Merge remote-tracking branch 'upstream/master' into mueller_StoreAccessor
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@ -1,113 +1,88 @@
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/**
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* @file CommandMessage.h
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* @brief This file defines the CommandMessage class.
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* @date 20.06.2013
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* @author baetz
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*/
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#ifndef FSFW_IPC_COMMANDMESSAGE_H_
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#define FSFW_IPC_COMMANDMESSAGE_H_
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#ifndef COMMANDMESSAGE_H_
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#define COMMANDMESSAGE_H_
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#include "CommandMessageIF.h"
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#include "FwMessageTypes.h"
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#include <MissionMessageTypes.h>
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#include "MessageQueueMessage.h"
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#include "FwMessageTypes.h"
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#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
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typedef ReturnValue_t Command_t;
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class CommandMessage : public MessageQueueMessage {
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/**
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* @brief Default command message used to pass command messages between tasks.
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* Primary message type for IPC. Contains sender, 2-byte command ID
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* field, and 3 4-byte parameter
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* @details
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* It operates on an external memory which is contained inside a
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* class implementing MessageQueueMessageIF by taking its address.
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* This allows for a more flexible designs of message implementations.
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* The pointer can be passed to different message implementations without
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* the need of unnecessary copying.
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*
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* The command message is based of the generic MessageQueueMessage which
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* currently has an internal message size of 28 bytes.
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* @author Bastian Baetz
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*/
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class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
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static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
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static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
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static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
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static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
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static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
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/**
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* Default size can accomodate 3 4-byte parameters.
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*/
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static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
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CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
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3 * sizeof(uint32_t);
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/**
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* This is the size of a message as it is seen by the MessageQueue
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*/
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static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
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+ sizeof(Command_t) + 2 * sizeof(uint32_t);
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/**
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* Default Constructor, does not initialize anything.
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*
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* This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
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* @brief Default Constructor, does not initialize anything.
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* @details
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* This constructor should be used when receiving a Message, as the
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* content is filled by the MessageQueue.
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*/
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CommandMessage();
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/**
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* This constructor creates a new message with all message content initialized
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* This constructor creates a new message with all message content
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* initialized
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*
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* @param command The DeviceHandlerCommand_t that will be sent
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* @param parameter1 The first parameter
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* @param parameter2 The second parameter
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*/
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CommandMessage(Command_t command,
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uint32_t parameter1, uint32_t parameter2);
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CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
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/**
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* Default Destructor
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* @brief Default Destructor
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*/
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virtual ~CommandMessage() {
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}
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virtual ~CommandMessage() {}
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/**
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* Read the DeviceHandlerCommand_t that is stored in the message, usually used after receiving
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*
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* @return the Command stored in the Message
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*/
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Command_t getCommand() const;
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/**
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* Read the DeviceHandlerCommand_t that is stored in the message,
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* usually used after receiving.
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*
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* @return the Command stored in the Message
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*/
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virtual Command_t getCommand() const override;
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/**
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* Set the command type of the message. Default implementation also
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* sets the message type, which will be the first byte of the command ID.
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* @param the Command to be sent
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*/
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virtual void setCommand(Command_t command);
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/**
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* Set the DeviceHandlerCOmmand_t of the message
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*
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* @param the Command to be sent
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*/
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void setCommand(Command_t command);
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virtual uint8_t* getData() override;
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virtual const uint8_t* getData() const override;
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/**
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* Get the first parameter of the message
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*
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* @return the first Parameter of the message
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*/
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uint32_t getParameter() const;
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/**
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* Set the first parameter of the message
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*
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* @param the first parameter of the message
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*/
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void setParameter(uint32_t parameter1);
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/**
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* Get the second parameter of the message
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*
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* @return the second Parameter of the message
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*/
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uint32_t getParameter2() const;
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/**
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* Set the second parameter of the message
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*
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* @param the second parameter of the message
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*/
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void setParameter2(uint32_t parameter2);
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/**
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* Set the command to CMD_NONE and try to find
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* the correct class to handle a more detailed
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* clear.
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* Also, calls a mission-specific clearMissionMessage
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* function to separate between framework and mission
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* messages. Not optimal, may be replaced by totally
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* different auto-delete solution (e.g. smart pointers).
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*
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*/
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void clearCommandMessage();
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uint32_t getParameter3() const;
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void setParameter3(uint32_t parameter3);
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/**
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* check if a message was cleared
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@ -116,18 +91,41 @@ public:
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*/
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bool isClearedCommandMessage();
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/**
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* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
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* Is needed quite often, so we better code it once only.
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*/
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void setToUnknownCommand();
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void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
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ReturnValue_t getReplyRejectedReason(
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Command_t *initialCommand = nullptr) const;
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void setToUnknownCommand() override;
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size_t getMinimumMessageSize() const;
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/**
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* A command message can be rejected and needs to offer a function
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* to set a rejected reply
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* @param reason
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* @param initialCommand
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*/
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void setReplyRejected(ReturnValue_t reason,
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Command_t initialCommand) override;
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/**
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* Corrensonding getter function.
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* @param initialCommand
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* @return
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*/
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ReturnValue_t getReplyRejectedReason(
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Command_t* initialCommand = nullptr) const override;
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virtual void clear() override;
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void clearCommandMessage();
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/**
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* Extract message ID, which is the first byte of the command ID for the
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* default implementation.
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* @return
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*/
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virtual uint8_t getMessageType() const override;
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/** MessageQueueMessageIF functions used for minimum size check. */
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size_t getMinimumMessageSize() const override;
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};
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#endif /* COMMANDMESSAGE_H_ */
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#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */
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