#include "MessageQueue.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include <fstream>
#include <fcntl.h> /* For O_* constants */
#include <sys/stat.h> /* For mode constants */
#include <cstring>
#include <errno.h>
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE), maxMessageSize(maxMessageSize) {
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
mq_attr attributes;
this->id = 0;
//Set attributes
attributes.mq_curmsgs = 0;
attributes.mq_maxmsg = messageDepth;
attributes.mq_msgsize = maxMessageSize;
attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
//Set the name of the queue. The slash is mandatory!
sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
// Create a nonblocking queue if the name is available (the queue is read
// and writable for the owner as well as the group)
int oflag = O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL;
mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
mqd_t tempId = mq_open(name, oflag, mode, &attributes);
if (tempId == -1) {
handleError(&attributes, messageDepth);
}
else {
//Successful mq_open call
this->id = tempId;
}
}
MessageQueue::~MessageQueue() {
int status = mq_close(this->id);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::Destructor: mq_close Failed with status: "
<< strerror(errno) <<std::endl;
#endif
}
status = mq_unlink(name);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
<< strerror(errno) << std::endl;
#endif
}
}
ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
uint32_t messageDepth) {
switch(errno) {
case(EINVAL): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
" for message size" << std::endl;
#endif
size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Default MQ size "
<< defaultMqMaxMsg << " is too small for requested size "
<< messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" << std::endl;
#endif
}
break;
}
case(EEXIST): {
// An error occured during open
// We need to distinguish if it is caused by an already created queue
// There's another queue with the same name
// We unlink the other queue
int status = mq_unlink(name);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "mq_unlink Failed with status: " << strerror(errno)
<< std::endl;
#endif
}
else {
// Successful unlinking, try to open again
mqd_t tempId = mq_open(name,
O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
if (tempId != -1) {
//Successful mq_open
this->id = tempId;
return HasReturnvaluesIF::RETURN_OK;
}
}
break;
}
default: {
// Failed either the first time or the second time
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Creating Queue " << name
<< " failed with status: " << strerror(errno) << std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Creating Queue %s"
" failed with status: %s\n", name, strerror(errno));
#endif
}
}
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if(message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receiveMessage: Message is "
"nullptr!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
if(message->getMaximumMessageSize() < maxMessageSize) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
unsigned int messagePriority = 0;
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
message->getMaximumMessageSize(),&messagePriority);
if (status > 0) {
this->lastPartner = message->getSender();
//Check size of incoming message.
if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
else if (status==0) {
//Success but no message received
return MessageQueueIF::EMPTY;
}
else {
//No message was received. Keep lastPartner anyway, I might send
//something later. But still, delete packet content.
memset(message->getData(), 0, message->getMaximumDataSize());
switch(errno){
case EAGAIN:
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
//currently on the specified queue.
return MessageQueueIF::EMPTY;
case EBADF: {
//mqdes doesn't represent a valid queue open for reading.
return handleRecvError("EBADF");
}
case EINVAL: {
/*
* This value indicates one of the following:
* - The pointer to the buffer for storing the received message,
* msg_ptr, is NULL.
* - The number of bytes requested, msg_len is less than zero.
* - msg_len is anything other than the mq_msgsize of the specified
* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
* been set in the queue's mq_flags.
*/
return handleRecvError("EINVAL");
}
case EMSGSIZE: {
/*
* This value indicates one of the following:
* - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
* and the given msg_len is shorter than the mq_msgsize for
* the given queue.
* - the extended option MQ_READBUF_DYNAMIC has been set, but the
* given msg_len is too short for the message that would have
* been received.
*/
return handleRecvError("EMSGSIZE");
}
case EINTR: {
//The operation was interrupted by a signal.
return handleRecvError("EINTR");
}
case ETIMEDOUT: {
//The operation was interrupted by a signal.
return handleRecvError("ETIMEDOUT");
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
}
MessageQueueId_t MessageQueue::getLastPartner() const {
return this->lastPartner;
}
ReturnValue_t MessageQueue::flush(uint32_t* count) {
mq_attr attrib;
int status = mq_getattr(id,&attrib);
if(status != 0){
switch(errno){
case EBADF:
//mqdes doesn't represent a valid message queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::flush configuration error, "
"called flush with an invalid queue ID" << std::endl;
#endif
/*NO BREAK*/
case EINVAL:
//mq_attr is NULL
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
*count = attrib.mq_curmsgs;
attrib.mq_curmsgs = 0;
status = mq_setattr(id,&attrib,NULL);
if(status != 0){
switch(errno){
case EBADF:
//mqdes doesn't represent a valid message queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::flush configuration error, "
"called flush with an invalid queue ID" << std::endl;
#endif
/*NO BREAK*/
case EINVAL:
/*
* This value indicates one of the following:
* - mq_attr is NULL.
* - MQ_MULT_NOTIFY had been set for this queue, and the given
* mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
*/
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t MessageQueue::getId() const {
return this->id;
}
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return this->defaultDestination;
}
bool MessageQueue::isDefaultDestinationSet() const {
return (defaultDestination != NO_QUEUE);
}
uint16_t MessageQueue::queueCounter = 0;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
if(message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
"nullptr!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
message->setSender(sentFrom);
int result = mq_send(sendTo,
reinterpret_cast<const char*>(message->getBuffer()),
message->getMessageSize(),0);
//TODO: Check if we're in ISR.
if (result != 0) {
if(!ignoreFault){
InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
switch(errno){
case EAGAIN:
//The O_NONBLOCK flag was set when opening the queue, or the
//MQ_NONBLOCK flag was set in its attributes, and the
//specified queue is full.
return MessageQueueIF::FULL;
case EBADF: {
//mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
<< " destination invalid." << std::endl;
sif::error << strerror(errno) << " in "
<<"mq_send to: " << sendTo << " sent from "
<< sentFrom << std::endl;
#endif
return DESTINATION_INVALID;
}
case EINTR:
//The call was interrupted by a signal.
case EINVAL:
/*
* This value indicates one of the following:
* - msg_ptr is NULL.
* - msg_len is negative.
* - msg_prio is greater than MQ_PRIO_MAX.
* - msg_prio is less than 0.
* - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
* msg_prio is greater than the priority of the calling process.
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send" << std::endl;
#endif
/*NO BREAK*/
case EMSGSIZE:
// The msg_len is greater than the msgsize associated with
//the specified queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Size error [" <<
strerror(errno) << "] in mq_send" << std::endl;
#endif
/*NO BREAK*/
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MessageQueue::handleRecvError(const char * const failString) {
if(failString == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receiveMessage: " << failString << " error "
<< strerror(errno) << std::endl;
#else
sif::printError("MessageQueue::receiveMessage: %s error %s\n", failString,
strerror(errno));
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}