From a5692079c643fc0c8f32877f835a42a78d7c41a2 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 15 Feb 2020 15:37:00 +0100
Subject: [PATCH] Small possilbe bugfix in MessageQueue.cpp

And other small changes.
Only assign last partner if message receiving was successful.
Some formatting stuff, include in <> notation
doc for task factory free RTOS, high priority means high number
---
 osal/FreeRTOS/MessageQueue.cpp | 25 ++++++++++++++-----------
 osal/FreeRTOS/QueueFactory.cpp |  2 +-
 osal/FreeRTOS/TaskFactory.cpp  |  1 +
 3 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index f3aebcd1..887df392 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -38,7 +38,9 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
-	*receivedFrom = this->lastPartner;
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
 	return status;
 }
 
@@ -89,23 +91,24 @@ MessageQueueId_t MessageQueue::getDefaultDestination() const {
 bool MessageQueue::isDefaultDestinationSet() const {
 	return 0;
 }
+
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		MessageQueueMessage *message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 
-		BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
-		if (result != pdPASS) {
-			if (!ignoreFault) {
-				InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
-							objects::INTERNAL_ERROR_REPORTER);
-				if (internalErrorReporter != NULL) {
-					internalErrorReporter->queueMessageNotSent();
-				}
+	BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
+	if (result != pdPASS) {
+		if (!ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+					objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != NULL) {
+				internalErrorReporter->queueMessageNotSent();
 			}
-			return MessageQueueIF::FULL;
 		}
-		return HasReturnvaluesIF::RETURN_OK;
+		return MessageQueueIF::FULL;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
 
 }
 
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index 5c7087de..eaf245d3 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,6 +1,6 @@
 #include <framework/ipc/QueueFactory.h>
 
-#include "../FreeRTOS/MessageQueue.h"
+#include <framework/osal/FreeRTOS/MessageQueue.h>
 
 
 QueueFactory* QueueFactory::factoryInstance = NULL;
diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp
index 7b2f70a3..753da60f 100644
--- a/osal/FreeRTOS/TaskFactory.cpp
+++ b/osal/FreeRTOS/TaskFactory.cpp
@@ -15,6 +15,7 @@ TaskFactory* TaskFactory::instance() {
 }
 /***
  * Keep in Mind that you need to call before this vTaskStartScheduler()!
+ * High taskPriority_ number means high priority.
  */
 PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
 		TaskPriority taskPriority_, TaskStackSize stackSize_,