diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp index cd75aee44..44424e023 100644 --- a/ipc/CommandMessage.cpp +++ b/ipc/CommandMessage.cpp @@ -152,3 +152,11 @@ void CommandMessage::setSender(MessageQueueId_t setId) { const uint8_t* CommandMessage::getBuffer() const { return internalMessage->getBuffer(); } + +uint8_t* CommandMessage::getData() { + return internalMessage->getData(); +} + +const uint8_t* CommandMessage::getData() const { + return internalMessage->getData(); +} diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h index f6fd86cba..772bd774d 100644 --- a/ipc/CommandMessage.h +++ b/ipc/CommandMessage.h @@ -1,16 +1,25 @@ #ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_ #define FRAMEWORK_IPC_COMMANDMESSAGE_H_ +#include #include #include -#include + #define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number)) typedef uint16_t Command_t; /** - * @brief Used to pass command messages between tasks + * @brief Used to pass command messages between tasks. Primary message type + * for IPC. Contains sender, 2-byte command field, and 2 4-byte + * parameters. + * @details + * It operates on an external memory which is contained inside a + * MessageQueueMessage by taking its address. + * This allows for a more flexible designs of message implementations. + * The pointer can be passed to different message implementations without + * the need of unnecessary copying. * @author Bastian Baetz */ class CommandMessage: public MessageQueueMessageIF { @@ -53,13 +62,10 @@ public: uint32_t parameter1, uint32_t parameter2); /** - * Default Destructor + * @brief Default Destructor */ - virtual ~CommandMessage() { - } + virtual ~CommandMessage() {} - uint8_t * getBuffer() override; - const uint8_t * getBuffer() const override; /** * Read the DeviceHandlerCommand_t that is stored in the message, * usually used after receiving. @@ -68,53 +74,54 @@ public: */ Command_t getCommand() const; - /** - * @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. + /* + * MessageQueueMessageIF functions, which generally just call the + * respective functions of the internal message */ + uint8_t * getBuffer() override; + const uint8_t * getBuffer() const override; void setSender(MessageQueueId_t setId) override; - MessageQueueId_t getSender() const override; + uint8_t * getData() override; + const uint8_t* getData() const override; + size_t getMinimumMessageSize() const override; + /** + * Extract message ID, which is the first byte of the command ID. + * @return + */ uint8_t getMessageType() const; /** - * Set the DeviceHandlerCOmmand_t of the message - * + * Set the command type of the message * @param the Command to be sent */ void setCommand(Command_t command); /** * Get the first parameter of the message - * * @return the first Parameter of the message */ uint32_t getParameter() const; /** * Set the first parameter of the message - * * @param the first parameter of the message */ void setParameter(uint32_t parameter1); /** * Get the second parameter of the message - * * @return the second Parameter of the message */ uint32_t getParameter2() const; /** * Set the second parameter of the message - * * @param the second parameter of the message */ void setParameter2(uint32_t parameter2); - void clear() override; + /** * Set the command to CMD_NONE and try to find * the correct class to handle a more detailed @@ -126,6 +133,7 @@ public: * */ void clearCommandMessage(); + void clear() override; /** * check if a message was cleared @@ -134,7 +142,6 @@ public: */ bool isClearedCommandMessage(); - /** * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND. * Is needed quite often, so we better code it once only. @@ -142,9 +149,14 @@ public: void setToUnknownCommand(); void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE); - size_t getMinimumMessageSize() const override; private: + /** + * @brief Pointer to the message containing the data. + * @details + * The command message does not actually own the memory containing a + * message, it just oprates on it via a pointer to a message queue message. + */ MessageQueueMessage* internalMessage; }; diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h index 29d1a869c..bee39ae62 100644 --- a/ipc/MessageQueueMessage.h +++ b/ipc/MessageQueueMessage.h @@ -1,5 +1,5 @@ -#ifndef MESSAGEQUEUEMESSAGE_H_ -#define MESSAGEQUEUEMESSAGE_H_ +#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGE_H_ +#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGE_H_ #include #include @@ -8,7 +8,6 @@ /** * @brief This class is the representation and data organizer * for interprocess messages. - * * @details * To facilitate and standardize interprocess communication, this class was * created to handle a lightweight "interprocess message protocol". @@ -28,12 +27,14 @@ class MessageQueueMessage: public MessageQueueMessageIF { public: /** * @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. + * @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. + * @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. @@ -46,7 +47,14 @@ public: MessageQueueMessage(uint8_t* data, size_t size); /** - * @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. + */ + virtual ~MessageQueueMessage(); + + /** + * @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, @@ -59,19 +67,26 @@ public: */ 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. + * @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. - * @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. + * @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 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; /** @@ -81,58 +96,64 @@ public: 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 As no memory is allocated in this class, the destructor is empty. + * @brief This method is used to get the complete data of the message. */ - virtual ~MessageQueueMessage(); + const uint8_t* getBuffer() const override; /** * @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. - */ - uint8_t* getBuffer(); + uint8_t* getBuffer() override; /** * @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; + const uint8_t* getData() const override; /** * @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(); + uint8_t* getData() override; /** - * @brief This method is used to extract the sender's message queue id information from a - * received message. + * @brief This method is used to extract the sender's message + * queue id information from a received message. */ - MessageQueueId_t getSender() const; + MessageQueueId_t getSender() const override; /** - * @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(); + void clear() override; + /** - * @brief This is a debug method that prints the content (till messageSize) to the debug output. + * @brief This method is used to set the sender's message queue id + * information prior to ing the message. + * @param setId + * The message queue id that identifies the sending message queue. */ - void print(); + void setSender(MessageQueueId_t setId) override; /** - * @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. - */ - void setSender(MessageQueueId_t setId); - /** - * @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. + * @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. * @return The default implementation returns HEADER_SIZE. */ - virtual size_t getMinimumMessageSize() const; + virtual size_t getMinimumMessageSize() const override; + + /** + * @brief This is a debug method that prints the content + * (till messageSize) to the debug output. + */ + void print(); }; #endif /* MESSAGEQUEUEMESSAGE_H_ */ diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h index 0a6288b02..197a26fd7 100644 --- a/ipc/MessageQueueMessageIF.h +++ b/ipc/MessageQueueMessageIF.h @@ -11,7 +11,9 @@ * lookup of queueIDs for every call does not sound ideal. * In a first step, I'll circumvent the issue by not touching it, * maybe in a second step. This also influences Interface design - * (getCommandQueue) and some other issues.. */ + * (getCommandQueue) and some other issues.. + */ + typedef uint32_t MessageQueueId_t; class MessageQueueMessageIF { @@ -25,14 +27,9 @@ public: * size is set to zero. */ virtual void clear() = 0; -// /** -// * @brief This is a debug method that prints the content -// * (till messageSize) to the debug output. -// */ -// virtual void print() = 0; /** - * @brief Get read-only pointer to the raw buffer. + * @brief Get read-only pointer to the complete data of the message. * @return */ virtual const uint8_t* getBuffer() const = 0; @@ -50,8 +47,25 @@ public: */ virtual void setSender(MessageQueueId_t setId) = 0; + /** + * @brief This method is used to extract the sender's message queue id + * information from a received message. + */ virtual MessageQueueId_t getSender() const = 0; + /** + * @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. + */ + virtual const uint8_t* getData() const = 0; + /** + * @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. + */ + virtual uint8_t* getData() = 0; + /** * @brief This helper function is used by the MessageQueue class to * check the size of an incoming message.