Merge branch 'master' into mueller_FIFO_static_normal

events/EventManager.cpp

@@ -8,13 +8,16 @@
 const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 		sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
 		sizeof(ReporterRangeMatcher) };
-//If one checks registerListener calls, there are around 40 (to max 50) objects registering for certain events.
+// If one checks registerListener calls, there are around 40 (to max 50)
-//Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// objects registering for certain events.
+// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
+// So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
 const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
 
 EventManager::EventManager(object_id_t setObjectId) :
-		SystemObject(setObjectId), eventReportQueue(NULL), mutex(NULL), factoryBackend(
+		SystemObject(setObjectId),
-				0, POOL_SIZES, N_ELEMENTS, false, true) {
+		factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
 	mutex = MutexFactory::instance()->createMutex();
 	eventReportQueue = QueueFactory::instance()->createMessageQueue(
 			MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
@@ -108,41 +111,45 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 
 #ifdef DEBUG
 
-//forward declaration, should be implemented by mission
-const char* translateObject(object_id_t object);
-const char * translateEvents(Event event);
-
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
 	switch (message->getSeverity()) {
 	case SEVERITY::INFO:
-//		string = translateObject(message->getReporter());
+#ifdef DEBUG_INFO_EVENT
-//		sif::info << "EVENT: ";
-//		if (string != 0) {
-//			sif::info << string;
-//		} else {
-//			sif::info << "0x" << std::hex << message->getReporter() << std::dec;
-//		}
-//		sif::info << " reported " << translateEvents(message->getEvent()) << " ("
-//				<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
-//				<< message->getParameter1() << " P2: 0x"
-//				<< message->getParameter2() << std::dec << std::endl;
-		break;
-	default:
 		string = translateObject(message->getReporter());
-		sif::error << "EVENT: ";
+		sif::info << "EVENT: ";
 		if (string != 0) {
-			sif::error << string;
+			sif::info << string;
 		} else {
-			sif::error << "0x" << std::hex << message->getReporter() << std::dec;
+			sif::info << "0x" << std::hex << message->getReporter() << std::dec;
 		}
-		sif::error << " reported " << translateEvents(message->getEvent()) << " ("
+		sif::info << " reported " << translateEvents(message->getEvent()) << " ("
 				<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
 				<< message->getParameter1() << " P2: 0x"
 				<< message->getParameter2() << std::dec << std::endl;
+#endif
+		break;
+	default:
+		string = translateObject(message->getReporter());
+		sif::debug << "EventManager: ";
+		if (string != 0) {
+			sif::debug << string;
+		}
+		else {
+			sif::debug << "0x" << std::hex << message->getReporter() << std::dec;
+		}
+		sif::debug << " reported " << translateEvents(message->getEvent())
+				<< " (" << std::dec << message->getEventId() << ") "
+				<< std::endl;
+
+		sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
+				<< ", P1 Dec: " << std::dec << message->getParameter1()
+				<< std::endl;
+		sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
+				<< ", P2 Dec: " <<  std::dec << message->getParameter2()
+				<< std::endl;
 		break;
 	}
-
 }
 #endif
 

events/EventManager.h

@@ -10,6 +10,12 @@
 #include "../ipc/MutexIF.h"
 #include <map>
 
+#ifdef DEBUG
+// forward declaration, should be implemented by mission
+extern const char* translateObject(object_id_t object);
+extern const char* translateEvents(Event event);
+#endif
+
 class EventManager: public EventManagerIF,
 		public ExecutableObjectIF,
 		public SystemObject {
@@ -36,11 +42,11 @@ public:
 	ReturnValue_t performOperation(uint8_t opCode);
 protected:
 
-	MessageQueueIF* eventReportQueue;
+	MessageQueueIF* eventReportQueue = nullptr;
 
 	std::map<MessageQueueId_t, EventMatchTree> listenerList;
 
-	MutexIF* mutex;
+	MutexIF* mutex = nullptr;
 
 	static const uint8_t N_POOLS = 3;
 	LocalPool<N_POOLS> factoryBackend;

parameters/HasParametersIF.h

@@ -1,12 +1,27 @@
-#ifndef HASPARAMETERSIF_H_
+#ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
-#define HASPARAMETERSIF_H_
+#define FSFW_PARAMETERS_HASPARAMETERSIF_H_
 
-#include "ParameterWrapper.h"
+#include "../parameters/ParameterWrapper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
+/** Each parameter is identified with a unique parameter ID */
 typedef uint32_t ParameterId_t;
 
+/**
+ * @brief	This interface is used by components which have modifiable
+ * 			parameters, e.g. atittude controllers
+ * @details
+ * Each parameter has a unique parameter ID. The first byte of the parameter
+ * ID is the domain ID which can be used to identify unqiue spacecraft domains
+ * (e.g. control and sensor domain in the AOCS controller).
+ *
+ * The second and third byte represent the matrix ID, which can represent
+ * a 8-bit row and column number and the last byte...
+ *
+ * Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
+ * of a 8 bit number now?
+ */
 class HasParametersIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
@@ -32,13 +47,11 @@ public:
 		return (domainId << 24) + (parameterId << 8) + index;
 	}
 
-	virtual ~HasParametersIF() {
+	virtual ~HasParametersIF() {}
-	}
 
 	/**
 	 * Always set parameter before checking newValues!
 	 *
-	 *
 	 * @param domainId
 	 * @param parameterId
 	 * @param parameterWrapper
@@ -51,4 +64,4 @@ public:
 			const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
 };
 
-#endif /* HASPARAMETERSIF_H_ */
+#endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */

parameters/ParameterHelper.cpp

@@ -1,11 +1,9 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "ParameterHelper.h"
 #include "ParameterMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
-		owner(owner), storage(NULL) {
+		owner(owner) {}
-
-}
 
 ParameterHelper::~ParameterHelper() {
 }
@@ -28,7 +26,6 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 	}
 		break;
 	case ParameterMessage::CMD_PARAMETER_LOAD: {
-
 		uint8_t domain = HasParametersIF::getDomain(
 				ParameterMessage::getParameterId(message));
 		uint16_t parameterId = HasParametersIF::getMatrixId(
@@ -36,12 +33,14 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 		uint8_t index = HasParametersIF::getIndex(
 				ParameterMessage::getParameterId(message));
 
-		const uint8_t *storedStream;
+		const uint8_t *storedStream = nullptr;
-		size_t storedStreamSize;
+		size_t storedStreamSize = 0;
 		result = storage->getData(
 				ParameterMessage::getStoreId(message), &storedStream,
 				&storedStreamSize);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
+			sif::error << "ParameterHelper::handleParameterMessage: Getting"
+					" store data failed for load command." << std::endl;
 			break;
 		}
 
@@ -125,7 +124,8 @@ ReturnValue_t ParameterHelper::initialize() {
 	}
 }
 
-void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand) {
+void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
+		Command_t initialCommand) {
 	CommandMessage reply;
 	reply.setReplyRejected(reason, initialCommand);
 	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);

parameters/ParameterHelper.h

@@ -1,9 +1,16 @@
-#ifndef PARAMETERHELPER_H_
+#ifndef FSFW_PARAMETERS_PARAMETERHELPER_H_
-#define PARAMETERHELPER_H_
+#define FSFW_PARAMETERS_PARAMETERHELPER_H_
 
 #include "ParameterMessage.h"
 #include "ReceivesParameterMessagesIF.h"
+#include "../ipc/MessageQueueIF.h"
 
+/**
+ * @brief	Helper class to handle parameter messages.
+ * @details
+ * This class simplfies handling of parameter messages, which are sent
+ * to a class which implements ReceivesParameterMessagesIF.
+ */
 class ParameterHelper {
 public:
 	ParameterHelper(ReceivesParameterMessagesIF *owner);
@@ -15,13 +22,15 @@ public:
 private:
 	ReceivesParameterMessagesIF *owner;
 
-	MessageQueueId_t ownerQueueId;
+	MessageQueueId_t ownerQueueId = MessageQueueIF::NO_QUEUE;
 
-	StorageManagerIF *storage;
+	StorageManagerIF *storage = nullptr;
 
-	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, const ParameterWrapper *description);
+	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
+			const ParameterWrapper *description);
 
-	void rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand);
+	void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
+			Command_t initialCommand);
 };
 
-#endif /* PARAMETERHELPER_H_ */
+#endif /* FSFW_PARAMETERS_PARAMETERHELPER_H_ */

parameters/ParameterMessage.cpp

@@ -1,4 +1,4 @@
-#include "ParameterMessage.h"
+#include "../parameters/ParameterMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
 ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {

parameters/ParameterMessage.h

@@ -1,8 +1,8 @@
-#ifndef PARAMETERMESSAGE_H_
+#ifndef FSFW_PARAMETERS_PARAMETERMESSAGE_H_
-#define PARAMETERMESSAGE_H_
+#define FSFW_PARAMETERS_PARAMETERMESSAGE_H_
 
-#include "../ipc/CommandMessage.h"
 #include "HasParametersIF.h"
+#include "../ipc/CommandMessage.h"
 #include "../storagemanager/StorageManagerIF.h"
 
 class ParameterMessage {
@@ -26,4 +26,4 @@ public:
 
 };
 
-#endif /* PARAMETERMESSAGE_H_ */
+#endif /* FSFW_PARAMETERS_PARAMETERMESSAGE_H_ */

parameters/ParameterWrapper.cpp

@@ -1,20 +1,19 @@
 #include "ParameterWrapper.h"
 
 ParameterWrapper::ParameterWrapper() :
-		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
+		pointsToStream(false), type(Type::UNKNOWN_TYPE) {
-		NULL), readonlyData(NULL) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
 		void *data) :
-		pointsToStream(false), type(type), rows(rows), columns(columns), data(
+		pointsToStream(false), type(type), rows(rows), columns(columns),
-				data), readonlyData(data) {
+		data(data), readonlyData(data) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
 		const void *data) :
-		pointsToStream(false), type(type), rows(rows), columns(columns), data(
+		pointsToStream(false), type(type), rows(rows), columns(columns),
-		NULL), readonlyData(data) {
+		data(nullptr), readonlyData(data) {
 }
 
 ParameterWrapper::~ParameterWrapper() {
@@ -141,6 +140,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 
 }
 
+
 ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
 		size_t *size, Endianness streamEndianness) {
 	return deSerialize(buffer, size, streamEndianness, 0);
@@ -184,16 +184,16 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
 		return SerializeIF::STREAM_TOO_SHORT;
 	}
 
-	data = NULL;
+	data = nullptr;
 	readonlyData = stream;
 	pointsToStream = true;
 
 	stream += dataSize;
-	if (remainingStream != NULL) {
+	if (remainingStream !=  nullptr) {
 		*remainingStream = stream;
 	}
 	streamSize -= dataSize;
-	if (remainingSize != NULL) {
+	if (remainingSize != nullptr) {
 		*remainingSize = streamSize;
 	}
 
@@ -265,15 +265,15 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 			result = UNKNOW_DATATYPE;
 			break;
 		}
-	} else {
+	}
+	else {
 		//need a type to do arithmetic
-		uint8_t *toDataWithType = (uint8_t*) data;
+		uint8_t* typedData = static_cast<uint8_t*>(data);
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
-			memcpy(
+			size_t offset = (((startingRow + fromRow) * columns) +
-					toDataWithType
+					startingColumn) * typeSize;
-							+ (((startingRow + fromRow) * columns)
+			std::memcpy(typedData +  offset, from->readonlyData,
-									+ startingColumn) * typeSize,
+					typeSize * from->columns);
-					from->readonlyData, typeSize * from->columns);
 		}
 	}
 

parameters/ParameterWrapper.h

@@ -1,12 +1,16 @@
-#ifndef PARAMETERWRAPPER_H_
+#ifndef FSFW_PARAMETERS_PARAMETERWRAPPER_H_
-#define PARAMETERWRAPPER_H_
+#define FSFW_PARAMETERS_PARAMETERWRAPPER_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serialize/SerializeIF.h"
-#include <stddef.h>
 #include "../globalfunctions/Type.h"
+#include <cstddef>
 
+/**
+ * @brief
+ * @details
+ */
 class ParameterWrapper: public SerializeIF {
 	friend class DataPoolParameterWrapper;
 public:
@@ -36,32 +40,21 @@ public:
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
 
+	/**
+	 * Get a specific parameter value by supplying the row and the column.
+	 * @tparam T Type of target data
+	 * @param value [out] Pointer to storage location
+	 * @param row
+	 * @param column
+	 * @return
+	 * -@c RETURN_OK if element was retrieved successfully
+	 * -@c NOT_SET data has not been set yet
+	 * -@c DATATYPE_MISSMATCH Invalid supplied type
+	 * -@c OUT_OF_BOUNDS Invalid row and/or column.
+	 */
 	template<typename T>
-	ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
+	ReturnValue_t getElement(T *value, uint8_t row = 0,
-		if (readonlyData == NULL){
+			uint8_t column = 0) const;
-			return NOT_SET;
-		}
-
-		if (PodTypeConversion<T>::type != type) {
-			return DATATYPE_MISSMATCH;
-		}
-
-		if ((row >= rows) || (column >= columns)) {
-			return OUT_OF_BOUNDS;
-		}
-
-		if (pointsToStream) {
-			const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
-			streamWithtype += (row * columns + column) * type.getSize();
-			int32_t size = type.getSize();
-			return SerializeAdapter::deSerialize(value, &streamWithtype,
-					&size, true);
-		} else {
-			const T *dataWithType = (const T *) readonlyData;
-			*value = dataWithType[row * columns + column];
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
 
 	template<typename T>
 	void set(T *data, uint8_t rows, uint8_t columns) {
@@ -111,21 +104,22 @@ public:
 	void setMatrix(const T& member) {
 		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
 	}
+
 	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
-			const uint8_t **remainingStream = NULL, size_t *remainingSize =
+			const uint8_t **remainingStream = nullptr,
-					NULL);
+			size_t *remainingSize = nullptr);
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
 			uint16_t startWritingAtIndex);
 
 private:
-	bool pointsToStream;
+	bool pointsToStream = false;
 
 	Type type;
-	uint8_t rows;
+	uint8_t rows = 0;
-	uint8_t columns;
+	uint8_t columns = 0;
-	void *data;
+	void *data = nullptr;
-	const void *readonlyData;
+	const void *readonlyData = nullptr;
 
 	template<typename T>
 	ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
@@ -136,4 +130,33 @@ private:
 			const void *from, uint8_t fromRows, uint8_t fromColumns);
 };
 
-#endif /* PARAMETERWRAPPER_H_ */
+template <typename T>
+inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
+		uint8_t column) const {
+	if (readonlyData == nullptr){
+		return NOT_SET;
+	}
+
+	if (PodTypeConversion<T>::type != type) {
+		return DATATYPE_MISSMATCH;
+	}
+
+	if ((row >= rows) or (column >= columns)) {
+		return OUT_OF_BOUNDS;
+	}
+
+	if (pointsToStream) {
+		const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
+		streamWithType += (row * columns + column) * type.getSize();
+		int32_t size = type.getSize();
+		return SerializeAdapter::deSerialize(value, &streamWithType,
+				&size, true);
+	}
+	else {
+		const T *dataWithType = static_cast<const T*>(readonlyData);
+		*value = dataWithType[row * columns + column];
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+}
+
+#endif /* FSFW_PARAMETERS_PARAMETERWRAPPER_H_ */

parameters/ReceivesParameterMessagesIF.h

@@ -1,5 +1,5 @@
-#ifndef RECEIVESPARAMETERMESSAGESIF_H_
+#ifndef FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
-#define RECEIVESPARAMETERMESSAGESIF_H_
+#define FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
 
 
 #include "HasParametersIF.h"
@@ -16,4 +16,4 @@ public:
 };
 
 
-#endif /* RECEIVESPARAMETERMESSAGESIF_H_ */
+#endif /* FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_ */