Merge pull request 'ipc update' (#176) from KSat/fsfw:mueller/ipc-updates into master

Reviewed-on: fsfw/fsfw#176
This commit is contained in:
Steffen Gaisser 2020-09-29 14:20:18 +02:00
commit 21cbb19410
18 changed files with 574 additions and 314 deletions

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@ -1,5 +1,6 @@
#include "ActionHelper.h" #include "ActionHelper.h"
#include "HasActionsIF.h" #include "HasActionsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :

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@ -18,7 +18,7 @@ MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
object_id_t setPacketDestination) : object_id_t setPacketDestination) :
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition( lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
packetBuffer), packetDestination(setPacketDestination), packetStore( packetBuffer), packetDestination(setPacketDestination), packetStore(
NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) { NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
memset(packetBuffer, 0, sizeof(packetBuffer)); memset(packetBuffer, 0, sizeof(packetBuffer));
} }

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@ -5,7 +5,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId,
MessageQueueId_t parentQueue) : MessageQueueId_t parentQueue) :
SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue( SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue(
parentQueue), commandQueue(), healthHelper(this, setObjectId) { parentQueue), commandQueue(), healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(3, CommandMessage::COMMAND_MESSAGE_SIZE); commandQueue = QueueFactory::instance()->createMessageQueue(3);
} }
HealthDevice::~HealthDevice() { HealthDevice::~HealthDevice() {

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@ -1,124 +1,96 @@
/**
* @file CommandMessage.cpp
* @brief This file defines the CommandMessage class.
* @date 20.06.2013
* @author baetz
*/
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
#include "CommandMessage.h" #include "CommandMessage.h"
#include "../memory/MemoryMessage.h" #include "CommandMessageCleaner.h"
#include "../modes/ModeMessage.h" #include <cstring>
#include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h"
namespace messagetypes {
void clearMissionMessage(CommandMessage* message);
}
CommandMessage::CommandMessage() { CommandMessage::CommandMessage() {
this->messageSize = COMMAND_MESSAGE_SIZE; MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
setCommand(CMD_NONE); setCommand(CMD_NONE);
} }
CommandMessage::CommandMessage(Command_t command, uint32_t parameter1, CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
uint32_t parameter2) { uint32_t parameter2) {
this->messageSize = COMMAND_MESSAGE_SIZE; MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
setCommand(command); setCommand(command);
setParameter(parameter1); setParameter(parameter1);
setParameter2(parameter2); setParameter2(parameter2);
} }
Command_t CommandMessage::getCommand() const { Command_t CommandMessage::getCommand() const {
Command_t command; Command_t command;
memcpy(&command, getData(), sizeof(Command_t)); std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
return command; return command;
} }
void CommandMessage::setCommand(Command_t command) { void CommandMessage::setCommand(Command_t command) {
memcpy(getData(), &command, sizeof(command)); std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
}
uint8_t CommandMessage::getMessageType() const {
// first byte of command ID.
return getCommand() >> 8 & 0xff;
} }
uint32_t CommandMessage::getParameter() const { uint32_t CommandMessage::getParameter() const {
uint32_t parameter1; uint32_t parameter1;
memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1)); std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
return parameter1; return parameter1;
} }
void CommandMessage::setParameter(uint32_t parameter1) { void CommandMessage::setParameter(uint32_t parameter1) {
memcpy(getData() + sizeof(Command_t), &parameter1, sizeof(parameter1)); std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
} }
uint32_t CommandMessage::getParameter2() const { uint32_t CommandMessage::getParameter2() const {
uint32_t parameter2; uint32_t parameter2;
memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t), std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
sizeof(parameter2)); sizeof(parameter2));
return parameter2; return parameter2;
} }
void CommandMessage::setParameter2(uint32_t parameter2) { void CommandMessage::setParameter2(uint32_t parameter2) {
memcpy(getData() + sizeof(Command_t) + sizeof(uint32_t), &parameter2, std::memcpy(this->getData() + sizeof(uint32_t), &parameter2,
sizeof(parameter2)); sizeof(parameter2));
} }
void CommandMessage::clearCommandMessage() { uint32_t CommandMessage::getParameter3() const {
switch((getCommand()>>8) & 0xff){ uint32_t parameter3;
case messagetypes::MODE_COMMAND: std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
ModeMessage::clear(this); sizeof(parameter3));
break; return parameter3;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(this);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(this);
break;
case messagetypes::ACTION:
ActionMessage::clear(this);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(this);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(this);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(this);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(this);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(this);
break;
default:
messagetypes::clearMissionMessage(this);
break;
}
} }
bool CommandMessage::isClearedCommandMessage() { void CommandMessage::setParameter3(uint32_t parameter3) {
return getCommand() == CMD_NONE; std::memcpy(this->getData() + 2 * sizeof(uint32_t), &parameter3,
sizeof(parameter3));
} }
size_t CommandMessage::getMinimumMessageSize() const { size_t CommandMessage::getMinimumMessageSize() const {
return COMMAND_MESSAGE_SIZE; return MINIMUM_COMMAND_MESSAGE_SIZE;
}
void CommandMessage::clearCommandMessage() {
clear();
}
void CommandMessage::clear() {
CommandMessageCleaner::clearCommandMessage(this);
}
bool CommandMessage::isClearedCommandMessage() {
return getCommand() == CMD_NONE;
} }
void CommandMessage::setToUnknownCommand() { void CommandMessage::setToUnknownCommand() {
Command_t initialCommand = getCommand(); Command_t initialCommand = getCommand();
clearCommandMessage(); this->clear();
setReplyRejected(UNKNOWN_COMMAND, initialCommand); setReplyRejected(UNKNOWN_COMMAND, initialCommand);
} }
void CommandMessage::setReplyRejected(ReturnValue_t reason, void CommandMessage::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) { Command_t initialCommand) {
setCommand(REPLY_REJECTED); setCommand(REPLY_REJECTED);
setParameter(reason); setParameter(reason);
setParameter2(initialCommand); setParameter2(initialCommand);
} }
ReturnValue_t CommandMessage::getReplyRejectedReason( ReturnValue_t CommandMessage::getReplyRejectedReason(
@ -129,3 +101,11 @@ ReturnValue_t CommandMessage::getReplyRejectedReason(
} }
return reason; return reason;
} }
uint8_t* CommandMessage::getData() {
return MessageQueueMessage::getData() + sizeof(Command_t);
}
const uint8_t* CommandMessage::getData() const {
return MessageQueueMessage::getData() + sizeof(Command_t);
}

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@ -1,114 +1,87 @@
/** #ifndef FSFW_IPC_COMMANDMESSAGE_H_
* @file CommandMessage.h #define FSFW_IPC_COMMANDMESSAGE_H_
* @brief This file defines the CommandMessage class.
* @date 20.06.2013
* @author baetz
*/
#ifndef COMMANDMESSAGE_H_
#define COMMANDMESSAGE_H_
#include "FwMessageTypes.h"
#include <config/ipc/MissionMessageTypes.h>
#include "CommandMessageIF.h"
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "FwMessageTypes.h"
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number)) /**
typedef ReturnValue_t Command_t; * @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
class CommandMessage : public MessageQueueMessage { * field, and 3 4-byte parameter
* @details
* It operates on an external memory which is contained inside a
* class implementing MessageQueueMessageIF by taking its address.
* 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.
* @author Bastian Baetz
*/
class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE; /**
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01); * Default size can accomodate 3 4-byte parameters.
*/
static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
static const uint8_t MESSAGE_ID = messagetypes::COMMAND; CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored 3 * sizeof(uint32_t);
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
/** /**
* This is the size of a message as it is seen by the MessageQueue * @brief Default Constructor, does not initialize anything.
*/ * @details
static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE * This constructor should be used when receiving a Message, as the
+ sizeof(Command_t) + 2 * sizeof(uint32_t); * content is filled by the MessageQueue.
/**
* Default Constructor, does not initialize anything.
*
* This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
*/ */
CommandMessage(); CommandMessage();
/** /**
* This constructor creates a new message with all message content initialized * This constructor creates a new message with all message content
* initialized
* *
* @param command The DeviceHandlerCommand_t that will be sent * @param command The DeviceHandlerCommand_t that will be sent
* @param parameter1 The first parameter * @param parameter1 The first parameter
* @param parameter2 The second parameter * @param parameter2 The second parameter
*/ */
CommandMessage(Command_t command, CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
uint32_t parameter1, uint32_t parameter2);
/** /**
* Default Destructor * @brief Default Destructor
*/ */
virtual ~CommandMessage() { virtual ~CommandMessage() {}
}
/** /**
* Read the DeviceHandlerCommand_t that is stored in the message, usually used after receiving * Read the DeviceHandlerCommand_t that is stored in the message,
* * usually used after receiving.
* @return the Command stored in the Message *
*/ * @return the Command stored in the Message
Command_t getCommand() const; */
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;
* Set the DeviceHandlerCOmmand_t of the message virtual const uint8_t* getData() const override;
*
* @param the Command to be sent
*/
void setCommand(Command_t command);
/** /**
* Get the first parameter of the message * Get the first parameter of the message
*
* @return the first Parameter of the message * @return the first Parameter of the message
*/ */
uint32_t getParameter() const; uint32_t getParameter() const;
/** /**
* Set the first parameter of the message * Set the first parameter of the message
*
* @param the first parameter of the message * @param the first parameter of the message
*/ */
void setParameter(uint32_t parameter1); void setParameter(uint32_t parameter1);
/**
* Get the second parameter of the message
*
* @return the second Parameter of the message
*/
uint32_t getParameter2() const; uint32_t getParameter2() const;
/**
* Set the second parameter of the message
*
* @param the second parameter of the message
*/
void setParameter2(uint32_t parameter2); void setParameter2(uint32_t parameter2);
uint32_t getParameter3() const;
/** void setParameter3(uint32_t parameter3);
* Set the command to CMD_NONE and try to find
* the correct class to handle a more detailed
* clear.
* Also, calls a mission-specific clearMissionMessage
* function to separate between framework and mission
* messages. Not optimal, may be replaced by totally
* different auto-delete solution (e.g. smart pointers).
*
*/
void clearCommandMessage();
/** /**
* check if a message was cleared * check if a message was cleared
@ -117,18 +90,41 @@ public:
*/ */
bool isClearedCommandMessage(); bool isClearedCommandMessage();
/** /**
* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND. * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
* Is needed quite often, so we better code it once only. * Is needed quite often, so we better code it once only.
*/ */
void setToUnknownCommand(); void setToUnknownCommand() override;
void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
ReturnValue_t getReplyRejectedReason(
Command_t *initialCommand = nullptr) const;
size_t getMinimumMessageSize() const; /**
* 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;
void clearCommandMessage();
/**
* 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 /* FSFW_IPC_COMMANDMESSAGE_H_ */
#endif /* COMMANDMESSAGE_H_ */

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@ -0,0 +1,45 @@
#include "../ipc/CommandMessageCleaner.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
#include "../memory/MemoryMessage.h"
#include "../modes/ModeMessage.h"
#include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h"
void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
switch(message->getMessageType()){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(message);
break;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(message);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(message);
break;
case messagetypes::ACTION:
ActionMessage::clear(message);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(message);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(message);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(message);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(message);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(message);
break;
default:
messagetypes::clearMissionMessage(message);
break;
}
}

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@ -0,0 +1,16 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#include "../ipc/CommandMessage.h"
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessage* message);
}
class CommandMessageCleaner {
public:
static void clearCommandMessage(CommandMessage* message);
};
#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */

73
ipc/CommandMessageIF.h Normal file
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@ -0,0 +1,73 @@
#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
#define FSFW_IPC_COMMANDMESSAGEIF_H_
#include "MessageQueueMessageIF.h"
#include "FwMessageTypes.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t;
class CommandMessageIF {
public:
/**
* Header consists of sender ID and command ID.
*/
static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
sizeof(Command_t);
/**
* This minimum size is derived from the interface requirement to be able
* to set a rejected reply, which contains a returnvalue and the initial
* command.
*/
static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
sizeof(Command_t);
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, shall be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
//! Reply indicating that the current command was rejected,
//! par1 should contain the error code
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
virtual ~CommandMessageIF() {};
/**
* A command message shall have a uint16_t command ID field.
* @return
*/
virtual Command_t getCommand() const = 0;
/**
* A command message shall have a uint8_t message type ID field.
* @return
*/
virtual uint8_t getMessageType() const = 0;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
virtual void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) = 0;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
virtual ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const = 0;
virtual void setToUnknownCommand() = 0;
virtual void clear() = 0;
};
#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */

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@ -1,15 +1,15 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_
// COULDDO: We could support blocking calls // COULDDO: We could support blocking calls
#include "messageQueueDefinitions.h"
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "MessageQueueSenderIF.h"
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
class MessageQueueIF { class MessageQueueIF {
public: public:
static const MessageQueueId_t NO_QUEUE = 0;
static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF; static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
/** /**

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@ -1,13 +1,27 @@
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
#include <string.h> #include <cstring>
MessageQueueMessage::MessageQueueMessage() : MessageQueueMessage::MessageQueueMessage() :
messageSize(this->HEADER_SIZE) { messageSize(getMinimumMessageSize()) {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer)); memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
} }
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size);
this->messageSize = this->HEADER_SIZE + size;
}
else {
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
"allowed size! Setting content to 0" << std::endl;
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
}
}
MessageQueueMessage::~MessageQueueMessage() { MessageQueueMessage::~MessageQueueMessage() {
} }
@ -37,29 +51,34 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t)); memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
} }
MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) : void MessageQueueMessage::print(bool printWholeMessage) {
messageSize(this->HEADER_SIZE + size) { sif::debug << "MessageQueueMessage content: " << std::endl;
if (size <= this->MAX_DATA_SIZE) { if(printWholeMessage) {
memcpy(this->getData(), data, size); arrayprinter::print(getData(), getMaximumMessageSize());
} else {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
} }
} else {
arrayprinter::print(getData(), getMessageSize());
size_t MessageQueueMessage::getMinimumMessageSize() {
return this->HEADER_SIZE;
}
void MessageQueueMessage::print() {
sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
<< std::endl;
for (uint8_t count = 0; count < this->messageSize; count++) {
sif::debug << (uint32_t) this->internalBuffer[count] << ":";
} }
sif::debug << std::dec << std::endl;
} }
void MessageQueueMessage::clear() { void MessageQueueMessage::clear() {
memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE); memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
} }
size_t MessageQueueMessage::getMessageSize() const {
return this->messageSize;
}
void MessageQueueMessage::setMessageSize(size_t messageSize) {
this->messageSize = messageSize;
}
size_t MessageQueueMessage::getMinimumMessageSize() const {
return this->MIN_MESSAGE_SIZE;
}
size_t MessageQueueMessage::getMaximumMessageSize() const {
return this->MAX_MESSAGE_SIZE;
}

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@ -1,118 +1,149 @@
#ifndef MESSAGEQUEUEMESSAGE_H_ #ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#define MESSAGEQUEUEMESSAGE_H_ #define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#include "MessageQueueSenderIF.h" #include "../ipc/MessageQueueMessageIF.h"
#include <stddef.h> #include <cstddef>
/** /**
* \brief This class is the representation and data organizer for interprocess messages. * @brief This class is the representation and data organizer
* for interprocess messages.
* @details
* To facilitate and standardize interprocess communication, this class was
* created to handle a lightweight "interprocess message protocol".
* *
* \details To facilitate and standardize interprocess communication, this class was created * It adds a header with the sender's queue id to every sent message and
* to handle a lightweight "interprocess message protocol". It adds a header with the * defines the maximum total message size. Specialized messages, such as
* sender's queue id to every sent message and defines the maximum total message size. * device commanding messages, can be created by inheriting from this class
* Specialized messages, such as device commanding messages, can be created by inheriting * and filling the buffer provided by getData with additional content.
* from this class and filling the buffer provided by getData with additional content. *
* If larger amounts of data must be sent between processes, the data shall be stored in * If larger amounts of data must be sent between processes, the data shall
* the IPC Store object and only the storage id is passed in a queue message. * be stored in the IPC Store object and only the storage id is passed in a
* The class is used both to generate and send messages and to receive messages from * queue message.The class is used both to generate and send messages and to
* other tasks. * receive messages from other tasks.
* \ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueueMessage { class MessageQueueMessage: public MessageQueueMessageIF {
public: public:
/** /**
* \brief This constant defines the maximum size of the data content, excluding the header. * @brief The class is initialized empty with this constructor.
* \details It may be changed if necessary, but in general should be kept as small as possible. * @details
* The messageSize attribute is set to the header's size and the whole
* content is set to zero.
*/
MessageQueueMessage();
/**
* @brief With this constructor the class is initialized with
* the given content.
* @details
* If the passed message size fits into the buffer, the passed data is
* copied to the internal buffer and the messageSize information is set.
* Otherwise, messageSize is set to the header's size and the whole
* content is set to zero.
* @param data The data to be put in the message.
* @param size Size of the data to be copied. Must be smaller than
* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
*/
MessageQueueMessage(uint8_t* data, size_t size);
/**
* @brief As no memory is allocated in this class,
* the destructor is empty.
*/
virtual ~MessageQueueMessage();
/**
* @brief The size information of each message is stored in
* this attribute.
* @details
* It is public to simplify usage and to allow for passing the size
* address as a pointer. Care must be taken when inheriting from this class,
* as every child class is responsible for managing the size information by
* itself. When using the class to receive a message, the size information
* is updated automatically.
*
* Please note that the minimum size is limited by the size of the header
* while the maximum size is limited by the maximum allowed message size.
*/
size_t messageSize;
/**
* @brief This constant defines the maximum size of the data content,
* excluding the header.
* @details
* It may be changed if necessary, but in general should be kept
* as small as possible.
*/ */
static const size_t MAX_DATA_SIZE = 24; static const size_t MAX_DATA_SIZE = 24;
/** /**
* \brief This constants defines the size of the header, which is added to every message. * @brief This constant defines the maximum total size in bytes
* of a sent message.
* @details
* It is the sum of the maximum data and the header size. Be aware that
* this constant is used to define the buffer sizes for every message
* queue in the system. So, a change here may have significant impact on
* the required resources.
*/ */
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t); static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/** /**
* \brief This constant defines the maximum total size in bytes of a sent message. * @brief Defines the minimum size of a message where only the
* \details It is the sum of the maximum data and the header size. Be aware that this constant * header is included
* is used to define the buffer sizes for every message queue in the system. So, a change
* here may have significant impact on the required resources.
*/ */
static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE; static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private: private:
/** /**
* \brief This is the internal buffer that contains the actual message data. * @brief This is the internal buffer that contains the
* actual message data.
*/ */
uint8_t internalBuffer[MAX_MESSAGE_SIZE]; uint8_t internalBuffer[MAX_MESSAGE_SIZE];
public: public:
/** /**
* \brief The size information of each message is stored in this attribute. * @brief This method is used to get the complete data of the message.
* \details It is public to simplify usage and to allow for passing the variable's address as a
* pointer. Care must be taken when inheriting from this class, as every child class is
* responsible for managing the size information by itself. When using the class to
* receive a message, the size information is updated automatically.
*/ */
size_t messageSize; const uint8_t* getBuffer() const override;
/** /**
* \brief The class is initialized empty with this constructor. * @brief This method is used to get the complete data of the message.
* \details The messageSize attribute is set to the header's size and the whole content is set to
* zero.
*/ */
MessageQueueMessage(); uint8_t* getBuffer() override;
/** /**
* \brief With this constructor the class is initialized with the given content. * @brief This method is used to fetch the data content of the message.
* \details If the passed message size fits into the buffer, the passed data is copied to the * @details
* internal buffer and the messageSize information is set. Otherwise, messageSize * It shall be used by child classes to add data at the right position.
* is set to the header's size and the whole content is set to zero.
* \param data The data to be put in the message.
* \param size Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
*/ */
MessageQueueMessage(uint8_t* data, uint32_t size); const uint8_t* getData() const override;
/** /**
* \brief As no memory is allocated in this class, the destructor is empty. * @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/ */
virtual ~MessageQueueMessage(); uint8_t* getData() override;
/** /**
* \brief This method is used to get the complete data of the message. * @brief This method is used to extract the sender's message
* queue id information from a received message.
*/ */
const uint8_t* getBuffer() const; MessageQueueId_t getSender() const override;
/** /**
* \brief This method is used to get the complete data of the message. * @brief With this method, the whole content
* and the message size is set to zero.
*/ */
uint8_t* getBuffer(); void clear() override;
/** /**
* \brief This method is used to fetch the data content of the message. * @brief This method is used to set the sender's message queue id
* \details It shall be used by child classes to add data at the right position. * information prior to ing the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/ */
const uint8_t* getData() const; void setSender(MessageQueueId_t setId) override;
virtual size_t getMessageSize() const override;
virtual void setMessageSize(size_t messageSize) override;
virtual size_t getMinimumMessageSize() const override;
virtual size_t getMaximumMessageSize() const override;
/** /**
* \brief This method is used to fetch the data content of the message. * @brief This is a debug method that prints the content.
* \details It shall be used by child classes to add data at the right position.
*/ */
uint8_t* getData(); void print(bool printWholeMessage);
/**
* \brief This method is used to extract the sender's message queue id information from a
* received message.
*/
MessageQueueId_t getSender() const;
/**
* \brief With this method, the whole content and the message size is set to zero.
*/
void clear();
/**
* \brief This is a debug method that prints the content (till messageSize) to the debug output.
*/
void print();
/**
* \brief This method is used to set the sender's message queue id information prior to
* sending the message.
* \param setId The message queue id that identifies the sending message queue.
*/
void setSender(MessageQueueId_t setId);
/**
* \brief This helper function is used by the MessageQueue class to check the size of an
* incoming message.
* \details The method must be overwritten by child classes if size checks shall be more strict.
* @return The default implementation returns HEADER_SIZE.
*/
virtual size_t getMinimumMessageSize();
}; };
#endif /* MESSAGEQUEUEMESSAGE_H_ */ #endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

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@ -0,0 +1,80 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
#include <cstddef>
#include <cstdint>
class MessageQueueMessageIF {
public:
/**
* @brief This constants defines the size of the header,
* which is added to every message.
*/
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
virtual ~MessageQueueMessageIF() {};
/**
* @brief With this method, the whole content and the message
* size is set to zero.
* @details
* Implementations should also take care to clear data which is stored
* indirectly (e.g. storage data).
*/
virtual void clear() = 0;
/**
* @brief Get read-only pointer to the complete data of the message.
* @return
*/
virtual const uint8_t* getBuffer() const = 0;
/**
* @brief This method is used to get the complete data of the message.
*/
virtual uint8_t* getBuffer() = 0;
/**
* @brief This method is used to set the sender's message queue id
* information prior to sending the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/
virtual void setSender(MessageQueueId_t setId) = 0;
/**
* @brief This method is used to extract the sender's message queue id
* information from a received message.
*/
virtual MessageQueueId_t getSender() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual const uint8_t* getData() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual uint8_t* getData() = 0;
/**
* Get constant message size of current message implementation.
* @return
*/
virtual size_t getMessageSize() const = 0;
virtual void setMessageSize(size_t messageSize) = 0;
virtual size_t getMinimumMessageSize() const = 0;
virtual size_t getMaximumMessageSize() const = 0;
};
#endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

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@ -1,37 +1,26 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../ipc/MessageQueueMessageIF.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
class MessageQueueMessage;
//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
//MessageQueueMessage.
//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
//call does not sound ideal.
//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
//This also influences Interface design (getCommandQueue) and some other issues..
typedef uint32_t MessageQueueId_t;
class MessageQueueSenderIF { class MessageQueueSenderIF {
public: public:
static const MessageQueueId_t NO_QUEUE = 0;
virtual ~MessageQueueSenderIF() {} virtual ~MessageQueueSenderIF() {}
/** /**
* Allows sending messages without actually "owing" a message queue. * Allows sending messages without actually "owning" a message queue.
* Not sure whether this is actually a good idea. * Not sure whether this is actually a good idea.
* Must be implemented by a subclass.
*/ */
static ReturnValue_t sendMessage(MessageQueueId_t sendTo, static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom = MessageQueueMessage* message,
MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false); MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
bool ignoreFault = false);
private: private:
MessageQueueSenderIF() {} MessageQueueSenderIF() {}
}; };
#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */
#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */

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@ -0,0 +1,19 @@
#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#include <cstdint>
/*
* TODO: Actually, the definition of this ID to be a uint32_t is not ideal and
* breaks layering. However, it is difficult to keep layering, as the ID is
* stored in many places and sent around in MessageQueueMessage.
* Ideally, one would use the (current) object_id_t only, however, doing a
* lookup of queueIDs for every call does not sound ideal.
* In a first step, I'll circumvent the issue by not touching it,
* maybe in a second step. This also influences Interface design
* (getCommandQueue) and some other issues..
*/
using MessageQueueId_t = uint32_t;
#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

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@ -36,7 +36,7 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
commandedMode = mode; commandedMode = mode;
commandedSubmode = submode; commandedSubmode = submode;
if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE) if ((parentQueueId != MessageQueueIF::NO_QUEUE)
&& (theOneWhoCommandedAMode != parentQueueId)) { && (theOneWhoCommandedAMode != parentQueueId)) {
owner->setToExternalControl(); owner->setToExternalControl();
} }
@ -74,7 +74,7 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) { void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
forced = false; forced = false;
CommandMessage reply; CommandMessage reply;
if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) { if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE) {
if ((mode != commandedMode) || (submode != commandedSubmode)) { if ((mode != commandedMode) || (submode != commandedSubmode)) {
ModeMessage::setModeMessage(&reply, ModeMessage::setModeMessage(&reply,
ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode); ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
@ -86,12 +86,12 @@ void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
owner->getCommandQueue()); owner->getCommandQueue());
} }
if (theOneWhoCommandedAMode != parentQueueId if (theOneWhoCommandedAMode != parentQueueId
&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) { && parentQueueId != MessageQueueIF::NO_QUEUE) {
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode, ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
submode); submode);
MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue()); MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
} }
theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE; theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
} }
void ModeHelper::startTimer(uint32_t timeoutMs) { void ModeHelper::startTimer(uint32_t timeoutMs) {

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@ -1,5 +1,6 @@
#include "MessageQueue.h" #include "MessageQueue.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.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 // 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
@ -101,7 +102,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
reinterpret_cast<const void*>(message->getBuffer()), 0); reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) { if (result != pdPASS) {
if (!ignoreFault) { if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>( InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER); objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) { if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent(); internalErrorReporter->queueMessageNotSent();

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@ -1,18 +1,21 @@
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/QueueFactory.h" #include "../../ipc/QueueFactory.h"
#include "MessageQueue.h" #include "MessageQueue.h"
QueueFactory* QueueFactory::factoryInstance = NULL; QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) { MessageQueueMessage* message, MessageQueueId_t sentFrom,
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault); bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);
} }
QueueFactory* QueueFactory::instance() { QueueFactory* QueueFactory::instance() {
if (factoryInstance == NULL) { if (factoryInstance == nullptr) {
factoryInstance = new QueueFactory; factoryInstance = new QueueFactory;
} }
return factoryInstance; return factoryInstance;
@ -24,9 +27,9 @@ QueueFactory::QueueFactory() {
QueueFactory::~QueueFactory() { QueueFactory::~QueueFactory() {
} }
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth, MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
size_t maxMessageSize) { size_t maxMessageSize) {
return new MessageQueue(message_depth, maxMessageSize); return new MessageQueue(messageDepth, maxMessageSize);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

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@ -1,8 +1,14 @@
#include "../../ipc/QueueFactory.h" #include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
#include "../../ipc/messageQueueDefinitions.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <mqueue.h> #include <mqueue.h>
#include <errno.h> #include <errno.h>
#include "MessageQueue.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring> #include <cstring>
QueueFactory* QueueFactory::factoryInstance = nullptr; QueueFactory* QueueFactory::factoryInstance = nullptr;