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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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79
ipc/CommandMessage.h
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@ -1,33 +1,35 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
#define FRAMEWORK_IPC_COMMANDMESSAGE_H_
#include <framework/ipc/CommandMessageBase.h>
#include <framework/ipc/MessageQueueMessage.h>
#include <framework/ipc/FwMessageTypes.h>
#include <config/ipc/MissionMessageTypes.h>
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t;
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessageIF* message);
}
/**
* @brief Used to pass command messages between tasks. Primary message type
* for IPC. Contains sender, 2-byte command field, and 2 4-byte
* parameters.
* @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
* field, and 2 4-byte parameters.
* @details
* It operates on an external memory which is contained inside a
* MessageQueueMessage by taking its address.
* class implementing MessageQueueMessageIF 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.
*
* The command message is based of the generic MessageQueueMessage which
* currently has an internal message size of 28 bytes.
* @author Bastian Baetz
*/
class CommandMessage: public MessageQueueMessageIF {
class CommandMessage: public CommandMessageBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, will be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
@ -66,39 +68,11 @@ public:
*/
virtual ~CommandMessage() {}
/**
* Read the DeviceHandlerCommand_t that is stored in the message,
* usually used after receiving.
*
* @return the Command stored in the Message
*/
Command_t getCommand() const;
/*
* 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;
/** MessageQueueMessageIF functions used for minimum size check. */
size_t getMinimumMessageSize() const override;
size_t getMessageSize() const override;
/** MessageQueueMessageIF functions used for maximum size check. */
size_t getMaximumMessageSize() const override;
/**
* Extract message ID, which is the first byte of the command ID.
* @return
*/
uint8_t getMessageType() const;
/**
* 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
@ -123,19 +97,17 @@ public:
*/
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
* clear.
* Also, calls a mission-specific clearMissionMessage
* function to separate between framework and mission
* messages. Not optimal, may be replaced by totally
* different auto-delete solution (e.g. smart pointers).
* Set the command to CMD_NONE and try to find the correct class to handle
* a more detailed clear.
* Also, calls a mission-specific clearMissionMessage function to separate
* between framework and mission messages. Not optimal, may be replaced by
* totally different auto-delete solution (e.g. smart pointers).
*
*/
void clearCommandMessage();
void clear() override;
/**
* check if a message was cleared
@ -151,15 +123,6 @@ public:
void setToUnknownCommand();
void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand = CMD_NONE);
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;
};