Merge pull request 'MQM IF used by FreeRTOS' (#212) from KSat/fsfw:mueller/MQMQ_IF_UpdateFreeRTOS into master
Reviewed-on: fsfw/fsfw#212
This commit is contained in:
commit
3580ec0e09
@ -1,8 +1,8 @@
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#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
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#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
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#include "../ipc/MessageQueueIF.h"
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#include "../ipc/MessageQueueMessageIF.h"
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#include "MessageQueueIF.h"
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#include "MessageQueueMessageIF.h"
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#include "../objectmanager/ObjectManagerIF.h"
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class MessageQueueSenderIF {
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@ -1,42 +1,76 @@
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#include "MessageQueue.h"
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../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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defaultDestination(0),lastPartner(0) {
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handle = xQueueCreate(message_depth, max_message_size);
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if (handle == NULL) {
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sif::error << "MessageQueue creation failed" << std::endl;
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// TODO I guess we should have a way of checking if we are in an ISR and then
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// use the "fromISR" versions of all calls
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// As a first step towards this, introduces system context variable which needs
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// to be switched manually
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// Haven't found function to find system context.
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MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
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maxMessageSize(maxMessageSize) {
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handle = xQueueCreate(messageDepth, maxMessageSize);
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if (handle == nullptr) {
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sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
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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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if (handle != nullptr) {
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vQueueDelete(handle);
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}
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}
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void MessageQueue::switchSystemContext(CallContext callContext) {
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this->callContext = callContext;
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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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MessageQueueMessageIF* message, bool ignoreFault) {
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return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
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}
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ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
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ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
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return sendToDefaultFrom(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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ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom, bool ignoreFault) {
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return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
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}
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ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
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if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
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return sendMessageFrom(this->lastPartner, message, this->getId());
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} else {
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return NO_REPLY_PARTNER;
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}
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
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ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
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callContext);
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}
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ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
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if (result != pdPASS) {
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if (not ignoreFault) {
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InternalErrorReporterIF* internalErrorReporter = objectManager->
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get<InternalErrorReporterIF>(
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objects::INTERNAL_ERROR_REPORTER);
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if (internalErrorReporter != nullptr) {
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internalErrorReporter->queueMessageNotSent();
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}
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}
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return MessageQueueIF::FULL;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
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MessageQueueId_t* receivedFrom) {
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ReturnValue_t status = this->receiveMessage(message);
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if(status == HasReturnvaluesIF::RETURN_OK) {
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@ -45,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
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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,reinterpret_cast<void*>(message->getBuffer()), 0);
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
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BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
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message->getBuffer()), 0);
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if (result == pdPASS){
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this->lastPartner = message->getSender();
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return HasReturnvaluesIF::RETURN_OK;
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@ -67,51 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
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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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return reinterpret_cast<MessageQueueId_t>(handle);
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}
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void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
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defaultDestinationSet = true;
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this->defaultDestination = defaultDestination;
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}
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ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
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MessageQueueMessage* message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
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}
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ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
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MessageQueueId_t sentFrom, bool ignoreFault) {
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return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
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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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return defaultDestinationSet;
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}
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// static core function to send messages.
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ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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MessageQueueMessage *message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
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bool ignoreFault, CallContext callContext) {
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BaseType_t result = pdFALSE;
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QueueHandle_t destination = nullptr;
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if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
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return MessageQueueIF::DESTINVATION_INVALID;
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}
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else {
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destination = reinterpret_cast<QueueHandle_t>(sendTo);
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}
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message->setSender(sentFrom);
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BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
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reinterpret_cast<const void*>(message->getBuffer()), 0);
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if (result != pdPASS) {
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if (!ignoreFault) {
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InternalErrorReporterIF* internalErrorReporter =
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objectManager->get<InternalErrorReporterIF>(
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objects::INTERNAL_ERROR_REPORTER);
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if (internalErrorReporter != NULL) {
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internalErrorReporter->queueMessageNotSent();
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}
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}
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return MessageQueueIF::FULL;
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}
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return HasReturnvaluesIF::RETURN_OK;
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if(callContext == CallContext::TASK) {
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result = xQueueSendToBack(destination,
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static_cast<const void*>(message->getBuffer()), 0);
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}
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else {
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/* If the call context is from an interrupt,
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* request a context switch if a higher priority task
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* was blocked by the interrupt. */
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
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static_cast<const void*>(message->getBuffer()),
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&xHigherPriorityTaskWoken);
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if(xHigherPriorityTaskWoken == pdTRUE) {
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TaskManagement::requestContextSwitch(callContext);
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}
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}
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return handleSendResult(result, ignoreFault);
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}
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@ -1,159 +1,150 @@
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#ifndef MESSAGEQUEUE_H_
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#define MESSAGEQUEUE_H_
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#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
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#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
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#include "../../internalError/InternalErrorReporterIF.h"
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#include "../../ipc/MessageQueueIF.h"
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#include "../../ipc/MessageQueueMessage.h"
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#include "../../ipc/MessageQueueMessageIF.h"
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include <FreeRTOS.h>
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#include <queue.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/queue.h>
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#include <fsfw/ipc/MessageQueueMessage.h>
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//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
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// TODO: this class assumes that MessageQueueId_t is the same size as void*
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// (the FreeRTOS handle type), compiler will catch this but it might be nice
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// to have something checking or even an always working solution
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// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
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/**
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* @brief This class manages sending and receiving of message queue messages.
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*
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* @details Message queues are used to pass asynchronous messages between processes.
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* @brief This class manages sending and receiving of
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* message queue messages.
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* @details
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* Message queues are used to pass asynchronous messages between processes.
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* They work like post boxes, where all incoming messages are stored in FIFO
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* order. This class creates a new receiving queue and provides methods to fetch
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* received messages. Being a child of MessageQueueSender, this class also provides
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* methods to send a message to a user-defined or a default destination. In addition
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* it also provides a reply method to answer to the queue it received its last message
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* from.
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* The MessageQueue should be used as "post box" for a single owning object. So all
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* message queue communication is "n-to-one".
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* For creating the queue, as well as sending and receiving messages, the class makes
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* use of the operating system calls provided.
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* \ingroup message_queue
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* received messages. Being a child of MessageQueueSender, this class also
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* provides methods to send a message to a user-defined or a default destination.
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* In addition it also provides a reply method to answer to the queue it
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* received its last message from.
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*
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* The MessageQueue should be used as "post box" for a single owning object.
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* So all message queue communication is "n-to-one".
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* For creating the queue, as well as sending and receiving messages, the class
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* makes use of the operating system calls provided.
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*
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* Please keep in mind that FreeRTOS offers different calls for message queue
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* operations if called from an ISR.
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* For now, the system context needs to be switched manually.
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* @ingroup osal
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* @ingroup message_queue
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*/
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class MessageQueue : public MessageQueueIF {
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friend class MessageQueueSenderIF;
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public:
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/**
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* @brief The constructor initializes and configures the message queue.
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* @details By making use of the according operating system call, a message queue is created
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* and initialized. The message depth - the maximum number of messages to be
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* buffered - may be set with the help of a parameter, whereas the message size is
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* automatically set to the maximum message queue message size. The operating system
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* sets the message queue id, or i case of failure, it is set to zero.
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* @param message_depth The number of messages to be buffered before passing an error to the
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* @details
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* By making use of the according operating system call, a message queue
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* is created and initialized. The message depth - the maximum number of
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* messages to be buffered - may be set with the help of a parameter,
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* whereas the message size is automatically set to the maximum message
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* queue message size. The operating system sets the message queue id, or
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* in case of failure, it is set to zero.
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* @param message_depth
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* The number of messages to be buffered before passing an error to the
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* sender. Default is three.
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* @param max_message_size With this parameter, the maximum message size can be adjusted.
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* @param max_message_size
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* With this parameter, the maximum message size can be adjusted.
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* This should be left default.
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*/
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MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
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MessageQueue( size_t messageDepth = 3,
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size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
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/** Copying message queues forbidden */
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MessageQueue(const MessageQueue&) = delete;
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MessageQueue& operator=(const MessageQueue&) = delete;
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/**
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* @brief The destructor deletes the formerly created message queue.
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* @details This is accomplished by using the delete call provided by the operating system.
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* @details This is accomplished by using the delete call provided
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* by the operating system.
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*/
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virtual ~MessageQueue();
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/**
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* @brief This operation sends a message to the given destination.
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* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
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* queue id as "sentFrom" parameter.
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* @param sendTo This parameter specifies the message queue id of the destination message queue.
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* @param message A pointer to a previously created message, which is sent.
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* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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* This function is used to switch the call context. This has to be called
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* if a message is sent or received from an ISR!
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* @param callContext
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*/
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void switchSystemContext(CallContext callContext);
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/** MessageQueueIF implementation */
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ReturnValue_t sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessage* message, bool ignoreFault = false );
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/**
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* @brief This operation sends a message to the default destination.
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* @details As in the sendMessage method, this function uses the sendToDefault call of the
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* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
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* @param message A pointer to a previously created message, which is sent.
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*/
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ReturnValue_t sendToDefault( MessageQueueMessage* message );
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/**
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* @brief This operation sends a message to the last communication partner.
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* @details This operation simplifies answering an incoming message by using the stored
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* lastParnter information as destination. If there was no message received yet
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* (i.e. lastPartner is zero), an error code is returned.
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* @param message A pointer to a previously created message, which is sent.
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*/
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ReturnValue_t reply( MessageQueueMessage* message );
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MessageQueueMessageIF* message, bool ignoreFault = false) override;
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/**
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* @brief This function reads available messages from the message queue and returns the sender.
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* @details It works identically to the other receiveMessage call, but in addition returns the
|
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* sender's queue id.
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* @param message A pointer to a message in which the received data is stored.
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* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
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*/
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ReturnValue_t receiveMessage(MessageQueueMessage* message,
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MessageQueueId_t *receivedFrom);
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ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
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/**
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* @brief This function reads available messages from the message queue.
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* @details If data is available it is stored in the passed message pointer. The message's
|
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* original content is overwritten and the sendFrom information is stored in the
|
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* lastPartner attribute. Else, the lastPartner information remains untouched, the
|
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* message's content is cleared and the function returns immediately.
|
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* @param message A pointer to a message in which the received data is stored.
|
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*/
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ReturnValue_t receiveMessage(MessageQueueMessage* message);
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/**
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* Deletes all pending messages in the queue.
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* @param count The number of flushed messages.
|
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* @return RETURN_OK on success.
|
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*/
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ReturnValue_t flush(uint32_t* count);
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/**
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* @brief This method returns the message queue id of the last communication partner.
|
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*/
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MessageQueueId_t getLastPartner() const;
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/**
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* @brief This method returns the message queue id of this class's message queue.
|
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*/
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MessageQueueId_t getId() const;
|
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/**
|
||||
* \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.
|
||||
*/
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||||
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
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/**
|
||||
* \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_ */
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
#include "MessageQueue.h"
|
||||
|
||||
#include "../../ipc/MessageQueueSenderIF.h"
|
||||
#include "../../ipc/QueueFactory.h"
|
||||
|
||||
#include "MessageQueue.h"
|
||||
|
||||
|
||||
QueueFactory* QueueFactory::factoryInstance = nullptr;
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user