diff --git a/memory/CMakeLists.txt b/memory/CMakeLists.txt index 9edb9031f..c713cd42d 100644 --- a/memory/CMakeLists.txt +++ b/memory/CMakeLists.txt @@ -1,5 +1,5 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - MemoryHelper.cpp - MemoryMessage.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + MemoryHelper.cpp + MemoryMessage.cpp + GenericFileSystemMessage.cpp ) \ No newline at end of file diff --git a/memory/GenericFileSystemMessage.cpp b/memory/GenericFileSystemMessage.cpp new file mode 100644 index 000000000..d93555678 --- /dev/null +++ b/memory/GenericFileSystemMessage.cpp @@ -0,0 +1,132 @@ +#include "GenericFileSystemMessage.h" + + +void GenericFileSystemMessage::setCreateFileCommand(CommandMessage* message, + store_address_t storeId) { + message->setCommand(CMD_CREATE_FILE); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setDeleteFileCommand( + CommandMessage* message, store_address_t storeId) { + message->setCommand(CMD_DELETE_FILE); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setCreateDirectoryCommand( + CommandMessage* message, store_address_t storeId) { + message->setCommand(CMD_CREATE_DIRECTORY); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setReportFileAttributesCommand(CommandMessage *message, + store_address_t storeId) { + message->setCommand(CMD_REPORT_FILE_ATTRIBUTES); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setReportFileAttributesReply(CommandMessage *message, + store_address_t storeId) { + message->setCommand(REPLY_REPORT_FILE_ATTRIBUTES); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setDeleteDirectoryCommand(CommandMessage* message, + store_address_t storeId) { + message->setCommand(CMD_DELETE_DIRECTORY); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setLockFileCommand(CommandMessage *message, + store_address_t storeId) { + message->setCommand(CMD_LOCK_FILE); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setUnlockFileCommand(CommandMessage *message, + store_address_t storeId) { + message->setCommand(CMD_UNLOCK_FILE); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setSuccessReply(CommandMessage *message) { + message->setCommand(COMPLETION_SUCCESS); +} + +void GenericFileSystemMessage::setFailureReply(CommandMessage *message, + ReturnValue_t errorCode, uint32_t errorParam) { + message->setCommand(COMPLETION_FAILED); + message->setParameter(errorCode); + message->setParameter2(errorParam); +} + +store_address_t GenericFileSystemMessage::getStoreId(const CommandMessage* message) { + store_address_t temp; + temp.raw = message->getParameter2(); + return temp; +} + +ReturnValue_t GenericFileSystemMessage::getFailureReply( + const CommandMessage *message, uint32_t* errorParam) { + if(errorParam != nullptr) { + *errorParam = message->getParameter2(); + } + return message->getParameter(); +} + +void GenericFileSystemMessage::setFinishStopWriteCommand(CommandMessage *message, + store_address_t storeId) { + message->setCommand(CMD_FINISH_APPEND_TO_FILE); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setFinishStopWriteReply(CommandMessage *message, + store_address_t storeId) { + message->setCommand(REPLY_FINISH_APPEND); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setCopyCommand(CommandMessage* message, + store_address_t storeId) { + message->setCommand(CMD_COPY_FILE); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setWriteCommand(CommandMessage* message, + store_address_t storeId) { + message->setCommand(CMD_APPEND_TO_FILE); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setReadCommand(CommandMessage* message, + store_address_t storeId) { + message->setCommand(CMD_READ_FROM_FILE); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setFinishAppendReply(CommandMessage* message, + store_address_t storageID) { + message->setCommand(REPLY_FINISH_APPEND); + message->setParameter2(storageID.raw); +} + +void GenericFileSystemMessage::setReadReply(CommandMessage* message, + bool readFinished, store_address_t storeId) { + message->setCommand(REPLY_READ_FROM_FILE); + message->setParameter(readFinished); + message->setParameter2(storeId.raw); +} + +void GenericFileSystemMessage::setReadFinishedReply(CommandMessage *message, + store_address_t storeId) { + message->setCommand(REPLY_READ_FINISHED_STOP); + message->setParameter2(storeId.raw); +} + +bool GenericFileSystemMessage::getReadReply(const CommandMessage *message, + store_address_t *storeId) { + if(storeId != nullptr) { + (*storeId).raw = message->getParameter2(); + } + return message->getParameter(); +} diff --git a/memory/GenericFileSystemMessage.h b/memory/GenericFileSystemMessage.h new file mode 100644 index 000000000..1a19a69bf --- /dev/null +++ b/memory/GenericFileSystemMessage.h @@ -0,0 +1,113 @@ +#ifndef MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_ +#define MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_ + +#include + +#include +#include +#include +#include + +/** + * @brief These messages are sent to an object implementing HasFilesystemIF. + * @details + * Enables a message-based file management. The user can add custo commands be implementing + * this generic class. + * @author Jakob Meier, R. Mueller + */ +class GenericFileSystemMessage { +public: + /* Instantiation forbidden */ + GenericFileSystemMessage() = delete; + + static const uint8_t MESSAGE_ID = messagetypes::FILE_SYSTEM_MESSAGE; + /* PUS standard (ECSS-E-ST-70-41C15 2016 p.654) */ + static const Command_t CMD_CREATE_FILE = MAKE_COMMAND_ID(1); + static const Command_t CMD_DELETE_FILE = MAKE_COMMAND_ID(2); + /** Report file attributes */ + static const Command_t CMD_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(3); + static const Command_t REPLY_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(4); + /** Command to lock a file, setting it read-only */ + static const Command_t CMD_LOCK_FILE = MAKE_COMMAND_ID(5); + /** Command to unlock a file, enabling further operations on it */ + static const Command_t CMD_UNLOCK_FILE = MAKE_COMMAND_ID(6); + /** + * Find file in repository, using a search pattern. + * Please note that * is the wildcard character. + * For example, when looking for all files which start with have the + * structure tm.bin, tm*.bin can be used. + */ + static const Command_t CMD_FIND_FILE = MAKE_COMMAND_ID(7); + static const Command_t CMD_CREATE_DIRECTORY = MAKE_COMMAND_ID(9); + static const Command_t CMD_DELETE_DIRECTORY = MAKE_COMMAND_ID(10); + static const Command_t CMD_RENAME_DIRECTORY = MAKE_COMMAND_ID(11); + + /** Dump contents of a repository */ + static const Command_t CMD_DUMP_REPOSITORY = MAKE_COMMAND_ID(12); + /** Repository dump reply */ + static const Command_t REPLY_DUMY_REPOSITORY = MAKE_COMMAND_ID(13); + static constexpr Command_t CMD_COPY_FILE = MAKE_COMMAND_ID(14); + static constexpr Command_t CMD_MOVE_FILE = MAKE_COMMAND_ID(15); + + static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(128); + static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(129); + + // These command IDs will remain until CFDP has been introduced and consolidated. + /** Append operation commands */ + static const Command_t CMD_APPEND_TO_FILE = MAKE_COMMAND_ID(130); + static const Command_t CMD_FINISH_APPEND_TO_FILE = MAKE_COMMAND_ID(131); + static const Command_t REPLY_FINISH_APPEND = MAKE_COMMAND_ID(132); + + static const Command_t CMD_READ_FROM_FILE = MAKE_COMMAND_ID(140); + static const Command_t REPLY_READ_FROM_FILE = MAKE_COMMAND_ID(141); + static const Command_t CMD_STOP_READ = MAKE_COMMAND_ID(142); + static const Command_t REPLY_READ_FINISHED_STOP = MAKE_COMMAND_ID(143); + + static void setLockFileCommand(CommandMessage* message, store_address_t storeId); + static void setUnlockFileCommand(CommandMessage* message, store_address_t storeId); + + static void setCreateFileCommand(CommandMessage* message, + store_address_t storeId); + static void setDeleteFileCommand(CommandMessage* message, + store_address_t storeId); + + static void setReportFileAttributesCommand(CommandMessage* message, + store_address_t storeId); + static void setReportFileAttributesReply(CommandMessage* message, + store_address_t storeId); + + static void setCreateDirectoryCommand(CommandMessage* message, + store_address_t storeId); + static void setDeleteDirectoryCommand(CommandMessage* message, + store_address_t storeId); + + static void setSuccessReply(CommandMessage* message); + static void setFailureReply(CommandMessage* message, + ReturnValue_t errorCode, uint32_t errorParam = 0); + static void setCopyCommand(CommandMessage* message, store_address_t storeId); + + static void setWriteCommand(CommandMessage* message, + store_address_t storeId); + static void setFinishStopWriteCommand(CommandMessage* message, + store_address_t storeId); + static void setFinishStopWriteReply(CommandMessage* message, + store_address_t storeId); + static void setFinishAppendReply(CommandMessage* message, + store_address_t storeId); + + static void setReadCommand(CommandMessage* message, + store_address_t storeId); + static void setReadFinishedReply(CommandMessage* message, + store_address_t storeId); + static void setReadReply(CommandMessage* message, bool readFinished, + store_address_t storeId); + static bool getReadReply(const CommandMessage* message, + store_address_t* storeId); + + static store_address_t getStoreId(const CommandMessage* message); + static ReturnValue_t getFailureReply(const CommandMessage* message, + uint32_t* errorParam = nullptr); + +}; + +#endif /* MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_ */ diff --git a/osal/FreeRTOS/CMakeLists.txt b/osal/FreeRTOS/CMakeLists.txt index 95462010f..4da24a710 100644 --- a/osal/FreeRTOS/CMakeLists.txt +++ b/osal/FreeRTOS/CMakeLists.txt @@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME} TaskFactory.cpp Timekeeper.cpp TaskManagement.cpp + QueueMapManager.cpp ) # FreeRTOS is required to link the FSFW now. It is recommended to compile diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index 3a0f654ed..b5c9035dc 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -1,26 +1,23 @@ #include "MessageQueue.h" +#include "QueueMapManager.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 FSFW_CPP_OSTREAM_ENABLED == 1 if (handle == nullptr) { - sif::error << "MessageQueue::MessageQueue:" - << " Creation failed." << std::endl; - sif::error << "Specified Message Depth: " << messageDepth - << std::endl; - sif::error << "Specified Maximum Message Size: " - << maxMessageSize << std::endl; - - } +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "MessageQueue::MessageQueue: Creation failed" << std::endl; + sif::error << "Specified Message Depth: " << messageDepth << std::endl; + sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl; +#else + sif::printError("MessageQueue::MessageQueue: Creation failed\n"); + sif::printError("Specified Message Depth: %d\n", messageDepth); + sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize); #endif + } + QueueMapManager::instance()->addMessageQueue(handle, &queueId); } MessageQueue::~MessageQueue() { @@ -62,13 +59,15 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, callContext); } +QueueHandle_t MessageQueue::getNativeQueueHandle() { + return handle; +} ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) { if (result != pdPASS) { if (not ignoreFault) { InternalErrorReporterIF* internalErrorReporter = objectManager-> - get( - objects::INTERNAL_ERROR_REPORTER); + get(objects::INTERNAL_ERROR_REPORTER); if (internalErrorReporter != nullptr) { internalErrorReporter->queueMessageNotSent(); } @@ -110,7 +109,7 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) { } MessageQueueId_t MessageQueue::getId() const { - return reinterpret_cast(handle); + return queueId; } void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) { @@ -132,29 +131,24 @@ 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::DESTINATION_INVALID; + if(sendTo == MessageQueueIF::NO_QUEUE) { + return MessageQueueIF::DESTINATION_INVALID; } - else { - destination = reinterpret_cast(sendTo); + + QueueHandle_t destination = QueueMapManager::instance()->getMessageQueue(sendTo); + if(destination == nullptr) { + return MessageQueueIF::DESTINATION_INVALID; } message->setSender(sentFrom); - - if(callContext == CallContext::TASK) { - result = xQueueSendToBack(destination, - static_cast(message->getBuffer()), 0); + result = xQueueSendToBack(destination, static_cast(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. */ + /* 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(sendTo), - static_cast(message->getBuffer()), + result = xQueueSendFromISR(destination, static_cast(message->getBuffer()), &xHigherPriorityTaskWoken); if(xHigherPriorityTaskWoken == pdTRUE) { TaskManagement::requestContextSwitch(callContext); diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h index 8fa862831..9cee5b22e 100644 --- a/osal/FreeRTOS/MessageQueue.h +++ b/osal/FreeRTOS/MessageQueue.h @@ -11,11 +11,6 @@ #include #include -// TODO: this class assumes that MessageQueueId_t is the same size as void* -// (the FreeRTOS handle type), compiler will catch this but it might be nice -// to have something checking or even an always working solution -// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/ - /** * @brief This class manages sending and receiving of * message queue messages. @@ -112,6 +107,8 @@ public: bool isDefaultDestinationSet() const override; + QueueHandle_t getNativeQueueHandle(); + protected: /** * @brief Implementation to be called from any send Call within @@ -141,6 +138,8 @@ protected: private: bool defaultDestinationSet = false; QueueHandle_t handle; + MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE; + MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE; MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE; const size_t maxMessageSize; diff --git a/osal/FreeRTOS/QueueMapManager.cpp b/osal/FreeRTOS/QueueMapManager.cpp new file mode 100644 index 000000000..51cfe11db --- /dev/null +++ b/osal/FreeRTOS/QueueMapManager.cpp @@ -0,0 +1,58 @@ +#include "QueueMapManager.h" +#include "../../ipc/MutexFactory.h" +#include "../../ipc/MutexGuard.h" + +QueueMapManager* QueueMapManager::mqManagerInstance = nullptr; + +QueueMapManager::QueueMapManager() { + mapLock = MutexFactory::instance()->createMutex(); +} + +QueueMapManager* QueueMapManager::instance() { + if (mqManagerInstance == nullptr){ + mqManagerInstance = new QueueMapManager(); + } + return QueueMapManager::mqManagerInstance; +} + +ReturnValue_t QueueMapManager::addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id) { + MutexGuard lock(mapLock); + uint32_t currentId = queueCounter++; + auto returnPair = queueMap.emplace(currentId, queue); + if(not returnPair.second) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "QueueMapManager::addMessageQueue This ID is already " + "inside the map!" << std::endl; +#else + sif::printError("QueueMapManager::addMessageQueue This ID is already " + "inside the map!\n"); +#endif + return HasReturnvaluesIF::RETURN_FAILED; + } + if (id != nullptr) { + *id = currentId; + } + return HasReturnvaluesIF::RETURN_OK; + +} + +QueueHandle_t QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId) const { + auto queueIter = queueMap.find(messageQueueId); + if(queueIter != queueMap.end()) { + return queueIter->second; + } + else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId << + " does not exists in the map!" << std::endl; +#else + sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n", + messageQueueId); +#endif + } + return nullptr; +} + +QueueMapManager::~QueueMapManager() { + MutexFactory::instance()->deleteMutex(mapLock); +} diff --git a/osal/FreeRTOS/QueueMapManager.h b/osal/FreeRTOS/QueueMapManager.h new file mode 100644 index 000000000..91a839f0c --- /dev/null +++ b/osal/FreeRTOS/QueueMapManager.h @@ -0,0 +1,50 @@ +#ifndef FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_ +#define FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_ + +#include "../../ipc/MutexIF.h" +#include "../../ipc/messageQueueDefinitions.h" +#include "../../ipc/MessageQueueIF.h" + +#include "freertos/FreeRTOS.h" +#include "freertos/queue.h" + +#include + +using QueueMap = std::map; + +class QueueMapManager { +public: + + //! Returns the single instance of QueueMapManager + static QueueMapManager* instance(); + + /** + * Insert a message queue and the corresponding QueueHandle into the map + * @param queue The message queue to insert. + * @param id The passed value will be set unless a nullptr is passed + * @return + */ + ReturnValue_t addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id); + + /** + * Get the message queue handle by providing a message queue ID. Returns nullptr + * if the queue ID does not exist in the internal map. + * @param messageQueueId + * @return + */ + QueueHandle_t getMessageQueue(MessageQueueId_t messageQueueId) const; + +private: + //! External instantiation forbidden. Constructor still required for singleton instantiation. + QueueMapManager(); + ~QueueMapManager(); + + uint32_t queueCounter = 0; + MutexIF* mapLock; + QueueMap queueMap; + static QueueMapManager* mqManagerInstance; +}; + + + +#endif /* FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_ */ diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp index c9100fe9a..879bc36d2 100644 --- a/osal/host/QueueMapManager.cpp +++ b/osal/host/QueueMapManager.cpp @@ -15,52 +15,49 @@ QueueMapManager::~QueueMapManager() { } QueueMapManager* QueueMapManager::instance() { - if (mqManagerInstance == nullptr){ - mqManagerInstance = new QueueMapManager(); - } - return QueueMapManager::mqManagerInstance; + if (mqManagerInstance == nullptr){ + mqManagerInstance = new QueueMapManager(); + } + return QueueMapManager::mqManagerInstance; } ReturnValue_t QueueMapManager::addMessageQueue( - MessageQueueIF* queueToInsert, MessageQueueId_t* id) { - /* Not thread-safe, but it is assumed all message queues are created at software initialization - now. If this is to be made thread-safe in the future, it propably would be sufficient to lock - the increment operation here. */ - uint32_t currentId = queueCounter++; - auto returnPair = queueMap.emplace(currentId, queueToInsert); - if(not returnPair.second) { - /* This should never happen for the atomic variable. */ + MessageQueueIF* queueToInsert, MessageQueueId_t* id) { + MutexGuard lock(mapLock); + uint32_t currentId = queueCounter++; + auto returnPair = queueMap.emplace(currentId, queueToInsert); + if(not returnPair.second) { + /* This should never happen for the atomic variable. */ #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "QueueMapManager::addMessageQueue This ID is already " - "inside the map!" << std::endl; + sif::error << "QueueMapManager::addMessageQueue This ID is already " + "inside the map!" << std::endl; #else - sif::printError("QueueMapManager::addMessageQueue This ID is already " + sif::printError("QueueMapManager::addMessageQueue This ID is already " "inside the map!\n"); #endif - return HasReturnvaluesIF::RETURN_FAILED; - } - if (id != nullptr) { - *id = currentId; - } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_FAILED; + } + if (id != nullptr) { + *id = currentId; + } + return HasReturnvaluesIF::RETURN_OK; } MessageQueueIF* QueueMapManager::getMessageQueue( - MessageQueueId_t messageQueueId) const { - MutexGuard(mapLock, MutexIF::TimeoutType::WAITING, 50); - auto queueIter = queueMap.find(messageQueueId); - if(queueIter != queueMap.end()) { - return queueIter->second; - } - else { + MessageQueueId_t messageQueueId) const { + auto queueIter = queueMap.find(messageQueueId); + if(queueIter != queueMap.end()) { + return queueIter->second; + } + else { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId << - " does not exists in the map!" << std::endl; + sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId << + " does not exists in the map!" << std::endl; #else - sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n", - messageQueueId); + sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n", + messageQueueId); #endif - return nullptr; - } + } + return nullptr; } diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h index 90c39c2f0..e274bed24 100644 --- a/osal/host/QueueMapManager.h +++ b/osal/host/QueueMapManager.h @@ -15,33 +15,36 @@ using QueueMap = std::unordered_map; */ class QueueMapManager { public: - //! Returns the single instance of SemaphoreFactory. - static QueueMapManager* instance(); - /** - * Insert a message queue into the map and returns a message queue ID - * @param queue The message queue to insert. - * @param id The passed value will be set unless a nullptr is passed - * @return - */ - ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t* - id = nullptr); - /** - * Get the message queue handle by providing a message queue ID. - * @param messageQueueId - * @return - */ - MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const; + + //! Returns the single instance of QueueMapManager. + static QueueMapManager* instance(); + + /** + * Insert a message queue into the map and returns a message queue ID + * @param queue The message queue to insert. + * @param id The passed value will be set unless a nullptr is passed + * @return + */ + ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t* + id = nullptr); + /** + * Get the message queue handle by providing a message queue ID. Returns nullptr + * if the queue ID is not contained inside the internal map. + * @param messageQueueId + * @return + */ + MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const; private: - //! External instantiation is forbidden. - QueueMapManager(); - ~QueueMapManager(); + //! External instantiation is forbidden. Constructor still required for singleton instantiation. + QueueMapManager(); + ~QueueMapManager(); - uint32_t queueCounter = 0; - MutexIF* mapLock; - QueueMap queueMap; - static QueueMapManager* mqManagerInstance; + uint32_t queueCounter = 0; + MutexIF* mapLock; + QueueMap queueMap; + static QueueMapManager* mqManagerInstance; };