From 13b68f10a017adb82e5f9158af72a13eff3cf5cb Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 26 Sep 2020 14:24:09 +0200 Subject: [PATCH] added usage of new interface --- osal/FreeRTOS/MessageQueue.cpp | 131 ++++++++++++------ osal/FreeRTOS/MessageQueue.h | 243 ++++++++++++++++----------------- osal/FreeRTOS/QueueFactory.cpp | 17 ++- 3 files changed, 213 insertions(+), 178 deletions(-) diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index 3bbd4d9d..2dfe5ab6 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -1,41 +1,76 @@ #include "MessageQueue.h" - +#include "../../objectmanager/ObjectManagerIF.h" #include "../../serviceinterface/ServiceInterfaceStream.h" -// 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 - -MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : -defaultDestination(0),lastPartner(0) { - handle = xQueueCreate(message_depth, max_message_size); - if (handle == NULL) { - sif::error << "MessageQueue creation failed" << std::endl; +// 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 +// As a first step towards this, introduces system context variable which needs +// to be switched manually +// Haven't found function to find system context. +MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): + maxMessageSize(maxMessageSize) { + handle = xQueueCreate(messageDepth, maxMessageSize); + if (handle == nullptr) { + sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl; } } MessageQueue::~MessageQueue() { - if (handle != NULL) { + if (handle != nullptr) { vQueueDelete(handle); } } +void MessageQueue::switchSystemContext(CallContext callContext) { + this->callContext = callContext; +} + ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault) { + MessageQueueMessageIF* message, bool ignoreFault) { return sendMessageFrom(sendTo, message, this->getId(), ignoreFault); } -ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) { return sendToDefaultFrom(message, this->getId()); } -ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) { - if (this->lastPartner != 0) { +ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message, + MessageQueueId_t sentFrom, bool ignoreFault) { + return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault); +} + +ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) { + if (this->lastPartner != MessageQueueIF::NO_QUEUE) { return sendMessageFrom(this->lastPartner, message, this->getId()); } else { return NO_REPLY_PARTNER; } } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, +ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault) { + return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, + callContext); +} + + +ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) { + if (result != pdPASS) { + if (not ignoreFault) { + InternalErrorReporterIF* internalErrorReporter = objectManager-> + get( + objects::INTERNAL_ERROR_REPORTER); + if (internalErrorReporter != nullptr) { + internalErrorReporter->queueMessageNotSent(); + } + } + return MessageQueueIF::FULL; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom) { ReturnValue_t status = this->receiveMessage(message); if(status == HasReturnvaluesIF::RETURN_OK) { @@ -44,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, return status; } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { - BaseType_t result = xQueueReceive(handle,reinterpret_cast(message->getBuffer()), 0); +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { + BaseType_t result = xQueueReceive(handle,reinterpret_cast( + message->getBuffer()), 0); if (result == pdPASS){ this->lastPartner = message->getSender(); return HasReturnvaluesIF::RETURN_OK; @@ -66,50 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) { } MessageQueueId_t MessageQueue::getId() const { - return (MessageQueueId_t) handle; + return reinterpret_cast(handle); } void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) { + defaultDestinationSet = true; this->defaultDestination = defaultDestination; } -ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom, - bool ignoreFault) { - return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault); -} - -ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message, - MessageQueueId_t sentFrom, bool ignoreFault) { - return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault); -} - MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; } bool MessageQueue::isDefaultDestinationSet() const { - return 0; + return defaultDestinationSet; } + +// static core function to send messages. ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, - MessageQueueMessage *message, MessageQueueId_t sentFrom, - bool ignoreFault) { - message->setSender(sentFrom); + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault, CallContext callContext) { + BaseType_t result = pdFALSE; + QueueHandle_t destination = nullptr; - BaseType_t result = xQueueSendToBack(reinterpret_cast(sendTo), - reinterpret_cast(message->getBuffer()), 0); - if (result != pdPASS) { - if (!ignoreFault) { - InternalErrorReporterIF* internalErrorReporter = objectManager->get( - objects::INTERNAL_ERROR_REPORTER); - if (internalErrorReporter != NULL) { - internalErrorReporter->queueMessageNotSent(); - } - } - return MessageQueueIF::FULL; + if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) { + return MessageQueueIF::DESTINVATION_INVALID; + } + else { + destination = reinterpret_cast(sendTo); } - return HasReturnvaluesIF::RETURN_OK; + message->setSender(sentFrom); + + + if(callContext == CallContext::TASK) { + result = xQueueSendToBack(destination, + static_cast(message->getBuffer()), 0); + } + else { + /* If the call context is from an interrupt, + * request a context switch if a higher priority task + * was blocked by the interrupt. */ + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + result = xQueueSendFromISR(reinterpret_cast(sendTo), + static_cast(message->getBuffer()), + &xHigherPriorityTaskWoken); + if(xHigherPriorityTaskWoken == pdTRUE) { + TaskManagement::requestContextSwitch(callContext); + } + } + return handleSendResult(result, ignoreFault); } - diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h index aa3d54c1..b99bf7c8 100644 --- a/osal/FreeRTOS/MessageQueue.h +++ b/osal/FreeRTOS/MessageQueue.h @@ -1,159 +1,150 @@ -#ifndef MESSAGEQUEUE_H_ -#define MESSAGEQUEUE_H_ +#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ +#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #include "../../internalError/InternalErrorReporterIF.h" #include "../../ipc/MessageQueueIF.h" -#include "../../ipc/MessageQueueMessage.h" +#include "../../ipc/MessageQueueMessageIF.h" +#include "../../osal/FreeRTOS/TaskManagement.h" -#include -#include +#include +#include +#include -//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution +// TODO: this class assumes that MessageQueueId_t is the same size as void* +// (the FreeRTOS handle type), compiler will catch this but it might be nice +// to have something checking or even an always working solution // https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/ /** - * @brief This class manages sending and receiving of message queue messages. + * @brief This class manages sending and receiving of + * message queue messages. + * @details + * Message queues are used to pass asynchronous messages between processes. + * They work like post boxes, where all incoming messages are stored in FIFO + * order. This class creates a new receiving queue and provides methods to fetch + * received messages. Being a child of MessageQueueSender, this class also + * provides methods to send a message to a user-defined or a default destination. + * In addition it also provides a reply method to answer to the queue it + * received its last message from. * - * @details Message queues are used to pass asynchronous messages between processes. - * They work like post boxes, where all incoming messages are stored in FIFO - * order. This class creates a new receiving queue and provides methods to fetch - * received messages. Being a child of MessageQueueSender, this class also provides - * methods to send a message to a user-defined or a default destination. In addition - * it also provides a reply method to answer to the queue it received its last message - * from. - * The MessageQueue should be used as "post box" for a single owning object. So all - * message queue communication is "n-to-one". - * For creating the queue, as well as sending and receiving messages, the class makes - * use of the operating system calls provided. - * \ingroup message_queue + * The MessageQueue should be used as "post box" for a single owning object. + * So all message queue communication is "n-to-one". + * For creating the queue, as well as sending and receiving messages, the class + * makes use of the operating system calls provided. + * + * Please keep in mind that FreeRTOS offers different calls for message queue + * operations if called from an ISR. + * For now, the system context needs to be switched manually. + * @ingroup osal + * @ingroup message_queue */ class MessageQueue : public MessageQueueIF { friend class MessageQueueSenderIF; public: /** * @brief The constructor initializes and configures the message queue. - * @details By making use of the according operating system call, a message queue is created - * and initialized. The message depth - the maximum number of messages to be - * buffered - may be set with the help of a parameter, whereas the message size is - * automatically set to the maximum message queue message size. The operating system - * sets the message queue id, or i case of failure, it is set to zero. - * @param message_depth The number of messages to be buffered before passing an error to the - * sender. Default is three. - * @param max_message_size With this parameter, the maximum message size can be adjusted. - * This should be left default. + * @details + * By making use of the according operating system call, a message queue + * is created and initialized. The message depth - the maximum number of + * messages to be buffered - may be set with the help of a parameter, + * whereas the message size is automatically set to the maximum message + * queue message size. The operating system sets the message queue id, or + * in case of failure, it is set to zero. + * @param message_depth + * The number of messages to be buffered before passing an error to the + * sender. Default is three. + * @param max_message_size + * With this parameter, the maximum message size can be adjusted. + * This should be left default. */ - MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE ); + MessageQueue( size_t messageDepth = 3, + size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE ); + + /** Copying message queues forbidden */ + MessageQueue(const MessageQueue&) = delete; + MessageQueue& operator=(const MessageQueue&) = delete; + /** * @brief The destructor deletes the formerly created message queue. - * @details This is accomplished by using the delete call provided by the operating system. + * @details This is accomplished by using the delete call provided + * by the operating system. */ virtual ~MessageQueue(); + /** - * @brief This operation sends a message to the given destination. - * @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its - * queue id as "sentFrom" parameter. - * @param sendTo This parameter specifies the message queue id of the destination message queue. - * @param message A pointer to a previously created message, which is sent. - * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. + * This function is used to switch the call context. This has to be called + * if a message is sent or received from an ISR! + * @param callContext */ + void switchSystemContext(CallContext callContext); + + /** MessageQueueIF implementation */ ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault = false ); - /** - * @brief This operation sends a message to the default destination. - * @details As in the sendMessage method, this function uses the sendToDefault call of the - * MessageQueueSender parent class and adds its queue id as "sentFrom" information. - * @param message A pointer to a previously created message, which is sent. - */ - ReturnValue_t sendToDefault( MessageQueueMessage* message ); - /** - * @brief This operation sends a message to the last communication partner. - * @details This operation simplifies answering an incoming message by using the stored - * lastParnter information as destination. If there was no message received yet - * (i.e. lastPartner is zero), an error code is returned. - * @param message A pointer to a previously created message, which is sent. - */ - ReturnValue_t reply( MessageQueueMessage* message ); + MessageQueueMessageIF* message, bool ignoreFault = false) override; - /** - * @brief This function reads available messages from the message queue and returns the sender. - * @details It works identically to the other receiveMessage call, but in addition returns the - * sender's queue id. - * @param message A pointer to a message in which the received data is stored. - * @param receivedFrom A pointer to a queue id in which the sender's id is stored. - */ - ReturnValue_t receiveMessage(MessageQueueMessage* message, - MessageQueueId_t *receivedFrom); + ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override; - /** - * @brief This function reads available messages from the message queue. - * @details If data is available it is stored in the passed message pointer. The message's - * original content is overwritten and the sendFrom information is stored in the - * lastPartner attribute. Else, the lastPartner information remains untouched, the - * message's content is cleared and the function returns immediately. - * @param message A pointer to a message in which the received data is stored. - */ - ReturnValue_t receiveMessage(MessageQueueMessage* message); - /** - * Deletes all pending messages in the queue. - * @param count The number of flushed messages. - * @return RETURN_OK on success. - */ - ReturnValue_t flush(uint32_t* count); - /** - * @brief This method returns the message queue id of the last communication partner. - */ - MessageQueueId_t getLastPartner() const; - /** - * @brief This method returns the message queue id of this class's message queue. - */ - MessageQueueId_t getId() const; - /** - * \brief With the sendMessage call, a queue message is sent to a receiving queue. - * \details This method takes the message provided, adds the sentFrom information and passes - * it on to the destination provided with an operating system call. The OS's return - * value is returned. - * \param sendTo This parameter specifies the message queue id to send the message to. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. - * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. - */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); - /** - * \brief The sendToDefault method sends a queue message to the default destination. - * \details In all other aspects, it works identical to the sendMessage method. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. - */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); - /** - * \brief This method is a simple setter for the default destination. - */ - void setDefaultDestination(MessageQueueId_t defaultDestination); - /** - * \brief This method is a simple getter for the default destination. - */ - MessageQueueId_t getDefaultDestination() const; + ReturnValue_t reply(MessageQueueMessageIF* message) override; + virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, + MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault = false) override; + + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, + MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault = false) override; + + ReturnValue_t receiveMessage(MessageQueueMessageIF* message, + MessageQueueId_t *receivedFrom) override; + + ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override; + + ReturnValue_t flush(uint32_t* count) override; + + MessageQueueId_t getLastPartner() const override; + + MessageQueueId_t getId() const override; + + void setDefaultDestination(MessageQueueId_t defaultDestination) override; + + MessageQueueId_t getDefaultDestination() const override; + + bool isDefaultDestinationSet() const override; - bool isDefaultDestinationSet() const; protected: /** - * Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF - * \details This method takes the message provided, adds the sentFrom information and passes - * it on to the destination provided with an operating system call. The OS's return - * value is returned. - * \param sendTo This parameter specifies the message queue id to send the message to. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. - * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. + * @brief Implementation to be called from any send Call within + * MessageQueue and MessageQueueSenderIF. + * @details + * This method takes the message provided, adds the sentFrom information and + * passes it on to the destination provided with an operating system call. + * The OS's return value is returned. + * @param sendTo + * This parameter specifies the message queue id to send the message to. + * @param message + * This is a pointer to a previously created message, which is sent. + * @param sentFrom + * The sentFrom information can be set to inject the sender's queue id into + * the message. This variable is set to zero by default. + * @param ignoreFault + * If set to true, the internal software fault counter is not incremented + * if queue is full. + * @param context Specify whether call is made from task or from an ISR. */ - static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false); + static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault=false, CallContext callContext = CallContext::TASK); + + static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault); + private: + bool defaultDestinationSet = false; QueueHandle_t handle; - MessageQueueId_t defaultDestination; - MessageQueueId_t lastPartner; + MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE; + MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE; + const size_t maxMessageSize; + //! Stores the current system context + CallContext callContext = CallContext::TASK; }; -#endif /* MESSAGEQUEUE_H_ */ +#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */ diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index e639179a..5b3c73dc 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,18 +1,21 @@ +#include "../../ipc/MessageQueueSenderIF.h" #include "../../ipc/QueueFactory.h" -#include "MessageQueue.h" +#include "../../osal/FreeRTOS/MessageQueue.h" -QueueFactory* QueueFactory::factoryInstance = NULL; +QueueFactory* QueueFactory::factoryInstance = nullptr; ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) { - return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault); + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault) { + return MessageQueue::sendMessageFromMessageQueue(sendTo,message, + sentFrom,ignoreFault); } QueueFactory* QueueFactory::instance() { - if (factoryInstance == NULL) { + if (factoryInstance == nullptr) { factoryInstance = new QueueFactory; } return factoryInstance; @@ -24,9 +27,9 @@ QueueFactory::QueueFactory() { QueueFactory::~QueueFactory() { } -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth, +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { - return new MessageQueue(message_depth, maxMessageSize); + return new MessageQueue(messageDepth, maxMessageSize); } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {