fsfw/datapoollocal/LocalDataPoolManager.h

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#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
#define FRAMEWORK_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
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#include <framework/datapool/DataSetIF.h>
#include <framework/objectmanager/SystemObjectIF.h>
#include <framework/ipc/MutexIF.h>
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#include <framework/housekeeping/HousekeepingMessage.h>
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#include <framework/datapool/PoolEntry.h>
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#include <framework/datapoollocal/HasLocalDataPoolIF.h>
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#include <framework/ipc/CommandMessage.h>
#include <framework/ipc/MessageQueueIF.h>
#include <framework/ipc/MutexHelper.h>
#include <map>
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class LocalPoolDataSetBase;
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/**
* @brief This class is the managing instance for local data pool.
* @details
* The actual data pool structure is a member of this class. Any class which
* has a local data pool shall have this class as a member and implement
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* the HasLocalDataPoolIF.
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*
* Users of the data pool use the helper classes LocalDataSet,
* LocalPoolVariable and LocalPoolVector to access pool entries in
* a thread-safe and efficient way.
*
* The local data pools employ a blackboard logic: Only the most recent
* value is stored. The helper classes offer a read() and commit() interface
* through the PoolVariableIF which is used to read and update values.
* Each pool entry has a valid state too.
*
*/
class LocalDataPoolManager {
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template<typename T>
friend class LocalPoolVar;
template<typename T, uint16_t vecSize>
friend class LocalPoolVector;
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friend class LocalPoolDataSetBase;
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public:
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static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x0);
static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x1);
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static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x2);
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//static constexpr ReturnValue_t SET_NOT_FOUND = MAKE_RETURN_CODE(0x3);
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/**
* This constructor is used by a class which wants to implement
* a personal local data pool. The queueToUse can be supplied if it
* is already known.
*
* initialize() has to be called in any case before using the object!
* @param owner
* @param queueToUse
* @param appendValidityBuffer
*/
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LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
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bool appendValidityBuffer = true);
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virtual~ LocalDataPoolManager();
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/**
* Initializes the map by calling the map initialization function of the
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* owner and assigns the queue to use.
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* @param queueToUse
* @return
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse,
object_id_t hkDestination);
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/**
* This should be called in the periodic handler of the owner.
* It performs all the periodic functionalities of the data pool manager.
* @return
*/
ReturnValue_t performHkOperation();
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/**
* This function is used to set the default HK packet destination.
* This destination will usually only be set once.
* @param hkDestination
*/
void setHkPacketDestination(MessageQueueId_t hkDestination);
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/**
* Generate a housekeeping packet with a given SID.
* @param sid
* @return
*/
ReturnValue_t generateHousekeepingPacket(sid_t sid, MessageQueueId_t sendTo
= MessageQueueIF::NO_QUEUE);
ReturnValue_t generateSetStructurePacket(sid_t sid);
ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
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/**
* This function is used to fill the local data pool map with pool
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* entries. It should only be called once by the pool owner.
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* @param localDataPoolMap
* @return
*/
ReturnValue_t initializeHousekeepingPoolEntriesOnce();
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const HasLocalDataPoolIF* getOwner() const;
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ReturnValue_t printPoolEntry(lp_id_t localPoolId);
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/**
* Different types of housekeeping reporting are possible.
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* 1. PERIODIC: HK packets are generated in fixed intervals and sent to
* destination. Fromat will be raw.
* 2. UPDATED: Notification will be sent out if HK data has changed.
* Question: Send Raw data directly or just the message?
* 3. REQUESTED: HK packets are only generated if explicitely requested.
* Propably not necessary, just use multiple local data sets or
* shared datasets.
*
* TODO: This is a big architecture question. Use raw data or shared
* datasets? dumb thing about shared datasets: It propably would be better
* if each task who uses the data has their own copy of the pool
* variables. Then the LPIDs should be hardcoded in the dataset implementations
* so the users don't have to worry about it anymore.
*
* Notifications should also be possible for single variables instead of
* full dataset updates.
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*/
enum class ReportingType: uint8_t {
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// Periodic generation of HK packets.
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PERIODIC,
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// Notification will be sent out as message.
// Data is accessed via shared data set or multiple local data sets.
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ON_UPDATE,
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// actually, requested is propably unnecessary. If another component
// needs data on request, they can just use the new SharedDataSet
// which is thread-safe to also have full access to the interface..
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REQUESTED
};
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/* Copying forbidden */
LocalDataPoolManager(const LocalDataPoolManager &) = delete;
LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
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private:
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LocalDataPool localPoolMap;
/** Every housekeeping data manager has a mutex to protect access
* to it's data pool. */
MutexIF* mutex = nullptr;
/** The class which actually owns the manager (and its datapool). */
HasLocalDataPoolIF* owner = nullptr;
/**
* The data pool manager will keep an internal map of HK receivers.
*/
struct HkReceiver {
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LocalPoolDataSetBase* dataSet = nullptr;
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lp_id_t localPoolId = HasLocalDataPoolIF::NO_POOL_ID;
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MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
ReportingType reportingType = ReportingType::PERIODIC;
bool reportingStatus = true;
/** Different members of this union will be used depending on reporting
* type */
union hkParameter {
/** This parameter will be used for the PERIODIC type */
dur_seconds_t collectionInterval = 0;
/** This parameter will be used for the ON_UPDATE type */
bool hkDataChanged;
};
};
/** Using a multimap as the same object might request multiple datasets */
using HkReceiversMap = std::multimap<object_id_t, struct HkReceiver>;
HkReceiversMap hkReceiversMap;
/** This is the map holding the actual data. Should only be initialized
* once ! */
bool mapInitialized = false;
/** This specifies whether a validity buffer is appended at the end
* of generated housekeeping packets. */
bool appendValidityBuffer = true;
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/**
* @brief Queue used for communication, for example commands.
* Is also used to send messages. Can be set either in the constructor
* or in the initialize() function.
*/
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MessageQueueIF* hkQueue = nullptr;
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/**
* HK replies will always be a reply to the commander, but HK packet
* can be sent to another destination by specifying this message queue
* ID, for example to a dedicated housekeeping service implementation.
*/
MessageQueueId_t hkDestination = MessageQueueIF::NO_QUEUE;
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/** Global IPC store is used to store all packets. */
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StorageManagerIF* ipcStore = nullptr;
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/**
* Get the pointer to the mutex. Can be used to lock the data pool
* eternally. Use with care and don't forget to unlock locked mutexes!
* For now, only friend classes can accss this function.
* @return
*/
MutexIF* getMutexHandle();
/**
* Read a variable by supplying its local pool ID and assign the pool
* entry to the supplied PoolEntry pointer. The type of the pool entry
* is deduced automatically. This call is not thread-safe!
* For now, only friend classes like LocalPoolVar may access this
* function.
* @tparam T Type of the pool entry
* @param localPoolId Pool ID of the variable to read
* @param poolVar [out] Corresponding pool entry will be assigned to the
* supplied pointer.
* @return
*/
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template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry);
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void setMinimalSamplingFrequency(float frequencySeconds);
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ReturnValue_t serializeHkPacketIntoStore(store_address_t* storeId,
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LocalPoolDataSetBase* dataSet);
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};
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template<class T> inline
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ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
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PoolEntry<T> **poolEntry) {
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auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) {
sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry "
"not found." << std::endl;
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return POOL_ENTRY_NOT_FOUND;
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}
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*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
if(*poolEntry == nullptr) {
sif::debug << "HousekeepingManager::fetchPoolEntry:"
" Pool entry not found." << std::endl;
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return POOL_ENTRY_TYPE_CONFLICT;
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}
return HasReturnvaluesIF::RETURN_OK;
}
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#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */