Merge branch 'mueller_framework' of https://egit.irs.uni-stuttgart.de/KSat/fsfw into mueller_framework

action/ActionHelper.h

@@ -74,7 +74,7 @@ public:
 protected:
 	static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
 	HasActionsIF* owner;//!< Pointer to the owner
-	MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
+	MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with @c setQueueToUse
 	StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
 	/**
 	 *Internal function called by handleActionMessage(CommandMessage* command)

container/SimpleRingBuffer.h

@@ -4,12 +4,40 @@
 #include <framework/container/RingBufferBase.h>
 #include <stddef.h>
 
+/**
+ * Circular buffer implementation, useful for buffering into data streams.
+ * Note that the deleteData() has to be called to increment the read pointer
+ */
 class SimpleRingBuffer: public RingBufferBase<> {
 public:
 	SimpleRingBuffer(uint32_t size, bool overwriteOld);
 	virtual ~SimpleRingBuffer();
+
+	/**
+	 * Write to circular buffer and increment write pointer by amount
+	 * @param data
+	 * @param amount
+	 * @return
+	 */
 	ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
+
+	/**
+	 * Read from circular buffer at read pointer
+	 * @param data
+	 * @param amount
+	 * @param readRemaining
+	 * @param trueAmount
+	 * @return
+	 */
 	ReturnValue_t readData(uint8_t* data, uint32_t amount, bool readRemaining = false, uint32_t* trueAmount = NULL);
+
+	/**
+	 * Delete data starting by incrementing read pointer
+	 * @param amount
+	 * @param deleteRemaining
+	 * @param trueAmount
+	 * @return
+	 */
 	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false, uint32_t* trueAmount = NULL);
 private:
 //	static const uint8_t TEMP_READ_PTR = 1;

devicehandlers/DeviceCommunicationIF.h

@@ -4,6 +4,22 @@
 #include <framework/devicehandlers/Cookie.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
+/**
+ * Documentation: Dissertation Baetz p.138
+ *
+ * This is an interface to decouple device communication from
+ * the device handler to allow reuse of these components.
+ * It works with the assumption that received data
+ * is polled by a component. There are four generic steps of device communication:
+ *
+ *   1. Send data to a device
+ *   2. Get acknowledgement for sending
+ *   3. Request reading data from a device
+ *   4. Read received data
+ *
+ *  To identify different connection over a single interface can return so-called cookies to components.
+ *
+ */
 class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
@@ -39,7 +55,15 @@ public:
 
 	virtual void close(Cookie *cookie) = 0;
 
-	//SHOULDDO can data be const?
+	/**
+	 * Called by DHB in the SEND_WRITE doSendWrite().
+	 * This function is used to send data to the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return
+	 */
 	virtual ReturnValue_t sendMessage(Cookie *cookie,const uint8_t *data,
 			uint32_t len) = 0;
 
@@ -47,6 +71,15 @@ public:
 
 	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
 
+	/**
+	 * Called by DHB in the GET_WIRTE doGetRead().
+	 * This function is used to receive data from the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return
+	 */
 	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
 			uint32_t *size) = 0;
 

devicehandlers/DeviceHandlerBase.cpp

@@ -255,9 +255,9 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		uint8_t periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+		uint8_t periodic, uint8_t expectedReplies, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
-//No need to check, as we may try to insert multiple times.
+	//No need to check, as we may try to insert multiple times.
-	insertInCommandMap(deviceCommand);
+	insertInCommandMap(deviceCommand,expectedReplies);
 	if (hasDifferentReplyId) {
 		return insertInReplyMap(replyId, maxDelayCycles, periodic);
 	} else {
@@ -283,9 +283,10 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
 }
 
 ReturnValue_t DeviceHandlerBase::insertInCommandMap(
-		DeviceCommandId_t deviceCommand) {
+		DeviceCommandId_t deviceCommand, uint8_t expectedReplies) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
+	info.expectedRepliesWhenEnablingReplyMap = expectedReplies;
 	info.isExecuting = false;
 	info.sendReplyTo = NO_COMMANDER;
 	std::pair<std::map<DeviceCommandId_t, DeviceCommandInfo>::iterator, bool> returnValue;
@@ -712,6 +713,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 		DeviceCommandId_t foundId, uint32_t foundLen) {
 	ReturnValue_t result;
 	DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
+	MessageQueueId_t commander;
 
 	if (iter == deviceReplyMap.end()) {
 		replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -728,7 +730,17 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 		} else {
 			info->delayCycles = 0;
 		}
-		result = interpretDeviceReply(foundId, receivedData);
+
+		DeviceCommandMap::iterator commandIter = deviceCommandMap.find(foundId);
+		// could be a reply only packet
+		if(commandIter == deviceCommandMap.end()) {
+			commander = 0;
+		}
+		else {
+			commander = commandIter->second.sendReplyTo;
+		}
+
+		result = interpretDeviceReply(foundId, receivedData,commander);
 		if (result != RETURN_OK) {
 			//Report failed interpretation to FDIR.
 			replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -798,7 +810,7 @@ void DeviceHandlerBase::modeChanged(void) {
 }
 
 ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(
-		DeviceCommandMap::iterator command, uint8_t expectedReplies,
+		DeviceCommandMap::iterator command,/* uint8_t expectedReplies, */
 		bool useAlternativeId, DeviceCommandId_t alternativeReply) {
 	DeviceReplyMap::iterator iter;
 	if (useAlternativeId) {
@@ -810,7 +822,7 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(
 		DeviceReplyInfo *info = &(iter->second);
 		info->delayCycles = info->maxDelayCycles;
 		info->command = command;
-		command->second.expectedReplies = expectedReplies;
+		command->second.expectedReplies = command->second.expectedRepliesWhenEnablingReplyMap;
 		return RETURN_OK;
 	} else {
 		return NO_REPLY_EXPECTED;
@@ -1108,8 +1120,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 
 			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
 			//(progress or completed) it is in
-			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
+			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper, true);
-			true);
 
 		}
 	} else { //unrequested/aperiodic replies
@@ -1122,7 +1133,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 			true);
 		}
 	}
-//Try to cast to DataSet and commit data.
+	//Try to cast to DataSet and commit data.
 	if (!neverInDataPool) {
 		DataSet* dataSet = dynamic_cast<DataSet*>(data);
 		if (dataSet != NULL) {

devicehandlers/DeviceHandlerBase.h

@@ -576,8 +576,9 @@ protected:
 	 *		 			Default is aperiodic (0)
 	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
 	 */
+	// Proposal: Set expected replies for a command in insertInCommandAndReplyMap so we don't have to overwrite enableReplyInReplyMap
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, uint8_t periodic = 0,
+			uint16_t maxDelayCycles, uint8_t periodic = 0, uint8_t expectedReplies = 1,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 	/**
 	 * This is a helper method to insert replies in the reply map.
@@ -594,7 +595,7 @@ protected:
 	 * @param deviceCommand The command to add
 	 * @return RETURN_OK if the command was successfully inserted, RETURN_FAILED else.
 	 */
-	ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
+	ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand, uint8_t expectedReplies = 1);
 	/**
 	 * This is a helper method to facilitate updating entries in the reply map.
 	 * @param deviceCommand		Identifier of the reply to update.
@@ -644,18 +645,19 @@ protected:
 	 *
 	 * This is called after scanForReply() found a valid packet, it can be assumed that the length and structure is valid.
 	 * This routine extracts the data from the packet into a DataSet and then calls handleDeviceTM(), which either sends
-	 * a TM packet or stores the data in the DataPool depending on whether the it was an external command.
+	 * a TM packet or stores the data in the DataPool depending on whether it was an external command.
 	 * No packet length is given, as it should be defined implicitly by the id.
 	 *
 	 * @param id the id found by scanForReply()
 	 * @param packet
-	 * @param commander the one who initiated the command, is 0 if not external commanded
+	 * @param commander the one who initiated the command, is 0 if not external commanded.
+	 *        UPDATE: This parameter does not exist anymore. Why?
 	 * @return
 	 *     - @c RETURN_OK when the reply was interpreted.
 	 *     - @c RETURN_FAILED when the reply could not be interpreted, eg. logical errors or range violations occurred
 	 */
 	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-			const uint8_t *packet) = 0;
+			const uint8_t *packet, MessageQueueId_t commander = 0) = 0;
 
 	/**
 	 * Construct a command reply containing a raw reply.
@@ -702,7 +704,8 @@ protected:
 
 	struct DeviceCommandInfo {
 		bool isExecuting; //!< Indicates if the command is already executing.
-		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected.
+		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
+		uint8_t expectedRepliesWhenEnablingReplyMap; //!< Constant value which specifies expected replies when enabling reply map. Inititated in insertInCommandAndReplyMap()
 		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
 	};
 
@@ -723,13 +726,19 @@ protected:
 	 * 	- If the command was not found in the reply map, NO_REPLY_EXPECTED MUST be returned.
 	 * 	- A failure code may be returned if something went fundamentally wrong.
 	 *
+	 *
 	 * @param deviceCommand
 	 * @return 	- RETURN_OK if a reply was activated.
 	 * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an error case as many commands
 	 * 				do not expect a reply.
 	 */
+	// Proposal: Set expected replies in insertInCommandAndReplyMap so we don't have to overwrite that function anymore.
+	// Replies are only checked when a write was issued and the default value here was one, so
+	// it should be possible to set this in the DeviceCommandMap with default value one.
+	// UPDATE: The default value of 0 when inserting into command and reply map is retained now by introducing a new
+	// variable in the DeviceCommandInfo which specifies expected replies if this function is called.
 	virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd,
-			uint8_t expectedReplies = 1, bool useAlternateId = false,
+			/* uint8_t expectedReplies = 1, */ bool useAlternateId = false,
 			DeviceCommandId_t alternateReplyID = 0);
 
 	/**

modes/ModeHelper.h

@@ -16,11 +16,17 @@ public:
 	ModeHelper(HasModesIF *owner);
 	virtual ~ModeHelper();
 
+	/**
+	 * This is used by DHB to handle all mode messages issued by a service
+	 * @param message
+	 * @return
+	 */
 	ReturnValue_t handleModeCommand(CommandMessage *message);
 
 	/**
 	 *
-	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
+	 * @param parentQueue the Queue id of the parent object (assembly or subsystem object).
+	 *        Set to 0 if no parent present
 	 */
 	void setParentQueue(MessageQueueId_t parentQueueId);
 
@@ -28,6 +34,11 @@ public:
 
 	ReturnValue_t initialize(void); //void is there to stop eclipse CODAN from falsely reporting an error
 
+	/**
+	 * Used to notify
+	 * @param mode
+	 * @param submode
+	 */
 	void modeChanged(Mode_t mode, Submode_t submode);
 
 	void startTimer(uint32_t timeoutMs);

serialize/SerialBufferAdapter.cpp

@@ -5,15 +5,15 @@
 
 template<typename T>
 SerialBufferAdapter<T>::SerialBufferAdapter(const uint8_t* buffer,
-		T bufferLength, bool serializeLenght) :
+		T bufferLength, bool serializeLength) :
-		serializeLength(serializeLenght), constBuffer(buffer), buffer(NULL), bufferLength(
+		serializeLength(serializeLength), constBuffer(buffer), buffer(NULL), bufferLength(
 				bufferLength) {
 }
 
 template<typename T>
 SerialBufferAdapter<T>::SerialBufferAdapter(uint8_t* buffer, T bufferLength,
-		bool serializeLenght) :
+		bool serializeLength) :
-		serializeLength(serializeLenght), constBuffer(NULL), buffer(buffer), bufferLength(
+		serializeLength(serializeLength), constBuffer(NULL), buffer(buffer), bufferLength(
 				bufferLength) {
 }
 

serialize/SerialBufferAdapter.h

@@ -5,6 +5,14 @@
 #include <framework/serialize/SerializeAdapter.h>
 
 /**
+ * This adapter provides an interface for SerializeIF to serialize or deserialize
+ * buffers with no length header but a known size.
+ *
+ * Additionally, the buffer length can be serialized too and will be put in front of the serialized buffer.
+ *
+ * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
+ * SerialElement<SerialBufferAdapter<T(will be uint8_t mostly)>> serialBufferElement
+ *
  * \ingroup serialize
  */
 template<typename T>

serialize/SerialFixedArrayListAdapter.h

@@ -5,6 +5,17 @@
 #include <framework/serialize/SerialArrayListAdapter.h>
 
 /**
+ * This adapter provides an interface for SerializeIF to serialize and deserialize
+ * buffers with a header containing the buffer length.
+ *
+ * Can be used by SerialLinkedListAdapter.
+ *
+ * Buffers with a size header inside that class can be declared with
+ * SerialFixedArrayListAdapter<uint8_t,MAX_BUFFER_LENGTH,typeOfMaxData>.
+ * typeOfMaxData specifies the data type of the buffer header containing the buffer size that follows
+ * and MAX_BUFFER_LENGTH specifies the maximum allowed value for the buffer size.
+ * The sequence of objects is defined in the constructor by using the setStart and setNext functions.
+ *
  * \ingroup serialize
  */
 template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>

serialize/SerialLinkedListAdapter.h

@@ -17,12 +17,20 @@
  * An alternative to the AutoSerializeAdapter functions to implement the conversion
  * of object data to data streams or vice-versa, using linked lists.
  *
- * All object members with a datatype are declared as SerializeElement<element_type> inside the class.
+ * All object members with a datatype are declared as SerializeElement<element_type> inside the class
+ * implementing this adapter.
  *
  * Buffers with a size header inside that class can be declared with
  * SerialFixedArrayListAdapter<uint8_t,MAX_BUFFER_LENGTH,typeOfMaxData>.
  * typeOfMaxData specifies the data type of the buffer header containing the buffer size that follows
  * and MAX_BUFFER_LENGTH specifies the maximum allowed value for the buffer size.
+ * Please note that a direct link from a linked element to a SerialFixedArrayListAdapter element is not possible and a
+ * helper needs to be used by calling <LinkedElement>.setNext(&linkHelper)
+ * and initialising the link helper as linkHelper(&SerialFixedArrayListAdapterElement).
+ *
+ * For buffers with no size header, declare
+ * SerializeElement<SerializeBufferAdapter<T>> and initialise the buffer adapter in the constructor.
+ *
  * The sequence of objects is defined in the constructor by using the setStart and setNext functions.
  *
  * The serialization and deserialization process is done by instantiating the class and

serialize/SerializeAdapter.h

@@ -28,6 +28,8 @@
  * This can also be applied to uint32_t and uint64_t:
  *
  *   1. Use the AutoSerializeAdapter::deSerialize function with bool bigEndian = true:
+ *		The pointer *buffer will be incremented automatically by the typeSize of data,
+ *		so this function can be called on &buffer without adjusting pointer position
  *
  *   	uint16_t data;
  *   	int32_t dataLen = sizeof(data);

serialize/SerializeIF.h

@@ -11,14 +11,14 @@
 /**
  * An interface for alle classes which require translation of objects data into data streams and vice-versa.
  *
- * If the target architecture is little endian (ARM), any data types created might
+ * If the target architecture is little endian (e.g. ARM), any data types created might
  * have the wrong endiness if they are to be used for the FSFW.
- * there are three ways to retrieve data out of a buffer to be used in the FSFW to use regular aligned (big endian) data.
+ * There are three ways to retrieve data out of a buffer to be used in the FSFW to use regular aligned (big endian) data.
  * This can also be applied to uint32_t and uint64_t:
  *
  *   1. Use the @c AutoSerializeAdapter::deSerialize function with @c bigEndian = true
  *   2. Perform a bitshift operation
- *   3. @c memcpy can be used when data is little-endian. Otherwise, @c EndianSwapper has to be used.
+ *   3. @c memcpy can be used when data is in little-endian format. Otherwise, @c EndianSwapper has to be used in conjuction.
  *
  * When serializing for downlink, the packets are generally serialized assuming big endian data format
  * like seen in TmPacketStored.cpp for example.

tmtcservices/CommandingServiceBase.cpp

@@ -11,12 +11,11 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
 		uint16_t commandTimeout_seconds, object_id_t setPacketSource,
 		object_id_t setPacketDestination, size_t queueDepth) :
-		SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
+		SystemObject(setObjectId), apid(apid), service(service),
-				commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
+		timeout_seconds(commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL),
-		NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
+		TCStore(NULL), commandQueue(NULL), requestQueue(NULL), commandMap(numberOfParallelCommands),
-				numberOfParallelCommands), failureParameter1(0), failureParameter2(
+		failureParameter1(0), failureParameter2(0), packetSource(setPacketSource),
-				0), packetSource(setPacketSource), packetDestination(
+		packetDestination(setPacketDestination),executingTask(NULL) {
-				setPacketDestination),executingTask(NULL) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }