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Updated FreeRTOS Osal

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CommandingServiceBase is no longer a template
This commit is contained in:
Steffen Gaisser
2019-08-28 14:50:24 +02:00
parent fd782b20c0
commit cd7e47ccbb
42 changed files with 698 additions and 644 deletions
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41
osal/FreeRTOS/MessageQueue.cpp
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@ -5,11 +5,10 @@
// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
lastPartner(0), defaultDestination(0) {
defaultDestination(0),lastPartner(0) {
handle = xQueueCreate(message_depth, max_message_size);
if (handle == NULL) {
//TODO
;
error << "MessageQueue creation failed" << std::endl;
}
}
@ -32,8 +31,7 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
//TODO: Good returnCode
return HasReturnvaluesIF::RETURN_FAILED;
return NO_REPLY_PARTNER;
}
}
@ -45,8 +43,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
BaseType_t result = xQueueReceive(handle, message, 0);
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
if (result == pdPASS){
this->lastPartner = message->getSender();
return HasReturnvaluesIF::RETURN_OK;
} else {
return MessageQueueIF::EMPTY;
@ -75,16 +74,7 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
message->setSender(sentFrom);
BaseType_t result = xQueueSendToBack((void * )sendTo, message, 0);
if (result != pdPASS) {
if (!ignoreFault) {
//TODO errr reporter
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
@ -99,4 +89,23 @@ MessageQueueId_t MessageQueue::getDefaultDestination() const {
bool MessageQueue::isDefaultDestinationSet() const {
return 0;
}
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
message->setSender(sentFrom);
BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
}