ipc/MessageQueueSenderIF.h

@@ -1,8 +1,8 @@
 #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../ipc/MessageQueueMessageIF.h"
+#include "MessageQueueIF.h"
+#include "MessageQueueMessageIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
 class MessageQueueSenderIF {

osal/FreeRTOS/MessageQueue.cpp

@@ -1,42 +1,76 @@
 #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
-
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
-defaultDestination(0),lastPartner(0)  {
-	handle = xQueueCreate(message_depth, max_message_size);
-	if (handle == NULL) {
-		sif::error << "MessageQueue creation failed" << std::endl;
+// 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 != NULL) {
+	if (handle != nullptr) {
 		vQueueDelete(handle);
 	}
 }
 
+void MessageQueue::switchSystemContext(CallContext callContext) {
+	this->callContext = callContext;
+}
+
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
-	if (this->lastPartner != 0) {
+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::receiveMessage(MessageQueueMessage* message,
+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) {
@@ -45,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
-	BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
+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;
@@ -67,51 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 }
 
 MessageQueueId_t MessageQueue::getId() const {
-	return (MessageQueueId_t) handle;
+	return reinterpret_cast<MessageQueueId_t>(handle);
 }
 
 void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	defaultDestinationSet = true;
 	this->defaultDestination = defaultDestination;
 }
 
-ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
-		MessageQueueId_t sentFrom, bool ignoreFault) {
-	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
-}
-
 MessageQueueId_t MessageQueue::getDefaultDestination() const {
 	return defaultDestination;
 }
 
 bool MessageQueue::isDefaultDestinationSet() const {
-	return 0;
+	return defaultDestinationSet;
 }
 
+
+// static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-		MessageQueueMessage *message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	message->setSender(sentFrom);
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+        bool ignoreFault, CallContext callContext) {
+	BaseType_t result = pdFALSE;
+	QueueHandle_t destination = nullptr;
 
-	BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
-			reinterpret_cast<const void*>(message->getBuffer()), 0);
-	if (result != pdPASS) {
-		if (!ignoreFault) {
-			InternalErrorReporterIF* internalErrorReporter =
-					objectManager->get<InternalErrorReporterIF>(
-					objects::INTERNAL_ERROR_REPORTER);
-			if (internalErrorReporter != NULL) {
-				internalErrorReporter->queueMessageNotSent();
-			}
-		}
-		return MessageQueueIF::FULL;
+	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
+		return MessageQueueIF::DESTINVATION_INVALID;
+	}
+	else  {
+		destination = reinterpret_cast<QueueHandle_t>(sendTo);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
 
+    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);
 }
-

osal/FreeRTOS/MessageQueue.h

@@ -1,159 +1,150 @@
-#ifndef MESSAGEQUEUE_H_
-#define MESSAGEQUEUE_H_
+#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
+#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
-#include "../../ipc/MessageQueueMessage.h"
+#include "../../ipc/MessageQueueMessageIF.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
 
-#include <FreeRTOS.h>
-#include <queue.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#include <fsfw/ipc/MessageQueueMessage.h>
 
-//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
+// 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.
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
  *
- *	@details	Message queues are used to pass asynchronous messages between processes.
- *				They work like post boxes, where all incoming messages are stored in FIFO
- *				order. This class creates a new receiving queue and provides methods to fetch
- *				received messages. Being a child of MessageQueueSender, this class also provides
- *				methods to send a message to a user-defined or a default destination. In addition
- *				it also provides a reply method to answer to the queue it received its last message
- *				from.
- *				The MessageQueue should be used as "post box" for a single owning object. So all
- *				message queue communication is "n-to-one".
- *				For creating the queue, as well as sending and receiving messages, the class makes
- *				use of the operating system calls provided.
- *	\ingroup message_queue
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
  */
 class MessageQueue : public MessageQueueIF {
 	friend class MessageQueueSenderIF;
 public:
 	/**
 	 * @brief	The constructor initializes and configures the message queue.
-	 * @details	By making use of the according operating system call, a message queue is created
-	 * 			and initialized. The message depth - the maximum number of messages to be
-	 * 			buffered - may be set with the help of a parameter, whereas the message size is
-	 * 			automatically set to the maximum message queue message size. The operating system
-	 * 			sets the message queue id, or i case of failure, it is set to zero.
-	 * @param message_depth	The number of messages to be buffered before passing an error to the
-	 * 						sender. Default is three.
-	 * @param max_message_size	With this parameter, the maximum message size can be adjusted.
-	 * 							This should be left default.
+	 * @details
+	 * By making use of the according operating system call, a message queue
+	 * is created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
 	 */
-	MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
+	MessageQueue( size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
 	/**
 	 * @brief	The destructor deletes the formerly created message queue.
-	 * @details	This is accomplished by using the delete call provided by the operating system.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
 	 */
 	virtual ~MessageQueue();
+
 	/**
-	 * @brief	This operation sends a message to the given destination.
-	 * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
-	 * 			queue id as "sentFrom" parameter.
-	 * @param sendTo	This parameter specifies the message queue id of the destination message queue.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
+	 * This function is used to switch the call context. This has to be called
+	 * if a message is sent or received from an ISR!
+	 * @param callContext
 	 */
+	void switchSystemContext(CallContext callContext);
+
+	/** MessageQueueIF implementation */
 	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false );
-	/**
-	 * @brief	This operation sends a message to the default destination.
-	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 */
-	ReturnValue_t sendToDefault( MessageQueueMessage* message );
-	/**
-	 * @brief	This operation sends a message to the last communication partner.
-	 * @details	This operation simplifies answering an incoming message by using the stored
-	 * 			lastParnter information as destination. If there was no message received yet
-	 * 			(i.e. lastPartner is zero), an error code is returned.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 */
-	ReturnValue_t reply( MessageQueueMessage* message );
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
 
-	/**
-	 * @brief	This function reads available messages from the message queue and returns the sender.
-	 * @details	It works identically to the other receiveMessage call, but in addition returns the
-	 * 			sender's queue id.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
-			MessageQueueId_t *receivedFrom);
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
 
-	/**
-	 * @brief	This function reads available messages from the message queue.
-	 * @details	If data is available it is stored in the passed message pointer. The message's
-	 * 			original content is overwritten and the sendFrom information is stored in the
-	 * 			lastPartner attribute. Else, the lastPartner information remains untouched, the
-	 * 			message's content is cleared and the function returns immediately.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message);
-	/**
-	 * Deletes all pending messages in the queue.
-	 * @param count The number of flushed messages.
-	 * @return RETURN_OK on success.
-	 */
-	ReturnValue_t flush(uint32_t* count);
-	/**
-	 * @brief	This method returns the message queue id of the last communication partner.
-	 */
-	MessageQueueId_t getLastPartner() const;
-	/**
-	 * @brief	This method returns the message queue id of this class's message queue.
-	 */
-	MessageQueueId_t getId() const;
-	/**
-	 * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-	 * \details	This method takes the message provided, adds the sentFrom information and passes
-	 * 			it on to the destination provided with an operating system call. The OS's return
-	 * 			value is returned.
-	 * \param sendTo	This parameter specifies the message queue id to send the message to.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
-	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
-	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
-	/**
-	 * \brief	The sendToDefault method sends a queue message to the default destination.
-	 * \details	In all other aspects, it works identical to the sendMessage method.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
-	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
-	/**
-	 * \brief	This method is a simple setter for the default destination.
-	 */
-	void setDefaultDestination(MessageQueueId_t defaultDestination);
-	/**
-	 * \brief	This method is a simple getter for the default destination.
-	 */
-	MessageQueueId_t getDefaultDestination() const;
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
+	virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) override;
+
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+
+	ReturnValue_t flush(uint32_t* count) override;
+
+	MessageQueueId_t getLastPartner() const override;
+
+	MessageQueueId_t getId() const override;
+
+	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+
+	MessageQueueId_t getDefaultDestination() const override;
+
+	bool isDefaultDestinationSet() const override;
 
-	bool isDefaultDestinationSet() const;
 protected:
 	/**
-	 * Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
-	 * 	 \details	This method takes the message provided, adds the sentFrom information and passes
-	 * 			it on to the destination provided with an operating system call. The OS's return
-	 * 			value is returned.
-	 * \param sendTo	This parameter specifies the message queue id to send the message to.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
-	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
+	 * @brief 	Implementation to be called from any send Call within
+	 * 			MessageQueue and MessageQueueSenderIF.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 * The OS's return value is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id into
+	 * the message. This variable is set to zero by default.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter  is not incremented
+	 * if queue is full.
+	 * @param context Specify whether call is made from task or from an ISR.
 	 */
-	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false, CallContext callContext = CallContext::TASK);
+
+	static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
 private:
+	bool defaultDestinationSet = false;
 	QueueHandle_t handle;
-	MessageQueueId_t defaultDestination;
-	MessageQueueId_t lastPartner;
+	MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
+	MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
+	const size_t maxMessageSize;
+	//! Stores the current system context
+	CallContext callContext =  CallContext::TASK;
 };
 
-#endif /* MESSAGEQUEUE_H_ */
+#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */

osal/FreeRTOS/QueueFactory.cpp

@@ -1,8 +1,8 @@
+#include "MessageQueue.h"
+
 #include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"
 
-#include "MessageQueue.h"
-
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;