181 lines
8.7 KiB
C++
181 lines
8.7 KiB
C++
#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
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#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
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#include "RtemsBasic.h"
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#include "fsfw/internalerror/InternalErrorReporterIF.h"
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#include "fsfw/ipc/MessageQueueIF.h"
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#include "fsfw/ipc/MessageQueueMessage.h"
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#include "fsfw/ipc/definitions.h"
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/**
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* @brief This class manages sending and receiving of message queue messages.
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*
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* @details Message queues are used to pass asynchronous messages between processes.
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* They work like post boxes, where all incoming messages are stored in
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*FIFO order. This class creates a new receiving queue and provides methods to fetch received
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*messages. Being a child of MessageQueueSender, this class also provides methods to send a message
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*to a user-defined or a default destination. In addition it also provides a reply method to answer
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*to the queue it received its last message from. The MessageQueue should be used as "post box" for
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*a single owning object. So all message queue communication is "n-to-one". For creating the queue,
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*as well as sending and receiving messages, the class makes use of the operating system calls
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*provided. \ingroup message_queue
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*/
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class MessageQueue : public MessageQueueIF {
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public:
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/**
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* @brief The constructor initializes and configures the message queue.
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* @details By making use of the according operating system call, a message queue is created
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* and initialized. The message depth - the maximum number of messages to be
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* buffered - may be set with the help of a parameter, whereas the message size
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* is automatically set to the maximum message queue message size. The operating system sets the
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* message queue id, or i case of failure, it is set to zero.
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* @param message_depth The number of messages to be buffered before passing an error to the
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* sender. Default is three.
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* @param max_message_size With this parameter, the maximum message size can be adjusted.
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* This should be left default.
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*/
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MessageQueue(size_t message_depth = 3,
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size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
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MqArgs* args = nullptr);
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/**
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* @brief The destructor deletes the formerly created message queue.
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* @details This is accomplished by using the delete call provided by the operating system.
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*/
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virtual ~MessageQueue();
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/**
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* @brief This operation sends a message to the given destination.
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* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes
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* its queue id as "sentFrom" parameter.
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* @param sendTo This parameter specifies the message queue id of the destination message
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* queue.
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* @param message A pointer to a previously created message, which is sent.
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* @param ignoreFault If set to true, the internal software fault counter is not incremented if
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* queue is full.
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*/
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ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
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bool ignoreFault = false);
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/**
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* @brief This operation sends a message to the default destination.
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* @details As in the sendMessage method, this function uses the sendToDefault call of the
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* MessageQueueSender parent class and adds its queue id as "sentFrom"
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* information.
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* @param message A pointer to a previously created message, which is sent.
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*/
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ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
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/**
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* @brief This operation sends a message to the last communication partner.
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* @details This operation simplifies answering an incoming message by using the stored
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* lastParnter information as destination. If there was no message received yet
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* (i.e. lastPartner is zero), an error code is returned.
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* @param message A pointer to a previously created message, which is sent.
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*/
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ReturnValue_t reply(MessageQueueMessageIF* message);
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/**
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* @brief This function reads available messages from the message queue and returns the
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* sender.
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* @details It works identically to the other receiveMessage call, but in addition returns the
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* sender's queue id.
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* @param message A pointer to a message in which the received data is stored.
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* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
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*/
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ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
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/**
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* @brief This function reads available messages from the message queue.
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* @details If data is available it is stored in the passed message pointer. The message's
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* original content is overwritten and the sendFrom information is stored in
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* the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
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* content is cleared and the function returns immediately.
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* @param message A pointer to a message in which the received data is stored.
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*/
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ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
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/**
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* Deletes all pending messages in the queue.
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* @param count The number of flushed messages.
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* @return RETURN_OK on success.
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*/
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ReturnValue_t flush(uint32_t* count);
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/**
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* @brief This method returns the message queue id of the last communication partner.
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*/
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MessageQueueId_t getLastPartner() const;
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/**
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* @brief This method returns the message queue id of this class's message queue.
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*/
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MessageQueueId_t getId() const;
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/**
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* \brief With the sendMessage call, a queue message is sent to a receiving queue.
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* \details This method takes the message provided, adds the sentFrom information and passes
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* it on to the destination provided with an operating system call. The OS's
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* return value is returned.
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* \param sendTo This parameter specifies the message queue id to send the message to.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the
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* message. This variable is set to zero by default. \param ignoreFault If set to true, the
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* internal software fault counter is not incremented if queue is full.
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*/
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virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault = false);
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/**
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* \brief The sendToDefault method sends a queue message to the default destination.
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* \details In all other aspects, it works identical to the sendMessage method.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the
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* message. This variable is set to zero by default.
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*/
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virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault = false);
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/**
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* \brief This method is a simple setter for the default destination.
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*/
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void setDefaultDestination(MessageQueueId_t defaultDestination);
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/**
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* \brief This method is a simple getter for the default destination.
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*/
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MessageQueueId_t getDefaultDestination() const;
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bool isDefaultDestinationSet() const;
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private:
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/**
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* @brief The class stores the queue id it got assigned from the operating system in this
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* attribute. If initialization fails, the queue id is set to zero.
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*/
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MessageQueueId_t id;
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/**
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* @brief In this attribute, the queue id of the last communication partner is stored
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* to allow for replying.
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*/
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MessageQueueId_t lastPartner;
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/**
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* @brief The message queue's name -a user specific information for the operating system- is
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* generated automatically with the help of this static counter.
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*/
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/**
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* \brief This attribute stores a default destination to send messages to.
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* \details It is stored to simplify sending to always-the-same receiver. The attribute may
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* be set in the constructor or by a setter call to setDefaultDestination.
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*/
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MessageQueueId_t defaultDestination;
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/**
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* \brief This attribute stores a reference to the internal error reporter for reporting full
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* queues. \details In the event of a full destination queue, the reporter will be notified. The
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* reference is set by lazy loading
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*/
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InternalErrorReporterIF* internalErrorReporter;
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static uint16_t queueCounter;
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/**
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* A method to convert an OS-specific return code to the frameworks return value concept.
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* @param inValue The return code coming from the OS.
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* @return The converted return value.
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*/
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static ReturnValue_t convertReturnCode(rtems_status_code inValue);
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};
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#endif /* FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ */
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