
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* @author Bastian Baetz
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*/
class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
public:
/**
* Default size can accomodate 2 4-byte parameters.
*/
static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
/**
* @brief Default Constructor, does not initialize anything.
* @details
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* This constructor should be used when receiving a Message, as the
* content is filled by the MessageQueue.
*/
CommandMessage();
/**
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* This constructor creates a new message with all message content
* initialized
*
* @param command The DeviceHandlerCommand_t that will be sent
* @param parameter1 The first parameter
* @param parameter2 The second parameter
*/
CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
/**
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* @brief Default Destructor
*/
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virtual ~CommandMessage() {}
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/**
* Read the DeviceHandlerCommand_t that is stored in the message,
* usually used after receiving.
*
* @return the Command stored in the Message
*/
virtual Command_t getCommand() const override;
/**
* Set the command type of the message. Default implementation also
* sets the message type, which will be the first byte of the command ID.
* @param the Command to be sent
*/
virtual void setCommand(Command_t command);
virtual uint8_t* getData() override;
virtual const uint8_t* getData() const override;
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/**
* Get the first parameter of the message
* @return the first Parameter of the message
*/
uint32_t getParameter() const;
/**
* Set the first parameter of the message
* @param the first parameter of the message
*/
void setParameter(uint32_t parameter1);
uint32_t getParameter2() const;
void setParameter2(uint32_t parameter2);
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uint32_t getParameter3() const;
void setParameter3(uint32_t parameter3);
/**
* check if a message was cleared
*
* @return if the command is CMD_NONE
*/
bool isClearedCommandMessage();
/**
* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
* Is needed quite often, so we better code it once only.
*/
void setToUnknownCommand() override;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) override;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const override;
virtual void clear() override;
/**
* Extract message ID, which is the first byte of the command ID for the
* default implementation.
* @return
*/
virtual uint8_t getMessageType() const override;
/** MessageQueueMessageIF functions used for minimum size check. */
size_t getMinimumMessageSize() const override;
};
#endif /* COMMANDMESSAGE_H_ */