Merge remote-tracking branch 'upstream/development' into development

This commit is contained in:
Robin Müller 2020-12-14 13:02:10 +01:00
commit 81c00cd3dc
312 changed files with 11060 additions and 4097 deletions

62
CHANGELOG Normal file
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@ -0,0 +1,62 @@
## Changes from ASTP 0.0.1 to 1.0.0
### Host OSAL
- Bugfix in MessageQueue, which caused the sender not to be set properly
### FreeRTOS OSAL
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
a C file without issues
### PUS Services
- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets
### EnhancedControllerBase
- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
### Local Pool
- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
### Parameter Service
- The API of the parameter service has been changed to prevent inconsistencies
between documentation and actual code and to clarify usage.
- The parameter ID now consists of:
1. Domain ID (1 byte)
2. Unique Identifier (1 byte)
3. Linear Index (2 bytes)
The linear index can be used for arrays as well as matrices.
The parameter load command now explicitely expects the ECSS PTC and PFC
information as well as the rows and column number. Rows and column will
default to one, which is equivalent to one scalar parameter (the most
important use-case)
### File System Interface
- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
### Internal Error Reporter
- The new internal error reporter uses the local data pools. The pool IDs for
the exisiting three error values and the new error set will be hardcoded for
now, the the constructor for the internal error reporter just takes an object
ID for now.
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
### Events
- makeEvent function: Now takes three input parameters instead of two and
allows setting a unique ID. Event.cpp source file removed, functions now
defined in header directly. Namespaces renamed. Functions declared `constexpr`
now

85
CMakeLists.txt Normal file
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@ -0,0 +1,85 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_FSFW_NAME fsfw)
add_library(${LIB_FSFW_NAME})
# Set options for FSFW OSAL selection.
if(UNIX)
set(OS_FSFW "linux" CACHE STRING "OS abstraction layer used in the FSFW")
elseif(WIN32)
set(OS_FSFW "host" CACHE STRING "OS abstraction layer used in the FSFW")
endif()
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
if(${OS_FSFW} STREQUAL host)
set(OS_FSFW_NAME "Host")
elseif(${OS_FSFW} STREQUAL linux)
set(OS_FSFW_NAME "Linux")
elseif(${OS_FSFW} STREQUAL freertos)
set(OS_FSFW_NAME "FreeRTOS")
elseif(${OS_FSFW} STREQUAL rtems)
set(OS_FSFW_NAME "RTEMS")
else()
message(WARNING "Invalid operating system for FSFW specified! Setting to host..")
set(OS_FSFW_NAME "Host")
set(OS_FSFW "host")
endif()
message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system")
# Options to exclude parts of the FSFW from compilation.
option(FSFW_USE_RMAP "Compile with RMAP" ON)
option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
add_subdirectory(action)
add_subdirectory(container)
add_subdirectory(controller)
add_subdirectory(coordinates)
add_subdirectory(datalinklayer)
add_subdirectory(datapool)
add_subdirectory(devicehandlers)
add_subdirectory(events)
add_subdirectory(fdir)
add_subdirectory(globalfunctions)
add_subdirectory(health)
add_subdirectory(internalError)
add_subdirectory(ipc)
add_subdirectory(memory)
add_subdirectory(modes)
add_subdirectory(monitoring)
add_subdirectory(objectmanager)
add_subdirectory(osal)
add_subdirectory(parameters)
add_subdirectory(power)
add_subdirectory(pus)
if(FSFW_USE_RMAP)
add_subdirectory(rmap)
endif()
add_subdirectory(serialize)
add_subdirectory(serviceinterface)
add_subdirectory(storagemanager)
add_subdirectory(subsystem)
add_subdirectory(tasks)
add_subdirectory(tcdistribution)
add_subdirectory(thermal)
add_subdirectory(timemanager)
add_subdirectory(tmstorage)
add_subdirectory(tmtcpacket)
add_subdirectory(tmtcservices)
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
# If this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH)
message(WARNING "Flight Software Framework configuration path not set!")
message(WARNING "Setting default configuration!")
add_subdirectory(defaultcfg/fsfwconfig)
endif()
# Required include paths to compile the FSFW
target_include_directories(${LIB_FSFW_NAME}
INTERFACE
${FSFW_CONFIG_PATH}
)

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@ -1,10 +1,11 @@
#ifndef FSFW_DEFAULTCFG_VERSION_H_
#define FSFW_DEFAULTCFG_VERSION_H_
const char* const FSFW_VERSION_NAME = "fsfw";
const char* const FSFW_VERSION_NAME = "ASTP";
#define FSFW_VERSION 0
#define FSFW_SUBVERSION 0
#define FSFW_REVISION 1

2
NOTICE
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@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during
the Flying Laptop Project by the Universität Stuttgart in coorporation
with Airbus Defence and Space GmbH.
The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
Copyrights in the Flight Software Framework are retained by their contributors.
No copyright assignment is required to contribute to the Flight Software Framework.

161
README.md
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@ -1,4 +1,159 @@
Flight Software Framework (FSFW)
======
![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
# Flight Software Framework (FSFW)
I want to be written!
The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
automated systems like Satellites.
The initial version of the Flight Software Framework was developed during
the Flying Laptop Project by the University of Stuttgart in cooperation
with Airbus Defence and Space GmbH.
## Intended Use
The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
Therefore, a mode and health system provides control over the states of the software and the controlled devices.
In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well.
The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory.
For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC.
## Structure
The general structure is driven by the usage of interfaces provided by objects. The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
The fsfw uses Run-time type information.
Exceptions are not allowed.
### Failure Handling
Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong.
Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
### OSAL
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well.
The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes.
### Core Components
Clock:
* This is a class of static functions that can be used at anytime
* Leap Seconds must be set if any time conversions from UTC to other times is used
ObjectManager (must be created):
* The component which handles all references. All SystemObjects register at this component.
* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
``` c++
template <typename T> T* ObjectManagerIF::get( object_id_t id )
```
* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
Event Manager:
* Component which allows routing of events
* Other objects can subscribe to specific events, ranges of events or all events of an object.
* Subscriptions can be done during runtime but should be done during initialization
* Amounts of allowed subscriptions must be configured by setting this parameters:
``` c++
namespace fsfwconfig {
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
```
Health Table:
* A component which holds every health state
* Provides a thread safe way to access all health states without the need of message exchanges
Stores
* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can be exchanged with Stores. With this, only the store address must be exchanged in the message.
* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
* All of them should use the Thread Safe Class storagemanager/PoolManager
Tasks
There are two different types of tasks:
* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
### Static Ids in the framework
Some parts of the framework use a static routing address for communication.
An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()".
### Events
Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues.
Every object that needs own EventIds has to get a unique SUBSYSTEM_ID.
Every SystemObject can call triggerEvent from the parent class.
Therefore, event messages contain the specific EventId and the objectId of the object that has triggered.
### Internal Communication
Components communicate mostly over Message through Queues.
Those queues are created by calling the singleton QueueFactory::instance()->create().
### External Communication
The external communication with the mission control system is mostly up to the user implementation.
The FSFW provides PUS Services which can be used to but don't need to be used.
The services can be seen as a conversion from a TC to a message based communication and back.
#### CCSDS Frames, CCSDS Space Packets and PUS
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution.
If Space Packets are used, a timestamper must be created.
An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
#### DeviceHandling
DeviceHandlers are a core component of the FSFW.
The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
By separating the underlying Communication Interface with DeviceCommunicationIF, a DH can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction.
A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
#### Modes, Health
The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
On-board Mode Management is implement in hierarchy system.
DeviceHandlers and Controllers are the lowest part of the hierarchy.
The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers.
Assemblies share a common core with the next level which are the Subsystems.
Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes.
The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component.
The target table is used to describe the state that is checked continuously by the subsystem.
All of this allows System Modes to be generated as Subsystem object as well from the same database.
This System contains list of subsystem modes in the transition and target tables.
Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded.
The health state represents if the component is able to perform its tasks.
This can be used to signal the system to avoid using this component instead of a redundant one.
The on-board FDIR uses the health state for isolation and recovery.
## Example config
A example config can be found in defaultcfg/fsfwconfig.
## Unit Tests
Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself.
See README.md in the unittest Folder.

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@ -1,5 +1,6 @@
#include "ActionHelper.h"
#include "HasActionsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"

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@ -1,5 +1,5 @@
#ifndef ACTIONMESSAGE_H_
#define ACTIONMESSAGE_H_
#ifndef FSFW_ACTION_ACTIONMESSAGE_H_
#define FSFW_ACTION_ACTIONMESSAGE_H_
#include "../ipc/CommandMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
@ -18,15 +18,19 @@ public:
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
virtual ~ActionMessage();
static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
static void setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters);
static ActionId_t getActionId(const CommandMessage* message );
static store_address_t getStoreId(const CommandMessage* message );
static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void setStepReply(CommandMessage* message, ActionId_t fid,
uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message );
static ReturnValue_t getReturnCode(const CommandMessage* message );
static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message);
};
#endif /* ACTIONMESSAGE_H_ */
#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */

7
action/CMakeLists.txt Normal file
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@ -0,0 +1,7 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
ActionHelper.cpp
ActionMessage.cpp
CommandActionHelper.cpp
SimpleActionHelper.cpp
)

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@ -1,5 +1,5 @@
#ifndef COMMANDSACTIONSIF_H_
#define COMMANDSACTIONSIF_H_
#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
#define FSFW_ACTION_COMMANDSACTIONSIF_H_
#include "CommandActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
@ -24,11 +24,14 @@ public:
virtual MessageQueueIF* getCommandQueuePtr() = 0;
protected:
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) = 0;
virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
uint32_t size) = 0;
virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
virtual void completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) = 0;
};
#endif /* COMMANDSACTIONSIF_H_ */
#endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */

5
container/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
SharedRingBuffer.cpp
SimpleRingBuffer.cpp
)

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@ -0,0 +1,4 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
ControllerBase.cpp
)

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@ -1,16 +1,16 @@
#include "../subsystem/SubsystemBase.h"
#include "ControllerBase.h"
#include "../subsystem/SubsystemBase.h"
#include "../ipc/QueueFactory.h"
#include "../action/HasActionsIF.h"
ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
SUBMODE_NONE), commandQueue(NULL), modeHelper(
this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
submode(SUBMODE_NONE), modeHelper(this),
healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth);
}
ControllerBase::~ControllerBase() {
@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() {
}
MessageQueueId_t parentQueue = 0;
if (parentId != 0) {
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == NULL) {
if (parent == nullptr) {
return RETURN_FAILED;
}
parentQueue = parent->getCommandQueue();
@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() {
return result;
}
result = hkSwitcher.initialize();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
@ -56,26 +52,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
}
void ControllerBase::handleQueue() {
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&message);
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = healthHelper.handleHealthCommand(&message);
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&message);
result = handleCommandMessage(&command);
if (result == RETURN_OK) {
continue;
}
message.setToUnknownCommand();
commandQueue->reply(&message);
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
@ -106,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) {
ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
handleQueue();
hkSwitcher.performOperation();
performControlOperation();
return RETURN_OK;
}
@ -135,3 +131,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}
ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
return HasReturnvaluesIF::RETURN_OK;
}

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@ -1,5 +1,5 @@
#ifndef CONTROLLERBASE_H_
#define CONTROLLERBASE_H_
#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
#define FSFW_CONTROLLER_CONTROLLERBASE_H_
#include "../health/HasHealthIF.h"
#include "../health/HealthHelper.h"
@ -7,73 +7,88 @@
#include "../modes/ModeHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../datapool/HkSwitchHelper.h"
/**
* @brief Generic base class for controller classes
* @details
* Implements common interfaces for controllers, which generally have
* a mode and a health state. This avoids boilerplate code.
*/
class ControllerBase: public HasModesIF,
public HasHealthIF,
public ExecutableObjectIF,
public SystemObject,
public HasReturnvaluesIF {
public:
static const Mode_t MODE_NORMAL = 2;
ControllerBase(uint32_t setObjectId, uint32_t parentId,
ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth = 3);
virtual ~ControllerBase();
ReturnValue_t initialize();
/** SystemObject override */
virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const;
virtual MessageQueueId_t getCommandQueue() const override;
virtual ReturnValue_t performOperation(uint8_t opCode);
virtual ReturnValue_t setHealth(HealthState health);
virtual HasHealthIF::HealthState getHealth();
/**
* Implementation of ExecutableObjectIF function
*
* Used to setup the reference of the task, that executes this component
* @param task_ Pointer to the taskIF of this task
*/
virtual void setTaskIF(PeriodicTaskIF* task_);
/** HasHealthIF overrides */
virtual ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override;
/** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual void setTaskIF(PeriodicTaskIF* task) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
const uint32_t parentId;
/**
* Implemented by child class. Handle command messages which are not
* mode or health messages.
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/**
* Periodic helper, implemented by child class.
*/
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
const object_id_t parentId;
Mode_t mode;
Submode_t submode;
MessageQueueIF* commandQueue;
MessageQueueIF* commandQueue = nullptr;
ModeHelper modeHelper;
HealthHelper healthHelper;
HkSwitchHelper hkSwitcher;
/**
* Pointer to the task which executes this component, is invalid before setTaskIF was called.
* Pointer to the task which executes this component,
* is invalid before setTaskIF was called.
*/
PeriodicTaskIF* executingTask;
PeriodicTaskIF* executingTask = nullptr;
void handleQueue();
/** Handle mode and health messages */
virtual void handleQueue();
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
/** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
/** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
};
#endif /* CONTROLLERBASE_H_ */
#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

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@ -0,0 +1,114 @@
#include "ExtendedControllerBase.h"
ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
object_id_t parentId, size_t commandQueueDepth):
ControllerBase(objectId, parentId, commandQueueDepth),
localPoolManager(this, commandQueue),
actionHelper(this, commandQueue) {
}
ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
// needs to be overriden and implemented by child class.
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
// needs to be overriden and implemented by child class.
return HasReturnvaluesIF::RETURN_OK;
}
object_id_t ExtendedControllerBase::getObjectId() const {
return SystemObject::getObjectId();
}
LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
return &localPoolManager;
}
uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
return this->executingTask->getPeriodMs();
}
ReturnValue_t ExtendedControllerBase::handleCommandMessage(
CommandMessage *message) {
ReturnValue_t result = actionHelper.handleActionMessage(message);
if(result == HasReturnvaluesIF::RETURN_OK) {
return result;
}
return localPoolManager.handleHousekeepingMessage(message);
}
void ExtendedControllerBase::handleQueue() {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = actionHelper.handleActionMessage(&command);
if (result == RETURN_OK) {
continue;
}
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = localPoolManager.handleHousekeepingMessage(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&command);
if (result == RETURN_OK) {
continue;
}
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
ReturnValue_t ExtendedControllerBase::initialize() {
ReturnValue_t result = ControllerBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return localPoolManager.initialize(commandQueue);
}
ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
return localPoolManager.initializeAfterTaskCreation();
}
ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
handleQueue();
hkSwitcher.performOperation();
localPoolManager.performHkOperation();
performControlOperation();
return RETURN_OK;
}
MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
return commandQueue->getId();
}
LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
<< " implementation provided, returning nullptr!" << std::endl;
return nullptr;
}

View File

@ -0,0 +1,72 @@
#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
#include "ControllerBase.h"
#include "../action/HasActionsIF.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
#include "../action/ActionHelper.h"
#include "../datapoollocal/LocalDataPoolManager.h"
/**
* @brief Extendes the basic ControllerBase with the common components
* HasActionsIF for commandability and HasLocalDataPoolIF to keep
* a pool of local data pool variables.
* @details
* Default implementations required for the interfaces will be empty and have
* to be implemented by child class.
*/
class ExtendedControllerBase: public ControllerBase,
public HasActionsIF,
public HasLocalDataPoolIF {
public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
size_t commandQueueDepth = 3);
/** SystemObjectIF overrides */
virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override;
/** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
LocalDataPoolManager localPoolManager;
ActionHelper actionHelper;
/**
* Implemented by child class. Handle all command messages which are
* not health, mode, action or housekeeping messages.
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/**
* Periodic helper from ControllerBase, implemented by child class.
*/
virtual void performControlOperation() = 0;
/** Handle the four messages mentioned above */
void handleQueue() override;
/** HasActionsIF overrides */
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data,
size_t size) override;
/** HasLocalDatapoolIF overrides */
virtual object_id_t getObjectId() const override;
virtual ReturnValue_t initializeLocalDataPool(
LocalDataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual uint32_t getPeriodicOperationFrequency() const override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
};
#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

View File

@ -0,0 +1,5 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
CoordinateTransformations.cpp
Sgp4Propagator.cpp
)

View File

@ -0,0 +1,12 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
Clcw.cpp
DataLinkLayer.cpp
Farm1StateLockout.cpp
Farm1StateOpen.cpp
Farm1StateWait.cpp
MapPacketExtraction.cpp
TcTransferFrame.cpp
TcTransferFrameLocal.cpp
VirtualChannelReception.cpp
)

View File

@ -19,12 +19,12 @@ class VirtualChannelReception;
class DataLinkLayer : public CCSDSReturnValuesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
static const Event RF_AVAILABLE = MAKE_EVENT(0, SEVERITY::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
static const Event RF_LOST = MAKE_EVENT(1, SEVERITY::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
static const Event BIT_LOCK = MAKE_EVENT(2, SEVERITY::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, SEVERITY::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
// static const Event RF_CHAIN_LOST = MAKE_EVENT(4, SEVERITY::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< The CCSDS Board could not interpret a TC
static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
// static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW); //!< The CCSDS Board could not interpret a TC
/**
* The Constructor sets the passed parameters and nothing else.
* @param set_frame_buffer The buffer in which incoming frame candidates are stored.

View File

@ -1,10 +1,3 @@
/**
* @file MapPacketExtraction.cpp
* @brief This file defines the MapPacketExtraction class.
* @date 26.03.2013
* @author baetz
*/
#include "MapPacketExtraction.h"
#include "../ipc/QueueFactory.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
@ -12,14 +5,14 @@
#include "../tmtcpacket/SpacePacketBase.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/TmTcMessage.h"
#include <string.h>
#include <cstring>
MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
object_id_t setPacketDestination) :
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
packetBuffer), packetDestination(setPacketDestination), packetStore(
NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
memset(packetBuffer, 0, sizeof(packetBuffer));
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
bufferPosition(packetBuffer), packetDestination(setPacketDestination),
tcQueueId(MessageQueueIF::NO_QUEUE) {
std::memset(packetBuffer, 0, sizeof(packetBuffer));
}
ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {

View File

@ -1,12 +1,5 @@
/**
* @file MapPacketExtraction.h
* @brief This file defines the MapPacketExtraction class.
* @date 26.03.2013
* @author baetz
*/
#ifndef MAPPACKETEXTRACTION_H_
#define MAPPACKETEXTRACTION_H_
#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
#include "MapPacketExtractionIF.h"
#include "../objectmanager/ObjectManagerIF.h"
@ -20,17 +13,19 @@ class StorageManagerIF;
* The class implements the full MAP Packet Extraction functionality as described in the CCSDS
* TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
* fully received. All found packets are forwarded to a single distribution entity.
* @author B. Baetz
*/
class MapPacketExtraction: public MapPacketExtractionIF {
private:
static const uint32_t MAX_PACKET_SIZE = 4096;
uint8_t lastSegmentationFlag; //!< The segmentation flag of the last received frame.
uint8_t mapId; //!< MAP ID of this MAP Channel.
uint32_t packetLength; //!< Complete length of the current Space Packet.
uint32_t packetLength = 0; //!< Complete length of the current Space Packet.
uint8_t* bufferPosition; //!< Position to write to in the internal Packet buffer.
uint8_t packetBuffer[MAX_PACKET_SIZE]; //!< The internal Space Packet Buffer.
object_id_t packetDestination;
StorageManagerIF* packetStore; //!< Pointer to the store where full TC packets are stored.
//!< Pointer to the store where full TC packets are stored.
StorageManagerIF* packetStore = nullptr;
MessageQueueId_t tcQueueId; //!< QueueId to send found packets to the distributor.
/**
* Debug method to print the packet Buffer's content.
@ -75,4 +70,4 @@ public:
uint8_t getMapId() const;
};
#endif /* MAPPACKETEXTRACTION_H_ */
#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */

11
datapool/CMakeLists.txt Normal file
View File

@ -0,0 +1,11 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
ControllerSet.cpp
DataPool.cpp
DataPoolAdmin.cpp
DataPoolParameterWrapper.cpp
DataSet.cpp
HkSwitchHelper.cpp
PoolEntry.cpp
PoolRawAccess.cpp
)

View File

@ -1,15 +0,0 @@
#ifndef CONTROLLERSET_H_
#define CONTROLLERSET_H_
#include "DataSet.h"
class ControllerSet :public DataSet {
public:
ControllerSet();
virtual ~ControllerSet();
virtual void setToDefault() = 0;
void setInvalid();
};
#endif /* CONTROLLERSET_H_ */

View File

@ -1,131 +0,0 @@
#include "DataPool.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/MutexFactory.h"
DataPool::DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) ) {
mutex = MutexFactory::instance()->createMutex();
if (initFunction != NULL ) {
initFunction( &this->data_pool );
}
}
DataPool::~DataPool() {
MutexFactory::instance()->deleteMutex(mutex);
for ( std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.begin(); it != this->data_pool.end(); ++it ) {
delete it->second;
}
}
//The function checks PID, type and array length before returning a copy of the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
template <typename T> PoolEntry<T>* DataPool::getData( uint32_t data_pool_id, uint8_t sizeOrPosition ) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
if ( it != this->data_pool.end() ) {
PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
if (entry != NULL ) {
if ( sizeOrPosition <= entry->length ) {
return entry;
}
}
}
return NULL;
}
PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
if ( it != this->data_pool.end() ) {
return it->second;
} else {
return NULL;
}
}
//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t maxSize ) {
// std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
// if ( it != this->data_pool.end() ) {
// if ( it->second->getByteSize() <= maxSize ) {
// *size = it->second->getByteSize();
// memcpy( address, it->second->getRawData(), *size );
// return DP_SUCCESSFUL;
// }
// }
// *size = 0;
// return DP_FAILURE;
//}
ReturnValue_t DataPool::freeDataPoolLock() {
ReturnValue_t status = mutex->unlockMutex();
if ( status != RETURN_OK ) {
sif::error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl;
}
return status;
}
ReturnValue_t DataPool::lockDataPool() {
ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
if ( status != RETURN_OK ) {
sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
}
return status;
}
void DataPool::print() {
sif::debug << "DataPool contains: " << std::endl;
std::map<uint32_t, PoolEntryIF*>::iterator dataPoolIt;
dataPoolIt = this->data_pool.begin();
while( dataPoolIt != this->data_pool.end() ) {
sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
dataPoolIt->second->print();
dataPoolIt++;
}
}
template PoolEntry<uint8_t>* DataPool::getData<uint8_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint16_t>* DataPool::getData<uint16_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint32_t>* DataPool::getData<uint32_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint64_t>* DataPool::getData<uint64_t>(uint32_t data_pool_id,
uint8_t size);
template PoolEntry<int8_t>* DataPool::getData<int8_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<int16_t>* DataPool::getData<int16_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<int32_t>* DataPool::getData<int32_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<float>* DataPool::getData<float>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<double>* DataPool::getData<double>(uint32_t data_pool_id,
uint8_t size);
uint32_t DataPool::PIDToDataPoolId(uint32_t parameter_id) {
return (parameter_id >> 8) & 0x00FFFFFF;
}
uint8_t DataPool::PIDToArrayIndex(uint32_t parameter_id) {
return (parameter_id & 0x000000FF);
}
uint32_t DataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
return (poolId << 8) + index;
}
//SHOULDDO: Do we need a mutex lock here... I don't think so, as we only check static const values of elements in a list that do not change.
//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
ReturnValue_t DataPool::getType(uint32_t parameter_id, Type* type) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( PIDToDataPoolId(parameter_id));
if ( it != this->data_pool.end() ) {
*type = it->second->getType();
return RETURN_OK;
} else {
*type = Type::UNKNOWN_TYPE;
return RETURN_FAILED;
}
}
bool DataPool::exists(uint32_t parameterId) {
uint32_t poolId = PIDToDataPoolId(parameterId);
uint32_t index = PIDToArrayIndex(parameterId);
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( poolId );
if (it != data_pool.end()) {
if (it->second->getSize() >= index) {
return true;
}
}
return false;
}

View File

@ -1,135 +0,0 @@
/**
* \file DataPool.h
*
* \date 10/17/2012
* \author Bastian Baetz
*
* \brief This file contains the definition of the DataPool class and (temporarily)
* the "extern" definition of the global dataPool instance.
*/
#ifndef DATAPOOL_H_
#define DATAPOOL_H_
#include "PoolEntry.h"
#include "../globalfunctions/Type.h"
#include "../ipc/MutexIF.h"
#include <map>
/**
* \defgroup data_pool Data Pool
* This is the group, where all classes associated with Data Pool Handling belong to.
* This includes classes to access Data Pool variables.
*/
#define DP_SUCCESSFUL 0
#define DP_FAILURE 1
/**
* \brief This class represents the OBSW global data-pool.
*
* \details All variables are registered and space is allocated in an initialization
* function, which is passed do the constructor.
* Space for the variables is allocated on the heap (with a new call).
* The data is found by a data pool id, which uniquely represents a variable.
* Data pool variables should be used with a blackboard logic in mind,
* which means read data is valid (if flagged so), but not necessarily up-to-date.
* Variables are either single values or arrays.
* \ingroup data_pool
*/
class DataPool : public HasReturnvaluesIF {
private:
/**
* \brief This is the actual data pool itself.
* \details It is represented by a map
* with the data pool id as index and a pointer to a single PoolEntry as value.
*/
std::map<uint32_t, PoolEntryIF*> data_pool;
public:
/**
* \brief The mutex is created in the constructor and makes access mutual exclusive.
* \details Locking and unlocking the pool is only done by the DataSet class.
*/
MutexIF* mutex;
/**
* \brief In the classes constructor, the passed initialization function is called.
* \details To enable filling the pool,
* a pointer to the map is passed, allowing direct access to the pool's content.
* On runtime, adding or removing variables is forbidden.
*/
DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) );
/**
* \brief The destructor iterates through the data_pool map and calls all Entries destructors to clean up the heap.
*/
~DataPool();
/**
* \brief This is the default call to access the pool.
* \details A pointer to the PoolEntry object is returned.
* The call checks data pool id, type and array size. Returns NULL in case of failure.
* \param data_pool_id The data pool id to search.
* \param sizeOrPosition The array size (not byte size!) of the pool entry, or the position the user wants to read.
* If smaller than the entry size, everything's ok.
*/
template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id, uint8_t sizeOrPosition );
/**
* \brief An alternative call to get a data pool entry in case the type is not implicitly known
* (i.e. in Housekeeping Telemetry).
* \details It returns a basic interface and does NOT perform
* a size check. The caller has to assure he does not copy too much data.
* Returns NULL in case the entry is not found.
* \param data_pool_id The data pool id to search.
*/
PoolEntryIF* getRawData( uint32_t data_pool_id );
/**
* \brief This is a small helper function to facilitate locking the global data pool.
* \details It fetches the pool's mutex id and tries to acquire the mutex.
*/
ReturnValue_t lockDataPool();
/**
* \brief This is a small helper function to facilitate unlocking the global data pool.
* \details It fetches the pool's mutex id and tries to free the mutex.
*/
ReturnValue_t freeDataPoolLock();
/**
* \brief The print call is a simple debug method.
* \details It prints the current content of the data pool.
* It iterates through the data_pool map and calls each entry's print() method.
*/
void print();
/**
* Extracts the data pool id from a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The data pool id as used within the OBSW.
*/
static uint32_t PIDToDataPoolId( uint32_t parameter_id );
/**
* Extracts an array index out of a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The index of the corresponding data pool entry.
*/
static uint8_t PIDToArrayIndex( uint32_t parameter_id );
/**
* Retransforms a data pool id and an array index to a SCOS 2000 PID.
*/
static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
/**
* Method to return the type of a pool variable.
* @param parameter_id A parameterID (not pool id) of a DP member.
* @param type Returns the type or TYPE::UNKNOWN_TYPE
* @return RETURN_OK if parameter exists, RETURN_FAILED else.
*/
ReturnValue_t getType( uint32_t parameter_id, Type* type );
/**
* Method to check if a PID exists.
* Does not lock, as there's no possibility to alter the list that is checked during run-time.
* @param parameterId The PID (not pool id!) of a parameter.
* @return true if exists, false else.
*/
bool exists(uint32_t parameterId);
};
//We assume someone globally instantiates a DataPool.
extern DataPool dataPool;
#endif /* DATAPOOL_H_ */

View File

@ -1,150 +0,0 @@
#include "DataSet.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
DataSet::DataSet() :
fill_count(0), state(DATA_SET_UNINITIALISED) {
for (unsigned count = 0; count < DATA_SET_MAX_SIZE; count++) {
registeredVariables[count] = NULL;
}
}
DataSet::~DataSet() {
//Don't do anything with your variables, they are dead already! (Destructor is already called)
}
ReturnValue_t DataSet::read() {
ReturnValue_t result = RETURN_OK;
if (state == DATA_SET_UNINITIALISED) {
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
ReturnValue_t status = registeredVariables[count]->read();
if (status != RETURN_OK) {
result = INVALID_PARAMETER_DEFINITION;
break;
}
}
}
state = DATA_SET_WAS_READ;
freeDataPoolLock();
} else {
sif::error << "DataSet::read(): Call made in wrong position." << std::endl;
result = SET_WAS_ALREADY_READ;
}
return result;
}
ReturnValue_t DataSet::commit(uint8_t valid) {
setValid(valid);
return commit();
}
ReturnValue_t DataSet::commit() {
if (state == DATA_SET_WAS_READ) {
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commit();
}
}
state = DATA_SET_UNINITIALISED;
freeDataPoolLock();
return RETURN_OK;
} else {
ReturnValue_t result = RETURN_OK;
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
== PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commit();
} else if (registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if (result != COMMITING_WITHOUT_READING) {
sif::error <<
"DataSet::commit(): commit-without-read "
"call made with non write-only variable." << std::endl;
result = COMMITING_WITHOUT_READING;
}
}
}
state = DATA_SET_UNINITIALISED;
freeDataPoolLock();
return result;
}
}
void DataSet::registerVariable(PoolVariableIF* variable) {
if (state == DATA_SET_UNINITIALISED) {
if (variable != NULL) {
if (fill_count < DATA_SET_MAX_SIZE) {
registeredVariables[fill_count] = variable;
fill_count++;
return;
}
}
}
sif::error
<< "DataSet::registerVariable: failed. Either NULL, or set is full, or call made in wrong position."
<< std::endl;
return;
}
uint8_t DataSet::freeDataPoolLock() {
return ::dataPool.freeDataPoolLock();
}
uint8_t DataSet::lockDataPool() {
return ::dataPool.lockDataPool();
}
ReturnValue_t DataSet::serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
ReturnValue_t result = RETURN_FAILED;
for (uint16_t count = 0; count < fill_count; count++) {
result = registeredVariables[count]->serialize(buffer, size, maxSize,
streamEndianness);
if (result != RETURN_OK) {
return result;
}
}
return result;
}
size_t DataSet::getSerializedSize() const {
size_t size = 0;
for (uint16_t count = 0; count < fill_count; count++) {
size += registeredVariables[count]->getSerializedSize();
}
return size;
}
void DataSet::setValid(uint8_t valid) {
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ) {
registeredVariables[count]->setValid(valid);
}
}
}
ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
ReturnValue_t result = RETURN_FAILED;
for (uint16_t count = 0; count < fill_count; count++) {
result = registeredVariables[count]->deSerialize(buffer, size,
streamEndianness);
if (result != RETURN_OK) {
return result;
}
}
return result;
}

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@ -1,159 +0,0 @@
/*
* \file DataSet.h
*
* \brief This file contains the DataSet class and a small structure called DataSetContent.
*
* \date 10/17/2012
*
* \author Bastian Baetz
*
*/
#ifndef DATASET_H_
#define DATASET_H_
#include "DataPool.h"
#include "DataSetIF.h"
#include "PoolRawAccess.h"
#include "PoolVariable.h"
#include "PoolVarList.h"
#include "PoolVector.h"
#include "../serialize/SerializeAdapter.h"
/**
* \brief The DataSet class manages a set of locally checked out variables.
*
* \details This class manages a list, where a set of local variables (or pool variables) are
* registered. They are checked-out (i.e. their values are looked up and copied)
* with the read call. After the user finishes working with the pool variables,
* he can write back all variable values to the pool with the commit call.
* The data set manages locking and freeing the data pool, to ensure that all values
* are read and written back at once.
* An internal state manages usage of this class. Variables may only be registered before
* the read call is made, and the commit call only after the read call.
* If pool variables are writable and not committed until destruction of the set, the
* DataSet class automatically sets the valid flag in the data pool to invalid (without)
* changing the variable's value.
*
* \ingroup data_pool
*/
class DataSet: public DataSetIF, public HasReturnvaluesIF, public SerializeIF {
private:
//SHOULDDO we could use a linked list of datapool variables
static const uint8_t DATA_SET_MAX_SIZE = 63; //!< This definition sets the maximum number of variables to register in one DataSet.
/**
* \brief This array represents all pool variables registered in this set.
* \details It has a maximum size of DATA_SET_MAX_SIZE.
*/
PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
/**
* \brief The fill_count attribute ensures that the variables register in the correct array
* position and that the maximum number of variables is not exceeded.
*/
uint16_t fill_count;
/**
* States of the seet.
*/
enum States {
DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
DATA_SET_WAS_READ //!< DATA_SET_WAS_READ
};
/**
* \brief state manages the internal state of the data set, which is important e.g. for the
* behavior on destruction.
*/
States state;
/**
* \brief This is a small helper function to facilitate locking the global data pool.
* \details It makes use of the lockDataPool method offered by the DataPool class.
*/
uint8_t lockDataPool();
/**
* \brief This is a small helper function to facilitate unlocking the global data pool.
* \details It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
uint8_t freeDataPoolLock();
public:
static const uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
static const ReturnValue_t INVALID_PARAMETER_DEFINITION =
MAKE_RETURN_CODE( 0x01 );
static const ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
static const ReturnValue_t COMMITING_WITHOUT_READING =
MAKE_RETURN_CODE(0x03);
/**
* \brief The constructor simply sets the fill_count to zero and sets the state to "uninitialized".
*/
DataSet();
/**
* \brief The destructor automatically manages writing the valid information of variables.
* \details In case the data set was read out, but not committed (indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~DataSet();
/**
* \brief The read call initializes reading out all registered variables.
* \details It iterates through the list of registered variables and calls all read()
* functions of the registered pool variables (which read out their values from the
* data pool) which are not write-only. In case of an error (e.g. a wrong data type,
* or an invalid data pool id), the operation is aborted and
* \c INVALID_PARAMETER_DEFINITION returned.
* The data pool is locked during the whole read operation and freed afterwards.
* The state changes to "was written" after this operation.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c INVALID_PARAMETER_DEFINITION if PID, size or type of the
* requested variable is invalid.
* - \c SET_WAS_ALREADY_READ if read() is called twice without calling
* commit() in between
*/
ReturnValue_t read();
/**
* \brief The commit call initializes writing back the registered variables.
* \details It iterates through the list of registered variables and calls
* the commit() method of the remaining registered variables (which write back
* their values to the pool).
* The data pool is locked during the whole commit operation and freed afterwards.
* The state changes to "was committed" after this operation.
* If the set does contain at least one variable which is not write-only commit()
* can only be called after read(). If the set only contains variables which are
* write only, commit() can be called without a preceding read() call.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
* variables
*/
ReturnValue_t commit(void);
/**
* Variant of method above which sets validity of all elements of the set.
* @param valid Validity information from PoolVariableIF.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
* variables
*/
ReturnValue_t commit(uint8_t valid);
/**
* \brief This operation is used to register the local variables in the set.
* \details It copies all required information to the currently
* free space in the registeredVariables list.
*/
void registerVariable(PoolVariableIF* variable);
/**
* Set the valid information of all variables contained in the set which are not readonly
*
* @param valid Validity information from PoolVariableIF.
*/
void setValid(uint8_t valid);
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
};
#endif /* DATASET_H_ */

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@ -1,39 +1,47 @@
/**
* \file DataSetIF.h
*
* \brief This file contains the small interface to access the DataSet class.
*
* \date 10/23/2012
*
* \author Bastian Baetz
*
*/
#ifndef DATASETIF_H_
#define DATASETIF_H_
#ifndef FSFW_DATAPOOL_DATASETIF_H_
#define FSFW_DATAPOOL_DATASETIF_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../timemanager/Clock.h"
class PoolVariableIF;
/**
* \brief This class defines a small interface to register on a DataSet.
* @brief This class defines a small interface to register on a DataSet.
*
* \details Currently, the only purpose of this interface is to provide a method for locally
* checked-out variables to register on a data set. Still, it may become useful for
* other purposes as well.
*
* \ingroup data_pool
* @details
* Currently, the only purpose of this interface is to provide a
* method for locally checked-out variables to register on a data set.
* Still, it may become useful for other purposes as well.
* @author Bastian Baetz
* @ingroup data_pool
*/
class DataSetIF {
public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
MAKE_RETURN_CODE( 0x01 );
static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
MAKE_RETURN_CODE(0x03);
static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE( 0x04 );
static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
/**
* \brief This is an empty virtual destructor, as it is proposed for C++ interfaces.
* @brief This is an empty virtual destructor,
* as it is proposed for C++ interfaces.
*/
virtual ~DataSetIF() {}
/**
* \brief This operation provides a method to register local data pool variables
* to register in a data set by passing itself to this DataSet operation.
* @brief This operation provides a method to register local data pool
* variables to register in a data set by passing itself
* to this DataSet operation.
*/
virtual void registerVariable( PoolVariableIF* variable ) = 0;
virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
virtual uint16_t getFillCount() const = 0;
};
#endif /* DATASETIF_H_ */
#endif /* FSFW_DATAPOOL_DATASETIF_H_ */

View File

@ -1,5 +1,4 @@
#include "HkSwitchHelper.h"
//#include <mission/tmtcservices/HKService_03.h>
#include "../datapool/HkSwitchHelper.h"
#include "../ipc/QueueFactory.h"
HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
@ -22,14 +21,14 @@ ReturnValue_t HkSwitchHelper::initialize() {
}
ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
CommandMessage message;
while (actionQueue->receiveMessage(&message) == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = commandActionHelper.handleReply(&message);
CommandMessage command;
while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = commandActionHelper.handleReply(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
message.setToUnknownCommand();
actionQueue->reply(&message);
command.setToUnknownCommand();
actionQueue->reply(&command);
}
return HasReturnvaluesIF::RETURN_OK;

View File

@ -13,7 +13,7 @@ class HkSwitchHelper: public ExecutableObjectIF, public CommandsActionsIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, SEVERITY::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
HkSwitchHelper(EventReportingProxyIF *eventProxy);
virtual ~HkSwitchHelper();

View File

@ -0,0 +1,169 @@
#include "PoolDataSetBase.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxFillCount):
registeredVariables(registeredVariablesArray),
maxFillCount(maxFillCount) {
}
PoolDataSetBase::~PoolDataSetBase() {}
ReturnValue_t PoolDataSetBase::registerVariable(
PoolVariableIF *variable) {
if (state != States::DATA_SET_UNINITIALISED) {
sif::error << "DataSet::registerVariable: "
"Call made in wrong position." << std::endl;
return DataSetIF::DATA_SET_UNINITIALISED;
}
if (variable == nullptr) {
sif::error << "DataSet::registerVariable: "
"Pool variable is nullptr." << std::endl;
return DataSetIF::POOL_VAR_NULL;
}
if (fillCount >= maxFillCount) {
sif::error << "DataSet::registerVariable: "
"DataSet is full." << std::endl;
return DataSetIF::DATA_SET_FULL;
}
registeredVariables[fillCount] = variable;
fillCount++;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (state == States::DATA_SET_UNINITIALISED) {
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
result = readVariable(count);
if(result != RETURN_OK) {
break;
}
}
state = States::DATA_SET_WAS_READ;
unlockDataPool();
}
else {
sif::error << "DataSet::read(): "
"Call made in wrong position. Don't forget to commit"
" member datasets!" << std::endl;
result = SET_WAS_ALREADY_READ;
}
return result;
}
uint16_t PoolDataSetBase::getFillCount() const {
return fillCount;
}
ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// These checks are often performed by the respective
// variable implementation too, but I guess a double check does not hurt.
if (registeredVariables[count]->getReadWriteMode() !=
PoolVariableIF::VAR_WRITE and
registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER)
{
result = registeredVariables[count]->readWithoutLock();
if(result != HasReturnvaluesIF::RETURN_OK) {
result = INVALID_PARAMETER_DEFINITION;
}
}
return result;
}
ReturnValue_t PoolDataSetBase::commit(uint32_t lockTimeout) {
if (state == States::DATA_SET_WAS_READ) {
handleAlreadyReadDatasetCommit(lockTimeout);
return HasReturnvaluesIF::RETURN_OK;
}
else {
return handleUnreadDatasetCommit(lockTimeout);
}
}
void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commitWithoutLock();
}
}
state = States::DATA_SET_UNINITIALISED;
unlockDataPool();
}
ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
== PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commitWithoutLock();
} else if (registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if (result != COMMITING_WITHOUT_READING) {
sif::error << "DataSet::commit(): commit-without-read call made "
"with non write-only variable." << std::endl;
result = COMMITING_WITHOUT_READING;
}
}
}
state = States::DATA_SET_UNINITIALISED;
unlockDataPool();
return result;
}
ReturnValue_t PoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::unlockDataPool() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size,
const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t count = 0; count < fillCount; count++) {
result = registeredVariables[count]->serialize(buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
ReturnValue_t PoolDataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t count = 0; count < fillCount; count++) {
result = registeredVariables[count]->deSerialize(buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
size_t PoolDataSetBase::getSerializedSize() const {
uint32_t size = 0;
for (uint16_t count = 0; count < fillCount; count++) {
size += registeredVariables[count]->getSerializedSize();
}
return size;
}
void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
this->registeredVariables = variablesContainer;
}

152
datapool/PoolDataSetBase.h Normal file
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@ -0,0 +1,152 @@
#ifndef FSFW_DATAPOOL_POOLDATASETBASE_H_
#define FSFW_DATAPOOL_POOLDATASETBASE_H_
#include "PoolDataSetIF.h"
#include "PoolVariableIF.h"
#include "../ipc/MutexIF.h"
/**
* @brief The DataSetBase class manages a set of locally checked out variables.
* @details
* This class manages a list, where a set of local variables (or pool variables)
* are registered. They are checked-out (i.e. their values are looked
* up and copied) with the read call. After the user finishes working with the
* pool variables, he can write back all variable values to the pool with
* the commit call. The data set manages locking and freeing the data pool,
* to ensure that all values are read and written back at once.
*
* An internal state manages usage of this class. Variables may only be
* registered before the read call is made, and the commit call only
* after the read call.
*
* If pool variables are writable and not committed until destruction
* of the set, the DataSet class automatically sets the valid flag in the
* data pool to invalid (without) changing the variable's value.
*
* The base class lockDataPool und unlockDataPool implementation are empty
* and should be implemented to protect the underlying pool type.
* @author Bastian Baetz
* @ingroup data_pool
*/
class PoolDataSetBase: public PoolDataSetIF,
public SerializeIF,
public HasReturnvaluesIF {
public:
/**
* @brief Creates an empty dataset. Use registerVariable or
* supply a pointer to this dataset to PoolVariable
* initializations to register pool variables.
*/
PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxFillCount);
virtual~ PoolDataSetBase();
/**
* @brief The read call initializes reading out all registered variables.
* @details
* It iterates through the list of registered variables and calls all read()
* functions of the registered pool variables (which read out their values
* from the data pool) which are not write-only.
* In case of an error (e.g. a wrong data type, or an invalid data pool id),
* the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
*
* The data pool is locked during the whole read operation and
* freed afterwards.The state changes to "was written" after this operation.
* @return
* - @c RETURN_OK if all variables were read successfully.
* - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the
* requested variable is invalid.
* - @c SET_WAS_ALREADY_READ if read() is called twice without calling
* commit() in between
*/
virtual ReturnValue_t read(uint32_t lockTimeout =
MutexIF::BLOCKING) override;
/**
* @brief The commit call initializes writing back the registered variables.
* @details
* It iterates through the list of registered variables and calls the
* commit() method of the remaining registered variables (which write back
* their values to the pool).
*
* The data pool is locked during the whole commit operation and
* freed afterwards. The state changes to "was committed" after this operation.
*
* If the set does contain at least one variable which is not write-only
* commit() can only be called after read(). If the set only contains
* variables which are write only, commit() can be called without a
* preceding read() call.
* @return - @c RETURN_OK if all variables were read successfully.
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
virtual ReturnValue_t commit(uint32_t lockTimeout =
MutexIF::BLOCKING) override;
/**
* Register the passed pool variable instance into the data set.
* @param variable
* @return
*/
virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
/**
* Provides the means to lock the underlying data structure to ensure
* thread-safety. Default implementation is empty
* @return Always returns -@c RETURN_OK
*/
virtual ReturnValue_t lockDataPool(uint32_t timeoutMs =
MutexIF::BLOCKING) override;
/**
* Provides the means to unlock the underlying data structure to ensure
* thread-safety. Default implementation is empty
* @return Always returns -@c RETURN_OK
*/
virtual ReturnValue_t unlockDataPool() override;
virtual uint16_t getFillCount() const;
/* SerializeIF implementations */
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override;
protected:
/**
* @brief The fill_count attribute ensures that the variables
* register in the correct array position and that the maximum
* number of variables is not exceeded.
*/
uint16_t fillCount = 0;
/**
* States of the seet.
*/
enum class States {
DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
DATA_SET_WAS_READ //!< DATA_SET_WAS_READ
};
/**
* @brief state manages the internal state of the data set,
* which is important e.g. for the behavior on destruction.
*/
States state = States::DATA_SET_UNINITIALISED;
/**
* @brief This array represents all pool variables registered in this set.
* Child classes can use a static or dynamic container to create
* an array of registered variables and assign the first entry here.
*/
PoolVariableIF** registeredVariables = nullptr;
const size_t maxFillCount = 0;
void setContainer(PoolVariableIF** variablesContainer);
private:
ReturnValue_t readVariable(uint16_t count);
void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
};
#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */

33
datapool/PoolDataSetIF.h Normal file
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@ -0,0 +1,33 @@
#ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
#define FSFW_DATAPOOL_POOLDATASETIF_H_
#include "DataSetIF.h"
/**
* @brief Extendes the DataSetIF by adding abstract functions to lock
* and unlock a data pool and read/commit semantics.
*/
class PoolDataSetIF: public DataSetIF {
public:
virtual~ PoolDataSetIF() {};
virtual ReturnValue_t read(dur_millis_t lockTimeout) = 0;
virtual ReturnValue_t commit(dur_millis_t lockTimeout) = 0;
/**
* @brief Most underlying data structures will have a pool like structure
* and will require a lock and unlock mechanism to ensure
* thread-safety
* @return Lock operation result
*/
virtual ReturnValue_t lockDataPool(dur_millis_t timeoutMs) = 0;
/**
* @brief Unlock call corresponding to the lock call.
* @return Unlock operation result
*/
virtual ReturnValue_t unlockDataPool() = 0;
virtual bool isValid() const = 0;
};
#endif /* FSFW_DATAPOOL_POOLDATASETIF_H_ */

View File

@ -1,4 +1,5 @@
#include "PoolEntry.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
#include <cstring>

View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
#ifndef FSFW_DATAPOOL_POOLENTRY_H_
#define FSFW_DATAPOOL_POOLENTRY_H_
#include "PoolEntryIF.h"
@ -127,4 +127,4 @@ public:
Type getType();
};
#endif /* POOLENTRY_H_ */
#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */

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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
#define FSFW_DATAPOOL_POOLENTRYIF_H_
#include "../globalfunctions/Type.h"
#include <cstdint>
@ -60,4 +60,4 @@ public:
virtual Type getType() = 0;
};
#endif /* POOLENTRYIF_H_ */
#endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */

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@ -1,187 +0,0 @@
#include "DataPool.h"
#include "PoolEntryIF.h"
#include "PoolRawAccess.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serialize/EndianConverter.h"
#include <cstring>
PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
DataSetIF *data_set, ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(
Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), readWriteMode(
setReadWriteMode) {
memset(value, 0, sizeof(value));
if (data_set != NULL) {
data_set->registerVariable(this);
}
}
PoolRawAccess::~PoolRawAccess() {
}
ReturnValue_t PoolRawAccess::read() {
PoolEntryIF *read_out = ::dataPool.getRawData(dataPoolId);
if (read_out != NULL) {
valid = read_out->getValid();
if (read_out->getSize() > arrayEntry) {
arraySize = read_out->getSize();
typeSize = read_out->getByteSize() / read_out->getSize();
type = read_out->getType();
if (typeSize <= sizeof(value)) {
uint16_t arrayPosition = arrayEntry * typeSize;
sizeTillEnd = read_out->getByteSize() - arrayPosition;
uint8_t *ptr =
&((uint8_t*) read_out->getRawData())[arrayPosition];
memcpy(value, ptr, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
//Error value type too large.
}
} else {
//Error index requested too large
}
} else {
//Error entry does not exist.
}
sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
valid = INVALID;
typeSize = 0;
sizeTillEnd = 0;
memset(value, 0, sizeof(value));
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t PoolRawAccess::commit() {
PoolEntryIF *write_back = ::dataPool.getRawData(dataPoolId);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->setValid(valid);
uint8_t array_position = arrayEntry * typeSize;
uint8_t *ptr = &((uint8_t*) write_back->getRawData())[array_position];
memcpy(ptr, value, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t* PoolRawAccess::getEntry() {
return value;
}
ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t *buffer,
size_t *writtenBytes, size_t maxSize) {
uint8_t *data_ptr = getEntry();
// debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
if (typeSize == 0) {
return DATA_POOL_ACCESS_FAILED;
}
if (typeSize > maxSize) {
return INCORRECT_SIZE;
}
EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
*writtenBytes = typeSize;
return HasReturnvaluesIF::RETURN_OK;
}
Type PoolRawAccess::getType() {
return type;
}
size_t PoolRawAccess::getSizeOfType() {
return typeSize;
}
size_t PoolRawAccess::getArraySize() {
return arraySize;
}
uint32_t PoolRawAccess::getDataPoolId() const {
return dataPoolId;
}
PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
return readWriteMode;
}
ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
size_t setSize) {
if (typeSize == setSize) {
EndianConverter::convertBigEndian(value, buffer, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
sif::error
<< "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
<< (uint32_t) typeSize << ", Requested: " << setSize
<< std::endl;
return INCORRECT_SIZE;
}
}
bool PoolRawAccess::isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void PoolRawAccess::setValid(uint8_t valid) {
this->valid = valid;
}
size_t PoolRawAccess::getSizeTillEnd() const {
return sizeTillEnd;
}
ReturnValue_t PoolRawAccess::serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const {
if (typeSize + *size <= maxSize) {
switch (streamEndianness) {
case (Endianness::BIG):
EndianConverter::convertBigEndian(*buffer, value, typeSize);
break;
case (Endianness::LITTLE):
EndianConverter::convertLittleEndian(*buffer, value, typeSize);
break;
default:
case (Endianness::MACHINE):
memcpy(*buffer, value, typeSize);
break;
}
*size += typeSize;
(*buffer) += typeSize;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SerializeIF::BUFFER_TOO_SHORT;
}
}
size_t PoolRawAccess::getSerializedSize() const {
return typeSize;
}
ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) {
if (*size >= typeSize) {
switch (streamEndianness) {
case (Endianness::BIG):
EndianConverter::convertBigEndian(value, *buffer, typeSize);
break;
case (Endianness::LITTLE):
EndianConverter::convertLittleEndian(value, *buffer, typeSize);
break;
default:
case (Endianness::MACHINE):
memcpy(value, *buffer, typeSize);
break;
}
*size -= typeSize;
*buffer += typeSize;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SerializeIF::STREAM_TOO_SHORT;
}
}

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@ -1,152 +0,0 @@
#ifndef POOLRAWACCESS_H_
#define POOLRAWACCESS_H_
#include "DataSetIF.h"
#include "PoolVariableIF.h"
/**
* This class allows accessing Data Pool variables as raw bytes.
* This is necessary to have an access method for HK data, as the PID's alone do not
* provide a type information.
* \ingroup data_pool
*/
class PoolRawAccess: public PoolVariableIF {
private:
/**
* \brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* \brief The array entry that is fetched from the data pool.
*/
uint8_t arrayEntry;
/**
* \brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* \brief This value contains the type of the data pool entry.
*/
Type type;
/**
* \brief This value contains the size of the data pool entry in bytes.
*/
size_t typeSize;
/**
* The size of the DP array (single values return 1)
*/
size_t arraySize;
/**
* The size (in bytes) from the selected entry till the end of this DataPool variable.
*/
size_t sizeTillEnd;
/**
* \brief The information whether the class is read-write or read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
static const uint8_t RAW_MAX_SIZE = sizeof(double);
protected:
/**
* \brief This is a call to read the value from the global data pool.
* \details When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies the value and the valid
* information to its local attributes. In case of a failure (wrong type or
* pool id not found), the variable is set to zero and invalid.
* The operation does NOT provide any mutual exclusive protection by itself.
*/
ReturnValue_t read();
/**
* \brief The commit call writes back the variable's value to the data pool.
* \details It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The operation does NOT provide any mutual exclusive protection by itself.
*
*/
ReturnValue_t commit();
public:
static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
uint8_t value[RAW_MAX_SIZE];
PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
DataSetIF *data_set, ReadWriteMode_t setReadWriteMode =
PoolVariableIF::VAR_READ);
/**
* \brief The classes destructor is empty. If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~PoolRawAccess();
/**
* \brief This operation returns a pointer to the entry fetched.
* \details This means, it does not return a pointer to byte "index", but to the start byte of
* array entry "index". Example: If the original data pool array consists of an double
* array of size four, getEntry(1) returns &(this->value[8]).
*/
uint8_t* getEntry();
/**
* \brief This operation returns the fetched entry from the data pool and
* flips the bytes, if necessary.
* \details It makes use of the getEntry call of this function, but additionally flips the
* bytes to big endian, which is the default for external communication (as House-
* keeping telemetry). To achieve this, the data is copied directly to the passed
* buffer, if it fits in the given maxSize.
* \param buffer A pointer to a buffer to write to
* \param writtenBytes The number of bytes written is returned with this value.
* \param maxSize The maximum size that the function may write to buffer.
* \return - \c RETURN_OK if entry could be acquired
* - \c RETURN_FAILED else.
*/
ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
size_t maxSize);
/**
* With this method, the content can be set from a big endian buffer safely.
* @param buffer Pointer to the data to set
* @param size Size of the data to write. Must fit this->size.
* @return - \c RETURN_OK on success
* - \c RETURN_FAILED on failure
*/
ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
size_t setSize);
/**
* \brief This operation returns the type of the entry currently stored.
*/
Type getType();
/**
* \brief This operation returns the size of the entry currently stored.
*/
size_t getSizeOfType();
/**
*
* @return the size of the datapool array
*/
size_t getArraySize();
/**
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const;
/**
* This method returns if the variable is read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const;
/**
* \brief With this call, the valid information of the variable is returned.
*/
bool isValid() const;
void setValid(uint8_t valid);
/**
* Getter for the remaining size.
*/
size_t getSizeTillEnd() const;
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override;
};
#endif /* POOLRAWACCESS_H_ */

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@ -1,14 +1,15 @@
#ifndef POOLVARLIST_H_
#define POOLVARLIST_H_
#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
#define FSFW_DATAPOOL_POOLVARLIST_H_
#include "PoolVariable.h"
#include "PoolVariableIF.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapoolglob/GlobalPoolVariable.h"
template <class T, uint8_t n_var>
class PoolVarList {
private:
PoolVariable<T> variables[n_var];
GlobPoolVar<T> variables[n_var];
public:
PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet, PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet,
PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
//I really should have a look at the new init list c++ syntax.
if (dataSet == NULL) {
return;
@ -20,9 +21,9 @@ public:
}
}
PoolVariable<T> &operator [](int i) { return variables[i]; }
GlobPoolVar<T> &operator [](int i) { return variables[i]; }
};
#endif /* POOLVARLIST_H_ */
#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */

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@ -1,295 +0,0 @@
/*
* \file PoolVariable.h
*
* \brief This file contains the PoolVariable class, which locally represents a non-array data pool variable.
*
* \date 10/17/2012
*
* \author Bastian Baetz
*/
#ifndef POOLVARIABLE_H_
#define POOLVARIABLE_H_
#include "DataSetIF.h"
#include "PoolEntry.h"
#include "PoolVariableIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
template<typename T, uint8_t n_var> class PoolVarList;
/**
* \brief This is the access class for non-array data pool entries.
*
* \details To ensure safe usage of the data pool, operation is not done directly on the data pool
* entries, but on local copies. This class provides simple type-safe access to single
* data pool entries (i.e. entries with length = 1).
* The class can be instantiated as read-write and read only.
* It provides a commit-and-roll-back semantic, which means that the variable's value in
* the data pool is not changed until the commit call is executed.
* \tparam T The template parameter sets the type of the variable. Currently, all plain data types
* are supported, but in principle any type is possible.
* \ingroup data_pool
*/
template<typename T>
class PoolVariable: public PoolVariableIF {
template<typename U, uint8_t n_var> friend class PoolVarList;
protected:
/**
* \brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* \brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* \brief The information whether the class is read-write or read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
/**
* \brief This is a call to read the value from the global data pool.
* \details When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies the value and the valid
* information to its local attributes. In case of a failure (wrong type or
* pool id not found), the variable is set to zero and invalid.
* The operation does NOT provide any mutual exclusive protection by itself.
*/
ReturnValue_t read() {
PoolEntry<T> *read_out = ::dataPool.getData < T > (dataPoolId, 1);
if (read_out != NULL) {
valid = read_out->valid;
value = *(read_out->address);
return HasReturnvaluesIF::RETURN_OK;
} else {
value = 0;
valid = false;
sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
/**
* \brief The commit call writes back the variable's value to the data pool.
* \details It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The operation does NOT provide any mutual exclusive protection by itself.
*
*/
ReturnValue_t commit() {
PoolEntry<T> *write_back = ::dataPool.getData < T > (dataPoolId, 1);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->valid = valid;
*(write_back->address) = value;
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
/**
* Empty ctor for List initialization
*/
PoolVariable() :
dataPoolId(PoolVariableIF::NO_PARAMETER), valid(
PoolVariableIF::INVALID), readWriteMode(VAR_READ), value(0) {
}
public:
/**
* \brief This is the local copy of the data pool entry.
* \details The user can work on this attribute
* just like he would on a simple local variable.
*/
T value;
/**
* \brief In the constructor, the variable can register itself in a DataSet (if not NULL is
* passed).
* \details It DOES NOT fetch the current value from the data pool, but sets the value
* attribute to default (0). The value is fetched within the read() operation.
* \param set_id This is the id in the global data pool this instance of the access class
* corresponds to.
* \param dataSet The data set in which the variable shall register itself. If NULL,
* the variable is not registered.
* \param setWritable If this flag is set to true, changes in the value attribute can be
* written back to the data pool, otherwise not.
*/
PoolVariable(uint32_t set_id, DataSetIF *dataSet,
ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), valid(PoolVariableIF::INVALID), readWriteMode(
setReadWriteMode), value(0) {
if (dataSet != NULL) {
dataSet->registerVariable(this);
}
}
/**
* Copy ctor to copy classes containing Pool Variables.
*/
PoolVariable(const PoolVariable &rhs) :
dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
rhs.readWriteMode), value(rhs.value) {
}
/**
* \brief The classes destructor is empty.
* \details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~PoolVariable() {
}
/**
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const {
return dataPoolId;
}
/**
* This operation sets the data pool id of the variable.
* The method is necessary to set id's of data pool member variables with bad initialization.
*/
void setDataPoolId(uint32_t poolId) {
dataPoolId = poolId;
}
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const {
return readWriteMode;
}
/**
* \brief With this call, the valid information of the variable is returned.
*/
bool isValid() const {
if (valid)
return true;
else
return false;
}
uint8_t getValid() {
return valid;
}
void setValid(uint8_t valid) {
this->valid = valid;
}
operator T() {
return value;
}
operator T() const {
return value;
}
PoolVariable<T>& operator=(T newValue) {
value = newValue;
return *this;
}
PoolVariable<T>& operator=(PoolVariable<T> newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const override {
return SerializeAdapter::serialize<T>(&value, buffer, size, maxSize,
streamEndianness);
}
virtual size_t getSerializedSize() const override {
return SerializeAdapter::getSerializedSize(&value);
}
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
}
};
typedef PoolVariable<uint8_t> db_uint8_t;
typedef PoolVariable<uint16_t> db_uint16_t;
typedef PoolVariable<uint32_t> db_uint32_t;
typedef PoolVariable<int8_t> db_int8_t;
typedef PoolVariable<int16_t> db_int16_t;
typedef PoolVariable<int32_t> db_int32_t;
typedef PoolVariable<uint8_t> db_bool_t;
typedef PoolVariable<float> db_float_t;
typedef PoolVariable<double> db_double_t;
//Alternative (but I thing this is not as useful: code duplication, differences too small):
//template <typename T>
//class PoolReader : public PoolVariableIF {
//private:
// uint32_t parameter_id;
// uint8_t valid;
//public:
// T value;
// PoolReader( uint32_t set_id, DataSetIF* set ) : parameter_id(set_id), valid(false), value(0) {
// set->registerVariable( this );
// }
//
// ~PoolReader() {};
//
// uint8_t commit() {
// return HasReturnvaluesIF::RETURN_OK;
// }
//
// uint8_t read() {
// PoolEntry<T>* read_out = ::dataPool.getData<T>( parameter_id, 1 );
// if ( read_out != NULL ) {
// valid = read_out->valid;
// value = *(read_out->address);
// return HasReturnvaluesIF::RETURN_OK;
// } else {
// value = 0;
// valid = false;
// return CHECKOUT_FAILED;
// }
// }
// uint32_t getParameterId() { return parameter_id; }
// bool isWritable() { return false; };
// bool isValid() { if (valid) return true; else return false; }
//};
//
//template <typename T>
//class PoolWriter : public PoolVariableIF {
//private:
// uint32_t parameter_id;
//public:
// T value;
// PoolWriter( uint32_t set_id, DataSetIF* set ) : parameter_id(set_id), value(0) {
// set->registerVariable( this );
// }
//
// ~PoolWriter() {};
//
// uint8_t commit() {
// PoolEntry<T>* write_back = ::dataPool.getData<T>( parameter_id, 1 );
// if ( write_back != NULL ) {
// write_back->valid = true;
// *(write_back->address) = value;
// return HasReturnvaluesIF::RETURN_OK;
// } else {
// return CHECKOUT_FAILED;
// }
// }
// uint8_t read() {
// PoolEntry<T>* read_out = ::dataPool.getData<T>( parameter_id, 1 );
// if ( read_out != NULL ) {
// value = *(read_out->address);
// return HasReturnvaluesIF::RETURN_OK;
// } else {
// value = 0;
// return CHECKOUT_FAILED;
// }
// }
// uint32_t getParameterId() { return parameter_id; }
// bool isWritable() { return true; };
// bool isValid() { return false; }
//};
#endif /* POOLVARIABLE_H_ */

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@ -1,71 +1,99 @@
/*
* \file PoolVariableIF.h
*
* \brief This file contains the interface definition for pool variables.
*
* \date 10/17/2012
*
* \author Bastian Baetz
*/
#ifndef POOLVARIABLEIF_H_
#define POOLVARIABLEIF_H_
#ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
#define FSFW_DATAPOOL_POOLVARIABLEIF_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../serialize/SerializeIF.h"
/**
* \brief This interface is used to control local data pool variable representations.
*
* \details To securely handle data pool variables, all pool entries are locally managed by
* data pool variable access classes, which are called pool variables. To ensure a
* common state of a set of variables needed in a function, these local pool variables
* again are managed by other classes, e.g. the DataSet. This interface provides unified
* access to local pool variables for such manager classes.
* \ingroup data_pool
* @brief This interface is used to control data pool
* variable representations.
* @details
* To securely handle data pool variables, all pool entries are locally
* managed by data pool variable access classes, which are called pool
* variables. To ensure a common state of a set of variables needed in a
* function, these local pool variables again are managed by other classes,
* like the DataSet classes. This interface provides unified access to
* local pool variables for such manager classes.
* @author Bastian Baetz
* @ingroup data_pool
*/
class PoolVariableIF : public SerializeIF {
friend class DataSet;
protected:
/**
* \brief The commit call shall write back a newly calculated local value to the data pool.
*/
virtual ReturnValue_t commit() = 0;
/**
* \brief The read call shall read the value of this parameter from the data pool and store
* the content locally.
*/
virtual ReturnValue_t read() = 0;
friend class PoolDataSetBase;
friend class GlobDataSet;
friend class LocalPoolDataSetBase;
public:
static const uint8_t VALID = 1;
static const uint8_t INVALID = 0;
static const uint32_t NO_PARAMETER = 0;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
static constexpr bool VALID = 1;
static constexpr bool INVALID = 0;
static constexpr uint32_t NO_PARAMETER = 0xffffffff;
enum ReadWriteMode_t {
VAR_READ, VAR_WRITE, VAR_READ_WRITE
};
/**
* \brief This is an empty virtual destructor, as it is proposed for C++ interfaces.
* @brief This is an empty virtual destructor,
* as it is proposed for C++ interfaces.
*/
virtual ~PoolVariableIF() {
}
virtual ~PoolVariableIF() {}
/**
* \brief This method returns if the variable is write-only, read-write or read-only.
* @brief This method returns if the variable is write-only,
* read-write or read-only.
*/
virtual ReadWriteMode_t getReadWriteMode() const = 0;
/**
* \brief This operation shall return the data pool id of the variable.
* @brief This operation shall return the data pool id of the variable.
*/
virtual uint32_t getDataPoolId() const = 0;
/**
* \brief With this call, the valid information of the variable is returned.
* @brief With this call, the valid information of the
* variable is returned.
*/
virtual bool isValid() const = 0;
/**
* \brief With this call, the valid information of the variable is set.
* @brief With this call, the valid information of the variable is set.
*/
virtual void setValid(uint8_t validity) = 0;
virtual void setValid(bool validity) = 0;
/**
* @brief The commit call shall write back a newly calculated local
* value to the data pool.
* @details
* It is assumed that these calls are implemented in a thread-safe manner!
*/
virtual ReturnValue_t commit(uint32_t lockTimeout) = 0;
/**
* @brief The read call shall read the value of this parameter from
* the data pool and store the content locally.
* @details
* It is assumbed that these calls are implemented in a thread-safe manner!
*/
virtual ReturnValue_t read(uint32_t lockTimeout) = 0;
protected:
/**
* @brief Same as commit with the difference that comitting will be
* performed without a lock
* @return
* This can be used if the lock protection is handled externally
* to avoid the overhead of locking and unlocking consecutively.
* Declared protected to avoid free public usage.
*/
virtual ReturnValue_t readWithoutLock() = 0;
/**
* @brief Same as commit with the difference that comitting will be
* performed without a lock
* @return
* This can be used if the lock protection is handled externally
* to avoid the overhead of locking and unlocking consecutively.
* Declared protected to avoid free public usage.
*/
virtual ReturnValue_t commitWithoutLock() = 0;
};
#endif /* POOLVARIABLEIF_H_ */
using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
#endif /* FSFW_DATAPOOL_POOLVARIABLEIF_H_ */

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@ -1,233 +0,0 @@
/*
* \file PoolVector.h
*
* \brief This file contains the PoolVector class, the header only class to handle data pool vectors.
*
* \date 10/23/2012
*
* \author Bastian Baetz
*/
#ifndef POOLVECTOR_H_
#define POOLVECTOR_H_
#include "DataSetIF.h"
#include "PoolEntry.h"
#include "PoolVariableIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
/**
* \brief This is the access class for array-type data pool entries.
*
* \details To ensure safe usage of the data pool, operation is not done directly on the data pool
* entries, but on local copies. This class provides simple type- and length-safe access
* to vector-style data pool entries (i.e. entries with length > 1).
* The class can be instantiated as read-write and read only.
* It provides a commit-and-roll-back semantic, which means that no array entry in
* the data pool is changed until the commit call is executed.
* There are two template parameters:
* \tparam T This template parameter specifies the data type of an array entry. Currently, all
* plain data types are supported, but in principle any type is possible.
* \tparam vector_size This template parameter specifies the vector size of this entry.
* Using a template parameter for this is not perfect, but avoids dynamic memory allocation.
* \ingroup data_pool
*/
template<typename T, uint16_t vector_size>
class PoolVector: public PoolVariableIF {
private:
/**
* \brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* \brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* \brief The information whether the class is read-write or read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
protected:
/**
* \brief This is a call to read the array's values from the global data pool.
* \details When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies all array values and the valid
* information to its local attributes. In case of a failure (wrong type, size or
* pool id not found), the variable is set to zero and invalid.
* The operation does NOT provide any mutual exclusive protection by itself.
*/
ReturnValue_t read() {
PoolEntry<T>* read_out = ::dataPool.getData<T>(this->dataPoolId,
vector_size);
if (read_out != NULL) {
this->valid = read_out->valid;
memcpy(this->value, read_out->address, read_out->getByteSize());
return HasReturnvaluesIF::RETURN_OK;
} else {
memset(this->value, 0, vector_size * sizeof(T));
sif::error << "PoolVector: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
this->valid = INVALID;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
/**
* \brief The commit call copies the array values back to the data pool.
* \details It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The operation does NOT provide any mutual exclusive protection by itself.
*
*/
ReturnValue_t commit() {
PoolEntry<T>* write_back = ::dataPool.getData<T>(this->dataPoolId,
vector_size);
if ((write_back != NULL) && (this->readWriteMode != VAR_READ)) {
write_back->valid = valid;
memcpy(write_back->address, this->value, write_back->getByteSize());
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
public:
/**
* \brief This is the local copy of the data pool entry.
* \detials The user can work on this attribute
* just like he would on a local array of this type.
*/
T value[vector_size];
/**
* \brief In the constructor, the variable can register itself in a DataSet (if not NULL is
* passed).
* \details It DOES NOT fetch the current value from the data pool, but sets the value
* attribute to default (0). The value is fetched within the read() operation.
* \param set_id This is the id in the global data pool this instance of the access class
* corresponds to.
* \param dataSet The data set in which the variable shall register itself. If NULL,
* the variable is not registered.
* \param setWritable If this flag is set to true, changes in the value attribute can be
* written back to the data pool, otherwise not.
*/
PoolVector(uint32_t set_id, DataSetIF* set,
ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
memset(this->value, 0, vector_size * sizeof(T));
if (set != NULL) {
set->registerVariable(this);
}
}
/**
* Copy ctor to copy classes containing Pool Variables.
*/
// PoolVector(const PoolVector& rhs) {
// PoolVector<T, vector_size> temp(rhs.dataPoolId, rhs.)
// memcpy(value, rhs.value, sizeof(T)*vector_size);
// }
/**
* \brief The classes destructor is empty.
* \details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~PoolVector() {
}
;
/**
* \brief The operation returns the number of array entries in this variable.
*/
uint8_t getSize() {
return vector_size;
}
/**
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const {
return dataPoolId;
}
/**
* This operation sets the data pool id of the variable.
* The method is necessary to set id's of data pool member variables with bad initialization.
*/
void setDataPoolId(uint32_t poolId) {
dataPoolId = poolId;
}
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const {
return readWriteMode;
}
;
/**
* \brief With this call, the valid information of the variable is returned.
*/
bool isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void setValid(uint8_t valid) {
this->valid = valid;
}
uint8_t getValid() {
return valid;
}
T &operator [](int i) {
return value[i];
}
const T &operator [](int i) const {
return value[i];
}
PoolVector<T, vector_size> &operator=(
PoolVector<T, vector_size> newPoolVector) {
for (uint16_t i = 0; i < vector_size; i++) {
this->value[i] = newPoolVector.value[i];
}
return *this;
}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
uint16_t i;
ReturnValue_t result;
for (i = 0; i < vector_size; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
virtual size_t getSerializedSize() const {
return vector_size * SerializeAdapter::getSerializedSize(value);
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
uint16_t i;
ReturnValue_t result;
for (i = 0; i < vector_size; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
};
#endif /* POOLVECTOR_H_ */

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@ -0,0 +1,14 @@
#ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
#define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
#include "PoolDataSetIF.h"
class SharedDataSetIF: public PoolDataSetIF {
public:
virtual ~SharedDataSetIF() {};
private:
virtual ReturnValue_t lockDataset(dur_millis_t mutexTimeout) = 0;
virtual ReturnValue_t unlockDataset() = 0;
};
#endif /* FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_ */

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@ -1,4 +1,4 @@
#include "ControllerSet.h"
#include <fsfw/datapoolglob/ControllerSet.h>
ControllerSet::ControllerSet() {

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@ -0,0 +1,15 @@
#ifndef FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
#define FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
#include "../datapoolglob/GlobalDataSet.h"
class ControllerSet :public GlobDataSet {
public:
ControllerSet();
virtual ~ControllerSet();
virtual void setToDefault() = 0;
void setInvalid();
};
#endif /* FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ */

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@ -1,7 +1,8 @@
#include "DataPool.h"
#include "DataPoolAdmin.h"
#include "DataSet.h"
#include "GlobalDataSet.h"
#include "GlobalDataPool.h"
#include "PoolRawAccess.h"
#include "../ipc/CommandMessage.h"
#include "../ipc/QueueFactory.h"
#include "../parameters/ParameterMessage.h"
@ -40,9 +41,9 @@ ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
uint8_t valid = data[4];
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
DataSet mySet;
GlobDataSet mySet;
PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE);
ReturnValue_t status = mySet.read();
if (status != RETURN_OK) {
@ -92,9 +93,9 @@ void DataPoolAdmin::handleCommand() {
ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
const uint8_t* data, size_t size, uint8_t** dataPointer) {
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
DataSet testSet;
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
GlobDataSet testSet;
PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
PoolVariableIF::VAR_READ);
ReturnValue_t status = testSet.read();
@ -113,7 +114,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
const uint8_t* readPosition = data;
for (; size > 0; size -= typeSize) {
DataSet rawSet;
GlobDataSet rawSet;
PoolRawAccess variable(poolId, arrayIndex, &rawSet,
PoolVariableIF::VAR_READ_WRITE);
status = rawSet.read();
@ -131,9 +132,9 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
uint8_t** dataPointer, uint8_t* copyHere) {
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
DataSet testSet;
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
GlobDataSet testSet;
PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
PoolVariableIF::VAR_READ);
ReturnValue_t status = testSet.read();
@ -146,7 +147,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
}
uint8_t* ptrToCopy = copyHere;
for (; size > 0; size -= typeSize) {
DataSet rawSet;
GlobDataSet rawSet;
PoolRawAccess variable(poolId, arrayIndex, &rawSet,
PoolVariableIF::VAR_READ);
status = rawSet.read();

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@ -1,15 +1,17 @@
#ifndef DATAPOOLADMIN_H_
#define DATAPOOLADMIN_H_
#ifndef FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
#define FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
#include "DataPoolParameterWrapper.h"
#include "../memory/MemoryHelper.h"
#include "../action/HasActionsIF.h"
#include "../action/SimpleActionHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../parameters/ReceivesParameterMessagesIF.h"
#include "DataPoolParameterWrapper.h"
#include "../action/HasActionsIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../parameters/ReceivesParameterMessagesIF.h"
#include "../action/SimpleActionHelper.h"
#include "../memory/MemoryHelper.h"
class DataPoolAdmin: public HasActionsIF,
public ExecutableObjectIF,
@ -55,4 +57,4 @@ private:
Command_t initialCommand);
};
#endif /* DATAPOOLADMIN_H_ */
#endif /* FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ */

View File

@ -1,10 +1,8 @@
#include "DataPoolParameterWrapper.h"
//for returncodes
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/DataPoolParameterWrapper.h"
#include "../datapoolglob/PoolRawAccess.h"
#include "../parameters/HasParametersIF.h"
#include "DataSet.h"
#include "PoolRawAccess.h"
DataPoolParameterWrapper::DataPoolParameterWrapper() :
type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
@ -20,7 +18,7 @@ ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
uint16_t parameterId) {
poolId = (domainId << 16) + parameterId;
DataSet mySet;
GlobDataSet mySet;
PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ);
ReturnValue_t status = mySet.read();
if (status != HasReturnvaluesIF::RETURN_OK) {
@ -57,7 +55,7 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
}
for (uint8_t index = 0; index < rows; index++){
DataSet mySet;
GlobDataSet mySet;
PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
mySet.read();
result = raw.serialize(buffer,size,maxSize,streamEndianness);
@ -94,7 +92,7 @@ ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow,
for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
DataSet mySet;
GlobDataSet mySet;
PoolRawAccess raw(poolId, startingRow + fromRow, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();

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@ -0,0 +1,133 @@
#include "../datapoolglob/GlobalDataPool.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/MutexFactory.h"
GlobalDataPool::GlobalDataPool(
void(*initFunction)(GlobPoolMap* pool_map)) {
mutex = MutexFactory::instance()->createMutex();
if (initFunction != NULL ) {
initFunction( &this->globDataPool );
}
}
GlobalDataPool::~GlobalDataPool() {
MutexFactory::instance()->deleteMutex(mutex);
for(GlobPoolMapIter it = this->globDataPool.begin();
it != this->globDataPool.end(); ++it )
{
delete it->second;
}
}
// The function checks PID, type and array length before returning a copy of
// the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
template <typename T> PoolEntry<T>* GlobalDataPool::getData( uint32_t data_pool_id,
uint8_t sizeOrPosition ) {
GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
if ( it != this->globDataPool.end() ) {
PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
if (entry != nullptr ) {
if ( sizeOrPosition <= entry->length ) {
return entry;
}
}
}
return nullptr;
}
PoolEntryIF* GlobalDataPool::getRawData( uint32_t data_pool_id ) {
GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
if ( it != this->globDataPool.end() ) {
return it->second;
} else {
return nullptr;
}
}
ReturnValue_t GlobalDataPool::unlockDataPool() {
ReturnValue_t status = mutex->unlockMutex();
if(status != RETURN_OK) {
sif::error << "DataPool::DataPool: unlock of mutex failed with"
" error code: " << status << std::endl;
}
return status;
}
ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) {
ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
timeoutMs);
if(status != RETURN_OK) {
sif::error << "DataPool::DataPool: lock of mutex failed "
"with error code: " << status << std::endl;
}
return status;
}
void GlobalDataPool::print() {
sif::debug << "DataPool contains: " << std::endl;
std::map<uint32_t, PoolEntryIF*>::iterator dataPoolIt;
dataPoolIt = this->globDataPool.begin();
while( dataPoolIt != this->globDataPool.end() ) {
sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
dataPoolIt->second->print();
dataPoolIt++;
}
}
uint32_t GlobalDataPool::PIDToDataPoolId(uint32_t parameter_id) {
return (parameter_id >> 8) & 0x00FFFFFF;
}
uint8_t GlobalDataPool::PIDToArrayIndex(uint32_t parameter_id) {
return (parameter_id & 0x000000FF);
}
uint32_t GlobalDataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
return (poolId << 8) + index;
}
//SHOULDDO: Do we need a mutex lock here... I don't think so,
//as we only check static const values of elements in a list that do not change.
//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
ReturnValue_t GlobalDataPool::getType(uint32_t parameter_id, Type* type) {
GlobPoolMapIter it = this->globDataPool.find( PIDToDataPoolId(parameter_id));
if ( it != this->globDataPool.end() ) {
*type = it->second->getType();
return RETURN_OK;
} else {
*type = Type::UNKNOWN_TYPE;
return RETURN_FAILED;
}
}
bool GlobalDataPool::exists(uint32_t parameterId) {
uint32_t poolId = PIDToDataPoolId(parameterId);
uint32_t index = PIDToArrayIndex(parameterId);
GlobPoolMapIter it = this->globDataPool.find( poolId );
if (it != globDataPool.end()) {
if (it->second->getSize() >= index) {
return true;
}
}
return false;
}
template PoolEntry<uint8_t>* GlobalDataPool::getData<uint8_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint16_t>* GlobalDataPool::getData<uint16_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint32_t>* GlobalDataPool::getData<uint32_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint64_t>* GlobalDataPool::getData<uint64_t>(
uint32_t data_pool_id, uint8_t size);
template PoolEntry<int8_t>* GlobalDataPool::getData<int8_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<int16_t>* GlobalDataPool::getData<int16_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<int32_t>* GlobalDataPool::getData<int32_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<float>* GlobalDataPool::getData<float>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<double>* GlobalDataPool::getData<double>(
uint32_t data_pool_id, uint8_t size);

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@ -0,0 +1,149 @@
#ifndef GLOBALDATAPOOL_H_
#define GLOBALDATAPOOL_H_
#include "../datapool/PoolEntry.h"
#include "../globalfunctions/Type.h"
#include "../ipc/MutexIF.h"
#include <map>
/**
* @defgroup data_pool Global data pool
* This is the group, where all classes associated with global
* data pool handling belong to.
* This includes classes to access Data Pool variables.
*/
/**
* Typedefs for the global pool representations
*/
using GlobPoolMap = std::map<uint32_t, PoolEntryIF*>;
using GlobPoolMapIter = GlobPoolMap::iterator;
/**
* @brief This class represents the OBSW global data-pool.
*
* @details
* All variables are registered and space is allocated in an initialization
* function, which is passed do the constructor. Space for the variables is
* allocated on the heap (with a new call).
*
* The data is found by a data pool id, which uniquely represents a variable.
* Data pool variables should be used with a blackboard logic in mind,
* which means read data is valid (if flagged so),
* but not necessarily up-to-date.
*
* Variables are either single values or arrays.
* @author Bastian Baetz
* @ingroup data_pool
*/
class GlobalDataPool : public HasReturnvaluesIF {
private:
/**
* @brief This is the actual data pool itself.
* @details It is represented by a map with the data pool id as index
* and a pointer to a single PoolEntry as value.
*/
GlobPoolMap globDataPool;
/**
* @brief The mutex is created in the constructor and makes
* access mutual exclusive.
* @details Locking and unlocking the pool is only done by the DataSet class.
*/
MutexIF* mutex;
public:
/**
* @brief In the classes constructor,
* the passed initialization function is called.
* @details
* To enable filling the pool, a pointer to the map is passed,
* allowing direct access to the pool's content.
* On runtime, adding or removing variables is forbidden.
*/
GlobalDataPool( void ( *initFunction )( GlobPoolMap* pool_map ) );
/**
* @brief The destructor iterates through the data_pool map and
* calls all entries destructors to clean up the heap.
*/
~GlobalDataPool();
/**
* @brief This is the default call to access the pool.
* @details
* A pointer to the PoolEntry object is returned.
* The call checks data pool id, type and array size.
* Returns NULL in case of failure.
* @param data_pool_id The data pool id to search.
* @param sizeOrPosition The array size (not byte size!) of the pool entry,
* or the position the user wants to read.
* If smaller than the entry size, everything's ok.
*/
template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id,
uint8_t sizeOrPosition );
/**
* @brief An alternative call to get a data pool entry in case the type is not implicitly known
* (i.e. in Housekeeping Telemetry).
* @details It returns a basic interface and does NOT perform
* a size check. The caller has to assure he does not copy too much data.
* Returns NULL in case the entry is not found.
* @param data_pool_id The data pool id to search.
*/
PoolEntryIF* getRawData( uint32_t data_pool_id );
/**
* @brief This is a small helper function to facilitate locking the global data pool.
* @details It fetches the pool's mutex id and tries to acquire the mutex.
*/
ReturnValue_t lockDataPool(uint32_t timeoutMs = MutexIF::BLOCKING);
/**
* @brief This is a small helper function to facilitate unlocking the global data pool.
* @details It fetches the pool's mutex id and tries to free the mutex.
*/
ReturnValue_t unlockDataPool();
/**
* @brief The print call is a simple debug method.
* @details It prints the current content of the data pool.
* It iterates through the data_pool map and calls each entry's print() method.
*/
void print();
/**
* Extracts the data pool id from a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The data pool id as used within the OBSW.
*/
static uint32_t PIDToDataPoolId( uint32_t parameter_id );
/**
* Extracts an array index out of a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The index of the corresponding data pool entry.
*/
static uint8_t PIDToArrayIndex( uint32_t parameter_id );
/**
* Retransforms a data pool id and an array index to a SCOS 2000 PID.
*/
static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
/**
* Method to return the type of a pool variable.
* @param parameter_id A parameterID (not pool id) of a DP member.
* @param type Returns the type or TYPE::UNKNOWN_TYPE
* @return RETURN_OK if parameter exists, RETURN_FAILED else.
*/
ReturnValue_t getType( uint32_t parameter_id, Type* type );
/**
* Method to check if a PID exists. Does not lock, as there's no
* possibility to alter the list that is checked during run-time.
* @param parameterId The PID (not pool id!) of a parameter.
* @return true if exists, false else.
*/
bool exists(uint32_t parameterId);
};
//We assume someone globally instantiates a DataPool.
namespace glob {
extern GlobalDataPool dataPool;
}
#endif /* DATAPOOL_H_ */

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@ -0,0 +1,48 @@
#include "../datapoolglob/GlobalDataPool.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
GlobDataSet::GlobDataSet(): PoolDataSetBase(
reinterpret_cast<PoolVariableIF**>(&registeredVariables),
DATA_SET_MAX_SIZE) {}
// Don't do anything with your variables, they are dead already!
// (Destructor is already called)
GlobDataSet::~GlobDataSet() {}
ReturnValue_t GlobDataSet::commit(bool valid, uint32_t lockTimeout) {
setEntriesValid(valid);
setSetValid(valid);
return commit(lockTimeout);
}
ReturnValue_t GlobDataSet::commit(uint32_t lockTimeout) {
return PoolDataSetBase::commit(lockTimeout);
}
bool GlobDataSet::isValid() const {
return this->valid;
}
ReturnValue_t GlobDataSet::unlockDataPool() {
return glob::dataPool.unlockDataPool();
}
ReturnValue_t GlobDataSet::lockDataPool(uint32_t timeoutMs) {
return glob::dataPool.lockDataPool(timeoutMs);
}
void GlobDataSet::setEntriesValid(bool valid) {
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ) {
registeredVariables[count]->setValid(valid);
}
}
}
void GlobDataSet::setSetValid(bool valid) {
this->valid = valid;
}

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@ -0,0 +1,98 @@
#ifndef FRAMEWORK_DATAPOOLGLOB_DATASET_H_
#define FRAMEWORK_DATAPOOLGLOB_DATASET_H_
#include "../datapool/PoolDataSetBase.h"
/**
* @brief The DataSet class manages a set of locally checked out variables
* for the global data pool.
* @details
* This class uses the read-commit() semantic provided by the DataSetBase class.
* It extends the base class by using the global data pool,
* having a valid state and implementing lock und unlock calls for the global
* datapool.
*
* For more information on how this class works, see the DataSetBase
* documentation.
* @author Bastian Baetz
* @ingroup data_pool
*/
class GlobDataSet: public PoolDataSetBase {
public:
/**
* @brief Creates an empty GlobDataSet. Use registerVariable or
* supply a pointer to this dataset to PoolVariable
* initializations to register pool variables.
*/
GlobDataSet();
/**
* @brief The destructor automatically manages writing the valid
* information of variables.
* @details
* In case the data set was read out, but not committed(indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~GlobDataSet();
/**
* Variant of method above which sets validity of all elements of the set.
* @param valid Validity information from PoolVariableIF.
* @return - @c RETURN_OK if all variables were read successfully.
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
ReturnValue_t commit(bool valid, uint32_t lockTimeout = MutexIF::BLOCKING);
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* Set all entries
* @param valid
*/
void setSetValid(bool valid);
bool isValid() const override;
/**
* Set the valid information of all variables contained in the set which
* are not read-only
*
* @param valid Validity information from PoolVariableIF.
*/
void setEntriesValid(bool valid);
//!< This definition sets the maximum number of variables to
//! register in one DataSet.
static const uint8_t DATA_SET_MAX_SIZE = 63;
private:
/**
* If the valid state of a dataset is always relevant to the whole
* data set we can use this flag.
*/
bool valid = false;
/**
* @brief This is a small helper function to facilitate locking
* the global data pool.
* @details
* It makes use of the lockDataPool method offered by the DataPool class.
*/
ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
/**
* @brief This is a small helper function to facilitate
* unlocking the global data pool
* @details
* It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
ReturnValue_t unlockDataPool() override;
void handleAlreadyReadDatasetCommit();
ReturnValue_t handleUnreadDatasetCommit();
PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
};
#endif /* FRAMEWORK_DATAPOOLGLOB_DATASET_H_ */

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@ -0,0 +1,213 @@
#ifndef GLOBALPOOLVARIABLE_H_
#define GLOBALPOOLVARIABLE_H_
#include "../datapool/DataSetIF.h"
#include "../datapoolglob/GlobalDataPool.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapool/PoolEntry.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
template<typename T, uint8_t n_var> class PoolVarList;
/**
* @brief This is the access class for non-array data pool entries.
*
* @details
* To ensure safe usage of the data pool, operation is not done directly
* on the data pool entries, but on local copies. This class provides simple
* type-safe access to single data pool entries (i.e. entries with length = 1).
* The class can be instantiated as read-write and read only.
* It provides a commit-and-roll-back semantic, which means that the
* variable's value in the data pool is not changed until the
* commit call is executed.
* @tparam T The template parameter sets the type of the variable.
* Currently, all plain data types are supported, but in principle
* any type is possible.
* @ingroup data_pool
*/
template<typename T>
class GlobPoolVar: public PoolVariableIF {
template<typename U, uint8_t n_var> friend class PoolVarList;
static_assert(not std::is_same<T, bool>::value,
"Do not use boolean for the PoolEntry type, use uint8_t instead!"
"There is no boolean type in CCSDS.");
public:
/**
* @brief In the constructor, the variable can register itself in a
* DataSet (if nullptr is not passed).
* @details
* It DOES NOT fetch the current value from the data pool, but
* sets the value attribute to default (0).
* The value is fetched within the read() operation.
* @param set_id This is the id in the global data pool
* this instance of the access class corresponds to.
* @param dataSet The data set in which the variable shall register
* itself. If NULL, the variable is not registered.
* @param setWritable If this flag is set to true, changes in the value
* attribute can be written back to the data pool, otherwise not.
*/
GlobPoolVar(uint32_t set_id, DataSetIF* dataSet,
ReadWriteMode_t setReadWriteMode);
/**
* @brief This is the local copy of the data pool entry.
* @details The user can work on this attribute
* just like he would on a simple local variable.
*/
T value = 0;
/**
* @brief Copy ctor to copy classes containing Pool Variables.
* (Robin): This only copies member variables, which is done
* by the default copy ctor. maybe we can ommit this ctor?
*/
GlobPoolVar(const GlobPoolVar& rhs);
/**
* @brief The classes destructor is empty.
* @details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~GlobPoolVar() {}
/**
* @brief This is a call to read the value from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies the value and the valid
* information to its local attributes. In case of a failure (wrong type or
* pool id not found), the variable is set to zero and invalid.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t read(uint32_t lockTimeout) override;
/**
* @brief The commit call writes back the variable's value to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The operation does NOT provide any mutual exclusive protection by itself.
* The commit call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(uint32_t lockTimeout) override;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
/**
* @brief To access the correct data pool entry on read and commit calls,
* the data pool is stored.
*/
uint32_t dataPoolId;
/**
* @brief The valid information as it was stored in the data pool is
* copied to this attribute.
*/
uint8_t valid;
/**
* @brief The information whether the class is read-write or read-only
* is stored here.
*/
pool_rwm_t readWriteMode;
/**
* Empty ctor for List initialization
*/
GlobPoolVar();
public:
/**
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const override;
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const override;
/**
* This operation sets the data pool id of the variable.
* The method is necessary to set id's of data pool member variables with bad initialization.
*/
void setDataPoolId(uint32_t poolId);
/**
* \brief With this call, the valid information of the variable is returned.
*/
bool isValid() const override;
uint8_t getValid();
void setValid(bool valid) override;
operator T() {
return value;
}
operator T() const {
return value;
}
GlobPoolVar<T> &operator=(T newValue) {
value = newValue;
return *this;
}
GlobPoolVar<T> &operator=(GlobPoolVar<T> newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t max_size,
SerializeIF::Endianness streamEndianness) const override {
return SerializeAdapter::serialize(&value, buffer, size, max_size,
streamEndianness);
}
virtual size_t getSerializedSize() const {
return SerializeAdapter::getSerializedSize(&value);
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size,
streamEndianness);
}
};
#include "../datapoolglob/GlobalPoolVariable.tpp"
typedef GlobPoolVar<uint8_t> gp_bool_t;
typedef GlobPoolVar<uint8_t> gp_uint8_t;
typedef GlobPoolVar<uint16_t> gp_uint16_t;
typedef GlobPoolVar<uint32_t> gp_uint32_t;
typedef GlobPoolVar<int8_t> gp_int8_t;
typedef GlobPoolVar<int16_t> gp_int16_t;
typedef GlobPoolVar<int32_t> gp_int32_t;
typedef GlobPoolVar<float> gp_float_t;
typedef GlobPoolVar<double> gp_double_t;
#endif /* POOLVARIABLE_H_ */

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@ -0,0 +1,117 @@
#ifndef GLOBALPOOLVARIABLE_TPP_
#define GLOBALPOOLVARIABLE_TPP_
template <class T>
inline GlobPoolVar<T>::GlobPoolVar(uint32_t set_id,
DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode):
dataPoolId(set_id), valid(PoolVariableIF::INVALID),
readWriteMode(setReadWriteMode)
{
if (dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
template<typename T>
inline ReturnValue_t GlobPoolVar<T>::read(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
template<typename T>
inline ReturnValue_t GlobPoolVar<T>::commit(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
template <class T>
inline ReturnValue_t GlobPoolVar<T>::readWithoutLock() {
PoolEntry<T>* read_out = glob::dataPool.getData<T>(dataPoolId, 1);
if (read_out != NULL) {
valid = read_out->valid;
value = *(read_out->address);
return HasReturnvaluesIF::RETURN_OK;
} else {
value = 0;
valid = false;
sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
template <class T>
inline ReturnValue_t GlobPoolVar<T>::commitWithoutLock() {
PoolEntry<T>* write_back = glob::dataPool.getData<T>(dataPoolId, 1);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->valid = valid;
*(write_back->address) = value;
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
template <class T>
inline GlobPoolVar<T>::GlobPoolVar():
dataPoolId(PoolVariableIF::NO_PARAMETER),
valid(PoolVariableIF::INVALID),
readWriteMode(VAR_READ), value(0) {}
template <class T>
inline GlobPoolVar<T>::GlobPoolVar(const GlobPoolVar& rhs) :
dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
rhs.readWriteMode), value(rhs.value) {}
template <class T>
inline pool_rwm_t GlobPoolVar<T>::getReadWriteMode() const {
return readWriteMode;
}
template <class T>
inline uint32_t GlobPoolVar<T>::getDataPoolId() const {
return dataPoolId;
}
template <class T>
inline void GlobPoolVar<T>::setDataPoolId(uint32_t poolId) {
dataPoolId = poolId;
}
template <class T>
inline bool GlobPoolVar<T>::isValid() const {
if (valid)
return true;
else
return false;
}
template <class T>
inline uint8_t GlobPoolVar<T>::getValid() {
return valid;
}
template <class T>
inline void GlobPoolVar<T>::setValid(bool valid) {
this->valid = valid;
}
#endif

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@ -0,0 +1,185 @@
#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolEntry.h"
#include "../datapool/PoolVariableIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
/**
* @brief This is the access class for array-type data pool entries.
*
* @details
* To ensure safe usage of the data pool, operation is not done directly on the
* data pool entries, but on local copies. This class provides simple type-
* and length-safe access to vector-style data pool entries (i.e. entries with
* length > 1). The class can be instantiated as read-write and read only.
*
* It provides a commit-and-roll-back semantic, which means that no array
* entry in the data pool is changed until the commit call is executed.
* There are two template parameters:
* @tparam T
* This template parameter specifies the data type of an array entry. Currently,
* all plain data types are supported, but in principle any type is possible.
* @tparam vector_size
* This template parameter specifies the vector size of this entry. Using a
* template parameter for this is not perfect, but avoids
* dynamic memory allocation.
* @ingroup data_pool
*/
template<typename T, uint16_t vectorSize>
class GlobPoolVector: public PoolVariableIF {
public:
/**
* @brief In the constructor, the variable can register itself in a
* DataSet (if no nullptr is passed).
* @details
* It DOES NOT fetch the current value from the data pool, but sets the
* value attribute to default (0). The value is fetched within the
* read() operation.
* @param set_id
* This is the id in the global data pool this instance of the access
* class corresponds to.
* @param dataSet
* The data set in which the variable shall register itself. If nullptr,
* the variable is not registered.
* @param setWritable
* If this flag is set to true, changes in the value attribute can be
* written back to the data pool, otherwise not.
*/
GlobPoolVector(uint32_t set_id, DataSetIF* set,
ReadWriteMode_t setReadWriteMode);
/**
* @brief This is the local copy of the data pool entry.
* @details The user can work on this attribute
* just like he would on a local array of this type.
*/
T value[vectorSize];
/**
* @brief The classes destructor is empty.
* @details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~GlobPoolVector() {};
/**
* @brief The operation returns the number of array entries
* in this variable.
*/
uint8_t getSize() {
return vectorSize;
}
/**
* @brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const {
return dataPoolId;
}
/**
* @brief This operation sets the data pool id of the variable.
* @details
* The method is necessary to set id's of data pool member variables
* with bad initialization.
*/
void setDataPoolId(uint32_t poolId) {
dataPoolId = poolId;
}
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const {
return readWriteMode;
}
/**
* @brief With this call, the valid information of the variable is returned.
*/
bool isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void setValid(bool valid) {this->valid = valid;}
uint8_t getValid() {return valid;}
T &operator [](int i) {return value[i];}
const T &operator [](int i) const {return value[i];}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t max_size, Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
/**
* @brief This is a call to read the array's values
* from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies all array values
* and the valid information to its local attributes.
* In case of a failure (wrong type, size or pool id not found), the
* variable is set to zero and invalid.
* The read call is protected by a lock of the global data pool.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The commit call is protected by a lock of the global data pool.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
private:
/**
* @brief To access the correct data pool entry on read and commit calls,
* the data pool id is stored.
*/
uint32_t dataPoolId;
/**
* @brief The valid information as it was stored in the data pool
* is copied to this attribute.
*/
uint8_t valid;
/**
* @brief The information whether the class is read-write or
* read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
};
#include "../datapoolglob/GlobalPoolVector.tpp"
template<typename T, uint16_t vectorSize>
using gp_vec_t = GlobPoolVector<T, vectorSize>;
#endif /* FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ */

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@ -0,0 +1,117 @@
#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
template<typename T, uint16_t vectorSize>
inline GlobPoolVector<T, vectorSize>::GlobPoolVector(uint32_t set_id,
DataSetIF* set, ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
memset(this->value, 0, vectorSize * sizeof(T));
if (set != nullptr) {
set->registerVariable(this);
}
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::commit(
uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::readWithoutLock() {
PoolEntry<T>* read_out = glob::dataPool.getData<T>(this->dataPoolId,
vectorSize);
if (read_out != nullptr) {
this->valid = read_out->valid;
memcpy(this->value, read_out->address, read_out->getByteSize());
return HasReturnvaluesIF::RETURN_OK;
} else {
memset(this->value, 0, vectorSize * sizeof(T));
sif::error << "PoolVector: Read of DP Variable 0x" << std::hex
<< std::setw(8) << std::setfill('0') << dataPoolId <<
std::dec << " failed." << std::endl;
this->valid = INVALID;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::commitWithoutLock() {
PoolEntry<T>* writeBack = glob::dataPool.getData<T>(this->dataPoolId,
vectorSize);
if ((writeBack != nullptr) && (this->readWriteMode != VAR_READ)) {
writeBack->valid = valid;
memcpy(writeBack->address, this->value, writeBack->getByteSize());
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
size_t* size, size_t max_size,
SerializeIF::Endianness streamEndianness) const {
uint16_t i;
ReturnValue_t result;
for (i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size,
max_size, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
template<typename T, uint16_t vectorSize>
inline size_t GlobPoolVector<T, vectorSize>::getSerializedSize() const {
return vectorSize * SerializeAdapter::getSerializedSize(value);
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::deSerialize(
const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
uint16_t i;
ReturnValue_t result;
for (i = 0; i < vectorSize; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
#endif

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@ -1,9 +1,9 @@
#ifndef PIDREADER_H_
#define PIDREADER_H_
#include "DataPool.h"
#include "DataSetIF.h"
#include "PoolEntry.h"
#include "PoolVariableIF.h"
#include "../datapool/DataSetIF.h"
#include "../datapoolglob/GlobalDataPool.h"
#include "../datapool/PoolEntry.h"
#include "../datapool/PoolVariableIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
@ -15,10 +15,10 @@ class PIDReader: public PoolVariableIF {
protected:
uint32_t parameterId;
uint8_t valid;
ReturnValue_t read() {
uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
PoolEntry<T> *read_out = ::dataPool.getData<T>(
DataPool::PIDToDataPoolId(parameterId), arrayIndex);
ReturnValue_t readWithoutLock() {
uint8_t arrayIndex = GlobalDataPool::PIDToArrayIndex(parameterId);
PoolEntry<T> *read_out = glob::dataPool.getData<T>(
GlobalDataPool::PIDToDataPoolId(parameterId), arrayIndex);
if (read_out != NULL) {
valid = read_out->valid;
value = read_out->address[arrayIndex];
@ -36,9 +36,13 @@ protected:
* Reason is the possibility to access a single DP vector element, but if we commit,
* we set validity of the whole vector.
*/
ReturnValue_t commit() {
ReturnValue_t commit(uint32_t lockTimeout) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t commitWithoutLock() override {
return HasReturnvaluesIF::RETURN_FAILED;
}
/**
* Empty ctor for List initialization
*/
@ -72,6 +76,19 @@ public:
}
}
ReturnValue_t read(uint32_t lockTimeout) override {
ReturnValue_t result = glob::dataPool.lockDataPool();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "PIDReader::read: Could not unlock data pool!"
<< std::endl;
}
return result;
}
/**
* Copy ctor to copy classes containing Pool Variables.
*/
@ -89,7 +106,7 @@ public:
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const {
return DataPool::PIDToDataPoolId(parameterId);
return GlobalDataPool::PIDToDataPoolId(parameterId);
}
uint32_t getParameterId() const {
return parameterId;
@ -114,7 +131,7 @@ public:
return valid;
}
void setValid(uint8_t valid) {
void setValid(bool valid) {
this->valid = valid;
}

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@ -1,8 +1,8 @@
#ifndef FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
#define FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
#ifndef FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
#define FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
#include "PIDReader.h"
#include "PoolVariableIF.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapoolglob/PIDReader.h"
template <class T, uint8_t n_var>
class PIDReaderList {
private:
@ -24,4 +24,4 @@ public:
#endif /* FRAMEWORK_DATAPOOL_PIDREADERLIST_H_ */
#endif /* FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_ */

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@ -0,0 +1,239 @@
#include "../datapoolglob/GlobalDataPool.h"
#include "../datapoolglob/PoolRawAccess.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serialize/EndianConverter.h"
#include <cstring>
PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false),
type(Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0),
readWriteMode(setReadWriteMode) {
memset(value, 0, sizeof(value));
if (dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
PoolRawAccess::~PoolRawAccess() {}
ReturnValue_t PoolRawAccess::read(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
ReturnValue_t PoolRawAccess::readWithoutLock() {
ReturnValue_t result = RETURN_FAILED;
PoolEntryIF* readOut = glob::dataPool.getRawData(dataPoolId);
if (readOut != nullptr) {
result = handleReadOut(readOut);
if(result == RETURN_OK) {
return result;
}
} else {
result = READ_ENTRY_NON_EXISTENT;
}
handleReadError(result);
return result;
}
ReturnValue_t PoolRawAccess::handleReadOut(PoolEntryIF* readOut) {
ReturnValue_t result = RETURN_FAILED;
valid = readOut->getValid();
if (readOut->getSize() > arrayEntry) {
arraySize = readOut->getSize();
typeSize = readOut->getByteSize() / readOut->getSize();
type = readOut->getType();
if (typeSize <= sizeof(value)) {
uint16_t arrayPosition = arrayEntry * typeSize;
sizeTillEnd = readOut->getByteSize() - arrayPosition;
uint8_t* ptr = &((uint8_t*) readOut->getRawData())[arrayPosition];
memcpy(value, ptr, typeSize);
return RETURN_OK;
} else {
result = READ_TYPE_TOO_LARGE;
}
} else {
//debug << "PoolRawAccess: Size: " << (int)read_out->getSize() << std::endl;
result = READ_INDEX_TOO_LARGE;
}
return result;
}
void PoolRawAccess::handleReadError(ReturnValue_t result) {
sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
<< std::dec << " failed, ";
if(result == READ_TYPE_TOO_LARGE) {
sif::error << "type too large." << std::endl;
}
else if(result == READ_INDEX_TOO_LARGE) {
sif::error << "index too large." << std::endl;
}
else if(result == READ_ENTRY_NON_EXISTENT) {
sif::error << "entry does not exist." << std::endl;
}
valid = INVALID;
typeSize = 0;
sizeTillEnd = 0;
memset(value, 0, sizeof(value));
}
ReturnValue_t PoolRawAccess::commit(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
ReturnValue_t PoolRawAccess::commitWithoutLock() {
PoolEntryIF* write_back = glob::dataPool.getRawData(dataPoolId);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->setValid(valid);
uint8_t array_position = arrayEntry * typeSize;
uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position];
memcpy(ptr, value, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t* PoolRawAccess::getEntry() {
return value;
}
ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
size_t* writtenBytes, size_t max_size) {
uint8_t* data_ptr = getEntry();
// debug << "PoolRawAccess::getEntry: Array position: " <<
// index * size_of_type << " Size of T: " << (int)size_of_type <<
// " ByteSize: " << byte_size << " Position: " << *size << std::endl;
if (typeSize == 0)
return DATA_POOL_ACCESS_FAILED;
if (typeSize > max_size)
return INCORRECT_SIZE;
EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
*writtenBytes = typeSize;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
if (typeSize + *size <= maxSize) {
switch(streamEndianness) {
case(Endianness::BIG):
EndianConverter::convertBigEndian(*buffer, value, typeSize);
break;
case(Endianness::LITTLE):
EndianConverter::convertLittleEndian(*buffer, value, typeSize);
break;
case(Endianness::MACHINE):
default:
memcpy(*buffer, value, typeSize);
break;
}
*size += typeSize;
(*buffer) += typeSize;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SerializeIF::BUFFER_TOO_SHORT;
}
}
Type PoolRawAccess::getType() {
return type;
}
size_t PoolRawAccess::getSizeOfType() {
return typeSize;
}
size_t PoolRawAccess::getArraySize(){
return arraySize;
}
uint32_t PoolRawAccess::getDataPoolId() const {
return dataPoolId;
}
PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
return readWriteMode;
}
ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
size_t setSize) {
if (typeSize == setSize) {
EndianConverter::convertBigEndian(value, buffer, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: "
"Internal" << (uint32_t) typeSize << ", Requested: " << setSize
<< std::endl;
return INCORRECT_SIZE;
}
}
bool PoolRawAccess::isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void PoolRawAccess::setValid(bool valid) {
this->valid = valid;
}
size_t PoolRawAccess::getSizeTillEnd() const {
return sizeTillEnd;
}
size_t PoolRawAccess::getSerializedSize() const {
return typeSize;
}
ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) {
if (*size >= typeSize) {
switch(streamEndianness) {
case(Endianness::BIG):
EndianConverter::convertBigEndian(value, *buffer, typeSize);
break;
case(Endianness::LITTLE):
EndianConverter::convertLittleEndian(value, *buffer, typeSize);
break;
case(Endianness::MACHINE):
default:
memcpy(value, *buffer, typeSize);
break;
}
*size -= typeSize;
*buffer += typeSize;
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SerializeIF::STREAM_TOO_SHORT;
}
}

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#ifndef POOLRAWACCESS_H_
#define POOLRAWACCESS_H_
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolEntryIF.h"
#include "../datapool/PoolVariableIF.h"
#include "../globalfunctions/Type.h"
/**
* @brief This class allows accessing Data Pool variables as raw bytes.
* @details
* This is necessary to have an access method for HK data, as the PID's alone
* do not provide type information. Please note that the the raw pool access
* read() and commit() calls are not thread-safe.
*
* Please supply a data set and use the data set read(), commit() calls for
* thread-safe data pool access.
* @ingroup data_pool
*/
class PoolRawAccess: public PoolVariableIF, HasReturnvaluesIF {
public:
/**
* This constructor is used to access a data pool entry with a
* given ID if the target type is not known. A DataSet object is supplied
* and the data pool entry with the given ID is registered to that data set.
* Please note that a pool raw access buffer only has a buffer
* with a size of double. As such, for vector entries which have
* @param data_pool_id Target data pool entry ID
* @param arrayEntry
* @param data_set Dataset to register data pool entry to
* @param setReadWriteMode
* @param registerVectors If set to true, the constructor checks if
* there are multiple vector entries to registers
* and registers all of them recursively into the data_set
*
*/
PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
DataSetIF* data_set, ReadWriteMode_t setReadWriteMode =
PoolVariableIF::VAR_READ);
/**
* @brief This operation returns a pointer to the entry fetched.
* @details Return pointer to the buffer containing the raw data
* Size and number of data can be retrieved by other means.
*/
uint8_t* getEntry();
/**
* @brief This operation returns the fetched entry from the data pool and
* flips the bytes, if necessary.
* @details It makes use of the getEntry call of this function, but additionally flips the
* bytes to big endian, which is the default for external communication (as House-
* keeping telemetry). To achieve this, the data is copied directly to the passed
* buffer, if it fits in the given max_size.
* @param buffer A pointer to a buffer to write to
* @param writtenBytes The number of bytes written is returned with this value.
* @param max_size The maximum size that the function may write to buffer.
* @return - @c RETURN_OK if entry could be acquired
* - @c RETURN_FAILED else.
*/
ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
size_t maxSize);
/**
* @brief Serialize raw pool entry into provided buffer directly
* @param buffer Provided buffer. Raw pool data will be copied here
* @param size [out] Increment provided size value by serialized size
* @param max_size Maximum allowed serialization size
* @param bigEndian Specify endianess
* @return - @c RETURN_OK if serialization was successfull
* - @c SerializeIF::BUFFER_TOO_SHORT if range check failed
*/
ReturnValue_t serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override;
/**
* With this method, the content can be set from a big endian buffer safely.
* @param buffer Pointer to the data to set
* @param size Size of the data to write. Must fit this->size.
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
size_t setSize);
/**
* @brief This operation returns the type of the entry currently stored.
*/
Type getType();
/**
* @brief This operation returns the size of the entry currently stored.
*/
size_t getSizeOfType();
/**
*
* @return the size of the datapool array
*/
size_t getArraySize();
/**
* @brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const;
static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t READ_TYPE_TOO_LARGE = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t READ_INDEX_TOO_LARGE = MAKE_RETURN_CODE(0x04);
static const ReturnValue_t READ_ENTRY_NON_EXISTENT = MAKE_RETURN_CODE(0x05);
static const uint8_t RAW_MAX_SIZE = sizeof(double);
uint8_t value[RAW_MAX_SIZE];
/**
* @brief The classes destructor is empty. If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~PoolRawAccess();
/**
* This method returns if the variable is read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const;
/**
* @brief With this call, the valid information of the variable is returned.
*/
bool isValid() const;
void setValid(bool valid);
/**
* Getter for the remaining size.
*/
size_t getSizeTillEnd() const;
/**
* @brief This is a call to read the value from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies the value and the valid
* information to its local attributes. In case of a failure (wrong type or
* pool id not found), the variable is set to zero and invalid.
* The call is protected by a lock of the global data pool.
* @return -@c RETURN_OK Read successfull
* -@c READ_TYPE_TOO_LARGE
* -@c READ_INDEX_TOO_LARGE
* -@c READ_ENTRY_NON_EXISTENT
*/
ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call writes back the variable's value to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The call is protected by a lock of the global data pool.
*
*/
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
ReturnValue_t handleReadOut(PoolEntryIF* read_out);
void handleReadError(ReturnValue_t result);
private:
/**
* @brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* @brief The array entry that is fetched from the data pool.
*/
uint8_t arrayEntry;
/**
* @brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* @brief This value contains the type of the data pool entry.
*/
Type type;
/**
* @brief This value contains the size of the data pool entry type in bytes.
*/
size_t typeSize;
/**
* The size of the DP array (single values return 1)
*/
size_t arraySize;
/**
* The size (in bytes) from the selected entry till the end of this DataPool variable.
*/
size_t sizeTillEnd;
/**
* @brief The information whether the class is read-write or read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
};
#endif /* POOLRAWACCESS_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
#define FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
#include "locPoolDefinitions.h"
#include "../datapool/PoolEntryIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../housekeeping/HousekeepingMessage.h"
#include <map>
class LocalDataPoolManager;
class LocalPoolDataSetBase;
class LocalPoolObjectBase;
using LocalDataPool = std::map<lp_id_t, PoolEntryIF*>;
using LocalDataPoolMapIter = LocalDataPool::iterator;
/**
* @brief This interface is implemented by classes which posses a local
* data pool (not the managing class). It defines the relationship
* between the local data pool owner and the LocalDataPoolManager.
* @details
* Any class implementing this interface shall also have a LocalDataPoolManager
* member class which contains the actual pool data structure
* and exposes the public interface for it.
* This is required because the pool entries are templates, which makes
* specifying an interface rather difficult. The local data pool can be
* accessed by using the LocalPoolVariable, LocalPoolVector or LocalDataSet
* classes.
*
* Architectural Note:
* This could be circumvented by using a wrapper/accessor function or
* implementing the templated function in this interface..
* The first solution sounds better than the second but
* the LocalPoolVariable classes are templates as well, so this just shifts
* the problem somewhere else. Interfaces are nice, but the most
* pragmatic solution I found was to offer the client the full interface
* of the LocalDataPoolManager.
*/
class HasLocalDataPoolIF {
public:
virtual~ HasLocalDataPoolIF() {};
static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
virtual object_id_t getObjectId() const = 0;
/** Command queue for housekeeping messages. */
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Is used by pool owner to initialize the pool map once
* The manager instance shall also be passed to this function.
* It can be used to subscribe for periodic packets for for updates.
*/
virtual ReturnValue_t initializeLocalDataPool(
LocalDataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) = 0;
/** Can be used to get a handle to the local data pool manager. */
virtual LocalDataPoolManager* getHkManagerHandle() = 0;
/**
* Returns the minimum sampling frequency in milliseconds, which will
* usually be the period the pool owner performs its periodic operation.
* @return
*/
virtual uint32_t getPeriodicOperationFrequency() const = 0;
/**
* This function is used by the pool manager to get a valid dataset
* from a SID
* @param sid Corresponding structure ID
* @return
*/
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) = 0;
/**
* Similar to the function above, but used to get a local pool variable
* handle. This is only needed for update notifications, so it is not
* defined as abstract.
* @param localPoolId
* @return
*/
virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
<< ". Returning nullptr!" << std::endl;
return nullptr;
}
/**
* @brief This function will be called by the manager if an update
* notification is received.
* @details
* Can be overriden by the child class to handle changed datasets.
* @param sid
* @param storeId If a snapshot was requested, data will be located inside
* the IPC store with this store ID.
*/
virtual void handleChangedDataset(sid_t sid,
store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
return;
}
/**
* @brief This function will be called by the manager if an update
* notification is received.
* @details
* Can be overriden by the child class to handle changed pool IDs.
* @param sid
* @param storeId If a snapshot was requested, data will be located inside
* the IPC store with this store ID.
*/
virtual void handleChangedPoolVariable(lp_id_t poolId,
store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
return;
}
/* These function can be implemented by pool owner, as they are required
* by the housekeeping message interface */
virtual ReturnValue_t addDataSet(sid_t sid) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t removeDataSet(sid_t sid) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t changeCollectionInterval(sid_t sid,
float newIntervalSeconds) {
return HasReturnvaluesIF::RETURN_FAILED;
};
};
#endif /* FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_ */

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#include "LocalDataPoolManager.h"
#include "LocalPoolObjectBase.h"
#include "LocalPoolDataSetBase.h"
#include "../housekeeping/HousekeepingPacketUpdate.h"
#include "../housekeeping/HousekeepingSetPacket.h"
#include "../housekeeping/AcceptsHkPacketsIF.h"
#include "../timemanager/CCSDSTime.h"
#include "../ipc/MutexFactory.h"
#include "../ipc/MutexHelper.h"
#include "../ipc/QueueFactory.h"
#include <array>
#include <cmath>
object_id_t LocalDataPoolManager::defaultHkDestination =
objects::PUS_SERVICE_3_HOUSEKEEPING;
LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
MessageQueueIF* queueToUse, bool appendValidityBuffer):
appendValidityBuffer(appendValidityBuffer) {
if(owner == nullptr) {
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Invalid supplied owner!" << std::endl;
return;
}
this->owner = owner;
mutex = MutexFactory::instance()->createMutex();
if(mutex == nullptr) {
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Could not create mutex." << std::endl;
}
hkQueue = queueToUse;
}
LocalDataPoolManager::~LocalDataPoolManager() {}
ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
if(queueToUse == nullptr) {
sif::error << "LocalDataPoolManager::initialize: "
<< std::hex << "0x" << owner->getObjectId() << ". Supplied "
<< "queue invalid!" << std::dec << std::endl;
}
hkQueue = queueToUse;
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if(ipcStore == nullptr) {
sif::error << "LocalDataPoolManager::initialize: "
<< std::hex << "0x" << owner->getObjectId() << ": Could not "
<< "set IPC store." <<std::dec << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(defaultHkDestination != objects::NO_OBJECT) {
AcceptsHkPacketsIF* hkPacketReceiver =
objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
if(hkPacketReceiver != nullptr) {
hkDestinationId = hkPacketReceiver->getHkQueue();
}
else {
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Default HK destination object is invalid!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(
uint8_t nonDiagInvlFactor) {
setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
return initializeHousekeepingPoolEntriesOnce();
}
ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
if(not mapInitialized) {
ReturnValue_t result = owner->initializeLocalDataPool(localPoolMap,
*this);
if(result == HasReturnvaluesIF::RETURN_OK) {
mapInitialized = true;
}
return result;
}
sif::warning << "HousekeepingManager: The map should only be initialized "
<< "once!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::performHkOperation() {
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
for(auto& receiver: hkReceiversMap) {
switch(receiver.reportingType) {
case(ReportingType::PERIODIC): {
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
// Periodic packets shall only be generated from datasets.
continue;
}
performPeriodicHkGeneration(receiver);
break;
}
case(ReportingType::UPDATE_HK): {
handleHkUpdate(receiver, status);
break;
}
case(ReportingType::UPDATE_NOTIFICATION): {
handleNotificationUpdate(receiver, status);
break;
}
case(ReportingType::UPDATE_SNAPSHOT): {
handleNotificationSnapshot(receiver, status);
break;
}
default:
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
resetHkUpdateResetHelper();
return status;
}
ReturnValue_t LocalDataPoolManager::handleHkUpdate(HkReceiver& receiver,
ReturnValue_t& status) {
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
// Update packets shall only be generated from datasets.
return HasReturnvaluesIF::RETURN_FAILED;
}
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
receiver.dataId.sid);
if(dataSet->hasChanged()) {
// prepare and send update notification
ReturnValue_t result = generateHousekeepingPacket(
receiver.dataId.sid, dataSet, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
}
handleChangeResetLogic(receiver.dataType, receiver.dataId,
dataSet);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(
HkReceiver& receiver, ReturnValue_t& status) {
MarkChangedIF* toReset = nullptr;
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(
receiver.dataId.localPoolId);
if(poolObj == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(poolObj->hasChanged()) {
// prepare and send update notification.
CommandMessage notification;
HousekeepingMessage::setUpdateNotificationVariableCommand(
&notification, receiver.dataId.localPoolId);
ReturnValue_t result = hkQueue->sendMessage(
receiver.destinationQueue, &notification);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
toReset = poolObj;
}
}
else {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
receiver.dataId.sid);
if(dataSet == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(dataSet->hasChanged()) {
// prepare and send update notification
CommandMessage notification;
HousekeepingMessage::setUpdateNotificationSetCommand(
&notification, receiver.dataId.sid);
ReturnValue_t result = hkQueue->sendMessage(
receiver.destinationQueue, &notification);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
toReset = dataSet;
}
}
if(toReset != nullptr) {
handleChangeResetLogic(receiver.dataType,
receiver.dataId, toReset);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
HkReceiver& receiver, ReturnValue_t& status) {
MarkChangedIF* toReset = nullptr;
// check whether data has changed and send messages in case it has.
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(
receiver.dataId.localPoolId);
if(poolObj == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if (not poolObj->hasChanged()) {
return HasReturnvaluesIF::RETURN_OK;
}
// prepare and send update snapshot.
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), owner->getPoolObjectHandle(
receiver.dataId.localPoolId));
store_address_t storeId;
ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
CommandMessage notification;
HousekeepingMessage::setUpdateSnapshotVariableCommand(&notification,
receiver.dataId.localPoolId, storeId);
result = hkQueue->sendMessage(receiver.destinationQueue,
&notification);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
toReset = poolObj;
}
else {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
receiver.dataId.sid);
if(dataSet == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(not dataSet->hasChanged()) {
return HasReturnvaluesIF::RETURN_OK;
}
// prepare and send update snapshot.
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), owner->getDataSetHandle(receiver.dataId.sid));
store_address_t storeId;
ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
CommandMessage notification;
HousekeepingMessage::setUpdateSnapshotSetCommand(
&notification, receiver.dataId.sid, storeId);
result = hkQueue->sendMessage(receiver.destinationQueue, &notification);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
toReset = dataSet;
}
if(toReset != nullptr) {
handleChangeResetLogic(receiver.dataType,
receiver.dataId, toReset);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::addUpdateToStore(
HousekeepingPacketUpdate& updatePacket, store_address_t& storeId) {
size_t updatePacketSize = updatePacket.getSerializedSize();
uint8_t *storePtr = nullptr;
ReturnValue_t result = ipcStore->getFreeElement(&storeId,
updatePacket.getSerializedSize(), &storePtr);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t serializedSize = 0;
result = updatePacket.serialize(&storePtr, &serializedSize,
updatePacketSize, SerializeIF::Endianness::MACHINE);
return result;;
}
void LocalDataPoolManager::handleChangeResetLogic(
DataType type, DataId dataId, MarkChangedIF* toReset) {
if(hkUpdateResetList == nullptr) {
// config error!
return;
}
for(auto& changeInfo: *hkUpdateResetList) {
if(changeInfo.dataType != type) {
continue;
}
if((changeInfo.dataType == DataType::DATA_SET) and
(changeInfo.dataId.sid != dataId.sid)) {
continue;
}
if((changeInfo.dataType == DataType::LOCAL_POOL_VARIABLE) and
(changeInfo.dataId.localPoolId != dataId.localPoolId)) {
continue;
}
if(changeInfo.updateCounter <= 1) {
toReset->setChanged(false);
}
if(changeInfo.currentUpdateCounter == 0) {
toReset->setChanged(false);
}
else {
changeInfo.currentUpdateCounter--;
}
return;
}
}
void LocalDataPoolManager::resetHkUpdateResetHelper() {
if(hkUpdateResetList == nullptr) {
return;
}
for(auto& changeInfo: *hkUpdateResetList) {
changeInfo.currentUpdateCounter = changeInfo.updateCounter;
}
}
ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
bool enableReporting, float collectionInterval, bool isDiagnostics,
object_id_t packetDestination) {
AcceptsHkPacketsIF* hkReceiverObject =
objectManager->get<AcceptsHkPacketsIF>(packetDestination);
if(hkReceiverObject == nullptr) {
sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
<< " Invalid receiver!"<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
struct HkReceiver hkReceiver;
hkReceiver.dataId.sid = sid;
hkReceiver.reportingType = ReportingType::PERIODIC;
hkReceiver.dataType = DataType::DATA_SET;
hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(dataSet != nullptr) {
dataSet->setReportingEnabled(enableReporting);
dataSet->setDiagnostic(isDiagnostics);
dataSet->initializePeriodicHelper(collectionInterval,
owner->getPeriodicOperationFrequency(), isDiagnostics);
}
hkReceiversMap.push_back(hkReceiver);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid,
bool isDiagnostics, bool reportingEnabled,
object_id_t packetDestination) {
AcceptsHkPacketsIF* hkReceiverObject =
objectManager->get<AcceptsHkPacketsIF>(packetDestination);
if(hkReceiverObject == nullptr) {
sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
<< " Invalid receiver!"<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
struct HkReceiver hkReceiver;
hkReceiver.dataId.sid = sid;
hkReceiver.reportingType = ReportingType::UPDATE_HK;
hkReceiver.dataType = DataType::DATA_SET;
hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(dataSet != nullptr) {
dataSet->setReportingEnabled(true);
dataSet->setDiagnostic(isDiagnostics);
}
hkReceiversMap.push_back(hkReceiver);
handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::subscribeForSetUpdateMessages(
const uint32_t setId, object_id_t destinationObject,
MessageQueueId_t targetQueueId, bool generateSnapshot) {
struct HkReceiver hkReceiver;
hkReceiver.dataType = DataType::DATA_SET;
hkReceiver.dataId.sid = sid_t(this->getOwner()->getObjectId(), setId);
hkReceiver.destinationQueue = targetQueueId;
hkReceiver.objectId = destinationObject;
if(generateSnapshot) {
hkReceiver.reportingType = ReportingType::UPDATE_SNAPSHOT;
}
else {
hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
}
hkReceiversMap.push_back(hkReceiver);
handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessages(
const lp_id_t localPoolId, object_id_t destinationObject,
MessageQueueId_t targetQueueId, bool generateSnapshot) {
struct HkReceiver hkReceiver;
hkReceiver.dataType = DataType::LOCAL_POOL_VARIABLE;
hkReceiver.dataId.localPoolId = localPoolId;
hkReceiver.destinationQueue = targetQueueId;
hkReceiver.objectId = destinationObject;
if(generateSnapshot) {
hkReceiver.reportingType = ReportingType::UPDATE_SNAPSHOT;
}
else {
hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
}
hkReceiversMap.push_back(hkReceiver);
handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
return HasReturnvaluesIF::RETURN_OK;
}
void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType,
DataId dataId) {
if(hkUpdateResetList == nullptr) {
hkUpdateResetList = new std::vector<struct HkUpdateResetHelper>();
}
for(auto& updateResetStruct: *hkUpdateResetList) {
if(dataType == DataType::DATA_SET) {
if(updateResetStruct.dataId.sid == dataId.sid) {
updateResetStruct.updateCounter++;
updateResetStruct.currentUpdateCounter++;
return;
}
}
else {
if(updateResetStruct.dataId.localPoolId == dataId.localPoolId) {
updateResetStruct.updateCounter++;
updateResetStruct.currentUpdateCounter++;
return;
}
}
}
HkUpdateResetHelper hkUpdateResetHelper;
hkUpdateResetHelper.currentUpdateCounter = 1;
hkUpdateResetHelper.updateCounter = 1;
hkUpdateResetHelper.dataType = dataType;
if(dataType == DataType::DATA_SET) {
hkUpdateResetHelper.dataId.sid = dataId.sid;
}
else {
hkUpdateResetHelper.dataId.localPoolId = dataId.localPoolId;
}
hkUpdateResetList->push_back(hkUpdateResetHelper);
}
ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
CommandMessage* message) {
Command_t command = message->getCommand();
sid_t sid = HousekeepingMessage::getSid(message);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(command) {
// Houskeeping interface handling.
case(HousekeepingMessage::ENABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
result = togglePeriodicGeneration(sid, true, true);
break;
}
case(HousekeepingMessage::DISABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
result = togglePeriodicGeneration(sid, false, true);
break;
}
case(HousekeepingMessage::ENABLE_PERIODIC_HK_REPORT_GENERATION): {
result = togglePeriodicGeneration(sid, true, false);
break;
}
case(HousekeepingMessage::DISABLE_PERIODIC_HK_REPORT_GENERATION): {
result = togglePeriodicGeneration(sid, false, false);
break;
}
case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
return generateSetStructurePacket(sid, true);
case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
return generateSetStructurePacket(sid, false);
case(HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL):
case(HousekeepingMessage::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL): {
float newCollIntvl = 0;
HousekeepingMessage::getCollectionIntervalModificationCommand(message,
&newCollIntvl);
if(command == HousekeepingMessage::
MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL) {
result = changeCollectionInterval(sid, newCollIntvl, true);
}
else {
result = changeCollectionInterval(sid, newCollIntvl, false);
}
break;
}
case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT
and dataSet->isDiagnostics()) {
return WRONG_HK_PACKET_TYPE;
}
else if(command == HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT
and not dataSet->isDiagnostics()) {
return WRONG_HK_PACKET_TYPE;
}
return generateHousekeepingPacket(HousekeepingMessage::getSid(message),
dataSet, true);
}
// Notification handling.
case(HousekeepingMessage::UPDATE_NOTIFICATION_SET): {
owner->handleChangedDataset(sid);
return HasReturnvaluesIF::RETURN_OK;
}
case(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE): {
lp_id_t locPoolId = HousekeepingMessage::
getUpdateNotificationVariableCommand(message);
owner->handleChangedPoolVariable(locPoolId);
return HasReturnvaluesIF::RETURN_OK;
}
case(HousekeepingMessage::UPDATE_SNAPSHOT_SET): {
store_address_t storeId;
HousekeepingMessage::getUpdateSnapshotSetCommand(message, &storeId);
owner->handleChangedDataset(sid, storeId);
return HasReturnvaluesIF::RETURN_OK;
}
case(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE): {
store_address_t storeId;
lp_id_t localPoolId = HousekeepingMessage::
getUpdateSnapshotVariableCommand(message, &storeId);
owner->handleChangedPoolVariable(localPoolId, storeId);
return HasReturnvaluesIF::RETURN_OK;
}
default:
return CommandMessageIF::UNKNOWN_COMMAND;
}
CommandMessage reply;
if(result != HasReturnvaluesIF::RETURN_OK) {
HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
}
else {
HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
}
hkQueue->sendMessage(hkDestinationId, &reply);
return result;
}
ReturnValue_t LocalDataPoolManager::printPoolEntry(
lp_id_t localPoolId) {
auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) {
sif::debug << "HousekeepingManager::fechPoolEntry:"
<< " Pool entry not found." << std::endl;
return POOL_ENTRY_NOT_FOUND;
}
poolIter->second->print();
return HasReturnvaluesIF::RETURN_OK;
}
MutexIF* LocalDataPoolManager::getMutexHandle() {
return mutex;
}
HasLocalDataPoolIF* LocalDataPoolManager::getOwner() {
return owner;
}
ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
LocalPoolDataSetBase* dataSet, bool forDownlink,
MessageQueueId_t destination) {
if(dataSet == nullptr) {
// Configuration error.
sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
<< " Set ID not found or dataset not assigned!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
store_address_t storeId;
HousekeepingPacketDownlink hkPacket(sid, dataSet);
size_t serializedSize = 0;
ReturnValue_t result = serializeHkPacketIntoStore(hkPacket, storeId,
forDownlink, &serializedSize);
if(result != HasReturnvaluesIF::RETURN_OK or serializedSize == 0) {
return result;
}
// and now we set a HK message and send it the HK packet destination.
CommandMessage hkMessage;
if(dataSet->isDiagnostics()) {
HousekeepingMessage::setHkDiagnosticsReply(&hkMessage, sid, storeId);
}
else {
HousekeepingMessage::setHkReportReply(&hkMessage, sid, storeId);
}
if(hkQueue == nullptr) {
return QUEUE_OR_DESTINATION_NOT_SET;
}
if(destination == MessageQueueIF::NO_QUEUE) {
if(hkDestinationId == MessageQueueIF::NO_QUEUE) {
// error, all destinations invalid
return HasReturnvaluesIF::RETURN_FAILED;
}
destination = hkDestinationId;
}
return hkQueue->sendMessage(destination, &hkMessage);
}
ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
HousekeepingPacketDownlink& hkPacket,
store_address_t& storeId, bool forDownlink,
size_t* serializedSize) {
uint8_t* dataPtr = nullptr;
const size_t maxSize = hkPacket.getSerializedSize();
ReturnValue_t result = ipcStore->getFreeElement(&storeId,
maxSize, &dataPtr);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(forDownlink) {
return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
SerializeIF::Endianness::BIG);
}
return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
SerializeIF::Endianness::MACHINE);
}
void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
uint8_t nonDiagInvlFactor) {
this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
}
void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
sid_t sid = receiver.dataId.sid;
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(not dataSet->getReportingEnabled()) {
return;
}
if(dataSet->periodicHelper == nullptr) {
// Configuration error.
return;
}
if(not dataSet->periodicHelper->checkOpNecessary()) {
return;
}
ReturnValue_t result = generateHousekeepingPacket(
sid, dataSet, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
// configuration error
sif::debug << "LocalDataPoolManager::performHkOperation:"
<< "0x" << std::hex << std::setfill('0') << std::setw(8)
<< owner->getObjectId() << " Error generating "
<< "HK packet" << std::setfill(' ') << std::dec << std::endl;
}
}
ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
bool enable, bool isDiagnostics) {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if((dataSet->isDiagnostics() and not isDiagnostics) or
(not dataSet->isDiagnostics() and isDiagnostics)) {
return WRONG_HK_PACKET_TYPE;
}
if((dataSet->getReportingEnabled() and enable) or
(not dataSet->getReportingEnabled() and not enable)) {
return REPORTING_STATUS_UNCHANGED;
}
dataSet->setReportingEnabled(enable);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
float newCollectionInterval, bool isDiagnostics) {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
bool targetIsDiagnostics = dataSet->isDiagnostics();
if((targetIsDiagnostics and not isDiagnostics) or
(not targetIsDiagnostics and isDiagnostics)) {
return WRONG_HK_PACKET_TYPE;
}
if(dataSet->periodicHelper == nullptr) {
// config error
return PERIODIC_HELPER_INVALID;
}
dataSet->periodicHelper->changeCollectionInterval(newCollectionInterval);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
bool isDiagnostics) {
// Get and check dataset first.
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(dataSet == nullptr) {
sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
<< " Set ID not found" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
bool targetIsDiagnostics = dataSet->isDiagnostics();
if((targetIsDiagnostics and not isDiagnostics) or
(not targetIsDiagnostics and isDiagnostics)) {
return WRONG_HK_PACKET_TYPE;
}
bool valid = dataSet->isValid();
bool reportingEnabled = dataSet->getReportingEnabled();
float collectionInterval =
dataSet->periodicHelper->getCollectionIntervalInSeconds();
// Generate set packet which can be serialized.
HousekeepingSetPacket setPacket(sid,
reportingEnabled, valid, collectionInterval, dataSet);
size_t expectedSize = setPacket.getSerializedSize();
uint8_t* storePtr = nullptr;
store_address_t storeId;
ReturnValue_t result = ipcStore->getFreeElement(&storeId,
expectedSize,&storePtr);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "HousekeepingManager::generateHousekeepingPacket: "
<< "Could not get free element from IPC store." << std::endl;
return result;
}
// Serialize set packet into store.
size_t size = 0;
result = setPacket.serialize(&storePtr, &size, expectedSize,
SerializeIF::Endianness::BIG);
if(expectedSize != size) {
sif::error << "HousekeepingManager::generateSetStructurePacket: "
<< "Expected size is not equal to serialized size" << std::endl;
}
// Send structure reporting reply.
CommandMessage reply;
if(isDiagnostics) {
HousekeepingMessage::setDiagnosticsStuctureReportReply(&reply,
sid, storeId);
}
else {
HousekeepingMessage::setHkStuctureReportReply(&reply,
sid, storeId);
}
hkQueue->reply(&reply);
return result;
}

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#ifndef FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
#define FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
#include "HasLocalDataPoolIF.h"
#include "../housekeeping/HousekeepingPacketDownlink.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../housekeeping/PeriodicHousekeepingHelper.h"
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolEntry.h"
#include "../objectmanager/SystemObjectIF.h"
#include "../ipc/MutexIF.h"
#include "../ipc/CommandMessage.h"
#include "../ipc/MessageQueueIF.h"
#include "../ipc/MutexHelper.h"
#include <map>
namespace Factory {
void setStaticFrameworkObjectIds();
}
class LocalPoolDataSetBase;
class HousekeepingPacketUpdate;
/**
* @brief This class is the managing instance for the 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 manager class as a member and implement
* the HasLocalDataPoolIF.
*
* The manager offers some adaption points and functions which can be used
* by the owning class to simplify data handling significantly.
*
* Please ensure that both initialize and initializeAfterTaskCreation are
* called at some point by the owning class in the respective functions of the
* same name!
*
* 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.
* @author R. Mueller
*/
class LocalDataPoolManager {
template<typename T> friend class LocalPoolVar;
template<typename T, uint16_t vecSize> friend class LocalPoolVector;
friend class LocalPoolDataSetBase;
friend void (Factory::setStaticFrameworkObjectIds)();
public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x02);
static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(0x03);
static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(0x04);
static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(0x05);
/**
* 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 Specify whether a buffer containing the
* validity state is generated when serializing or deserializing packets.
*/
LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
bool appendValidityBuffer = true);
virtual~ LocalDataPoolManager();
/**
* Assigns the queue to use. Make sure to call this in the #initialize
* function of the owner.
* @param queueToUse
* @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
* @return
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse);
/**
* Initializes the map by calling the map initialization function and
* setting the periodic factor for non-diagnostic packets.
* Don't forget to call this in the #initializeAfterTaskCreation call of
* the owner, otherwise the map will be invalid!
* @param nonDiagInvlFactor
* @return
*/
ReturnValue_t initializeAfterTaskCreation(
uint8_t nonDiagInvlFactor = 5);
/**
* @brief This should be called in the periodic handler of the owner.
* @details
* This in generally called in the #performOperation function of the owner.
* It performs all the periodic functionalities of the data pool manager,
* for example generating periodic HK packets.
* Marked virtual as an adaption point for custom data pool managers.
* @return
*/
virtual ReturnValue_t performHkOperation();
/**
* @brief Subscribe for the generation of periodic packets.
* @details
* This subscription mechanism will generally be used by the data creator
* to generate housekeeping packets which are downlinked directly.
* @return
*/
ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
float collectionInterval, bool isDiagnostics,
object_id_t packetDestination = defaultHkDestination);
/**
* @brief Subscribe for the generation of packets if the dataset
* is marked as changed.
* @details
* This subscription mechanism will generally be used by the data creator.
* @param sid
* @param isDiagnostics
* @param packetDestination
* @return
*/
ReturnValue_t subscribeForUpdatePackets(sid_t sid, bool reportingEnabled,
bool isDiagnostics,
object_id_t packetDestination = defaultHkDestination);
/**
* @brief Subscribe for a notification message which will be sent
* if a dataset has changed.
* @details
* This subscription mechanism will generally be used internally by
* other software components.
* @param setId Set ID of the set to receive update messages from.
* @param destinationObject
* @param targetQueueId
* @param generateSnapshot If this is set to true, a copy of the current
* data with a timestamp will be generated and sent via message.
* Otherwise, only an notification message is sent.
* @return
*/
ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot);
/**
* @brief Subscribe for an notification message which will be sent if a
* pool variable has changed.
* @details
* This subscription mechanism will generally be used internally by
* other software components.
* @param localPoolId Pool ID of the pool variable
* @param destinationObject
* @param targetQueueId
* @param generateSnapshot If this is set to true, a copy of the current
* data with a timestamp will be generated and sent via message.
* Otherwise, only an notification message is sent.
* @return
*/
ReturnValue_t subscribeForVariableUpdateMessages(const lp_id_t localPoolId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot);
/**
* Non-Diagnostics packets usually have a lower minimum sampling frequency
* than diagnostic packets.
* A factor can be specified to determine the minimum sampling frequency
* for non-diagnostic packets. The minimum sampling frequency of the
* diagnostics packets,which is usually jusst the period of the
* performOperation calls, is multiplied with that factor.
* @param factor
*/
void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
/**
* @brief The manager is also able to handle housekeeping messages.
* @details
* This most commonly is used to handle messages for the housekeeping
* interface, but the manager is also able to handle update notifications
* and calls a special function which can be overriden by a child class
* to handle data set or pool variable updates. This is relevant
* for classes like controllers which have their own local datapool
* but pull their data from other local datapools.
* @param message
* @return
*/
virtual ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
/**
* Generate a housekeeping packet with a given SID.
* @param sid
* @return
*/
ReturnValue_t generateHousekeepingPacket(sid_t sid,
LocalPoolDataSetBase* dataSet, bool forDownlink,
MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
HasLocalDataPoolIF* getOwner();
ReturnValue_t printPoolEntry(lp_id_t localPoolId);
/**
* Different types of housekeeping reporting are possible.
* 1. PERIODIC:
* HK packets are generated in fixed intervals and sent to
* destination. Fromat will be raw.
* 2. UPDATE_NOTIFICATION:
* Notification will be sent out if HK data has changed.
* 3. UPDATE_SNAPSHOT:
* HK packets are only generated if explicitely requested.
* Propably not necessary, just use multiple local data sets or
* shared datasets.
*/
enum class ReportingType: uint8_t {
//! Periodic generation of HK packets.
PERIODIC,
//! Housekeeping packet will be generated if values have changed.
UPDATE_HK,
//! Update notification will be sent out as message.
UPDATE_NOTIFICATION,
//! Notification will be sent out as message and a snapshot of the
//! current data will be generated.
UPDATE_SNAPSHOT,
};
/**
* Different data types are possible in the HK receiver map.
* For example, updates can be requested for full datasets or
* for single pool variables. Periodic reporting is only possible for
* data sets.
*/
enum class DataType: uint8_t {
LOCAL_POOL_VARIABLE,
DATA_SET
};
/* Copying forbidden */
LocalDataPoolManager(const LocalDataPoolManager &) = delete;
LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
private:
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;
uint8_t nonDiagnosticIntervalFactor = 0;
/** Default receiver for periodic HK packets */
static object_id_t defaultHkDestination;
MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
union DataId {
DataId(): sid() {};
sid_t sid;
lp_id_t localPoolId;
};
/** The data pool manager will keep an internal map of HK receivers. */
struct HkReceiver {
/** Object ID of receiver */
object_id_t objectId = objects::NO_OBJECT;
DataType dataType = DataType::DATA_SET;
DataId dataId;
ReportingType reportingType = ReportingType::PERIODIC;
MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
};
/** This vector will contain the list of HK receivers. */
using HkReceivers = std::vector<struct HkReceiver>;
HkReceivers hkReceiversMap;
struct HkUpdateResetHelper {
DataType dataType = DataType::DATA_SET;
DataId dataId;
uint8_t updateCounter;
uint8_t currentUpdateCounter;
};
using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
// Will only be created when needed.
HkUpdateResetList* hkUpdateResetList = nullptr;
/** 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;
/**
* @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.
*/
MessageQueueIF* hkQueue = nullptr;
/** Global IPC store is used to store all packets. */
StorageManagerIF* ipcStore = nullptr;
/**
* Get the pointer to the mutex. Can be used to lock the data pool
* externally. 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
*/
template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry);
/**
* This function is used to fill the local data pool map with pool
* entries. It should only be called once by the pool owner.
* @param localDataPoolMap
* @return
*/
ReturnValue_t initializeHousekeepingPoolEntriesOnce();
ReturnValue_t serializeHkPacketIntoStore(
HousekeepingPacketDownlink& hkPacket,
store_address_t& storeId, bool forDownlink, size_t* serializedSize);
void performPeriodicHkGeneration(HkReceiver& hkReceiver);
ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
bool isDiagnostics);
ReturnValue_t changeCollectionInterval(sid_t sid,
float newCollectionInterval, bool isDiagnostics);
ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
void handleChangeResetLogic(DataType type,
DataId dataId, MarkChangedIF* toReset);
void resetHkUpdateResetHelper();
ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver,
ReturnValue_t& status);
ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver,
ReturnValue_t& status);
ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
ReturnValue_t& status);
ReturnValue_t addUpdateToStore(HousekeepingPacketUpdate& updatePacket,
store_address_t& storeId);
};
template<class T> inline
ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry) {
auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) {
sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry "
"not found." << std::endl;
return POOL_ENTRY_NOT_FOUND;
}
*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
if(*poolEntry == nullptr) {
sif::debug << "HousekeepingManager::fetchPoolEntry:"
" Pool entry not found." << std::endl;
return POOL_ENTRY_TYPE_CONFLICT;
}
return HasReturnvaluesIF::RETURN_OK;
}
#endif /* FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */

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#include "LocalDataSet.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../serialize/SerializeAdapter.h"
#include <cmath>
#include <cstring>
LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner, uint32_t setId,
const size_t maxNumberOfVariables):
LocalPoolDataSetBase(hkOwner, setId, nullptr, maxNumberOfVariables),
poolVarList(maxNumberOfVariables) {
this->setContainer(poolVarList.data());
}
LocalDataSet::LocalDataSet(sid_t sid, const size_t maxNumberOfVariables):
LocalPoolDataSetBase(sid, nullptr, maxNumberOfVariables),
poolVarList(maxNumberOfVariables) {
this->setContainer(poolVarList.data());
}
LocalDataSet::~LocalDataSet() {}

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#ifndef FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
#define FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
#include "LocalPoolDataSetBase.h"
#include <vector>
class LocalDataSet: public LocalPoolDataSetBase {
public:
LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId,
const size_t maxSize);
LocalDataSet(sid_t sid, const size_t maxSize);
virtual~ LocalDataSet();
//! Copying forbidden for now.
LocalDataSet(const LocalDataSet&) = delete;
LocalDataSet& operator=(const LocalDataSet&) = delete;
private:
std::vector<PoolVariableIF*> poolVarList;
};
#endif /* FSFW_DATAPOOLLOCAL_LOCALDATASET_H_ */

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#include "LocalPoolDataSetBase.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../housekeeping/PeriodicHousekeepingHelper.h"
#include "../serialize/SerializeAdapter.h"
#include <cmath>
#include <cstring>
LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
uint32_t setId, PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables, bool noPeriodicHandling):
PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
if(hkOwner == nullptr) {
// Configuration error.
sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
<< "invalid!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
this->sid.objectId = hkOwner->getObjectId();
this->sid.ownerSetId = setId;
mutex = MutexFactory::instance()->createMutex();
// Data creators get a periodic helper for periodic HK data generation.
if(not noPeriodicHandling) {
periodicHelper = new PeriodicHousekeepingHelper(this);
}
}
LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables):
PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
sid.objectId);
if(hkOwner == nullptr) {
// Configuration error.
sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
<< "invalid!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
this->sid = sid;
mutex = MutexFactory::instance()->createMutex();
}
LocalPoolDataSetBase::~LocalPoolDataSetBase() {
}
ReturnValue_t LocalPoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
MutexIF* mutex = hkManager->getMutexHandle();
return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
}
ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer,
size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
uint8_t validityMask[validityMaskSize];
uint8_t validBufferIndex = 0;
uint8_t validBufferIndexBit = 0;
for (uint16_t count = 0; count < fillCount; count++) {
if(registeredVariables[count]->isValid()) {
// set validity buffer here.
this->bitSetter(validityMask + validBufferIndex,
validBufferIndexBit);
if(validBufferIndexBit == 7) {
validBufferIndex ++;
validBufferIndexBit = 0;
}
else {
validBufferIndexBit ++;
}
}
result = registeredVariables[count]->serialize(buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
if(*size + validityMaskSize > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
// copy validity buffer to end
std::memcpy(*buffer, validityMask, validityMaskSize);
*size += validityMaskSize;
return result;
}
ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
const uint8_t **buffer, size_t *size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t count = 0; count < fillCount; count++) {
result = registeredVariables[count]->deSerialize(buffer, size,
streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
if(*size < std::ceil(static_cast<float>(fillCount) / 8.0)) {
return SerializeIF::STREAM_TOO_SHORT;
}
uint8_t validBufferIndex = 0;
uint8_t validBufferIndexBit = 0;
for (uint16_t count = 0; count < fillCount; count++) {
// set validity buffer here.
bool nextVarValid = this->bitGetter(*buffer +
validBufferIndex, validBufferIndexBit);
registeredVariables[count]->setValid(nextVarValid);
if(validBufferIndexBit == 7) {
validBufferIndex ++;
validBufferIndexBit = 0;
}
else {
validBufferIndexBit ++;
}
}
return result;
}
ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
MutexIF* mutex = hkManager->getMutexHandle();
return mutex->unlockMutex();
}
ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
size_t* size, size_t maxSize,SerializeIF::Endianness streamEndianness,
bool serializeFillCount) const {
// Serialize as uint8_t
uint8_t fillCount = this->fillCount;
if(serializeFillCount) {
SerializeAdapter::serialize(&fillCount, buffer, size, maxSize,
streamEndianness);
}
for (uint16_t count = 0; count < fillCount; count++) {
lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
auto result = SerializeAdapter::serialize(&currentPoolId, buffer,
size, maxSize, streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
" error!" << std::endl;
return result;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t LocalPoolDataSetBase::getLocalPoolIdsSerializedSize(
bool serializeFillCount) const {
if(serializeFillCount) {
return fillCount * sizeof(lp_id_t) + sizeof(uint8_t);
}
else {
return fillCount * sizeof(lp_id_t);
}
}
size_t LocalPoolDataSetBase::getSerializedSize() const {
if(withValidityBuffer) {
uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
return validityMaskSize + PoolDataSetBase::getSerializedSize();
}
else {
return PoolDataSetBase::getSerializedSize();
}
}
void LocalPoolDataSetBase::setValidityBufferGeneration(
bool withValidityBuffer) {
this->withValidityBuffer = withValidityBuffer;
}
ReturnValue_t LocalPoolDataSetBase::deSerialize(const uint8_t **buffer,
size_t *size, SerializeIF::Endianness streamEndianness) {
if(withValidityBuffer) {
return this->deSerializeWithValidityBuffer(buffer, size,
streamEndianness);
}
else {
return PoolDataSetBase::deSerialize(buffer, size, streamEndianness);
}
}
ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
size_t maxSize, SerializeIF::Endianness streamEndianness) const {
if(withValidityBuffer) {
return this->serializeWithValidityBuffer(buffer, size,
maxSize, streamEndianness);
}
else {
return PoolDataSetBase::serialize(buffer, size, maxSize,
streamEndianness);
}
}
void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
if(position > 7) {
sif::debug << "Pool Raw Access: Bit setting invalid position"
<< std::endl;
return;
}
uint8_t shiftNumber = position + (7 - 2 * position);
*byte |= 1 << shiftNumber;
}
void LocalPoolDataSetBase::setDiagnostic(bool isDiagnostics) {
this->diagnostic = isDiagnostics;
}
bool LocalPoolDataSetBase::isDiagnostics() const {
return diagnostic;
}
void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
this->reportingEnabled = reportingEnabled;
}
bool LocalPoolDataSetBase::getReportingEnabled() const {
return reportingEnabled;
}
void LocalPoolDataSetBase::initializePeriodicHelper(
float collectionInterval, dur_millis_t minimumPeriodicInterval,
bool isDiagnostics, uint8_t nonDiagIntervalFactor) {
periodicHelper->initialize(collectionInterval, minimumPeriodicInterval,
isDiagnostics, nonDiagIntervalFactor);
}
void LocalPoolDataSetBase::setChanged(bool changed) {
// TODO: Make this configurable?
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
this->changed = changed;
}
bool LocalPoolDataSetBase::hasChanged() const {
// TODO: Make this configurable?
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
return changed;
}
sid_t LocalPoolDataSetBase::getSid() const {
return sid;
}
bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
uint8_t position) const {
if(position > 7) {
sif::debug << "Pool Raw Access: Bit setting invalid position"
<< std::endl;
return false;
}
uint8_t shiftNumber = position + (7 - 2 * position);
return *byte & (1 << shiftNumber);
}
bool LocalPoolDataSetBase::isValid() const {
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
return this->valid;
}
void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
if(setEntriesRecursively) {
for(size_t idx = 0; idx < this->getFillCount(); idx++) {
registeredVariables[idx] -> setValid(valid);
}
}
this->valid = valid;
}

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
#include "HasLocalDataPoolIF.h"
#include "MarkChangedIF.h"
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolDataSetBase.h"
#include "../serialize/SerializeIF.h"
#include <vector>
class LocalDataPoolManager;
class PeriodicHousekeepingHelper;
/**
* @brief The LocalDataSet class manages a set of locally checked out
* variables for local data pools
* @details
* Extends the PoolDataSetBase class for local data pools by introducing
* a validity state, a flag to mark the set as changed, and various other
* functions to make it usable by the LocalDataPoolManager class.
*
* This class manages a list, where a set of local variables (or pool variables)
* are registered. They are checked-out (i.e. their values are looked
* up and copied) with the read call. After the user finishes working with the
* pool variables, he can write back all variable values to the pool with
* the commit call. The data set manages locking and freeing the local data
* pools, to ensure thread-safety.
*
* Pool variables can be added to the dataset by using the constructor
* argument of the pool variable or using the #registerVariable member function.
*
* An internal state manages usage of this class. Variables may only be
* registered before any read call is made, and the commit call can only happen
* after the read call.
*
* If pool variables are writable and not committed until destruction
* of the set, the DataSet class automatically sets the valid flag in the
* data pool to invalid (without) changing the variable's value.
*
* @ingroup data_pool
*/
class LocalPoolDataSetBase: public PoolDataSetBase,
public MarkChangedIF {
friend class LocalDataPoolManager;
friend class PeriodicHousekeepingHelper;
public:
/**
* @brief Constructor for the creator of local pool data.
* @details
* This constructor also initializes the components required for
* periodic handling.
*/
LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
uint32_t setId, PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables, bool noPeriodicHandling = false);
/**
* @brief Constructor for users of local pool data.
* @details
* @param sid Unique identifier of dataset consisting of object ID and
* set ID.
* @param registeredVariablesArray
* @param maxNumberOfVariables
*/
LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables);
/**
* @brief The destructor automatically manages writing the valid
* information of variables.
* @details
* In case the data set was read out, but not committed(indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~LocalPoolDataSetBase();
void setValidityBufferGeneration(bool withValidityBuffer);
sid_t getSid() const;
/** SerializeIF overrides */
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t *size,
SerializeIF::Endianness streamEndianness) override;
size_t getSerializedSize() const override;
/**
* Special version of the serilization function which appends a
* validity buffer at the end. Each bit of this validity buffer
* denotes whether the container data set entries are valid from left
* to right, MSB first. (length = ceil(N/8), N = number of pool variables)
* @param buffer
* @param size
* @param maxSize
* @param bigEndian
* @param withValidityBuffer
* @return
*/
ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const;
ReturnValue_t deSerializeWithValidityBuffer(const uint8_t** buffer,
size_t *size, SerializeIF::Endianness streamEndianness);
ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness,
bool serializeFillCount = true) const;
uint8_t getLocalPoolIdsSerializedSize(bool serializeFillCount = true) const;
/**
* Set the dataset valid or invalid. These calls are mutex protected.
* @param setEntriesRecursively
* If this is true, all contained datasets will also be set recursively.
*/
void setValidity(bool valid, bool setEntriesRecursively);
bool isValid() const override;
/**
* These calls are mutex protected.
* @param changed
*/
void setChanged(bool changed) override;
bool hasChanged() const override;
protected:
sid_t sid;
MutexIF* mutex = nullptr;
bool diagnostic = false;
void setDiagnostic(bool diagnostics);
bool isDiagnostics() const;
/**
* Used for periodic generation.
*/
bool reportingEnabled = false;
void setReportingEnabled(bool enabled);
bool getReportingEnabled() const;
void initializePeriodicHelper(float collectionInterval,
dur_millis_t minimumPeriodicInterval,
bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5);
/**
* If the valid state of a dataset is always relevant to the whole
* data set we can use this flag.
*/
bool valid = false;
/**
* Can be used to mark the dataset as changed, which is used
* by the LocalDataPoolManager to send out update messages.
*/
bool changed = false;
/**
* Specify whether the validity buffer is serialized too when serializing
* or deserializing the packet. Each bit of the validity buffer will
* contain the validity state of the pool variables from left to right.
* The size of validity buffer thus will be ceil(N / 8) with N = number of
* pool variables.
*/
bool withValidityBuffer = true;
/**
* @brief This is a small helper function to facilitate locking
* the global data pool.
* @details
* It makes use of the lockDataPool method offered by the DataPool class.
*/
ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
/**
* @brief This is a small helper function to facilitate
* unlocking the global data pool
* @details
* It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
ReturnValue_t unlockDataPool() override;
LocalDataPoolManager* hkManager;
/**
* Set n-th bit of a byte, with n being the position from 0
* (most significant bit) to 7 (least significant bit)
*/
void bitSetter(uint8_t* byte, uint8_t position) const;
bool bitGetter(const uint8_t* byte, uint8_t position) const;
PeriodicHousekeepingHelper* periodicHelper = nullptr;
};
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_ */

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#include "LocalPoolObjectBase.h"
LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId,
HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode): localPoolId(poolId),
readWriteMode(setReadWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
<< "which is the NO_PARAMETER value!" << std::endl;
}
if(hkOwner == nullptr) {
sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
<< "owner is a invalid!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
if (dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode): localPoolId(poolId),
readWriteMode(setReadWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
<< "which is the NO_PARAMETER value!" << std::endl;
}
HasLocalDataPoolIF* hkOwner =
objectManager->get<HasLocalDataPoolIF>(poolOwner);
if(hkOwner == nullptr) {
sif::error << "LocalPoolVariable: The supplied pool owner did not "
<< "implement the correct interface"
<< " HasLocalDataPoolIF!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
if(dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
pool_rwm_t LocalPoolObjectBase::getReadWriteMode() const {
return readWriteMode;
}
bool LocalPoolObjectBase::isValid() const {
return valid;
}
void LocalPoolObjectBase::setValid(bool valid) {
this->valid = valid;
}
lp_id_t LocalPoolObjectBase::getDataPoolId() const {
return localPoolId;
}
void LocalPoolObjectBase::setDataPoolId(lp_id_t poolId) {
this->localPoolId = poolId;
}
void LocalPoolObjectBase::setChanged(bool changed) {
this->changed = changed;
}
bool LocalPoolObjectBase::hasChanged() const {
return changed;
}
void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
this->readWriteMode = newReadWriteMode;
}

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_
#include "MarkChangedIF.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../datapool/PoolVariableIF.h"
class LocalPoolObjectBase: public PoolVariableIF,
public HasReturnvaluesIF,
public MarkChangedIF {
public:
LocalPoolObjectBase(lp_id_t poolId,
HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode);
LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
void setReadWriteMode(pool_rwm_t newReadWriteMode);
pool_rwm_t getReadWriteMode() const;
bool isValid() const override;
void setValid(bool valid) override;
void setChanged(bool changed) override;
bool hasChanged() const override;
lp_id_t getDataPoolId() const override;
void setDataPoolId(lp_id_t poolId);
protected:
/**
* @brief To access the correct data pool entry on read and commit calls,
* the data pool id is stored.
*/
uint32_t localPoolId = PoolVariableIF::NO_PARAMETER;
/**
* @brief The valid information as it was stored in the data pool
* is copied to this attribute.
*/
bool valid = false;
/**
* @brief A local pool variable can be marked as changed.
*/
bool changed = false;
/**
* @brief The information whether the class is read-write or
* read-only is stored here.
*/
ReadWriteMode_t readWriteMode = pool_rwm_t::VAR_READ_WRITE;
//! @brief Pointer to the class which manages the HK pool.
LocalDataPoolManager* hkManager;
};
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
#include "LocalPoolObjectBase.h"
#include "HasLocalDataPoolIF.h"
#include "LocalDataPoolManager.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapool/DataSetIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../serialize/SerializeAdapter.h"
/**
* @brief Local Pool Variable class which is used to access the local pools.
* @details
* This class is not stored in the map. Instead, it is used to access
* the pool entries by using a pointer to the map storing the pool
* entries. It can also be used to organize these pool entries into data sets.
*
* @tparam T The template parameter sets the type of the variable. Currently,
* all plain data types are supported, but in principle any type is possible.
* @ingroup data_pool
*/
template<typename T>
class LocalPoolVar: public LocalPoolObjectBase {
public:
//! Default ctor is forbidden.
LocalPoolVar() = delete;
/**
* This constructor is used by the data creators to have pool variable
* instances which can also be stored in datasets.
*
* It does not fetch the current value from the data pool, which
* has to be done by calling the read() operation.
* Datasets can be used to access multiple local pool entries in an
* efficient way. A pointer to a dataset can be passed to register
* the pool variable in that dataset directly.
* @param poolId ID of the local pool entry.
* @param hkOwner Pointer of the owner. This will generally be the calling
* class itself which passes "this".
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
* @param setReadWriteMode Specify the read-write mode of the pool variable.
*/
LocalPoolVar(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* This constructor is used by data users like controllers to have
* access to the local pool variables of data creators by supplying
* the respective creator object ID.
*
* It does not fetch the current value from the data pool, which
* has to be done by calling the read() operation.
* Datasets can be used to access multiple local pool entries in an
* efficient way. A pointer to a dataset can be passed to register
* the pool variable in that dataset directly.
* @param poolId ID of the local pool entry.
* @param hkOwner object ID of the pool owner.
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
* @param setReadWriteMode Specify the read-write mode of the pool variable.
*
*/
LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* Variation which takes the global unique identifier of a pool variable.
* @param globalPoolId
* @param dataSet
* @param setReadWriteMode
*/
LocalPoolVar(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
virtual~ LocalPoolVar() {};
/**
* @brief This is the local copy of the data pool entry.
* @details The user can work on this attribute
* just like he would on a simple local variable.
*/
T value = 0;
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override;
/**
* @brief This is a call to read the array's values
* from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the data pool and copies all array values and the valid
* information to its local attributes.
* In case of a failure (wrong type, size or pool id not found), the
* variable is set to zero and invalid.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*
*/
ReturnValue_t read(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the local valid flag is written back as well.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
LocalPoolVar<T> &operator=(const T& newValue);
LocalPoolVar<T> &operator=(const LocalPoolVar<T>& newPoolVariable);
//! Explicit type conversion operator. Allows casting the class to
//! its template type to perform operations on value.
explicit operator T() const;
bool operator==(const LocalPoolVar<T>& other) const;
bool operator==(const T& other) const;
bool operator!=(const LocalPoolVar<T>& other) const;
bool operator!=(const T& other) const;
bool operator<(const LocalPoolVar<T>& other) const;
bool operator<(const T& other) const;
bool operator>(const LocalPoolVar<T>& other) const;
bool operator>(const T& other) const;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
// std::ostream is the type for object std::cout
template <typename U>
friend std::ostream& operator<< (std::ostream &out,
const LocalPoolVar<U> &var);
private:
};
#include "LocalPoolVariable.tpp"
template<class T>
using lp_var_t = LocalPoolVar<T>;
using lp_bool_t = LocalPoolVar<uint8_t>;
using lp_uint8_t = LocalPoolVar<uint8_t>;
using lp_uint16_t = LocalPoolVar<uint16_t>;
using lp_uint32_t = LocalPoolVar<uint32_t>;
using lp_uint64_t = LocalPoolVar<uint64_t>;
using lp_int8_t = LocalPoolVar<int8_t>;
using lp_int16_t = LocalPoolVar<int16_t>;
using lp_int32_t = LocalPoolVar<int32_t>;
using lp_int64_t = LocalPoolVar<int64_t>;
using lp_float_t = LocalPoolVar<float>;
using lp_double_t = LocalPoolVar<double>;
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
#error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
#endif
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(HasLocalDataPoolIF* hkOwner,
lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(gp_id_t globalPoolId, DataSetIF *dataSet,
pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode){}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return readWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK and poolEntry != nullptr) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
this->value = *(poolEntry->address);
this->valid = poolEntry->valid;
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return commitWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for commit() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
*(poolEntry->address) = this->value;
poolEntry->valid = this->valid;
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
const size_t max_size, SerializeIF::Endianness streamEndianness) const {
return SerializeAdapter::serialize(&value,
buffer, size ,max_size, streamEndianness);
}
template<typename T>
inline size_t LocalPoolVar<T>::getSerializedSize() const {
return SerializeAdapter::getSerializedSize(&value);
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
size_t* size, SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
}
template<typename T>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVar<T> &var) {
out << var.value;
return out;
}
template<typename T>
inline LocalPoolVar<T>::operator T() const {
return value;
}
template<typename T>
inline LocalPoolVar<T> & LocalPoolVar<T>::operator=(const T& newValue) {
value = newValue;
return *this;
}
template<typename T>
inline LocalPoolVar<T>& LocalPoolVar<T>::operator =(
const LocalPoolVar<T>& newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
template<typename T>
inline bool LocalPoolVar<T>::operator ==(const LocalPoolVar<T> &other) const {
return this->value == other.value;
}
template<typename T>
inline bool LocalPoolVar<T>::operator ==(const T &other) const {
return this->value == other;
}
template<typename T>
inline bool LocalPoolVar<T>::operator !=(const LocalPoolVar<T> &other) const {
return not (*this == other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator !=(const T &other) const {
return not (*this == other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator <(const LocalPoolVar<T> &other) const {
return this->value < other.value;
}
template<typename T>
inline bool LocalPoolVar<T>::operator <(const T &other) const {
return this->value < other;
}
template<typename T>
inline bool LocalPoolVar<T>::operator >(const LocalPoolVar<T> &other) const {
return not (*this < other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator >(const T &other) const {
return not (*this < other);
}
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#include "LocalPoolObjectBase.h"
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolEntry.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
/**
* @brief This is the access class for array-type data pool entries.
* @details
* To ensure safe usage of the data pool, operation is not done directly on the
* data pool entries, but on local copies. This class provides simple type-
* and length-safe access to vector-style data pool entries (i.e. entries with
* length > 1). The class can be instantiated as read-write and read only.
*
* It provides a commit-and-roll-back semantic, which means that no array
* entry in the data pool is changed until the commit call is executed.
* There are two template parameters:
* @tparam T
* This template parameter specifies the data type of an array entry. Currently,
* all plain data types are supported, but in principle any type is possible.
* @tparam vector_size
* This template parameter specifies the vector size of this entry. Using a
* template parameter for this is not perfect, but avoids
* dynamic memory allocation.
* @ingroup data_pool
*/
template<typename T, uint16_t vectorSize>
class LocalPoolVector: public LocalPoolObjectBase {
public:
LocalPoolVector() = delete;
/**
* This constructor is used by the data creators to have pool variable
* instances which can also be stored in datasets.
* It does not fetch the current value from the data pool. This is performed
* by the read() operation (which is not thread-safe).
* Datasets can be used to access local pool entires in a thread-safe way.
* @param poolId ID of the local pool entry.
* @param hkOwner Pointer of the owner. This will generally be the calling
* class itself which passes "this".
* @param setReadWriteMode Specify the read-write mode of the pool variable.
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
*/
LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* This constructor is used by data users like controllers to have
* access to the local pool variables of data creators by supplying
* the respective creator object ID.
* It does not fetch the current value from the data pool. This is performed
* by the read() operation (which is not thread-safe).
* Datasets can be used to access local pool entires in a thread-safe way.
* @param poolId ID of the local pool entry.
* @param hkOwner Pointer of the owner. This will generally be the calling
* class itself which passes "this".
* @param setReadWriteMode Specify the read-write mode of the pool variable.
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
*/
LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* Variation which takes the unique global identifier of a local pool
* vector.
* @param globalPoolId
* @param dataSet
* @param setReadWriteMode
*/
LocalPoolVector(gp_id_t globalPoolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* @brief This is the local copy of the data pool entry.
* @details
* The user can work on this attribute just like he would on a local
* array of this type.
*/
T value[vectorSize];
/**
* @brief The classes destructor is empty.
* @details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~LocalPoolVector() {};
/**
* @brief The operation returns the number of array entries
* in this variable.
*/
uint8_t getSize() {
return vectorSize;
}
T& operator [](int i);
const T &operator [](int i) const;
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t maxSize,
SerializeIF::Endianness streamEndiannes) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override;
/**
* @brief This is a call to read the array's values
* from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the data pool and copies all array values and the valid
* information to its local attributes.
* In case of a failure (wrong type, size or pool id not found), the
* variable is set to zero and invalid.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the local valid flag is written back as well.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
private:
// std::ostream is the type for object std::cout
template <typename U, uint16_t otherSize>
friend std::ostream& operator<< (std::ostream &out,
const LocalPoolVector<U, otherSize> &var);
};
#include "LocalPoolVector.tpp"
template<typename T, uint16_t vectorSize>
using lp_vec_t = LocalPoolVector<T, vectorSize>;
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#error Include LocalPoolVector.h before LocalPoolVector.tpp!
#endif
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return readWithoutLock();
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
memset(this->value, 0, vectorSize * sizeof(T));
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << "and lp ID 0x" << localPoolId <<
std::dec << " failed." << std::endl;
return result;
}
std::memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
this->valid = poolEntry->valid;
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
uint32_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return commitWithoutLock();
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for commit() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
std::memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
poolEntry->valid = this->valid;
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
inline T& LocalPoolVector<T, vectorSize>::operator [](int i) {
if(i <= vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
sif::error << "LocalPoolVector: Invalid index. Setting or returning"
" last value!" << std::endl;
return value[i];
}
template<typename T, uint16_t vectorSize>
inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
if(i <= vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
sif::error << "LocalPoolVector: Invalid index. Setting or returning"
" last value!" << std::endl;
return value[i];
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
template<typename T, uint16_t vectorSize>
inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
return vectorSize * SerializeAdapter::getSerializedSize(value);
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
template<typename T, uint16_t vectorSize>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVector<T, vectorSize> &var) {
out << "Vector: [";
for(int i = 0;i < vectorSize; i++) {
out << var.value[i];
if(i < vectorSize - 1) {
out << ", ";
}
}
out << "]";
return out;
}
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_ */

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#ifndef FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_
#define FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_
/**
* Common interface for local pool entities which can be marked as changed.
*/
class MarkChangedIF {
public:
virtual~ MarkChangedIF() {};
virtual bool hasChanged() const = 0;
virtual void setChanged(bool changed) = 0;
};
#endif /* FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_ */

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#include "SharedLocalDataSet.h"
SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, sid_t sid,
const size_t maxSize): SystemObject(objectId),
LocalPoolDataSetBase(sid, nullptr, maxSize) {
this->setContainer(poolVarVector.data());
datasetLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t SharedLocalDataSet::lockDataset(dur_millis_t mutexTimeout) {
return datasetLock->lockMutex(MutexIF::TimeoutType::WAITING, mutexTimeout);
}
ReturnValue_t SharedLocalDataSet::unlockDataset() {
return datasetLock->unlockMutex();
}

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#ifndef FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
#define FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
#include "LocalPoolDataSetBase.h"
#include "../datapool/SharedDataSetIF.h"
#include "../objectmanager/SystemObject.h"
#include <vector>
class SharedLocalDataSet: public SystemObject,
public LocalPoolDataSetBase,
public SharedDataSetIF {
public:
SharedLocalDataSet(object_id_t objectId, sid_t sid,
const size_t maxSize);
ReturnValue_t lockDataset(dur_millis_t mutexTimeout) override;
ReturnValue_t unlockDataset() override;
private:
MutexIF* datasetLock = nullptr;
std::vector<PoolVariableIF*> poolVarVector;
};
#endif /* FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
#define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
#include "LocalPoolDataSetBase.h"
#include "../objectmanager/SystemObjectIF.h"
#include <array>
/**
* @brief This local dataset type is created on the stack.
* @details
* This will is the primary data structure to organize pool variables into
* sets which can be accessed via the housekeeping service interface or
* which can be sent to other software objects.
*
* It is recommended to read the documentation of the LocalPoolDataSetBase
* class for more information on how this class works and how to use it.
* @tparam capacity Capacity of the static dataset, which is usually known
* beforehand.
*/
template <uint8_t NUM_VARIABLES>
class StaticLocalDataSet: public LocalPoolDataSetBase {
public:
/**
* Constructor used by data owner and creator like device handlers.
* This constructor also initialized the components required for
* periodic handling.
* @param hkOwner
* @param setId
*/
StaticLocalDataSet(HasLocalDataPoolIF* hkOwner,
uint32_t setId): LocalPoolDataSetBase(hkOwner, setId, nullptr,
NUM_VARIABLES) {
this->setContainer(poolVarList.data());
}
/**
* Constructor used by data users like controllers.
* @param hkOwner
* @param setId
*/
StaticLocalDataSet(sid_t sid): LocalPoolDataSetBase(sid, nullptr,
NUM_VARIABLES) {
this->setContainer(poolVarList.data());
}
private:
std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList;
};
#endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_
#define FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_
#include <cstdint>
#include "../objectmanager/SystemObjectIF.h"
#include "../objectmanager/frameworkObjects.h"
/**
* @brief Type definition for local pool entries.
*/
using lp_id_t = uint32_t;
namespace localpool {
static constexpr uint32_t INVALID_LPID = -1;
}
/**
* Used as a unique identifier for data sets.
*/
union sid_t {
static constexpr uint64_t INVALID_SID = -1;
static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
static constexpr uint32_t INVALID_SET_ID = -1;
sid_t(): raw(INVALID_SID) {}
sid_t(object_id_t objectId, uint32_t setId):
objectId(objectId),
ownerSetId(setId) {}
struct {
object_id_t objectId ;
/**
* A generic 32 bit ID to identify unique HK packets for a single
* object. For example, the DeviceCommandId_t is used for
* DeviceHandlers
*/
uint32_t ownerSetId;
};
/**
* Alternative access to the raw value. This is also the size of the type.
*/
uint64_t raw;
bool notSet() const {
return raw == INVALID_SID;
}
bool operator==(const sid_t& other) const {
return raw == other.raw;
}
bool operator!=(const sid_t& other) const {
return not (raw == other.raw);
}
};
/**
* Used as a global unique identifier for local pool variables.
*/
union gp_id_t {
static constexpr uint64_t INVALID_GPID = -1;
static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
gp_id_t(): raw(INVALID_GPID) {}
gp_id_t(object_id_t objectId, lp_id_t localPoolId):
objectId(objectId),
localPoolId(localPoolId) {}
struct {
object_id_t objectId;
lp_id_t localPoolId;
};
uint64_t raw;
bool notSet() const {
return raw == INVALID_GPID;
}
bool operator==(const sid_t& other) const {
return raw == other.raw;
}
bool operator!=(const sid_t& other) const {
return not (raw == other.raw);
}
};
#endif /* FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_ */

View File

@ -0,0 +1,15 @@
target_sources(${TARGET_NAME}
PRIVATE
)
# Add include paths for the executable
target_include_directories(${TARGET_NAME}
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
# Add include paths for the FSFW library
target_include_directories(${LIB_FSFW_NAME}
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)

View File

@ -1,19 +1,19 @@
#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef>
#include <cstdint>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! Reduced printout to further decrease code size
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
#define FSFW_ENHANCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Can be used to enable additional debugging printouts for developing the FSFW
#define FSFW_PRINT_VERBOSITY_LEVEL 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
@ -38,7 +38,10 @@
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
#define FSFW_NO_C99_IO 1
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC

View File

@ -1,8 +1,8 @@
#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
#define CONFIG_DEVICES_LOGICALADDRESSES_H_
#include <config/objects/systemObjectList.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include "../objects/systemObjectList.h"
#include <cstdint>
/**

View File

@ -1,4 +1,5 @@
#include <config/ipc/MissionMessageTypes.h>
#include "missionMessageTypes.h"
#include <fsfw/ipc/CommandMessageIF.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {

View File

@ -11,6 +11,7 @@
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <internalError/InternalErrorReporter.h>
#include <cstdint>
@ -31,15 +32,15 @@ void Factory::produce(void) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
PusServiceBase::packetSource = objects::NO_OBJECT;
PusServiceBase::packetDestination = objects::NO_OBJECT;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
@ -48,7 +49,6 @@ void Factory::setStaticFrameworkObjectIds() {
DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
TmPacketStored::timeStamperId = objects::PUS_TIME;
//TmFunnel::downlinkDestination = objects::NO_OBJECT;
TmPacketStored::timeStamperId = objects::NO_OBJECT;
}

View File

@ -1,23 +1,19 @@
/**
* @file AcceptsDeviceResponsesIF.h
* @brief This file defines the AcceptsDeviceResponsesIF class.
* @date 15.05.2013
* @author baetz
*/
#ifndef ACCEPTSDEVICERESPONSESIF_H_
#define ACCEPTSDEVICERESPONSESIF_H_
#ifndef FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
#define FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
#include "../ipc/MessageQueueSenderIF.h"
/**
* This interface is used by the device handler to send a device response
* to the queue ID, which is returned in the implemented abstract method.
*/
class AcceptsDeviceResponsesIF {
public:
/**
* Default empty virtual destructor.
*/
virtual ~AcceptsDeviceResponsesIF() {
}
virtual MessageQueueId_t getDeviceQueue() = 0;
virtual ~AcceptsDeviceResponsesIF() {}
virtual MessageQueueId_t getDeviceQueue() = 0;
};
#endif /* ACCEPTSDEVICERESPONSESIF_H_ */
#endif /* FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_ */

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@ -2,10 +2,10 @@
AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
uint16_t commandQueueDepth) :
SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth), internalState(
STATE_NONE), recoveryState(RECOVERY_IDLE), recoveringDevice(
childrenMap.end()), targetMode(MODE_OFF), targetSubmode(
SUBMODE_NONE) {
SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
internalState(STATE_NONE), recoveryState(RECOVERY_IDLE),
recoveringDevice(childrenMap.end()), targetMode(MODE_OFF),
targetSubmode(SUBMODE_NONE) {
recoveryOffTimer.setTimeout(POWER_OFF_TIME_MS);
}
@ -165,9 +165,8 @@ ReturnValue_t AssemblyBase::checkChildrenState() {
}
ReturnValue_t AssemblyBase::checkChildrenStateOff() {
for (std::map<object_id_t, ChildInfo>::iterator iter = childrenMap.begin();
iter != childrenMap.end(); iter++) {
if (checkChildOff(iter->first) != RETURN_OK) {
for (const auto& childIter: childrenMap) {
if (checkChildOff(childIter.first) != RETURN_OK) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
}

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