fsfw/devicehandlers/CommunicationMessage.h

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/**
* @file CommunicationMessage.h
*
* @date 28.02.2020
*/
#ifndef FRAMEWORK_DEVICEHANDLERS_COMMUNICATIONMESSAGE_H_
#define FRAMEWORK_DEVICEHANDLERS_COMMUNICATIONMESSAGE_H_
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#include "../devicehandlers/CommunicationMessage.h"
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#include "../ipc/MessageQueueMessage.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../devicehandlers/DeviceHandlerBase.h"
/**
* @brief Message type to send larger messages
*
* @details
* Can be used to pass information like data pointers and
* data sizes between communication tasks.
*
*/
class CommunicationMessage: public MessageQueueMessage {
public:
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enum messageType {
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NONE,
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SEND_DATA_FROM_POINTER,
SEND_DATA_FROM_IPC_STORE,
SEND_DATA_RAW,
REPLY_DATA_FROM_POINTER,
REPLY_DATA_IPC_STORE,
REPLY_DATA_RAW,
FAULTY,
};
//Add other messageIDs here if necessary.
static const uint8_t COMMUNICATION_MESSAGE_SIZE = HEADER_SIZE + 4 * sizeof(uint32_t);
CommunicationMessage();
virtual ~CommunicationMessage();
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/**
* Message Type is stored as the fifth byte of the message data
* @param status
*/
void setMessageType(messageType status);
messageType getMessageType() const;
/**
* This is a unique ID which can be used to handle different kinds of messages.
* For example, the same interface (e.g. SPI) could be used to exchange raw data
* (e.g. sensor values) and data stored in the IPC store.
* The ID can be used to distinguish the messages in child implementations.
* The message ID is stored as the sixth byte of the message data.
* @param messageId
*/
void setMessageId(uint8_t messageId);
uint8_t getMessageId() const;
/**
* Send requests with pointer to the data to be sent and send data length
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* @param address Target Address, first four bytes
* @param dataLen Length of data to send, next four bytes
* @param data Pointer to data to send
*
*/
void setSendRequestFromPointer(uint32_t address, uint32_t dataLen, const uint8_t * data);
/**
* Send requests with a store ID, using the IPC store
* @param address Target Address, first four bytes
* @param storeId Store ID in the IPC store
*
*/
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void setSendRequestFromIpcStore(uint32_t address, store_address_t storeId);
/**
* Send requests with data length and data in message (max. 4 bytes)
* @param address Target Address, first four bytes
* @param dataLen Length of data to send, next four bytes
* @param data Pointer to data to send
*
*/
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void setSendRequestRaw(uint32_t address, uint32_t length,
uint16_t sendBufferPosition = 0);
/**
* Data message with data stored in IPC store
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* @param address Target Address, first four bytes
* @param length
* @param storeId
*/
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void setDataReplyFromIpcStore(uint32_t address, store_address_t storeId);
/**
* Data reply with data stored in buffer, passing the pointer to
* the buffer and the data size
* @param address Target Address, first four bytes
* @param dataLen Length of data to send, next four bytes
* @param data Pointer to the data
*/
void setDataReplyFromPointer(uint32_t address, uint32_t dataLen, uint8_t * data);
/**
* Data message with data stored in actual message.
* 4 byte datafield is intialized with 0.
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* Set data with specific setter functions below.
* Can also be used to supply information at which position the raw data should be stored
* in a receive buffer.
*/
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void setDataReplyRaw(uint32_t address, uint32_t length, uint16_t receiveBufferPosition = 0);
/**
* First four bytes of message data
* @param address
*/
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void setAddress(address_t address);
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address_t getAddress() const;
/**
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* Set byte as position of 4 byte data field
* @param byte
* @param position Position, 0 to 3 possible
*/
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void setDataByte(uint8_t byte, uint8_t position);
uint8_t getDataByte(uint8_t position) const;
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/**
* Set 2 byte value at position 1 or 2 of data field
* @param data
* @param position 0 or 1 possible
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*/
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void setDataUint16(uint16_t data, uint8_t position);
uint16_t getDataUint16(uint8_t position) const;
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void setUint32Data(uint32_t data);
uint32_t getUint32Data() const;
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/**
* Stored in Bytes 13-16 of message data
* @param length
*/
void setDataLen(uint32_t length);
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uint32_t getDataLen() const;
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/**
* Stored in last four bytes (Bytes 17-20) of message data
* @param sendData
*/
void setDataPointer(const void * data);
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/**
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* In case the send request data or reply data is to be stored in a buffer,
* a buffer Position can be stored here as the seventh and eigth byte of
* the message, so the receive buffer can't be larger than sizeof(uint16_t) for now.
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* @param bufferPosition In case the data is stored in a buffer, the position can be supplied here
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*/
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void setBufferPosition(uint16_t bufferPosition);
uint16_t getBufferPosition() const;
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void setStoreId(store_address_t storeId);
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store_address_t getStoreId() const;
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/**
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* Clear the message. Deletes IPC Store data
* and sets all data to 0. Also sets message type to NONE
*/
void clearCommunicationMessage();
private:
bool uninitialized; //!< Could be used to warn if data has not been set.
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};
#endif /* FRAMEWORK_DEVICEHANDLERS_COMMUNICATIONMESSAGE_H_ */