134 lines
4.1 KiB
C++
134 lines
4.1 KiB
C++
#ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
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#define FRAMEWORK_IPC_COMMANDMESSAGE_H_
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#include <framework/ipc/CommandMessageBase.h>
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#include <framework/ipc/MessageQueueMessage.h>
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#include <framework/ipc/FwMessageTypes.h>
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namespace messagetypes {
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// Implemented in config.
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void clearMissionMessage(CommandMessageIF* message);
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}
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/**
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* @brief Default command message used to pass command messages between tasks.
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* Primary message type for IPC. Contains sender, 2-byte command ID
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* field, and 2 4-byte parameters.
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* @details
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* It operates on an external memory which is contained inside a
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* class implementing MessageQueueMessageIF by taking its address.
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* This allows for a more flexible designs of message implementations.
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* The pointer can be passed to different message implementations without
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* the need of unnecessary copying.
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*
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* The command message is based of the generic MessageQueueMessage which
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* currently has an internal message size of 28 bytes.
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* @author Bastian Baetz
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*/
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class CommandMessage: public CommandMessageBase {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
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static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
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static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
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//! Used internally, will be ignored
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static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
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static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
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//! Reply indicating that the current command was rejected,
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//! par1 should contain the error code
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static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );
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/**
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* This is the size of a message as it is seen by the MessageQueue.
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* 14 of the 24 available MessageQueueMessage bytes are used.
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*/
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static const size_t MINIMUM_COMMAND_MESSAGE_SIZE =
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MessageQueueMessage::HEADER_SIZE + sizeof(Command_t) +
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2 * sizeof(uint32_t);
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/**
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* Default Constructor, does not initialize anything.
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*
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* This constructor should be used when receiving a Message, as the
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* content is filled by the MessageQueue.
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*/
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CommandMessage(MessageQueueMessageIF* receiverMessage);
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/**
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* This constructor creates a new message with all message content
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* initialized
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*
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* @param command The DeviceHandlerCommand_t that will be sent
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* @param parameter1 The first parameter
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* @param parameter2 The second parameter
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*/
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CommandMessage(MessageQueueMessageIF* messageToSet, Command_t command,
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uint32_t parameter1, uint32_t parameter2);
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/**
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* @brief Default Destructor
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*/
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virtual ~CommandMessage() {}
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/** MessageQueueMessageIF functions used for minimum size check. */
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size_t getMinimumMessageSize() const override;
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/** MessageQueueMessageIF functions used for maximum size check. */
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size_t getMaximumMessageSize() const override;
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/**
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* Get the first parameter of the message
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* @return the first Parameter of the message
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*/
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uint32_t getParameter() const;
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/**
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* Set the first parameter of the message
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* @param the first parameter of the message
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*/
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void setParameter(uint32_t parameter1);
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/**
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* Get the second parameter of the message
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* @return the second Parameter of the message
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*/
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uint32_t getParameter2() const;
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/**
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* Set the second parameter of the message
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* @param the second parameter of the message
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*/
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void setParameter2(uint32_t parameter2);
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void clear() override;
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/**
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* Set the command to CMD_NONE and try to find the correct class to handle
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* a more detailed clear.
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* Also, calls a mission-specific clearMissionMessage function to separate
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* between framework and mission messages. Not optimal, may be replaced by
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* totally different auto-delete solution (e.g. smart pointers).
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*
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*/
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void clearCommandMessage();
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/**
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* check if a message was cleared
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*
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* @return if the command is CMD_NONE
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*/
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bool isClearedCommandMessage();
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/**
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* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
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* Is needed quite often, so we better code it once only.
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*/
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void setToUnknownCommand();
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void setReplyRejected(ReturnValue_t reason,
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Command_t initialCommand = CMD_NONE);
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ReturnValue_t getRejectedReplyReason(
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Command_t* initialCommand = nullptr) const;
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};
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#endif /* COMMANDMESSAGE_H_ */
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