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introduced command message base and

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command message IF
This commit is contained in:
Robin Müller
2020-06-12 20:23:39 +02:00
parent f578c3ea29
commit 7b538e9750
10 changed files with 232 additions and 169 deletions
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128
ipc/CommandMessage.cpp
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@ -1,6 +1,7 @@
#include <framework/ipc/CommandMessage.h>
#include <framework/devicehandlers/DeviceHandlerMessage.h>
#include <framework/health/HealthMessage.h>
#include <framework/ipc/CommandMessage.h>
#include <framework/memory/MemoryMessage.h>
#include <framework/modes/ModeMessage.h>
#include <framework/monitoring/MonitoringMessage.h>
@ -8,82 +9,86 @@
#include <framework/tmstorage/TmStoreMessage.h>
#include <framework/parameters/ParameterMessage.h>
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessage* message);
}
CommandMessage::CommandMessage(MessageQueueMessage* receiverMessage):
internalMessage(receiverMessage) {
CommandMessageBase(receiverMessage) {
if(receiverMessage == nullptr) {
sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
" as the message queue message, pass the address of an actual"
" message!" << std::endl;
}
internalMessage->messageSize = COMMAND_MESSAGE_SIZE;
internalMessage->setMessageSize(COMMAND_MESSAGE_SIZE);
setCommand(CMD_NONE);
}
CommandMessage::CommandMessage(MessageQueueMessage* messageToSet,
Command_t command, uint32_t parameter1, uint32_t parameter2):
internalMessage(messageToSet) {
CommandMessageBase(messageToSet) {
if(messageToSet == nullptr) {
sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
" as the message queue message, pass the address of an actual"
" message!" << std::endl;
}
internalMessage->messageSize = COMMAND_MESSAGE_SIZE;
internalMessage->setMessageSize(COMMAND_MESSAGE_SIZE);
setCommand(command);
setParameter(parameter1);
setParameter2(parameter2);
}
Command_t CommandMessage::getCommand() const {
Command_t command;
memcpy(&command, internalMessage->getData(), sizeof(Command_t));
return command;
}
uint8_t CommandMessage::getMessageType() const {
return getCommand() >> 8 & 0xff;
}
void CommandMessage::setCommand(Command_t command) {
memcpy(internalMessage->getData(), &command, sizeof(command));
}
uint32_t CommandMessage::getParameter() const {
uint32_t parameter1;
memcpy(&parameter1, internalMessage->getData() + sizeof(Command_t),
sizeof(parameter1));
memcpy(&parameter1, CommandMessageBase::getData(), sizeof(parameter1));
return parameter1;
}
void CommandMessage::setParameter(uint32_t parameter1) {
memcpy(internalMessage->getData() + sizeof(Command_t),
&parameter1, sizeof(parameter1));
memcpy(CommandMessageBase::getData(), &parameter1, sizeof(parameter1));
}
uint32_t CommandMessage::getParameter2() const {
uint32_t parameter2;
memcpy(&parameter2, internalMessage->getData() + sizeof(Command_t)
+ sizeof(uint32_t), sizeof(parameter2));
memcpy(&parameter2, CommandMessageBase::getData() + sizeof(uint32_t),
sizeof(parameter2));
return parameter2;
}
void CommandMessage::setParameter2(uint32_t parameter2) {
memcpy(internalMessage-> getData() + sizeof(Command_t) + sizeof(uint32_t),
&parameter2, sizeof(parameter2));
memcpy(CommandMessageBase::getData() + sizeof(uint32_t), &parameter2,
sizeof(parameter2));
}
size_t CommandMessage::getMinimumMessageSize() const {
return COMMAND_MESSAGE_SIZE;
}
size_t CommandMessage::getMaximumMessageSize() const {
return MessageQueueMessage::MAX_MESSAGE_SIZE;
}
bool CommandMessage::isClearedCommandMessage() {
return getCommand() == CMD_NONE;
}
void CommandMessage::setToUnknownCommand() {
Command_t initialCommand = getCommand();
clearCommandMessage();
setReplyRejected(UNKNOWN_COMMAND, initialCommand);
}
void CommandMessage::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) {
setCommand(REPLY_REJECTED);
setParameter(reason);
setParameter2(initialCommand);
}
void CommandMessage::clear() {
clearCommandMessage();
}
void CommandMessage::clearCommandMessage() {
switch(getMessageType()){
case messagetypes::MODE_COMMAND:
switch(this->getMessageType()){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(this);
break;
case messagetypes::HEALTH_COMMAND:
@ -115,56 +120,3 @@ void CommandMessage::clearCommandMessage() {
break;
}
}
bool CommandMessage::isClearedCommandMessage() {
return getCommand() == CMD_NONE;
}
size_t CommandMessage::getMinimumMessageSize() const {
return COMMAND_MESSAGE_SIZE;
}
void CommandMessage::setToUnknownCommand() {
Command_t initialCommand = getCommand();
clearCommandMessage();
setReplyRejected(UNKNOWN_COMMAND, initialCommand);
}
void CommandMessage::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) {
setCommand(REPLY_REJECTED);
setParameter(reason);
setParameter2(initialCommand);
}
MessageQueueId_t CommandMessage::getSender() const {
return internalMessage->getSender();
}
uint8_t* CommandMessage::getBuffer() {
return internalMessage->getBuffer();
}
void CommandMessage::setSender(MessageQueueId_t setId) {
internalMessage->setSender(setId);
}
const uint8_t* CommandMessage::getBuffer() const {
return internalMessage->getBuffer();
}
uint8_t* CommandMessage::getData() {
return internalMessage->getData();
}
const uint8_t* CommandMessage::getData() const {
return internalMessage->getData();
}
size_t CommandMessage::getMessageSize() const {
return COMMAND_MESSAGE_SIZE;
}
size_t CommandMessage::getMaximumMessageSize() const {
return MessageQueueMessage::MAX_MESSAGE_SIZE;
}