testArduino/fsfw/osal/FreeRTOS/MessageQueue.cpp

#include "MessageQueue.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../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
// 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 messageDepth, size_t maxMessageSize):
		maxMessageSize(maxMessageSize) {
	handle = xQueueCreate(messageDepth, maxMessageSize);
	if (handle == nullptr) {
		sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
	}
}

MessageQueue::~MessageQueue() {
	if (handle != nullptr) {
		vQueueDelete(handle);
	}
}

void MessageQueue::switchSystemContext(CallContext callContext) {
	this->callContext = callContext;
}

ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
		MessageQueueMessageIF* message, bool ignoreFault) {
	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}

ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
	return sendToDefaultFrom(message, this->getId());
}

ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
		MessageQueueId_t sentFrom, bool ignoreFault) {
	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}

ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
	if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
		return sendMessageFrom(this->lastPartner, message, this->getId());
	} else {
		return NO_REPLY_PARTNER;
	}
}

ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
		bool ignoreFault) {
	return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
	        callContext);
}


ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
	if (result != pdPASS) {
		if (not ignoreFault) {
			InternalErrorReporterIF* internalErrorReporter = objectManager->
					get<InternalErrorReporterIF>(
					objects::INTERNAL_ERROR_REPORTER);
			if (internalErrorReporter != nullptr) {
				internalErrorReporter->queueMessageNotSent();
			}
		}
		return MessageQueueIF::FULL;
	}
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
		MessageQueueId_t* receivedFrom) {
	ReturnValue_t status = this->receiveMessage(message);
	if(status == HasReturnvaluesIF::RETURN_OK) {
		*receivedFrom = this->lastPartner;
	}
	return status;
}

ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
	BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
			message->getBuffer()), 0);
	if (result == pdPASS){
		this->lastPartner = message->getSender();
		return HasReturnvaluesIF::RETURN_OK;
	} else {
		return MessageQueueIF::EMPTY;
	}
}

MessageQueueId_t MessageQueue::getLastPartner() const {
	return lastPartner;
}

ReturnValue_t MessageQueue::flush(uint32_t* count) {
	//TODO FreeRTOS does not support flushing partially
	//Is always successful
	xQueueReset(handle);
	return HasReturnvaluesIF::RETURN_OK;
}

MessageQueueId_t MessageQueue::getId() const {
	return reinterpret_cast<MessageQueueId_t>(handle);
}

void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
	defaultDestinationSet = true;
	this->defaultDestination = defaultDestination;
}

MessageQueueId_t MessageQueue::getDefaultDestination() const {
	return defaultDestination;
}

bool MessageQueue::isDefaultDestinationSet() const {
	return defaultDestinationSet;
}


// static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
        bool ignoreFault, CallContext callContext) {
	BaseType_t result = pdFALSE;
	QueueHandle_t destination = nullptr;

	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
		return MessageQueueIF::DESTINVATION_INVALID;
	}
	else  {
		destination = reinterpret_cast<QueueHandle_t>(sendTo);
	}

    message->setSender(sentFrom);


    if(callContext == CallContext::TASK) {
        result = xQueueSendToBack(destination,
                static_cast<const void*>(message->getBuffer()), 0);
    }
    else {
        /* If the call context is from an interrupt,
         * request a context switch if a higher priority task
         * was blocked by the interrupt. */
        BaseType_t xHigherPriorityTaskWoken = pdFALSE;
        result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
                static_cast<const void*>(message->getBuffer()),
                &xHigherPriorityTaskWoken);
        if(xHigherPriorityTaskWoken == pdTRUE) {
            TaskManagement::requestContextSwitch(callContext);
        }
    }
    return handleSendResult(result, ignoreFault);
}