339 lines
11 KiB
C++
339 lines
11 KiB
C++
#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/osal/linux/MessageQueue.h>
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#include <fstream>
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#include <fcntl.h> /* For O_* constants */
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#include <sys/stat.h> /* For mode constants */
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#include <cstring>
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#include <errno.h>
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MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
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lastPartner(0), defaultDestination(NO_QUEUE) {
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//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
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mq_attr attributes;
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this->id = 0;
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//Set attributes
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attributes.mq_curmsgs = 0;
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attributes.mq_maxmsg = messageDepth;
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attributes.mq_msgsize = maxMessageSize;
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attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
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//Set the name of the queue. The slash is mandatory!
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sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
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// Create a nonblocking queue if the name is available (the queue is read
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// and writable for the owner as well as the group)
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int oflag = O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL;
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mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
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mqd_t tempId = mq_open(name, oflag, mode, &attributes);
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if (tempId == -1) {
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handleError(&attributes, messageDepth);
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}
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else {
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//Successful mq_open call
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this->id = tempId;
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}
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}
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MessageQueue::~MessageQueue() {
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int status = mq_close(this->id);
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if(status != 0){
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sif::error << "MessageQueue::Destructor: mq_close Failed with status: "
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<< strerror(errno) <<std::endl;
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}
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status = mq_unlink(name);
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if(status != 0){
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sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
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<< strerror(errno) <<std::endl;
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}
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}
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ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
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uint32_t messageDepth) {
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switch(errno) {
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case(EINVAL): {
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sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
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" for message size" << std::endl;
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size_t defaultMqMaxMsg = 0;
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// Not POSIX conformant, but should work for all UNIX systems.
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// Just an additional helpful printout :-)
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if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
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defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
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// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
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// This happens if the msg_max value is not large enough
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// It is ignored if the executable is run in privileged mode.
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// Run the unlockRealtime script or grant the mode manually by using:
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// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
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// Persistent solution for session:
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// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
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// Permanent solution:
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// sudo nano /etc/sysctl.conf
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// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
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// Apply changes with: sudo sysctl -p
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sif::error << "MessageQueue::MessageQueue: Default MQ size "
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<< defaultMqMaxMsg << " is too small for requested size "
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<< messageDepth << std::endl;
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}
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break;
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}
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case(EEXIST): {
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// An error occured during open
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// We need to distinguish if it is caused by an already created queue
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//There's another queue with the same name
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//We unlink the other queue
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int status = mq_unlink(name);
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if (status != 0) {
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sif::error << "mq_unlink Failed with status: " << strerror(errno)
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<< std::endl;
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}
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else {
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// Successful unlinking, try to open again
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mqd_t tempId = mq_open(name,
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O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
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S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
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if (tempId != -1) {
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//Successful mq_open
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this->id = tempId;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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break;
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}
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default:
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// Failed either the first time or the second time
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sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
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<< name << std::dec << " failed with status: "
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<< strerror(errno) << std::endl;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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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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return sendMessageFrom(sendTo, message, this->getId(), false);
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}
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ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* 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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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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MessageQueueId_t* receivedFrom) {
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ReturnValue_t status = this->receiveMessage(message);
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*receivedFrom = this->lastPartner;
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return status;
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
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unsigned int messagePriority = 0;
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int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
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message->MAX_MESSAGE_SIZE,&messagePriority);
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if (status > 0) {
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this->lastPartner = message->getSender();
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//Check size of incoming message.
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if (message->messageSize < message->getMinimumMessageSize()) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}else if(status==0){
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//Success but no message received
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return MessageQueueIF::EMPTY;
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} else {
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//No message was received. Keep lastPartner anyway, I might send
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//something later. But still, delete packet content.
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memset(message->getData(), 0, message->MAX_DATA_SIZE);
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switch(errno){
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case EAGAIN:
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//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
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//currently on the specified queue.
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return MessageQueueIF::EMPTY;
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case EBADF:
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//mqdes doesn't represent a valid queue open for reading.
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sif::error << "MessageQueue::receive: configuration error "
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<< strerror(errno) << std::endl;
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/*NO BREAK*/
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case EINVAL:
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/*
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* This value indicates one of the following:
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* - The pointer to the buffer for storing the received message,
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* msg_ptr, is NULL.
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* - The number of bytes requested, msg_len is less than zero.
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* - msg_len is anything other than the mq_msgsize of the specified
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* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
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* been set in the queue's mq_flags.
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*/
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sif::error << "MessageQueue::receive: configuration error "
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<< strerror(errno) << std::endl;
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/*NO BREAK*/
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case EMSGSIZE:
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/*
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* This value indicates one of the following:
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* - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
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* and the given msg_len is shorter than the mq_msgsize for
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* the given queue.
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* - the extended option MQ_READBUF_DYNAMIC has been set, but the
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* given msg_len is too short for the message that would have
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* been received.
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*/
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sif::error << "MessageQueue::receive: configuration error "
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<< strerror(errno) << std::endl;
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/*NO BREAK*/
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case EINTR:
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//The operation was interrupted by a signal.
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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}
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MessageQueueId_t MessageQueue::getLastPartner() const {
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return this->lastPartner;
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}
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ReturnValue_t MessageQueue::flush(uint32_t* count) {
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mq_attr attrib;
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int status = mq_getattr(id,&attrib);
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if(status != 0){
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switch(errno){
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case EBADF:
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//mqdes doesn't represent a valid message queue.
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sif::error << "MessageQueue::flush configuration error, "
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"called flush with an invalid queue ID" << std::endl;
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/*NO BREAK*/
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case EINVAL:
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//mq_attr is NULL
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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*count = attrib.mq_curmsgs;
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attrib.mq_curmsgs = 0;
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status = mq_setattr(id,&attrib,NULL);
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if(status != 0){
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switch(errno){
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case EBADF:
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//mqdes doesn't represent a valid message queue.
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sif::error << "MessageQueue::flush configuration error, "
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"called flush with an invalid queue ID" << std::endl;
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/*NO BREAK*/
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case EINVAL:
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/*
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* This value indicates one of the following:
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* - mq_attr is NULL.
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* - MQ_MULT_NOTIFY had been set for this queue, and the given
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* mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
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* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
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*/
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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MessageQueueId_t MessageQueue::getId() const {
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return this->id;
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}
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void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
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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 this->defaultDestination;
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}
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bool MessageQueue::isDefaultDestinationSet() const {
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return (defaultDestination != NO_QUEUE);
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}
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uint16_t MessageQueue::queueCounter = 0;
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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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message->setSender(sentFrom);
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int result = mq_send(sendTo,
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reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
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//TODO: Check if we're in ISR.
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if (result != 0) {
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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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switch(errno){
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case EAGAIN:
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//The O_NONBLOCK flag was set when opening the queue, or the
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//MQ_NONBLOCK flag was set in its attributes, and the
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//specified queue is full.
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return MessageQueueIF::FULL;
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case EBADF:
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//mq_des doesn't represent a valid message queue descriptor,
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//or mq_des wasn't opened for writing.
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sif::error << "MessageQueue::sendMessage: Configuration error "
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<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
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<< " sent from " << sentFrom << std::endl;
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/*NO BREAK*/
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case EINTR:
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//The call was interrupted by a signal.
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case EINVAL:
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/*
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* This value indicates one of the following:
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* - msg_ptr is NULL.
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* - msg_len is negative.
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* - msg_prio is greater than MQ_PRIO_MAX.
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* - msg_prio is less than 0.
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* - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
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* msg_prio is greater than the priority of the calling process.
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*/
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sif::error << "MessageQueue::sendMessage: Configuration error "
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<< strerror(errno) << " in mq_send" << std::endl;
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/*NO BREAK*/
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case EMSGSIZE:
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// The msg_len is greater than the msgsize associated with
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//the specified queue.
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sif::error << "MessageQueue::sendMessage: Size error [" <<
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strerror(errno) << "] in mq_send" << std::endl;
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/*NO BREAK*/
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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