diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index 28557916..23c9d732 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -6,120 +6,120 @@ ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : - owner(setOwner), queueToUse(useThisQueue) { + owner(setOwner), queueToUse(useThisQueue) { } ActionHelper::~ActionHelper() { } ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) { - if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { - ActionId_t currentAction = ActionMessage::getActionId(command); - prepareExecution(command->getSender(), currentAction, - ActionMessage::getStoreId(command)); - return HasReturnvaluesIF::RETURN_OK; - } else { - return CommandMessage::UNKNOWN_COMMAND; - } + if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { + ActionId_t currentAction = ActionMessage::getActionId(command); + prepareExecution(command->getSender(), currentAction, + ActionMessage::getStoreId(command)); + return HasReturnvaluesIF::RETURN_OK; + } else { + return CommandMessage::UNKNOWN_COMMAND; + } } ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { - ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore == nullptr) { - return HasReturnvaluesIF::RETURN_FAILED; - } - if(queueToUse_ != nullptr) { - setQueueToUse(queueToUse_); - } + ipcStore = objectManager->get(objects::IPC_STORE); + if (ipcStore == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } + if(queueToUse_ != nullptr) { + setQueueToUse(queueToUse_); + } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; } void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); - queueToUse->sendMessage(reportTo, &reply); + CommandMessage reply; + ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); + queueToUse->sendMessage(reportTo, &reply); } void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) { - CommandMessage reply; - ActionMessage::setCompletionReply(&reply, commandId, result); - queueToUse->sendMessage(reportTo, &reply); + CommandMessage reply; + ActionMessage::setCompletionReply(&reply, commandId, result); + queueToUse->sendMessage(reportTo, &reply); } void ActionHelper::setQueueToUse(MessageQueueIF* queue) { - queueToUse = queue; + queueToUse = queue; } void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress) { - const uint8_t* dataPtr = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } - result = owner->executeAction(actionId, commandedBy, dataPtr, size); - ipcStore->deleteData(dataAddress); - if(result == HasActionsIF::EXECUTION_FINISHED) { - CommandMessage reply; - ActionMessage::setCompletionReply(&reply, actionId, result); - queueToUse->sendMessage(commandedBy, &reply); - } - if (result != HasReturnvaluesIF::RETURN_OK) { - CommandMessage reply; - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } + const uint8_t* dataPtr = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + CommandMessage reply; + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } + result = owner->executeAction(actionId, commandedBy, dataPtr, size); + ipcStore->deleteData(dataAddress); + if(result == HasActionsIF::EXECUTION_FINISHED) { + CommandMessage reply; + ActionMessage::setCompletionReply(&reply, actionId, result); + queueToUse->sendMessage(commandedBy, &reply); + } + if (result != HasReturnvaluesIF::RETURN_OK) { + CommandMessage reply; + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } } ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, - ActionId_t replyId, SerializeIF* data, bool hideSender) { - CommandMessage reply; - store_address_t storeAddress; - uint8_t *dataPtr; - size_t maxSize = data->getSerializedSize(); - if (maxSize == 0) { - //No error, there's simply nothing to report. - return HasReturnvaluesIF::RETURN_OK; - } - size_t size = 0; - ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, - &dataPtr); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = data->serialize(&dataPtr, &size, maxSize, - SerializeIF::Endianness::BIG); - if (result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeAddress); - return result; - } - // We don't need to report the objectId, as we receive REQUESTED data - // before the completion success message. - // True aperiodic replies need to be reported with - // another dedicated message. - ActionMessage::setDataReply(&reply, replyId, storeAddress); + ActionId_t replyId, SerializeIF* data, bool hideSender) { + CommandMessage reply; + store_address_t storeAddress; + uint8_t *dataPtr; + size_t maxSize = data->getSerializedSize(); + if (maxSize == 0) { + //No error, there's simply nothing to report. + return HasReturnvaluesIF::RETURN_OK; + } + size_t size = 0; + ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, + &dataPtr); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = data->serialize(&dataPtr, &size, maxSize, + SerializeIF::Endianness::BIG); + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeAddress); + return result; + } + // We don't need to report the objectId, as we receive REQUESTED data + // before the completion success message. + // True aperiodic replies need to be reported with + // another dedicated message. + ActionMessage::setDataReply(&reply, replyId, storeAddress); // If the sender needs to be hidden, for example to handle packet // as unrequested reply, this will be done here. - if (hideSender) { - result = MessageQueueSenderIF::sendMessage(reportTo, &reply); - } - else { - result = queueToUse->sendMessage(reportTo, &reply); - } + if (hideSender) { + result = MessageQueueSenderIF::sendMessage(reportTo, &reply); + } + else { + result = queueToUse->sendMessage(reportTo, &reply); + } - if (result != HasReturnvaluesIF::RETURN_OK){ - ipcStore->deleteData(storeAddress); - } - return result; + if (result != HasReturnvaluesIF::RETURN_OK){ + ipcStore->deleteData(storeAddress); + } + return result; } void ActionHelper::resetHelper() { @@ -155,7 +155,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, result = queueToUse->sendMessage(reportTo, &reply); } - if (result != HasReturnvaluesIF::RETURN_OK){ + if (result != HasReturnvaluesIF::RETURN_OK) { ipcStore->deleteData(storeAddress); } return result; diff --git a/action/ActionHelper.h b/action/ActionHelper.h index a91722f3..ae971d38 100644 --- a/action/ActionHelper.h +++ b/action/ActionHelper.h @@ -18,68 +18,68 @@ class HasActionsIF; class ActionHelper { public: - /** - * Constructor of the action helper - * @param setOwner Pointer to the owner of the interface - * @param useThisQueue messageQueue to be used, can be set during - * initialize function as well. - */ - ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); + /** + * Constructor of the action helper + * @param setOwner Pointer to the owner of the interface + * @param useThisQueue messageQueue to be used, can be set during + * initialize function as well. + */ + ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); - virtual ~ActionHelper(); - /** - * Function to be called from the owner with a new command message - * - * If the message is a valid action message the helper will use the - * executeAction function from HasActionsIF. - * If the message is invalid or the callback fails a message reply will be - * send to the sender of the message automatically. - * - * @param command Pointer to a command message received by the owner - * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, - * CommandMessage::UNKNOW_COMMAND if this message ID is unkown - */ - ReturnValue_t handleActionMessage(CommandMessage* command); - /** - * Helper initialize function. Must be called before use of any other - * helper function - * @param queueToUse_ Pointer to the messageQueue to be used, optional - * if queue was set in constructor - * @return Returns RETURN_OK if successful - */ - ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); - /** - * Function to be called from the owner to send a step message. - * Success or failure will be determined by the result value. - * - * @param step Number of steps already done - * @param reportTo The messageQueueId to report the step message to - * @param commandId ID of the executed command - * @param result Result of the execution - */ - void step(uint8_t step, MessageQueueId_t reportTo, - ActionId_t commandId, - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - /** - * Function to be called by the owner to send a action completion message - * - * @param reportTo MessageQueueId_t to report the action completion message to - * @param commandId ID of the executed command - * @param result Result of the execution - */ - void finish(MessageQueueId_t reportTo, ActionId_t commandId, - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - /** - * Function to be called by the owner if an action does report data. - * Takes a SerializeIF* pointer and serializes it into the IPC store. - * @param reportTo MessageQueueId_t to report the action completion - * message to - * @param replyId ID of the executed command - * @param data Pointer to the data - * @return Returns RETURN_OK if successful, otherwise failure code - */ - ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, - SerializeIF* data, bool hideSender = false); + virtual ~ActionHelper(); + /** + * Function to be called from the owner with a new command message + * + * If the message is a valid action message the helper will use the + * executeAction function from HasActionsIF. + * If the message is invalid or the callback fails a message reply will be + * send to the sender of the message automatically. + * + * @param command Pointer to a command message received by the owner + * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, + * CommandMessage::UNKNOW_COMMAND if this message ID is unkown + */ + ReturnValue_t handleActionMessage(CommandMessage* command); + /** + * Helper initialize function. Must be called before use of any other + * helper function + * @param queueToUse_ Pointer to the messageQueue to be used, optional + * if queue was set in constructor + * @return Returns RETURN_OK if successful + */ + ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); + /** + * Function to be called from the owner to send a step message. + * Success or failure will be determined by the result value. + * + * @param step Number of steps already done + * @param reportTo The messageQueueId to report the step message to + * @param commandId ID of the executed command + * @param result Result of the execution + */ + void step(uint8_t step, MessageQueueId_t reportTo, + ActionId_t commandId, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + /** + * Function to be called by the owner to send a action completion message + * + * @param reportTo MessageQueueId_t to report the action completion message to + * @param commandId ID of the executed command + * @param result Result of the execution + */ + void finish(MessageQueueId_t reportTo, ActionId_t commandId, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + /** + * Function to be called by the owner if an action does report data. + * Takes a SerializeIF* pointer and serializes it into the IPC store. + * @param reportTo MessageQueueId_t to report the action completion + * message to + * @param replyId ID of the executed command + * @param data Pointer to the data + * @return Returns RETURN_OK if successful, otherwise failure code + */ + ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, + SerializeIF* data, bool hideSender = false); /** * Function to be called by the owner if an action does report data. * Takes the raw data and writes it into the IPC store. @@ -91,35 +91,35 @@ public: */ ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data, size_t dataSize, bool hideSender = false); - /** - * Function to setup the MessageQueueIF* of the helper. Can be used to - * set the MessageQueueIF* if message queue is unavailable at construction - * and initialize but must be setup before first call of other functions. - * @param queue Queue to be used by the helper - */ - void setQueueToUse(MessageQueueIF *queue); + /** + * Function to setup the MessageQueueIF* of the helper. Can be used to + * set the MessageQueueIF* if message queue is unavailable at construction + * and initialize but must be setup before first call of other functions. + * @param queue Queue to be used by the helper + */ + void setQueueToUse(MessageQueueIF *queue); protected: - //!< Increase of value of this per step - static const uint8_t STEP_OFFSET = 1; - HasActionsIF* owner;//!< Pointer to the owner - //! Queue to be used as response sender, has to be set in ctor or with - //! setQueueToUse - MessageQueueIF* queueToUse; - //! Pointer to an IPC Store, initialized during construction or - StorageManagerIF* ipcStore = nullptr; + //! Increase of value of this per step + static const uint8_t STEP_OFFSET = 1; + HasActionsIF* owner;//!< Pointer to the owner + //! Queue to be used as response sender, has to be set in ctor or with + //! setQueueToUse + MessageQueueIF* queueToUse; + //! Pointer to an IPC Store, initialized during construction or + StorageManagerIF* ipcStore = nullptr; - /** - * Internal function called by handleActionMessage - * @param commandedBy MessageQueueID of Commander - * @param actionId ID of action to be done - * @param dataAddress Address of additional data in IPC Store - */ - virtual void prepareExecution(MessageQueueId_t commandedBy, - ActionId_t actionId, store_address_t dataAddress); - /** - * @brief Default implementation is empty. - */ - virtual void resetHelper(); + /** + * Internal function called by handleActionMessage + * @param commandedBy MessageQueueID of Commander + * @param actionId ID of action to be done + * @param dataAddress Address of additional data in IPC Store + */ + virtual void prepareExecution(MessageQueueId_t commandedBy, + ActionId_t actionId, store_address_t dataAddress); + /** + * @brief Default implementation is empty. + */ + virtual void resetHelper(); }; #endif /* FSFW_ACTION_ACTIONHELPER_H_ */ diff --git a/action/ActionMessage.cpp b/action/ActionMessage.cpp index 1c00dee0..c3eb4710 100644 --- a/action/ActionMessage.cpp +++ b/action/ActionMessage.cpp @@ -11,71 +11,71 @@ ActionMessage::~ActionMessage() { } void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid, - store_address_t parameters) { - message->setCommand(EXECUTE_ACTION); - message->setParameter(fid); - message->setParameter2(parameters.raw); + store_address_t parameters) { + message->setCommand(EXECUTE_ACTION); + message->setParameter(fid); + message->setParameter2(parameters.raw); } ActionId_t ActionMessage::getActionId(const CommandMessage* message) { - return ActionId_t(message->getParameter()); + return ActionId_t(message->getParameter()); } store_address_t ActionMessage::getStoreId(const CommandMessage* message) { - store_address_t temp; - temp.raw = message->getParameter2(); - return temp; + store_address_t temp; + temp.raw = message->getParameter2(); + return temp; } void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, - ReturnValue_t result) { - if (result == HasReturnvaluesIF::RETURN_OK) { - message->setCommand(STEP_SUCCESS); - } else { - message->setCommand(STEP_FAILED); - } - message->setParameter(fid); - message->setParameter2((step << 16) + result); + ReturnValue_t result) { + if (result == HasReturnvaluesIF::RETURN_OK) { + message->setCommand(STEP_SUCCESS); + } else { + message->setCommand(STEP_FAILED); + } + message->setParameter(fid); + message->setParameter2((step << 16) + result); } uint8_t ActionMessage::getStep(const CommandMessage* message) { - return uint8_t((message->getParameter2() >> 16) & 0xFF); + return uint8_t((message->getParameter2() >> 16) & 0xFF); } ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) { - return message->getParameter2() & 0xFFFF; + return message->getParameter2() & 0xFFFF; } void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId, - store_address_t data) { - message->setCommand(DATA_REPLY); - message->setParameter(actionId); - message->setParameter2(data.raw); + store_address_t data) { + message->setCommand(DATA_REPLY); + message->setParameter(actionId); + message->setParameter2(data.raw); } void ActionMessage::setCompletionReply(CommandMessage* message, - ActionId_t fid, ReturnValue_t result) { - if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) { - message->setCommand(COMPLETION_SUCCESS); - } else { - message->setCommand(COMPLETION_FAILED); - } - message->setParameter(fid); - message->setParameter2(result); + ActionId_t fid, ReturnValue_t result) { + if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) { + message->setCommand(COMPLETION_SUCCESS); + } else { + message->setCommand(COMPLETION_FAILED); + } + message->setParameter(fid); + message->setParameter2(result); } void ActionMessage::clear(CommandMessage* message) { - switch(message->getCommand()) { - case EXECUTE_ACTION: - case DATA_REPLY: { - StorageManagerIF *ipcStore = objectManager->get( - objects::IPC_STORE); - if (ipcStore != NULL) { - ipcStore->deleteData(getStoreId(message)); - } - break; - } - default: - break; - } + switch(message->getCommand()) { + case EXECUTE_ACTION: + case DATA_REPLY: { + StorageManagerIF *ipcStore = objectManager->get( + objects::IPC_STORE); + if (ipcStore != NULL) { + ipcStore->deleteData(getStoreId(message)); + } + break; + } + default: + break; + } } diff --git a/action/ActionMessage.h b/action/ActionMessage.h index deb11095..246ac601 100644 --- a/action/ActionMessage.h +++ b/action/ActionMessage.h @@ -15,29 +15,29 @@ using ActionId_t = uint32_t; */ class ActionMessage { private: - ActionMessage(); + ActionMessage(); public: - static const uint8_t MESSAGE_ID = messagetypes::ACTION; - static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); - static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); - static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); - static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4); - 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 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 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 clear(CommandMessage* message); + static const uint8_t MESSAGE_ID = messagetypes::ACTION; + static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); + static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); + static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); + static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4); + 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 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 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 clear(CommandMessage* message); }; #endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */ diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp index 4e88f3c3..148b3657 100644 --- a/action/CommandActionHelper.cpp +++ b/action/CommandActionHelper.cpp @@ -5,123 +5,123 @@ #include "../objectmanager/ObjectManagerIF.h" CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) : - owner(setOwner), queueToUse(NULL), ipcStore( - NULL), commandCount(0), lastTarget(0) { + owner(setOwner), queueToUse(NULL), ipcStore( + NULL), commandCount(0), lastTarget(0) { } CommandActionHelper::~CommandActionHelper() { } ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, - ActionId_t actionId, SerializeIF *data) { - HasActionsIF *receiver = objectManager->get(commandTo); - if (receiver == NULL) { - return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; - } - store_address_t storeId; - uint8_t *storePointer; - size_t maxSize = data->getSerializedSize(); - ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, - &storePointer); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - size_t size = 0; - result = data->serialize(&storePointer, &size, maxSize, - SerializeIF::Endianness::BIG); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - return sendCommand(receiver->getCommandQueue(), actionId, storeId); + ActionId_t actionId, SerializeIF *data) { + HasActionsIF *receiver = objectManager->get(commandTo); + if (receiver == NULL) { + return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; + } + store_address_t storeId; + uint8_t *storePointer; + size_t maxSize = data->getSerializedSize(); + ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, + &storePointer); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + size_t size = 0; + result = data->serialize(&storePointer, &size, maxSize, + SerializeIF::Endianness::BIG); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return sendCommand(receiver->getCommandQueue(), actionId, storeId); } ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, - ActionId_t actionId, const uint8_t *data, uint32_t size) { -// if (commandCount != 0) { -// return CommandsFunctionsIF::ALREADY_COMMANDING; -// } - HasActionsIF *receiver = objectManager->get(commandTo); - if (receiver == NULL) { - return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; - } - store_address_t storeId; - ReturnValue_t result = ipcStore->addData(&storeId, data, size); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - return sendCommand(receiver->getCommandQueue(), actionId, storeId); + ActionId_t actionId, const uint8_t *data, uint32_t size) { +// if (commandCount != 0) { +// return CommandsFunctionsIF::ALREADY_COMMANDING; +// } + HasActionsIF *receiver = objectManager->get(commandTo); + if (receiver == NULL) { + return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; + } + store_address_t storeId; + ReturnValue_t result = ipcStore->addData(&storeId, data, size); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return sendCommand(receiver->getCommandQueue(), actionId, storeId); } ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, - ActionId_t actionId, store_address_t storeId) { - CommandMessage command; - ActionMessage::setCommand(&command, actionId, storeId); - ReturnValue_t result = queueToUse->sendMessage(queueId, &command); - if (result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeId); - } - lastTarget = queueId; - commandCount++; - return result; + ActionId_t actionId, store_address_t storeId) { + CommandMessage command; + ActionMessage::setCommand(&command, actionId, storeId); + ReturnValue_t result = queueToUse->sendMessage(queueId, &command); + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeId); + } + lastTarget = queueId; + commandCount++; + return result; } ReturnValue_t CommandActionHelper::initialize() { - ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } + ipcStore = objectManager->get(objects::IPC_STORE); + if (ipcStore == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } - queueToUse = owner->getCommandQueuePtr(); - if (queueToUse == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; + queueToUse = owner->getCommandQueuePtr(); + if (queueToUse == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) { - if (reply->getSender() != lastTarget) { - return HasReturnvaluesIF::RETURN_FAILED; - } - switch (reply->getCommand()) { - case ActionMessage::COMPLETION_SUCCESS: - commandCount--; - owner->completionSuccessfulReceived(ActionMessage::getActionId(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::COMPLETION_FAILED: - commandCount--; - owner->completionFailedReceived(ActionMessage::getActionId(reply), - ActionMessage::getReturnCode(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::STEP_SUCCESS: - owner->stepSuccessfulReceived(ActionMessage::getActionId(reply), - ActionMessage::getStep(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::STEP_FAILED: - commandCount--; - owner->stepFailedReceived(ActionMessage::getActionId(reply), - ActionMessage::getStep(reply), - ActionMessage::getReturnCode(reply)); - return HasReturnvaluesIF::RETURN_OK; - case ActionMessage::DATA_REPLY: - extractDataForOwner(ActionMessage::getActionId(reply), - ActionMessage::getStoreId(reply)); - return HasReturnvaluesIF::RETURN_OK; - default: - return HasReturnvaluesIF::RETURN_FAILED; - } + if (reply->getSender() != lastTarget) { + return HasReturnvaluesIF::RETURN_FAILED; + } + switch (reply->getCommand()) { + case ActionMessage::COMPLETION_SUCCESS: + commandCount--; + owner->completionSuccessfulReceived(ActionMessage::getActionId(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::COMPLETION_FAILED: + commandCount--; + owner->completionFailedReceived(ActionMessage::getActionId(reply), + ActionMessage::getReturnCode(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::STEP_SUCCESS: + owner->stepSuccessfulReceived(ActionMessage::getActionId(reply), + ActionMessage::getStep(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::STEP_FAILED: + commandCount--; + owner->stepFailedReceived(ActionMessage::getActionId(reply), + ActionMessage::getStep(reply), + ActionMessage::getReturnCode(reply)); + return HasReturnvaluesIF::RETURN_OK; + case ActionMessage::DATA_REPLY: + extractDataForOwner(ActionMessage::getActionId(reply), + ActionMessage::getStoreId(reply)); + return HasReturnvaluesIF::RETURN_OK; + default: + return HasReturnvaluesIF::RETURN_FAILED; + } } uint8_t CommandActionHelper::getCommandCount() const { - return commandCount; + return commandCount; } void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) { - const uint8_t * data = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(storeId, &data, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - return; - } - owner->dataReceived(actionId, data, size); - ipcStore->deleteData(storeId); + const uint8_t * data = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(storeId, &data, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + return; + } + owner->dataReceived(actionId, data, size); + ipcStore->deleteData(storeId); } diff --git a/action/CommandActionHelper.h b/action/CommandActionHelper.h index cfed8c94..96ef1763 100644 --- a/action/CommandActionHelper.h +++ b/action/CommandActionHelper.h @@ -11,26 +11,26 @@ class CommandsActionsIF; class CommandActionHelper { - friend class CommandsActionsIF; + friend class CommandsActionsIF; public: - CommandActionHelper(CommandsActionsIF* owner); - virtual ~CommandActionHelper(); - ReturnValue_t commandAction(object_id_t commandTo, - ActionId_t actionId, const uint8_t* data, uint32_t size); - ReturnValue_t commandAction(object_id_t commandTo, - ActionId_t actionId, SerializeIF* data); - ReturnValue_t initialize(); - ReturnValue_t handleReply(CommandMessage* reply); - uint8_t getCommandCount() const; + CommandActionHelper(CommandsActionsIF* owner); + virtual ~CommandActionHelper(); + ReturnValue_t commandAction(object_id_t commandTo, + ActionId_t actionId, const uint8_t* data, uint32_t size); + ReturnValue_t commandAction(object_id_t commandTo, + ActionId_t actionId, SerializeIF* data); + ReturnValue_t initialize(); + ReturnValue_t handleReply(CommandMessage* reply); + uint8_t getCommandCount() const; private: - CommandsActionsIF* owner; - MessageQueueIF* queueToUse; - StorageManagerIF* ipcStore; - uint8_t commandCount; - MessageQueueId_t lastTarget; - void extractDataForOwner(ActionId_t actionId, store_address_t storeId); - ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, - store_address_t storeId); + CommandsActionsIF* owner; + MessageQueueIF* queueToUse; + StorageManagerIF* ipcStore; + uint8_t commandCount; + MessageQueueId_t lastTarget; + void extractDataForOwner(ActionId_t actionId, store_address_t storeId); + ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, + store_address_t storeId); }; #endif /* COMMANDACTIONHELPER_H_ */ diff --git a/action/CommandsActionsIF.h b/action/CommandsActionsIF.h index 491bfc70..fe7e856c 100644 --- a/action/CommandsActionsIF.h +++ b/action/CommandsActionsIF.h @@ -15,22 +15,22 @@ * - replyReceived(id, step, cause) (if cause == OK, it's a success). */ class CommandsActionsIF { - friend class CommandActionHelper; + friend class CommandActionHelper; public: - static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF; - static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1); - static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); - virtual ~CommandsActionsIF() {} - virtual MessageQueueIF* getCommandQueuePtr() = 0; + static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF; + static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1); + static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); + virtual ~CommandsActionsIF() {} + 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 completionSuccessfulReceived(ActionId_t actionId) = 0; - virtual void completionFailedReceived(ActionId_t actionId, - ReturnValue_t returnCode) = 0; + 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 completionSuccessfulReceived(ActionId_t actionId) = 0; + virtual void completionFailedReceived(ActionId_t actionId, + ReturnValue_t returnCode) = 0; }; diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h index 690f0369..056e674c 100644 --- a/action/HasActionsIF.h +++ b/action/HasActionsIF.h @@ -35,28 +35,28 @@ */ class HasActionsIF { public: - static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF; - static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1); - static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); - static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); - static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); - virtual ~HasActionsIF() { } - /** - * Function to get the MessageQueueId_t of the implementing object - * @return MessageQueueId_t of the object - */ - virtual MessageQueueId_t getCommandQueue() const = 0; - /** - * Execute or initialize the execution of a certain function. - * The ActionHelpers will execute this function and behave differently - * depending on the returnvalue. - * - * @return - * -@c EXECUTION_FINISHED Finish reply will be generated - * -@c Not RETURN_OK Step failure reply will be generated - */ - virtual ReturnValue_t executeAction(ActionId_t actionId, - MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; + static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF; + static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1); + static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); + static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); + static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); + virtual ~HasActionsIF() { } + /** + * Function to get the MessageQueueId_t of the implementing object + * @return MessageQueueId_t of the object + */ + virtual MessageQueueId_t getCommandQueue() const = 0; + /** + * Execute or initialize the execution of a certain function. + * The ActionHelpers will execute this function and behave differently + * depending on the returnvalue. + * + * @return + * -@c EXECUTION_FINISHED Finish reply will be generated + * -@c Not RETURN_OK Step failure reply will be generated + */ + virtual ReturnValue_t executeAction(ActionId_t actionId, + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; }; diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp index af57736c..f77d0147 100644 --- a/action/SimpleActionHelper.cpp +++ b/action/SimpleActionHelper.cpp @@ -2,74 +2,74 @@ #include "SimpleActionHelper.h" SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, - MessageQueueIF* useThisQueue) : - ActionHelper(setOwner, useThisQueue), isExecuting(false) { + MessageQueueIF* useThisQueue) : + ActionHelper(setOwner, useThisQueue), isExecuting(false) { } SimpleActionHelper::~SimpleActionHelper() { } void SimpleActionHelper::step(ReturnValue_t result) { - // STEP_OFFESET is subtracted to compensate for adding offset in base - // method, which is not necessary here. - ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, - result); - if (result != HasReturnvaluesIF::RETURN_OK) { - resetHelper(); - } + // STEP_OFFESET is subtracted to compensate for adding offset in base + // method, which is not necessary here. + ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, + result); + if (result != HasReturnvaluesIF::RETURN_OK) { + resetHelper(); + } } void SimpleActionHelper::finish(ReturnValue_t result) { - ActionHelper::finish(lastCommander, lastAction, result); - resetHelper(); + ActionHelper::finish(lastCommander, lastAction, result); + resetHelper(); } ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) { - return ActionHelper::reportData(lastCommander, lastAction, data); + return ActionHelper::reportData(lastCommander, lastAction, data); } void SimpleActionHelper::resetHelper() { - stepCount = 0; - isExecuting = false; - lastAction = 0; - lastCommander = 0; + stepCount = 0; + isExecuting = false; + lastAction = 0; + lastCommander = 0; } void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, - ActionId_t actionId, store_address_t dataAddress) { - CommandMessage reply; - if (isExecuting) { - ipcStore->deleteData(dataAddress); - ActionMessage::setStepReply(&reply, actionId, 0, - HasActionsIF::IS_BUSY); - queueToUse->sendMessage(commandedBy, &reply); - } - const uint8_t* dataPtr = NULL; - size_t size = 0; - ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); - if (result != HasReturnvaluesIF::RETURN_OK) { - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - return; - } - lastCommander = commandedBy; - lastAction = actionId; - result = owner->executeAction(actionId, commandedBy, dataPtr, size); - ipcStore->deleteData(dataAddress); - switch (result) { - case HasReturnvaluesIF::RETURN_OK: - isExecuting = true; - stepCount++; - break; - case HasActionsIF::EXECUTION_FINISHED: - ActionMessage::setCompletionReply(&reply, actionId, - HasReturnvaluesIF::RETURN_OK); - queueToUse->sendMessage(commandedBy, &reply); - break; - default: - ActionMessage::setStepReply(&reply, actionId, 0, result); - queueToUse->sendMessage(commandedBy, &reply); - break; - } + ActionId_t actionId, store_address_t dataAddress) { + CommandMessage reply; + if (isExecuting) { + ipcStore->deleteData(dataAddress); + ActionMessage::setStepReply(&reply, actionId, 0, + HasActionsIF::IS_BUSY); + queueToUse->sendMessage(commandedBy, &reply); + } + const uint8_t* dataPtr = NULL; + size_t size = 0; + ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + return; + } + lastCommander = commandedBy; + lastAction = actionId; + result = owner->executeAction(actionId, commandedBy, dataPtr, size); + ipcStore->deleteData(dataAddress); + switch (result) { + case HasReturnvaluesIF::RETURN_OK: + isExecuting = true; + stepCount++; + break; + case HasActionsIF::EXECUTION_FINISHED: + ActionMessage::setCompletionReply(&reply, actionId, + HasReturnvaluesIF::RETURN_OK); + queueToUse->sendMessage(commandedBy, &reply); + break; + default: + ActionMessage::setStepReply(&reply, actionId, 0, result); + queueToUse->sendMessage(commandedBy, &reply); + break; + } } diff --git a/action/SimpleActionHelper.h b/action/SimpleActionHelper.h index 1f35d9fd..7c6c4e00 100644 --- a/action/SimpleActionHelper.h +++ b/action/SimpleActionHelper.h @@ -4,27 +4,27 @@ #include "ActionHelper.h" /** - * @brief This is an action helper which is only able to service one action - * at a time but remembers last commander and last action which - * simplifies usage + * @brief This is an action helper which is only able to service one action + * at a time but remembers last commander and last action which + * simplifies usage */ class SimpleActionHelper: public ActionHelper { public: - SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); - virtual ~SimpleActionHelper(); - void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); - ReturnValue_t reportData(SerializeIF* data); + SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); + virtual ~SimpleActionHelper(); + void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + ReturnValue_t reportData(SerializeIF* data); protected: - void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, - store_address_t dataAddress); - virtual void resetHelper(); + void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, + store_address_t dataAddress); + virtual void resetHelper(); private: - bool isExecuting; - MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE; - ActionId_t lastAction = 0; - uint8_t stepCount = 0; + bool isExecuting; + MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE; + ActionId_t lastAction = 0; + uint8_t stepCount = 0; }; #endif /* SIMPLEACTIONHELPER_H_ */ diff --git a/container/ArrayList.h b/container/ArrayList.h index 6bd5c1d5..25e281a2 100644 --- a/container/ArrayList.h +++ b/container/ArrayList.h @@ -6,7 +6,7 @@ #include "../serialize/SerializeIF.h" /** - * @brief A List that stores its values in an array. + * @brief A List that stores its values in an array. * @details * The underlying storage is an array that can be allocated by the class * itself or supplied via ctor. @@ -15,237 +15,237 @@ */ template class ArrayList { - template friend class SerialArrayListAdapter; + template friend class SerialArrayListAdapter; public: - static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST; - static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01); + static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST; + static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01); - /** - * This is the allocating constructor. - * It allocates an array of the specified size. - * @param maxSize - */ - ArrayList(count_t maxSize) : - size(0), maxSize_(maxSize), allocated(true) { - entries = new T[maxSize]; - } + /** + * This is the allocating constructor. + * It allocates an array of the specified size. + * @param maxSize + */ + ArrayList(count_t maxSize) : + size(0), maxSize_(maxSize), allocated(true) { + entries = new T[maxSize]; + } - /** - * This is the non-allocating constructor - * - * It expects a pointer to an array of a certain size and initializes - * itself to it. - * - * @param storage the array to use as backend - * @param maxSize size of storage - * @param size size of data already present in storage - */ - ArrayList(T *storage, count_t maxSize, count_t size = 0) : - size(size), entries(storage), maxSize_(maxSize), allocated(false) { - } + /** + * This is the non-allocating constructor + * + * It expects a pointer to an array of a certain size and initializes + * itself to it. + * + * @param storage the array to use as backend + * @param maxSize size of storage + * @param size size of data already present in storage + */ + ArrayList(T *storage, count_t maxSize, count_t size = 0) : + size(size), entries(storage), maxSize_(maxSize), allocated(false) { + } - /** - * Copying is forbiden by declaring copy ctor and copy assignment deleted - * It is too ambigous in this case. - * (Allocate a new backend? Use the same? What to do in an modifying call?) - */ - ArrayList(const ArrayList& other) = delete; - const ArrayList& operator=(const ArrayList& other) = delete; + /** + * Copying is forbiden by declaring copy ctor and copy assignment deleted + * It is too ambigous in this case. + * (Allocate a new backend? Use the same? What to do in an modifying call?) + */ + ArrayList(const ArrayList& other) = delete; + const ArrayList& operator=(const ArrayList& other) = delete; - /** - * Number of Elements stored in this List - */ - count_t size; + /** + * Number of Elements stored in this List + */ + count_t size; - /** - * Destructor, if the allocating constructor was used, it deletes the array. - */ - virtual ~ArrayList() { - if (allocated) { - delete[] entries; - } - } + /** + * Destructor, if the allocating constructor was used, it deletes the array. + */ + virtual ~ArrayList() { + if (allocated) { + delete[] entries; + } + } - /** - * An Iterator to go trough an ArrayList - * - * It stores a pointer to an element and increments the - * pointer when incremented itself. - */ - class Iterator { - public: - /** - * Empty ctor, points to NULL - */ - Iterator(): value(0) {} + /** + * An Iterator to go trough an ArrayList + * + * It stores a pointer to an element and increments the + * pointer when incremented itself. + */ + class Iterator { + public: + /** + * Empty ctor, points to NULL + */ + Iterator(): value(0) {} - /** - * Initializes the Iterator to point to an element - * - * @param initialize - */ - Iterator(T *initialize) { - value = initialize; - } + /** + * Initializes the Iterator to point to an element + * + * @param initialize + */ + Iterator(T *initialize) { + value = initialize; + } - /** - * The current element the iterator points to - */ - T *value; + /** + * The current element the iterator points to + */ + T *value; - Iterator& operator++() { - value++; - return *this; - } + Iterator& operator++() { + value++; + return *this; + } - Iterator operator++(int) { - Iterator tmp(*this); - operator++(); - return tmp; - } + Iterator operator++(int) { + Iterator tmp(*this); + operator++(); + return tmp; + } - Iterator& operator--() { - value--; - return *this; - } + Iterator& operator--() { + value--; + return *this; + } - Iterator operator--(int) { - Iterator tmp(*this); - operator--(); - return tmp; - } + Iterator operator--(int) { + Iterator tmp(*this); + operator--(); + return tmp; + } - T& operator*() { - return *value; - } + T& operator*() { + return *value; + } - const T& operator*() const { - return *value; - } + const T& operator*() const { + return *value; + } - T *operator->() { - return value; - } + T *operator->() { + return value; + } - const T *operator->() const { - return value; - } - }; + const T *operator->() const { + return value; + } + }; - friend bool operator==(const ArrayList::Iterator& lhs, - const ArrayList::Iterator& rhs) { - return (lhs.value == rhs.value); - } + friend bool operator==(const ArrayList::Iterator& lhs, + const ArrayList::Iterator& rhs) { + return (lhs.value == rhs.value); + } - friend bool operator!=(const ArrayList::Iterator& lhs, - const ArrayList::Iterator& rhs) { - return not (lhs.value == rhs.value); - } + friend bool operator!=(const ArrayList::Iterator& lhs, + const ArrayList::Iterator& rhs) { + return not (lhs.value == rhs.value); + } - /** - * Iterator pointing to the first stored elmement - * - * @return Iterator to the first element - */ - Iterator begin() const { - return Iterator(&entries[0]); - } + /** + * Iterator pointing to the first stored elmement + * + * @return Iterator to the first element + */ + Iterator begin() const { + return Iterator(&entries[0]); + } - /** - * returns an Iterator pointing to the element after the last stored entry - * - * @return Iterator to the element after the last entry - */ - Iterator end() const { - return Iterator(&entries[size]); - } + /** + * returns an Iterator pointing to the element after the last stored entry + * + * @return Iterator to the element after the last entry + */ + Iterator end() const { + return Iterator(&entries[size]); + } - T & operator[](count_t i) const { - return entries[i]; - } + T & operator[](count_t i) const { + return entries[i]; + } - /** - * The first element - * - * @return pointer to the first stored element - */ - T *front() { - return entries; - } + /** + * The first element + * + * @return pointer to the first stored element + */ + T *front() { + return entries; + } - /** - * The last element - * - * does not return a valid pointer if called on an empty list. - * - * @return pointer to the last stored element - */ - T *back() { - return &entries[size - 1]; - //Alternative solution - //return const_cast(static_cast(*this).back()); - } + /** + * The last element + * + * does not return a valid pointer if called on an empty list. + * + * @return pointer to the last stored element + */ + T *back() { + return &entries[size - 1]; + //Alternative solution + //return const_cast(static_cast(*this).back()); + } - const T* back() const{ - return &entries[size-1]; - } + const T* back() const{ + return &entries[size-1]; + } - /** - * The maximum number of elements this List can contain - * - * @return maximum number of elements - */ - size_t maxSize() const { - return this->maxSize_; - } + /** + * The maximum number of elements this List can contain + * + * @return maximum number of elements + */ + size_t maxSize() const { + return this->maxSize_; + } - /** - * Insert a new element into the list. - * - * The new element is inserted after the last stored element. - * - * @param entry - * @return - * -@c FULL if the List is full - * -@c RETURN_OK else - */ - ReturnValue_t insert(T entry) { - if (size >= maxSize_) { - return FULL; - } - entries[size] = entry; - ++size; - return HasReturnvaluesIF::RETURN_OK; - } + /** + * Insert a new element into the list. + * + * The new element is inserted after the last stored element. + * + * @param entry + * @return + * -@c FULL if the List is full + * -@c RETURN_OK else + */ + ReturnValue_t insert(T entry) { + if (size >= maxSize_) { + return FULL; + } + entries[size] = entry; + ++size; + return HasReturnvaluesIF::RETURN_OK; + } - /** - * clear the List - * - * This does not actually clear all entries, it only sets the size to 0. - */ - void clear() { - size = 0; - } + /** + * clear the List + * + * This does not actually clear all entries, it only sets the size to 0. + */ + void clear() { + size = 0; + } - count_t remaining() { - return (maxSize_ - size); - } + count_t remaining() { + return (maxSize_ - size); + } protected: - /** - * pointer to the array in which the entries are stored - */ - T *entries; - /** - * remembering the maximum size - */ - size_t maxSize_; + /** + * pointer to the array in which the entries are stored + */ + T *entries; + /** + * remembering the maximum size + */ + size_t maxSize_; - /** - * true if the array was allocated and needs to be deleted in the destructor. - */ - bool allocated; + /** + * true if the array was allocated and needs to be deleted in the destructor. + */ + bool allocated; }; diff --git a/container/BinaryTree.h b/container/BinaryTree.h index 73073dea..6200cbb1 100644 --- a/container/BinaryTree.h +++ b/container/BinaryTree.h @@ -7,65 +7,65 @@ template class BinaryNode { public: - BinaryNode(Tp* setValue) : - value(setValue), left(NULL), right(NULL), parent(NULL) { - } - Tp *value; - BinaryNode* left; - BinaryNode* right; - BinaryNode* parent; + BinaryNode(Tp* setValue) : + value(setValue), left(NULL), right(NULL), parent(NULL) { + } + Tp *value; + BinaryNode* left; + BinaryNode* right; + BinaryNode* parent; }; template class ExplicitNodeIterator { public: - typedef ExplicitNodeIterator _Self; - typedef BinaryNode _Node; - typedef Tp value_type; - typedef Tp* pointer; - typedef Tp& reference; - ExplicitNodeIterator() : - element(NULL) { - } - ExplicitNodeIterator(_Node* node) : - element(node) { - } - BinaryNode* element; - _Self up() { - return _Self(element->parent); - } - _Self left() { - if (element != NULL) { - return _Self(element->left); - } else { - return _Self(NULL); - } + typedef ExplicitNodeIterator _Self; + typedef BinaryNode _Node; + typedef Tp value_type; + typedef Tp* pointer; + typedef Tp& reference; + ExplicitNodeIterator() : + element(NULL) { + } + ExplicitNodeIterator(_Node* node) : + element(node) { + } + BinaryNode* element; + _Self up() { + return _Self(element->parent); + } + _Self left() { + if (element != NULL) { + return _Self(element->left); + } else { + return _Self(NULL); + } - } - _Self right() { - if (element != NULL) { - return _Self(element->right); - } else { - return _Self(NULL); - } + } + _Self right() { + if (element != NULL) { + return _Self(element->right); + } else { + return _Self(NULL); + } - } - bool operator==(const _Self& __x) const { - return element == __x.element; - } - bool operator!=(const _Self& __x) const { - return element != __x.element; - } + } + bool operator==(const _Self& __x) const { + return element == __x.element; + } + bool operator!=(const _Self& __x) const { + return element != __x.element; + } pointer operator->() const { - if (element != NULL) { - return element->value; - } else { - return NULL; - } + if (element != NULL) { + return element->value; + } else { + return NULL; + } } pointer operator*() const { - return this->operator->(); + return this->operator->(); } }; @@ -75,77 +75,77 @@ public: template class BinaryTree { public: - typedef ExplicitNodeIterator iterator; - typedef BinaryNode Node; - typedef std::pair children; - BinaryTree() : - rootNode(NULL) { - } - BinaryTree(Node* rootNode) : - rootNode(rootNode) { - } - iterator begin() const { - return iterator(rootNode); - } - static iterator end() { - return iterator(NULL); - } - iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) { - newNode->parent = parentNode.element; - if (parentNode.element != NULL) { - if (insertLeft) { - parentNode.element->left = newNode; - } else { - parentNode.element->right = newNode; - } - } else { - //Insert first element. - rootNode = newNode; - } - return iterator(newNode); - } - //No recursion to children. Needs to be done externally. - children erase(iterator node) { - if (node.element == rootNode) { - //We're root node - rootNode = NULL; - } else { - //Delete parent's reference - if (node.up().left() == node) { - node.up().element->left = NULL; - } else { - node.up().element->right = NULL; - } - } - return children(node.element->left, node.element->right); - } - static uint32_t countLeft(iterator start) { - if (start == end()) { - return 0; - } - //We also count the start node itself. - uint32_t count = 1; - while (start.left() != end()) { - count++; - start = start.left(); - } - return count; - } - static uint32_t countRight(iterator start) { - if (start == end()) { - return 0; - } - //We also count the start node itself. - uint32_t count = 1; - while (start.right() != end()) { - count++; - start = start.right(); - } - return count; - } + typedef ExplicitNodeIterator iterator; + typedef BinaryNode Node; + typedef std::pair children; + BinaryTree() : + rootNode(NULL) { + } + BinaryTree(Node* rootNode) : + rootNode(rootNode) { + } + iterator begin() const { + return iterator(rootNode); + } + static iterator end() { + return iterator(NULL); + } + iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) { + newNode->parent = parentNode.element; + if (parentNode.element != NULL) { + if (insertLeft) { + parentNode.element->left = newNode; + } else { + parentNode.element->right = newNode; + } + } else { + //Insert first element. + rootNode = newNode; + } + return iterator(newNode); + } + //No recursion to children. Needs to be done externally. + children erase(iterator node) { + if (node.element == rootNode) { + //We're root node + rootNode = NULL; + } else { + //Delete parent's reference + if (node.up().left() == node) { + node.up().element->left = NULL; + } else { + node.up().element->right = NULL; + } + } + return children(node.element->left, node.element->right); + } + static uint32_t countLeft(iterator start) { + if (start == end()) { + return 0; + } + //We also count the start node itself. + uint32_t count = 1; + while (start.left() != end()) { + count++; + start = start.left(); + } + return count; + } + static uint32_t countRight(iterator start) { + if (start == end()) { + return 0; + } + //We also count the start node itself. + uint32_t count = 1; + while (start.right() != end()) { + count++; + start = start.right(); + } + return count; + } protected: - Node* rootNode; + Node* rootNode; }; diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h index 86d43f7d..e1bc3ef2 100644 --- a/container/DynamicFIFO.h +++ b/container/DynamicFIFO.h @@ -5,8 +5,8 @@ #include /** - * @brief Simple First-In-First-Out data structure. The maximum size - * can be set in the constructor. + * @brief Simple First-In-First-Out data structure. The maximum size + * can be set in the constructor. * @details * The maximum capacity can be determined at run-time, so this container * performs dynamic memory allocation! @@ -17,39 +17,39 @@ template class DynamicFIFO: public FIFOBase { public: - DynamicFIFO(size_t maxCapacity): FIFOBase(nullptr, maxCapacity), - fifoVector(maxCapacity) { - // trying to pass the pointer of the uninitialized vector - // to the FIFOBase constructor directly lead to a super evil bug. - // So we do it like this now. - this->setContainer(fifoVector.data()); - }; + DynamicFIFO(size_t maxCapacity): FIFOBase(nullptr, maxCapacity), + fifoVector(maxCapacity) { + // trying to pass the pointer of the uninitialized vector + // to the FIFOBase constructor directly lead to a super evil bug. + // So we do it like this now. + this->setContainer(fifoVector.data()); + }; - /** - * @brief Custom copy constructor which prevents setting the - * underlying pointer wrong. This function allocates memory! - * @details This is a very heavy operation so try to avoid this! - * - */ - DynamicFIFO(const DynamicFIFO& other): FIFOBase(other), - fifoVector(other.maxCapacity) { - this->fifoVector = other.fifoVector; - this->setContainer(fifoVector.data()); - } + /** + * @brief Custom copy constructor which prevents setting the + * underlying pointer wrong. This function allocates memory! + * @details This is a very heavy operation so try to avoid this! + * + */ + DynamicFIFO(const DynamicFIFO& other): FIFOBase(other), + fifoVector(other.maxCapacity) { + this->fifoVector = other.fifoVector; + this->setContainer(fifoVector.data()); + } - /** - * @brief Custom assignment operator - * @details This is a very heavy operation so try to avoid this! - * @param other DyamicFIFO to copy from - */ - DynamicFIFO& operator=(const DynamicFIFO& other){ - FIFOBase::operator=(other); - this->fifoVector = other.fifoVector; - this->setContainer(fifoVector.data()); - return *this; - } + /** + * @brief Custom assignment operator + * @details This is a very heavy operation so try to avoid this! + * @param other DyamicFIFO to copy from + */ + DynamicFIFO& operator=(const DynamicFIFO& other){ + FIFOBase::operator=(other); + this->fifoVector = other.fifoVector; + this->setContainer(fifoVector.data()); + return *this; + } private: - std::vector fifoVector; + std::vector fifoVector; }; #endif /* FSFW_CONTAINER_DYNAMICFIFO_H_ */ diff --git a/container/FIFO.h b/container/FIFO.h index 70113852..79ead313 100644 --- a/container/FIFO.h +++ b/container/FIFO.h @@ -5,8 +5,8 @@ #include /** - * @brief Simple First-In-First-Out data structure with size fixed at - * compile time + * @brief Simple First-In-First-Out data structure with size fixed at + * compile time * @details * Performs no dynamic memory allocation. * The public interface of FIFOBase exposes the user interface for the FIFO. @@ -16,32 +16,32 @@ template class FIFO: public FIFOBase { public: - FIFO(): FIFOBase(nullptr, capacity) { - this->setContainer(fifoArray.data()); - }; + FIFO(): FIFOBase(nullptr, capacity) { + this->setContainer(fifoArray.data()); + }; - /** - * @brief Custom copy constructor to set pointer correctly. - * @param other - */ - FIFO(const FIFO& other): FIFOBase(other) { - this->fifoArray = other.fifoArray; - this->setContainer(fifoArray.data()); - } + /** + * @brief Custom copy constructor to set pointer correctly. + * @param other + */ + FIFO(const FIFO& other): FIFOBase(other) { + this->fifoArray = other.fifoArray; + this->setContainer(fifoArray.data()); + } - /** - * @brief Custom assignment operator - * @param other - */ - FIFO& operator=(const FIFO& other){ - FIFOBase::operator=(other); - this->fifoArray = other.fifoArray; - this->setContainer(fifoArray.data()); - return *this; - } + /** + * @brief Custom assignment operator + * @param other + */ + FIFO& operator=(const FIFO& other){ + FIFOBase::operator=(other); + this->fifoArray = other.fifoArray; + this->setContainer(fifoArray.data()); + return *this; + } private: - std::array fifoArray; + std::array fifoArray; }; #endif /* FSFW_CONTAINER_FIFO_H_ */ diff --git a/container/FIFOBase.h b/container/FIFOBase.h index edd66d37..eaa80346 100644 --- a/container/FIFOBase.h +++ b/container/FIFOBase.h @@ -8,70 +8,70 @@ template class FIFOBase { public: - static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS; - static const ReturnValue_t FULL = MAKE_RETURN_CODE(1); - static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2); + static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS; + static const ReturnValue_t FULL = MAKE_RETURN_CODE(1); + static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2); - /** Default ctor, takes pointer to first entry of underlying container - * and maximum capacity */ - FIFOBase(T* values, const size_t maxCapacity); + /** Default ctor, takes pointer to first entry of underlying container + * and maximum capacity */ + FIFOBase(T* values, const size_t maxCapacity); - /** - * Insert value into FIFO - * @param value - * @return RETURN_OK on success, FULL if full - */ - ReturnValue_t insert(T value); - /** - * Retrieve item from FIFO. This removes the item from the FIFO. - * @param value Must point to a valid T - * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed - */ - ReturnValue_t retrieve(T *value); - /** - * Retrieve item from FIFO without removing it from FIFO. - * @param value Must point to a valid T - * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed - */ - ReturnValue_t peek(T * value); - /** - * Remove item from FIFO. - * @return RETURN_OK on success, EMPTY if empty - */ - ReturnValue_t pop(); + /** + * Insert value into FIFO + * @param value + * @return RETURN_OK on success, FULL if full + */ + ReturnValue_t insert(T value); + /** + * Retrieve item from FIFO. This removes the item from the FIFO. + * @param value Must point to a valid T + * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed + */ + ReturnValue_t retrieve(T *value); + /** + * Retrieve item from FIFO without removing it from FIFO. + * @param value Must point to a valid T + * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed + */ + ReturnValue_t peek(T * value); + /** + * Remove item from FIFO. + * @return RETURN_OK on success, EMPTY if empty + */ + ReturnValue_t pop(); - /*** - * Check if FIFO is empty - * @return True if empty, False if not - */ - bool empty(); - /*** - * Check if FIFO is Full - * @return True if full, False if not - */ - bool full(); - /*** - * Current used size (elements) used - * @return size_t in elements - */ - size_t size(); - /*** - * Get maximal capacity of fifo - * @return size_t with max capacity of this fifo - */ - size_t getMaxCapacity() const; + /*** + * Check if FIFO is empty + * @return True if empty, False if not + */ + bool empty(); + /*** + * Check if FIFO is Full + * @return True if full, False if not + */ + bool full(); + /*** + * Current used size (elements) used + * @return size_t in elements + */ + size_t size(); + /*** + * Get maximal capacity of fifo + * @return size_t with max capacity of this fifo + */ + size_t getMaxCapacity() const; protected: - void setContainer(T* data); - size_t maxCapacity = 0; + void setContainer(T* data); + size_t maxCapacity = 0; - T* values; + T* values; - size_t readIndex = 0; - size_t writeIndex = 0; - size_t currentSize = 0; + size_t readIndex = 0; + size_t writeIndex = 0; + size_t currentSize = 0; - size_t next(size_t current); + size_t next(size_t current); }; #include "FIFOBase.tpp" diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp index 763004b6..2e6a3829 100644 --- a/container/FIFOBase.tpp +++ b/container/FIFOBase.tpp @@ -7,87 +7,87 @@ template inline FIFOBase::FIFOBase(T* values, const size_t maxCapacity): - maxCapacity(maxCapacity), values(values){}; + maxCapacity(maxCapacity), values(values){}; template inline ReturnValue_t FIFOBase::insert(T value) { - if (full()) { - return FULL; - } else { - values[writeIndex] = value; - writeIndex = next(writeIndex); - ++currentSize; - return HasReturnvaluesIF::RETURN_OK; - } + if (full()) { + return FULL; + } else { + values[writeIndex] = value; + writeIndex = next(writeIndex); + ++currentSize; + return HasReturnvaluesIF::RETURN_OK; + } }; template inline ReturnValue_t FIFOBase::retrieve(T* value) { - if (empty()) { - return EMPTY; - } else { - if (value == nullptr){ - return HasReturnvaluesIF::RETURN_FAILED; - } - *value = values[readIndex]; - readIndex = next(readIndex); - --currentSize; - return HasReturnvaluesIF::RETURN_OK; - } + if (empty()) { + return EMPTY; + } else { + if (value == nullptr){ + return HasReturnvaluesIF::RETURN_FAILED; + } + *value = values[readIndex]; + readIndex = next(readIndex); + --currentSize; + return HasReturnvaluesIF::RETURN_OK; + } }; template inline ReturnValue_t FIFOBase::peek(T* value) { - if(empty()) { - return EMPTY; - } else { - if (value == nullptr){ - return HasReturnvaluesIF::RETURN_FAILED; - } - *value = values[readIndex]; - return HasReturnvaluesIF::RETURN_OK; - } + if(empty()) { + return EMPTY; + } else { + if (value == nullptr){ + return HasReturnvaluesIF::RETURN_FAILED; + } + *value = values[readIndex]; + return HasReturnvaluesIF::RETURN_OK; + } }; template inline ReturnValue_t FIFOBase::pop() { - T value; - return this->retrieve(&value); + T value; + return this->retrieve(&value); }; template inline bool FIFOBase::empty() { - return (currentSize == 0); + return (currentSize == 0); }; template inline bool FIFOBase::full() { - return (currentSize == maxCapacity); + return (currentSize == maxCapacity); } template inline size_t FIFOBase::size() { - return currentSize; + return currentSize; } template inline size_t FIFOBase::next(size_t current) { - ++current; - if (current == maxCapacity) { - current = 0; - } - return current; + ++current; + if (current == maxCapacity) { + current = 0; + } + return current; } template inline size_t FIFOBase::getMaxCapacity() const { - return maxCapacity; + return maxCapacity; } template inline void FIFOBase::setContainer(T *data) { - this->values = data; + this->values = data; } #endif diff --git a/container/FixedArrayList.h b/container/FixedArrayList.h index e9e127cf..89b76388 100644 --- a/container/FixedArrayList.h +++ b/container/FixedArrayList.h @@ -8,30 +8,30 @@ */ template class FixedArrayList: public ArrayList { - static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE"); + static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE"); private: - T data[MAX_SIZE]; + T data[MAX_SIZE]; public: - FixedArrayList() : - ArrayList(data, MAX_SIZE) { - } + FixedArrayList() : + ArrayList(data, MAX_SIZE) { + } - FixedArrayList(const FixedArrayList& other) : - ArrayList(data, MAX_SIZE) { - memcpy(this->data, other.data, sizeof(this->data)); - this->entries = data; - this->size = other.size; - } + FixedArrayList(const FixedArrayList& other) : + ArrayList(data, MAX_SIZE) { + memcpy(this->data, other.data, sizeof(this->data)); + this->entries = data; + this->size = other.size; + } - FixedArrayList& operator=(FixedArrayList other) { - memcpy(this->data, other.data, sizeof(this->data)); - this->entries = data; - this->size = other.size; - return *this; - } + FixedArrayList& operator=(FixedArrayList other) { + memcpy(this->data, other.data, sizeof(this->data)); + this->entries = data; + this->size = other.size; + return *this; + } - virtual ~FixedArrayList() { - } + virtual ~FixedArrayList() { + } }; diff --git a/container/FixedMap.h b/container/FixedMap.h index 7a5220fa..bd8e0f83 100644 --- a/container/FixedMap.h +++ b/container/FixedMap.h @@ -18,212 +18,212 @@ */ template class FixedMap: public SerializeIF { - static_assert (std::is_trivially_copyable::value or - std::is_base_of::value, - "Types used in FixedMap must either be trivial copy-able or a " - "derived class from SerializeIF to be serialize-able"); + static_assert (std::is_trivially_copyable::value or + std::is_base_of::value, + "Types used in FixedMap must either be trivial copy-able or a " + "derived class from SerializeIF to be serialize-able"); public: - static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP; - static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01); - static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02); - static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03); + static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP; + static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01); + static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02); + static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03); private: - static const key_t EMPTY_SLOT = -1; - ArrayList, uint32_t> theMap; - uint32_t _size; + static const key_t EMPTY_SLOT = -1; + ArrayList, uint32_t> theMap; + uint32_t _size; - uint32_t findIndex(key_t key) const { - if (_size == 0) { - return 1; - } - uint32_t i = 0; - for (i = 0; i < _size; ++i) { - if (theMap[i].first == key) { - return i; - } - } - return i; - } + uint32_t findIndex(key_t key) const { + if (_size == 0) { + return 1; + } + uint32_t i = 0; + for (i = 0; i < _size; ++i) { + if (theMap[i].first == key) { + return i; + } + } + return i; + } public: - FixedMap(uint32_t maxSize) : - theMap(maxSize), _size(0) { - } + FixedMap(uint32_t maxSize) : + theMap(maxSize), _size(0) { + } - class Iterator: public ArrayList, uint32_t>::Iterator { - public: - Iterator() : - ArrayList, uint32_t>::Iterator() { - } + class Iterator: public ArrayList, uint32_t>::Iterator { + public: + Iterator() : + ArrayList, uint32_t>::Iterator() { + } - Iterator(std::pair *pair) : - ArrayList, uint32_t>::Iterator(pair) { - } - }; + Iterator(std::pair *pair) : + ArrayList, uint32_t>::Iterator(pair) { + } + }; - friend bool operator==(const typename FixedMap::Iterator& lhs, - const typename FixedMap::Iterator& rhs) { - return (lhs.value == rhs.value); - } + friend bool operator==(const typename FixedMap::Iterator& lhs, + const typename FixedMap::Iterator& rhs) { + return (lhs.value == rhs.value); + } - friend bool operator!=(const typename FixedMap::Iterator& lhs, - const typename FixedMap::Iterator& rhs) { - return not (lhs.value == rhs.value); - } + friend bool operator!=(const typename FixedMap::Iterator& lhs, + const typename FixedMap::Iterator& rhs) { + return not (lhs.value == rhs.value); + } - Iterator begin() const { - return Iterator(&theMap[0]); - } + Iterator begin() const { + return Iterator(&theMap[0]); + } - Iterator end() const { - return Iterator(&theMap[_size]); - } + Iterator end() const { + return Iterator(&theMap[_size]); + } - uint32_t size() const { - return _size; - } + uint32_t size() const { + return _size; + } - ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) { - if (exists(key) == HasReturnvaluesIF::RETURN_OK) { - return KEY_ALREADY_EXISTS; - } - if (_size == theMap.maxSize()) { - return MAP_FULL; - } - theMap[_size].first = key; - theMap[_size].second = value; - if (storedValue != nullptr) { - *storedValue = Iterator(&theMap[_size]); - } - ++_size; - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) { + if (exists(key) == HasReturnvaluesIF::RETURN_OK) { + return KEY_ALREADY_EXISTS; + } + if (_size == theMap.maxSize()) { + return MAP_FULL; + } + theMap[_size].first = key; + theMap[_size].second = value; + if (storedValue != nullptr) { + *storedValue = Iterator(&theMap[_size]); + } + ++_size; + return HasReturnvaluesIF::RETURN_OK; + } - ReturnValue_t insert(std::pair pair) { - return insert(pair.first, pair.second); - } + ReturnValue_t insert(std::pair pair) { + return insert(pair.first, pair.second); + } - ReturnValue_t exists(key_t key) const { - ReturnValue_t result = KEY_DOES_NOT_EXIST; - if (findIndex(key) < _size) { - result = HasReturnvaluesIF::RETURN_OK; - } - return result; - } + ReturnValue_t exists(key_t key) const { + ReturnValue_t result = KEY_DOES_NOT_EXIST; + if (findIndex(key) < _size) { + result = HasReturnvaluesIF::RETURN_OK; + } + return result; + } - ReturnValue_t erase(Iterator *iter) { - uint32_t i; - if ((i = findIndex((*iter).value->first)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - theMap[i] = theMap[_size - 1]; - --_size; - --((*iter).value); - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t erase(Iterator *iter) { + uint32_t i; + if ((i = findIndex((*iter).value->first)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + theMap[i] = theMap[_size - 1]; + --_size; + --((*iter).value); + return HasReturnvaluesIF::RETURN_OK; + } - ReturnValue_t erase(key_t key) { - uint32_t i; - if ((i = findIndex(key)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - theMap[i] = theMap[_size - 1]; - --_size; - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t erase(key_t key) { + uint32_t i; + if ((i = findIndex(key)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + theMap[i] = theMap[_size - 1]; + --_size; + return HasReturnvaluesIF::RETURN_OK; + } - T *findValue(key_t key) const { - return &theMap[findIndex(key)].second; - } + T *findValue(key_t key) const { + return &theMap[findIndex(key)].second; + } - Iterator find(key_t key) const { - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return end(); - } - return Iterator(&theMap[findIndex(key)]); - } + Iterator find(key_t key) const { + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return end(); + } + return Iterator(&theMap[findIndex(key)]); + } - ReturnValue_t find(key_t key, T **value) const { - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - *value = &theMap[findIndex(key)].second; - return HasReturnvaluesIF::RETURN_OK; - } + ReturnValue_t find(key_t key, T **value) const { + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + *value = &theMap[findIndex(key)].second; + return HasReturnvaluesIF::RETURN_OK; + } - bool empty() { - if(_size == 0) { - return true; - } - else { - return false; - } - } + bool empty() { + if(_size == 0) { + return true; + } + else { + return false; + } + } - bool full() { - if(_size >= theMap.maxSize()) { - return true; - } - else { - return false; - } - } + bool full() { + if(_size >= theMap.maxSize()) { + return true; + } + else { + return false; + } + } - void clear() { - _size = 0; - } + void clear() { + _size = 0; + } - uint32_t maxSize() const { - return theMap.maxSize(); - } + uint32_t maxSize() const { + return theMap.maxSize(); + } - virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const { - ReturnValue_t result = SerializeAdapter::serialize(&this->_size, - buffer, size, maxSize, streamEndianness); - uint32_t i = 0; - while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) { - result = SerializeAdapter::serialize(&theMap[i].first, buffer, - size, maxSize, streamEndianness); - result = SerializeAdapter::serialize(&theMap[i].second, buffer, size, - maxSize, streamEndianness); - ++i; - } - return result; - } + virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, Endianness streamEndianness) const { + ReturnValue_t result = SerializeAdapter::serialize(&this->_size, + buffer, size, maxSize, streamEndianness); + uint32_t i = 0; + while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) { + result = SerializeAdapter::serialize(&theMap[i].first, buffer, + size, maxSize, streamEndianness); + result = SerializeAdapter::serialize(&theMap[i].second, buffer, size, + maxSize, streamEndianness); + ++i; + } + return result; + } - virtual size_t getSerializedSize() const { - uint32_t printSize = sizeof(_size); - uint32_t i = 0; + virtual size_t getSerializedSize() const { + uint32_t printSize = sizeof(_size); + uint32_t i = 0; - for (i = 0; i < _size; ++i) { - printSize += SerializeAdapter::getSerializedSize( - &theMap[i].first); - printSize += SerializeAdapter::getSerializedSize(&theMap[i].second); - } + for (i = 0; i < _size; ++i) { + printSize += SerializeAdapter::getSerializedSize( + &theMap[i].first); + printSize += SerializeAdapter::getSerializedSize(&theMap[i].second); + } - return printSize; - } + return printSize; + } - virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness) { - ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size, - buffer, size, streamEndianness); - if (this->_size > theMap.maxSize()) { - return SerializeIF::TOO_MANY_ELEMENTS; - } - uint32_t i = 0; - while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) { - result = SerializeAdapter::deSerialize(&theMap[i].first, buffer, - size, streamEndianness); - result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size, - streamEndianness); - ++i; - } - return result; - } + virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness) { + ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size, + buffer, size, streamEndianness); + if (this->_size > theMap.maxSize()) { + return SerializeIF::TOO_MANY_ELEMENTS; + } + uint32_t i = 0; + while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) { + result = SerializeAdapter::deSerialize(&theMap[i].first, buffer, + size, streamEndianness); + result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size, + streamEndianness); + ++i; + } + return result; + } }; diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h index acf2368a..cb8abdca 100644 --- a/container/FixedOrderedMultimap.h +++ b/container/FixedOrderedMultimap.h @@ -34,172 +34,172 @@ template> class FixedOrderedMultimap { public: - static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP; - static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01); - static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02); + static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP; + static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01); + static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02); - /*** - * Constructor which needs a size_t for the maximum allowed size - * - * Can not be resized during runtime - * - * Allocates memory at construction - * @param maxSize size_t of Maximum allowed size - */ + /*** + * Constructor which needs a size_t for the maximum allowed size + * + * Can not be resized during runtime + * + * Allocates memory at construction + * @param maxSize size_t of Maximum allowed size + */ FixedOrderedMultimap(size_t maxSize):theMap(maxSize), _size(0){ } - /*** - * Virtual destructor frees Memory by deleting its member - */ - virtual ~FixedOrderedMultimap() { - } + /*** + * Virtual destructor frees Memory by deleting its member + */ + virtual ~FixedOrderedMultimap() { + } - /*** - * Special iterator for FixedOrderedMultimap - */ - class Iterator: public ArrayList, size_t>::Iterator { - public: - Iterator() : - ArrayList, size_t>::Iterator() { - } + /*** + * Special iterator for FixedOrderedMultimap + */ + class Iterator: public ArrayList, size_t>::Iterator { + public: + Iterator() : + ArrayList, size_t>::Iterator() { + } - Iterator(std::pair *pair) : - ArrayList, size_t>::Iterator(pair) { - } - }; + Iterator(std::pair *pair) : + ArrayList, size_t>::Iterator(pair) { + } + }; - /*** - * Returns an iterator pointing to the first element - * @return Iterator pointing to first element - */ - Iterator begin() const { - return Iterator(&theMap[0]); - } + /*** + * Returns an iterator pointing to the first element + * @return Iterator pointing to first element + */ + Iterator begin() const { + return Iterator(&theMap[0]); + } - /** - * Returns an iterator pointing to one element past the end - * @return Iterator pointing to one element past the end - */ - Iterator end() const { - return Iterator(&theMap[_size]); - } + /** + * Returns an iterator pointing to one element past the end + * @return Iterator pointing to one element past the end + */ + Iterator end() const { + return Iterator(&theMap[_size]); + } - /*** - * Returns the current size of the map (not maximum size!) - * @return Current size - */ - size_t size() const{ - return _size; - } + /*** + * Returns the current size of the map (not maximum size!) + * @return Current size + */ + size_t size() const{ + return _size; + } - /** - * Clears the map, does not deallocate any memory - */ - void clear(){ - _size = 0; - } + /** + * Clears the map, does not deallocate any memory + */ + void clear(){ + _size = 0; + } - /** - * Returns the maximum size of the map - * @return Maximum size of the map - */ - size_t maxSize() const{ - return theMap.maxSize(); - } + /** + * Returns the maximum size of the map + * @return Maximum size of the map + */ + size_t maxSize() const{ + return theMap.maxSize(); + } - /*** - * Used to insert a key and value separately. - * - * @param[in] key Key of the new element - * @param[in] value Value of the new element - * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr - * @return RETURN_OK if insert was successful, MAP_FULL if no space is available - */ - ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr); + /*** + * Used to insert a key and value separately. + * + * @param[in] key Key of the new element + * @param[in] value Value of the new element + * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr + * @return RETURN_OK if insert was successful, MAP_FULL if no space is available + */ + ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr); - /*** - * Used to insert new pair instead of single values - * - * @param pair Pair to be inserted - * @return RETURN_OK if insert was successful, MAP_FULL if no space is available - */ - ReturnValue_t insert(std::pair pair); + /*** + * Used to insert new pair instead of single values + * + * @param pair Pair to be inserted + * @return RETURN_OK if insert was successful, MAP_FULL if no space is available + */ + ReturnValue_t insert(std::pair pair); - /*** - * Can be used to check if a certain key is in the map - * @param key Key to be checked - * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise - */ - ReturnValue_t exists(key_t key) const; + /*** + * Can be used to check if a certain key is in the map + * @param key Key to be checked + * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise + */ + ReturnValue_t exists(key_t key) const; - /*** - * Used to delete the element in the iterator - * - * The iterator will point to the element before or begin(), - * but never to one element in front of the map. - * - * @warning The iterator needs to be valid and dereferenceable - * @param[in/out] iter Pointer to iterator to the element that needs to be ereased - * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this - */ - ReturnValue_t erase(Iterator *iter); + /*** + * Used to delete the element in the iterator + * + * The iterator will point to the element before or begin(), + * but never to one element in front of the map. + * + * @warning The iterator needs to be valid and dereferenceable + * @param[in/out] iter Pointer to iterator to the element that needs to be ereased + * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this + */ + ReturnValue_t erase(Iterator *iter); - /*** - * Used to erase by key - * @param key Key to be erased - * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this - */ - ReturnValue_t erase(key_t key); + /*** + * Used to erase by key + * @param key Key to be erased + * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this + */ + ReturnValue_t erase(key_t key); - /*** - * Find returns the first appearance of the key - * - * If the key does not exist, it points to end() - * - * @param key Key to search for - * @return Iterator pointing to the first entry of key - */ - Iterator find(key_t key) const{ - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return end(); - } - return Iterator(&theMap[findFirstIndex(key)]); - }; + /*** + * Find returns the first appearance of the key + * + * If the key does not exist, it points to end() + * + * @param key Key to search for + * @return Iterator pointing to the first entry of key + */ + Iterator find(key_t key) const{ + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return end(); + } + return Iterator(&theMap[findFirstIndex(key)]); + }; - /*** - * Finds first entry of the given key and returns a - * pointer to the value - * - * @param key Key to search for - * @param value Found value - * @return RETURN_OK if it points to the value, - * KEY_DOES_NOT_EXIST if the key is not in the map - */ - ReturnValue_t find(key_t key, T **value) const; + /*** + * Finds first entry of the given key and returns a + * pointer to the value + * + * @param key Key to search for + * @param value Found value + * @return RETURN_OK if it points to the value, + * KEY_DOES_NOT_EXIST if the key is not in the map + */ + ReturnValue_t find(key_t key, T **value) const; - friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs, - const typename FixedOrderedMultimap::Iterator& rhs) { - return (lhs.value == rhs.value); - } + friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs, + const typename FixedOrderedMultimap::Iterator& rhs) { + return (lhs.value == rhs.value); + } - friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs, - const typename FixedOrderedMultimap::Iterator& rhs) { - return not (lhs.value == rhs.value); - } + friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs, + const typename FixedOrderedMultimap::Iterator& rhs) { + return not (lhs.value == rhs.value); + } private: - typedef KEY_COMPARE compare; - compare myComp; - ArrayList, size_t> theMap; - size_t _size; + typedef KEY_COMPARE compare; + compare myComp; + ArrayList, size_t> theMap; + size_t _size; - size_t findFirstIndex(key_t key, size_t startAt = 0) const; + size_t findFirstIndex(key_t key, size_t startAt = 0) const; - size_t findNicePlace(key_t key) const; + size_t findNicePlace(key_t key) const; - void removeFromPosition(size_t position); + void removeFromPosition(size_t position); }; #include "FixedOrderedMultimap.tpp" diff --git a/container/FixedOrderedMultimap.tpp b/container/FixedOrderedMultimap.tpp index 4aa85e97..294a161f 100644 --- a/container/FixedOrderedMultimap.tpp +++ b/container/FixedOrderedMultimap.tpp @@ -4,105 +4,105 @@ template inline ReturnValue_t FixedOrderedMultimap::insert(key_t key, T value, Iterator *storedValue) { - if (_size == theMap.maxSize()) { - return MAP_FULL; - } - size_t position = findNicePlace(key); - memmove(static_cast(&theMap[position + 1]),static_cast(&theMap[position]), - (_size - position) * sizeof(std::pair)); - theMap[position].first = key; - theMap[position].second = value; - ++_size; - if (storedValue != nullptr) { - *storedValue = Iterator(&theMap[position]); - } - return HasReturnvaluesIF::RETURN_OK; + if (_size == theMap.maxSize()) { + return MAP_FULL; + } + size_t position = findNicePlace(key); + memmove(static_cast(&theMap[position + 1]),static_cast(&theMap[position]), + (_size - position) * sizeof(std::pair)); + theMap[position].first = key; + theMap[position].second = value; + ++_size; + if (storedValue != nullptr) { + *storedValue = Iterator(&theMap[position]); + } + return HasReturnvaluesIF::RETURN_OK; } template inline ReturnValue_t FixedOrderedMultimap::insert(std::pair pair) { - return insert(pair.first, pair.second); + return insert(pair.first, pair.second); } template inline ReturnValue_t FixedOrderedMultimap::exists(key_t key) const { - ReturnValue_t result = KEY_DOES_NOT_EXIST; - if (findFirstIndex(key) < _size) { - result = HasReturnvaluesIF::RETURN_OK; - } - return result; + ReturnValue_t result = KEY_DOES_NOT_EXIST; + if (findFirstIndex(key) < _size) { + result = HasReturnvaluesIF::RETURN_OK; + } + return result; } template inline ReturnValue_t FixedOrderedMultimap::erase(Iterator *iter) { - size_t i; - if ((i = findFirstIndex((*iter).value->first)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - removeFromPosition(i); - if (*iter != begin()) { - (*iter)--; - } else { - *iter = begin(); - } - return HasReturnvaluesIF::RETURN_OK; + size_t i; + if ((i = findFirstIndex((*iter).value->first)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + removeFromPosition(i); + if (*iter != begin()) { + (*iter)--; + } else { + *iter = begin(); + } + return HasReturnvaluesIF::RETURN_OK; } template inline ReturnValue_t FixedOrderedMultimap::erase(key_t key) { - size_t i; - if ((i = findFirstIndex(key)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - do { - removeFromPosition(i); - i = findFirstIndex(key, i); - } while (i < _size); - return HasReturnvaluesIF::RETURN_OK; + size_t i; + if ((i = findFirstIndex(key)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + do { + removeFromPosition(i); + i = findFirstIndex(key, i); + } while (i < _size); + return HasReturnvaluesIF::RETURN_OK; } template inline ReturnValue_t FixedOrderedMultimap::find(key_t key, T **value) const { - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - *value = &theMap[findFirstIndex(key)].second; - return HasReturnvaluesIF::RETURN_OK; + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + *value = &theMap[findFirstIndex(key)].second; + return HasReturnvaluesIF::RETURN_OK; } template inline size_t FixedOrderedMultimap::findFirstIndex(key_t key, size_t startAt) const { - if (startAt >= _size) { - return startAt + 1; - } - size_t i = startAt; - for (i = startAt; i < _size; ++i) { - if (theMap[i].first == key) { - return i; - } - } - return i; + if (startAt >= _size) { + return startAt + 1; + } + size_t i = startAt; + for (i = startAt; i < _size; ++i) { + if (theMap[i].first == key) { + return i; + } + } + return i; } template inline size_t FixedOrderedMultimap::findNicePlace(key_t key) const { - size_t i = 0; - for (i = 0; i < _size; ++i) { - if (myComp(key, theMap[i].first)) { - return i; - } - } - return i; + size_t i = 0; + for (i = 0; i < _size; ++i) { + if (myComp(key, theMap[i].first)) { + return i; + } + } + return i; } template inline void FixedOrderedMultimap::removeFromPosition(size_t position) { - if (_size <= position) { - return; - } - memmove(static_cast(&theMap[position]), static_cast(&theMap[position + 1]), - (_size - position - 1) * sizeof(std::pair)); - --_size; + if (_size <= position) { + return; + } + memmove(static_cast(&theMap[position]), static_cast(&theMap[position + 1]), + (_size - position - 1) * sizeof(std::pair)); + --_size; } diff --git a/container/HybridIterator.h b/container/HybridIterator.h index 8d020cb9..6e33e461 100644 --- a/container/HybridIterator.h +++ b/container/HybridIterator.h @@ -6,85 +6,85 @@ template class HybridIterator: public LinkedElement::Iterator, - public ArrayList::Iterator { + public ArrayList::Iterator { public: - HybridIterator() {} + HybridIterator() {} - HybridIterator(typename LinkedElement::Iterator *iter) : - LinkedElement::Iterator(*iter), value(iter->value), - linked(true) { + HybridIterator(typename LinkedElement::Iterator *iter) : + LinkedElement::Iterator(*iter), value(iter->value), + linked(true) { - } + } - HybridIterator(LinkedElement *start) : - LinkedElement::Iterator(start), value(start->value), - linked(true) { + HybridIterator(LinkedElement *start) : + LinkedElement::Iterator(start), value(start->value), + linked(true) { - } + } - HybridIterator(typename ArrayList::Iterator start, - typename ArrayList::Iterator end) : - ArrayList::Iterator(start), value(start.value), - linked(false), end(end.value) { - if (value == this->end) { - value = NULL; - } - } + HybridIterator(typename ArrayList::Iterator start, + typename ArrayList::Iterator end) : + ArrayList::Iterator(start), value(start.value), + linked(false), end(end.value) { + if (value == this->end) { + value = NULL; + } + } - HybridIterator(T *firstElement, T *lastElement) : - ArrayList::Iterator(firstElement), value(firstElement), - linked(false), end(++lastElement) { - if (value == end) { - value = NULL; - } - } + HybridIterator(T *firstElement, T *lastElement) : + ArrayList::Iterator(firstElement), value(firstElement), + linked(false), end(++lastElement) { + if (value == end) { + value = NULL; + } + } - HybridIterator& operator++() { - if (linked) { - LinkedElement::Iterator::operator++(); - if (LinkedElement::Iterator::value != nullptr) { - value = LinkedElement::Iterator::value->value; - } else { - value = nullptr; - } - } else { - ArrayList::Iterator::operator++(); - value = ArrayList::Iterator::value; + HybridIterator& operator++() { + if (linked) { + LinkedElement::Iterator::operator++(); + if (LinkedElement::Iterator::value != nullptr) { + value = LinkedElement::Iterator::value->value; + } else { + value = nullptr; + } + } else { + ArrayList::Iterator::operator++(); + value = ArrayList::Iterator::value; - if (value == end) { - value = nullptr; - } - } - return *this; - } + if (value == end) { + value = nullptr; + } + } + return *this; + } - HybridIterator operator++(int) { - HybridIterator tmp(*this); - operator++(); - return tmp; - } + HybridIterator operator++(int) { + HybridIterator tmp(*this); + operator++(); + return tmp; + } - bool operator==(const HybridIterator& other) const { - return value == other.value; - } + bool operator==(const HybridIterator& other) const { + return value == other.value; + } - bool operator!=(const HybridIterator& other) const { - return !(*this == other); - } + bool operator!=(const HybridIterator& other) const { + return !(*this == other); + } - T operator*() { - return *value; - } + T operator*() { + return *value; + } - T *operator->() { - return value; - } + T *operator->() { + return value; + } - T* value = nullptr; + T* value = nullptr; private: - bool linked = false; - T *end = nullptr; + bool linked = false; + T *end = nullptr; }; #endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */ diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h index 0d85b49b..df8980f7 100644 --- a/container/IndexedRingMemoryArray.h +++ b/container/IndexedRingMemoryArray.h @@ -10,687 +10,687 @@ template class Index: public SerializeIF{ - /** - * Index is the Type used for the list of indices. The template parameter is the type which describes the index, it needs to be a child of SerializeIF to be able to make it persistent - */ - static_assert(std::is_base_of::value,"Wrong Type for Index, Type must implement SerializeIF"); + /** + * Index is the Type used for the list of indices. The template parameter is the type which describes the index, it needs to be a child of SerializeIF to be able to make it persistent + */ + static_assert(std::is_base_of::value,"Wrong Type for Index, Type must implement SerializeIF"); public: - Index():blockStartAddress(0),size(0),storedPackets(0){} + Index():blockStartAddress(0),size(0),storedPackets(0){} - Index(uint32_t startAddress):blockStartAddress(startAddress),size(0),storedPackets(0){ + Index(uint32_t startAddress):blockStartAddress(startAddress),size(0),storedPackets(0){ - } + } - void setBlockStartAddress(uint32_t newAddress){ - this->blockStartAddress = newAddress; - } + void setBlockStartAddress(uint32_t newAddress){ + this->blockStartAddress = newAddress; + } - uint32_t getBlockStartAddress() const { - return blockStartAddress; - } + uint32_t getBlockStartAddress() const { + return blockStartAddress; + } - const T* getIndexType() const { - return &indexType; - } + const T* getIndexType() const { + return &indexType; + } - T* modifyIndexType(){ - return &indexType; - } - /** - * Updates the index Type. Uses = operator - * @param indexType Type to copy from - */ - void setIndexType(T* indexType) { - this->indexType = *indexType; - } + T* modifyIndexType(){ + return &indexType; + } + /** + * Updates the index Type. Uses = operator + * @param indexType Type to copy from + */ + void setIndexType(T* indexType) { + this->indexType = *indexType; + } - uint32_t getSize() const { - return size; - } + uint32_t getSize() const { + return size; + } - void setSize(uint32_t size) { - this->size = size; - } + void setSize(uint32_t size) { + this->size = size; + } - void addSize(uint32_t size){ - this->size += size; - } + void addSize(uint32_t size){ + this->size += size; + } - void setStoredPackets(uint32_t newStoredPackets){ - this->storedPackets = newStoredPackets; - } + void setStoredPackets(uint32_t newStoredPackets){ + this->storedPackets = newStoredPackets; + } - void addStoredPackets(uint32_t packets){ - this->storedPackets += packets; - } + void addStoredPackets(uint32_t packets){ + this->storedPackets += packets; + } - uint32_t getStoredPackets() const{ - return this->storedPackets; - } + uint32_t getStoredPackets() const{ + return this->storedPackets; + } - ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const { - ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = indexType.serialize(buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,maxSize,streamEndianness); - return result; - } + ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, Endianness streamEndianness) const { + ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = indexType.serialize(buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,maxSize,streamEndianness); + return result; + } - ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness){ - ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = indexType.deSerialize(buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - return result; - } + ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness){ + ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = indexType.deSerialize(buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + return result; + } - size_t getSerializedSize() const { - uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress); - size += indexType.getSerializedSize(); - size += SerializeAdapter::getSerializedSize(&this->size); - size += SerializeAdapter::getSerializedSize(&this->storedPackets); - return size; - } + size_t getSerializedSize() const { + uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress); + size += indexType.getSerializedSize(); + size += SerializeAdapter::getSerializedSize(&this->size); + size += SerializeAdapter::getSerializedSize(&this->storedPackets); + return size; + } - bool operator==(const Index& other){ - return ((blockStartAddress == other.getBlockStartAddress()) && (size==other.getSize())) && (indexType == *(other.getIndexType())); - } + bool operator==(const Index& other){ + return ((blockStartAddress == other.getBlockStartAddress()) && (size==other.getSize())) && (indexType == *(other.getIndexType())); + } private: - uint32_t blockStartAddress; - uint32_t size; - uint32_t storedPackets; - T indexType; + uint32_t blockStartAddress; + uint32_t size; + uint32_t storedPackets; + T indexType; }; template class IndexedRingMemoryArray: public SerializeIF, public ArrayList, uint32_t>{ - /** - * Indexed Ring Memory Array is a class for a ring memory with indices. It assumes that the newest data comes in last - * It uses the currentWriteBlock as pointer to the current writing position - * The currentReadBlock must be set manually - */ + /** + * Indexed Ring Memory Array is a class for a ring memory with indices. It assumes that the newest data comes in last + * It uses the currentWriteBlock as pointer to the current writing position + * The currentReadBlock must be set manually + */ public: - IndexedRingMemoryArray(uint32_t startAddress, uint32_t size, uint32_t bytesPerBlock, SerializeIF* additionalInfo, - bool overwriteOld) :ArrayList,uint32_t>(NULL,(uint32_t)10,(uint32_t)0),totalSize(size),indexAddress(startAddress),currentReadSize(0),currentReadBlockSizeCached(0),lastBlockToReadSize(0), additionalInfo(additionalInfo),overwriteOld(overwriteOld){ + IndexedRingMemoryArray(uint32_t startAddress, uint32_t size, uint32_t bytesPerBlock, SerializeIF* additionalInfo, + bool overwriteOld) :ArrayList,uint32_t>(NULL,(uint32_t)10,(uint32_t)0),totalSize(size),indexAddress(startAddress),currentReadSize(0),currentReadBlockSizeCached(0),lastBlockToReadSize(0), additionalInfo(additionalInfo),overwriteOld(overwriteOld){ - //Calculate the maximum number of indices needed for this blocksize - uint32_t maxNrOfIndices = floor(static_cast(size)/static_cast(bytesPerBlock)); + //Calculate the maximum number of indices needed for this blocksize + uint32_t maxNrOfIndices = floor(static_cast(size)/static_cast(bytesPerBlock)); - //Calculate the Size needeed for the index itself - uint32_t serializedSize = 0; - if(additionalInfo!=NULL){ - serializedSize += additionalInfo->getSerializedSize(); - } - //Size of current iterator type - Index tempIndex; - serializedSize += tempIndex.getSerializedSize(); + //Calculate the Size needeed for the index itself + uint32_t serializedSize = 0; + if(additionalInfo!=NULL){ + serializedSize += additionalInfo->getSerializedSize(); + } + //Size of current iterator type + Index tempIndex; + serializedSize += tempIndex.getSerializedSize(); - //Add Size of Array - serializedSize += sizeof(uint32_t); //size of array - serializedSize += (tempIndex.getSerializedSize() * maxNrOfIndices); //size of elements - serializedSize += sizeof(uint16_t); //size of crc + //Add Size of Array + serializedSize += sizeof(uint32_t); //size of array + serializedSize += (tempIndex.getSerializedSize() * maxNrOfIndices); //size of elements + serializedSize += sizeof(uint16_t); //size of crc - //Calculate new size after index - if(serializedSize > totalSize){ - error << "IndexedRingMemory: Store is too small for index" << std::endl; - } - uint32_t useableSize = totalSize - serializedSize; - //Update the totalSize for calculations - totalSize = useableSize; + //Calculate new size after index + if(serializedSize > totalSize){ + error << "IndexedRingMemory: Store is too small for index" << std::endl; + } + uint32_t useableSize = totalSize - serializedSize; + //Update the totalSize for calculations + totalSize = useableSize; - //True StartAddress - uint32_t trueStartAddress = indexAddress + serializedSize; + //True StartAddress + uint32_t trueStartAddress = indexAddress + serializedSize; - //Calculate True number of Blocks and reset size of true Number of Blocks - uint32_t trueNumberOfBlocks = floor(static_cast(totalSize) / static_cast(bytesPerBlock)); + //Calculate True number of Blocks and reset size of true Number of Blocks + uint32_t trueNumberOfBlocks = floor(static_cast(totalSize) / static_cast(bytesPerBlock)); - //allocate memory now - this->entries = new Index[trueNumberOfBlocks]; - this->size = trueNumberOfBlocks; - this->maxSize_ = trueNumberOfBlocks; - this->allocated = true; + //allocate memory now + this->entries = new Index[trueNumberOfBlocks]; + this->size = trueNumberOfBlocks; + this->maxSize_ = trueNumberOfBlocks; + this->allocated = true; - //Check trueNumberOfBlocks - if(trueNumberOfBlocks<1){ - error << "IndexedRingMemory: Invalid Number of Blocks: " << trueNumberOfBlocks; - } + //Check trueNumberOfBlocks + if(trueNumberOfBlocks<1){ + error << "IndexedRingMemory: Invalid Number of Blocks: " << trueNumberOfBlocks; + } - //Fill address into index - uint32_t address = trueStartAddress; - for (typename IndexedRingMemoryArray::Iterator it = this->begin();it!=this->end();++it) { - it->setBlockStartAddress(address); - it->setSize(0); - it->setStoredPackets(0); - address += bytesPerBlock; - } + //Fill address into index + uint32_t address = trueStartAddress; + for (typename IndexedRingMemoryArray::Iterator it = this->begin();it!=this->end();++it) { + it->setBlockStartAddress(address); + it->setSize(0); + it->setStoredPackets(0); + address += bytesPerBlock; + } - //Initialize iterators - currentWriteBlock = this->begin(); - currentReadBlock = this->begin(); - lastBlockToRead = this->begin(); + //Initialize iterators + currentWriteBlock = this->begin(); + currentReadBlock = this->begin(); + lastBlockToRead = this->begin(); - //Check last blockSize - uint32_t lastBlockSize = (trueStartAddress + useableSize) - (this->back()->getBlockStartAddress()); - if((lastBlockSizesize > 1)){ - //remove the last Block so the second last block has more size - this->size -= 1; - debug << "IndexedRingMemory: Last Block is smaller than bytesPerBlock, removed last block" << std::endl; - } - } + //Check last blockSize + uint32_t lastBlockSize = (trueStartAddress + useableSize) - (this->back()->getBlockStartAddress()); + if((lastBlockSizesize > 1)){ + //remove the last Block so the second last block has more size + this->size -= 1; + debug << "IndexedRingMemory: Last Block is smaller than bytesPerBlock, removed last block" << std::endl; + } + } - /** - * Resets the whole index, the iterators and executes the given reset function on every index type - * @param typeResetFnc static reset function which accepts a pointer to the index Type - */ - void reset(void (*typeResetFnc)(T*)){ - currentReadBlock = this->begin(); - currentWriteBlock = this->begin(); - lastBlockToRead = this->begin(); - currentReadSize = 0; - currentReadBlockSizeCached = 0; - lastBlockToReadSize = 0; - for(typename IndexedRingMemoryArray::Iterator it = this->begin();it!=this->end();++it){ - it->setSize(0); - it->setStoredPackets(0); - (*typeResetFnc)(it->modifyIndexType()); - } - } + /** + * Resets the whole index, the iterators and executes the given reset function on every index type + * @param typeResetFnc static reset function which accepts a pointer to the index Type + */ + void reset(void (*typeResetFnc)(T*)){ + currentReadBlock = this->begin(); + currentWriteBlock = this->begin(); + lastBlockToRead = this->begin(); + currentReadSize = 0; + currentReadBlockSizeCached = 0; + lastBlockToReadSize = 0; + for(typename IndexedRingMemoryArray::Iterator it = this->begin();it!=this->end();++it){ + it->setSize(0); + it->setStoredPackets(0); + (*typeResetFnc)(it->modifyIndexType()); + } + } - void resetBlock(typename IndexedRingMemoryArray::Iterator it,void (*typeResetFnc)(T*)){ - it->setSize(0); - it->setStoredPackets(0); - (*typeResetFnc)(it->modifyIndexType()); - } + void resetBlock(typename IndexedRingMemoryArray::Iterator it,void (*typeResetFnc)(T*)){ + it->setSize(0); + it->setStoredPackets(0); + (*typeResetFnc)(it->modifyIndexType()); + } - /* - * Reading - */ + /* + * Reading + */ - void setCurrentReadBlock(typename IndexedRingMemoryArray::Iterator it){ - currentReadBlock = it; - currentReadBlockSizeCached = it->getSize(); - } + void setCurrentReadBlock(typename IndexedRingMemoryArray::Iterator it){ + currentReadBlock = it; + currentReadBlockSizeCached = it->getSize(); + } - void resetRead(){ - currentReadBlock = this->begin(); - currentReadSize = 0; - currentReadBlockSizeCached = this->begin()->getSize(); - lastBlockToRead = currentWriteBlock; - lastBlockToReadSize = currentWriteBlock->getSize(); - } - /** - * Sets the last block to read to this iterator. - * Can be used to dump until block x - * @param it The iterator for the last read block - */ - void setLastBlockToRead(typename IndexedRingMemoryArray::Iterator it){ - lastBlockToRead = it; - lastBlockToReadSize = it->getSize(); - } + void resetRead(){ + currentReadBlock = this->begin(); + currentReadSize = 0; + currentReadBlockSizeCached = this->begin()->getSize(); + lastBlockToRead = currentWriteBlock; + lastBlockToReadSize = currentWriteBlock->getSize(); + } + /** + * Sets the last block to read to this iterator. + * Can be used to dump until block x + * @param it The iterator for the last read block + */ + void setLastBlockToRead(typename IndexedRingMemoryArray::Iterator it){ + lastBlockToRead = it; + lastBlockToReadSize = it->getSize(); + } - /** - * Set the read pointer to the first written Block, which is the first non empty block in front of the write block - * Can be the currentWriteBlock as well - */ - void readOldest(){ - resetRead(); - currentReadBlock = getNextNonEmptyBlock(); - currentReadBlockSizeCached = currentReadBlock->getSize(); + /** + * Set the read pointer to the first written Block, which is the first non empty block in front of the write block + * Can be the currentWriteBlock as well + */ + void readOldest(){ + resetRead(); + currentReadBlock = getNextNonEmptyBlock(); + currentReadBlockSizeCached = currentReadBlock->getSize(); - } + } - /** - * Sets the current read iterator to the next Block and resets the current read size - * The current size of the block will be cached to avoid race condition between write and read - * If the end of the ring is reached the read pointer will be set to the begin - */ - void readNext(){ - currentReadSize = 0; - if((this->size != 0) && (currentReadBlock.value ==this->back())){ - currentReadBlock = this->begin(); - }else{ - currentReadBlock++; - } + /** + * Sets the current read iterator to the next Block and resets the current read size + * The current size of the block will be cached to avoid race condition between write and read + * If the end of the ring is reached the read pointer will be set to the begin + */ + void readNext(){ + currentReadSize = 0; + if((this->size != 0) && (currentReadBlock.value ==this->back())){ + currentReadBlock = this->begin(); + }else{ + currentReadBlock++; + } - currentReadBlockSizeCached = currentReadBlock->getSize(); - } + currentReadBlockSizeCached = currentReadBlock->getSize(); + } - /** - * Returns the address which is currently read from - * @return Address to read from - */ - uint32_t getCurrentReadAddress() const { - return getAddressOfCurrentReadBlock() + currentReadSize; - } - /** - * Adds readSize to the current size and checks if the read has no more data left and advances the read block - * @param readSize The size that was read - * @return Returns true if the read can go on - */ - bool addReadSize(uint32_t readSize) { - if(currentReadBlock == lastBlockToRead){ - //The current read block is the last to read - if((currentReadSize+readSize) return true - currentReadSize += readSize; - return true; - }else{ - //Reached end of read -> return false - currentReadSize = lastBlockToReadSize; - return false; - } - }else{ - //We are not in the last Block - if((currentReadSize + readSize)::Iterator it(currentReadBlock); - //Search if any block between this and the last block is not empty - for(;it!=lastBlockToRead;++it){ - if(it == this->end()){ - //This is the end, next block is the begin - it = this->begin(); - if(it == lastBlockToRead){ - //Break if the begin is the lastBlockToRead - break; - } - } - if(it->getSize()!=0){ - //This is a non empty block. Go on reading with this block - currentReadBlock = it; - currentReadBlockSizeCached = it->getSize(); - return true; - } - } - //reached lastBlockToRead and every block was empty, check if the last block is also empty - if(lastBlockToReadSize!=0){ - //go on with last Block - currentReadBlock = lastBlockToRead; - currentReadBlockSizeCached = lastBlockToReadSize; - return true; - } - //There is no non empty block left - return false; - } - //Size is larger than 0 - return true; - } - } - } - uint32_t getRemainigSizeOfCurrentReadBlock() const{ - if(currentReadBlock == lastBlockToRead){ - return (lastBlockToReadSize - currentReadSize); - }else{ - return (currentReadBlockSizeCached - currentReadSize); - } - } + /** + * Returns the address which is currently read from + * @return Address to read from + */ + uint32_t getCurrentReadAddress() const { + return getAddressOfCurrentReadBlock() + currentReadSize; + } + /** + * Adds readSize to the current size and checks if the read has no more data left and advances the read block + * @param readSize The size that was read + * @return Returns true if the read can go on + */ + bool addReadSize(uint32_t readSize) { + if(currentReadBlock == lastBlockToRead){ + //The current read block is the last to read + if((currentReadSize+readSize) return true + currentReadSize += readSize; + return true; + }else{ + //Reached end of read -> return false + currentReadSize = lastBlockToReadSize; + return false; + } + }else{ + //We are not in the last Block + if((currentReadSize + readSize)::Iterator it(currentReadBlock); + //Search if any block between this and the last block is not empty + for(;it!=lastBlockToRead;++it){ + if(it == this->end()){ + //This is the end, next block is the begin + it = this->begin(); + if(it == lastBlockToRead){ + //Break if the begin is the lastBlockToRead + break; + } + } + if(it->getSize()!=0){ + //This is a non empty block. Go on reading with this block + currentReadBlock = it; + currentReadBlockSizeCached = it->getSize(); + return true; + } + } + //reached lastBlockToRead and every block was empty, check if the last block is also empty + if(lastBlockToReadSize!=0){ + //go on with last Block + currentReadBlock = lastBlockToRead; + currentReadBlockSizeCached = lastBlockToReadSize; + return true; + } + //There is no non empty block left + return false; + } + //Size is larger than 0 + return true; + } + } + } + uint32_t getRemainigSizeOfCurrentReadBlock() const{ + if(currentReadBlock == lastBlockToRead){ + return (lastBlockToReadSize - currentReadSize); + }else{ + return (currentReadBlockSizeCached - currentReadSize); + } + } - uint32_t getAddressOfCurrentReadBlock() const { - return currentReadBlock->getBlockStartAddress(); - } + uint32_t getAddressOfCurrentReadBlock() const { + return currentReadBlock->getBlockStartAddress(); + } - /** - * Gets the next non empty Block after the current write block, - * @return Returns the iterator to the block. If there is non, the current write block is returned - */ - typename IndexedRingMemoryArray::Iterator getNextNonEmptyBlock() const { - for(typename IndexedRingMemoryArray::Iterator it = getNextWrite();it!=currentWriteBlock;++it){ - if(it == this->end()){ - it = this->begin(); - if(it == currentWriteBlock){ - break; - } - } - if(it->getSize()!=0){ - return it; - } - } - return currentWriteBlock; - } + /** + * Gets the next non empty Block after the current write block, + * @return Returns the iterator to the block. If there is non, the current write block is returned + */ + typename IndexedRingMemoryArray::Iterator getNextNonEmptyBlock() const { + for(typename IndexedRingMemoryArray::Iterator it = getNextWrite();it!=currentWriteBlock;++it){ + if(it == this->end()){ + it = this->begin(); + if(it == currentWriteBlock){ + break; + } + } + if(it->getSize()!=0){ + return it; + } + } + return currentWriteBlock; + } - /** - * Returns a copy of the oldest Index type - * @return Type of Index - */ - T* getOldest(){ - return (getNextNonEmptyBlock()->modifyIndexType()); - } + /** + * Returns a copy of the oldest Index type + * @return Type of Index + */ + T* getOldest(){ + return (getNextNonEmptyBlock()->modifyIndexType()); + } - /* - * Writing - */ - uint32_t getAddressOfCurrentWriteBlock() const{ - return currentWriteBlock->getBlockStartAddress(); - } + /* + * Writing + */ + uint32_t getAddressOfCurrentWriteBlock() const{ + return currentWriteBlock->getBlockStartAddress(); + } - uint32_t getSizeOfCurrentWriteBlock() const{ - return currentWriteBlock->getSize(); - } + uint32_t getSizeOfCurrentWriteBlock() const{ + return currentWriteBlock->getSize(); + } - uint32_t getCurrentWriteAddress() const{ - return getAddressOfCurrentWriteBlock() + getSizeOfCurrentWriteBlock(); - } + uint32_t getCurrentWriteAddress() const{ + return getAddressOfCurrentWriteBlock() + getSizeOfCurrentWriteBlock(); + } - void clearCurrentWriteBlock(){ - currentWriteBlock->setSize(0); - currentWriteBlock->setStoredPackets(0); - } + void clearCurrentWriteBlock(){ + currentWriteBlock->setSize(0); + currentWriteBlock->setStoredPackets(0); + } - void addCurrentWriteBlock(uint32_t size, uint32_t storedPackets){ - currentWriteBlock->addSize(size); - currentWriteBlock->addStoredPackets(storedPackets); - } + void addCurrentWriteBlock(uint32_t size, uint32_t storedPackets){ + currentWriteBlock->addSize(size); + currentWriteBlock->addStoredPackets(storedPackets); + } - T* modifyCurrentWriteBlockIndexType(){ - return currentWriteBlock->modifyIndexType(); - } - void updatePreviousWriteSize(uint32_t size, uint32_t storedPackets){ - typename IndexedRingMemoryArray::Iterator it = getPreviousBlock(currentWriteBlock); - it->addSize(size); - it->addStoredPackets(storedPackets); - } + T* modifyCurrentWriteBlockIndexType(){ + return currentWriteBlock->modifyIndexType(); + } + void updatePreviousWriteSize(uint32_t size, uint32_t storedPackets){ + typename IndexedRingMemoryArray::Iterator it = getPreviousBlock(currentWriteBlock); + it->addSize(size); + it->addStoredPackets(storedPackets); + } - /** - * Checks if the block has enough space for sizeToWrite - * @param sizeToWrite The data to be written in the Block - * @return Returns true if size to write is smaller the remaining size of the block - */ - bool hasCurrentWriteBlockEnoughSpace(uint32_t sizeToWrite){ - typename IndexedRingMemoryArray::Iterator next = getNextWrite(); - uint32_t addressOfNextBlock = next->getBlockStartAddress(); - uint32_t availableSize = ((addressOfNextBlock+totalSize) - (getAddressOfCurrentWriteBlock()+getSizeOfCurrentWriteBlock()))%totalSize; - return (sizeToWrite < availableSize); - } + /** + * Checks if the block has enough space for sizeToWrite + * @param sizeToWrite The data to be written in the Block + * @return Returns true if size to write is smaller the remaining size of the block + */ + bool hasCurrentWriteBlockEnoughSpace(uint32_t sizeToWrite){ + typename IndexedRingMemoryArray::Iterator next = getNextWrite(); + uint32_t addressOfNextBlock = next->getBlockStartAddress(); + uint32_t availableSize = ((addressOfNextBlock+totalSize) - (getAddressOfCurrentWriteBlock()+getSizeOfCurrentWriteBlock()))%totalSize; + return (sizeToWrite < availableSize); + } - /** - * Checks if the store is full if overwrite old is false - * @return Returns true if it is writeable and false if not - */ - bool isNextBlockWritable(){ - //First check if this is the end of the list - typename IndexedRingMemoryArray::Iterator next; - next = getNextWrite(); - if((next->getSize()!=0) && (!overwriteOld)){ - return false; - } - return true; - } + /** + * Checks if the store is full if overwrite old is false + * @return Returns true if it is writeable and false if not + */ + bool isNextBlockWritable(){ + //First check if this is the end of the list + typename IndexedRingMemoryArray::Iterator next; + next = getNextWrite(); + if((next->getSize()!=0) && (!overwriteOld)){ + return false; + } + return true; + } - /** - * Updates current write Block Index Type - * @param infoOfNewBlock - */ - void updateCurrentBlock(T* infoOfNewBlock){ - currentWriteBlock->setIndexType(infoOfNewBlock); - } + /** + * Updates current write Block Index Type + * @param infoOfNewBlock + */ + void updateCurrentBlock(T* infoOfNewBlock){ + currentWriteBlock->setIndexType(infoOfNewBlock); + } - /** - * Succeed to next block, returns FAILED if overwrite is false and the store is full - * @return - */ - ReturnValue_t writeNext(){ - //Check Next Block - if(!isNextBlockWritable()){ - //The Index is full and does not overwrite old - return HasReturnvaluesIF::RETURN_FAILED; - } - //Next block can be written, update Metadata - currentWriteBlock = getNextWrite(); - currentWriteBlock->setSize(0); - currentWriteBlock->setStoredPackets(0); - return HasReturnvaluesIF::RETURN_OK; - } + /** + * Succeed to next block, returns FAILED if overwrite is false and the store is full + * @return + */ + ReturnValue_t writeNext(){ + //Check Next Block + if(!isNextBlockWritable()){ + //The Index is full and does not overwrite old + return HasReturnvaluesIF::RETURN_FAILED; + } + //Next block can be written, update Metadata + currentWriteBlock = getNextWrite(); + currentWriteBlock->setSize(0); + currentWriteBlock->setStoredPackets(0); + return HasReturnvaluesIF::RETURN_OK; + } - /** - * Serializes the Index and calculates the CRC. - * Parameters according to HasSerializeIF - * @param buffer - * @param size - * @param maxSize - * @param streamEndianness - * @return - */ - ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const{ - uint8_t* crcBuffer = *buffer; - uint32_t oldSize = *size; - if(additionalInfo!=NULL){ - additionalInfo->serialize(buffer,size,maxSize,streamEndianness); - } - ReturnValue_t result = currentWriteBlock->serialize(buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } + /** + * Serializes the Index and calculates the CRC. + * Parameters according to HasSerializeIF + * @param buffer + * @param size + * @param maxSize + * @param streamEndianness + * @return + */ + ReturnValue_t serialize(uint8_t** buffer, size_t* size, + size_t maxSize, Endianness streamEndianness) const{ + uint8_t* crcBuffer = *buffer; + uint32_t oldSize = *size; + if(additionalInfo!=NULL){ + additionalInfo->serialize(buffer,size,maxSize,streamEndianness); + } + ReturnValue_t result = currentWriteBlock->serialize(buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } - uint32_t i = 0; - while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) { - result = SerializeAdapter::serialize(&this->entries[i], buffer, size, - maxSize, streamEndianness); - ++i; - } - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize)); - result = SerializeAdapter::serialize(&crc,buffer,size,maxSize,streamEndianness); - return result; - } + uint32_t i = 0; + while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) { + result = SerializeAdapter::serialize(&this->entries[i], buffer, size, + maxSize, streamEndianness); + ++i; + } + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize)); + result = SerializeAdapter::serialize(&crc,buffer,size,maxSize,streamEndianness); + return result; + } - /** - * Get the serialized Size of the index - * @return The serialized size of the index - */ - size_t getSerializedSize() const { + /** + * Get the serialized Size of the index + * @return The serialized size of the index + */ + size_t getSerializedSize() const { - uint32_t size = 0; - if(additionalInfo!=NULL){ - size += additionalInfo->getSerializedSize(); - } - size += currentWriteBlock->getSerializedSize(); - size += SerializeAdapter::getSerializedSize(&this->size); - size += (this->entries[0].getSerializedSize()) * this->size; - uint16_t crc = 0; - size += SerializeAdapter::getSerializedSize(&crc); - return size; - } - /** - * DeSerialize the Indexed Ring from a buffer, deSerializes the current write iterator - * CRC Has to be checked before! - * @param buffer - * @param size - * @param streamEndianness - * @return - */ + uint32_t size = 0; + if(additionalInfo!=NULL){ + size += additionalInfo->getSerializedSize(); + } + size += currentWriteBlock->getSerializedSize(); + size += SerializeAdapter::getSerializedSize(&this->size); + size += (this->entries[0].getSerializedSize()) * this->size; + uint16_t crc = 0; + size += SerializeAdapter::getSerializedSize(&crc); + return size; + } + /** + * DeSerialize the Indexed Ring from a buffer, deSerializes the current write iterator + * CRC Has to be checked before! + * @param buffer + * @param size + * @param streamEndianness + * @return + */ - ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness){ + ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness){ - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - if(additionalInfo!=NULL){ - result = additionalInfo->deSerialize(buffer,size,streamEndianness); - } - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + if(additionalInfo!=NULL){ + result = additionalInfo->deSerialize(buffer,size,streamEndianness); + } + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } - Index tempIndex; - result = tempIndex.deSerialize(buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - uint32_t tempSize = 0; - result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness); - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - if(this->size != tempSize){ - return HasReturnvaluesIF::RETURN_FAILED; - } - uint32_t i = 0; - while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) { - result = SerializeAdapter::deSerialize( - &this->entries[i], buffer, size, - streamEndianness); - ++i; - } - if(result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - typename IndexedRingMemoryArray::Iterator cmp(&tempIndex); - for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ - if(*(cmp.value) == *(it.value)){ - currentWriteBlock = it; - return HasReturnvaluesIF::RETURN_OK; - } - } - //Reached if current write block iterator is not found - return HasReturnvaluesIF::RETURN_FAILED; - } + Index tempIndex; + result = tempIndex.deSerialize(buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + uint32_t tempSize = 0; + result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness); + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + if(this->size != tempSize){ + return HasReturnvaluesIF::RETURN_FAILED; + } + uint32_t i = 0; + while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) { + result = SerializeAdapter::deSerialize( + &this->entries[i], buffer, size, + streamEndianness); + ++i; + } + if(result != HasReturnvaluesIF::RETURN_OK){ + return result; + } + typename IndexedRingMemoryArray::Iterator cmp(&tempIndex); + for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ + if(*(cmp.value) == *(it.value)){ + currentWriteBlock = it; + return HasReturnvaluesIF::RETURN_OK; + } + } + //Reached if current write block iterator is not found + return HasReturnvaluesIF::RETURN_FAILED; + } - uint32_t getIndexAddress() const { - return indexAddress; - } + uint32_t getIndexAddress() const { + return indexAddress; + } - /* - * Statistics - */ - uint32_t getStoredPackets() const { - uint32_t size = 0; - for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ - size += it->getStoredPackets(); - } - return size; - } + /* + * Statistics + */ + uint32_t getStoredPackets() const { + uint32_t size = 0; + for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ + size += it->getStoredPackets(); + } + return size; + } - uint32_t getTotalSize() const { - return totalSize; - } + uint32_t getTotalSize() const { + return totalSize; + } - uint32_t getCurrentSize() const{ - uint32_t size = 0; - for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ - size += it->getSize(); - } - return size; - } + uint32_t getCurrentSize() const{ + uint32_t size = 0; + for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ + size += it->getSize(); + } + return size; + } - bool isEmpty() const{ - return getCurrentSize()==0; - } + bool isEmpty() const{ + return getCurrentSize()==0; + } - double getPercentageFilled() const{ - uint32_t filledSize = 0; - for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ - filledSize += it->getSize(); - } + double getPercentageFilled() const{ + uint32_t filledSize = 0; + for(typename IndexedRingMemoryArray::Iterator it= this->begin();it!=this->end();++it){ + filledSize += it->getSize(); + } - return (double)filledSize/(double)this->totalSize; - } + return (double)filledSize/(double)this->totalSize; + } - typename IndexedRingMemoryArray::Iterator getCurrentWriteBlock() const{ - return currentWriteBlock; - } - /** - * Get the next block of the currentWriteBlock. - * Returns the first one if currentWriteBlock is the last one - * @return Iterator pointing to the next block after currentWriteBlock - */ - typename IndexedRingMemoryArray::Iterator getNextWrite() const{ - typename IndexedRingMemoryArray::Iterator next(currentWriteBlock); - if((this->size != 0) && (currentWriteBlock.value == this->back())){ - next = this->begin(); - }else{ - ++next; - } - return next; - } - /** - * Get the block in front of the Iterator - * Returns the last block if it is the first block - * @param it iterator which you want the previous block from - * @return pointing to the block before it - */ - typename IndexedRingMemoryArray::Iterator getPreviousBlock(typename IndexedRingMemoryArray::Iterator it) { - if(this->begin() == it){ - typename IndexedRingMemoryArray::Iterator next((this->back())); - return next; - } - typename IndexedRingMemoryArray::Iterator next(it); - --next; - return next; - } + typename IndexedRingMemoryArray::Iterator getCurrentWriteBlock() const{ + return currentWriteBlock; + } + /** + * Get the next block of the currentWriteBlock. + * Returns the first one if currentWriteBlock is the last one + * @return Iterator pointing to the next block after currentWriteBlock + */ + typename IndexedRingMemoryArray::Iterator getNextWrite() const{ + typename IndexedRingMemoryArray::Iterator next(currentWriteBlock); + if((this->size != 0) && (currentWriteBlock.value == this->back())){ + next = this->begin(); + }else{ + ++next; + } + return next; + } + /** + * Get the block in front of the Iterator + * Returns the last block if it is the first block + * @param it iterator which you want the previous block from + * @return pointing to the block before it + */ + typename IndexedRingMemoryArray::Iterator getPreviousBlock(typename IndexedRingMemoryArray::Iterator it) { + if(this->begin() == it){ + typename IndexedRingMemoryArray::Iterator next((this->back())); + return next; + } + typename IndexedRingMemoryArray::Iterator next(it); + --next; + return next; + } private: - //The total size used by the blocks (without index) - uint32_t totalSize; + //The total size used by the blocks (without index) + uint32_t totalSize; - //The address of the index - const uint32_t indexAddress; + //The address of the index + const uint32_t indexAddress; - //The iterators for writing and reading - typename IndexedRingMemoryArray::Iterator currentWriteBlock; - typename IndexedRingMemoryArray::Iterator currentReadBlock; + //The iterators for writing and reading + typename IndexedRingMemoryArray::Iterator currentWriteBlock; + typename IndexedRingMemoryArray::Iterator currentReadBlock; - //How much of the current read block is read already - uint32_t currentReadSize; + //How much of the current read block is read already + uint32_t currentReadSize; - //Cached Size of current read block - uint32_t currentReadBlockSizeCached; + //Cached Size of current read block + uint32_t currentReadBlockSizeCached; - //Last block of current write (should be write block) - typename IndexedRingMemoryArray::Iterator lastBlockToRead; - //current size of last Block to read - uint32_t lastBlockToReadSize; + //Last block of current write (should be write block) + typename IndexedRingMemoryArray::Iterator lastBlockToRead; + //current size of last Block to read + uint32_t lastBlockToReadSize; - //Additional Info to be serialized with the index - SerializeIF* additionalInfo; + //Additional Info to be serialized with the index + SerializeIF* additionalInfo; - //Does it overwrite old blocks? - const bool overwriteOld; + //Does it overwrite old blocks? + const bool overwriteOld; }; diff --git a/container/PlacementFactory.h b/container/PlacementFactory.h index a0aebb7d..94b4aeef 100644 --- a/container/PlacementFactory.h +++ b/container/PlacementFactory.h @@ -22,50 +22,50 @@ */ class PlacementFactory { public: - PlacementFactory(StorageManagerIF* backend) : - dataBackend(backend) { - } + PlacementFactory(StorageManagerIF* backend) : + dataBackend(backend) { + } - /*** - * Generates an object of type T in the backend storage. - * - * @warning Do not use with any Type that allocates memory internally! - * - * @tparam T Type of Object - * @param args Constructor Arguments to be passed - * @return A pointer to the new object or a nullptr in case of failure - */ - template - T* generate(Args&&... args) { - store_address_t tempId; - uint8_t* pData = nullptr; - ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T), - &pData); - if (result != HasReturnvaluesIF::RETURN_OK) { - return nullptr; - } - T* temp = new (pData) T(std::forward(args)...); - return temp; - } - /*** - * Function to destroy the object allocated with generate and free space in backend. - * This must be called by the user. - * - * @param thisElement Element to be destroyed - * @return RETURN_OK if the element was destroyed, different errors on failure - */ - template - ReturnValue_t destroy(T* thisElement) { - if (thisElement == nullptr){ - return HasReturnvaluesIF::RETURN_FAILED; - } - //Need to call destructor first, in case something was allocated by the object (shouldn't do that, however). - thisElement->~T(); - uint8_t* pointer = (uint8_t*) (thisElement); - return dataBackend->deleteData(pointer, sizeof(T)); - } + /*** + * Generates an object of type T in the backend storage. + * + * @warning Do not use with any Type that allocates memory internally! + * + * @tparam T Type of Object + * @param args Constructor Arguments to be passed + * @return A pointer to the new object or a nullptr in case of failure + */ + template + T* generate(Args&&... args) { + store_address_t tempId; + uint8_t* pData = nullptr; + ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T), + &pData); + if (result != HasReturnvaluesIF::RETURN_OK) { + return nullptr; + } + T* temp = new (pData) T(std::forward(args)...); + return temp; + } + /*** + * Function to destroy the object allocated with generate and free space in backend. + * This must be called by the user. + * + * @param thisElement Element to be destroyed + * @return RETURN_OK if the element was destroyed, different errors on failure + */ + template + ReturnValue_t destroy(T* thisElement) { + if (thisElement == nullptr){ + return HasReturnvaluesIF::RETURN_FAILED; + } + //Need to call destructor first, in case something was allocated by the object (shouldn't do that, however). + thisElement->~T(); + uint8_t* pointer = (uint8_t*) (thisElement); + return dataBackend->deleteData(pointer, sizeof(T)); + } private: - StorageManagerIF* dataBackend; + StorageManagerIF* dataBackend; }; #endif /* FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_ */ diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h index 886b9fab..9277c50b 100644 --- a/container/RingBufferBase.h +++ b/container/RingBufferBase.h @@ -7,107 +7,107 @@ template class RingBufferBase { public: - RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) : - start(startAddress), write(startAddress), size(size), - overwriteOld(overwriteOld) { - for (uint8_t count = 0; count < N_READ_PTRS; count++) { - read[count] = startAddress; - } - } + RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) : + start(startAddress), write(startAddress), size(size), + overwriteOld(overwriteOld) { + for (uint8_t count = 0; count < N_READ_PTRS; count++) { + read[count] = startAddress; + } + } - virtual ~RingBufferBase() {} + virtual ~RingBufferBase() {} - bool isFull(uint8_t n = 0) { - return (availableWriteSpace(n) == 0); - } - bool isEmpty(uint8_t n = 0) { - return (getAvailableReadData(n) == 0); - } + bool isFull(uint8_t n = 0) { + return (availableWriteSpace(n) == 0); + } + bool isEmpty(uint8_t n = 0) { + return (getAvailableReadData(n) == 0); + } - size_t getAvailableReadData(uint8_t n = 0) const { - return ((write + size) - read[n]) % size; - } - size_t availableWriteSpace(uint8_t n = 0) const { - //One less to avoid ambiguous full/empty problem. - return (((read[n] + size) - write - 1) % size); - } + size_t getAvailableReadData(uint8_t n = 0) const { + return ((write + size) - read[n]) % size; + } + size_t availableWriteSpace(uint8_t n = 0) const { + //One less to avoid ambiguous full/empty problem. + return (((read[n] + size) - write - 1) % size); + } - bool overwritesOld() const { - return overwriteOld; - } + bool overwritesOld() const { + return overwriteOld; + } - size_t getMaxSize() const { - return size - 1; - } + size_t getMaxSize() const { + return size - 1; + } - void clear() { - write = start; - for (uint8_t count = 0; count < N_READ_PTRS; count++) { - read[count] = start; - } - } + void clear() { + write = start; + for (uint8_t count = 0; count < N_READ_PTRS; count++) { + read[count] = start; + } + } - size_t writeTillWrap() { - return (start + size) - write; - } + size_t writeTillWrap() { + return (start + size) - write; + } - size_t readTillWrap(uint8_t n = 0) { - return (start + size) - read[n]; - } + size_t readTillWrap(uint8_t n = 0) { + return (start + size) - read[n]; + } - size_t getStart() const { - return start; - } + size_t getStart() const { + return start; + } protected: - const size_t start; - size_t write; - size_t read[N_READ_PTRS]; - const size_t size; - const bool overwriteOld; + const size_t start; + size_t write; + size_t read[N_READ_PTRS]; + const size_t size; + const bool overwriteOld; - void incrementWrite(uint32_t amount) { - write = ((write + amount - start) % size) + start; - } - void incrementRead(uint32_t amount, uint8_t n = 0) { - read[n] = ((read[n] + amount - start) % size) + start; - } + void incrementWrite(uint32_t amount) { + write = ((write + amount - start) % size) + start; + } + void incrementRead(uint32_t amount, uint8_t n = 0) { + read[n] = ((read[n] + amount - start) % size) + start; + } - ReturnValue_t readData(uint32_t amount, uint8_t n = 0) { - if (getAvailableReadData(n) >= amount) { - incrementRead(amount, n); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - } + ReturnValue_t readData(uint32_t amount, uint8_t n = 0) { + if (getAvailableReadData(n) >= amount) { + incrementRead(amount, n); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } - ReturnValue_t writeData(uint32_t amount) { - if (availableWriteSpace() >= amount or overwriteOld) { - incrementWrite(amount); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - } + ReturnValue_t writeData(uint32_t amount) { + if (availableWriteSpace() >= amount or overwriteOld) { + incrementWrite(amount); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } - size_t getRead(uint8_t n = 0) const { - return read[n]; - } + size_t getRead(uint8_t n = 0) const { + return read[n]; + } - void setRead(uint32_t read, uint8_t n = 0) { - if (read >= start && read < (start+size)) { - this->read[n] = read; - } - } + void setRead(uint32_t read, uint8_t n = 0) { + if (read >= start && read < (start+size)) { + this->read[n] = read; + } + } - uint32_t getWrite() const { - return write; - } + uint32_t getWrite() const { + return write; + } - void setWrite(uint32_t write) { - this->write = write; - } + void setWrite(uint32_t write) { + this->write = write; + } }; #endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */ diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp index 769ce000..1681325d 100644 --- a/container/SharedRingBuffer.cpp +++ b/container/SharedRingBuffer.cpp @@ -3,23 +3,23 @@ #include "../ipc/MutexHelper.h" SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size, - bool overwriteOld, size_t maxExcessBytes): - SystemObject(objectId), SimpleRingBuffer(size, overwriteOld, - maxExcessBytes) { - mutex = MutexFactory::instance()->createMutex(); + bool overwriteOld, size_t maxExcessBytes): + SystemObject(objectId), SimpleRingBuffer(size, overwriteOld, + maxExcessBytes) { + mutex = MutexFactory::instance()->createMutex(); } SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer, - const size_t size, bool overwriteOld, size_t maxExcessBytes): - SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld, - maxExcessBytes) { - mutex = MutexFactory::instance()->createMutex(); + const size_t size, bool overwriteOld, size_t maxExcessBytes): + SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld, + maxExcessBytes) { + mutex = MutexFactory::instance()->createMutex(); } void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) { - this->fifoDepth = fifoDepth; + this->fifoDepth = fifoDepth; } ReturnValue_t SharedRingBuffer::lockRingBufferMutex( @@ -38,20 +38,20 @@ MutexIF* SharedRingBuffer::getMutexHandle() const { } ReturnValue_t SharedRingBuffer::initialize() { - if(fifoDepth > 0) { - receiveSizesFIFO = new DynamicFIFO(fifoDepth); - } - return SystemObject::initialize(); + if(fifoDepth > 0) { + receiveSizesFIFO = new DynamicFIFO(fifoDepth); + } + return SystemObject::initialize(); } DynamicFIFO* SharedRingBuffer::getReceiveSizesFIFO() { - if(receiveSizesFIFO == nullptr) { - // Configuration error. + if(receiveSizesFIFO == nullptr) { + // Configuration error. #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer" - << " was not configured to have sizes FIFO, returning nullptr!" - << std::endl; + sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer" + << " was not configured to have sizes FIFO, returning nullptr!" + << std::endl; #endif - } - return receiveSizesFIFO; + } + return receiveSizesFIFO; } diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h index 64d7ee29..43ab6e8f 100644 --- a/container/SharedRingBuffer.h +++ b/container/SharedRingBuffer.h @@ -15,76 +15,76 @@ * and unlock operations. */ class SharedRingBuffer: public SystemObject, - public SimpleRingBuffer { + public SimpleRingBuffer { public: - /** - * This constructor allocates a new internal buffer with the supplied size. - * @param size - * @param overwriteOld - * If the ring buffer is overflowing at a write operartion, the oldest data - * will be overwritten. - */ - SharedRingBuffer(object_id_t objectId, const size_t size, - bool overwriteOld, size_t maxExcessBytes); + /** + * This constructor allocates a new internal buffer with the supplied size. + * @param size + * @param overwriteOld + * If the ring buffer is overflowing at a write operartion, the oldest data + * will be overwritten. + */ + SharedRingBuffer(object_id_t objectId, const size_t size, + bool overwriteOld, size_t maxExcessBytes); - /** - * @brief This function can be used to add an optional FIFO to the class - * @details - * This FIFO will be allocated in the initialize function (and will - * have a fixed maximum size after that). It can be used to store - * values like packet sizes, for example for a shared ring buffer - * used by producer/consumer tasks. - */ - void setToUseReceiveSizeFIFO(size_t fifoDepth); + /** + * @brief This function can be used to add an optional FIFO to the class + * @details + * This FIFO will be allocated in the initialize function (and will + * have a fixed maximum size after that). It can be used to store + * values like packet sizes, for example for a shared ring buffer + * used by producer/consumer tasks. + */ + void setToUseReceiveSizeFIFO(size_t fifoDepth); - /** - * This constructor takes an external buffer with the specified size. - * @param buffer - * @param size - * @param overwriteOld - * If the ring buffer is overflowing at a write operartion, the oldest data - * will be overwritten. - */ - SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size, - bool overwriteOld, size_t maxExcessBytes); + /** + * This constructor takes an external buffer with the specified size. + * @param buffer + * @param size + * @param overwriteOld + * If the ring buffer is overflowing at a write operartion, the oldest data + * will be overwritten. + */ + SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size, + bool overwriteOld, size_t maxExcessBytes); - /** - * Unless a read-only constant value is read, all operations on the - * shared ring buffer should be protected by calling this function. - * @param timeoutType - * @param timeout - * @return - */ - virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType, - dur_millis_t timeout); - /** - * Any locked mutex also has to be unlocked, otherwise, access to the - * shared ring buffer will be blocked. - * @return - */ - virtual ReturnValue_t unlockRingBufferMutex(); + /** + * Unless a read-only constant value is read, all operations on the + * shared ring buffer should be protected by calling this function. + * @param timeoutType + * @param timeout + * @return + */ + virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType, + dur_millis_t timeout); + /** + * Any locked mutex also has to be unlocked, otherwise, access to the + * shared ring buffer will be blocked. + * @return + */ + virtual ReturnValue_t unlockRingBufferMutex(); - /** - * The mutex handle can be accessed directly, for example to perform - * the lock with the #MutexHelper for a RAII compliant lock operation. - * @return - */ - MutexIF* getMutexHandle() const; + /** + * The mutex handle can be accessed directly, for example to perform + * the lock with the #MutexHelper for a RAII compliant lock operation. + * @return + */ + MutexIF* getMutexHandle() const; - ReturnValue_t initialize() override; + ReturnValue_t initialize() override; - /** - * If the shared ring buffer was configured to have a sizes FIFO, a handle - * to that FIFO can be retrieved with this function. - * Do not forget to protect access with a lock if required! - * @return - */ - DynamicFIFO* getReceiveSizesFIFO(); + /** + * If the shared ring buffer was configured to have a sizes FIFO, a handle + * to that FIFO can be retrieved with this function. + * Do not forget to protect access with a lock if required! + * @return + */ + DynamicFIFO* getReceiveSizesFIFO(); private: - MutexIF* mutex = nullptr; + MutexIF* mutex = nullptr; - size_t fifoDepth = 0; - DynamicFIFO* receiveSizesFIFO = nullptr; + size_t fifoDepth = 0; + DynamicFIFO* receiveSizesFIFO = nullptr; }; diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp index 88c9290e..8544acbf 100644 --- a/container/SimpleRingBuffer.cpp +++ b/container/SimpleRingBuffer.cpp @@ -2,31 +2,31 @@ #include SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, - size_t maxExcessBytes) : - RingBufferBase<>(0, size, overwriteOld), - maxExcessBytes(maxExcessBytes) { - if(maxExcessBytes > size) { - this->maxExcessBytes = size; - } - else { - this->maxExcessBytes = maxExcessBytes; - } - buffer = new uint8_t[size + maxExcessBytes]; + size_t maxExcessBytes) : + RingBufferBase<>(0, size, overwriteOld), + maxExcessBytes(maxExcessBytes) { + if(maxExcessBytes > size) { + this->maxExcessBytes = size; + } + else { + this->maxExcessBytes = maxExcessBytes; + } + buffer = new uint8_t[size + maxExcessBytes]; } SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size, - bool overwriteOld, size_t maxExcessBytes): + bool overwriteOld, size_t maxExcessBytes): RingBufferBase<>(0, size, overwriteOld), buffer(buffer) { - if(maxExcessBytes > size) { - this->maxExcessBytes = size; - } - else { - this->maxExcessBytes = maxExcessBytes; - } + if(maxExcessBytes > size) { + this->maxExcessBytes = size; + } + else { + this->maxExcessBytes = maxExcessBytes; + } } SimpleRingBuffer::~SimpleRingBuffer() { - delete[] buffer; + delete[] buffer; } ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer, @@ -48,58 +48,58 @@ ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer, } void SimpleRingBuffer::confirmBytesWritten(size_t amount) { - if(getExcessBytes() > 0) { - moveExcessBytesToStart(); - } - incrementWrite(amount); + if(getExcessBytes() > 0) { + moveExcessBytesToStart(); + } + incrementWrite(amount); } ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, - size_t amount) { - if (availableWriteSpace() >= amount or overwriteOld) { - size_t amountTillWrap = writeTillWrap(); - if (amountTillWrap >= amount) { - // remaining size in buffer is sufficient to fit full amount. - memcpy(&buffer[write], data, amount); - } - else { - memcpy(&buffer[write], data, amountTillWrap); - memcpy(buffer, data + amountTillWrap, amount - amountTillWrap); - } - incrementWrite(amount); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } + size_t amount) { + if (availableWriteSpace() >= amount or overwriteOld) { + size_t amountTillWrap = writeTillWrap(); + if (amountTillWrap >= amount) { + // remaining size in buffer is sufficient to fit full amount. + memcpy(&buffer[write], data, amount); + } + else { + memcpy(&buffer[write], data, amountTillWrap); + memcpy(buffer, data + amountTillWrap, amount - amountTillWrap); + } + incrementWrite(amount); + return HasReturnvaluesIF::RETURN_OK; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } } ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount, - bool incrementReadPtr, bool readRemaining, size_t* trueAmount) { - size_t availableData = getAvailableReadData(READ_PTR); - size_t amountTillWrap = readTillWrap(READ_PTR); - if (availableData < amount) { - if (readRemaining) { - // more data available than amount specified. - amount = availableData; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - } - if (trueAmount != nullptr) { - *trueAmount = amount; - } - if (amountTillWrap >= amount) { - memcpy(data, &buffer[read[READ_PTR]], amount); - } else { - memcpy(data, &buffer[read[READ_PTR]], amountTillWrap); - memcpy(data + amountTillWrap, buffer, amount - amountTillWrap); - } + bool incrementReadPtr, bool readRemaining, size_t* trueAmount) { + size_t availableData = getAvailableReadData(READ_PTR); + size_t amountTillWrap = readTillWrap(READ_PTR); + if (availableData < amount) { + if (readRemaining) { + // more data available than amount specified. + amount = availableData; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } + if (trueAmount != nullptr) { + *trueAmount = amount; + } + if (amountTillWrap >= amount) { + memcpy(data, &buffer[read[READ_PTR]], amount); + } else { + memcpy(data, &buffer[read[READ_PTR]], amountTillWrap); + memcpy(data + amountTillWrap, buffer, amount - amountTillWrap); + } - if(incrementReadPtr) { - deleteData(amount, readRemaining); - } - return HasReturnvaluesIF::RETURN_OK; + if(incrementReadPtr) { + deleteData(amount, readRemaining); + } + return HasReturnvaluesIF::RETURN_OK; } size_t SimpleRingBuffer::getExcessBytes() const { @@ -114,18 +114,18 @@ void SimpleRingBuffer::moveExcessBytesToStart() { } ReturnValue_t SimpleRingBuffer::deleteData(size_t amount, - bool deleteRemaining, size_t* trueAmount) { - size_t availableData = getAvailableReadData(READ_PTR); - if (availableData < amount) { - if (deleteRemaining) { - amount = availableData; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } - } - if (trueAmount != nullptr) { - *trueAmount = amount; - } - incrementRead(amount, READ_PTR); - return HasReturnvaluesIF::RETURN_OK; + bool deleteRemaining, size_t* trueAmount) { + size_t availableData = getAvailableReadData(READ_PTR); + if (availableData < amount) { + if (deleteRemaining) { + amount = availableData; + } else { + return HasReturnvaluesIF::RETURN_FAILED; + } + } + if (trueAmount != nullptr) { + *trueAmount = amount; + } + incrementRead(amount, READ_PTR); + return HasReturnvaluesIF::RETURN_OK; } diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h index 37ad5679..6f31c5fb 100644 --- a/container/SimpleRingBuffer.h +++ b/container/SimpleRingBuffer.h @@ -5,7 +5,7 @@ #include /** - * @brief Circular buffer implementation, useful for buffering + * @brief Circular buffer implementation, useful for buffering * into data streams. * @details * Note that the deleteData() has to be called to increment the read pointer. @@ -25,104 +25,104 @@ public: * with getFreeElement. * */ - SimpleRingBuffer(const size_t size, bool overwriteOld, - size_t maxExcessBytes = 0); - /** - * This constructor takes an external buffer with the specified size. - * @param buffer - * @param size - * @param overwriteOld - * If the ring buffer is overflowing at a write operartion, the oldest data + SimpleRingBuffer(const size_t size, bool overwriteOld, + size_t maxExcessBytes = 0); + /** + * This constructor takes an external buffer with the specified size. + * @param buffer + * @param size + * @param overwriteOld + * If the ring buffer is overflowing at a write operartion, the oldest data * will be overwritten. - * @param maxExcessBytes - * If the buffer can accomodate additional bytes for contigous write - * operations with getFreeElement, this is the maximum allowed additional - * size - */ - SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld, - size_t maxExcessBytes = 0); + * @param maxExcessBytes + * If the buffer can accomodate additional bytes for contigous write + * operations with getFreeElement, this is the maximum allowed additional + * size + */ + SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld, + size_t maxExcessBytes = 0); - virtual ~SimpleRingBuffer(); + virtual ~SimpleRingBuffer(); - /** - * Write to circular buffer and increment write pointer by amount. - * @param data - * @param amount - * @return -@c RETURN_OK if write operation was successfull - * -@c RETURN_FAILED if - */ - ReturnValue_t writeData(const uint8_t* data, size_t amount); + /** + * Write to circular buffer and increment write pointer by amount. + * @param data + * @param amount + * @return -@c RETURN_OK if write operation was successfull + * -@c RETURN_FAILED if + */ + ReturnValue_t writeData(const uint8_t* data, size_t amount); - /** - * Returns a pointer to a free element. If the remaining buffer is - * not large enough, the data will be written past the actual size - * and the amount of excess bytes will be cached. This function - * does not increment the write pointer! - * @param writePointer Pointer to a pointer which can be used to write - * contiguous blocks into the ring buffer - * @param amount - * @return - */ - ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount); + /** + * Returns a pointer to a free element. If the remaining buffer is + * not large enough, the data will be written past the actual size + * and the amount of excess bytes will be cached. This function + * does not increment the write pointer! + * @param writePointer Pointer to a pointer which can be used to write + * contiguous blocks into the ring buffer + * @param amount + * @return + */ + ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount); - /** - * This increments the write pointer and also copies the excess bytes - * to the beginning. It should be called if the write operation - * conducted after calling getFreeElement() was performed. - * @return - */ - void confirmBytesWritten(size_t amount); + /** + * This increments the write pointer and also copies the excess bytes + * to the beginning. It should be called if the write operation + * conducted after calling getFreeElement() was performed. + * @return + */ + void confirmBytesWritten(size_t amount); - virtual size_t getExcessBytes() const; - /** - * Helper functions which moves any excess bytes to the start - * of the ring buffer. - * @return - */ - virtual void moveExcessBytesToStart(); + virtual size_t getExcessBytes() const; + /** + * Helper functions which moves any excess bytes to the start + * of the ring buffer. + * @return + */ + virtual void moveExcessBytesToStart(); - /** - * Read from circular buffer at read pointer. - * @param data - * @param amount - * @param incrementReadPtr - * If this is set to true, the read pointer will be incremented. - * If readRemaining is set to true, the read pointer will be incremented - * accordingly. - * @param readRemaining - * If this is set to true, the data will be read even if the amount - * specified exceeds the read data available. - * @param trueAmount [out] - * If readRemaining was set to true, the true amount read will be assigned - * to the passed value. - * @return - * - @c RETURN_OK if data was read successfully - * - @c RETURN_FAILED if not enough data was available and readRemaining - * was set to false. - */ - ReturnValue_t readData(uint8_t* data, size_t amount, - bool incrementReadPtr = false, bool readRemaining = false, - size_t* trueAmount = nullptr); + /** + * Read from circular buffer at read pointer. + * @param data + * @param amount + * @param incrementReadPtr + * If this is set to true, the read pointer will be incremented. + * If readRemaining is set to true, the read pointer will be incremented + * accordingly. + * @param readRemaining + * If this is set to true, the data will be read even if the amount + * specified exceeds the read data available. + * @param trueAmount [out] + * If readRemaining was set to true, the true amount read will be assigned + * to the passed value. + * @return + * - @c RETURN_OK if data was read successfully + * - @c RETURN_FAILED if not enough data was available and readRemaining + * was set to false. + */ + ReturnValue_t readData(uint8_t* data, size_t amount, + bool incrementReadPtr = false, bool readRemaining = false, + size_t* trueAmount = nullptr); - /** - * Delete data by incrementing read pointer. - * @param amount - * @param deleteRemaining - * If the amount specified is larger than the remaing size to read and this - * is set to true, the remaining amount will be deleted as well - * @param trueAmount [out] - * If deleteRemaining was set to true, the amount deleted will be assigned - * to the passed value. - * @return - */ - ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false, - size_t* trueAmount = nullptr); + /** + * Delete data by incrementing read pointer. + * @param amount + * @param deleteRemaining + * If the amount specified is larger than the remaing size to read and this + * is set to true, the remaining amount will be deleted as well + * @param trueAmount [out] + * If deleteRemaining was set to true, the amount deleted will be assigned + * to the passed value. + * @return + */ + ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false, + size_t* trueAmount = nullptr); private: - static const uint8_t READ_PTR = 0; - uint8_t* buffer = nullptr; - size_t maxExcessBytes; - size_t excessBytes = 0; + static const uint8_t READ_PTR = 0; + uint8_t* buffer = nullptr; + size_t maxExcessBytes; + size_t excessBytes = 0; }; #endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */ diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h index eb6ae276..02d590c5 100644 --- a/container/SinglyLinkedList.h +++ b/container/SinglyLinkedList.h @@ -5,71 +5,71 @@ #include /** - * @brief Linked list data structure, - * each entry has a pointer to the next entry (singly) + * @brief Linked list data structure, + * each entry has a pointer to the next entry (singly) * @ingroup container */ template class LinkedElement { public: - T *value; - class Iterator { - public: - LinkedElement *value = nullptr; - Iterator() {} + T *value; + class Iterator { + public: + LinkedElement *value = nullptr; + Iterator() {} - Iterator(LinkedElement *element) : - value(element) { - } + Iterator(LinkedElement *element) : + value(element) { + } - Iterator& operator++() { - value = value->getNext(); - return *this; - } + Iterator& operator++() { + value = value->getNext(); + return *this; + } - Iterator operator++(int) { - Iterator tmp(*this); - operator++(); - return tmp; - } + Iterator operator++(int) { + Iterator tmp(*this); + operator++(); + return tmp; + } - bool operator==(Iterator other) { - return value == other.value; - } + bool operator==(Iterator other) { + return value == other.value; + } - bool operator!=(Iterator other) { - return !(*this == other); - } - T *operator->() { - return value->value; - } - }; + bool operator!=(Iterator other) { + return !(*this == other); + } + T *operator->() { + return value->value; + } + }; - LinkedElement(T* setElement, LinkedElement* setNext = nullptr): - value(setElement), next(setNext) {} + LinkedElement(T* setElement, LinkedElement* setNext = nullptr): + value(setElement), next(setNext) {} - virtual ~LinkedElement(){} + virtual ~LinkedElement(){} - virtual LinkedElement* getNext() const { - return next; - } + virtual LinkedElement* getNext() const { + return next; + } - virtual void setNext(LinkedElement* next) { - this->next = next; - } + virtual void setNext(LinkedElement* next) { + this->next = next; + } - virtual void setEnd() { - this->next = nullptr; - } + virtual void setEnd() { + this->next = nullptr; + } - LinkedElement* begin() { - return this; - } - LinkedElement* end() { - return nullptr; - } + LinkedElement* begin() { + return this; + } + LinkedElement* end() { + return nullptr; + } private: - LinkedElement *next; + LinkedElement *next; }; template @@ -77,52 +77,52 @@ class SinglyLinkedList { public: using ElementIterator = typename LinkedElement::Iterator; - SinglyLinkedList() {} + SinglyLinkedList() {} - SinglyLinkedList(ElementIterator start) : - start(start.value) {} + SinglyLinkedList(ElementIterator start) : + start(start.value) {} - SinglyLinkedList(LinkedElement* startElement) : - start(startElement) {} + SinglyLinkedList(LinkedElement* startElement) : + start(startElement) {} - ElementIterator begin() const { - return ElementIterator::Iterator(start); - } + ElementIterator begin() const { + return ElementIterator::Iterator(start); + } - /** Returns iterator to nulltr */ - ElementIterator end() const { - return ElementIterator::Iterator(); - } + /** Returns iterator to nulltr */ + ElementIterator end() const { + return ElementIterator::Iterator(); + } - /** - * Returns last element in singly linked list. - * @return - */ - ElementIterator back() const { - LinkedElement *element = start; - while (element->getNext() != nullptr) { - element = element->getNext(); - } - return ElementIterator::Iterator(element); - } + /** + * Returns last element in singly linked list. + * @return + */ + ElementIterator back() const { + LinkedElement *element = start; + while (element->getNext() != nullptr) { + element = element->getNext(); + } + return ElementIterator::Iterator(element); + } - size_t getSize() const { - size_t size = 0; - LinkedElement *element = start; - while (element != nullptr) { - size++; - element = element->getNext(); - } - return size; - } - void setStart(LinkedElement* firstElement) { - start = firstElement; - } + size_t getSize() const { + size_t size = 0; + LinkedElement *element = start; + while (element != nullptr) { + size++; + element = element->getNext(); + } + return size; + } + void setStart(LinkedElement* firstElement) { + start = firstElement; + } - void setNext(LinkedElement* currentElement, - LinkedElement* nextElement) { - currentElement->setNext(nextElement); - } + void setNext(LinkedElement* currentElement, + LinkedElement* nextElement) { + currentElement->setNext(nextElement); + } void setLast(LinkedElement* lastElement) { lastElement->setEnd(); @@ -148,7 +148,7 @@ public: } protected: - LinkedElement *start = nullptr; + LinkedElement *start = nullptr; }; #endif /* SINGLYLINKEDLIST_H_ */ diff --git a/controller/CMakeLists.txt b/controller/CMakeLists.txt index 6f660738..b7624d98 100644 --- a/controller/CMakeLists.txt +++ b/controller/CMakeLists.txt @@ -1,4 +1,4 @@ target_sources(${LIB_FSFW_NAME} - PRIVATE - ControllerBase.cpp + PRIVATE + ControllerBase.cpp ) \ No newline at end of file diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp index 2a402468..89f0ff68 100644 --- a/controller/ControllerBase.cpp +++ b/controller/ControllerBase.cpp @@ -5,128 +5,128 @@ #include "../action/HasActionsIF.h" ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, - size_t commandQueueDepth) : - SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), - submode(SUBMODE_NONE), modeHelper(this), - healthHelper(this, setObjectId) { - commandQueue = QueueFactory::instance()->createMessageQueue( - commandQueueDepth); + size_t commandQueueDepth) : + SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), + submode(SUBMODE_NONE), modeHelper(this), + healthHelper(this, setObjectId) { + commandQueue = QueueFactory::instance()->createMessageQueue( + commandQueueDepth); } ControllerBase::~ControllerBase() { - QueueFactory::instance()->deleteMessageQueue(commandQueue); + QueueFactory::instance()->deleteMessageQueue(commandQueue); } ReturnValue_t ControllerBase::initialize() { - ReturnValue_t result = SystemObject::initialize(); - if (result != RETURN_OK) { - return result; - } + ReturnValue_t result = SystemObject::initialize(); + if (result != RETURN_OK) { + return result; + } - MessageQueueId_t parentQueue = 0; - if (parentId != objects::NO_OBJECT) { - SubsystemBase *parent = objectManager->get(parentId); - if (parent == nullptr) { - return RETURN_FAILED; - } - parentQueue = parent->getCommandQueue(); + MessageQueueId_t parentQueue = 0; + if (parentId != objects::NO_OBJECT) { + SubsystemBase *parent = objectManager->get(parentId); + if (parent == nullptr) { + return RETURN_FAILED; + } + parentQueue = parent->getCommandQueue(); - parent->registerChild(getObjectId()); - } + parent->registerChild(getObjectId()); + } - result = healthHelper.initialize(parentQueue); - if (result != RETURN_OK) { - return result; - } + result = healthHelper.initialize(parentQueue); + if (result != RETURN_OK) { + return result; + } - result = modeHelper.initialize(parentQueue); - if (result != RETURN_OK) { - return result; - } + result = modeHelper.initialize(parentQueue); + if (result != RETURN_OK) { + return result; + } - return RETURN_OK; + return RETURN_OK; } MessageQueueId_t ControllerBase::getCommandQueue() const { - return commandQueue->getId(); + return commandQueue->getId(); } void ControllerBase::handleQueue() { - CommandMessage command; - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - for (result = commandQueue->receiveMessage(&command); - result == RETURN_OK; - result = commandQueue->receiveMessage(&command)) { + CommandMessage command; + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + for (result = commandQueue->receiveMessage(&command); + result == RETURN_OK; + result = commandQueue->receiveMessage(&command)) { - result = modeHelper.handleModeCommand(&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 = handleCommandMessage(&command); - if (result == RETURN_OK) { - continue; - } - command.setToUnknownCommand(); - commandQueue->reply(&command); - } + result = healthHelper.handleHealthCommand(&command); + if (result == RETURN_OK) { + continue; + } + result = handleCommandMessage(&command); + if (result == RETURN_OK) { + continue; + } + command.setToUnknownCommand(); + commandQueue->reply(&command); + } } void ControllerBase::startTransition(Mode_t mode, Submode_t submode) { - changeHK(this->mode, this->submode, false); - triggerEvent(CHANGING_MODE, mode, submode); - this->mode = mode; - this->submode = submode; - modeHelper.modeChanged(mode, submode); - modeChanged(mode, submode); - announceMode(false); - changeHK(this->mode, this->submode, true); + changeHK(this->mode, this->submode, false); + triggerEvent(CHANGING_MODE, mode, submode); + this->mode = mode; + this->submode = submode; + modeHelper.modeChanged(mode, submode); + modeChanged(mode, submode); + announceMode(false); + changeHK(this->mode, this->submode, true); } void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) { - *mode = this->mode; - *submode = this->submode; + *mode = this->mode; + *submode = this->submode; } void ControllerBase::setToExternalControl() { - healthHelper.setHealth(EXTERNAL_CONTROL); + healthHelper.setHealth(EXTERNAL_CONTROL); } void ControllerBase::announceMode(bool recursive) { - triggerEvent(MODE_INFO, mode, submode); + triggerEvent(MODE_INFO, mode, submode); } ReturnValue_t ControllerBase::performOperation(uint8_t opCode) { - handleQueue(); - performControlOperation(); - return RETURN_OK; + handleQueue(); + performControlOperation(); + return RETURN_OK; } void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { - return; + return; } ReturnValue_t ControllerBase::setHealth(HealthState health) { - switch (health) { - case HEALTHY: - case EXTERNAL_CONTROL: - healthHelper.setHealth(health); - return RETURN_OK; - default: - return INVALID_HEALTH_STATE; - } + switch (health) { + case HEALTHY: + case EXTERNAL_CONTROL: + healthHelper.setHealth(health); + return RETURN_OK; + default: + return INVALID_HEALTH_STATE; + } } HasHealthIF::HealthState ControllerBase::getHealth() { - return healthHelper.getHealth(); + return healthHelper.getHealth(); } void ControllerBase::setTaskIF(PeriodicTaskIF* task_){ - executingTask = task_; + executingTask = task_; } void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) { diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h index 6e83fe80..f583342f 100644 --- a/controller/ControllerBase.h +++ b/controller/ControllerBase.h @@ -17,39 +17,39 @@ * a mode and a health state. This avoids boilerplate code. */ class ControllerBase: public HasModesIF, - public HasHealthIF, - public ExecutableObjectIF, - public SystemObject, - public HasReturnvaluesIF { + public HasHealthIF, + public ExecutableObjectIF, + public SystemObject, + public HasReturnvaluesIF { public: - static const Mode_t MODE_NORMAL = 2; + static const Mode_t MODE_NORMAL = 2; - ControllerBase(object_id_t setObjectId, object_id_t parentId, - size_t commandQueueDepth = 3); - virtual ~ControllerBase(); + ControllerBase(object_id_t setObjectId, object_id_t parentId, + size_t commandQueueDepth = 3); + virtual ~ControllerBase(); - /** SystemObject override */ - virtual ReturnValue_t initialize() override; + /** SystemObject override */ + virtual ReturnValue_t initialize() override; - virtual MessageQueueId_t getCommandQueue() const override; + virtual MessageQueueId_t getCommandQueue() const override; - /** HasHealthIF overrides */ - virtual ReturnValue_t setHealth(HealthState health) override; - virtual HasHealthIF::HealthState getHealth() override; + /** 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; + /** ExecutableObjectIF overrides */ + virtual ReturnValue_t performOperation(uint8_t opCode) override; + virtual void setTaskIF(PeriodicTaskIF* task) override; + virtual ReturnValue_t initializeAfterTaskCreation() override; protected: - /** - * Implemented by child class. Handle command messages which are not - * mode or health messages. - * @param message - * @return - */ + /** + * Implemented by child class. Handle command messages which are not + * mode or health messages. + * @param message + * @return + */ virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0; /** @@ -60,35 +60,35 @@ protected: virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode) = 0; - const object_id_t parentId; + const object_id_t parentId; - Mode_t mode; + Mode_t mode; - Submode_t submode; + Submode_t submode; - MessageQueueIF* commandQueue = nullptr; + MessageQueueIF* commandQueue = nullptr; - ModeHelper modeHelper; + ModeHelper modeHelper; - HealthHelper healthHelper; + HealthHelper healthHelper; - /** - * Pointer to the task which executes this component, - * is invalid before setTaskIF was called. - */ - PeriodicTaskIF* executingTask = nullptr; + /** + * Pointer to the task which executes this component, + * is invalid before setTaskIF was called. + */ + PeriodicTaskIF* executingTask = nullptr; - /** Handle mode and health messages */ - virtual void handleQueue(); + /** Handle mode and health messages */ + virtual void handleQueue(); - /** 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); + /** 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 /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */ diff --git a/datapoollocal/AccessLocalPoolF.h b/datapoollocal/AccessLocalPoolF.h index f68189f6..55f46e21 100644 --- a/datapoollocal/AccessLocalPoolF.h +++ b/datapoollocal/AccessLocalPoolF.h @@ -18,7 +18,7 @@ public: * This function is protected because it should only be used by the * class imlementing the interface. */ - virtual LocalDataPoolManager* getHkManagerHandle() = 0; + virtual LocalDataPoolManager* getPoolManagerHandle() = 0; protected: diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp index 462ef17f..2c5c4e0e 100644 --- a/datapoollocal/LocalDataPoolManager.cpp +++ b/datapoollocal/LocalDataPoolManager.cpp @@ -5,8 +5,8 @@ #include "internal/LocalPoolDataSetAttorney.h" #include "internal/HasLocalDpIFManagerAttorney.h" -#include "../housekeeping/HousekeepingPacketUpdate.h" #include "../housekeeping/HousekeepingSetPacket.h" +#include "../housekeeping/HousekeepingSnapshot.h" #include "../housekeeping/AcceptsHkPacketsIF.h" #include "../timemanager/CCSDSTime.h" #include "../ipc/MutexFactory.h" @@ -226,7 +226,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot( Clock::getClock_timeval(&now); CCSDSTime::CDS_short cds; CCSDSTime::convertToCcsds(&cds, &now); - HousekeepingPacketUpdate updatePacket(reinterpret_cast(&cds), + HousekeepingSnapshot updatePacket(reinterpret_cast(&cds), sizeof(cds), HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner, receiver.dataId.localPoolId)); @@ -264,7 +264,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot( Clock::getClock_timeval(&now); CCSDSTime::CDS_short cds; CCSDSTime::convertToCcsds(&cds, &now); - HousekeepingPacketUpdate updatePacket(reinterpret_cast(&cds), + HousekeepingSnapshot updatePacket(reinterpret_cast(&cds), sizeof(cds), HasLocalDpIFManagerAttorney::getDataSetHandle(owner, receiver.dataId.sid)); @@ -292,7 +292,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot( } ReturnValue_t LocalDataPoolManager::addUpdateToStore( - HousekeepingPacketUpdate& updatePacket, store_address_t& storeId) { + HousekeepingSnapshot& updatePacket, store_address_t& storeId) { size_t updatePacketSize = updatePacket.getSerializedSize(); uint8_t *storePtr = nullptr; ReturnValue_t result = ipcStore->getFreeElement(&storeId, @@ -890,7 +890,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType, << std::dec << std::setfill(' ') << std::endl; #else sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", - owner->getObjectId(), errorPrint); + functionName, owner->getObjectId(), errorPrint); #endif } else if(outputType == sif::OutputTypes::OUT_ERROR) { @@ -901,11 +901,11 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType, << std::dec << std::setfill(' ') << std::endl; #else sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", - owner->getObjectId(), errorPrint); + functionName, owner->getObjectId(), errorPrint); #endif } } -LocalDataPoolManager* LocalDataPoolManager::getHkManagerHandle() { +LocalDataPoolManager* LocalDataPoolManager::getPoolManagerHandle() { return this; } diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h index 580ac8b9..05c6adfd 100644 --- a/datapoollocal/LocalDataPoolManager.h +++ b/datapoollocal/LocalDataPoolManager.h @@ -24,7 +24,7 @@ void setStaticFrameworkObjectIds(); } class LocalPoolDataSetBase; -class HousekeepingPacketUpdate; +class HousekeepingSnapshot; class HasLocalDataPoolIF; class LocalDataPool; @@ -52,17 +52,17 @@ class LocalDataPool; * Each pool entry has a valid state too. * @author R. Mueller */ -class LocalDataPoolManager: public ProvidesDataPoolSubscriptionIF, - public AccessPoolManagerIF { - friend void (Factory::setStaticFrameworkObjectIds)(); - //! Some classes using the pool manager directly need to access class internals of the - //! manager. The attorney provides granular control of access to these internals. - friend class LocalDpManagerAttorney; +class LocalDataPoolManager: + public ProvidesDataPoolSubscriptionIF, + public AccessPoolManagerIF { + friend void (Factory::setStaticFrameworkObjectIds)(); + //! Some classes using the pool manager directly need to access class internals of the + //! manager. The attorney provides granular control of access to these internals. + friend class LocalDpManagerAttorney; public: - static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER; + static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER; static constexpr ReturnValue_t QUEUE_OR_DESTINATION_INVALID = MAKE_RETURN_CODE(0); - static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(1); static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(2); static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(3); @@ -81,29 +81,29 @@ public: * @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(); + 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); + /** + * 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); + /** + * 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. @@ -116,49 +116,49 @@ public: */ virtual ReturnValue_t performHkOperation(); - /** - * @brief Subscribe for the generation of periodic packets. - * @details + /** + * @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) override; + * @return + */ + ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting, + float collectionInterval, bool isDiagnostics, + object_id_t packetDestination = defaultHkDestination) override; - /** - * @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 - */ + /** + * @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) override; - /** - * @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) override; + /** + * @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) override; /** * @brief Subscribe for an notification message which will be sent if a @@ -179,18 +179,16 @@ public: MessageQueueId_t targetQueueId, bool generateSnapshot) override; - MutexIF* getLocalPoolMutex() override; - - /** - * 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); + /** + * 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. @@ -206,18 +204,18 @@ public: */ 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); + /** + * 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(); + HasLocalDataPoolIF* getOwner(); - ReturnValue_t printPoolEntry(lp_id_t localPoolId); + ReturnValue_t printPoolEntry(lp_id_t localPoolId); /** * Different types of housekeeping reporting are possible. @@ -236,22 +234,19 @@ public: PERIODIC, //! Housekeeping packet will be generated if values have changed. UPDATE_HK, - //! Update notification will be sent out as message. - UPDATE_NOTIFICATION, + //! 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. - */ + /** 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 + LOCAL_POOL_VARIABLE, + DATA_SET }; /* Copying forbidden */ @@ -267,11 +262,19 @@ public: object_id_t getCreatorObjectId() const; - virtual LocalDataPoolManager* getHkManagerHandle() override; + /** + * 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(); + + virtual LocalDataPoolManager* getPoolManagerHandle() override; private: localpool::DataPool localPoolMap; - //! Every housekeeping data manager has a mutex to protect access - //! to it's data pool. + /** 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). */ @@ -279,9 +282,9 @@ private: uint8_t nonDiagnosticIntervalFactor = 0; - /** Default receiver for periodic HK packets */ - static object_id_t defaultHkDestination; - MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE; + /** Default receiver for periodic HK packets */ + static object_id_t defaultHkDestination; + MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE; union DataId { DataId(): sid() {}; @@ -291,10 +294,10 @@ private: /** 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; + /** Object ID of receiver */ + object_id_t objectId = objects::NO_OBJECT; - DataType dataType = DataType::DATA_SET; + DataType dataType = DataType::DATA_SET; DataId dataId; ReportingType reportingType = ReportingType::PERIODIC; @@ -324,37 +327,30 @@ private: * 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 + /** + * @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; + */ + 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(); + /** Global IPC store is used to store all packets. */ + StorageManagerIF* ipcStore = nullptr; - /** - * 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 ReturnValue_t fetchPoolEntry(lp_id_t localPoolId, - PoolEntry **poolEntry); + /** + * 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 ReturnValue_t fetchPoolEntry(lp_id_t localPoolId, + PoolEntry **poolEntry); /** * This function is used to fill the local data pool map with pool @@ -364,55 +360,57 @@ private: */ ReturnValue_t initializeHousekeepingPoolEntriesOnce(); - ReturnValue_t serializeHkPacketIntoStore( - HousekeepingPacketDownlink& hkPacket, - store_address_t& storeId, bool forDownlink, size_t* serializedSize); + MutexIF* getLocalPoolMutex() override; - 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); + ReturnValue_t serializeHkPacketIntoStore( + HousekeepingPacketDownlink& hkPacket, + store_address_t& storeId, bool forDownlink, size_t* serializedSize); - void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId); - void handleChangeResetLogic(DataType type, - DataId dataId, MarkChangedIF* toReset); - void resetHkUpdateResetHelper(); + 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); - ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver, + 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 handleNotificationUpdate(HkReceiver& hkReceiver, ReturnValue_t& status); - ReturnValue_t addUpdateToStore(HousekeepingPacketUpdate& updatePacket, - store_address_t& storeId); + ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver, + ReturnValue_t& status); + ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket, + store_address_t& storeId); - void printWarningOrError(sif::OutputTypes outputType, - const char* functionName, - ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED, - const char* errorPrint = nullptr); + void printWarningOrError(sif::OutputTypes outputType, + const char* functionName, + ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED, + const char* errorPrint = nullptr); }; template inline ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, - PoolEntry **poolEntry) { - auto poolIter = localPoolMap.find(localPoolId); - if (poolIter == localPoolMap.end()) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry", - localpool::POOL_ENTRY_NOT_FOUND); - return localpool::POOL_ENTRY_NOT_FOUND; - } + PoolEntry **poolEntry) { + auto poolIter = localPoolMap.find(localPoolId); + if (poolIter == localPoolMap.end()) { + printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry", + localpool::POOL_ENTRY_NOT_FOUND); + return localpool::POOL_ENTRY_NOT_FOUND; + } - *poolEntry = dynamic_cast< PoolEntry* >(poolIter->second); - if(*poolEntry == nullptr) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry", - localpool::POOL_ENTRY_TYPE_CONFLICT); - return localpool::POOL_ENTRY_TYPE_CONFLICT; - } - return HasReturnvaluesIF::RETURN_OK; + *poolEntry = dynamic_cast< PoolEntry* >(poolIter->second); + if(*poolEntry == nullptr) { + printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry", + localpool::POOL_ENTRY_TYPE_CONFLICT); + return localpool::POOL_ENTRY_TYPE_CONFLICT; + } + return HasReturnvaluesIF::RETURN_OK; } diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h index b7f8f90f..92bad9b5 100644 --- a/datapoollocal/LocalDataSet.h +++ b/datapoollocal/LocalDataSet.h @@ -4,11 +4,26 @@ #include "LocalPoolDataSetBase.h" #include +/** + * @brief This dataset type can be used to group related pool variables if the number of + * variables should not be fixed. + * @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. + */ 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. diff --git a/datapoollocal/LocalPoolDataSetBase.cpp b/datapoollocal/LocalPoolDataSetBase.cpp index 4dae757e..035ba694 100644 --- a/datapoollocal/LocalPoolDataSetBase.cpp +++ b/datapoollocal/LocalPoolDataSetBase.cpp @@ -28,7 +28,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner, AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner); if(accessor != nullptr) { - poolManager = accessor->getHkManagerHandle(); + poolManager = accessor->getPoolManagerHandle(); mutexIfSingleDataCreator = accessor->getLocalPoolMutex(); } diff --git a/datapoollocal/LocalPoolObjectBase.cpp b/datapoollocal/LocalPoolObjectBase.cpp index a0bf5708..5b9bd34f 100644 --- a/datapoollocal/LocalPoolObjectBase.cpp +++ b/datapoollocal/LocalPoolObjectBase.cpp @@ -22,7 +22,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkO return; } AccessPoolManagerIF* poolManAccessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner); - hkManager = poolManAccessor->getHkManagerHandle(); + hkManager = poolManAccessor->getPoolManagerHandle(); if (dataSet != nullptr) { dataSet->registerVariable(this); @@ -50,7 +50,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner); if(accessor != nullptr) { - hkManager = accessor->getHkManagerHandle(); + hkManager = accessor->getPoolManagerHandle(); } if(dataSet != nullptr) { diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h index 593d26ab..591dd6f3 100644 --- a/datapoollocal/LocalPoolVector.h +++ b/datapoollocal/LocalPoolVector.h @@ -77,8 +77,7 @@ public: * @param dataSet * @param setReadWriteMode */ - LocalPoolVector(gp_id_t globalPoolId, - DataSetIF* dataSet = nullptr, + LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr, pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE); /** @@ -87,7 +86,7 @@ public: * The user can work on this attribute just like he would on a local * array of this type. */ - T value[vectorSize]; + T value[vectorSize]= {}; /** * @brief The classes destructor is empty. * @details If commit() was not called, the local value is diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp index 98eb27f9..5b2089b3 100644 --- a/datapoollocal/LocalPoolVector.tpp +++ b/datapoollocal/LocalPoolVector.tpp @@ -16,7 +16,6 @@ inline LocalPoolVector::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode): LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {} - template inline LocalPoolVector::LocalPoolVector(gp_id_t globalPoolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode): diff --git a/datapoollocal/StaticLocalDataSet.h b/datapoollocal/StaticLocalDataSet.h index 0e51fb5b..08ef6de6 100644 --- a/datapoollocal/StaticLocalDataSet.h +++ b/datapoollocal/StaticLocalDataSet.h @@ -2,11 +2,15 @@ #define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ #include "LocalPoolDataSetBase.h" +#include "LocalPoolVariable.h" +#include "LocalPoolVector.h" + #include "../objectmanager/SystemObjectIF.h" #include /** - * @brief This local dataset type is created on the stack. + * @brief This dataset type can be used to group related pool variables if the number of + * variables is fixed. * @details * This will is the primary data structure to organize pool variables into * sets which can be accessed via the housekeeping service interface or diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp index 6092a89f..a1ad9548 100644 --- a/devicehandlers/DeviceHandlerBase.cpp +++ b/devicehandlers/DeviceHandlerBase.cpp @@ -17,460 +17,453 @@ object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT; object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT; object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT; -DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, - object_id_t deviceCommunication, CookieIF * comCookie, - FailureIsolationBase* fdirInstance, size_t cmdQueueSize) : - SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE), - wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS), - deviceCommunicationId(deviceCommunication), comCookie(comCookie), - healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this), - actionHelper(this, nullptr), poolManager(this, nullptr), - childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance), - hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr), - switchOffWasReported(false), childTransitionDelay(5000), - transitionSourceMode(_MODE_POWER_DOWN), - transitionSourceSubMode(SUBMODE_NONE) { - commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize, - MessageQueueMessage::MAX_MESSAGE_SIZE); - insertInCommandMap(RAW_COMMAND_ID); - cookieInfo.state = COOKIE_UNUSED; - cookieInfo.pendingCommand = deviceCommandMap.end(); - if (comCookie == nullptr) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", - HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie"); - } - if (this->fdirInstance == nullptr) { - this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, - defaultFdirParentId); - } +DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, + CookieIF* comCookie, FailureIsolationBase* fdirInstance, size_t cmdQueueSize): + SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE), + wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS), + deviceCommunicationId(deviceCommunication), comCookie(comCookie), + healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this), + actionHelper(this, nullptr), poolManager(this, nullptr), + childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance), + defaultFDIRUsed(fdirInstance == nullptr), + switchOffWasReported(false), childTransitionDelay(5000), + transitionSourceMode(_MODE_POWER_DOWN), + transitionSourceSubMode(SUBMODE_NONE) { + commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize, + MessageQueueMessage::MAX_MESSAGE_SIZE); + insertInCommandMap(RAW_COMMAND_ID); + cookieInfo.state = COOKIE_UNUSED; + cookieInfo.pendingCommand = deviceCommandMap.end(); + if (comCookie == nullptr) { + printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", + HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie"); + } + if (this->fdirInstance == nullptr) { + this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, + defaultFdirParentId); + } } void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) { - this->hkDestination = hkDestination; + this->hkDestination = hkDestination; } void DeviceHandlerBase::setThermalStateRequestPoolIds( - lp_id_t thermalStatePoolId, lp_id_t heaterRequestPoolId, - uint32_t thermalSetId) { - thermalSet = new DeviceHandlerThermalSet(this, thermalSetId, - thermalStatePoolId, heaterRequestPoolId); + lp_id_t thermalStatePoolId, lp_id_t heaterRequestPoolId, + uint32_t thermalSetId) { + thermalSet = new DeviceHandlerThermalSet(this, thermalSetId, + thermalStatePoolId, heaterRequestPoolId); } DeviceHandlerBase::~DeviceHandlerBase() { - delete comCookie; - if (defaultFDIRUsed) { - delete fdirInstance; - } - QueueFactory::instance()->deleteMessageQueue(commandQueue); + delete comCookie; + if (defaultFDIRUsed) { + delete fdirInstance; + } + QueueFactory::instance()->deleteMessageQueue(commandQueue); } ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) { - this->pstStep = counter; - this->lastStep = this->pstStep; + this->pstStep = counter; + this->lastStep = this->pstStep; - if (getComAction() == CommunicationAction::NOTHING) { - return HasReturnvaluesIF::RETURN_OK; - } + if (getComAction() == CommunicationAction::NOTHING) { + return HasReturnvaluesIF::RETURN_OK; + } - if (getComAction() == CommunicationAction::PERFORM_OPERATION) { - cookieInfo.state = COOKIE_UNUSED; - readCommandQueue(); - doStateMachine(); - checkSwitchState(); - decrementDeviceReplyMap(); - fdirInstance->checkForFailures(); - hkSwitcher.performOperation(); - performOperationHook(); - return RETURN_OK; - } + if (getComAction() == CommunicationAction::PERFORM_OPERATION) { + cookieInfo.state = COOKIE_UNUSED; + readCommandQueue(); + doStateMachine(); + checkSwitchState(); + decrementDeviceReplyMap(); + fdirInstance->checkForFailures(); + performOperationHook(); + return RETURN_OK; + } - if (mode == MODE_OFF) { - return RETURN_OK; - } + if (mode == MODE_OFF) { + return RETURN_OK; + } - switch (getComAction()) { - case CommunicationAction::SEND_WRITE: - if (cookieInfo.state == COOKIE_UNUSED) { - // if no external command was specified, build internal command. - buildInternalCommand(); - } - doSendWrite(); - break; - case CommunicationAction::GET_WRITE: - doGetWrite(); - break; - case CommunicationAction::SEND_READ: - doSendRead(); - break; - case CommunicationAction::GET_READ: - doGetRead(); - // This will be performed after datasets have been updated by the - // custom device implementation. - poolManager.performHkOperation(); - break; - default: - break; - } - return RETURN_OK; + switch (getComAction()) { + case CommunicationAction::SEND_WRITE: + if (cookieInfo.state == COOKIE_UNUSED) { + /* If no external command was specified, build internal command. */ + buildInternalCommand(); + } + doSendWrite(); + break; + case CommunicationAction::GET_WRITE: + doGetWrite(); + break; + case CommunicationAction::SEND_READ: + doSendRead(); + break; + case CommunicationAction::GET_READ: + doGetRead(); + /* This will be performed after datasets have been updated by the + custom device implementation. */ + poolManager.performHkOperation(); + break; + default: + break; + } + return RETURN_OK; } ReturnValue_t DeviceHandlerBase::initialize() { - ReturnValue_t result = SystemObject::initialize(); - if (result != RETURN_OK) { - return result; - } + ReturnValue_t result = SystemObject::initialize(); + if (result != RETURN_OK) { + return result; + } - communicationInterface = objectManager->get( - deviceCommunicationId); - if (communicationInterface == nullptr) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", - ObjectManagerIF::CHILD_INIT_FAILED, - "Passed communication IF invalid"); - return ObjectManagerIF::CHILD_INIT_FAILED; - } + communicationInterface = objectManager->get( + deviceCommunicationId); + if (communicationInterface == nullptr) { + printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", + ObjectManagerIF::CHILD_INIT_FAILED, + "Passed communication IF invalid"); + return ObjectManagerIF::CHILD_INIT_FAILED; + } - result = communicationInterface->initializeInterface(comCookie); - if (result != RETURN_OK) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", - ObjectManagerIF::CHILD_INIT_FAILED, - "ComIF initialization failed"); - return result; - } + result = communicationInterface->initializeInterface(comCookie); + if (result != RETURN_OK) { + printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", + ObjectManagerIF::CHILD_INIT_FAILED, + "ComIF initialization failed"); + return result; + } - IPCStore = objectManager->get(objects::IPC_STORE); - if (IPCStore == nullptr) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", - ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up"); - return ObjectManagerIF::CHILD_INIT_FAILED; - } + IPCStore = objectManager->get(objects::IPC_STORE); + if (IPCStore == nullptr) { + printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize", + ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up"); + return ObjectManagerIF::CHILD_INIT_FAILED; + } - if(rawDataReceiverId != objects::NO_OBJECT) { - AcceptsDeviceResponsesIF *rawReceiver = objectManager->get< - AcceptsDeviceResponsesIF>(rawDataReceiverId); + if(rawDataReceiverId != objects::NO_OBJECT) { + AcceptsDeviceResponsesIF *rawReceiver = objectManager->get< + AcceptsDeviceResponsesIF>(rawDataReceiverId); - if (rawReceiver == nullptr) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, - "initialize", ObjectManagerIF::CHILD_INIT_FAILED, - "Raw receiver object ID set but no valid object found."); + if (rawReceiver == nullptr) { + printWarningOrError(sif::OutputTypes::OUT_ERROR, + "initialize", ObjectManagerIF::CHILD_INIT_FAILED, + "Raw receiver object ID set but no valid object found."); #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Make sure the raw receiver object is set up properly" - " and implements AcceptsDeviceResponsesIF" << std::endl; + sif::error << "Make sure the raw receiver object is set up properly" + " and implements AcceptsDeviceResponsesIF" << std::endl; #else - sif::printError("Make sure the raw receiver object is set up " - "properly and implements AcceptsDeviceResponsesIF\n"); + sif::printError("Make sure the raw receiver object is set up " + "properly and implements AcceptsDeviceResponsesIF\n"); #endif - return ObjectManagerIF::CHILD_INIT_FAILED; - } - defaultRawReceiver = rawReceiver->getDeviceQueue(); - } + return ObjectManagerIF::CHILD_INIT_FAILED; + } + defaultRawReceiver = rawReceiver->getDeviceQueue(); + } - if(powerSwitcherId != objects::NO_OBJECT) { - powerSwitcher = objectManager->get(powerSwitcherId); - if (powerSwitcher == nullptr) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, - "initialize", ObjectManagerIF::CHILD_INIT_FAILED, - "Power switcher set but no valid object found."); + if(powerSwitcherId != objects::NO_OBJECT) { + powerSwitcher = objectManager->get(powerSwitcherId); + if (powerSwitcher == nullptr) { + printWarningOrError(sif::OutputTypes::OUT_ERROR, + "initialize", ObjectManagerIF::CHILD_INIT_FAILED, + "Power switcher set but no valid object found."); #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Make sure the power switcher object is set up " - << "properly and implements PowerSwitchIF" << std::endl; + sif::error << "Make sure the power switcher object is set up " + << "properly and implements PowerSwitchIF" << std::endl; #else - sif::printError("Make sure the power switcher object is set up " - "properly and implements PowerSwitchIF\n"); + sif::printError("Make sure the power switcher object is set up " + "properly and implements PowerSwitchIF\n"); #endif - return ObjectManagerIF::CHILD_INIT_FAILED; - } - } + return ObjectManagerIF::CHILD_INIT_FAILED; + } + } - result = healthHelper.initialize(); - if (result != RETURN_OK) { - return result; - } + result = healthHelper.initialize(); + if (result != RETURN_OK) { + return result; + } - result = modeHelper.initialize(); - if (result != RETURN_OK) { - return result; - } - result = actionHelper.initialize(commandQueue); - if (result != RETURN_OK) { - return result; - } - result = fdirInstance->initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = modeHelper.initialize(); + if (result != RETURN_OK) { + return result; + } + result = actionHelper.initialize(commandQueue); + if (result != RETURN_OK) { + return result; + } + result = fdirInstance->initialize(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - result = parameterHelper.initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = parameterHelper.initialize(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - result = hkSwitcher.initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = poolManager.initialize(commandQueue); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - result = poolManager.initialize(commandQueue); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + fillCommandAndReplyMap(); - fillCommandAndReplyMap(); + if(thermalSet != nullptr) { + //Set temperature target state to NON_OP. + result = thermalSet->read(); + if(result == HasReturnvaluesIF::RETURN_OK) { + thermalSet->heaterRequest.value = + ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL; + thermalSet->heaterRequest.setValid(true); + thermalSet->commit(); + } - if(thermalSet != nullptr) { - //Set temperature target state to NON_OP. - result = thermalSet->read(); - if(result == HasReturnvaluesIF::RETURN_OK) { - thermalSet->heaterRequest.value = - ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL; - thermalSet->heaterRequest.setValid(true); - thermalSet->commit(); - } + } - } - - return RETURN_OK; + return RETURN_OK; } void DeviceHandlerBase::decrementDeviceReplyMap() { - for (std::map::iterator iter = - deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) { - if (iter->second.delayCycles != 0) { - iter->second.delayCycles--; - if (iter->second.delayCycles == 0) { - if (iter->second.periodic) { - iter->second.delayCycles = iter->second.maxDelayCycles; - } - replyToReply(iter, TIMEOUT); - missedReply(iter->first); - } - } - } + for (std::map::iterator iter = + deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) { + if (iter->second.delayCycles != 0) { + iter->second.delayCycles--; + if (iter->second.delayCycles == 0) { + if (iter->second.periodic) { + iter->second.delayCycles = iter->second.maxDelayCycles; + } + replyToReply(iter, TIMEOUT); + missedReply(iter->first); + } + } + } } void DeviceHandlerBase::readCommandQueue() { - if (dontCheckQueue()) { - return; - } + if (dontCheckQueue()) { + return; + } - CommandMessage command; - ReturnValue_t result = commandQueue->receiveMessage(&command); - if (result != RETURN_OK) { - return; - } + CommandMessage command; + ReturnValue_t result = commandQueue->receiveMessage(&command); + if (result != RETURN_OK) { + return; + } - result = healthHelper.handleHealthCommand(&command); - if (result == RETURN_OK) { - return; - } + result = healthHelper.handleHealthCommand(&command); + if (result == RETURN_OK) { + return; + } - result = modeHelper.handleModeCommand(&command); - if (result == RETURN_OK) { - return; - } + result = modeHelper.handleModeCommand(&command); + if (result == RETURN_OK) { + return; + } - result = actionHelper.handleActionMessage(&command); - if (result == RETURN_OK) { - return; - } + result = actionHelper.handleActionMessage(&command); + if (result == RETURN_OK) { + return; + } - result = parameterHelper.handleParameterMessage(&command); - if (result == RETURN_OK) { - return; - } + result = parameterHelper.handleParameterMessage(&command); + if (result == RETURN_OK) { + return; + } - result = poolManager.handleHousekeepingMessage(&command); - if (result == RETURN_OK) { - return; - } + result = poolManager.handleHousekeepingMessage(&command); + if (result == RETURN_OK) { + return; + } - result = handleDeviceHandlerMessage(&command); - if (result == RETURN_OK) { - return; - } + result = handleDeviceHandlerMessage(&command); + if (result == RETURN_OK) { + return; + } - result = letChildHandleMessage(&command); - if (result == RETURN_OK) { - return; - } + result = letChildHandleMessage(&command); + if (result == RETURN_OK) { + return; + } - replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND); + replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND); } void DeviceHandlerBase::doStateMachine() { - switch (mode) { - case _MODE_START_UP: - case _MODE_SHUT_DOWN: - case _MODE_TO_NORMAL: - case _MODE_TO_ON: - case _MODE_TO_RAW: { - Mode_t currentMode = mode; - callChildStatemachine(); - //Only do timeout if child did not change anything - if (mode != currentMode) { - break; - } - uint32_t currentUptime; - Clock::getUptime(¤tUptime); - if (currentUptime - timeoutStart >= childTransitionDelay) { - triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0); - setMode(transitionSourceMode, transitionSourceSubMode); - break; - } - } - break; - case _MODE_POWER_DOWN: - commandSwitch(PowerSwitchIF::SWITCH_OFF); - setMode(_MODE_WAIT_OFF); - break; - case _MODE_POWER_ON: - commandSwitch(PowerSwitchIF::SWITCH_ON); - setMode(_MODE_WAIT_ON); - break; - case _MODE_WAIT_ON: { - uint32_t currentUptime; - Clock::getUptime(¤tUptime); - if (powerSwitcher != nullptr and currentUptime - timeoutStart >= - powerSwitcher->getSwitchDelayMs()) { - triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, - 0); - setMode(_MODE_POWER_DOWN); - callChildStatemachine(); - break; - } - ReturnValue_t switchState = getStateOfSwitches(); - if ((switchState == PowerSwitchIF::SWITCH_ON) - || (switchState == NO_SWITCH)) { - //NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition - childTransitionFailure = CHILD_TIMEOUT; - setMode(_MODE_START_UP); - callChildStatemachine(); - } - } - break; - case _MODE_WAIT_OFF: { - uint32_t currentUptime; - Clock::getUptime(¤tUptime); + switch (mode) { + case _MODE_START_UP: + case _MODE_SHUT_DOWN: + case _MODE_TO_NORMAL: + case _MODE_TO_ON: + case _MODE_TO_RAW: { + Mode_t currentMode = mode; + callChildStatemachine(); + //Only do timeout if child did not change anything + if (mode != currentMode) { + break; + } + uint32_t currentUptime; + Clock::getUptime(¤tUptime); + if (currentUptime - timeoutStart >= childTransitionDelay) { + triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0); + setMode(transitionSourceMode, transitionSourceSubMode); + break; + } + } + break; + case _MODE_POWER_DOWN: + commandSwitch(PowerSwitchIF::SWITCH_OFF); + setMode(_MODE_WAIT_OFF); + break; + case _MODE_POWER_ON: + commandSwitch(PowerSwitchIF::SWITCH_ON); + setMode(_MODE_WAIT_ON); + break; + case _MODE_WAIT_ON: { + uint32_t currentUptime; + Clock::getUptime(¤tUptime); + if (powerSwitcher != nullptr and currentUptime - timeoutStart >= + powerSwitcher->getSwitchDelayMs()) { + triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, + 0); + setMode(_MODE_POWER_DOWN); + callChildStatemachine(); + break; + } + ReturnValue_t switchState = getStateOfSwitches(); + if ((switchState == PowerSwitchIF::SWITCH_ON) + || (switchState == NO_SWITCH)) { + //NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition + childTransitionFailure = CHILD_TIMEOUT; + setMode(_MODE_START_UP); + callChildStatemachine(); + } + } + break; + case _MODE_WAIT_OFF: { + uint32_t currentUptime; + Clock::getUptime(¤tUptime); - if(powerSwitcher == nullptr) { - setMode(MODE_OFF); - break; - } + if(powerSwitcher == nullptr) { + setMode(MODE_OFF); + break; + } - if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) { - triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, - 0); - setMode(MODE_ERROR_ON); - break; - } - ReturnValue_t switchState = getStateOfSwitches(); - if ((switchState == PowerSwitchIF::SWITCH_OFF) - || (switchState == NO_SWITCH)) { - setMode(_MODE_SWITCH_IS_OFF); - } - } - break; - case MODE_OFF: - doOffActivity(); - break; - case MODE_ON: - doOnActivity(); - break; - case MODE_RAW: - case MODE_NORMAL: - case MODE_ERROR_ON: - break; - case _MODE_SWITCH_IS_OFF: - setMode(MODE_OFF, SUBMODE_NONE); - break; - default: - triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode); - setMode(_MODE_POWER_DOWN, 0); - break; - } + if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) { + triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, + 0); + setMode(MODE_ERROR_ON); + break; + } + ReturnValue_t switchState = getStateOfSwitches(); + if ((switchState == PowerSwitchIF::SWITCH_OFF) + || (switchState == NO_SWITCH)) { + setMode(_MODE_SWITCH_IS_OFF); + } + } + break; + case MODE_OFF: + doOffActivity(); + break; + case MODE_ON: + doOnActivity(); + break; + case MODE_RAW: + case MODE_NORMAL: + case MODE_ERROR_ON: + break; + case _MODE_SWITCH_IS_OFF: + setMode(MODE_OFF, SUBMODE_NONE); + break; + default: + triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode); + setMode(_MODE_POWER_DOWN, 0); + break; + } } ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, - Submode_t submode) { - switch (mode) { - case MODE_OFF: - case MODE_ON: - case MODE_NORMAL: - case MODE_RAW: - if (submode == SUBMODE_NONE) { - return RETURN_OK; - } else { - return INVALID_SUBMODE; - } - default: - return HasModesIF::INVALID_MODE; - } + Submode_t submode) { + switch (mode) { + case MODE_OFF: + case MODE_ON: + case MODE_NORMAL: + case MODE_RAW: + if (submode == SUBMODE_NONE) { + return RETURN_OK; + } else { + return INVALID_SUBMODE; + } + default: + return HasModesIF::INVALID_MODE; + } } ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap( - DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, - LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic, - bool hasDifferentReplyId, DeviceCommandId_t replyId) { - //No need to check, as we may try to insert multiple times. - insertInCommandMap(deviceCommand); - if (hasDifferentReplyId) { - return insertInReplyMap(replyId, maxDelayCycles, - replyDataSet, replyLen, periodic); - } else { - return insertInReplyMap(deviceCommand, maxDelayCycles, - replyDataSet, replyLen, periodic); - } + DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, + LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic, + bool hasDifferentReplyId, DeviceCommandId_t replyId) { + //No need to check, as we may try to insert multiple times. + insertInCommandMap(deviceCommand); + if (hasDifferentReplyId) { + return insertInReplyMap(replyId, maxDelayCycles, + replyDataSet, replyLen, periodic); + } else { + return insertInReplyMap(deviceCommand, maxDelayCycles, + replyDataSet, replyLen, periodic); + } } ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId, - uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet, - size_t replyLen, bool periodic) { - DeviceReplyInfo info; - info.maxDelayCycles = maxDelayCycles; - info.periodic = periodic; - info.delayCycles = 0; - info.replyLen = replyLen; - info.dataSet = dataSet; - info.command = deviceCommandMap.end(); - auto resultPair = deviceReplyMap.emplace(replyId, info); - if (resultPair.second) { - return RETURN_OK; - } else { - return RETURN_FAILED; - } + uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet, + size_t replyLen, bool periodic) { + DeviceReplyInfo info; + info.maxDelayCycles = maxDelayCycles; + info.periodic = periodic; + info.delayCycles = 0; + info.replyLen = replyLen; + info.dataSet = dataSet; + info.command = deviceCommandMap.end(); + auto resultPair = deviceReplyMap.emplace(replyId, info); + if (resultPair.second) { + return RETURN_OK; + } else { + return RETURN_FAILED; + } } ReturnValue_t DeviceHandlerBase::insertInCommandMap( - DeviceCommandId_t deviceCommand) { - DeviceCommandInfo info; - info.expectedReplies = 0; - info.isExecuting = false; - info.sendReplyTo = NO_COMMANDER; - auto resultPair = deviceCommandMap.emplace(deviceCommand, info); - if (resultPair.second) { - return RETURN_OK; - } else { - return RETURN_FAILED; - } + DeviceCommandId_t deviceCommand) { + DeviceCommandInfo info; + info.expectedReplies = 0; + info.isExecuting = false; + info.sendReplyTo = NO_COMMANDER; + auto resultPair = deviceCommandMap.emplace(deviceCommand, info); + if (resultPair.second) { + return RETURN_OK; + } else { + return RETURN_FAILED; + } } ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply, - uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) { - auto replyIter = deviceReplyMap.find(deviceReply); - if (replyIter == deviceReplyMap.end()) { - triggerEvent(INVALID_DEVICE_COMMAND, deviceReply); - return RETURN_FAILED; - } else { - DeviceReplyInfo *info = &(replyIter->second); - if (maxDelayCycles != 0) { - info->maxDelayCycles = maxDelayCycles; - } - info->delayCycles = delayCycles; - info->periodic = periodic; - return RETURN_OK; - } + uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) { + auto replyIter = deviceReplyMap.find(deviceReply); + if (replyIter == deviceReplyMap.end()) { + triggerEvent(INVALID_DEVICE_COMMAND, deviceReply); + return RETURN_FAILED; + } else { + DeviceReplyInfo *info = &(replyIter->second); + if (maxDelayCycles != 0) { + info->maxDelayCycles = maxDelayCycles; + } + info->delayCycles = delayCycles; + info->periodic = periodic; + return RETURN_OK; + } } @@ -485,499 +478,501 @@ ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId, } void DeviceHandlerBase::callChildStatemachine() { - if (mode == _MODE_START_UP) { - doStartUp(); - } else if (mode == _MODE_SHUT_DOWN) { - doShutDown(); - } else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) { - doTransition(transitionSourceMode, transitionSourceSubMode); - } + if (mode == _MODE_START_UP) { + doStartUp(); + } else if (mode == _MODE_SHUT_DOWN) { + doShutDown(); + } else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) { + doTransition(transitionSourceMode, transitionSourceSubMode); + } } void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) { - triggerEvent(CHANGING_MODE, modeTo, submodeTo); - childTransitionDelay = getTransitionDelayMs(mode, modeTo); - transitionSourceMode = mode; - transitionSourceSubMode = submode; - childTransitionFailure = CHILD_TIMEOUT; + triggerEvent(CHANGING_MODE, modeTo, submodeTo); + childTransitionDelay = getTransitionDelayMs(mode, modeTo); + transitionSourceMode = mode; + transitionSourceSubMode = submode; + childTransitionFailure = CHILD_TIMEOUT; - // transitionTargetMode is set by setMode - setMode((modeTo | TRANSITION_MODE_CHILD_ACTION_MASK), submodeTo); + // transitionTargetMode is set by setMode + setMode((modeTo | TRANSITION_MODE_CHILD_ACTION_MASK), submodeTo); } void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) { - changeHK(mode, submode, false); - submode = newSubmode; - mode = newMode; - modeChanged(); - setNormalDatapoolEntriesInvalid(); - if (!isTransitionalMode()) { - modeHelper.modeChanged(newMode, newSubmode); - announceMode(false); - } - Clock::getUptime(&timeoutStart); + /* TODO: This will probably be done by the LocalDataPoolManager now */ + //changeHK(mode, submode, false); + submode = newSubmode; + mode = newMode; + modeChanged(); + setNormalDatapoolEntriesInvalid(); + if (!isTransitionalMode()) { + modeHelper.modeChanged(newMode, newSubmode); + announceMode(false); + } + Clock::getUptime(&timeoutStart); - if (mode == MODE_OFF and thermalSet != nullptr) { - ReturnValue_t result = thermalSet->read(); - if(result == HasReturnvaluesIF::RETURN_OK) { - if (thermalSet->heaterRequest.value != - ThermalComponentIF::STATE_REQUEST_IGNORE) { - thermalSet->heaterRequest.value = ThermalComponentIF:: - STATE_REQUEST_NON_OPERATIONAL; - } - thermalSet->heaterRequest.commit(PoolVariableIF::VALID); - } + if (mode == MODE_OFF and thermalSet != nullptr) { + ReturnValue_t result = thermalSet->read(); + if(result == HasReturnvaluesIF::RETURN_OK) { + if (thermalSet->heaterRequest.value != + ThermalComponentIF::STATE_REQUEST_IGNORE) { + thermalSet->heaterRequest.value = ThermalComponentIF:: + STATE_REQUEST_NON_OPERATIONAL; + } + thermalSet->heaterRequest.commit(PoolVariableIF::VALID); + } - } - changeHK(mode, submode, true); + } + /* TODO: This will probably be done by the LocalDataPoolManager now */ + //changeHK(mode, submode, true); } void DeviceHandlerBase::setMode(Mode_t newMode) { - setMode(newMode, submode); + setMode(newMode, submode); } void DeviceHandlerBase::replyReturnvalueToCommand(ReturnValue_t status, - uint32_t parameter) { - //This is actually the reply protocol for raw and misc DH commands. - if (status == RETURN_OK) { - CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, parameter); - commandQueue->reply(&reply); - } else { - CommandMessage reply(CommandMessage::REPLY_REJECTED, status, parameter); - commandQueue->reply(&reply); - } + uint32_t parameter) { + //This is actually the reply protocol for raw and misc DH commands. + if (status == RETURN_OK) { + CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, parameter); + commandQueue->reply(&reply); + } else { + CommandMessage reply(CommandMessage::REPLY_REJECTED, status, parameter); + commandQueue->reply(&reply); + } } void DeviceHandlerBase::replyToCommand(ReturnValue_t status, - uint32_t parameter) { - // Check if we reply to a raw command. - if (cookieInfo.pendingCommand->first == RAW_COMMAND_ID) { - if (status == NO_REPLY_EXPECTED) { - status = RETURN_OK; - } - replyReturnvalueToCommand(status, parameter); - // Always delete data from a raw command. - IPCStore->deleteData(storedRawData); - return; - } - // Check if we were externally commanded. - if (cookieInfo.pendingCommand->second.sendReplyTo != NO_COMMANDER) { - MessageQueueId_t queueId = cookieInfo.pendingCommand->second.sendReplyTo; - if (status == NO_REPLY_EXPECTED) { - actionHelper.finish(queueId, cookieInfo.pendingCommand->first, - RETURN_OK); - } else { - actionHelper.step(1, queueId, cookieInfo.pendingCommand->first, - status); - } - } + uint32_t parameter) { + // Check if we reply to a raw command. + if (cookieInfo.pendingCommand->first == RAW_COMMAND_ID) { + if (status == NO_REPLY_EXPECTED) { + status = RETURN_OK; + } + replyReturnvalueToCommand(status, parameter); + // Always delete data from a raw command. + IPCStore->deleteData(storedRawData); + return; + } + // Check if we were externally commanded. + if (cookieInfo.pendingCommand->second.sendReplyTo != NO_COMMANDER) { + MessageQueueId_t queueId = cookieInfo.pendingCommand->second.sendReplyTo; + if (status == NO_REPLY_EXPECTED) { + actionHelper.finish(queueId, cookieInfo.pendingCommand->first, + RETURN_OK); + } else { + actionHelper.step(1, queueId, cookieInfo.pendingCommand->first, + status); + } + } } void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter, - ReturnValue_t status) { - // No need to check if iter exists, as this is checked by callers. - // If someone else uses the method, add check. - if (iter->second.command == deviceCommandMap.end()) { - //Is most likely periodic reply. Silent return. - return; - } - // Check if more replies are expected. If so, do nothing. - DeviceCommandInfo* info = &(iter->second.command->second); - if (--info->expectedReplies == 0) { - // Check if it was transition or internal command. - // Don't send any replies in that case. - if (info->sendReplyTo != NO_COMMANDER) { - actionHelper.finish(info->sendReplyTo, iter->first, status); - } - info->isExecuting = false; - } + ReturnValue_t status) { + // No need to check if iter exists, as this is checked by callers. + // If someone else uses the method, add check. + if (iter->second.command == deviceCommandMap.end()) { + //Is most likely periodic reply. Silent return. + return; + } + // Check if more replies are expected. If so, do nothing. + DeviceCommandInfo* info = &(iter->second.command->second); + if (--info->expectedReplies == 0) { + // Check if it was transition or internal command. + // Don't send any replies in that case. + if (info->sendReplyTo != NO_COMMANDER) { + actionHelper.finish(info->sendReplyTo, iter->first, status); + } + info->isExecuting = false; + } } void DeviceHandlerBase::doSendWrite() { - if (cookieInfo.state == COOKIE_WRITE_READY) { + if (cookieInfo.state == COOKIE_WRITE_READY) { - ReturnValue_t result = communicationInterface->sendMessage(comCookie, - rawPacket, rawPacketLen); + ReturnValue_t result = communicationInterface->sendMessage(comCookie, + rawPacket, rawPacketLen); - if (result == RETURN_OK) { - cookieInfo.state = COOKIE_WRITE_SENT; - } else { - // always generate a failure event, so that FDIR knows what's up - triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, - cookieInfo.pendingCommand->first); - replyToCommand(result); - cookieInfo.state = COOKIE_UNUSED; - cookieInfo.pendingCommand->second.isExecuting = false; - } - } + if (result == RETURN_OK) { + cookieInfo.state = COOKIE_WRITE_SENT; + } else { + // always generate a failure event, so that FDIR knows what's up + triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, + cookieInfo.pendingCommand->first); + replyToCommand(result); + cookieInfo.state = COOKIE_UNUSED; + cookieInfo.pendingCommand->second.isExecuting = false; + } + } } void DeviceHandlerBase::doGetWrite() { - if (cookieInfo.state != COOKIE_WRITE_SENT) { - return; - } - cookieInfo.state = COOKIE_UNUSED; - ReturnValue_t result = communicationInterface->getSendSuccess(comCookie); - if (result == RETURN_OK) { - if (wiretappingMode == RAW) { - replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true); - } + if (cookieInfo.state != COOKIE_WRITE_SENT) { + return; + } + cookieInfo.state = COOKIE_UNUSED; + ReturnValue_t result = communicationInterface->getSendSuccess(comCookie); + if (result == RETURN_OK) { + if (wiretappingMode == RAW) { + replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true); + } - //We need to distinguish here, because a raw command never expects a reply. - //(Could be done in eRIRM, but then child implementations need to be careful. - result = enableReplyInReplyMap(cookieInfo.pendingCommand); - } else { - //always generate a failure event, so that FDIR knows what's up - triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, - cookieInfo.pendingCommand->first); - } - if (result != RETURN_OK) { - cookieInfo.pendingCommand->second.isExecuting = false; - } - replyToCommand(result); + //We need to distinguish here, because a raw command never expects a reply. + //(Could be done in eRIRM, but then child implementations need to be careful. + result = enableReplyInReplyMap(cookieInfo.pendingCommand); + } else { + //always generate a failure event, so that FDIR knows what's up + triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, + cookieInfo.pendingCommand->first); + } + if (result != RETURN_OK) { + cookieInfo.pendingCommand->second.isExecuting = false; + } + replyToCommand(result); } void DeviceHandlerBase::doSendRead() { - ReturnValue_t result; + ReturnValue_t result; - size_t requestLen = 0; - if(cookieInfo.pendingCommand != deviceCommandMap.end()) { - DeviceReplyIter iter = deviceReplyMap.find( - cookieInfo.pendingCommand->first); - if(iter != deviceReplyMap.end()) { - requestLen = iter->second.replyLen; - } - } + size_t requestLen = 0; + if(cookieInfo.pendingCommand != deviceCommandMap.end()) { + DeviceReplyIter iter = deviceReplyMap.find( + cookieInfo.pendingCommand->first); + if(iter != deviceReplyMap.end()) { + requestLen = iter->second.replyLen; + } + } - result = communicationInterface->requestReceiveMessage(comCookie, requestLen); + result = communicationInterface->requestReceiveMessage(comCookie, requestLen); - if (result == RETURN_OK) { - cookieInfo.state = COOKIE_READ_SENT; - } else { - triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result); - //We can't inform anyone, because we don't know which command was sent last. - //So, we need to wait for a timeout. - //but I think we can allow to ignore one missedReply. - ignoreMissedRepliesCount++; - cookieInfo.state = COOKIE_UNUSED; - } + if (result == RETURN_OK) { + cookieInfo.state = COOKIE_READ_SENT; + } else { + triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result); + //We can't inform anyone, because we don't know which command was sent last. + //So, we need to wait for a timeout. + //but I think we can allow to ignore one missedReply. + ignoreMissedRepliesCount++; + cookieInfo.state = COOKIE_UNUSED; + } } void DeviceHandlerBase::doGetRead() { - size_t receivedDataLen = 0; - uint8_t *receivedData = nullptr; + size_t receivedDataLen = 0; + uint8_t *receivedData = nullptr; - if (cookieInfo.state != COOKIE_READ_SENT) { - cookieInfo.state = COOKIE_UNUSED; - return; - } + if (cookieInfo.state != COOKIE_READ_SENT) { + cookieInfo.state = COOKIE_UNUSED; + return; + } - cookieInfo.state = COOKIE_UNUSED; + cookieInfo.state = COOKIE_UNUSED; - ReturnValue_t result = communicationInterface->readReceivedMessage( - comCookie, &receivedData, &receivedDataLen); + ReturnValue_t result = communicationInterface->readReceivedMessage( + comCookie, &receivedData, &receivedDataLen); - if (result != RETURN_OK) { - triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result); - //I think we can allow to ignore one missedReply. - ignoreMissedRepliesCount++; - return; - } + if (result != RETURN_OK) { + triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result); + //I think we can allow to ignore one missedReply. + ignoreMissedRepliesCount++; + return; + } - if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED) - return; + if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED) + return; - if (wiretappingMode == RAW) { - replyRawData(receivedData, receivedDataLen, requestedRawTraffic); - } + if (wiretappingMode == RAW) { + replyRawData(receivedData, receivedDataLen, requestedRawTraffic); + } - if (mode == MODE_RAW) { - if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) { - replyRawReplyIfnotWiretapped(receivedData, receivedDataLen); - } - } - else { - parseReply(receivedData, receivedDataLen); - } + if (mode == MODE_RAW) { + if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) { + replyRawReplyIfnotWiretapped(receivedData, receivedDataLen); + } + } + else { + parseReply(receivedData, receivedDataLen); + } } void DeviceHandlerBase::parseReply(const uint8_t* receivedData, - size_t receivedDataLen) { - ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; - DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND_ID; - size_t foundLen = 0; - // The loop may not execute more often than the number of received bytes - // (worst case). This approach avoids infinite loops due to buggy - // scanForReply routines. - uint32_t remainingLength = receivedDataLen; - for (uint32_t count = 0; count < receivedDataLen; count++) { - result = scanForReply(receivedData, remainingLength, &foundId, - &foundLen); - switch (result) { - case RETURN_OK: - handleReply(receivedData, foundId, foundLen); - if(foundLen == 0) { - printWarningOrError(sif::OutputTypes::OUT_WARNING, - "parseReply", ObjectManagerIF::CHILD_INIT_FAILED, - "Found length is one, parsing might be stuck"); - } - break; - case APERIODIC_REPLY: { - result = interpretDeviceReply(foundId, receivedData); - if (result != RETURN_OK) { - replyRawReplyIfnotWiretapped(receivedData, foundLen); - triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, - foundId); - } - if(foundLen == 0) { - printWarningOrError(sif::OutputTypes::OUT_ERROR, - "parseReply", ObjectManagerIF::CHILD_INIT_FAILED, - "Power switcher set but no valid object found."); + size_t receivedDataLen) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; + DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND_ID; + size_t foundLen = 0; + // The loop may not execute more often than the number of received bytes + // (worst case). This approach avoids infinite loops due to buggy + // scanForReply routines. + uint32_t remainingLength = receivedDataLen; + for (uint32_t count = 0; count < receivedDataLen; count++) { + result = scanForReply(receivedData, remainingLength, &foundId, + &foundLen); + switch (result) { + case RETURN_OK: + handleReply(receivedData, foundId, foundLen); + if(foundLen == 0) { + printWarningOrError(sif::OutputTypes::OUT_WARNING, + "parseReply", ObjectManagerIF::CHILD_INIT_FAILED, + "Found length is one, parsing might be stuck"); + } + break; + case APERIODIC_REPLY: { + result = interpretDeviceReply(foundId, receivedData); + if (result != RETURN_OK) { + replyRawReplyIfnotWiretapped(receivedData, foundLen); + triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, + foundId); + } + if(foundLen == 0) { + printWarningOrError(sif::OutputTypes::OUT_ERROR, + "parseReply", ObjectManagerIF::CHILD_INIT_FAILED, + "Power switcher set but no valid object found."); #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!" - " Packet parsing will be stuck." << std::endl; + sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!" + " Packet parsing will be stuck." << std::endl; #endif - } - break; - } - case IGNORE_REPLY_DATA: - continue; - case IGNORE_FULL_PACKET: - return; - default: - // We need to wait for timeout.. don't know what command failed - // and who sent it. - replyRawReplyIfnotWiretapped(receivedData, foundLen); - triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen); - break; - } - receivedData += foundLen; - if (remainingLength > foundLen) { - remainingLength -= foundLen; - } else { - return; - } - } + } + break; + } + case IGNORE_REPLY_DATA: + continue; + case IGNORE_FULL_PACKET: + return; + default: + // We need to wait for timeout.. don't know what command failed + // and who sent it. + replyRawReplyIfnotWiretapped(receivedData, foundLen); + triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen); + break; + } + receivedData += foundLen; + if (remainingLength > foundLen) { + remainingLength -= foundLen; + } else { + return; + } + } } void DeviceHandlerBase::handleReply(const uint8_t* receivedData, - DeviceCommandId_t foundId, uint32_t foundLen) { - ReturnValue_t result; - DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId); + DeviceCommandId_t foundId, uint32_t foundLen) { + ReturnValue_t result; + DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId); - if (iter == deviceReplyMap.end()) { - replyRawReplyIfnotWiretapped(receivedData, foundLen); - triggerEvent(DEVICE_UNKNOWN_REPLY, foundId); - return; - } + if (iter == deviceReplyMap.end()) { + replyRawReplyIfnotWiretapped(receivedData, foundLen); + triggerEvent(DEVICE_UNKNOWN_REPLY, foundId); + return; + } - DeviceReplyInfo *info = &(iter->second); + DeviceReplyInfo *info = &(iter->second); - if (info->delayCycles != 0) { - result = interpretDeviceReply(foundId, receivedData); + if (info->delayCycles != 0) { + result = interpretDeviceReply(foundId, receivedData); - if(result == IGNORE_REPLY_DATA) { - return; - } + if(result == IGNORE_REPLY_DATA) { + return; + } - if (info->periodic) { - info->delayCycles = info->maxDelayCycles; - } - else { - info->delayCycles = 0; - } + if (info->periodic) { + info->delayCycles = info->maxDelayCycles; + } + else { + info->delayCycles = 0; + } - if (result != RETURN_OK) { - // Report failed interpretation to FDIR. - replyRawReplyIfnotWiretapped(receivedData, foundLen); - triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId); - } - replyToReply(iter, result); - } - else { - // Other completion failure messages are created by timeout. - // Powering down the device might take some time during which periodic - // replies may still come in. - if (mode != _MODE_WAIT_OFF) { - triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId); - } - } + if (result != RETURN_OK) { + // Report failed interpretation to FDIR. + replyRawReplyIfnotWiretapped(receivedData, foundLen); + triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId); + } + replyToReply(iter, result); + } + else { + // Other completion failure messages are created by timeout. + // Powering down the device might take some time during which periodic + // replies may still come in. + if (mode != _MODE_WAIT_OFF) { + triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId); + } + } } ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, - uint8_t** data, uint32_t * len) { - size_t lenTmp; + uint8_t** data, uint32_t * len) { + size_t lenTmp; - if (IPCStore == nullptr) { - *data = nullptr; - *len = 0; - return RETURN_FAILED; - } - ReturnValue_t result = IPCStore->modifyData(storageAddress, data, &lenTmp); - if (result == RETURN_OK) { - *len = lenTmp; - return RETURN_OK; - } else { - triggerEvent(StorageManagerIF::GET_DATA_FAILED, result, - storageAddress.raw); - *data = nullptr; - *len = 0; - return result; - } + if (IPCStore == nullptr) { + *data = nullptr; + *len = 0; + return RETURN_FAILED; + } + ReturnValue_t result = IPCStore->modifyData(storageAddress, data, &lenTmp); + if (result == RETURN_OK) { + *len = lenTmp; + return RETURN_OK; + } else { + triggerEvent(StorageManagerIF::GET_DATA_FAILED, result, + storageAddress.raw); + *data = nullptr; + *len = 0; + return result; + } } void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len, - MessageQueueId_t sendTo, bool isCommand) { - if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) { - return; - } - store_address_t address; - ReturnValue_t result = IPCStore->addData(&address, data, len); + MessageQueueId_t sendTo, bool isCommand) { + if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) { + return; + } + store_address_t address; + ReturnValue_t result = IPCStore->addData(&address, data, len); - if (result != RETURN_OK) { - triggerEvent(StorageManagerIF::STORE_DATA_FAILED, result); - return; - } + if (result != RETURN_OK) { + triggerEvent(StorageManagerIF::STORE_DATA_FAILED, result); + return; + } - CommandMessage command; + CommandMessage command; - DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command, - getObjectId(), address, isCommand); + DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command, + getObjectId(), address, isCommand); - result = commandQueue->sendMessage(sendTo, &command); + result = commandQueue->sendMessage(sendTo, &command); - if (result != RETURN_OK) { - IPCStore->deleteData(address); - // Silently discard data, this indicates heavy TM traffic which - // should not be increased by additional events. - } + if (result != RETURN_OK) { + IPCStore->deleteData(address); + // Silently discard data, this indicates heavy TM traffic which + // should not be increased by additional events. + } } //Default child implementations DeviceHandlerIF::CommunicationAction DeviceHandlerBase::getComAction() { - switch (pstStep) { - case 0: - return CommunicationAction::PERFORM_OPERATION; - break; - case 1: - return CommunicationAction::SEND_WRITE; - break; - case 2: - return CommunicationAction::GET_WRITE; - break; - case 3: - return CommunicationAction::SEND_READ; - break; - case 4: - return CommunicationAction::GET_READ; - break; - default: - break; - } - return CommunicationAction::NOTHING; + switch (pstStep) { + case 0: + return CommunicationAction::PERFORM_OPERATION; + break; + case 1: + return CommunicationAction::SEND_WRITE; + break; + case 2: + return CommunicationAction::GET_WRITE; + break; + case 3: + return CommunicationAction::SEND_READ; + break; + case 4: + return CommunicationAction::GET_READ; + break; + default: + break; + } + return CommunicationAction::NOTHING; } MessageQueueId_t DeviceHandlerBase::getCommandQueue() const { - return commandQueue->getId(); + return commandQueue->getId(); } void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) { - storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage); - ReturnValue_t result = getStorageData(storedRawData, &rawPacket, - &rawPacketLen); - if (result != RETURN_OK) { - replyReturnvalueToCommand(result, RAW_COMMAND_ID); - storedRawData.raw = StorageManagerIF::INVALID_ADDRESS; - } else { - cookieInfo.pendingCommand = deviceCommandMap.find( - (DeviceCommandId_t) RAW_COMMAND_ID); - cookieInfo.pendingCommand->second.isExecuting = true; - cookieInfo.state = COOKIE_WRITE_READY; - } + storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage); + ReturnValue_t result = getStorageData(storedRawData, &rawPacket, + &rawPacketLen); + if (result != RETURN_OK) { + replyReturnvalueToCommand(result, RAW_COMMAND_ID); + storedRawData.raw = StorageManagerIF::INVALID_ADDRESS; + } else { + cookieInfo.pendingCommand = deviceCommandMap.find( + (DeviceCommandId_t) RAW_COMMAND_ID); + cookieInfo.pendingCommand->second.isExecuting = true; + cookieInfo.state = COOKIE_WRITE_READY; + } } void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) { - if(powerSwitcher == nullptr) { - return; - } - const uint8_t *switches; - uint8_t numberOfSwitches = 0; - ReturnValue_t result = getSwitches(&switches, &numberOfSwitches); - if (result == RETURN_OK) { - while (numberOfSwitches > 0) { - powerSwitcher->sendSwitchCommand(switches[numberOfSwitches - 1], - onOff); - numberOfSwitches--; - } - } + if(powerSwitcher == nullptr) { + return; + } + const uint8_t *switches; + uint8_t numberOfSwitches = 0; + ReturnValue_t result = getSwitches(&switches, &numberOfSwitches); + if (result == RETURN_OK) { + while (numberOfSwitches > 0) { + powerSwitcher->sendSwitchCommand(switches[numberOfSwitches - 1], + onOff); + numberOfSwitches--; + } + } } ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches, - uint8_t *numberOfSwitches) { - return DeviceHandlerBase::NO_SWITCH; + uint8_t *numberOfSwitches) { + return DeviceHandlerBase::NO_SWITCH; } void DeviceHandlerBase::modeChanged(void) { } ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap( - DeviceCommandMap::iterator command, uint8_t expectedReplies, - bool useAlternativeId, DeviceCommandId_t alternativeReply) { - DeviceReplyMap::iterator iter; - if (useAlternativeId) { - iter = deviceReplyMap.find(alternativeReply); - } else { - iter = deviceReplyMap.find(command->first); - } - if (iter != deviceReplyMap.end()) { - DeviceReplyInfo *info = &(iter->second); - info->delayCycles = info->maxDelayCycles; - info->command = command; - command->second.expectedReplies = expectedReplies; - return RETURN_OK; - } else { - return NO_REPLY_EXPECTED; - } + DeviceCommandMap::iterator command, uint8_t expectedReplies, + bool useAlternativeId, DeviceCommandId_t alternativeReply) { + DeviceReplyMap::iterator iter; + if (useAlternativeId) { + iter = deviceReplyMap.find(alternativeReply); + } else { + iter = deviceReplyMap.find(command->first); + } + if (iter != deviceReplyMap.end()) { + DeviceReplyInfo *info = &(iter->second); + info->delayCycles = info->maxDelayCycles; + info->command = command; + command->second.expectedReplies = expectedReplies; + return RETURN_OK; + } else { + return NO_REPLY_EXPECTED; + } } void DeviceHandlerBase::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { - setMode(getBaseMode(mode)); + setMode(getBaseMode(mode)); } ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) { - if(powerSwitcher == nullptr) { - return NO_SWITCH; - } - uint8_t numberOfSwitches = 0; - const uint8_t *switches; + if(powerSwitcher == nullptr) { + return NO_SWITCH; + } + uint8_t numberOfSwitches = 0; + const uint8_t *switches; - ReturnValue_t result = getSwitches(&switches, &numberOfSwitches); - if ((result == RETURN_OK) && (numberOfSwitches != 0)) { - while (numberOfSwitches > 0) { - if (powerSwitcher->getSwitchState(switches[numberOfSwitches - 1]) - == PowerSwitchIF::SWITCH_OFF) { - return PowerSwitchIF::SWITCH_OFF; - } - numberOfSwitches--; - } - return PowerSwitchIF::SWITCH_ON; - } + ReturnValue_t result = getSwitches(&switches, &numberOfSwitches); + if ((result == RETURN_OK) && (numberOfSwitches != 0)) { + while (numberOfSwitches > 0) { + if (powerSwitcher->getSwitchState(switches[numberOfSwitches - 1]) + == PowerSwitchIF::SWITCH_OFF) { + return PowerSwitchIF::SWITCH_OFF; + } + numberOfSwitches--; + } + return PowerSwitchIF::SWITCH_ON; + } - return NO_SWITCH; + return NO_SWITCH; } Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) { - // only child action special modes are handled, as a child should - // never see any base action modes - if (transitionMode == _MODE_START_UP) { - return _MODE_TO_ON; - } - if (transitionMode == _MODE_SHUT_DOWN) { - return _MODE_POWER_DOWN; - } - return transitionMode - & ~(TRANSITION_MODE_BASE_ACTION_MASK - | TRANSITION_MODE_CHILD_ACTION_MASK); + // only child action special modes are handled, as a child should + // never see any base action modes + if (transitionMode == _MODE_START_UP) { + return _MODE_TO_ON; + } + if (transitionMode == _MODE_SHUT_DOWN) { + return _MODE_POWER_DOWN; + } + return transitionMode + & ~(TRANSITION_MODE_BASE_ACTION_MASK + | TRANSITION_MODE_CHILD_ACTION_MASK); } //SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the way, throw away DHB and write a new one: @@ -985,127 +980,127 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) { // - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity. // - Modularization? ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, - Submode_t commandedSubmode, uint32_t* msToReachTheMode) { - if (isTransitionalMode()) { - return IN_TRANSITION; - } - if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) { - return TRANS_NOT_ALLOWED; - } - if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) { - return TRANS_NOT_ALLOWED; - } + Submode_t commandedSubmode, uint32_t* msToReachTheMode) { + if (isTransitionalMode()) { + return IN_TRANSITION; + } + if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) { + return TRANS_NOT_ALLOWED; + } + if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) { + return TRANS_NOT_ALLOWED; + } - if ((commandedMode == MODE_ON) && (mode == MODE_OFF) - and (thermalSet != nullptr)) { - ReturnValue_t result = thermalSet->read(); - if(result == HasReturnvaluesIF::RETURN_OK) { - if((thermalSet->heaterRequest.value != - ThermalComponentIF::STATE_REQUEST_IGNORE) and (not - ThermalComponentIF::isOperational( - thermalSet->thermalState.value))) { - triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE, - thermalSet->thermalState.value); - return NON_OP_TEMPERATURE; - } - } - } + if ((commandedMode == MODE_ON) && (mode == MODE_OFF) + and (thermalSet != nullptr)) { + ReturnValue_t result = thermalSet->read(); + if(result == HasReturnvaluesIF::RETURN_OK) { + if((thermalSet->heaterRequest.value != + ThermalComponentIF::STATE_REQUEST_IGNORE) and (not + ThermalComponentIF::isOperational( + thermalSet->thermalState.value))) { + triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE, + thermalSet->thermalState.value); + return NON_OP_TEMPERATURE; + } + } + } - return isModeCombinationValid(commandedMode, commandedSubmode); + return isModeCombinationValid(commandedMode, commandedSubmode); } void DeviceHandlerBase::startTransition(Mode_t commandedMode, - Submode_t commandedSubmode) { - switch (commandedMode) { - case MODE_ON: - handleTransitionToOnMode(commandedMode, commandedSubmode); - break; - case MODE_OFF: - if (mode == MODE_OFF) { - triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode); - setMode(_MODE_POWER_DOWN, commandedSubmode); - } else { - // already set the delay for the child transition - // so we don't need to call it twice - childTransitionDelay = getTransitionDelayMs(mode, _MODE_POWER_DOWN); - transitionSourceMode = _MODE_POWER_DOWN; - transitionSourceSubMode = commandedSubmode; - childTransitionFailure = CHILD_TIMEOUT; - setMode(_MODE_SHUT_DOWN, commandedSubmode); - triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode); - } - break; - case MODE_RAW: - if (mode != MODE_OFF) { - setTransition(MODE_RAW, commandedSubmode); - } else { - setMode(MODE_RAW, commandedSubmode); - } - break; - case MODE_NORMAL: - if (mode != MODE_OFF) { - setTransition(MODE_NORMAL, commandedSubmode); - } else { - replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED); - } - break; - } + Submode_t commandedSubmode) { + switch (commandedMode) { + case MODE_ON: + handleTransitionToOnMode(commandedMode, commandedSubmode); + break; + case MODE_OFF: + if (mode == MODE_OFF) { + triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode); + setMode(_MODE_POWER_DOWN, commandedSubmode); + } else { + // already set the delay for the child transition + // so we don't need to call it twice + childTransitionDelay = getTransitionDelayMs(mode, _MODE_POWER_DOWN); + transitionSourceMode = _MODE_POWER_DOWN; + transitionSourceSubMode = commandedSubmode; + childTransitionFailure = CHILD_TIMEOUT; + setMode(_MODE_SHUT_DOWN, commandedSubmode); + triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode); + } + break; + case MODE_RAW: + if (mode != MODE_OFF) { + setTransition(MODE_RAW, commandedSubmode); + } else { + setMode(MODE_RAW, commandedSubmode); + } + break; + case MODE_NORMAL: + if (mode != MODE_OFF) { + setTransition(MODE_NORMAL, commandedSubmode); + } else { + replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED); + } + break; + } } void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode, - Submode_t commandedSubmode) { - if (mode == MODE_OFF) { - transitionSourceMode = _MODE_POWER_DOWN; - transitionSourceSubMode = SUBMODE_NONE; - setMode(_MODE_POWER_ON, commandedSubmode); - // already set the delay for the child transition so we don't - // need to call it twice - childTransitionDelay = getTransitionDelayMs(_MODE_START_UP, - MODE_ON); - triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode); - if(thermalSet != nullptr) { - ReturnValue_t result = thermalSet->read(); - if(result == HasReturnvaluesIF::RETURN_OK) { - if(thermalSet->heaterRequest != - ThermalComponentIF::STATE_REQUEST_IGNORE) { - thermalSet->heaterRequest = - ThermalComponentIF::STATE_REQUEST_OPERATIONAL; - thermalSet->commit(); - } - } - } - } else { - setTransition(MODE_ON, commandedSubmode); - } + Submode_t commandedSubmode) { + if (mode == MODE_OFF) { + transitionSourceMode = _MODE_POWER_DOWN; + transitionSourceSubMode = SUBMODE_NONE; + setMode(_MODE_POWER_ON, commandedSubmode); + // already set the delay for the child transition so we don't + // need to call it twice + childTransitionDelay = getTransitionDelayMs(_MODE_START_UP, + MODE_ON); + triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode); + if(thermalSet != nullptr) { + ReturnValue_t result = thermalSet->read(); + if(result == HasReturnvaluesIF::RETURN_OK) { + if(thermalSet->heaterRequest != + ThermalComponentIF::STATE_REQUEST_IGNORE) { + thermalSet->heaterRequest = + ThermalComponentIF::STATE_REQUEST_OPERATIONAL; + thermalSet->commit(); + } + } + } + } else { + setTransition(MODE_ON, commandedSubmode); + } } void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) { - *mode = this->mode; - *submode = this->submode; + *mode = this->mode; + *submode = this->submode; } void DeviceHandlerBase::setToExternalControl() { - healthHelper.setHealth(EXTERNAL_CONTROL); + healthHelper.setHealth(EXTERNAL_CONTROL); } void DeviceHandlerBase::announceMode(bool recursive) { - triggerEvent(MODE_INFO, mode, submode); + triggerEvent(MODE_INFO, mode, submode); } bool DeviceHandlerBase::dontCheckQueue() { - return false; + return false; } void DeviceHandlerBase::missedReply(DeviceCommandId_t id) { - if (ignoreMissedRepliesCount > 0) { - ignoreMissedRepliesCount--; - } else { - triggerEvent(DEVICE_MISSED_REPLY, id); - } + if (ignoreMissedRepliesCount > 0) { + ignoreMissedRepliesCount--; + } else { + triggerEvent(DEVICE_MISSED_REPLY, id); + } } HasHealthIF::HealthState DeviceHandlerBase::getHealth() { - return healthHelper.getHealth(); + return healthHelper.getHealth(); } ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) { @@ -1114,322 +1109,319 @@ ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) { } void DeviceHandlerBase::checkSwitchState() { - if ((mode == MODE_ON || mode == MODE_NORMAL)) { - //We only check in ON and NORMAL, ignore RAW and ERROR_ON. - ReturnValue_t result = getStateOfSwitches(); - if (result == PowerSwitchIF::SWITCH_OFF && !switchOffWasReported) { - triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF); - switchOffWasReported = true; - } - } else { - switchOffWasReported = false; - } + if ((mode == MODE_ON || mode == MODE_NORMAL)) { + //We only check in ON and NORMAL, ignore RAW and ERROR_ON. + ReturnValue_t result = getStateOfSwitches(); + if (result == PowerSwitchIF::SWITCH_OFF && !switchOffWasReported) { + triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF); + switchOffWasReported = true; + } + } else { + switchOffWasReported = false; + } } void DeviceHandlerBase::doOnActivity() { } ReturnValue_t DeviceHandlerBase::acceptExternalDeviceCommands() { - if ((mode != MODE_ON) && (mode != MODE_NORMAL)) { - return WRONG_MODE_FOR_COMMAND; - } - return RETURN_OK; + if ((mode != MODE_ON) && (mode != MODE_NORMAL)) { + return WRONG_MODE_FOR_COMMAND; + } + return RETURN_OK; } void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data, - size_t len) { - if ((wiretappingMode == RAW) - && (defaultRawReceiver == requestedRawTraffic)) { - //The raw packet was already sent by the wiretapping service - } else { - replyRawData(data, len, defaultRawReceiver); - } + size_t len) { + if ((wiretappingMode == RAW) + && (defaultRawReceiver == requestedRawTraffic)) { + //The raw packet was already sent by the wiretapping service + } else { + replyRawData(data, len, defaultRawReceiver); + } } ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage( - CommandMessage * message) { - switch (message->getCommand()) { - case DeviceHandlerMessage::CMD_WIRETAPPING: - switch (DeviceHandlerMessage::getWiretappingMode(message)) { - case RAW: - wiretappingMode = RAW; - requestedRawTraffic = commandQueue->getLastPartner(); - break; - case TM: - wiretappingMode = TM; - requestedRawTraffic = commandQueue->getLastPartner(); - break; - case OFF: - wiretappingMode = OFF; - break; - default: - replyReturnvalueToCommand(INVALID_COMMAND_PARAMETER); - wiretappingMode = OFF; - return RETURN_OK; - } - replyReturnvalueToCommand(RETURN_OK); - return RETURN_OK; - case DeviceHandlerMessage::CMD_RAW: - if ((mode != MODE_RAW)) { - DeviceHandlerMessage::clear(message); - replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND); - } else { - buildRawDeviceCommand(message); - } - return RETURN_OK; - default: - return RETURN_FAILED; - } + CommandMessage * message) { + switch (message->getCommand()) { + case DeviceHandlerMessage::CMD_WIRETAPPING: + switch (DeviceHandlerMessage::getWiretappingMode(message)) { + case RAW: + wiretappingMode = RAW; + requestedRawTraffic = commandQueue->getLastPartner(); + break; + case TM: + wiretappingMode = TM; + requestedRawTraffic = commandQueue->getLastPartner(); + break; + case OFF: + wiretappingMode = OFF; + break; + default: + replyReturnvalueToCommand(INVALID_COMMAND_PARAMETER); + wiretappingMode = OFF; + return RETURN_OK; + } + replyReturnvalueToCommand(RETURN_OK); + return RETURN_OK; + case DeviceHandlerMessage::CMD_RAW: + if ((mode != MODE_RAW)) { + DeviceHandlerMessage::clear(message); + replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND); + } else { + buildRawDeviceCommand(message); + } + return RETURN_OK; + default: + return RETURN_FAILED; + } } void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) { - modeHelper.setParentQueue(parentQueueId); - healthHelper.setParentQueue(parentQueueId); + modeHelper.setParentQueue(parentQueueId); + healthHelper.setParentQueue(parentQueueId); } bool DeviceHandlerBase::isAwaitingReply() { - std::map::iterator iter; - for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) { - if (iter->second.delayCycles != 0) { - return true; - } - } - return false; + std::map::iterator iter; + for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) { + if (iter->second.delayCycles != 0) { + return true; + } + } + return false; } ReturnValue_t DeviceHandlerBase::letChildHandleMessage( - CommandMessage * message) { - return RETURN_FAILED; + CommandMessage * message) { + return RETURN_FAILED; } -void DeviceHandlerBase::handleDeviceTM(SerializeIF* data, - DeviceCommandId_t replyId, bool neverInDataPool, bool forceDirectTm) { - DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId); - if (iter == deviceReplyMap.end()) { - triggerEvent(DEVICE_UNKNOWN_REPLY, replyId); - return; - } - DeviceTmReportingWrapper wrapper(getObjectId(), replyId, data); - //replies to a command - if (iter->second.command != deviceCommandMap.end()) - { - MessageQueueId_t queueId = iter->second.command->second.sendReplyTo; +void DeviceHandlerBase::handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId, + bool forceDirectTm) { + if(dataSet == nullptr) { + return; + } - if (queueId != NO_COMMANDER) { - //This may fail, but we'll ignore the fault. - actionHelper.reportData(queueId, replyId, data); - } + DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId); + if (iter == deviceReplyMap.end()) { + triggerEvent(DEVICE_UNKNOWN_REPLY, replyId); + return; + } - //This check should make sure we get any TM but don't get anything doubled. - if (wiretappingMode == TM && (requestedRawTraffic != queueId)) { - actionHelper.reportData(requestedRawTraffic, replyId, &wrapper); - } - else if (forceDirectTm and (defaultRawReceiver != queueId) and - (defaultRawReceiver != MessageQueueIF::NO_QUEUE)) - { - // 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, - true); - } - } - //unrequested/aperiodic replies - else - { - if (wiretappingMode == TM) { - actionHelper.reportData(requestedRawTraffic, replyId, &wrapper); - } - else if (forceDirectTm and defaultRawReceiver != - MessageQueueIF::NO_QUEUE) - { - // 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, - true); - } - } - //Try to cast to GlobDataSet and commit data. - if (not neverInDataPool) { - LocalPoolDataSetBase* dataSet = - dynamic_cast(data); - if (dataSet != nullptr) { - dataSet->setValidity(true, true); - dataSet->commit(); - } - } + /* Regular replies to a command */ + if (iter->second.command != deviceCommandMap.end()) + { + MessageQueueId_t queueId = iter->second.command->second.sendReplyTo; + + if (queueId != NO_COMMANDER) { + /* This may fail, but we'll ignore the fault. */ + actionHelper.reportData(queueId, replyId, dataSet); + } + + /* This check should make sure we get any TM but don't get anything doubled. */ + if (wiretappingMode == TM && (requestedRawTraffic != queueId)) { + DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet); + actionHelper.reportData(requestedRawTraffic, replyId, &wrapper); + } + + else if (forceDirectTm and (defaultRawReceiver != queueId) and + (defaultRawReceiver != MessageQueueIF::NO_QUEUE)) + { + // 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, dataSet, true); + } + } + /* Unrequested or aperiodic replies */ + else + { + DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet); + if (wiretappingMode == TM) { + actionHelper.reportData(requestedRawTraffic, replyId, &wrapper); + } + if (forceDirectTm and defaultRawReceiver != MessageQueueIF::NO_QUEUE) + { + // sid_t setSid = sid_t(this->getObjectId(), replyId); + // LocalPoolDataSetBase* dataset = getDataSetHandle(setSid); + // if(dataset != nullptr) { + // poolManager.generateHousekeepingPacket(setSid, dataset, true); + // } + + // 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, true); + } + } } ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, - MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { - ReturnValue_t result = acceptExternalDeviceCommands(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId); - if (iter == deviceCommandMap.end()) { - result = COMMAND_NOT_SUPPORTED; - } else if (iter->second.isExecuting) { - result = COMMAND_ALREADY_SENT; - } else { - result = buildCommandFromCommand(actionId, data, size); - } - if (result == RETURN_OK) { - iter->second.sendReplyTo = commandedBy; - iter->second.isExecuting = true; - cookieInfo.pendingCommand = iter; - cookieInfo.state = COOKIE_WRITE_READY; - } - return result; + MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { + ReturnValue_t result = acceptExternalDeviceCommands(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId); + if (iter == deviceCommandMap.end()) { + result = COMMAND_NOT_SUPPORTED; + } else if (iter->second.isExecuting) { + result = COMMAND_ALREADY_SENT; + } else { + result = buildCommandFromCommand(actionId, data, size); + } + if (result == RETURN_OK) { + iter->second.sendReplyTo = commandedBy; + iter->second.isExecuting = true; + cookieInfo.pendingCommand = iter; + cookieInfo.state = COOKIE_WRITE_READY; + } + return result; } void DeviceHandlerBase::buildInternalCommand(void) { -//Neither Raw nor Direct could build a command - ReturnValue_t result = NOTHING_TO_SEND; - DeviceCommandId_t deviceCommandId = NO_COMMAND_ID; - if (mode == MODE_NORMAL) { - result = buildNormalDeviceCommand(&deviceCommandId); - if (result == BUSY) { - // so we can track misconfigurations - printWarningOrError(sif::OutputTypes::OUT_WARNING, - "buildInternalCommand", - HasReturnvaluesIF::RETURN_FAILED, - "Busy."); - result = NOTHING_TO_SEND; //no need to report this - } - } - else if (mode == MODE_RAW) { - result = buildChildRawCommand(); - deviceCommandId = RAW_COMMAND_ID; - } - else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) { - result = buildTransitionDeviceCommand(&deviceCommandId); - } - else { - return; - } + /* Neither raw nor direct could build a command */ + ReturnValue_t result = NOTHING_TO_SEND; + DeviceCommandId_t deviceCommandId = NO_COMMAND_ID; + if (mode == MODE_NORMAL) { + result = buildNormalDeviceCommand(&deviceCommandId); + if (result == BUSY) { + /* So we can track misconfigurations */ + printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand", + HasReturnvaluesIF::RETURN_FAILED, "Busy."); + /* No need to report this */ + result = NOTHING_TO_SEND; + } + } + else if (mode == MODE_RAW) { + result = buildChildRawCommand(); + deviceCommandId = RAW_COMMAND_ID; + } + else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) { + result = buildTransitionDeviceCommand(&deviceCommandId); + } + else { + return; + } - if (result == NOTHING_TO_SEND) { - return; - } - if (result == RETURN_OK) { - DeviceCommandMap::iterator iter = deviceCommandMap.find( - deviceCommandId); - if (iter == deviceCommandMap.end()) { - result = COMMAND_NOT_SUPPORTED; - } else if (iter->second.isExecuting) { + if (result == NOTHING_TO_SEND) { + return; + } + if (result == RETURN_OK) { + DeviceCommandMap::iterator iter = deviceCommandMap.find( + deviceCommandId); + if (iter == deviceCommandMap.end()) { + result = COMMAND_NOT_SUPPORTED; + } + else if (iter->second.isExecuting) { #if FSFW_DISABLE_PRINTOUT == 0 - char output[36]; - sprintf(output, "Command 0x%08x is executing", - static_cast(deviceCommandId)); - // so we can track misconfigurations - printWarningOrError(sif::OutputTypes::OUT_WARNING, - "buildInternalCommand", - HasReturnvaluesIF::RETURN_FAILED, - output); + char output[36]; + sprintf(output, "Command 0x%08x is executing", + static_cast(deviceCommandId)); + // so we can track misconfigurations + printWarningOrError(sif::OutputTypes::OUT_WARNING, + "buildInternalCommand", + HasReturnvaluesIF::RETURN_FAILED, + output); #endif - // this is an internal command, no need to report a failure here, - // missed reply will track if a reply is too late, otherwise, it's ok - return; - } else { - iter->second.sendReplyTo = NO_COMMANDER; - iter->second.isExecuting = true; - cookieInfo.pendingCommand = iter; - cookieInfo.state = COOKIE_WRITE_READY; - } - } - if (result != RETURN_OK) { - triggerEvent(DEVICE_BUILDING_COMMAND_FAILED, result, deviceCommandId); - } + // this is an internal command, no need to report a failure here, + // missed reply will track if a reply is too late, otherwise, it's ok + return; + } else { + iter->second.sendReplyTo = NO_COMMANDER; + iter->second.isExecuting = true; + cookieInfo.pendingCommand = iter; + cookieInfo.state = COOKIE_WRITE_READY; + } + } + if (result != RETURN_OK) { + triggerEvent(DEVICE_BUILDING_COMMAND_FAILED, result, deviceCommandId); + } } ReturnValue_t DeviceHandlerBase::buildChildRawCommand() { - return NOTHING_TO_SEND; + return NOTHING_TO_SEND; } uint8_t DeviceHandlerBase::getReplyDelayCycles( - DeviceCommandId_t deviceCommand) { - DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand); - if (iter == deviceReplyMap.end()) { - return 0; - } - return iter->second.delayCycles; + DeviceCommandId_t deviceCommand) { + DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand); + if (iter == deviceReplyMap.end()) { + return 0; + } + return iter->second.delayCycles; } Mode_t DeviceHandlerBase::getTransitionSourceMode() const { - return transitionSourceMode; + return transitionSourceMode; } Submode_t DeviceHandlerBase::getTransitionSourceSubMode() const { - return transitionSourceSubMode; + return transitionSourceSubMode; } void DeviceHandlerBase::triggerEvent(Event event, uint32_t parameter1, - uint32_t parameter2) { - fdirInstance->triggerEvent(event, parameter1, parameter2); + uint32_t parameter2) { + fdirInstance->triggerEvent(event, parameter1, parameter2); } void DeviceHandlerBase::forwardEvent(Event event, uint32_t parameter1, - uint32_t parameter2) const { - fdirInstance->triggerEvent(event, parameter1, parameter2); + uint32_t parameter2) const { + fdirInstance->triggerEvent(event, parameter1, parameter2); } void DeviceHandlerBase::doOffActivity() { } -ReturnValue_t DeviceHandlerBase::getParameter(uint8_t domainId, - uint16_t parameterId, ParameterWrapper* parameterWrapper, - const ParameterWrapper* newValues, uint16_t startAtIndex) { - ReturnValue_t result = fdirInstance->getParameter(domainId, parameterId, - parameterWrapper, newValues, startAtIndex); - if (result != INVALID_DOMAIN_ID) { - return result; - } - return INVALID_DOMAIN_ID; +ReturnValue_t DeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uniqueId, + ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues, + uint16_t startAtIndex) { + ReturnValue_t result = fdirInstance->getParameter(domainId, uniqueId, parameterWrapper, + newValues, startAtIndex); + if (result != INVALID_DOMAIN_ID) { + return result; + } + return INVALID_DOMAIN_ID; } bool DeviceHandlerBase::isTransitionalMode() { - return ((mode - & (TRANSITION_MODE_BASE_ACTION_MASK - | TRANSITION_MODE_CHILD_ACTION_MASK)) != 0); + return ((mode + & (TRANSITION_MODE_BASE_ACTION_MASK + | TRANSITION_MODE_CHILD_ACTION_MASK)) != 0); } bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) { - auto iter = deviceCommandMap.find(commandId); - if (iter != deviceCommandMap.end()) { - return iter->second.isExecuting; - } else { - return false; - } + auto iter = deviceCommandMap.find(commandId); + if (iter != deviceCommandMap.end()) { + return iter->second.isExecuting; + } else { + return false; + } } -void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) { -} - void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task){ - executingTask = task; + executingTask = task; } -// Default implementations empty. void DeviceHandlerBase::debugInterface(uint8_t positionTracker, - object_id_t objectId, uint32_t parameter) {} + object_id_t objectId, uint32_t parameter) {} void DeviceHandlerBase::performOperationHook() { } ReturnValue_t DeviceHandlerBase::initializeLocalDataPool( - localpool::DataPool &localDataPoolMap, + localpool::DataPool &localDataPoolMap, LocalDataPoolManager& poolManager) { - if(thermalSet != nullptr) { - localDataPoolMap.emplace(thermalSet->thermalStatePoolId, - new PoolEntry); - localDataPoolMap.emplace(thermalSet->heaterRequestPoolId, - new PoolEntry); - } - return RETURN_OK; + if(thermalSet != nullptr) { + localDataPoolMap.emplace(thermalSet->thermalStatePoolId, + new PoolEntry); + localDataPoolMap.emplace(thermalSet->heaterRequestPoolId, + new PoolEntry); + } + return RETURN_OK; } ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() { @@ -1447,13 +1439,13 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() { } LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) { - auto iter = deviceReplyMap.find(sid.ownerSetId); - if(iter != deviceReplyMap.end()) { - return iter->second.dataSet; - } - else { - return nullptr; - } + auto iter = deviceReplyMap.find(sid.ownerSetId); + if(iter != deviceReplyMap.end()) { + return iter->second.dataSet; + } + else { + return nullptr; + } } object_id_t DeviceHandlerBase::getObjectId() const { @@ -1476,58 +1468,66 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const { } void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() { - for(const auto& reply: deviceReplyMap) { - if(reply.second.dataSet != nullptr) { - reply.second.dataSet->setValidity(false, true); - } - } + for(const auto& reply: deviceReplyMap) { + if(reply.second.dataSet != nullptr) { + reply.second.dataSet->setValidity(false, true); + } + } } void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, - const char *functionName, ReturnValue_t errorCode, - const char *errorPrint) { - if(errorPrint == nullptr) { - if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) { - errorPrint = "Initialization error"; - } - if(errorCode == HasReturnvaluesIF::RETURN_FAILED) { - if(errorType == sif::OutputTypes::OUT_WARNING) { - errorPrint = "Generic Warning"; - } - else { - errorPrint = "Generic Error"; - } - } - else { - errorPrint = "Unknown error"; - } - } + const char *functionName, ReturnValue_t errorCode, + const char *errorPrint) { + if(errorPrint == nullptr) { + if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) { + errorPrint = "Initialization error"; + } + if(errorCode == HasReturnvaluesIF::RETURN_FAILED) { + if(errorType == sif::OutputTypes::OUT_WARNING) { + errorPrint = "Generic Warning"; + } + else { + errorPrint = "Generic Error"; + } + } + else { + errorPrint = "Unknown error"; + } + } - if(errorType == sif::OutputTypes::OUT_WARNING) { + if(errorType == sif::OutputTypes::OUT_WARNING) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "DeviceHandlerBase::" << functionName << ": Object ID " - << std::hex << std::setw(8) << std::setfill('0') - << this->getObjectId() << " | " << errorPrint << std::dec - << std::setfill(' ') << std::endl; + sif::warning << "DeviceHandlerBase::" << functionName << ": Object ID " + << std::hex << std::setw(8) << std::setfill('0') + << this->getObjectId() << " | " << errorPrint << std::dec + << std::setfill(' ') << std::endl; #else - sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", - this->getObjectId(), errorPrint); + sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", + this->getObjectId(), errorPrint); #endif - } - else if(errorType == sif::OutputTypes::OUT_ERROR) { + } + else if(errorType == sif::OutputTypes::OUT_ERROR) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "DeviceHandlerBase::" << functionName << ": Object ID " - << std::hex << std::setw(8) << std::setfill('0') - << this->getObjectId() << " | " << errorPrint << std::dec - << std::setfill(' ') << std::endl; + sif::error << "DeviceHandlerBase::" << functionName << ": Object ID " + << std::hex << std::setw(8) << std::setfill('0') + << this->getObjectId() << " | " << errorPrint << std::dec + << std::setfill(' ') << std::endl; #else - sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", - this->getObjectId(), errorPrint); + sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", + this->getObjectId(), errorPrint); #endif - } + } } LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() { return &poolManager; } + +MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const { + auto commandIter = deviceCommandMap.find(replyId); + if(commandIter == deviceCommandMap.end()) { + return MessageQueueIF::NO_QUEUE; + } + return commandIter->second.sendReplyTo; +} diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h index 3a993aff..a19e2cbc 100644 --- a/devicehandlers/DeviceHandlerBase.h +++ b/devicehandlers/DeviceHandlerBase.h @@ -20,7 +20,6 @@ #include "../action/ActionHelper.h" #include "../health/HealthHelper.h" #include "../parameters/ParameterHelper.h" -#include "../datapool/HkSwitchHelper.h" #include "../datapoollocal/HasLocalDataPoolIF.h" #include "../datapoollocal/LocalDataPoolManager.h" @@ -80,1184 +79,1194 @@ class StorageManagerIF; * @ingroup devices */ class DeviceHandlerBase: public DeviceHandlerIF, - public HasReturnvaluesIF, - public ExecutableObjectIF, - public SystemObject, - public HasModesIF, - public HasHealthIF, - public HasActionsIF, - public ReceivesParameterMessagesIF, - public HasLocalDataPoolIF { - friend void (Factory::setStaticFrameworkObjectIds)(); +public HasReturnvaluesIF, +public ExecutableObjectIF, +public SystemObject, +public HasModesIF, +public HasHealthIF, +public HasActionsIF, +public ReceivesParameterMessagesIF, +public HasLocalDataPoolIF { + friend void (Factory::setStaticFrameworkObjectIds)(); public: - /** - * The constructor passes the objectId to the SystemObject(). - * - * @param setObjectId the ObjectId to pass to the SystemObject() Constructor - * @param deviceCommuncation Communcation Interface object which is used - * to implement communication functions - * @param comCookie This object will be passed to the communication inter- - * face and can contain user-defined information about the communication. - * @param fdirInstance - * @param cmdQueueSize - */ - DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, - CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr, - size_t cmdQueueSize = 20); + /** + * The constructor passes the objectId to the SystemObject(). + * + * @param setObjectId the ObjectId to pass to the SystemObject() Constructor + * @param deviceCommuncation Communcation Interface object which is used + * to implement communication functions + * @param comCookie This object will be passed to the communication inter- + * face and can contain user-defined information about the communication. + * @param fdirInstance + * @param cmdQueueSize + */ + DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, + CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr, + size_t cmdQueueSize = 20); - void setHkDestination(object_id_t hkDestination); + void setHkDestination(object_id_t hkDestination); - /** - * If the device handler is controlled by the FSFW thermal building blocks, - * this function should be called to initialize all required components. - * The device handler will then take care of creating local pool entries - * for the device thermal state and device heating request. - * Custom local pool IDs can be assigned as well. - * @param thermalStatePoolId - * @param thermalRequestPoolId - */ - void setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId = - DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID, - lp_id_t thermalRequestPoolId = - DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID, - uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID); - /** - * @brief Helper function to ease device handler development. - * This will instruct the transition to MODE_ON immediately - * (leading to doStartUp() being called for the transition to the ON mode), - * so external mode commanding is not necessary anymore. - * - * This has to be called before the task is started! - * (e.g. in the task factory). This is only a helper function for - * development. Regular mode commanding should be performed by commanding - * the AssemblyBase or Subsystem objects resposible for the device handler. - */ - void setStartUpImmediately(); + /** + * If the device handler is controlled by the FSFW thermal building blocks, + * this function should be called to initialize all required components. + * The device handler will then take care of creating local pool entries + * for the device thermal state and device heating request. + * Custom local pool IDs can be assigned as well. + * @param thermalStatePoolId + * @param thermalRequestPoolId + */ + void setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId = + DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID, + lp_id_t thermalRequestPoolId = + DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID, + uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID); + /** + * @brief Helper function to ease device handler development. + * This will instruct the transition to MODE_ON immediately + * (leading to doStartUp() being called for the transition to the ON mode), + * so external mode commanding is not necessary anymore. + * + * This has to be called before the task is started! + * (e.g. in the task factory). This is only a helper function for + * development. Regular mode commanding should be performed by commanding + * the AssemblyBase or Subsystem objects resposible for the device handler. + */ + void setStartUpImmediately(); - /** - * @brief This function is the device handler base core component and is - * called periodically. - * @details - * General sequence, showing where abstract virtual functions are called: - * If the State is SEND_WRITE: - * 1. Set the cookie state to COOKIE_UNUSED and read the command queue - * 2. Handles Device State Modes by calling doStateMachine(). - * This function calls callChildStatemachine() which calls the - * abstract functions doStartUp() and doShutDown() - * 3. Check switch states by calling checkSwitchStates() - * 4. Decrements counter for timeout of replies by calling - * decrementDeviceReplyMap() - * 5. Performs FDIR check for failures - * 6. Calls hkSwitcher.performOperation() - * 7. If the device mode is MODE_OFF, return RETURN_OK. + /** + * @brief This function is the device handler base core component and is + * called periodically. + * @details + * General sequence, showing where abstract virtual functions are called: + * If the State is SEND_WRITE: + * 1. Set the cookie state to COOKIE_UNUSED and read the command queue + * 2. Handles Device State Modes by calling doStateMachine(). + * This function calls callChildStatemachine() which calls the + * abstract functions doStartUp() and doShutDown() + * 3. Check switch states by calling checkSwitchStates() + * 4. Decrements counter for timeout of replies by calling + * decrementDeviceReplyMap() + * 5. Performs FDIR check for failures + * 6. If the device mode is MODE_OFF, return RETURN_OK. * Otherwise, perform the Action property and performs depending * on value specified by input value counter (incremented in PST). * The child class tells base class what to do by setting this value. - * - SEND_WRITE: Send data or commands to device by calling - * doSendWrite() which calls sendMessage function - * of #communicationInterface - * and calls buildInternalCommand if the cookie state is COOKIE_UNUSED - * - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite() - * which calls getSendSuccess of #communicationInterface. - * Calls abstract functions scanForReply() and interpretDeviceReply(). - * - SEND_READ: Request reading data from device by calling doSendRead() - * which calls requestReceiveMessage of #communcationInterface - * - GET_READ: Access requested reading data by calling doGetRead() - * which calls readReceivedMessage of #communicationInterface - * @param counter Specifies which Action to perform - * @return RETURN_OK for successful execution - */ - virtual ReturnValue_t performOperation(uint8_t counter); + * - SEND_WRITE: Send data or commands to device by calling + * doSendWrite() which calls sendMessage function + * of #communicationInterface + * and calls buildInternalCommand if the cookie state is COOKIE_UNUSED + * - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite() + * which calls getSendSuccess of #communicationInterface. + * Calls abstract functions scanForReply() and interpretDeviceReply(). + * - SEND_READ: Request reading data from device by calling doSendRead() + * which calls requestReceiveMessage of #communcationInterface + * - GET_READ: Access requested reading data by calling doGetRead() + * which calls readReceivedMessage of #communicationInterface + * @param counter Specifies which Action to perform + * @return RETURN_OK for successful execution + */ + virtual ReturnValue_t performOperation(uint8_t counter); - /** - * @brief Initializes the device handler - * @details - * Initialize Device Handler as system object and - * initializes all important helper classes. - * Calls fillCommandAndReplyMap(). - * @return - */ - virtual ReturnValue_t initialize(); + /** + * @brief Initializes the device handler + * @details + * Initialize Device Handler as system object and + * initializes all important helper classes. + * Calls fillCommandAndReplyMap(). + * @return + */ + virtual ReturnValue_t initialize(); - /** - * @brief Intialization steps performed after all tasks have been created. - * This function will be called by the executing task. - * @return - */ + /** + * @brief Intialization steps performed after all tasks have been created. + * This function will be called by the executing task. + * @return + */ virtual ReturnValue_t initializeAfterTaskCreation() override; - /** Destructor. */ - virtual ~DeviceHandlerBase(); + /** Destructor. */ + virtual ~DeviceHandlerBase(); + + + /** + * 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_) override; + virtual MessageQueueId_t getCommandQueue(void) const override; + + /** Explicit interface implementation of getObjectId */ + virtual object_id_t getObjectId() const override; + + /** + * @param parentQueueId + */ + virtual void setParentQueue(MessageQueueId_t parentQueueId); + + /** @brief Implementation required for HasActionIF */ + ReturnValue_t executeAction(ActionId_t actionId, + MessageQueueId_t commandedBy, const uint8_t* data, + size_t size) override; + + Mode_t getTransitionSourceMode() const; + Submode_t getTransitionSourceSubMode() const; + virtual void getMode(Mode_t *mode, Submode_t *submode); + HealthState getHealth(); + ReturnValue_t setHealth(HealthState health); + virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, + ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues, + uint16_t startAtIndex) override; protected: - /** - * @brief This is used to let the child class handle the transition from - * mode @c _MODE_START_UP to @c MODE_ON - * @details - * It is only called when the device handler is in mode @c _MODE_START_UP. - * That means, the device switch(es) are already set to on. - * Device handler commands are read and can be handled by the child class. - * If the child class handles a command, it should also send - * an reply accordingly. - * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE, - * the base class handles rejecting the command and sends a reply. - * The replies for mode transitions are handled by the base class. - * - * - If the device is started and ready for operation, the mode should be - * set to MODE_ON. It is possible to set the mode to _MODE_TO_ON to - * use the to on transition if available. - * - If the power-up fails, the mode should be set to _MODE_POWER_DOWN - * which will lead to the device being powered off. - * - If the device does not change the mode, the mode will be changed - * to _MODE_POWER_DOWN, after the timeout (from getTransitionDelay()) - * has passed. - * - * #transitionFailure can be set to a failure code indicating the reason - * for a failed transition - */ - virtual void doStartUp() = 0; + /** + * @brief This is used to let the child class handle the transition from + * mode @c _MODE_START_UP to @c MODE_ON + * @details + * It is only called when the device handler is in mode @c _MODE_START_UP. + * That means, the device switch(es) are already set to on. + * Device handler commands are read and can be handled by the child class. + * If the child class handles a command, it should also send + * an reply accordingly. + * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE, + * the base class handles rejecting the command and sends a reply. + * The replies for mode transitions are handled by the base class. + * + * - If the device is started and ready for operation, the mode should be + * set to MODE_ON. It is possible to set the mode to _MODE_TO_ON to + * use the to on transition if available. + * - If the power-up fails, the mode should be set to _MODE_POWER_DOWN + * which will lead to the device being powered off. + * - If the device does not change the mode, the mode will be changed + * to _MODE_POWER_DOWN, after the timeout (from getTransitionDelay()) + * has passed. + * + * #transitionFailure can be set to a failure code indicating the reason + * for a failed transition + */ + virtual void doStartUp() = 0; + /** + * @brief This is used to let the child class handle the transition + * from mode @c _MODE_SHUT_DOWN to @c _MODE_POWER_DOWN + * @details + * It is only called when the device handler is in mode @c _MODE_SHUT_DOWN. + * Device handler commands are read and can be handled by the child class. + * If the child class handles a command, it should also send an reply + * accordingly. + * If an Command is not handled (ie #DeviceHandlerCommand is not + * @c CMD_NONE, the base class handles rejecting the command and sends a + * reply. The replies for mode transitions are handled by the base class. + * + * - If the device ready to be switched off, + * the mode should be set to _MODE_POWER_DOWN. + * - If the device should not be switched off, the mode can be changed to + * _MODE_TO_ON (or MODE_ON if no transition is needed). + * - If the device does not change the mode, the mode will be changed to + * _MODE_POWER_DOWN, when the timeout (from getTransitionDelay()) + * has passed. + * + * #transitionFailure can be set to a failure code indicating the reason + * for a failed transition + */ + virtual void doShutDown() = 0; - /** - * @brief This is used to let the child class handle the transition - * from mode @c _MODE_SHUT_DOWN to @c _MODE_POWER_DOWN - * @details - * It is only called when the device handler is in mode @c _MODE_SHUT_DOWN. - * Device handler commands are read and can be handled by the child class. - * If the child class handles a command, it should also send an reply - * accordingly. - * If an Command is not handled (ie #DeviceHandlerCommand is not - * @c CMD_NONE, the base class handles rejecting the command and sends a - * reply. The replies for mode transitions are handled by the base class. - * - * - If the device ready to be switched off, - * the mode should be set to _MODE_POWER_DOWN. - * - If the device should not be switched off, the mode can be changed to - * _MODE_TO_ON (or MODE_ON if no transition is needed). - * - If the device does not change the mode, the mode will be changed to - * _MODE_POWER_DOWN, when the timeout (from getTransitionDelay()) - * has passed. - * - * #transitionFailure can be set to a failure code indicating the reason - * for a failed transition - */ - virtual void doShutDown() = 0; + /* Command handling */ + /** + * Build the device command to send for normal mode. + * + * This is only called in @c MODE_NORMAL. If multiple submodes for + * @c MODE_NORMAL are supported, different commands can built, + * depending on the submode. + * + * #rawPacket and #rawPacketLen must be set by this method to the + * packet to be sent. If variable command frequence is required, a counter + * can be used and the frequency in the reply map has to be set manually + * by calling updateReplyMap(). + * + * @param[out] id the device command id that has been built + * @return + * - @c RETURN_OK to send command after setting #rawPacket and + * #rawPacketLen. + * - @c NOTHING_TO_SEND when no command is to be sent. + * - Anything else triggers an even with the returnvalue as a parameter. + */ + virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0; + /** + * Build the device command to send for a transitional mode. + * + * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW, + * @c _MODE_START_UP and @c _MODE_SHUT_DOWN. So it is used by doStartUp() + * and doShutDown() as well as doTransition(), by setting those + * modes in the respective functions. + * + * A good idea is to implement a flag indicating a command has to be built + * and a variable containing the command number to be built + * and filling them in doStartUp(), doShutDown() and doTransition() so no + * modes have to be checked here. + * + * #rawPacket and #rawPacketLen must be set by this method to the + * packet to be sent. + * + * @param[out] id the device command id built + * @return + * - @c RETURN_OK when a command is to be sent + * - @c NOTHING_TO_SEND when no command is to be sent + * - Anything else triggers an even with the returnvalue as a parameter + */ + virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0; + /** + * @brief Build a device command packet from data supplied by a direct + * command (PUS Service 8) + * @details + * This will be called if an functional command via PUS Service 8 is received and is + * the primary interface for functional command instead of #executeAction for users. The + * supplied ActionId_t action ID will be converted to a DeviceCommandId_t command ID after + * an internal check whether the action ID is a key in the device command map. + * + * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent. + * The existence of the command in the command map and the command size check against 0 are + * done by the base class. + * + * @param deviceCommand The command to build, already checked against deviceCommandMap + * @param commandData Pointer to the data from the direct command + * @param commandDataLen Length of commandData + * @return + * - @c RETURN_OK to send command after #rawPacket and #rawPacketLen + * have been set. + * - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can + * be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish + * to finish the command handling. + * - Anything else triggers an event with the return code as a parameter as well as a + * step reply failed with the return code + */ + virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t * commandData, size_t commandDataLen) = 0; - /** - * Build the device command to send for normal mode. - * - * This is only called in @c MODE_NORMAL. If multiple submodes for - * @c MODE_NORMAL are supported, different commands can built, - * depending on the submode. - * - * #rawPacket and #rawPacketLen must be set by this method to the - * packet to be sent. If variable command frequence is required, a counter - * can be used and the frequency in the reply map has to be set manually - * by calling updateReplyMap(). - * - * @param[out] id the device command id that has been built - * @return - * - @c RETURN_OK to send command after setting #rawPacket and - * #rawPacketLen. - * - @c NOTHING_TO_SEND when no command is to be sent. - * - Anything else triggers an even with the returnvalue as a parameter. - */ - virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0; + /* Reply handling */ + /** + * @brief Scans a buffer for a valid reply. + * @details + * This is used by the base class to check the data received for valid packets. + * It only checks if a valid packet starts at @c start. + * It also only checks the structural validy of the packet, + * e.g. checksums lengths and protocol data. No information check is done, + * e.g. range checks etc. + * + * Errors should be reported directly, the base class does NOT report any + * errors based on the return value of this function. + * + * @param start start of remaining buffer to be scanned + * @param len length of remaining buffer to be scanned + * @param[out] foundId the id of the data found in the buffer. + * @param[out] foundLen length of the data found. Is to be set in function, + * buffer is scanned at previous position + foundLen. + * @return + * - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid + * - @c RETURN_FAILED no reply could be found starting at @c start, + * implies @c foundLen is not valid, base class will call scanForReply() + * again with ++start + * - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid, + * e.g. checksum error, implies @c foundLen is valid, can be used to + * skip some bytes + * - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid + * - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of + * the packet + * - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet + * - @c APERIODIC_REPLY if a valid reply is received that has not been + * requested by a command, but should be handled anyway + * (@see also fillCommandAndCookieMap() ) + */ + virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len, + DeviceCommandId_t *foundId, size_t *foundLen) = 0; + /** + * @brief Interpret a reply from the device. + * @details + * 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 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 + * @return + * - @c RETURN_OK when the reply was interpreted. + * - @c IGNORE_REPLY_DATA Ignore the reply and don't reset reply cycle + * counter. + * - @c RETURN_FAILED when the reply could not be interpreted, + * e.g. logical errors or range violations occurred + */ + virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) = 0; + MessageQueueId_t getCommanderId(DeviceCommandId_t replyId) const; + /** + * Helper function to get pending command. This is useful for devices + * like SPI sensors to identify the last sent command. + * This only returns the command sent in the last SEND_WRITE cycle. + * @return + */ + DeviceCommandId_t getPendingCommand() const; - /** - * Build the device command to send for a transitional mode. - * - * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW, - * @c _MODE_START_UP and @c _MODE_SHUT_DOWN. So it is used by doStartUp() - * and doShutDown() as well as doTransition(), by setting those - * modes in the respective functions. - * - * A good idea is to implement a flag indicating a command has to be built - * and a variable containing the command number to be built - * and filling them in doStartUp(), doShutDown() and doTransition() so no - * modes have to be checked here. - * - * #rawPacket and #rawPacketLen must be set by this method to the - * packet to be sent. - * - * @param[out] id the device command id built - * @return - * - @c RETURN_OK when a command is to be sent - * - @c NOTHING_TO_SEND when no command is to be sent - * - Anything else triggers an even with the returnvalue as a parameter - */ - virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0; + /* Specifying commands and replies */ + /** + * @brief Fill the #DeviceCommandMap and #DeviceReplyMap called by the #initialize + * of the base class + * @details + * This is used to let the base class know which replies are expected. + * There are different scenarios regarding this: + * + * - "Normal" commands. These are commands, that trigger a direct reply + * from the device. In this case, the id of the command should be added + * to the command map with a commandData_t where maxDelayCycles is set + * to the maximum expected number of PST cycles the reply will take. + * Then, scanForReply returns the id of the command and the base class + * can handle time-out and missing replies. + * + * - Periodic, unrequested replies. These are replies that, once enabled, + * are sent by the device on its own in a defined interval. + * In this case, the id of the reply or a placeholder id should be added + * to the deviceCommandMap with a commandData_t where maxDelayCycles is + * set to the maximum expected number of PST cycles between two replies + * (also a tolerance should be added, as an FDIR message will be + * generated if it is missed). + * From then on, the base class handles the reception. + * Then, scanForReply returns the id of the reply or the placeholder id + * and the base class will take care of checking that all replies are + * received and the interval is correct. + * + * - Aperiodic, unrequested replies. These are replies that are sent + * by the device without any preceding command and not in a defined + * interval. These are not entered in the deviceCommandMap but + * handled by returning @c APERIODIC_REPLY in scanForReply(). + */ + virtual void fillCommandAndReplyMap() = 0; + /** + * This is a helper method to facilitate inserting entries in the command map. + * @param deviceCommand Identifier of the command to add. + * @param maxDelayCycles The maximum number of delay cycles the command + * waits until it times out. + * @param replyLen Will be supplied to the requestReceiveMessage call of + * the communication interface. + * @param periodic Indicates if the command is periodic (i.e. it is sent + * by the device repeatedly without request) or not. Default is aperiodic (0) + * @return - @c RETURN_OK when the command was successfully inserted, + * - @c RETURN_FAILED else. + */ + ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand, + uint16_t maxDelayCycles, + LocalPoolDataSetBase* replyDataSet = nullptr, + size_t replyLen = 0, bool periodic = false, + bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0); + /** + * @brief This is a helper method to insert replies in the reply map. + * @param deviceCommand Identifier of the reply to add. + * @param maxDelayCycles The maximum number of delay cycles the reply waits + * until it times out. + * @param periodic Indicates if the command is periodic (i.e. it is sent + * by the device repeatedly without request) or not. Default is aperiodic (0) + * @return - @c RETURN_OK when the command was successfully inserted, + * - @c RETURN_FAILED else. + */ + ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, + uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr, + size_t replyLen = 0, bool periodic = false); + /** + * @brief A simple command to add a command to the commandList. + * @param deviceCommand The command to add + * @return - @c RETURN_OK when the command was successfully inserted, + * - @c RETURN_FAILED else. + */ + ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand); + /** + * @brief This is a helper method to facilitate updating entries + * in the reply map. + * @param deviceCommand Identifier of the reply to update. + * @param delayCycles The current number of delay cycles to wait. + * As stated in #fillCommandAndCookieMap, to disable periodic commands, + * this is set to zero. + * @param maxDelayCycles The maximum number of delay cycles the reply waits + * until it times out. By passing 0 the entry remains untouched. + * @param periodic Indicates if the command is periodic (i.e. it is sent + * by the device repeatedly without request) or not.Default is aperiodic (0). + * Warning: The setting always overrides the value that was entered in the map. + * @return - @c RETURN_OK when the command was successfully inserted, + * - @c RETURN_FAILED else. + */ + ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply, + uint16_t delayCycles, uint16_t maxDelayCycles, + bool periodic = false); + /** + * @brief Can be used to set the dataset corresponding to a reply ID manually. + * @details + * Used by the local data pool manager. + */ + ReturnValue_t setReplyDataset(DeviceCommandId_t replyId, + LocalPoolDataSetBase* dataset); - /** - * @brief Build a device command packet from data supplied by a - * direct command. - * - * @details - * #rawPacket and #rawPacketLen should be set by this method to the packet - * to be sent. The existence of the command in the command map and the - * command size check against 0 are done by the base class. - * - * @param deviceCommand the command to build, already checked against - * deviceCommandMap - * @param commandData pointer to the data from the direct command - * @param commandDataLen length of commandData - * @return - * - @c RETURN_OK to send command after #rawPacket and #rawPacketLen - * have been set. - * - Anything else triggers an event with the - * returnvalue as a parameter - */ - virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, - const uint8_t * commandData, size_t commandDataLen) = 0; + /** + * Get the time needed to transit from modeFrom to modeTo. + * + * Used for the following transitions: + * modeFrom -> modeTo: + * MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN] + * MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN] + * MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN] + * _MODE_START_UP -> MODE_ON (do not include time to set the switches, + * the base class got you covered) + * + * The default implementation returns 0 ! + * @param modeFrom + * @param modeTo + * @return time in ms + */ + virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) = 0; - /** - * @brief Scans a buffer for a valid reply. - * @details - * This is used by the base class to check the data received for valid packets. - * It only checks if a valid packet starts at @c start. - * It also only checks the structural validy of the packet, - * e.g. checksums lengths and protocol data. No information check is done, - * e.g. range checks etc. - * - * Errors should be reported directly, the base class does NOT report any - * errors based on the return value of this function. - * - * @param start start of remaining buffer to be scanned - * @param len length of remaining buffer to be scanned - * @param[out] foundId the id of the data found in the buffer. - * @param[out] foundLen length of the data found. Is to be set in function, - * buffer is scanned at previous position + foundLen. - * @return - * - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid - * - @c RETURN_FAILED no reply could be found starting at @c start, - * implies @c foundLen is not valid, base class will call scanForReply() - * again with ++start - * - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid, - * e.g. checksum error, implies @c foundLen is valid, can be used to - * skip some bytes - * - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid - * - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of - * the packet - * - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet - * - @c APERIODIC_REPLY if a valid reply is received that has not been - * requested by a command, but should be handled anyway - * (@see also fillCommandAndCookieMap() ) - */ - virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len, - DeviceCommandId_t *foundId, size_t *foundLen) = 0; + /* Functions used by the local data pool manager */ + /** + * This function is used to initialize the local housekeeping pool + * entries. The default implementation leaves the pool empty. + * @param localDataPoolMap + * @return + */ + virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + /** + * @brief Set all datapool variables that are update periodically in + * normal mode invalid + * @details + * The default implementation will set all datasets which have been added + * in #fillCommandAndReplyMap to invalid. It will also set all pool + * variables inside the dataset to invalid. The user can override this + * method optionally. + */ + virtual void setNormalDatapoolEntriesInvalid(); + /** + * @brief Get the dataset handle for a given SID. + * @details + * The default implementation will use the deviceCommandMap to look for the corresponding + * dataset handle. The user can override this function if this is not desired. + * @param sid + * @return + */ + virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; - /** - * @brief Interpret a reply from the device. - * @details - * 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 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 - * @return - * - @c RETURN_OK when the reply was interpreted. - * - @c IGNORE_REPLY_DATA Ignore the reply and don't reset reply cycle - * counter. - * - @c RETURN_FAILED when the reply could not be interpreted, - * e.g. logical errors or range violations occurred - */ - virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, - const uint8_t *packet) = 0; + /* HasModesIF overrides */ + virtual void startTransition(Mode_t mode, Submode_t submode) override; + virtual void setToExternalControl() override; + virtual void announceMode(bool recursive) override; + /** + * @brief Set the device handler mode + * @details + * Sets #timeoutStart with every call Also sets #transitionTargetMode if necessary so + * transitional states can be entered from everywhere without breaking the state machine + * (which relies on a correct #transitionTargetMode). + * The submode is left unchanged. + * + * @param newMode + */ + void setMode(Mode_t newMode); + /** + * @overload + * @param submode + */ + void setMode(Mode_t newMode, Submode_t submode); + /** + * @brief Should be implemented properly by child class. + * @param mode + * @param submode + * @return + * - @c RETURN_OK if valid + * - @c RETURN_FAILED if invalid + */ + virtual ReturnValue_t isModeCombinationValid(Mode_t mode, + Submode_t submode); + /** + * @brief Notify child about mode change. + * @details + * Can be overriden to be used like a callback. + */ + virtual void modeChanged(); - /** - * @brief fill the #DeviceCommandMap and #DeviceReplyMap - * called by the initialize() of the base class - * @details - * This is used to let the base class know which replies are expected. - * There are different scenarios regarding this: - * - * - "Normal" commands. These are commands, that trigger a direct reply - * from the device. In this case, the id of the command should be added - * to the command map with a commandData_t where maxDelayCycles is set - * to the maximum expected number of PST cycles the reply will take. - * Then, scanForReply returns the id of the command and the base class - * can handle time-out and missing replies. - * - * - Periodic, unrequested replies. These are replies that, once enabled, - * are sent by the device on its own in a defined interval. - * In this case, the id of the reply or a placeholder id should be added - * to the deviceCommandMap with a commandData_t where maxDelayCycles is - * set to the maximum expected number of PST cycles between two replies - * (also a tolerance should be added, as an FDIR message will be - * generated if it is missed). - * From then on, the base class handles the reception. - * Then, scanForReply returns the id of the reply or the placeholder id - * and the base class will take care of checking that all replies are - * received and the interval is correct. - * - * - Aperiodic, unrequested replies. These are replies that are sent - * by the device without any preceding command and not in a defined - * interval. These are not entered in the deviceCommandMap but - * handled by returning @c APERIODIC_REPLY in scanForReply(). - */ - virtual void fillCommandAndReplyMap() = 0; + /* Power handling functions */ + /** + * Return the switches connected to the device. + * + * The default implementation returns one switch set in the ctor. + * + * @param[out] switches pointer to an array of switches + * @param[out] numberOfSwitches length of returned array + * @return + * - @c RETURN_OK if the parameters were set + * - @c RETURN_FAILED if no switches exist + */ + virtual ReturnValue_t getSwitches(const uint8_t **switches, + uint8_t *numberOfSwitches); - /** - * This is a helper method to facilitate inserting entries in the command map. - * @param deviceCommand Identifier of the command to add. - * @param maxDelayCycles The maximum number of delay cycles the command - * waits until it times out. - * @param replyLen Will be supplied to the requestReceiveMessage call of - * the communication interface. - * @param periodic Indicates if the command is periodic (i.e. it is sent - * by the device repeatedly without request) or not. Default is aperiodic (0) - * @return - @c RETURN_OK when the command was successfully inserted, - * - @c RETURN_FAILED else. - */ - ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand, - uint16_t maxDelayCycles, - LocalPoolDataSetBase* replyDataSet = nullptr, - size_t replyLen = 0, bool periodic = false, - bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0); + /** + * @brief Helper function to report a missed reply + * @details Can be overwritten by children to act on missed replies or to fake reporting Id. + * @param id of the missed reply + */ + virtual void missedReply(DeviceCommandId_t id); - /** - * @brief This is a helper method to insert replies in the reply map. - * @param deviceCommand Identifier of the reply to add. - * @param maxDelayCycles The maximum number of delay cycles the reply waits - * until it times out. - * @param periodic Indicates if the command is periodic (i.e. it is sent - * by the device repeatedly without request) or not. Default is aperiodic (0) - * @return - @c RETURN_OK when the command was successfully inserted, - * - @c RETURN_FAILED else. - */ - ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, - uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr, - size_t replyLen = 0, bool periodic = false); - - /** - * @brief A simple command to add a command to the commandList. - * @param deviceCommand The command to add - * @return - @c RETURN_OK when the command was successfully inserted, - * - @c RETURN_FAILED else. - */ - ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand); - /** - * @brief This is a helper method to facilitate updating entries - * in the reply map. - * @param deviceCommand Identifier of the reply to update. - * @param delayCycles The current number of delay cycles to wait. - * As stated in #fillCommandAndCookieMap, to disable periodic commands, - * this is set to zero. - * @param maxDelayCycles The maximum number of delay cycles the reply waits - * until it times out. By passing 0 the entry remains untouched. - * @param periodic Indicates if the command is periodic (i.e. it is sent - * by the device repeatedly without request) or not.Default is aperiodic (0). - * Warning: The setting always overrides the value that was entered in the map. - * @return - @c RETURN_OK when the command was successfully inserted, - * - @c RETURN_FAILED else. - */ - ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply, - uint16_t delayCycles, uint16_t maxDelayCycles, - bool periodic = false); - - ReturnValue_t setReplyDataset(DeviceCommandId_t replyId, - LocalPoolDataSetBase* dataset); - - /** - * @brief Can be implemented by child handler to - * perform debugging - * @details Example: Calling this in performOperation - * to track values like mode. - * @param positionTracker Provide the child handler a way to know - * where the debugInterface was called - * @param objectId Provide the child handler object Id to - * specify actions for spefic devices - * @param parameter Supply a parameter of interest - * Please delete all debugInterface calls in DHB after debugging is finished ! - */ - virtual void debugInterface(uint8_t positionTracker = 0, - object_id_t objectId = 0, uint32_t parameter = 0); - - /** - * Get the time needed to transit from modeFrom to modeTo. - * - * Used for the following transitions: - * modeFrom -> modeTo: - * MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN] - * MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN] - * MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN] - * _MODE_START_UP -> MODE_ON (do not include time to set the switches, - * the base class got you covered) - * - * The default implementation returns 0 ! - * @param modeFrom - * @param modeTo - * @return time in ms - */ - virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) = 0; - - /** - * Return the switches connected to the device. - * - * The default implementation returns one switch set in the ctor. - * - * @param[out] switches pointer to an array of switches - * @param[out] numberOfSwitches length of returned array - * @return - * - @c RETURN_OK if the parameters were set - * - @c RETURN_FAILED if no switches exist - */ - virtual ReturnValue_t getSwitches(const uint8_t **switches, - uint8_t *numberOfSwitches); - - /** - * This function is used to initialize the local housekeeping pool - * entries. The default implementation leaves the pool empty. - * @param localDataPoolMap - * @return - */ - virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, - LocalDataPoolManager& poolManager) override; - - /** - * Required for HasLocalDataPoolIF, return a handle to the local pool manager. - * @return - */ - LocalDataPoolManager* getHkManagerHandle() override; - - /** - * @brief Hook function for child handlers which is called once per - * performOperation(). Default implementation is empty. - */ - virtual void performOperationHook(); - -public: - /** Explicit interface implementation of getObjectId */ - virtual object_id_t getObjectId() const override; - - /** - * @param parentQueueId - */ - virtual void setParentQueue(MessageQueueId_t parentQueueId); - - /** @brief Implementation required for HasActionIF */ - ReturnValue_t executeAction(ActionId_t actionId, - MessageQueueId_t commandedBy, const uint8_t* data, - size_t size) override; - - Mode_t getTransitionSourceMode() const; - Submode_t getTransitionSourceSubMode() const; - virtual void getMode(Mode_t *mode, Submode_t *submode); - HealthState getHealth(); - ReturnValue_t setHealth(HealthState health); - virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, - ParameterWrapper *parameterWrapper, - const ParameterWrapper *newValues, uint16_t startAtIndex) override; - /** - * 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_); - virtual MessageQueueId_t getCommandQueue(void) const; + /* Miscellaneous functions */ + /** + * @brief Hook function for child handlers which is called once per + * performOperation(). Default implementation is empty. + */ + virtual void performOperationHook(); + /** + * @brief Can be implemented by child handler to + * perform debugging + * @details Example: Calling this in performOperation + * to track values like mode. + * @param positionTracker Provide the child handler a way to know + * where the debugInterface was called + * @param objectId Provide the child handler object Id to + * specify actions for spefic devices + * @param parameter Supply a parameter of interest + * Please delete all debugInterface calls in DHB after debugging is finished ! + */ + virtual void debugInterface(uint8_t positionTracker = 0, + object_id_t objectId = 0, uint32_t parameter = 0); protected: - /** - * The Returnvalues id of this class, required by HasReturnvaluesIF - */ - static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE; - static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(0xA0); - // Returnvalues for scanForReply() - static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB0); //!< This is used to specify for replies from a device which are not replies to requests - static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB1); //!< Ignore parts of the received packet - static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB2); //!< Ignore full received packet - // Returnvalues for command building - static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC0); //!< Return this if no command sending in required - static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(0xC2); - // Returnvalues for getSwitches() - static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xD0); - // Mode handling error Codes - static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0); - static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1); + static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE; - static const MessageQueueId_t NO_COMMANDER = 0; + static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(0xA0); + /* Return codes for scanForReply */ + //! This is used to specify for replies from a device which are not replies to requests + static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB0); + //! Ignore parts of the received packet + static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB1); + //! Ignore full received packet + static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB2); + /* Return codes for command building */ + //! Return this if no command sending in required + static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC0); + static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(0xC2); + // Return codes for getSwitches */ + static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xD0); + /* Mode handling error Codes */ + static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0); + static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1); - /** Pointer to the raw packet that will be sent.*/ - uint8_t *rawPacket = nullptr; - /** Size of the #rawPacket. */ - uint32_t rawPacketLen = 0; + static const MessageQueueId_t NO_COMMANDER = 0; - /** - * The mode the device handler is currently in. - * This should never be changed directly but only with setMode() - */ - Mode_t mode; - /** - * The submode the device handler is currently in. - * This should never be changed directly but only with setMode() - */ - Submode_t submode; + //! Pointer to the raw packet that will be sent. + uint8_t *rawPacket = nullptr; + //! Size of the #rawPacket. + uint32_t rawPacketLen = 0; - /** This is the counter value from performOperation(). */ - uint8_t pstStep = 0; - uint8_t lastStep = 0; - uint32_t pstIntervalMs = 0; + /** + * The mode the device handler is currently in. + * This should never be changed directly but only with setMode() + */ + Mode_t mode; + /** + * The submode the device handler is currently in. + * This should never be changed directly but only with setMode() + */ + Submode_t submode; - /** - * Wiretapping flag: - * - * indicates either that all raw messages to and from the device should be - * sent to #defaultRawReceiver - * or that all device TM should be downlinked to #defaultRawReceiver. - */ - enum WiretappingMode { - OFF = 0, RAW = 1, TM = 2 - } wiretappingMode; - /** - * @brief A message queue that accepts raw replies - * - * Statically initialized in initialize() to a configurable object. - * Used when there is no method of finding a recipient, ie raw mode and - * reporting erroneous replies - */ - MessageQueueId_t defaultRawReceiver = MessageQueueIF::NO_QUEUE; - store_address_t storedRawData; + /** This is the counter value from performOperation(). */ + uint8_t pstStep = 0; + uint8_t lastStep = 0; + uint32_t pstIntervalMs = 0; - /** - * @brief The message queue which wants to read all raw traffic - * If #isWiretappingActive all raw communication from and to the device - * will be sent to this queue - */ - MessageQueueId_t requestedRawTraffic = 0; + /** + * Wiretapping flag: + * + * indicates either that all raw messages to and from the device should be + * sent to #defaultRawReceiver + * or that all device TM should be downlinked to #defaultRawReceiver. + */ + enum WiretappingMode { + OFF = 0, RAW = 1, TM = 2 + } wiretappingMode; + /** + * @brief A message queue that accepts raw replies + * + * Statically initialized in initialize() to a configurable object. + * Used when there is no method of finding a recipient, ie raw mode and + * reporting erroneous replies + */ + MessageQueueId_t defaultRawReceiver = MessageQueueIF::NO_QUEUE; + store_address_t storedRawData; - /** - * Pointer to the IPCStore. - * This caches the pointer received from the objectManager in the constructor. - */ - StorageManagerIF *IPCStore = nullptr; - /** The comIF object ID is cached for the intialize() function */ - object_id_t deviceCommunicationId; - /** Communication object used for device communication */ - DeviceCommunicationIF * communicationInterface = nullptr; - /** Cookie used for communication */ - CookieIF * comCookie; + /** + * @brief The message queue which wants to read all raw traffic + * If #isWiretappingActive all raw communication from and to the device + * will be sent to this queue + */ + MessageQueueId_t requestedRawTraffic = 0; - /** Health helper for HasHealthIF */ - HealthHelper healthHelper; - /** Mode helper for HasModesIF */ - ModeHelper modeHelper; - /** Parameter helper for ReceivesParameterMessagesIF */ - ParameterHelper parameterHelper; - /** Action helper for HasActionsIF */ - ActionHelper actionHelper; - /** Housekeeping Manager */ - LocalDataPoolManager poolManager; + /** + * Pointer to the IPCStore. + * This caches the pointer received from the objectManager in the constructor. + */ + StorageManagerIF *IPCStore = nullptr; + /** The comIF object ID is cached for the intialize() function */ + object_id_t deviceCommunicationId; + /** Communication object used for device communication */ + DeviceCommunicationIF * communicationInterface = nullptr; + /** Cookie used for communication */ + CookieIF * comCookie; - /** - * @brief Information about commands - */ - struct DeviceCommandInfo { - //! Indicates if the command is already executing. - bool isExecuting; - //! Dynamic value to indicate how many replies are expected. - //! Inititated with 0. - uint8_t expectedReplies; - //! if this is != NO_COMMANDER, DHB was commanded externally and shall - //! report everything to commander. - MessageQueueId_t sendReplyTo; - }; - using DeviceCommandMap = std::map ; - /** - * Information about commands - */ - DeviceCommandMap deviceCommandMap; + /* Health helper for HasHealthIF */ + HealthHelper healthHelper; + /* Mode helper for HasModesIF */ + ModeHelper modeHelper; + /* Parameter helper for ReceivesParameterMessagesIF */ + ParameterHelper parameterHelper; + /* Action helper for HasActionsIF */ + ActionHelper actionHelper; + /* Housekeeping Manager */ + LocalDataPoolManager poolManager; - /** - * @brief Information about expected replies - * This is used to keep track of pending replies. - */ - struct DeviceReplyInfo { - //! The maximum number of cycles the handler should wait for a reply - //! to this command. - uint16_t maxDelayCycles; - //! The currently remaining cycles the handler should wait for a reply, - //! 0 means there is no reply expected - uint16_t delayCycles; - size_t replyLen = 0; //!< Expected size of the reply. - //! if this is !=0, the delayCycles will not be reset to 0 but to - //! maxDelayCycles - bool periodic = false; - //! The dataset used to access housekeeping data related to the - //! respective device reply. Will point to a dataset held by - //! the child handler (if one is specified) - LocalPoolDataSetBase* dataSet = nullptr; - //! The command that expects this reply. - DeviceCommandMap::iterator command; - }; + /** + * @brief Information about commands + */ + struct DeviceCommandInfo { + //! Indicates if the command is already executing. + bool isExecuting; + //! Dynamic value to indicate how many replies are expected. + //! Inititated with 0. + uint8_t expectedReplies; + //! if this is != NO_COMMANDER, DHB was commanded externally and shall + //! report everything to commander. + MessageQueueId_t sendReplyTo; + }; + using DeviceCommandMap = std::map ; + /** + * Information about commands + */ + DeviceCommandMap deviceCommandMap; - using DeviceReplyMap = std::map ; - using DeviceReplyIter = DeviceReplyMap::iterator; - /** - * This map is used to check and track correct reception of all replies. - * - * It has multiple use: - * - It stores the information on pending replies. If a command is sent, - * the DeviceCommandInfo.count is incremented. - * - It is used to time-out missing replies. If a command is sent, the - * DeviceCommandInfo.DelayCycles is set to MaxDelayCycles. - * - It is queried to check if a reply from the device can be interpreted. - * scanForReply() returns the id of the command a reply was found for. - * The reply is ignored in the following cases: - * - No entry for the returned id was found - * - The deviceReplyInfo.delayCycles is == 0 - */ - DeviceReplyMap deviceReplyMap; + /** + * @brief Information about expected replies + * This is used to keep track of pending replies. + */ + struct DeviceReplyInfo { + //! The maximum number of cycles the handler should wait for a reply + //! to this command. + uint16_t maxDelayCycles; + //! The currently remaining cycles the handler should wait for a reply, + //! 0 means there is no reply expected + uint16_t delayCycles; + size_t replyLen = 0; //!< Expected size of the reply. + //! if this is !=0, the delayCycles will not be reset to 0 but to + //! maxDelayCycles + bool periodic = false; + //! The dataset used to access housekeeping data related to the + //! respective device reply. Will point to a dataset held by + //! the child handler (if one is specified) + LocalPoolDataSetBase* dataSet = nullptr; + //! The command that expects this reply. + DeviceCommandMap::iterator command; + }; - //! The MessageQueue used to receive device handler commands - //! and to send replies. - MessageQueueIF* commandQueue = nullptr; + using DeviceReplyMap = std::map ; + using DeviceReplyIter = DeviceReplyMap::iterator; + /** + * This map is used to check and track correct reception of all replies. + * + * It has multiple use: + * - It stores the information on pending replies. If a command is sent, + * the DeviceCommandInfo.count is incremented. + * - It is used to time-out missing replies. If a command is sent, the + * DeviceCommandInfo.DelayCycles is set to MaxDelayCycles. + * - It is queried to check if a reply from the device can be interpreted. + * scanForReply() returns the id of the command a reply was found for. + * The reply is ignored in the following cases: + * - No entry for the returned id was found + * - The deviceReplyInfo.delayCycles is == 0 + */ + DeviceReplyMap deviceReplyMap; - DeviceHandlerThermalSet* thermalSet = nullptr; + //! The MessageQueue used to receive device handler commands + //! and to send replies. + MessageQueueIF* commandQueue = nullptr; - /** - * Optional Error code. Can be set in doStartUp(), doShutDown() and - * doTransition() to signal cause for Transition failure. - */ - ReturnValue_t childTransitionFailure; + DeviceHandlerThermalSet* thermalSet = nullptr; - /** Counts if communication channel lost a reply, so some missed - * replys can be ignored. */ - uint32_t ignoreMissedRepliesCount = 0; + /** + * Optional Error code. Can be set in doStartUp(), doShutDown() and + * doTransition() to signal cause for Transition failure. + */ + ReturnValue_t childTransitionFailure; - /** Pointer to the used FDIR instance. If not provided by child, - * default class is instantiated. */ - FailureIsolationBase* fdirInstance; + /** Counts if communication channel lost a reply, so some missed + * replys can be ignored. */ + uint32_t ignoreMissedRepliesCount = 0; - HkSwitchHelper hkSwitcher; + /** Pointer to the used FDIR instance. If not provided by child, + * default class is instantiated. */ + FailureIsolationBase* fdirInstance; - bool defaultFDIRUsed; //!< To correctly delete the default instance. + //! To correctly delete the default instance. + bool defaultFDIRUsed; - bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown. + //! Indicates if SWITCH_WENT_OFF was already thrown. + bool switchOffWasReported; - //! Pointer to the task which executes this component, is invalid - //! before setTaskIF was called. - PeriodicTaskIF* executingTask = nullptr; + /** Pointer to the task which executes this component, + is invalid before setTaskIF was called. */ + PeriodicTaskIF* executingTask = nullptr; - //!< Object which switches power on and off. - static object_id_t powerSwitcherId; + //! Object which switches power on and off. + static object_id_t powerSwitcherId; - //!< Object which receives RAW data by default. - static object_id_t rawDataReceiverId; + //! Object which receives RAW data by default. + static object_id_t rawDataReceiverId; - //!< Object which may be the root cause of an identified fault. - static object_id_t defaultFdirParentId; + //! Object which may be the root cause of an identified fault. + static object_id_t defaultFdirParentId; - /** - * @brief Set all datapool variables that are update periodically in - * normal mode invalid - * @details - * The default implementation will set all datasets which have been added - * in #fillCommandAndReplyMap to invalid. It will also set all pool - * variables inside the dataset to invalid. The user can override this - * method optionally. - */ - virtual void setNormalDatapoolEntriesInvalid(); + /** + * @brief Send a reply to a received device handler command. + * + * This also resets #DeviceHandlerCommand to 0. + * + * @param reply the reply type + * @param parameter parameter for the reply + */ + void replyReturnvalueToCommand(ReturnValue_t status, uint32_t parameter = 0); + /** + * TODO: Whats the difference between this and the upper command? + * @param status + * @param parameter + */ + void replyToCommand(ReturnValue_t status, uint32_t parameter = 0); - /** - * Helper function to get pending command. This is useful for devices - * like SPI sensors to identify the last sent command. - * This only returns the command sent in the last SEND_WRITE cycle. - * @return - */ - DeviceCommandId_t getPendingCommand() const; + /** + * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW). + * + * If the transition is complete, the mode should be set to the target mode, + * which can be deduced from the current mode which is + * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW] + * + * The intended target submode is already set. + * The origin submode can be read in subModeFrom. + * + * If the transition can not be completed, the child class can try to reach + * an working mode by setting the mode either directly + * or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW) + * if the device needs to be reconfigured. + * + * If nothing works, the child class can wait for the timeout and the base + * class will reset the mode to the mode where the transition + * originated from (the child should report the reason for the failed transition). + * + * The intended way to send commands is to set a flag (enum) indicating + * which command is to be sent here and then to check in + * buildTransitionCommand() for the flag. This flag can also be used by + * doStartUp() and doShutDown() to get a nice and clean implementation of + * buildTransitionCommand() without switching through modes. + * + * When the the condition for the completion of the transition is met, the + * mode can be set, for example in the scanForReply() function. + * + * The default implementation goes into the target mode directly. + * + * #transitionFailure can be set to a failure code indicating the reason + * for a failed transition + * + * @param modeFrom + * The mode the transition originated from: + * [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed + * from _MODE_START_UP to _MODE_TO_ON)] + * @param subModeFrom the subMode of modeFrom + */ + virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom); - /** - * Helper function to report a missed reply - * - * Can be overwritten by children to act on missed replies or to fake - * reporting Id. - * - * @param id of the missed reply - */ - virtual void missedReply(DeviceCommandId_t id); + /** + * Get the communication action for the current step. + * The step number can be read from #pstStep. + * @return The communication action to execute in this step + */ + virtual CommunicationAction getComAction(); - /** - * Send a reply to a received device handler command. - * - * This also resets #DeviceHandlerCommand to 0. - * - * @param reply the reply type - * @param parameter parameter for the reply - */ - void replyReturnvalueToCommand(ReturnValue_t status, - uint32_t parameter = 0); + /** + * Checks state of switches in conjunction with mode and triggers an event + * if they don't fit. + */ + virtual void checkSwitchState(); - void replyToCommand(ReturnValue_t status, uint32_t parameter = 0); + /** + * Reserved for the rare case where a device needs to perform additional + * operation cyclically in OFF mode. + */ + virtual void doOffActivity(); - /** - * Set the device handler mode - * - * Sets #timeoutStart with every call. - * - * Sets #transitionTargetMode if necessary so transitional states can be - * entered from everywhere without breaking the state machine - * (which relies on a correct #transitionTargetMode). - * - * The submode is left unchanged. - * - * @param newMode - */ - void setMode(Mode_t newMode); + /** + * Reserved for the rare case where a device needs to perform additional + * operation cyclically in ON mode. + */ + virtual void doOnActivity(); - /** - * @overload - * @param submode - */ - void setMode(Mode_t newMode, Submode_t submode); + /** + * Required for HasLocalDataPoolIF, return a handle to the local pool manager. + * @return + */ + LocalDataPoolManager* getHkManagerHandle() override; - /** - * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW). - * - * If the transition is complete, the mode should be set to the target mode, - * which can be deduced from the current mode which is - * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW] - * - * The intended target submode is already set. - * The origin submode can be read in subModeFrom. - * - * If the transition can not be completed, the child class can try to reach - * an working mode by setting the mode either directly - * or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW) - * if the device needs to be reconfigured. - * - * If nothing works, the child class can wait for the timeout and the base - * class will reset the mode to the mode where the transition - * originated from (the child should report the reason for the failed transition). - * - * The intended way to send commands is to set a flag (enum) indicating - * which command is to be sent here and then to check in - * buildTransitionCommand() for the flag. This flag can also be used by - * doStartUp() and doShutDown() to get a nice and clean implementation of - * buildTransitionCommand() without switching through modes. - * - * When the the condition for the completion of the transition is met, the - * mode can be set, for example in the scanForReply() function. - * - * The default implementation goes into the target mode directly. - * - * #transitionFailure can be set to a failure code indicating the reason - * for a failed transition - * - * @param modeFrom - * The mode the transition originated from: - * [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed - * from _MODE_START_UP to _MODE_TO_ON)] - * @param subModeFrom the subMode of modeFrom - */ - virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom); + /** + * Returns the delay cycle count of a reply. + * A count != 0 indicates that the command is already executed. + * @param deviceCommand The command to look for + * @return + * The current delay count. If the command does not exist (should never + * happen) it returns 0. + */ + uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand); - /** - * @param mode - * @param submode - * @return - * - @c RETURN_OK if valid - * - @c RETURN_FAILED if invalid - */ - virtual ReturnValue_t isModeCombinationValid(Mode_t mode, - Submode_t submode); + /** + * Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping + * is active and if so, does not send the data as the wiretapping will have + * sent it already + */ + void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len); - /** - * Get the communication action for the current step. - * The step number can be read from #pstStep. - * @return The communication action to execute in this step - */ - virtual CommunicationAction getComAction(); + /** + * Enable the reply checking for a command + * + * Is only called, if the command was sent (i.e. the getWriteReply was + * successful). Must ensure that all replies are activated and correctly + * linked to the command that initiated it. + * The default implementation looks for a reply with the same id as the + * command id in the replyMap or uses the alternativeReplyId if flagged so. + * When found, copies maxDelayCycles to delayCycles in the reply information + * and sets the command to expect one reply. + * + * Can be overwritten by the child, if a command activates multiple replies + * or replyId differs from commandId. + * Notes for child implementations: + * - 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. + */ + virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd, + uint8_t expectedReplies = 1, bool useAlternateId = false, + DeviceCommandId_t alternateReplyID = 0); - /** - * Build the device command to send for raw mode. - * - * This is only called in @c MODE_RAW. It is for the rare case that in - * raw mode packets are to be sent by the handler itself. It is NOT needed - * for the raw commanding service. Its only current use is in the STR - * handler which gets its raw packets from a different source. - * Also it can be used for transitional commands, to get the device ready - * for @c MODE_RAW - * - * As it is almost never used, there is a default implementation - * returning @c NOTHING_TO_SEND. - * - * #rawPacket and #rawPacketLen must be set by this method to the packet - * to be sent. - * - * @param[out] id the device command id built - * @return - * - @c RETURN_OK when a command is to be sent - * - not @c NOTHING_TO_SEND when no command is to be sent - */ - virtual ReturnValue_t buildChildRawCommand(); + /** + * @brief Build the device command to send for raw mode. + * @details + * This is only called in @c MODE_RAW. It is for the rare case that in + * raw mode packets are to be sent by the handler itself. It is NOT needed + * for the raw commanding service. Its only current use is in the STR + * handler which gets its raw packets from a different source. + * Also it can be used for transitional commands, to get the device ready + * for @c MODE_RAW + * + * As it is almost never used, there is a default implementation + * returning @c NOTHING_TO_SEND. + * + * #rawPacket and #rawPacketLen must be set by this method to the packet + * to be sent. + * + * @param[out] id the device command id built + * @return + * - @c RETURN_OK when a command is to be sent + * - not @c NOTHING_TO_SEND when no command is to be sent + */ + virtual ReturnValue_t buildChildRawCommand(); - /** - * Returns the delay cycle count of a reply. - * A count != 0 indicates that the command is already executed. - * @param deviceCommand The command to look for - * @return - * The current delay count. If the command does not exist (should never - * happen) it returns 0. - */ - uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand); + /** + * @brief Construct a command reply containing a raw reply. + * @details + * It gets space in the #IPCStore, copies data there, then sends a raw reply + * containing the store address. This method is virtual, as devices can have different channels + * to send raw replies + * + * @param data data to send + * @param len length of @c data + * @param sendTo the messageQueueId of the one to send to + * @param isCommand marks the raw data as a command, the message then + * will be of type raw_command + */ + virtual void replyRawData(const uint8_t *data, size_t len, + MessageQueueId_t sendTo, bool isCommand = false); - /** - * Construct a command reply containing a raw reply. - * - * It gets space in the #IPCStore, copies data there, then sends a raw reply - * containing the store address. - * - * This method is virtual, as devices can have different channels to send - * raw replies - * - * @param data data to send - * @param len length of @c data - * @param sendTo the messageQueueId of the one to send to - * @param isCommand marks the raw data as a command, the message then - * will be of type raw_command - */ - virtual void replyRawData(const uint8_t *data, size_t len, - MessageQueueId_t sendTo, bool isCommand = false); + /** + * Get the state of the PCDU switches in the local datapool + * @return + * - @c PowerSwitchIF::SWITCH_ON if all switches specified + * by #switches are on + * - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by + * #switches are off + * - @c PowerSwitchIF::RETURN_FAILED if an error occured + */ + ReturnValue_t getStateOfSwitches(); - /** - * Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping - * is active and if so, does not send the data as the wiretapping will have - * sent it already - */ - void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len); + /** + * Children can overwrite this function to suppress checking of the + * command Queue + * + * This can be used when the child does not want to receive a command in + * a certain situation. Care must be taken that checking is not + * permanentely disabled as this would render the handler unusable. + * + * @return whether checking the queue should NOT be done + */ + virtual bool dontCheckQueue(); - /** - * @brief Notify child about mode change. - */ - virtual void modeChanged(void); + Mode_t getBaseMode(Mode_t transitionMode); - /** - * Enable the reply checking for a command - * - * Is only called, if the command was sent (i.e. the getWriteReply was - * successful). Must ensure that all replies are activated and correctly - * linked to the command that initiated it. - * The default implementation looks for a reply with the same id as the - * command id in the replyMap or uses the alternativeReplyId if flagged so. - * When found, copies maxDelayCycles to delayCycles in the reply information - * and sets the command to expect one reply. - * - * Can be overwritten by the child, if a command activates multiple replies - * or replyId differs from commandId. - * Notes for child implementations: - * - 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. - */ - virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd, - uint8_t expectedReplies = 1, bool useAlternateId = false, - DeviceCommandId_t alternateReplyID = 0); + bool isAwaitingReply(); - /** - * Get the state of the PCDU switches in the local datapool - * @return - * - @c PowerSwitchIF::SWITCH_ON if all switches specified - * by #switches are on - * - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by - * #switches are off - * - @c PowerSwitchIF::RETURN_FAILED if an error occured - */ - ReturnValue_t getStateOfSwitches(void); + void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId, + bool forceDirectTm = false); + // void handleDeviceTM(uint8_t* data, size_t dataSize, DeviceCommandId_t replyId, + // bool forceDirectTm); - /** - * build a list of sids and pass it to the #hkSwitcher - */ - virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); + virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, + uint32_t *msToReachTheMode); - /** - * Children can overwrite this function to suppress checking of the - * command Queue - * - * This can be used when the child does not want to receive a command in - * a certain situation. Care must be taken that checking is not - * permanentely disabled as this would render the handler unusable. - * - * @return whether checking the queue should NOT be done - */ - virtual bool dontCheckQueue(); + virtual ReturnValue_t letChildHandleMessage(CommandMessage *message); - Mode_t getBaseMode(Mode_t transitionMode); + /** + * Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper" + * faster about executed events. + * This is a bit sneaky, but improves responsiveness of the device FDIR. + * @param event The event to be thrown + * @param parameter1 Optional parameter 1 + * @param parameter2 Optional parameter 2 + */ + void triggerEvent(Event event, uint32_t parameter1 = 0, + uint32_t parameter2 = 0); + /** + * Same as triggerEvent, but for forwarding if object is used as proxy. + */ + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, + uint32_t parameter2 = 0) const; - bool isAwaitingReply(); + /** + * Checks if current mode is transitional mode. + * @return true if mode is transitional, false else. + */ + bool isTransitionalMode(); - void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t commandId, - bool neverInDataPool = false, bool forceDirectTm = false); + /** + * Checks if current handler state allows reception of external device commands. + * Default implementation allows commands only in plain MODE_ON and MODE_NORMAL. + * @return RETURN_OK if commands are accepted, anything else otherwise. + */ + virtual ReturnValue_t acceptExternalDeviceCommands(); - virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode); + bool commandIsExecuting(DeviceCommandId_t commandId); - /* HasModesIF overrides */ - virtual void startTransition(Mode_t mode, Submode_t submode) override; - virtual void setToExternalControl() override; - virtual void announceMode(bool recursive) override; + /** + * set all switches returned by getSwitches() + * + * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON + */ + void commandSwitch(ReturnValue_t onOff); - virtual ReturnValue_t letChildHandleMessage(CommandMessage *message); - - /** - * Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper" - * faster about executed events. - * This is a bit sneaky, but improves responsiveness of the device FDIR. - * @param event The event to be thrown - * @param parameter1 Optional parameter 1 - * @param parameter2 Optional parameter 2 - */ - void triggerEvent(Event event, uint32_t parameter1 = 0, - uint32_t parameter2 = 0); - /** - * Same as triggerEvent, but for forwarding if object is used as proxy. - */ - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, - uint32_t parameter2 = 0) const; - /** - * Checks state of switches in conjunction with mode and triggers an event - * if they don't fit. - */ - virtual void checkSwitchState(); - - /** - * Reserved for the rare case where a device needs to perform additional - * operation cyclically in OFF mode. - */ - virtual void doOffActivity(); - - /** - * Reserved for the rare case where a device needs to perform additional - * operation cyclically in ON mode. - */ - virtual void doOnActivity(); - - /** - * Checks if current mode is transitional mode. - * @return true if mode is transitional, false else. - */ - bool isTransitionalMode(); - - /** - * Checks if current handler state allows reception of external device commands. - * Default implementation allows commands only in plain MODE_ON and MODE_NORMAL. - * @return RETURN_OK if commands are accepted, anything else otherwise. - */ - virtual ReturnValue_t acceptExternalDeviceCommands(); - - bool commandIsExecuting(DeviceCommandId_t commandId); - - /** - * set all switches returned by getSwitches() - * - * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON - */ - void commandSwitch(ReturnValue_t onOff); private: - /** - * State a cookie is in. - * - * Used to keep track of the state of the RMAP communication. - */ - enum CookieState_t { - COOKIE_UNUSED, //!< The Cookie is unused - COOKIE_WRITE_READY, //!< There's data available to send. - COOKIE_READ_SENT, //!< A sendRead command was sent with this cookie - COOKIE_WRITE_SENT //!< A sendWrite command was sent with this cookie - }; - /** - * Information about a cookie. - * - * This is stored in a map for each cookie, to not only track the state, - * but also information about the sent command. Tracking this information - * is needed as the state of a commandId (waiting for reply) is done when a - * write reply is received. - */ - struct CookieInfo { - CookieState_t state; - DeviceCommandMap::iterator pendingCommand; - }; + /** + * State a cookie is in. + * + * Used to keep track of the state of the RMAP communication. + */ + enum CookieState_t { + COOKIE_UNUSED, //!< The Cookie is unused + COOKIE_WRITE_READY, //!< There's data available to send. + COOKIE_READ_SENT, //!< A sendRead command was sent with this cookie + COOKIE_WRITE_SENT //!< A sendWrite command was sent with this cookie + }; + /** + * Information about a cookie. + * + * This is stored in a map for each cookie, to not only track the state, + * but also information about the sent command. Tracking this information + * is needed as the state of a commandId (waiting for reply) is done when a + * write reply is received. + */ + struct CookieInfo { + CookieState_t state; + DeviceCommandMap::iterator pendingCommand; + }; - /** - * @brief Info about the #cookie - * Used to track the state of the communication - */ - CookieInfo cookieInfo; + /** + * @brief Info about the #cookie + * Used to track the state of the communication + */ + CookieInfo cookieInfo; - /** the object used to set power switches */ - PowerSwitchIF *powerSwitcher = nullptr; + /** the object used to set power switches */ + PowerSwitchIF *powerSwitcher = nullptr; - /** HK destination can also be set individually */ - object_id_t hkDestination = objects::NO_OBJECT; + /** HK destination can also be set individually */ + object_id_t hkDestination = objects::NO_OBJECT; - /** - * @brief Used for timing out mode transitions. - * Set when setMode() is called. - */ - uint32_t timeoutStart = 0; + /** + * @brief Used for timing out mode transitions. + * Set when setMode() is called. + */ + uint32_t timeoutStart = 0; - bool setStartupImmediately = false; + bool setStartupImmediately = false; - /** - * Delay for the current mode transition, used for time out - */ - uint32_t childTransitionDelay; + /** + * Delay for the current mode transition, used for time out + */ + uint32_t childTransitionDelay; - /** - * @brief The mode the current transition originated from - * - * This is private so the child can not change it and mess up the timeouts - * - * IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!! - * (it is _MODE_POWER_DOWN during this modes) - * - * is element of [MODE_ON, MODE_NORMAL, MODE_RAW] - */ - Mode_t transitionSourceMode; + /** + * @brief The mode the current transition originated from + * + * This is private so the child can not change it and mess up the timeouts + * + * IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!! + * (it is _MODE_POWER_DOWN during this modes) + * + * is element of [MODE_ON, MODE_NORMAL, MODE_RAW] + */ + Mode_t transitionSourceMode; - /** - * the submode of the source mode during a transition - */ - Submode_t transitionSourceSubMode; + /** + * the submode of the source mode during a transition + */ + Submode_t transitionSourceSubMode; - /** - * read the command queue - */ - void readCommandQueue(void); + /** + * read the command queue + */ + void readCommandQueue(void); - /** - * Handle the device handler mode. - * - * - checks whether commands are valid for the current mode, rejects - * them accordingly - * - checks whether commanded mode transitions are required and calls - * handleCommandedModeTransition() - * - does the necessary action for the current mode or calls - * doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF - * - actions that happen in transitions (e.g. setting a timeout) are - * handled in setMode() - */ - void doStateMachine(void); + /** + * Handle the device handler mode. + * + * - checks whether commands are valid for the current mode, rejects + * them accordingly + * - checks whether commanded mode transitions are required and calls + * handleCommandedModeTransition() + * - does the necessary action for the current mode or calls + * doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF + * - actions that happen in transitions (e.g. setting a timeout) are + * handled in setMode() + */ + void doStateMachine(void); - void buildRawDeviceCommand(CommandMessage* message); - void buildInternalCommand(void); + void buildRawDeviceCommand(CommandMessage* message); + void buildInternalCommand(void); + /** + * Decrement the counter for the timout of replies. + * + * This is called at the beginning of each cycle. It checks whether a + * reply has timed out (that means a reply was expected but not received). + */ + void decrementDeviceReplyMap(void); + /** + * Convenience function to handle a reply. + * + * Called after scanForReply() has found a packet. Checks if the found ID + * is in the #deviceCommandMap, if so, calls + * #interpretDeviceReply for further action. + * + * It also resets the timeout counter for the command id. + * + * @param data the found packet + * @param id the found id + * @foundLen the length of the packet + */ + void handleReply(const uint8_t *data, DeviceCommandId_t id, uint32_t foundLen); + void replyToReply(DeviceReplyMap::iterator iter, ReturnValue_t status); - /** - * Decrement the counter for the timout of replies. - * - * This is called at the beginning of each cycle. It checks whether a - * reply has timed out (that means a reply was expected but not received). - */ - void decrementDeviceReplyMap(void); + /** + * Build and send a command to the device. + * + * This routine checks whether a raw or direct command has been received, + * checks the content of the received command and calls + * buildCommandFromCommand() for direct commands or sets #rawpacket + * to the received raw packet. + * If no external command is received or the received command is invalid and + * the current mode is @c MODE_NORMAL or a transitional mode, it asks the + * child class to build a command (via getNormalDeviceCommand() or + * getTransitionalDeviceCommand() and buildCommand()) and + * sends the command via RMAP. + */ + void doSendWrite(void); + /** + * Check if the RMAP sendWrite action was successful. + * + * Depending on the result, the following is done + * - if the device command was external commanded, a reply is sent + * indicating the result + * - if the action was successful, the reply timout counter is initialized + */ + void doGetWrite(void); + /** + * Send a RMAP getRead command. + * + * The size of the getRead command is #maxDeviceReplyLen. + * This is always executed, independently from the current mode. + */ + void doSendRead(void); + /** + * Check the getRead reply and the contained data. + * + * If data was received scanForReply() and, if successful, handleReply() + * are called. If the current mode is @c MODE_RAW, the received packet + * is sent to the commanding object via commandQueue. + */ + void doGetRead(void); - /** - * Convenience function to handle a reply. - * - * Called after scanForReply() has found a packet. Checks if the found ID - * is in the #deviceCommandMap, if so, calls - * #interpretDeviceReply for further action. - * - * It also resets the timeout counter for the command id. - * - * @param data the found packet - * @param id the found id - * @foundLen the length of the packet - */ - void handleReply(const uint8_t *data, DeviceCommandId_t id, uint32_t foundLen); + /** + * Retrive data from the #IPCStore. + * + * @param storageAddress + * @param[out] data + * @param[out] len + * @return + * - @c RETURN_OK @c data is valid + * - @c RETURN_FAILED IPCStore is nullptr + * - the return value from the IPCStore if it was not @c RETURN_OK + */ + ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data, + uint32_t *len); - void replyToReply(DeviceReplyMap::iterator iter, ReturnValue_t status); - /** - * Build and send a command to the device. - * - * This routine checks whether a raw or direct command has been received, - * checks the content of the received command and calls - * buildCommandFromCommand() for direct commands or sets #rawpacket - * to the received raw packet. - * If no external command is received or the received command is invalid and - * the current mode is @c MODE_NORMAL or a transitional mode, it asks the - * child class to build a command (via getNormalDeviceCommand() or - * getTransitionalDeviceCommand() and buildCommand()) and - * sends the command via RMAP. - */ - void doSendWrite(void); + /** + * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW, nothing else! + */ + void setTransition(Mode_t modeTo, Submode_t submodeTo); - /** - * Check if the RMAP sendWrite action was successful. - * - * Depending on the result, the following is done - * - if the device command was external commanded, a reply is sent - * indicating the result - * - if the action was successful, the reply timout counter is initialized - */ - void doGetWrite(void); + /** + * Calls the right child function for the transitional submodes + */ + void callChildStatemachine(); - /** - * Send a RMAP getRead command. - * - * The size of the getRead command is #maxDeviceReplyLen. - * This is always executed, independently from the current mode. - */ - void doSendRead(void); - - /** - * Check the getRead reply and the contained data. - * - * If data was received scanForReply() and, if successful, handleReply() - * are called. If the current mode is @c MODE_RAW, the received packet - * is sent to the commanding object via commandQueue. - */ - void doGetRead(void); - - /** - * Retrive data from the #IPCStore. - * - * @param storageAddress - * @param[out] data - * @param[out] len - * @return - * - @c RETURN_OK @c data is valid - * - @c RETURN_FAILED IPCStore is nullptr - * - the return value from the IPCStore if it was not @c RETURN_OK - */ - ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data, - uint32_t *len); - - /** - * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW, nothing else! - */ - void setTransition(Mode_t modeTo, Submode_t submodeTo); - - /** - * calls the right child function for the transitional submodes - */ - void callChildStatemachine(); - - ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message); - - virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; + ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message); virtual dur_millis_t getPeriodicOperationFrequency() const override; void parseReply(const uint8_t* receivedData, - size_t receivedDataLen); + size_t receivedDataLen); void handleTransitionToOnMode(Mode_t commandedMode, - Submode_t commandedSubmode); + Submode_t commandedSubmode); + /** + * Generic internal printer function which also handles printing the object ID. + * @param errorType + * @param functionName + * @param errorCode + * @param errorPrint + */ void printWarningOrError(sif::OutputTypes errorType, - const char* functionName, - ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED, - const char* errorPrint = nullptr); + const char* functionName, + ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED, + const char* errorPrint = nullptr); }; #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */ diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp index 5f7ab89f..ba118090 100644 --- a/devicehandlers/DeviceHandlerFailureIsolation.cpp +++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp @@ -209,20 +209,20 @@ void DeviceHandlerFailureIsolation::startRecovery(Event reason) { } ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId, - uint16_t parameterId, ParameterWrapper* parameterWrapper, + uint8_t uniqueId, ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues, uint16_t startAtIndex) { - ReturnValue_t result = strangeReplyCount.getParameter(domainId, parameterId, + ReturnValue_t result = strangeReplyCount.getParameter(domainId, uniqueId, parameterWrapper, newValues, startAtIndex); if (result != INVALID_DOMAIN_ID) { return result; } - result = missedReplyCount.getParameter(domainId, parameterId, - parameterWrapper, newValues, startAtIndex); + result = missedReplyCount.getParameter(domainId, uniqueId, parameterWrapper, newValues, + startAtIndex); if (result != INVALID_DOMAIN_ID) { return result; } - result = recoveryCounter.getParameter(domainId, parameterId, - parameterWrapper, newValues, startAtIndex); + result = recoveryCounter.getParameter(domainId, uniqueId, parameterWrapper, newValues, + startAtIndex); if (result != INVALID_DOMAIN_ID) { return result; } diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h index 8a3fd9dd..016b18b3 100644 --- a/devicehandlers/DeviceHandlerFailureIsolation.h +++ b/devicehandlers/DeviceHandlerFailureIsolation.h @@ -17,9 +17,9 @@ public: ReturnValue_t initialize(); void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);bool isFdirActionInProgress(); - virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, - ParameterWrapper *parameterWrapper, - const ParameterWrapper *newValues, uint16_t startAtIndex); + virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, + ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues, + uint16_t startAtIndex); protected: FaultCounter strangeReplyCount; diff --git a/doc/doxy/.gitignore b/doc/doxy/.gitignore new file mode 100644 index 00000000..e9e9961d --- /dev/null +++ b/doc/doxy/.gitignore @@ -0,0 +1,3 @@ +html +latex +rtf \ No newline at end of file diff --git a/doc/doxy/OPUS.doxyfile b/doc/doxy/OPUS.doxyfile new file mode 100644 index 00000000..9a3f490d --- /dev/null +++ b/doc/doxy/OPUS.doxyfile @@ -0,0 +1,2609 @@ +# Doxyfile 1.9.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "Flight Software Framework (FSFW) STS-1" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = C:/Users/Robin/Documents/FSFW/fsfw_tests/fsfw/logo/FSFW_Logo_V3_bw.png + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. 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Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = YES + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = ../../ + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = YES + +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines (in the resulting output). You can put ^^ in the value part of an +# alias to insert a newline as if a physical newline was in the original file. +# When you need a literal { or } or , in the value part of an alias you have to +# escape them by means of a backslash (\), this can lead to conflicts with the +# commands \{ and \} for these it is advised to use the version @{ and @} or use +# a double escape (\\{ and \\}) + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL, +# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 0 + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). 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Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. 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Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# The default value is: system dependent. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = NO + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = OPUSLayout.xml + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. If +# EXTRACT_ALL is set to YES then this flag will automatically be disabled. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# Possible values are: NO, YES and FAIL_ON_WARNINGS. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ../../ + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment), +# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl, +# *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.cpp \ + *.h \ + *.c \ + *.tpp + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = ../uml + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: +# http://clang.llvm.org/) for more accurate parsing at the cost of reduced +# performance. This can be particularly helpful with template rich C++ code for +# which doxygen's built-in parser lacks the necessary type information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled and the CLANG_ADD_INC_PATHS tag is set to +# YES then doxygen will add the directory of each input to the include path. +# The default value is: YES. + +CLANG_ADD_INC_PATHS = YES + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the directory containing a file called compile_commands.json. This +# file is the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the +# options used when the source files were built. This is equivalent to +# specifying the -p option to a clang tool, such as clang-check. These options +# will then be passed to the parser. Any options specified with CLANG_OPTIONS +# will be added as well. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. + +CLANG_DATABASE_PATH = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = NO + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: +# https://www.microsoft.com/en-us/download/details.aspx?id=21138) on Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANSPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. +# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/ + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /