From 790d3f14654cf1b7f937c36f9b1d02289dc596ce Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sun, 6 Sep 2020 15:25:56 +0200 Subject: [PATCH] taken over all changes --- fsfw.mk | 16 ++++++++++++++ internalError/InternalErrorReporter.cpp | 19 ++++++++--------- monitoring/MonitorBase.h | 14 ++++++------- power/Fuse.cpp | 6 +++--- power/Fuse.h | 15 ++++++------- power/PowerSensor.h | 10 ++++----- thermal/CoreComponent.cpp | 12 +++++------ thermal/CoreComponent.h | 23 ++++++++++---------- thermal/ThermalComponent.cpp | 18 +++++++--------- thermal/ThermalComponent.h | 28 +++++++++++++++++++++++-- thermal/ThermalModule.cpp | 8 +++---- thermal/ThermalModule.h | 17 ++++++++------- 12 files changed, 114 insertions(+), 72 deletions(-) diff --git a/fsfw.mk b/fsfw.mk index c2c6e747..c5847554 100644 --- a/fsfw.mk +++ b/fsfw.mk @@ -9,6 +9,9 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) @@ -28,12 +31,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp) # select the OS ifeq ($(OS_FSFW),rtems) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp) + else ifeq ($(OS_FSFW),linux) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) + else ifeq ($(OS_FSFW),freeRTOS) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) + else ifeq ($(OS_FSFW),host) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) +ifeq ($(OS),Windows_NT) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp) +else +# For now, the linux UDP bridge sources needs to be included manually by upper makefile +# for host OS because we can't be sure the OS is linux. +# Following lines can be used to do this: +# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp +# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp +endif + else $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host) endif diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp index 861e1595..3424266b 100644 --- a/internalError/InternalErrorReporter.cpp +++ b/internalError/InternalErrorReporter.cpp @@ -1,17 +1,16 @@ +#include "../datapoolglob/GlobalDataSet.h" #include "InternalErrorReporter.h" -#include "../datapool/DataSet.h" -#include "../datapool/PoolVariable.h" +#include "../datapoolglob/GlobalPoolVariable.h" #include "../ipc/MutexFactory.h" #include "../serviceinterface/ServiceInterfaceStream.h" InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) : - SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId), tmPoolId( - tmPoolId), storePoolId( - storePoolId), queueHits(0), tmHits(0), storeHits( - 0) { + SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId), + tmPoolId(tmPoolId),storePoolId(storePoolId), queueHits(0), tmHits(0), + storeHits(0) { mutex = MutexFactory::instance()->createMutex(); } @@ -21,13 +20,13 @@ InternalErrorReporter::~InternalErrorReporter() { ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) { - DataSet mySet; - PoolVariable queueHitsInPool(queuePoolId, &mySet, + GlobDataSet mySet; + gp_uint32_t queueHitsInPool(queuePoolId, &mySet, PoolVariableIF::VAR_READ_WRITE); - PoolVariable tmHitsInPool(tmPoolId, &mySet, + gp_uint32_t tmHitsInPool(tmPoolId, &mySet, PoolVariableIF::VAR_READ_WRITE); - PoolVariable storeHitsInPool(storePoolId, &mySet, + gp_uint32_t storeHitsInPool(storePoolId, &mySet, PoolVariableIF::VAR_READ_WRITE); mySet.read(); diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h index b2d0e6cb..5173c479 100644 --- a/monitoring/MonitorBase.h +++ b/monitoring/MonitorBase.h @@ -1,12 +1,12 @@ #ifndef MONITORBASE_H_ #define MONITORBASE_H_ -#include "../datapool/DataSet.h" -#include "../datapool/PIDReader.h" -#include "LimitViolationReporter.h" -#include "MonitoringIF.h" -#include "MonitoringMessageContent.h" -#include "MonitorReporter.h" +#include "../datapoolglob/GlobalDataSet.h" +#include "../datapoolglob/PIDReader.h" +#include "../monitoring/LimitViolationReporter.h" +#include "../monitoring/MonitoringIF.h" +#include "../monitoring/MonitoringMessageContent.h" +#include "../monitoring/MonitorReporter.h" /** * Base class for monitoring of parameters. @@ -48,7 +48,7 @@ public: protected: virtual ReturnValue_t fetchSample(T* sample) { - DataSet mySet; + GlobDataSet mySet; PIDReader parameter(this->parameterId, &mySet); mySet.read(); if (!parameter.isValid()) { diff --git a/power/Fuse.cpp b/power/Fuse.cpp index 9986ab6b..3ea0b18c 100644 --- a/power/Fuse.cpp +++ b/power/Fuse.cpp @@ -1,7 +1,7 @@ #include "../monitoring/LimitViolationReporter.h" #include "../monitoring/MonitoringMessageContent.h" #include "../objectmanager/ObjectManagerIF.h" -#include "Fuse.h" +#include "../power/Fuse.h" #include "../serialize/SerialFixedArrayListAdapter.h" #include "../ipc/QueueFactory.h" @@ -12,7 +12,7 @@ Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids, SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId), powerIF( NULL), currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount, maxCurrent, FUSE_CURRENT_HIGH), powerMonitor(fuseObjectId, 2, - DataPool::poolIdAndPositionToPid(ids.poolIdPower, 0), + GlobalDataPool::poolIdAndPositionToPid(ids.poolIdPower, 0), confirmationCount), set(), voltage(ids.pidVoltage, &set), current( ids.pidCurrent, &set), state(ids.pidState, &set), power( ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE), commandQueue( @@ -109,7 +109,7 @@ size_t Fuse::getSerializedSize() const { } ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, size_t* size, -Endianness streamEndianness) { + Endianness streamEndianness) { ReturnValue_t result = RETURN_FAILED; for (DeviceList::iterator iter = devices.begin(); iter != devices.end(); iter++) { diff --git a/power/Fuse.h b/power/Fuse.h index 279642be..dd8759f4 100644 --- a/power/Fuse.h +++ b/power/Fuse.h @@ -1,12 +1,13 @@ #ifndef FUSE_H_ #define FUSE_H_ -#include "../datapool/DataSet.h" -#include "../datapool/PIDReader.h" +#include "../datapoolglob/GlobalDataSet.h" +#include "../datapoolglob/GlobalPoolVariable.h" +#include "../datapoolglob/PIDReader.h" #include "../devicehandlers/HealthDevice.h" #include "../monitoring/AbsLimitMonitor.h" -#include "PowerComponentIF.h" -#include "PowerSwitchIF.h" +#include "../power/PowerComponentIF.h" +#include "../power/PowerSwitchIF.h" #include "../returnvalues/HasReturnvaluesIF.h" #include "../parameters/ParameterHelper.h" #include @@ -84,12 +85,12 @@ private: }; PowerMonitor powerMonitor; - DataSet set; + GlobDataSet set; PIDReader voltage; PIDReader current; PIDReader state; - db_float_t power; - MessageQueueIF *commandQueue; + gp_float_t power; + MessageQueueIF* commandQueue; ParameterHelper parameterHelper; HealthHelper healthHelper; static object_id_t powerSwitchId; diff --git a/power/PowerSensor.h b/power/PowerSensor.h index 0f973e45..da0bd8c7 100644 --- a/power/PowerSensor.h +++ b/power/PowerSensor.h @@ -1,9 +1,9 @@ #ifndef POWERSENSOR_H_ #define POWERSENSOR_H_ -#include "../datapool/DataSet.h" -#include "../datapool/PIDReader.h" -#include "../datapool/PoolVariable.h" +#include "../datapoolglob/GlobalDataSet.h" +#include "../datapoolglob/GlobalPoolVariable.h" +#include "../datapoolglob/PIDReader.h" #include "../devicehandlers/HealthDevice.h" #include "../monitoring/LimitMonitor.h" #include "../parameters/ParameterHelper.h" @@ -53,12 +53,12 @@ private: MessageQueueIF* commandQueue; ParameterHelper parameterHelper; HealthHelper healthHelper; - DataSet set; + GlobDataSet set; //Variables in PIDReader current; PIDReader voltage; //Variables out - db_float_t power; + gp_float_t power; static const uint8_t MODULE_ID_CURRENT = 1; static const uint8_t MODULE_ID_VOLTAGE = 2; diff --git a/thermal/CoreComponent.cpp b/thermal/CoreComponent.cpp index 304712ef..657e79cb 100644 --- a/thermal/CoreComponent.cpp +++ b/thermal/CoreComponent.cpp @@ -2,7 +2,7 @@ CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId, uint32_t targetStatePoolId, - uint32_t currentStatePoolId, uint32_t requestPoolId, DataSet* dataSet, + uint32_t currentStatePoolId, uint32_t requestPoolId, GlobDataSet* dataSet, AbstractTemperatureSensor* sensor, AbstractTemperatureSensor* firstRedundantSensor, AbstractTemperatureSensor* secondRedundantSensor, @@ -18,14 +18,14 @@ CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId, AbstractTemperatureSensor::ZERO_KELVIN_C), parameters( parameters), temperatureMonitor(reportingObjectId, domainId + 1, - DataPool::poolIdAndPositionToPid(temperaturePoolId, 0), + GlobalDataPool::poolIdAndPositionToPid(temperaturePoolId, 0), COMPONENT_TEMP_CONFIRMATION), domainId(domainId) { if (thermalModule != NULL) { thermalModule->registerComponent(this, priority); } //Set thermal state once, then leave to operator. - DataSet mySet; - PoolVariable writableTargetState(targetStatePoolId, &mySet, + GlobDataSet mySet; + gp_uint8_t writableTargetState(targetStatePoolId, &mySet, PoolVariableIF::VAR_WRITE); writableTargetState = initialTargetState; mySet.commit(PoolVariableIF::VALID); @@ -70,8 +70,8 @@ float CoreComponent::getLowerOpLimit() { } ReturnValue_t CoreComponent::setTargetState(int8_t newState) { - DataSet mySet; - PoolVariable writableTargetState(targetState.getDataPoolId(), + GlobDataSet mySet; + gp_uint8_t writableTargetState(targetState.getDataPoolId(), &mySet, PoolVariableIF::VAR_READ_WRITE); mySet.read(); if ((writableTargetState == STATE_REQUEST_OPERATIONAL) diff --git a/thermal/CoreComponent.h b/thermal/CoreComponent.h index 48a49f7d..8093711d 100644 --- a/thermal/CoreComponent.h +++ b/thermal/CoreComponent.h @@ -1,13 +1,14 @@ #ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ #define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ -#include "../datapool/DataSet.h" -#include "../datapool/PoolVariable.h" -#include "ThermalComponentIF.h" -#include "AbstractTemperatureSensor.h" -#include "ThermalModule.h" -#include "ThermalMonitor.h" +#include "../datapoolglob/GlobalDataSet.h" +#include "../datapoolglob/GlobalPoolVariable.h" +#include "../thermal/ThermalComponentIF.h" +#include "../thermal/AbstractTemperatureSensor.h" +#include "../thermal/ThermalModule.h" +#include "../thermal/ThermalMonitor.h" +// TODO: Documentaiton, how to use this? only use Thermal Component, which inherits core component? class CoreComponent: public ThermalComponentIF { public: struct Parameters { @@ -22,7 +23,7 @@ public: CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId, uint32_t targetStatePoolId, uint32_t currentStatePoolId, - uint32_t requestPoolId, DataSet *dataSet, + uint32_t requestPoolId, GlobDataSet *dataSet, AbstractTemperatureSensor *sensor, AbstractTemperatureSensor *firstRedundantSensor, AbstractTemperatureSensor *secondRedundantSensor, @@ -57,10 +58,10 @@ protected: AbstractTemperatureSensor *secondRedundantSensor; ThermalModuleIF *thermalModule; - db_float_t temperature; - db_int8_t targetState; - db_int8_t currentState; - db_uint8_t heaterRequest; + gp_float_t temperature; + gp_int8_t targetState; + gp_int8_t currentState; + gp_uint8_t heaterRequest; bool isHeating; diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp index 5dcd0bc6..50786654 100644 --- a/thermal/ThermalComponent.cpp +++ b/thermal/ThermalComponent.cpp @@ -3,7 +3,7 @@ ThermalComponent::ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId, uint32_t targetStatePoolId, uint32_t currentStatePoolId, - uint32_t requestPoolId, DataSet* dataSet, + uint32_t requestPoolId, GlobDataSet* dataSet, AbstractTemperatureSensor* sensor, AbstractTemperatureSensor* firstRedundantSensor, AbstractTemperatureSensor* secondRedundantSensor, @@ -12,20 +12,18 @@ ThermalComponent::ThermalComponent(object_id_t reportingObjectId, CoreComponent(reportingObjectId, domainId, temperaturePoolId, targetStatePoolId, currentStatePoolId, requestPoolId, dataSet, sensor, firstRedundantSensor, secondRedundantSensor, - thermalModule, - { parameters.lowerOpLimit, parameters.upperOpLimit, - parameters.heaterOn, parameters.hysteresis, - parameters.heaterSwitchoff }, priority, - ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL), nopParameters( - { parameters.lowerNopLimit, parameters.upperNopLimit }) { + thermalModule,{ parameters.lowerOpLimit, parameters.upperOpLimit, + parameters.heaterOn, parameters.hysteresis, parameters.heaterSwitchoff }, + priority, ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL), + nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) { } ThermalComponent::~ThermalComponent() { } ReturnValue_t ThermalComponent::setTargetState(int8_t newState) { - DataSet mySet; - PoolVariable writableTargetState(targetState.getDataPoolId(), + GlobDataSet mySet; + gp_int8_t writableTargetState(targetState.getDataPoolId(), &mySet, PoolVariableIF::VAR_READ_WRITE); mySet.read(); if ((writableTargetState == STATE_REQUEST_OPERATIONAL) @@ -42,7 +40,7 @@ ReturnValue_t ThermalComponent::setTargetState(int8_t newState) { } } -ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) { +ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) { if (size != 4 * sizeof(parameters.lowerOpLimit)) { return MonitoringIF::INVALID_SIZE; } diff --git a/thermal/ThermalComponent.h b/thermal/ThermalComponent.h index 93243868..195f03b1 100644 --- a/thermal/ThermalComponent.h +++ b/thermal/ThermalComponent.h @@ -3,6 +3,9 @@ #include "CoreComponent.h" +/** + * What is it. How to use + */ class ThermalComponent: public CoreComponent { public: struct Parameters { @@ -14,13 +17,34 @@ public: float hysteresis; float heaterSwitchoff; }; + + /** + * Non-Operational Temperatures + */ struct NopParameters { float lowerNopLimit; float upperNopLimit; }; + + /** + * How to use. + * @param reportingObjectId + * @param domainId + * @param temperaturePoolId + * @param targetStatePoolId + * @param currentStatePoolId + * @param requestPoolId + * @param dataSet + * @param sensor + * @param firstRedundantSensor + * @param secondRedundantSensor + * @param thermalModule + * @param parameters + * @param priority + */ ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId, uint32_t targetStatePoolId, uint32_t currentStatePoolId, uint32_t requestPoolId, - DataSet *dataSet, AbstractTemperatureSensor *sensor, + GlobDataSet *dataSet, AbstractTemperatureSensor *sensor, AbstractTemperatureSensor *firstRedundantSensor, AbstractTemperatureSensor *secondRedundantSensor, ThermalModuleIF *thermalModule, Parameters parameters, @@ -29,7 +53,7 @@ public: ReturnValue_t setTargetState(int8_t newState); - virtual ReturnValue_t setLimits( const uint8_t* data, uint32_t size); + virtual ReturnValue_t setLimits( const uint8_t* data, size_t size); virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, ParameterWrapper *parameterWrapper, diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp index c573008e..fbd6939e 100644 --- a/thermal/ThermalModule.cpp +++ b/thermal/ThermalModule.cpp @@ -6,7 +6,7 @@ ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId, uint32_t targetStatePoolId, - DataSet *dataSet, Parameters parameters, + GlobDataSet *dataSet, Parameters parameters, RedundantHeater::Parameters heaterParameters) : oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating( false), parameters(parameters), moduleTemperature( @@ -16,7 +16,7 @@ ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, heater = new RedundantHeater(heaterParameters); } -ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, DataSet* dataSet) : +ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet* dataSet) : oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating( false), parameters( { 0, 0 }), moduleTemperature( moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater( @@ -250,8 +250,8 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus( } void ThermalModule::setHeating(bool on) { - DataSet mySet; - PoolVariable writableTargetState(targetState.getDataPoolId(), + GlobDataSet mySet; + gp_int8_t writableTargetState(targetState.getDataPoolId(), &mySet, PoolVariableIF::VAR_WRITE); if (on) { writableTargetState = STATE_REQUEST_HEATING; diff --git a/thermal/ThermalModule.h b/thermal/ThermalModule.h index 19ab9a54..41be6baa 100644 --- a/thermal/ThermalModule.h +++ b/thermal/ThermalModule.h @@ -1,8 +1,8 @@ #ifndef THERMALMODULE_H_ #define THERMALMODULE_H_ -#include "../datapool/DataSet.h" -#include "../datapool/PoolVariable.h" +#include "../datapoolglob/GlobalDataSet.h" +#include "../datapoolglob/GlobalPoolVariable.h" #include "../devicehandlers/HealthDevice.h" #include "../events/EventReportingProxyIF.h" #include "ThermalModuleIF.h" @@ -11,6 +11,9 @@ #include "RedundantHeater.h" class PowerSwitchIF; +/** + * @brief Allows creation of different thermal control domains within a system. + */ class ThermalModule: public ThermalModuleIF { friend class ThermalController; public: @@ -20,10 +23,10 @@ public: }; ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId, - uint32_t targetStatePoolId, DataSet *dataSet, Parameters parameters, + uint32_t targetStatePoolId, GlobDataSet *dataSet, Parameters parameters, RedundantHeater::Parameters heaterParameters); - ThermalModule(uint32_t moduleTemperaturePoolId, DataSet *dataSet); + ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet *dataSet); virtual ~ThermalModule(); @@ -67,12 +70,12 @@ protected: Parameters parameters; - db_float_t moduleTemperature; + gp_float_t moduleTemperature; RedundantHeater *heater; - db_int8_t currentState; - db_int8_t targetState; + gp_int8_t currentState; + gp_int8_t targetState; std::list sensors; std::list components;