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some refactoring

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This commit is contained in:
Robin Müller
2020-05-16 20:58:48 +02:00
parent 7d57988979
commit b673e13892
9 changed files with 156 additions and 114 deletions
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24
ipc/MessageQueueIF.h
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@ -36,8 +36,8 @@ public:
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
* \return RETURN_OK if ok
* \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
* @return RETURN_OK if ok
* @return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
*/
virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
@ -53,10 +53,12 @@ public:
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in the
* lastPartner attribute. Else, the lastPartner information remains untouched, the
* message's content is cleared and the function returns immediately.
* @details
* If data is available it is stored in the passed message pointer.
* The message's original content is overwritten and the sendFrom
* information is stored in theblastPartner attribute. Else, the lastPartner
* information remains untouched, the message's content is cleared and the
* function returns immediately.
* @param message A pointer to a message in which the received data is stored.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::EMPTY if queue is empty
@ -90,7 +92,9 @@ public:
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault = false ) = 0;
/**
* @brief This operation sends a message to the given destination.
@ -100,7 +104,8 @@ public:
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault = false ) = 0;
/**
* @brief The sendToDefaultFrom method sends a queue message to the default destination.
@ -111,7 +116,8 @@ public:
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the

28
ipc/MessageQueueMessage.cpp
View File

@ -8,6 +8,20 @@ MessageQueueMessage::MessageQueueMessage() :
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
}
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size);
this->messageSize = this->HEADER_SIZE + size;
}
else {
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
"allowed size! Setting content to 0" << std::endl;
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
}
}
MessageQueueMessage::~MessageQueueMessage() {
}
@ -37,23 +51,13 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
}
MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) :
messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size);
} else {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
}
}
size_t MessageQueueMessage::getMinimumMessageSize() {
return this->HEADER_SIZE;
}
void MessageQueueMessage::print() {
sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
<< std::endl;
sif::debug << "MessageQueueMessage has size: " << this->messageSize <<
std::hex << std::endl;
for (uint8_t count = 0; count < this->messageSize; count++) {
sif::debug << (uint32_t) this->internalBuffer[count] << ":";
}

126
ipc/MessageQueueMessage.h
View File

@ -5,111 +5,129 @@
#include <stddef.h>
/**
* \brief This class is the representation and data organizer for interprocess messages.
* @brief This class is the representation and data organizer
* for interprocess messages.
*
* \details To facilitate and standardize interprocess communication, this class was created
* to handle a lightweight "interprocess message protocol". It adds a header with the
* sender's queue id to every sent message and defines the maximum total message size.
* Specialized messages, such as device commanding messages, can be created by inheriting
* from this class and filling the buffer provided by getData with additional content.
* If larger amounts of data must be sent between processes, the data shall be stored in
* the IPC Store object and only the storage id is passed in a queue message.
* The class is used both to generate and send messages and to receive messages from
* other tasks.
* \ingroup message_queue
* @details
* To facilitate and standardize interprocess communication, this class was
* created to handle a lightweight "interprocess message protocol".
*
* It adds a header with the sender's queue id to every sent message and
* defines the maximum total message size. Specialized messages, such as
* device commanding messages, can be created by inheriting from this class
* and filling the buffer provided by getData with additional content.
*
* If larger amounts of data must be sent between processes, the data shall
* be stored in the IPC Store object and only the storage id is passed in a
* queue message.The class is used both to generate and send messages and to
* receive messages from other tasks.
* @ingroup message_queue
*/
class MessageQueueMessage {
public:
/**
* \brief This constant defines the maximum size of the data content, excluding the header.
* \details It may be changed if necessary, but in general should be kept as small as possible.
* @brief The class is initialized empty with this constructor.
* @details The messageSize attribute is set to the header's size and the
* whole content is set to zero.
*/
MessageQueueMessage();
/**
* @brief With this constructor the class is initialized with the given content.
* @details
* If the passed message size fits into the buffer, the passed data is
* copied to the internal buffer and the messageSize information is set.
* Otherwise, messageSize is set to the header's size and the whole
* content is set to zero.
* @param data The data to be put in the message.
* @param size Size of the data to be copied. Must be smaller than
* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
*/
MessageQueueMessage(uint8_t* data, size_t size);
/**
* @brief The size information of each message is stored in this attribute.
* @details
* It is public to simplify usage and to allow for passing the size
* address as a pointer. Care must be taken when inheriting from this class,
* as every child class is responsible for managing the size information by
* itself. When using the class to receive a message, the size information
* is updated automatically.
*
* Please note that the minimum size is limited by the size of the header
* while the maximum size is limited by the maximum allowed message size.
*/
size_t messageSize;
/**
* @brief This constant defines the maximum size of the data content, excluding the header.
* @details It may be changed if necessary, but in general should be kept as small as possible.
*/
static const size_t MAX_DATA_SIZE = 24;
/**
* \brief This constants defines the size of the header, which is added to every message.
* @brief This constants defines the size of the header, which is added to every message.
*/
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
/**
* \brief This constant defines the maximum total size in bytes of a sent message.
* \details It is the sum of the maximum data and the header size. Be aware that this constant
* @brief This constant defines the maximum total size in bytes of a sent message.
* @details It is the sum of the maximum data and the header size. Be aware that this constant
* is used to define the buffer sizes for every message queue in the system. So, a change
* here may have significant impact on the required resources.
*/
static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/**
* @brief Defines the minimum size of a message where only the
* header is included
*/
static const size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private:
/**
* \brief This is the internal buffer that contains the actual message data.
* @brief This is the internal buffer that contains the actual message data.
*/
uint8_t internalBuffer[MAX_MESSAGE_SIZE];
public:
/**
* \brief The size information of each message is stored in this attribute.
* \details It is public to simplify usage and to allow for passing the variable's address as a
* pointer. Care must be taken when inheriting from this class, as every child class is
* responsible for managing the size information by itself. When using the class to
* receive a message, the size information is updated automatically.
*/
size_t messageSize;
/**
* \brief The class is initialized empty with this constructor.
* \details The messageSize attribute is set to the header's size and the whole content is set to
* zero.
*/
MessageQueueMessage();
/**
* \brief With this constructor the class is initialized with the given content.
* \details If the passed message size fits into the buffer, the passed data is copied to the
* internal buffer and the messageSize information is set. Otherwise, messageSize
* is set to the header's size and the whole content is set to zero.
* \param data The data to be put in the message.
* \param size Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
*/
MessageQueueMessage(uint8_t* data, uint32_t size);
/**
* \brief As no memory is allocated in this class, the destructor is empty.
* @brief As no memory is allocated in this class, the destructor is empty.
*/
virtual ~MessageQueueMessage();
/**
* \brief This method is used to get the complete data of the message.
* @brief This method is used to get the complete data of the message.
*/
const uint8_t* getBuffer() const;
/**
* \brief This method is used to get the complete data of the message.
* @brief This method is used to get the complete data of the message.
*/
uint8_t* getBuffer();
/**
* \brief This method is used to fetch the data content of the message.
* \details It shall be used by child classes to add data at the right position.
* @brief This method is used to fetch the data content of the message.
* @details It shall be used by child classes to add data at the right position.
*/
const uint8_t* getData() const;
/**
* \brief This method is used to fetch the data content of the message.
* \details It shall be used by child classes to add data at the right position.
* @brief This method is used to fetch the data content of the message.
* @details It shall be used by child classes to add data at the right position.
*/
uint8_t* getData();
/**
* \brief This method is used to extract the sender's message queue id information from a
* @brief This method is used to extract the sender's message queue id information from a
* received message.
*/
MessageQueueId_t getSender() const;
/**
* \brief With this method, the whole content and the message size is set to zero.
* @brief With this method, the whole content and the message size is set to zero.
*/
void clear();
/**
* \brief This is a debug method that prints the content (till messageSize) to the debug output.
* @brief This is a debug method that prints the content (till messageSize) to the debug output.
*/
void print();
/**
* \brief This method is used to set the sender's message queue id information prior to
* @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.
* @param setId The message queue id that identifies the sending message queue.
*/
void setSender(MessageQueueId_t setId);
/**
* \brief This helper function is used by the MessageQueue class to check the size of an
* @brief This helper function is used by the MessageQueue class to check the size of an
* incoming message.
* \details The method must be overwritten by child classes if size checks shall be more strict.
* @details The method must be overwritten by child classes if size checks shall be more strict.
* @return The default implementation returns HEADER_SIZE.
*/
virtual size_t getMinimumMessageSize();

6
ipc/QueueFactory.h
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@ -2,7 +2,7 @@
#define FRAMEWORK_IPC_QUEUEFACTORY_H_
#include <framework/ipc/MessageQueueIF.h>
#include <stdint.h>
#include <cstdint>
/**
* Creates message queues.
* This class is a "singleton" interface, i.e. it provides an
@ -18,8 +18,8 @@ public:
*/
static QueueFactory* instance();
MessageQueueIF* createMessageQueue(uint32_t message_depth = 3,
uint32_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
MessageQueueIF* createMessageQueue(size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
void deleteMessageQueue(MessageQueueIF* queue);
private: