some refactoring

ipc/MessageQueueIF.h

@@ -36,8 +36,8 @@ public:
 	 * 			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.
-	 * \return RETURN_OK if ok
+	 * @return RETURN_OK if ok
-	 * \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
+	 * @return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
 	 */
 	virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
 
@@ -53,10 +53,12 @@ public:
 
 	/**
 	 * @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
+	 * @details
-	 * 			original content is overwritten and the sendFrom information is stored in the
+	 * If data is available it is stored in the passed message pointer.
-	 * 			lastPartner attribute. Else, the lastPartner information remains untouched, the
+	 * The message's original content is overwritten and the sendFrom
-	 * 			message's content is cleared and the function returns immediately.
+	 * information is stored in theblastPartner 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.
 	 * @return -@c RETURN_OK on success
 	 *         -@c MessageQueueIF::EMPTY if queue is empty
@@ -90,7 +92,9 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			bool ignoreFault = false ) = 0;
 
 	/**
 	 * @brief	This operation sends a message to the given destination.
@@ -100,7 +104,8 @@ public:
 	 * @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.
 	 */
-	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
+			MessageQueueMessage* message, bool ignoreFault = false ) = 0;
 
 	/**
 	 * @brief	The sendToDefaultFrom method sends a queue message to the default destination.
@@ -111,7 +116,8 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
+			MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the

ipc/MessageQueueMessage.cpp

@@ -8,6 +8,20 @@ MessageQueueMessage::MessageQueueMessage() :
 	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() {
 }
 
@@ -37,23 +51,13 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
 	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
 }
 
-MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) :
-		messageSize(this->HEADER_SIZE + size) {
-	if (size <= this->MAX_DATA_SIZE) {
-		memcpy(this->getData(), data, size);
-	} else {
-		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-		this->messageSize = this->HEADER_SIZE;
-	}
-}
-
 size_t MessageQueueMessage::getMinimumMessageSize() {
 	return this->HEADER_SIZE;
 }
 
 void MessageQueueMessage::print() {
-	sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
+	sif::debug << "MessageQueueMessage has size: " << this->messageSize <<
-			<< std::endl;
+			std::hex << std::endl;
 	for (uint8_t count = 0; count < this->messageSize; count++) {
 		sif::debug << (uint32_t) this->internalBuffer[count] << ":";
 	}

ipc/MessageQueueMessage.h

@@ -5,111 +5,129 @@
 #include <stddef.h>
 
 /**
- *	\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
+ *	@details
- *				to handle a lightweight "interprocess message protocol". It adds a header with the
+ *	To facilitate and standardize interprocess communication, this class was
- *				sender's queue id to every sent message and defines the maximum total message size.
+ *	created to handle a lightweight "interprocess message protocol".
- *				Specialized messages, such as device commanding messages, can be created by inheriting
+ *
- *				from this class and filling the buffer provided by getData with additional content.
+ *	It adds a header with the sender's queue id to every sent message and
- *				If larger amounts of data must be sent between processes, the data shall be stored in
+ *	defines the maximum total message size. Specialized messages, such as
- *				the IPC Store object and only the storage id is passed in a queue message.
+ *	device commanding messages, can be created by inheriting from this class
- *				The class is used both to generate and send messages and to receive messages from
+ *	and filling the buffer provided by getData with additional content.
- *				other tasks.
+ *
- *	\ingroup message_queue
+ *	If larger amounts of data must be sent between processes, the data shall
+ *	be stored in the IPC Store object and only the storage id is passed in a
+ *	queue message.The class is used both to generate and send messages and to
+ *	receive messages from other tasks.
+ *	@ingroup message_queue
  */
 class MessageQueueMessage {
 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	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;
 	/**
-	 * \brief	This constants defines the size of the header, which is added to every message.
+	 * @brief	This constants defines the size of the header, which is added to every message.
 	 */
 	static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
 	/**
-	 * \brief	This constant defines the maximum total size in bytes of a sent 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
+	 * @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 MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
+	/**
+	 * @brief Defines the minimum size of a message where only the
+	 * 		  header is included
+	 */
+	static const size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
 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];
 public:
 	/**
-	 * \brief	The size information of each message is stored in this attribute.
+	 * @brief	As no memory is allocated in this class, the destructor is empty.
-	 * \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;
-	/**
-	 * \brief	The class is initialized empty with this constructor.
-	 * \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.
-	 */
-	MessageQueueMessage(uint8_t* data, uint32_t size);
-	/**
-	 * \brief	As no memory is allocated in this class, the destructor is empty.
 	 */
 	virtual ~MessageQueueMessage();
 	/**
-	 * \brief	This method is used to get the complete data of the message.
+	 * @brief	This method is used to get the complete data of the message.
 	 */
 	const uint8_t* getBuffer() const;
 	/**
-	 * \brief	This method is used to get the complete data of the message.
+	 * @brief	This method is used to get the complete data of the message.
 	 */
 	uint8_t* getBuffer();
 	/**
-	 * \brief	This method is used to fetch the data content of the message.
+	 * @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.
+	 * @details It shall be used by child classes to add data at the right position.
 	 */
 	const uint8_t* getData() const;
 	/**
-	 * \brief	This method is used to fetch the data content of the message.
+	 * @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.
+	 * @details It shall be used by child classes to add data at the right position.
 	 */
 	uint8_t* getData();
 	/**
-	 * \brief	This method is used to extract the sender's message queue id information from a
+	 * @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.
+	 * @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.
+	 * @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
+	 * @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.
+	 * @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
+	 * @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.
+	 * @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();

ipc/QueueFactory.h

@@ -2,7 +2,7 @@
 #define FRAMEWORK_IPC_QUEUEFACTORY_H_
 
 #include <framework/ipc/MessageQueueIF.h>
-#include <stdint.h>
+#include <cstdint>
 /**
  * Creates message queues.
  * This class is a "singleton" interface, i.e. it provides an
@@ -18,8 +18,8 @@ public:
 	 */
 	static QueueFactory* instance();
 
-	MessageQueueIF* createMessageQueue(uint32_t message_depth = 3,
+	MessageQueueIF* createMessageQueue(size_t messageDepth = 3,
-			uint32_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
 
 	void deleteMessageQueue(MessageQueueIF* queue);
 private:

osal/FreeRTOS/MessageQueue.cpp

@@ -2,12 +2,14 @@
 
 #include <framework/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
-// As a first step towards this, introduces system context variable which needs to be switched manually
+// 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 message_depth, size_t max_message_size) :
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) :
 defaultDestination(0),lastPartner(0), callContext(CallContext::task)  {
-	handle = xQueueCreate(message_depth, max_message_size);
+	handle = xQueueCreate(messageDepth, maxMessageSize);
 	if (handle == NULL) {
 		sif::error << "MessageQueue creation failed" << std::endl;
 	}

osal/FreeRTOS/QueueFactory.cpp

@@ -3,16 +3,18 @@
 #include <framework/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) {
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			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 +26,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
-		uint32_t max_message_size) {
+		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, max_message_size);
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

osal/linux/MessageQueue.cpp

@@ -7,15 +7,15 @@
 #include <framework/osal/linux/MessageQueue.h>
 
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) :
 		id(0), lastPartner(0), defaultDestination(NO_QUEUE) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
 	this->id = 0;
 	//Set attributes
 	attributes.mq_curmsgs = 0;
-	attributes.mq_maxmsg = message_depth;
+	attributes.mq_maxmsg = messageDepth;
-	attributes.mq_msgsize = max_message_size;
+	attributes.mq_msgsize = maxMessageSize;
 	attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
 	//Set the name of the queue
 	sprintf(name, "/Q%u\n", queueCounter++);
@@ -265,7 +265,11 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			           << strerror(errno) << " in mq_send" << std::endl;
 			/*NO BREAK*/
 		case EMSGSIZE:
-			//The msg_len is greater than the msgsize associated with the specified queue.
+			// The msg_len is greater than the msgsize associated with
+			//the specified queue.
+			sif::error << "MessageQueue::sendMessage: Size error [" <<
+					strerror(errno) << "] in mq_send" << std::endl;
+			/*NO BREAK*/
 		default:
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}

osal/linux/MessageQueue.h

@@ -5,20 +5,23 @@
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/ipc/MessageQueueMessage.h>
 /**
- *	@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.
+ * @details
- *				They work like post boxes, where all incoming messages are stored in FIFO
+ * Message queues are used to pass asynchronous messages between processes.
- *				order. This class creates a new receiving queue and provides methods to fetch
+ * They work like post boxes, where all incoming messages are stored in FIFO
- *				received messages. Being a child of MessageQueueSender, this class also provides
+ * order. This class creates a new receiving queue and provides methods to fetch
- *				methods to send a message to a user-defined or a default destination. In addition
+ * received messages. Being a child of MessageQueueSender, this class also
- *				it also provides a reply method to answer to the queue it received its last message
+ * provides methods to send a message to a user-defined or a default destination.
- *				from.
+ * In addition it also provides a reply method to answer to the queue it
- *				The MessageQueue should be used as "post box" for a single owning object. So all
+ * received its last message from.
- *				message queue communication is "n-to-one".
+ *
- *				For creating the queue, as well as sending and receiving messages, the class makes
+ * The MessageQueue should be used as "post box" for a single owning object.
- *				use of the operating system calls provided.
+ * So all message queue communication is "n-to-one".
- *	\ingroup message_queue
+ *
+ * The creation of message queues, as well as sending and receiving messages,
+ * makes use of the operating system calls provided.
+ *	@ingroup message_queue
  */
 class MessageQueue : public MessageQueueIF {
 	friend class MessageQueueSenderIF;
@@ -35,7 +38,8 @@ public:
 	 * @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 );
 	/**
 	 * @brief	The destructor deletes the formerly created message queue.
 	 * @details	This is accomplished by using the delete call provided by the operating system.

osal/linux/QueueFactory.cpp

@@ -5,16 +5,18 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <cstring>
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 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() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
@@ -26,9 +28,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
-		uint32_t max_message_size) {
+		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, max_message_size);
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {