added FreeRTOS queue map manager

This commit is contained in:
Robin Müller 2021-05-27 13:12:34 +02:00
parent 59e7f0caae
commit e15f03fb0a
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GPG Key ID: 71B58F8A3CDFA9AC
5 changed files with 157 additions and 57 deletions

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@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
TaskFactory.cpp TaskFactory.cpp
Timekeeper.cpp Timekeeper.cpp
TaskManagement.cpp TaskManagement.cpp
QueueMapManager.cpp
) )
# FreeRTOS is required to link the FSFW now. It is recommended to compile # FreeRTOS is required to link the FSFW now. It is recommended to compile

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@ -0,0 +1,49 @@
#include "QueueMapManager.h"
#include "../../ipc/MutexFactory.h"
#include "../../ipc/MutexGuard.h"
QueueMapManager::QueueMapManager() {
mapLock = MutexFactory::instance()->createMutex();
}
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);
}

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@ -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 <map>
using QueueMap = std::map<MessageQueueId_t, QueueHandle_t>;
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_ */

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@ -15,52 +15,49 @@ QueueMapManager::~QueueMapManager() {
} }
QueueMapManager* QueueMapManager::instance() { QueueMapManager* QueueMapManager::instance() {
if (mqManagerInstance == nullptr){ if (mqManagerInstance == nullptr){
mqManagerInstance = new QueueMapManager(); mqManagerInstance = new QueueMapManager();
} }
return QueueMapManager::mqManagerInstance; return QueueMapManager::mqManagerInstance;
} }
ReturnValue_t QueueMapManager::addMessageQueue( ReturnValue_t QueueMapManager::addMessageQueue(
MessageQueueIF* queueToInsert, MessageQueueId_t* id) { MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
/* Not thread-safe, but it is assumed all message queues are created at software initialization MutexGuard lock(mapLock);
now. If this is to be made thread-safe in the future, it propably would be sufficient to lock uint32_t currentId = queueCounter++;
the increment operation here. */ auto returnPair = queueMap.emplace(currentId, queueToInsert);
uint32_t currentId = queueCounter++; if(not returnPair.second) {
auto returnPair = queueMap.emplace(currentId, queueToInsert); /* This should never happen for the atomic variable. */
if(not returnPair.second) {
/* This should never happen for the atomic variable. */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "QueueMapManager::addMessageQueue This ID is already " sif::error << "QueueMapManager::addMessageQueue This ID is already "
"inside the map!" << std::endl; "inside the map!" << std::endl;
#else #else
sif::printError("QueueMapManager::addMessageQueue This ID is already " sif::printError("QueueMapManager::addMessageQueue This ID is already "
"inside the map!\n"); "inside the map!\n");
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
if (id != nullptr) { if (id != nullptr) {
*id = currentId; *id = currentId;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueIF* QueueMapManager::getMessageQueue( MessageQueueIF* QueueMapManager::getMessageQueue(
MessageQueueId_t messageQueueId) const { MessageQueueId_t messageQueueId) const {
MutexGuard(mapLock, MutexIF::TimeoutType::WAITING, 50); auto queueIter = queueMap.find(messageQueueId);
auto queueIter = queueMap.find(messageQueueId); if(queueIter != queueMap.end()) {
if(queueIter != queueMap.end()) { return queueIter->second;
return queueIter->second; }
} else {
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId << sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
" does not exists in the map!" << std::endl; " does not exists in the map!" << std::endl;
#else #else
sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n", sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
messageQueueId); messageQueueId);
#endif #endif
return nullptr; }
} return nullptr;
} }

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@ -15,33 +15,36 @@ using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
*/ */
class QueueMapManager { class QueueMapManager {
public: public:
//! Returns the single instance of SemaphoreFactory.
static QueueMapManager* instance();
/**
* Insert a message queue into the map and returns a message queue ID //! Returns the single instance of QueueMapManager.
* @param queue The message queue to insert. static QueueMapManager* instance();
* @param id The passed value will be set unless a nullptr is passed
* @return /**
*/ * Insert a message queue into the map and returns a message queue ID
ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t* * @param queue The message queue to insert.
id = nullptr); * @param id The passed value will be set unless a nullptr is passed
/** * @return
* Get the message queue handle by providing a message queue ID. */
* @param messageQueueId ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
* @return id = nullptr);
*/ /**
MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const; * 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: private:
//! External instantiation is forbidden. //! External instantiation is forbidden. Constructor still required for singleton instantiation.
QueueMapManager(); QueueMapManager();
~QueueMapManager(); ~QueueMapManager();
uint32_t queueCounter = 0; uint32_t queueCounter = 0;
MutexIF* mapLock; MutexIF* mapLock;
QueueMap queueMap; QueueMap queueMap;
static QueueMapManager* mqManagerInstance; static QueueMapManager* mqManagerInstance;
}; };