doc for mqm improved

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();
+}

ipc/CommandMessage.h

@@ -1,16 +1,25 @@
 #ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
 #define FRAMEWORK_IPC_COMMANDMESSAGE_H_
 
+#include <framework/ipc/MessageQueueMessage.h>
 #include <framework/ipc/FwMessageTypes.h>
 #include <config/ipc/MissionMessageTypes.h>
 
-#include <framework/ipc/MessageQueueMessage.h>
+
 
 #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
+	 * MessageQueueMessageIF functions, which generally just call the
-	 * 			information prior to sending the message.
+	 * respective functions of the internal message
-	 * @param setId
-	 * The message queue id that identifies the sending message queue.
 	 */
+	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;
 };
 

ipc/MessageQueueMessage.h

@@ -1,5 +1,5 @@
-#ifndef MESSAGEQUEUEMESSAGE_H_
+#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGE_H_
-#define MESSAGEQUEUEMESSAGE_H_
+#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGE_H_
 
 #include <framework/ipc/MessageQueueMessageIF.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
@@ -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
+	 * @details
-	 * 			whole content is set to zero.
+	 * 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.
+	 * @brief	This constant defines the maximum size of the data content,
-	 * @details	It may be changed if necessary, but in general should be kept as small as possible.
+	 * 			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.
+	 * @brief	This constant defines the maximum total size in bytes
-	 * @details	It is the sum of the maximum data and the header size. Be aware that this constant
+	 * 			of a sent message.
-	 * 			is used to define the buffer sizes for every message queue in the system. So, a change
+	 * @details
-	 * 			here may have significant impact on the required resources.
+	 * 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;
+	uint8_t* getBuffer() override;
-	/**
-	 * @brief	This method is used to get the complete data of the message.
-	 */
-	uint8_t* getBuffer();
 	/**
 	 * @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
+	 * @brief	This method is used to extract the sender's message
-	 * 			received 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
+	 * @brief	This helper function is used by the MessageQueue class to check
-	 * 			sending the message.
+	 * 			the size of an incoming message.
-	 * @param setId	The message queue id that identifies the sending message queue.
+	 * @details
-	 */
+	 * The method must be overwritten by child classes if size
-	void setSender(MessageQueueId_t setId);
+	 * 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_ */

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.