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doc for mqm improved

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This commit is contained in:
Robin Müller
2020-06-09 02:46:19 +02:00
parent 8ff6506ad9
commit 47aa9ddcc3
4 changed files with 127 additions and 72 deletions
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56
ipc/CommandMessage.h
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@ -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
* 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;
};