message queue adaptions for calls from ISR
functions moved to top binary sempahore file init mutex return values
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@ -6,7 +6,8 @@
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#include <framework/ipc/MessageQueueMessage.h>
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#include <FreeRTOS.h>
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#include <queue.h>
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#include "queue.h"
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#include "portmacro.h"
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//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
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// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
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@ -21,11 +22,17 @@
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* methods to send a message to a user-defined or a default destination. In addition
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* it also provides a reply method to answer to the queue it received its last message
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* from.
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*
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* The MessageQueue should be used as "post box" for a single owning object. So all
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* message queue communication is "n-to-one".
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* For creating the queue, as well as sending and receiving messages, the class makes
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* use of the operating system calls provided.
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* \ingroup message_queue
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*
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* Please keep in mind that FreeRTOS offers
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* different calls for message queue operations if called from an ISR.
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* For now, the system context needs to be switched manually.
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* @ingroup osal
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* @ingroup message_queue
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*/
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class MessageQueue : public MessageQueueIF {
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friend class MessageQueueSenderIF;
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@ -43,11 +50,30 @@ public:
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* This should be left default.
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*/
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MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
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/**
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* @brief The destructor deletes the formerly created message queue.
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* @details This is accomplished by using the delete call provided by the operating system.
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*/
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virtual ~MessageQueue();
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/*!
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* Used by calling function to tell the callbacks if they are being called from
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* within an ISR or from a regular task. This is required because FreeRTOS
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* has different functions for handling semaphores from within an ISR and task.
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*/
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typedef enum _SystemContext {
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task_context = 0x00,//!< task_context
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isr_context = 0xFF //!< isr_context
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} SystemContext;
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/**
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* This function is used to specify whether a message queue operation is called
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* from within an ISR or a task. FreeRTOS offers different functions for this task.
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* @param callContext
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*/
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void switchSystemContext(SystemContext callContext);
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/**
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* @brief This operation sends a message to the given destination.
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* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
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@ -74,6 +100,29 @@ public:
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*/
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ReturnValue_t reply( MessageQueueMessage* message );
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/**
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* \brief With the sendMessage call, a queue message is sent to a receiving queue.
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* \details This method takes the message provided, adds the sentFrom information and passes
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* it on to the destination provided with an operating system call. The OS's return
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* value is returned.
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* \param sendTo This parameter specifies the message queue id to send the message to.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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*/
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virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message,
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MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
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/**
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* \brief The sendToDefault method sends a queue message to the default destination.
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* \details In all other aspects, it works identical to the sendMessage method.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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*/
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
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/**
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* @brief This function reads available messages from the message queue and returns the sender.
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* @details It works identically to the other receiveMessage call, but in addition returns the
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@ -107,26 +156,7 @@ public:
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* @brief This method returns the message queue id of this class's message queue.
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*/
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MessageQueueId_t getId() const;
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/**
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* \brief With the sendMessage call, a queue message is sent to a receiving queue.
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* \details This method takes the message provided, adds the sentFrom information and passes
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* it on to the destination provided with an operating system call. The OS's return
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* value is returned.
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* \param sendTo This parameter specifies the message queue id to send the message to.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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*/
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virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
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/**
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* \brief The sendToDefault method sends a queue message to the default destination.
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* \details In all other aspects, it works identical to the sendMessage method.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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*/
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
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/**
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* \brief This method is a simple setter for the default destination.
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*/
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@ -148,12 +178,26 @@ protected:
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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* \param context
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*/
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static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
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static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
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bool ignoreFault=false, SystemContext callContex = SystemContext::task_context);
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static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
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/**
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* In this function, a function dependant on the portmacro.h header function calls
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* to request a context switch can be specified.
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* This can be used if sending to the queue from an ISR caused a task to unblock
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* and a context switch is required.
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*/
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static void requestContextSwitch(SystemContext callContext);
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private:
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QueueHandle_t handle;
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MessageQueueId_t defaultDestination;
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MessageQueueId_t lastPartner;
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SystemContext callContext; //!< Stores the current system context
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};
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#endif /* MESSAGEQUEUE_H_ */
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