Feat/pulling

engine/core/inc/luos_engine.h

@@ -83,9 +83,11 @@ void Luos_SetExternId(service_t *service, target_mode_t target_mode, uint16_t ta
 // *** Receive
 error_return_t Luos_ReadMsg(service_t *service, msg_t **returned_msg);
 error_return_t Luos_ReadFromService(service_t *service, int16_t id, msg_t **returned_msg);
+error_return_t Luos_ReadTopicMsg(service_t *service, int16_t topic_id, msg_t **returned_msg);
 int Luos_ReceiveData(service_t *service, msg_t *msg, void *bin_data);
 error_return_t Luos_ReceiveStreaming(service_t *service, msg_t *msg, streaming_channel_t *stream);
 uint16_t Luos_NbrAvailableMsg(void);
+uint8_t Luos_FindTopicMsg(service_t *service, uint16_t topic_id);
 uint32_t Luos_GetSystick(void);
 error_return_t Luos_TxComplete(void);
 void Luos_Flush(void);

engine/core/src/luos_engine.c

@@ -701,6 +701,28 @@ error_return_t Luos_ReadFromService(service_t *service, short id, msg_t **return
     }
     return FAILED;
 }
+/******************************************************************************
+ * @brief read msg of specific topic and pass it to user if exists
+ * @param service who receive the message we are looking for
+ * @param topic_id of message we are searching
+ * @param returned_msg message of the service
+ * @return FAILED if no message available
+ ******************************************************************************/
+error_return_t Luos_ReadTopicMsg(service_t *service, int16_t topic_id, msg_t **returned_msg)
+{
+    uint16_t luos_task_id = 0;
+    // see if we have a msg topic for this service
+    if (MsgAlloc_SearchLuosTaskTopic(service->ll_service, &luos_task_id, topic_id) == SUCCEED)
+    {
+        // if yes pull it and stock it in returned_msg
+        MsgAlloc_PullMsgFromLuosTask(luos_task_id, returned_msg);
+        // remove it from the message buffer
+        MsgAlloc_ClearMsgFromLuosTasks(*returned_msg);
+
+        return SUCCEED;
+    }
+    return FAILED;
+}
 /******************************************************************************
  * @brief Send large among of data and formating to send into multiple msg
  * @param Service who send
@@ -1033,6 +1055,22 @@ uint16_t Luos_NbrAvailableMsg(void)
 {
     return MsgAlloc_LuosTasksNbr();
 }
+/******************************************************************************
+ * @brief check if message of a specific topic is available
+ * @param service pointer
+ * @param topic_id
+ * @return true or false
+ ******************************************************************************/
+uint8_t Luos_FindTopicMsg(service_t *service, uint16_t topic_id)
+{
+    uint16_t luos_task_id = 0;
+    // search in msg alloc if we have a msg_task of a topic for this service
+    if (MsgAlloc_SearchLuosTaskTopic(service->ll_service, &luos_task_id, topic_id) == SUCCEED)
+    {
+        return true;
+    }
+    return false;
+}
 /******************************************************************************
  * @brief Get tick number
  * @param None

network/robus/inc/msg_alloc.h

@@ -48,6 +48,7 @@ void MsgAlloc_LuosTaskAlloc(ll_service_t *service_concerned_by_current_msg, msg_
 error_return_t MsgAlloc_PullMsg(ll_service_t *target_service, msg_t **returned_msg);
 error_return_t MsgAlloc_PullMsgFromLuosTask(uint16_t luos_task_id, msg_t **returned_msg);
 error_return_t MsgAlloc_LookAtLuosTask(uint16_t luos_task_id, ll_service_t **allocated_service);
+error_return_t MsgAlloc_SearchLuosTaskTopic(ll_service_t *ll_service, uint16_t *luos_task_id, uint16_t topic_id);
 error_return_t MsgAlloc_GetLuosTaskSourceId(uint16_t luos_task_id, uint16_t *source_id);
 error_return_t MsgAlloc_GetLuosTaskCmd(uint16_t luos_task_id, uint8_t *cmd);
 error_return_t MsgAlloc_GetLuosTaskSize(uint16_t luos_task_id, uint16_t *size);

network/robus/src/msg_alloc.c

@@ -1171,6 +1171,28 @@ error_return_t MsgAlloc_LookAtLuosTask(uint16_t luos_task_id, ll_service_t **all
     //
     return FAILED;
 }
+
+/******************************************************************************
+ * @brief Find a luos task of a specific topic
+ * @param luos_task_id : Pointer to Id of the allocator slot
+ * @param topic_id : the topic we search
+ * @return error_return_t : Fail is there is no more message available.
+ ******************************************************************************/
+error_return_t MsgAlloc_SearchLuosTaskTopic(ll_service_t *ll_service, uint16_t *luos_task_id, uint16_t topic_id)
+{
+    // search all luos_tasks
+    for (uint16_t i = 0; i < luos_tasks_stack_id; i++)
+    {
+        // check msg topic, and if it is for service
+        if ((luos_tasks[i].msg_pt->header.target_mode == TOPIC) && (luos_tasks[i].msg_pt->header.target == topic_id) && (luos_tasks[i].ll_service_pt == ll_service))
+        {
+            // keep the index of this message in luos_tasks
+            *luos_task_id = i;
+            return SUCCEED;
+        }
+    }
+    return FAILED;
+}
 /******************************************************************************
  * @brief get back a specific slot message command
  * @param luos_task_id : Id of the allocator slot