Merge remote-tracking branch 'upstream/mueller/master' into mueller/master
This commit is contained in:
@ -1,3 +1,20 @@
|
||||
add_subdirectory(core)
|
||||
add_subdirectory(opt)
|
||||
add_subdirectory(osal)
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw)
|
||||
|
||||
# Configure File
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
|
||||
configure_file(fsfw/FSFW.h.in fsfw/FSFW.h)
|
||||
|
@ -1,10 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
AssemblyBase.cpp
|
||||
ChildHandlerBase.cpp
|
||||
ChildHandlerFDIR.cpp
|
||||
DeviceHandlerBase.cpp
|
||||
DeviceHandlerFailureIsolation.cpp
|
||||
DeviceHandlerMessage.cpp
|
||||
DeviceTmReportingWrapper.cpp
|
||||
HealthDevice.cpp
|
||||
)
|
@ -1,4 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
HousekeepingMessage.cpp
|
||||
PeriodicHousekeepingHelper.cpp
|
||||
)
|
@ -1,3 +1,5 @@
|
||||
# Core
|
||||
|
||||
add_subdirectory(action)
|
||||
add_subdirectory(container)
|
||||
add_subdirectory(controller)
|
||||
@ -26,3 +28,28 @@ add_subdirectory(thermal)
|
||||
add_subdirectory(timemanager)
|
||||
add_subdirectory(tmtcpacket)
|
||||
add_subdirectory(tmtcservices)
|
||||
|
||||
# Optional
|
||||
|
||||
if(FSFW_ADD_MONITORING)
|
||||
add_subdirectory(monitoring)
|
||||
endif()
|
||||
if(FSFW_ADD_PUS)
|
||||
add_subdirectory(pus)
|
||||
endif()
|
||||
if(FSFW_ADD_TMSTORAGE)
|
||||
add_subdirectory(tmstorage)
|
||||
endif()
|
||||
if(FSFW_ADD_COORDINATES)
|
||||
add_subdirectory(coordinates)
|
||||
endif()
|
||||
if(FSFW_ADD_RMAP)
|
||||
add_subdirectory(rmap)
|
||||
endif()
|
||||
if(FSFW_ADD_DATALINKLAYER)
|
||||
add_subdirectory(datalinklayer)
|
||||
endif()
|
||||
|
||||
# OSAL
|
||||
|
||||
add_subdirectory(osal)
|
13
src/fsfw/FSFW.h.in
Normal file
13
src/fsfw/FSFW.h.in
Normal file
@ -0,0 +1,13 @@
|
||||
#ifndef FSFW_FSFW_H_
|
||||
#define FSFW_FSFW_H_
|
||||
|
||||
#include "FSFWConfig.h"
|
||||
|
||||
#cmakedefine FSFW_ADD_RMAP
|
||||
#cmakedefine FSFW_ADD_DATALINKLAYER
|
||||
#cmakedefine FSFW_ADD_TMSTORAGE
|
||||
#cmakedefine FSFW_ADD_COORDINATES
|
||||
#cmakedefine FSFW_ADD_PUS
|
||||
#cmakedefine FSFW_ADD_MONITORING
|
||||
|
||||
#endif /* FSFW_FSFW_H_ */
|
12
src/fsfw/FSFWVersion.h
Normal file
12
src/fsfw/FSFWVersion.h
Normal file
@ -0,0 +1,12 @@
|
||||
#ifndef FSFW_DEFAULTCFG_VERSION_H_
|
||||
#define FSFW_DEFAULTCFG_VERSION_H_
|
||||
|
||||
const char* const FSFW_VERSION_NAME = "ASTP";
|
||||
|
||||
#define FSFW_VERSION 1
|
||||
#define FSFW_SUBVERSION 0
|
||||
#define FSFW_REVISION 0
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_DEFAULTCFG_VERSION_H_ */
|
11
src/fsfw/action.h
Normal file
11
src/fsfw/action.h
Normal file
@ -0,0 +1,11 @@
|
||||
#ifndef FSFW_INC_FSFW_ACTION_H_
|
||||
#define FSFW_INC_FSFW_ACTION_H_
|
||||
|
||||
#include "fsfw/action/ActionHelper.h"
|
||||
#include "fsfw/action/ActionMessage.h"
|
||||
#include "fsfw/action/CommandActionHelper.h"
|
||||
#include "fsfw/action/HasActionsIF.h"
|
||||
#include "fsfw/action/CommandsActionsIF.h"
|
||||
#include "fsfw/action/SimpleActionHelper.h"
|
||||
|
||||
#endif /* FSFW_INC_FSFW_ACTION_H_ */
|
126
src/fsfw/action/ActionHelper.h
Normal file
126
src/fsfw/action/ActionHelper.h
Normal file
@ -0,0 +1,126 @@
|
||||
#ifndef FSFW_ACTION_ACTIONHELPER_H_
|
||||
#define FSFW_ACTION_ACTIONHELPER_H_
|
||||
|
||||
#include "ActionMessage.h"
|
||||
#include "../serialize/SerializeIF.h"
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
/**
|
||||
* @brief Action Helper is a helper class which handles action messages
|
||||
*
|
||||
* Components which use the HasActionIF this helper can be used to handle
|
||||
* the action messages.
|
||||
* It does handle step messages as well as other answers to action calls.
|
||||
* It uses the executeAction function of its owner as callback.
|
||||
* The call of the initialize function is mandatory and needs a
|
||||
* valid MessageQueueIF pointer!
|
||||
*/
|
||||
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);
|
||||
|
||||
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 success Specify whether action was completed successfully or not.
|
||||
* @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(bool success, 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.
|
||||
* @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,
|
||||
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);
|
||||
protected:
|
||||
//! Increase of value of this per step
|
||||
static const uint8_t STEP_OFFSET = 1;
|
||||
//! Pointer to the owner
|
||||
HasActionsIF* 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();
|
||||
};
|
||||
|
||||
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */
|
47
src/fsfw/action/ActionMessage.h
Normal file
47
src/fsfw/action/ActionMessage.h
Normal file
@ -0,0 +1,47 @@
|
||||
#ifndef FSFW_ACTION_ACTIONMESSAGE_H_
|
||||
#define FSFW_ACTION_ACTIONMESSAGE_H_
|
||||
|
||||
#include "fsfw/ipc/CommandMessage.h"
|
||||
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||
#include "fsfw/storagemanager/StorageManagerIF.h"
|
||||
|
||||
using ActionId_t = uint32_t;
|
||||
|
||||
/**
|
||||
* @brief These messages are part of the action module of the FSFW.
|
||||
* @details
|
||||
* These messages are sent amongst objects implementing the HasActionsIF. Classes like the
|
||||
* ActionHelper are able to process these messages.
|
||||
*/
|
||||
class ActionMessage {
|
||||
private:
|
||||
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,
|
||||
bool success, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
|
||||
|
||||
static void clear(CommandMessage* message);
|
||||
};
|
||||
|
||||
#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */
|
36
src/fsfw/action/CommandActionHelper.h
Normal file
36
src/fsfw/action/CommandActionHelper.h
Normal file
@ -0,0 +1,36 @@
|
||||
#ifndef COMMANDACTIONHELPER_H_
|
||||
#define COMMANDACTIONHELPER_H_
|
||||
|
||||
#include "ActionMessage.h"
|
||||
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
#include "fsfw/serialize/SerializeIF.h"
|
||||
#include "fsfw/storagemanager/StorageManagerIF.h"
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
|
||||
class CommandsActionsIF;
|
||||
|
||||
class CommandActionHelper {
|
||||
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;
|
||||
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);
|
||||
};
|
||||
|
||||
#endif /* COMMANDACTIONHELPER_H_ */
|
37
src/fsfw/action/CommandsActionsIF.h
Normal file
37
src/fsfw/action/CommandsActionsIF.h
Normal file
@ -0,0 +1,37 @@
|
||||
#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
|
||||
#define FSFW_ACTION_COMMANDSACTIONSIF_H_
|
||||
|
||||
#include "CommandActionHelper.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
|
||||
/**
|
||||
* Interface to separate commanding actions of other objects.
|
||||
* In next iteration, IF should be shortened to three calls:
|
||||
* - dataReceived(data)
|
||||
* - successReceived(id, step)
|
||||
* - failureReceived(id, step, cause)
|
||||
* or even
|
||||
* - replyReceived(id, step, cause) (if cause == OK, it's a success).
|
||||
*/
|
||||
class CommandsActionsIF {
|
||||
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;
|
||||
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;
|
||||
};
|
||||
|
||||
|
||||
#endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */
|
63
src/fsfw/action/HasActionsIF.h
Normal file
63
src/fsfw/action/HasActionsIF.h
Normal file
@ -0,0 +1,63 @@
|
||||
#ifndef FSFW_ACTION_HASACTIONSIF_H_
|
||||
#define FSFW_ACTION_HASACTIONSIF_H_
|
||||
|
||||
#include "ActionHelper.h"
|
||||
#include "ActionMessage.h"
|
||||
#include "SimpleActionHelper.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Interface for component which uses actions
|
||||
*
|
||||
* @details
|
||||
* This interface is used to execute actions in the component. Actions, in the
|
||||
* sense of this interface, are activities with a well-defined beginning and
|
||||
* end in time. They may adjust sub-states of components, but are not supposed
|
||||
* to change the main mode of operation, which is handled with the HasModesIF
|
||||
* described below.
|
||||
*
|
||||
* The HasActionsIF allows components to define such actions and make them
|
||||
* available for other components to use. Implementing the interface is
|
||||
* straightforward: There’s a single executeAction call, which provides an
|
||||
* identifier for the action to execute, as well as arbitrary parameters for
|
||||
* input.
|
||||
* Aside from direct, software-based actions, it is used in device handler
|
||||
* components as an interface to forward commands to devices.
|
||||
* Implementing components of the interface are supposed to check identifier
|
||||
* (ID) and parameters and immediately start execution of the action.
|
||||
* It is, however, not required to immediately finish execution.
|
||||
* Instead, this may be deferred to a later point in time, at which the
|
||||
* component needs to inform the caller about finished or failed execution.
|
||||
*
|
||||
* @ingroup interfaces
|
||||
*/
|
||||
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;
|
||||
};
|
||||
|
||||
|
||||
#endif /* FSFW_ACTION_HASACTIONSIF_H_ */
|
30
src/fsfw/action/SimpleActionHelper.h
Normal file
30
src/fsfw/action/SimpleActionHelper.h
Normal file
@ -0,0 +1,30 @@
|
||||
#ifndef FSFW_ACTION_SIMPLEACTIONHELPER_H_
|
||||
#define FSFW_ACTION_SIMPLEACTIONHELPER_H_
|
||||
|
||||
#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
|
||||
*/
|
||||
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);
|
||||
|
||||
protected:
|
||||
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;
|
||||
};
|
||||
|
||||
#endif /* SIMPLEACTIONHELPER_H_ */
|
253
src/fsfw/container/ArrayList.h
Normal file
253
src/fsfw/container/ArrayList.h
Normal file
@ -0,0 +1,253 @@
|
||||
#ifndef FSFW_CONTAINER_ARRAYLIST_H_
|
||||
#define FSFW_CONTAINER_ARRAYLIST_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../serialize/SerializeAdapter.h"
|
||||
#include "../serialize/SerializeIF.h"
|
||||
|
||||
/**
|
||||
* @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.
|
||||
*
|
||||
* @ingroup container
|
||||
*/
|
||||
template<typename T, typename count_t = uint8_t>
|
||||
class ArrayList {
|
||||
template<typename U, typename count> friend class SerialArrayListAdapter;
|
||||
public:
|
||||
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 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;
|
||||
|
||||
/**
|
||||
* 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;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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;
|
||||
}
|
||||
|
||||
/**
|
||||
* The current element the iterator points to
|
||||
*/
|
||||
T *value;
|
||||
|
||||
Iterator& operator++() {
|
||||
value++;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Iterator operator++(int) {
|
||||
Iterator tmp(*this);
|
||||
operator++();
|
||||
return tmp;
|
||||
}
|
||||
|
||||
Iterator& operator--() {
|
||||
value--;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Iterator operator--(int) {
|
||||
Iterator tmp(*this);
|
||||
operator--();
|
||||
return tmp;
|
||||
}
|
||||
|
||||
T& operator*() {
|
||||
return *value;
|
||||
}
|
||||
|
||||
const T& operator*() const {
|
||||
return *value;
|
||||
}
|
||||
|
||||
T *operator->() {
|
||||
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 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]);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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];
|
||||
}
|
||||
|
||||
/**
|
||||
* 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<T*>(static_cast<const T*>(*this).back());
|
||||
}
|
||||
|
||||
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_;
|
||||
}
|
||||
|
||||
/**
|
||||
* 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;
|
||||
}
|
||||
|
||||
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_;
|
||||
|
||||
/**
|
||||
* true if the array was allocated and needs to be deleted in the destructor.
|
||||
*/
|
||||
bool allocated;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_CONTAINER_ARRAYLIST_H_ */
|
153
src/fsfw/container/BinaryTree.h
Normal file
153
src/fsfw/container/BinaryTree.h
Normal file
@ -0,0 +1,153 @@
|
||||
#ifndef FRAMEWORK_CONTAINER_BINARYTREE_H_
|
||||
#define FRAMEWORK_CONTAINER_BINARYTREE_H_
|
||||
|
||||
#include <stddef.h>
|
||||
#include <stdint.h>
|
||||
#include <map>
|
||||
template<typename Tp>
|
||||
class BinaryNode {
|
||||
public:
|
||||
BinaryNode(Tp* setValue) :
|
||||
value(setValue), left(NULL), right(NULL), parent(NULL) {
|
||||
}
|
||||
Tp *value;
|
||||
BinaryNode* left;
|
||||
BinaryNode* right;
|
||||
BinaryNode* parent;
|
||||
};
|
||||
|
||||
template<typename Tp>
|
||||
class ExplicitNodeIterator {
|
||||
public:
|
||||
typedef ExplicitNodeIterator<Tp> _Self;
|
||||
typedef BinaryNode<Tp> _Node;
|
||||
typedef Tp value_type;
|
||||
typedef Tp* pointer;
|
||||
typedef Tp& reference;
|
||||
ExplicitNodeIterator() :
|
||||
element(NULL) {
|
||||
}
|
||||
ExplicitNodeIterator(_Node* node) :
|
||||
element(node) {
|
||||
}
|
||||
BinaryNode<Tp>* 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);
|
||||
}
|
||||
|
||||
}
|
||||
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;
|
||||
}
|
||||
}
|
||||
pointer operator*() const {
|
||||
return this->operator->();
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* Pretty rudimentary version of a simple binary tree (not a binary search tree!).
|
||||
*/
|
||||
template<typename Tp>
|
||||
class BinaryTree {
|
||||
public:
|
||||
typedef ExplicitNodeIterator<Tp> iterator;
|
||||
typedef BinaryNode<Tp> Node;
|
||||
typedef std::pair<iterator, iterator> 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;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FRAMEWORK_CONTAINER_BINARYTREE_H_ */
|
55
src/fsfw/container/DynamicFIFO.h
Normal file
55
src/fsfw/container/DynamicFIFO.h
Normal file
@ -0,0 +1,55 @@
|
||||
#ifndef FSFW_CONTAINER_DYNAMICFIFO_H_
|
||||
#define FSFW_CONTAINER_DYNAMICFIFO_H_
|
||||
|
||||
#include "FIFOBase.h"
|
||||
#include <vector>
|
||||
|
||||
/**
|
||||
* @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!
|
||||
* The public interface of FIFOBase exposes the user interface for the FIFO.
|
||||
* @tparam T Entry Type
|
||||
* @tparam capacity Maximum capacity
|
||||
*/
|
||||
template<typename T>
|
||||
class DynamicFIFO: public FIFOBase<T> {
|
||||
public:
|
||||
DynamicFIFO(size_t maxCapacity): FIFOBase<T>(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<T>(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<T>::operator=(other);
|
||||
this->fifoVector = other.fifoVector;
|
||||
this->setContainer(fifoVector.data());
|
||||
return *this;
|
||||
}
|
||||
private:
|
||||
std::vector<T> fifoVector;
|
||||
};
|
||||
|
||||
#endif /* FSFW_CONTAINER_DYNAMICFIFO_H_ */
|
47
src/fsfw/container/FIFO.h
Normal file
47
src/fsfw/container/FIFO.h
Normal file
@ -0,0 +1,47 @@
|
||||
#ifndef FSFW_CONTAINER_FIFO_H_
|
||||
#define FSFW_CONTAINER_FIFO_H_
|
||||
|
||||
#include "FIFOBase.h"
|
||||
#include <array>
|
||||
|
||||
/**
|
||||
* @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.
|
||||
* @tparam T Entry Type
|
||||
* @tparam capacity Maximum capacity
|
||||
*/
|
||||
template<typename T, size_t capacity>
|
||||
class FIFO: public FIFOBase<T> {
|
||||
public:
|
||||
FIFO(): FIFOBase<T>(nullptr, capacity) {
|
||||
this->setContainer(fifoArray.data());
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Custom copy constructor to set pointer correctly.
|
||||
* @param other
|
||||
*/
|
||||
FIFO(const FIFO& other): FIFOBase<T>(other) {
|
||||
this->fifoArray = other.fifoArray;
|
||||
this->setContainer(fifoArray.data());
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Custom assignment operator
|
||||
* @param other
|
||||
*/
|
||||
FIFO& operator=(const FIFO& other){
|
||||
FIFOBase<T>::operator=(other);
|
||||
this->fifoArray = other.fifoArray;
|
||||
this->setContainer(fifoArray.data());
|
||||
return *this;
|
||||
}
|
||||
|
||||
private:
|
||||
std::array<T, capacity> fifoArray;
|
||||
};
|
||||
|
||||
#endif /* FSFW_CONTAINER_FIFO_H_ */
|
79
src/fsfw/container/FIFOBase.h
Normal file
79
src/fsfw/container/FIFOBase.h
Normal file
@ -0,0 +1,79 @@
|
||||
#ifndef FSFW_CONTAINER_FIFOBASE_H_
|
||||
#define FSFW_CONTAINER_FIFOBASE_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <cstddef>
|
||||
#include <cstring>
|
||||
|
||||
template <typename T>
|
||||
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);
|
||||
|
||||
/** 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();
|
||||
|
||||
/***
|
||||
* 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;
|
||||
|
||||
T* values;
|
||||
|
||||
size_t readIndex = 0;
|
||||
size_t writeIndex = 0;
|
||||
size_t currentSize = 0;
|
||||
|
||||
size_t next(size_t current);
|
||||
};
|
||||
|
||||
#include "FIFOBase.tpp"
|
||||
|
||||
#endif /* FSFW_CONTAINER_FIFOBASE_H_ */
|
93
src/fsfw/container/FIFOBase.tpp
Normal file
93
src/fsfw/container/FIFOBase.tpp
Normal file
@ -0,0 +1,93 @@
|
||||
#ifndef FSFW_CONTAINER_FIFOBASE_TPP_
|
||||
#define FSFW_CONTAINER_FIFOBASE_TPP_
|
||||
|
||||
#ifndef FSFW_CONTAINER_FIFOBASE_H_
|
||||
#error Include FIFOBase.h before FIFOBase.tpp!
|
||||
#endif
|
||||
|
||||
template<typename T>
|
||||
inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
|
||||
maxCapacity(maxCapacity), values(values){};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t FIFOBase<T>::insert(T value) {
|
||||
if (full()) {
|
||||
return FULL;
|
||||
} else {
|
||||
values[writeIndex] = value;
|
||||
writeIndex = next(writeIndex);
|
||||
++currentSize;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t FIFOBase<T>::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;
|
||||
}
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t FIFOBase<T>::peek(T* value) {
|
||||
if(empty()) {
|
||||
return EMPTY;
|
||||
} else {
|
||||
if (value == nullptr){
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
*value = values[readIndex];
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t FIFOBase<T>::pop() {
|
||||
T value;
|
||||
return this->retrieve(&value);
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline bool FIFOBase<T>::empty() {
|
||||
return (currentSize == 0);
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline bool FIFOBase<T>::full() {
|
||||
return (currentSize == maxCapacity);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline size_t FIFOBase<T>::size() {
|
||||
return currentSize;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline size_t FIFOBase<T>::next(size_t current) {
|
||||
++current;
|
||||
if (current == maxCapacity) {
|
||||
current = 0;
|
||||
}
|
||||
return current;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline size_t FIFOBase<T>::getMaxCapacity() const {
|
||||
return maxCapacity;
|
||||
}
|
||||
|
||||
|
||||
template<typename T>
|
||||
inline void FIFOBase<T>::setContainer(T *data) {
|
||||
this->values = data;
|
||||
}
|
||||
|
||||
#endif
|
40
src/fsfw/container/FixedArrayList.h
Normal file
40
src/fsfw/container/FixedArrayList.h
Normal file
@ -0,0 +1,40 @@
|
||||
#ifndef FIXEDARRAYLIST_H_
|
||||
#define FIXEDARRAYLIST_H_
|
||||
|
||||
#include "ArrayList.h"
|
||||
#include <cmath>
|
||||
/**
|
||||
* \ingroup container
|
||||
*/
|
||||
template<typename T, size_t MAX_SIZE, typename count_t = uint8_t>
|
||||
class FixedArrayList: public ArrayList<T, count_t> {
|
||||
#if !defined(_MSC_VER)
|
||||
static_assert(MAX_SIZE <= (std::pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
|
||||
#endif
|
||||
private:
|
||||
T data[MAX_SIZE];
|
||||
public:
|
||||
FixedArrayList() :
|
||||
ArrayList<T, count_t>(data, MAX_SIZE) {
|
||||
}
|
||||
|
||||
FixedArrayList(const FixedArrayList& other) :
|
||||
ArrayList<T, count_t>(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;
|
||||
}
|
||||
|
||||
virtual ~FixedArrayList() {
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif /* FIXEDARRAYLIST_H_ */
|
230
src/fsfw/container/FixedMap.h
Normal file
230
src/fsfw/container/FixedMap.h
Normal file
@ -0,0 +1,230 @@
|
||||
#ifndef FSFW_CONTAINER_FIXEDMAP_H_
|
||||
#define FSFW_CONTAINER_FIXEDMAP_H_
|
||||
|
||||
#include "ArrayList.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <utility>
|
||||
#include <type_traits>
|
||||
|
||||
/**
|
||||
* @brief Map implementation for maps with a pre-defined size.
|
||||
* @details
|
||||
* Can be initialized with desired maximum size.
|
||||
* Iterator is used to access <key,value> pair and iterate through map entries.
|
||||
* Complexity O(n).
|
||||
* @warning Iterators return a non-const key_t in the pair.
|
||||
* @warning A User is not allowed to change the key, otherwise the map is corrupted.
|
||||
* @ingroup container
|
||||
*/
|
||||
template<typename key_t, typename T>
|
||||
class FixedMap: public SerializeIF {
|
||||
static_assert (std::is_trivially_copyable<T>::value or
|
||||
std::is_base_of<SerializeIF, T>::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);
|
||||
|
||||
private:
|
||||
static const key_t EMPTY_SLOT = -1;
|
||||
ArrayList<std::pair<key_t, T>, 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;
|
||||
}
|
||||
public:
|
||||
FixedMap(uint32_t maxSize) :
|
||||
theMap(maxSize), _size(0) {
|
||||
}
|
||||
|
||||
class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
|
||||
public:
|
||||
Iterator() :
|
||||
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
|
||||
}
|
||||
|
||||
Iterator(std::pair<key_t, T> *pair) :
|
||||
ArrayList<std::pair<key_t, T>, 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 not (lhs.value == rhs.value);
|
||||
}
|
||||
|
||||
Iterator begin() const {
|
||||
return Iterator(&theMap[0]);
|
||||
}
|
||||
|
||||
Iterator end() const {
|
||||
return Iterator(&theMap[_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(std::pair<key_t, T> 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 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;
|
||||
}
|
||||
|
||||
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)]);
|
||||
}
|
||||
|
||||
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 full() {
|
||||
if(_size >= theMap.maxSize()) {
|
||||
return true;
|
||||
}
|
||||
else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void clear() {
|
||||
_size = 0;
|
||||
}
|
||||
|
||||
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 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);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif /* FSFW_CONTAINER_FIXEDMAP_H_ */
|
207
src/fsfw/container/FixedOrderedMultimap.h
Normal file
207
src/fsfw/container/FixedOrderedMultimap.h
Normal file
@ -0,0 +1,207 @@
|
||||
#ifndef FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
|
||||
#define FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
|
||||
|
||||
#include "ArrayList.h"
|
||||
#include <cstring>
|
||||
#include <functional>
|
||||
|
||||
/**
|
||||
* @brief An associative container which allows multiple entries of the same key.
|
||||
* @details
|
||||
* Same keys are ordered by KEY_COMPARE function which is std::less<key_t> > by default.
|
||||
*
|
||||
* It uses the ArrayList, so technically this is not a real map, it is an array of pairs
|
||||
* of type key_t, T. It is ordered by key_t as FixedMap but allows same keys. Thus it has a linear
|
||||
* complexity O(n). As long as the number of entries remains low, this
|
||||
* should not be an issue.
|
||||
* The number of insertion and deletion operation should be minimized
|
||||
* as those incur extensive memory move operations (the underlying container
|
||||
* is not node based).
|
||||
*
|
||||
* Its of fixed size so no allocations are performed after the construction.
|
||||
*
|
||||
* The maximum size is given as first parameter of the constructor.
|
||||
*
|
||||
* It provides an iterator to do list iterations.
|
||||
*
|
||||
* The type T must have a copy constructor if it is not trivial copy-able.
|
||||
*
|
||||
* @warning Iterators return a non-const key_t in the pair.
|
||||
* @warning A User is not allowed to change the key, otherwise the map is corrupted.
|
||||
*
|
||||
* \ingroup container
|
||||
*/
|
||||
template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
|
||||
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);
|
||||
|
||||
/***
|
||||
* 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() {
|
||||
}
|
||||
|
||||
/***
|
||||
* Special iterator for FixedOrderedMultimap
|
||||
*/
|
||||
class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
|
||||
public:
|
||||
Iterator() :
|
||||
ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
|
||||
}
|
||||
|
||||
Iterator(std::pair<key_t, T> *pair) :
|
||||
ArrayList<std::pair<key_t, T>, 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 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;
|
||||
}
|
||||
|
||||
/**
|
||||
* 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();
|
||||
}
|
||||
|
||||
/***
|
||||
* 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<key_t, T> 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;
|
||||
|
||||
/***
|
||||
* 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);
|
||||
|
||||
/***
|
||||
* 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;
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
private:
|
||||
typedef KEY_COMPARE compare;
|
||||
compare myComp;
|
||||
ArrayList<std::pair<key_t, T>, size_t> theMap;
|
||||
size_t _size;
|
||||
|
||||
size_t findFirstIndex(key_t key, size_t startAt = 0) const;
|
||||
|
||||
size_t findNicePlace(key_t key) const;
|
||||
|
||||
void removeFromPosition(size_t position);
|
||||
};
|
||||
|
||||
#include "FixedOrderedMultimap.tpp"
|
||||
|
||||
#endif /* FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */
|
109
src/fsfw/container/FixedOrderedMultimap.tpp
Normal file
109
src/fsfw/container/FixedOrderedMultimap.tpp
Normal file
@ -0,0 +1,109 @@
|
||||
#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
|
||||
#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
|
||||
|
||||
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
|
||||
if (_size == theMap.maxSize()) {
|
||||
return MAP_FULL;
|
||||
}
|
||||
size_t position = findNicePlace(key);
|
||||
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
|
||||
(_size - position) * sizeof(std::pair<key_t,T>));
|
||||
theMap[position].first = key;
|
||||
theMap[position].second = value;
|
||||
++_size;
|
||||
if (storedValue != nullptr) {
|
||||
*storedValue = Iterator(&theMap[position]);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
|
||||
return insert(pair.first, pair.second);
|
||||
}
|
||||
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
|
||||
ReturnValue_t result = KEY_DOES_NOT_EXIST;
|
||||
if (findFirstIndex(key) < _size) {
|
||||
result = HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::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;
|
||||
}
|
||||
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::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;
|
||||
}
|
||||
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::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;
|
||||
}
|
||||
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::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;
|
||||
}
|
||||
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::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;
|
||||
}
|
||||
|
||||
template<typename key_t, typename T, typename KEY_COMPARE>
|
||||
inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
|
||||
if (_size <= position) {
|
||||
return;
|
||||
}
|
||||
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
|
||||
(_size - position - 1) * sizeof(std::pair<key_t,T>));
|
||||
--_size;
|
||||
}
|
||||
|
||||
|
||||
#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */
|
90
src/fsfw/container/HybridIterator.h
Normal file
90
src/fsfw/container/HybridIterator.h
Normal file
@ -0,0 +1,90 @@
|
||||
#ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
|
||||
#define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
|
||||
|
||||
#include "ArrayList.h"
|
||||
#include "SinglyLinkedList.h"
|
||||
|
||||
template<typename T, typename count_t = uint8_t>
|
||||
class HybridIterator: public LinkedElement<T>::Iterator,
|
||||
public ArrayList<T, count_t>::Iterator {
|
||||
public:
|
||||
HybridIterator() {}
|
||||
|
||||
HybridIterator(typename LinkedElement<T>::Iterator *iter) :
|
||||
LinkedElement<T>::Iterator(*iter), value(iter->value),
|
||||
linked(true) {
|
||||
|
||||
}
|
||||
|
||||
HybridIterator(LinkedElement<T> *start) :
|
||||
LinkedElement<T>::Iterator(start), value(start->value),
|
||||
linked(true) {
|
||||
|
||||
}
|
||||
|
||||
HybridIterator(typename ArrayList<T, count_t>::Iterator start,
|
||||
typename ArrayList<T, count_t>::Iterator end) :
|
||||
ArrayList<T, count_t>::Iterator(start), value(start.value),
|
||||
linked(false), end(end.value) {
|
||||
if (value == this->end) {
|
||||
value = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
HybridIterator(T *firstElement, T *lastElement) :
|
||||
ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
|
||||
linked(false), end(++lastElement) {
|
||||
if (value == end) {
|
||||
value = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
HybridIterator& operator++() {
|
||||
if (linked) {
|
||||
LinkedElement<T>::Iterator::operator++();
|
||||
if (LinkedElement<T>::Iterator::value != nullptr) {
|
||||
value = LinkedElement<T>::Iterator::value->value;
|
||||
} else {
|
||||
value = nullptr;
|
||||
}
|
||||
} else {
|
||||
ArrayList<T, count_t>::Iterator::operator++();
|
||||
value = ArrayList<T, count_t>::Iterator::value;
|
||||
|
||||
if (value == end) {
|
||||
value = nullptr;
|
||||
}
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
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 !(*this == other);
|
||||
}
|
||||
|
||||
T operator*() {
|
||||
return *value;
|
||||
}
|
||||
|
||||
T *operator->() {
|
||||
return value;
|
||||
}
|
||||
|
||||
T* value = nullptr;
|
||||
|
||||
private:
|
||||
bool linked = false;
|
||||
T *end = nullptr;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */
|
700
src/fsfw/container/IndexedRingMemoryArray.h
Normal file
700
src/fsfw/container/IndexedRingMemoryArray.h
Normal file
@ -0,0 +1,700 @@
|
||||
#ifndef FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
|
||||
#define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
|
||||
|
||||
#include "ArrayList.h"
|
||||
#include "../globalfunctions/CRC.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../serialize/SerialArrayListAdapter.h"
|
||||
#include <cmath>
|
||||
|
||||
template<typename T>
|
||||
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<SerializeIF,T>::value,"Wrong Type for Index, Type must implement SerializeIF");
|
||||
public:
|
||||
Index():blockStartAddress(0),size(0),storedPackets(0){}
|
||||
|
||||
Index(uint32_t startAddress):blockStartAddress(startAddress),size(0),storedPackets(0){
|
||||
|
||||
}
|
||||
|
||||
void setBlockStartAddress(uint32_t newAddress){
|
||||
this->blockStartAddress = newAddress;
|
||||
}
|
||||
|
||||
uint32_t getBlockStartAddress() const {
|
||||
return blockStartAddress;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
uint32_t getSize() const {
|
||||
return size;
|
||||
}
|
||||
|
||||
void setSize(uint32_t size) {
|
||||
this->size = size;
|
||||
}
|
||||
|
||||
void addSize(uint32_t size){
|
||||
this->size += size;
|
||||
}
|
||||
|
||||
void setStoredPackets(uint32_t newStoredPackets){
|
||||
this->storedPackets = newStoredPackets;
|
||||
}
|
||||
|
||||
void addStoredPackets(uint32_t packets){
|
||||
this->storedPackets += packets;
|
||||
}
|
||||
|
||||
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 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;
|
||||
}
|
||||
|
||||
|
||||
bool operator==(const Index<T>& other){
|
||||
return ((blockStartAddress == other.getBlockStartAddress()) && (size==other.getSize())) && (indexType == *(other.getIndexType()));
|
||||
}
|
||||
|
||||
private:
|
||||
uint32_t blockStartAddress;
|
||||
uint32_t size;
|
||||
uint32_t storedPackets;
|
||||
T indexType;
|
||||
};
|
||||
|
||||
|
||||
|
||||
template<typename T>
|
||||
class IndexedRingMemoryArray: public SerializeIF, public ArrayList<Index<T>, 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
|
||||
*/
|
||||
public:
|
||||
IndexedRingMemoryArray(uint32_t startAddress, uint32_t size, uint32_t bytesPerBlock, SerializeIF* additionalInfo,
|
||||
bool overwriteOld) :ArrayList<Index<T>,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<double>(size)/static_cast<double>(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<T> 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
|
||||
|
||||
//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;
|
||||
|
||||
//Calculate True number of Blocks and reset size of true Number of Blocks
|
||||
uint32_t trueNumberOfBlocks = floor(static_cast<double>(totalSize) / static_cast<double>(bytesPerBlock));
|
||||
|
||||
//allocate memory now
|
||||
this->entries = new Index<T>[trueNumberOfBlocks];
|
||||
this->size = trueNumberOfBlocks;
|
||||
this->maxSize_ = trueNumberOfBlocks;
|
||||
this->allocated = true;
|
||||
|
||||
//Check trueNumberOfBlocks
|
||||
if(trueNumberOfBlocks<1){
|
||||
error << "IndexedRingMemory: Invalid Number of Blocks: " << trueNumberOfBlocks;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//Fill address into index
|
||||
uint32_t address = trueStartAddress;
|
||||
for (typename IndexedRingMemoryArray<T>::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();
|
||||
|
||||
//Check last blockSize
|
||||
uint32_t lastBlockSize = (trueStartAddress + useableSize) - (this->back()->getBlockStartAddress());
|
||||
if((lastBlockSize<bytesPerBlock) && (this->size > 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<T>::Iterator it = this->begin();it!=this->end();++it){
|
||||
it->setSize(0);
|
||||
it->setStoredPackets(0);
|
||||
(*typeResetFnc)(it->modifyIndexType());
|
||||
}
|
||||
}
|
||||
|
||||
void resetBlock(typename IndexedRingMemoryArray<T>::Iterator it,void (*typeResetFnc)(T*)){
|
||||
it->setSize(0);
|
||||
it->setStoredPackets(0);
|
||||
(*typeResetFnc)(it->modifyIndexType());
|
||||
}
|
||||
|
||||
/*
|
||||
* Reading
|
||||
*/
|
||||
|
||||
void setCurrentReadBlock(typename IndexedRingMemoryArray<T>::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<T>::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();
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* 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();
|
||||
}
|
||||
|
||||
/**
|
||||
* 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)<lastBlockToReadSize){
|
||||
//the block has more data -> 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)<currentReadBlockSizeCached){
|
||||
//The current Block has more data
|
||||
currentReadSize += readSize;
|
||||
return true;
|
||||
}else{
|
||||
//The current block is written completely
|
||||
readNext();
|
||||
if(currentReadBlockSizeCached==0){
|
||||
//Next block is empty
|
||||
typename IndexedRingMemoryArray<T>::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();
|
||||
}
|
||||
|
||||
/**
|
||||
* 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<T>::Iterator getNextNonEmptyBlock() const {
|
||||
for(typename IndexedRingMemoryArray<T>::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());
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Writing
|
||||
*/
|
||||
uint32_t getAddressOfCurrentWriteBlock() const{
|
||||
return currentWriteBlock->getBlockStartAddress();
|
||||
}
|
||||
|
||||
uint32_t getSizeOfCurrentWriteBlock() const{
|
||||
return currentWriteBlock->getSize();
|
||||
}
|
||||
|
||||
uint32_t getCurrentWriteAddress() const{
|
||||
return getAddressOfCurrentWriteBlock() + getSizeOfCurrentWriteBlock();
|
||||
}
|
||||
|
||||
void clearCurrentWriteBlock(){
|
||||
currentWriteBlock->setSize(0);
|
||||
currentWriteBlock->setStoredPackets(0);
|
||||
}
|
||||
|
||||
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<T>::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<T>::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<T>::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);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* 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;
|
||||
}
|
||||
|
||||
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 {
|
||||
|
||||
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 result = HasReturnvaluesIF::RETURN_OK;
|
||||
if(additionalInfo!=NULL){
|
||||
result = additionalInfo->deSerialize(buffer,size,streamEndianness);
|
||||
}
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
|
||||
Index<T> 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<T>::Iterator cmp(&tempIndex);
|
||||
for(typename IndexedRingMemoryArray<T>::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;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Statistics
|
||||
*/
|
||||
uint32_t getStoredPackets() const {
|
||||
uint32_t size = 0;
|
||||
for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
|
||||
size += it->getStoredPackets();
|
||||
}
|
||||
return size;
|
||||
}
|
||||
|
||||
uint32_t getTotalSize() const {
|
||||
return totalSize;
|
||||
}
|
||||
|
||||
uint32_t getCurrentSize() const{
|
||||
uint32_t size = 0;
|
||||
for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
|
||||
size += it->getSize();
|
||||
}
|
||||
return size;
|
||||
}
|
||||
|
||||
bool isEmpty() const{
|
||||
return getCurrentSize()==0;
|
||||
}
|
||||
|
||||
double getPercentageFilled() const{
|
||||
uint32_t filledSize = 0;
|
||||
for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
|
||||
filledSize += it->getSize();
|
||||
}
|
||||
|
||||
return (double)filledSize/(double)this->totalSize;
|
||||
}
|
||||
|
||||
typename IndexedRingMemoryArray<T>::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<T>::Iterator getNextWrite() const{
|
||||
typename IndexedRingMemoryArray<T>::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<T>::Iterator getPreviousBlock(typename IndexedRingMemoryArray<T>::Iterator it) {
|
||||
if(this->begin() == it){
|
||||
typename IndexedRingMemoryArray<T>::Iterator next((this->back()));
|
||||
return next;
|
||||
}
|
||||
typename IndexedRingMemoryArray<T>::Iterator next(it);
|
||||
--next;
|
||||
return next;
|
||||
}
|
||||
private:
|
||||
//The total size used by the blocks (without index)
|
||||
uint32_t totalSize;
|
||||
|
||||
//The address of the index
|
||||
const uint32_t indexAddress;
|
||||
|
||||
//The iterators for writing and reading
|
||||
typename IndexedRingMemoryArray<T>::Iterator currentWriteBlock;
|
||||
typename IndexedRingMemoryArray<T>::Iterator currentReadBlock;
|
||||
|
||||
//How much of the current read block is read already
|
||||
uint32_t currentReadSize;
|
||||
|
||||
//Cached Size of current read block
|
||||
uint32_t currentReadBlockSizeCached;
|
||||
|
||||
//Last block of current write (should be write block)
|
||||
typename IndexedRingMemoryArray<T>::Iterator lastBlockToRead;
|
||||
//current size of last Block to read
|
||||
uint32_t lastBlockToReadSize;
|
||||
|
||||
//Additional Info to be serialized with the index
|
||||
SerializeIF* additionalInfo;
|
||||
|
||||
//Does it overwrite old blocks?
|
||||
const bool overwriteOld;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_ */
|
71
src/fsfw/container/PlacementFactory.h
Normal file
71
src/fsfw/container/PlacementFactory.h
Normal file
@ -0,0 +1,71 @@
|
||||
#ifndef FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
|
||||
#define FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
|
||||
|
||||
#include "../storagemanager/StorageManagerIF.h"
|
||||
#include <utility>
|
||||
/**
|
||||
* The Placement Factory is used to create objects at runtime in a specific pool.
|
||||
* In general, this should be avoided and it should only be used if you know what you are doing.
|
||||
* You are not allowed to use this container with a type that allocates memory internally like ArrayList.
|
||||
*
|
||||
* Also, you have to check the returned pointer in generate against nullptr!
|
||||
*
|
||||
* A backend of Type StorageManagerIF must be given as a place to store the new objects.
|
||||
* Therefore ThreadSafety is only provided by your StorageManager Implementation.
|
||||
*
|
||||
* Objects must be destroyed by the user with "destroy"! Otherwise the pool will not be cleared.
|
||||
*
|
||||
* The concept is based on the placement new operator.
|
||||
*
|
||||
* @warning Do not use with any Type that allocates memory internally!
|
||||
* @ingroup container
|
||||
*/
|
||||
class PlacementFactory {
|
||||
public:
|
||||
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<typename T, typename ... Args>
|
||||
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>(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<typename T>
|
||||
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;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_ */
|
113
src/fsfw/container/RingBufferBase.h
Normal file
113
src/fsfw/container/RingBufferBase.h
Normal file
@ -0,0 +1,113 @@
|
||||
#ifndef FSFW_CONTAINER_RINGBUFFERBASE_H_
|
||||
#define FSFW_CONTAINER_RINGBUFFERBASE_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <cstddef>
|
||||
|
||||
template<uint8_t N_READ_PTRS = 1>
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
virtual ~RingBufferBase() {}
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
bool overwritesOld() const {
|
||||
return overwriteOld;
|
||||
}
|
||||
|
||||
size_t getMaxSize() const {
|
||||
return size - 1;
|
||||
}
|
||||
|
||||
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 readTillWrap(uint8_t n = 0) {
|
||||
return (start + size) - read[n];
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
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 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];
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
void setWrite(uint32_t write) {
|
||||
this->write = write;
|
||||
}
|
||||
};
|
||||
|
||||
#endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */
|
96
src/fsfw/container/SharedRingBuffer.h
Normal file
96
src/fsfw/container/SharedRingBuffer.h
Normal file
@ -0,0 +1,96 @@
|
||||
#ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
|
||||
#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
|
||||
|
||||
#include "SimpleRingBuffer.h"
|
||||
#include "DynamicFIFO.h"
|
||||
|
||||
#include "fsfw/ipc/MutexIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/timemanager/Clock.h"
|
||||
|
||||
/**
|
||||
* @brief Ring buffer which can be shared among multiple objects
|
||||
* @details
|
||||
* This class offers a mutex to perform thread-safe operation on the ring
|
||||
* buffer. It is still up to the developer to actually perform the lock
|
||||
* and unlock operations.
|
||||
*/
|
||||
class SharedRingBuffer: public SystemObject,
|
||||
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 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);
|
||||
|
||||
virtual~ SharedRingBuffer();
|
||||
|
||||
/**
|
||||
* @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);
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* 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 #MutexGuard for a RAII compliant lock operation.
|
||||
* @return
|
||||
*/
|
||||
MutexIF* getMutexHandle() const;
|
||||
|
||||
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<size_t>* getReceiveSizesFIFO();
|
||||
private:
|
||||
MutexIF* mutex = nullptr;
|
||||
|
||||
size_t fifoDepth = 0;
|
||||
DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_CONTAINER_SHAREDRINGBUFFER_H_ */
|
129
src/fsfw/container/SimpleRingBuffer.h
Normal file
129
src/fsfw/container/SimpleRingBuffer.h
Normal file
@ -0,0 +1,129 @@
|
||||
#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
|
||||
#define FSFW_CONTAINER_SIMPLERINGBUFFER_H_
|
||||
|
||||
#include "RingBufferBase.h"
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* @brief Circular buffer implementation, useful for buffering
|
||||
* into data streams.
|
||||
* @details
|
||||
* Note that the deleteData() has to be called to increment the read pointer.
|
||||
* This class allocated dynamically, so
|
||||
* @ingroup containers
|
||||
*/
|
||||
class SimpleRingBuffer: public RingBufferBase<> {
|
||||
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
|
||||
* operation, the oldest data will be overwritten.
|
||||
* @param maxExcessBytes These additional bytes will be allocated in addtion
|
||||
* to the specified size to accomodate contiguous write operations
|
||||
* 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
|
||||
* 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);
|
||||
|
||||
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);
|
||||
|
||||
/**
|
||||
* 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);
|
||||
|
||||
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);
|
||||
|
||||
/**
|
||||
* 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;
|
||||
};
|
||||
|
||||
#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */
|
||||
|
154
src/fsfw/container/SinglyLinkedList.h
Normal file
154
src/fsfw/container/SinglyLinkedList.h
Normal file
@ -0,0 +1,154 @@
|
||||
#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
|
||||
#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* @brief Linked list data structure,
|
||||
* each entry has a pointer to the next entry (singly)
|
||||
* @ingroup container
|
||||
*/
|
||||
template<typename T>
|
||||
class LinkedElement {
|
||||
public:
|
||||
T *value;
|
||||
class Iterator {
|
||||
public:
|
||||
LinkedElement<T> *value = nullptr;
|
||||
Iterator() {}
|
||||
|
||||
Iterator(LinkedElement<T> *element) :
|
||||
value(element) {
|
||||
}
|
||||
|
||||
Iterator& operator++() {
|
||||
value = value->getNext();
|
||||
return *this;
|
||||
}
|
||||
|
||||
Iterator operator++(int) {
|
||||
Iterator tmp(*this);
|
||||
operator++();
|
||||
return tmp;
|
||||
}
|
||||
|
||||
bool operator==(Iterator other) {
|
||||
return value == other.value;
|
||||
}
|
||||
|
||||
bool operator!=(Iterator other) {
|
||||
return !(*this == other);
|
||||
}
|
||||
T *operator->() {
|
||||
return value->value;
|
||||
}
|
||||
};
|
||||
|
||||
LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
|
||||
value(setElement), next(setNext) {}
|
||||
|
||||
virtual ~LinkedElement(){}
|
||||
|
||||
virtual LinkedElement* getNext() const {
|
||||
return next;
|
||||
}
|
||||
|
||||
virtual void setNext(LinkedElement* next) {
|
||||
this->next = next;
|
||||
}
|
||||
|
||||
virtual void setEnd() {
|
||||
this->next = nullptr;
|
||||
}
|
||||
|
||||
LinkedElement* begin() {
|
||||
return this;
|
||||
}
|
||||
LinkedElement* end() {
|
||||
return nullptr;
|
||||
}
|
||||
private:
|
||||
LinkedElement *next;
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
class SinglyLinkedList {
|
||||
public:
|
||||
using ElementIterator = typename LinkedElement<T>::Iterator;
|
||||
|
||||
SinglyLinkedList() {}
|
||||
|
||||
SinglyLinkedList(ElementIterator start) :
|
||||
start(start.value) {}
|
||||
|
||||
SinglyLinkedList(LinkedElement<T>* startElement) :
|
||||
start(startElement) {}
|
||||
|
||||
ElementIterator begin() const {
|
||||
return ElementIterator::Iterator(start);
|
||||
}
|
||||
|
||||
/** Returns iterator to nulltr */
|
||||
ElementIterator end() const {
|
||||
return ElementIterator::Iterator();
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns last element in singly linked list.
|
||||
* @return
|
||||
*/
|
||||
ElementIterator back() const {
|
||||
LinkedElement<T> *element = start;
|
||||
while (element->getNext() != nullptr) {
|
||||
element = element->getNext();
|
||||
}
|
||||
return ElementIterator::Iterator(element);
|
||||
}
|
||||
|
||||
size_t getSize() const {
|
||||
size_t size = 0;
|
||||
LinkedElement<T> *element = start;
|
||||
while (element != nullptr) {
|
||||
size++;
|
||||
element = element->getNext();
|
||||
}
|
||||
return size;
|
||||
}
|
||||
void setStart(LinkedElement<T>* firstElement) {
|
||||
start = firstElement;
|
||||
}
|
||||
|
||||
void setNext(LinkedElement<T>* currentElement,
|
||||
LinkedElement<T>* nextElement) {
|
||||
currentElement->setNext(nextElement);
|
||||
}
|
||||
|
||||
void setLast(LinkedElement<T>* lastElement) {
|
||||
lastElement->setEnd();
|
||||
}
|
||||
|
||||
void insertElement(LinkedElement<T>* element, size_t position) {
|
||||
LinkedElement<T> *currentElement = start;
|
||||
for(size_t count = 0; count < position; count++) {
|
||||
if(currentElement == nullptr) {
|
||||
return;
|
||||
}
|
||||
currentElement = currentElement->getNext();
|
||||
}
|
||||
LinkedElement<T>* elementAfterCurrent = currentElement->next;
|
||||
currentElement->setNext(element);
|
||||
if(elementAfterCurrent != nullptr) {
|
||||
element->setNext(elementAfterCurrent);
|
||||
}
|
||||
}
|
||||
|
||||
void insertBack(LinkedElement<T>* lastElement) {
|
||||
back().value->setNext(lastElement);
|
||||
}
|
||||
|
||||
protected:
|
||||
LinkedElement<T> *start = nullptr;
|
||||
};
|
||||
|
||||
#endif /* SINGLYLINKEDLIST_H_ */
|
15
src/fsfw/container/group.h
Normal file
15
src/fsfw/container/group.h
Normal file
@ -0,0 +1,15 @@
|
||||
#ifndef GROUP_H_
|
||||
#define GROUP_H_
|
||||
|
||||
/**
|
||||
* @defgroup container Container
|
||||
*
|
||||
* General Purpose Container to store various elements.
|
||||
*
|
||||
* Also contains Adapter classes to print elements to a
|
||||
* bytestream and to read them from a bytestream, as well
|
||||
* as an Adapter to swap the endianness.
|
||||
*/
|
||||
|
||||
|
||||
#endif /* GROUP_H_ */
|
94
src/fsfw/controller/ControllerBase.h
Normal file
94
src/fsfw/controller/ControllerBase.h
Normal file
@ -0,0 +1,94 @@
|
||||
#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
|
||||
#define FSFW_CONTROLLER_CONTROLLERBASE_H_
|
||||
|
||||
#include "fsfw/health/HasHealthIF.h"
|
||||
#include "fsfw/health/HealthHelper.h"
|
||||
#include "fsfw/modes/HasModesIF.h"
|
||||
#include "fsfw/modes/ModeHelper.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
#include "fsfw/tasks/PeriodicTaskIF.h"
|
||||
#include "fsfw/datapool/HkSwitchHelper.h"
|
||||
|
||||
/**
|
||||
* @brief Generic base class for controller classes
|
||||
* @details
|
||||
* Implements common interfaces for controllers, which generally have
|
||||
* a mode and a health state. This avoids boilerplate code.
|
||||
*/
|
||||
class ControllerBase: public HasModesIF,
|
||||
public HasHealthIF,
|
||||
public ExecutableObjectIF,
|
||||
public SystemObject,
|
||||
public HasReturnvaluesIF {
|
||||
public:
|
||||
static const Mode_t MODE_NORMAL = 2;
|
||||
|
||||
ControllerBase(object_id_t setObjectId, object_id_t parentId,
|
||||
size_t commandQueueDepth = 3);
|
||||
virtual ~ControllerBase();
|
||||
|
||||
/** SystemObject override */
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
virtual MessageQueueId_t getCommandQueue() const 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;
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* Implemented by child class. Handle command messages which are not
|
||||
* mode or health messages.
|
||||
* @param message
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
|
||||
|
||||
/**
|
||||
* Periodic helper, implemented by child class.
|
||||
*/
|
||||
virtual void performControlOperation() = 0;
|
||||
|
||||
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode) = 0;
|
||||
|
||||
const object_id_t parentId;
|
||||
|
||||
Mode_t mode;
|
||||
|
||||
Submode_t submode;
|
||||
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
|
||||
ModeHelper modeHelper;
|
||||
|
||||
HealthHelper healthHelper;
|
||||
|
||||
/**
|
||||
* 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();
|
||||
|
||||
/** 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_ */
|
76
src/fsfw/controller/ExtendedControllerBase.h
Normal file
76
src/fsfw/controller/ExtendedControllerBase.h
Normal file
@ -0,0 +1,76 @@
|
||||
#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
|
||||
#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
|
||||
|
||||
#include "ControllerBase.h"
|
||||
|
||||
#include "fsfw/action.h"
|
||||
#include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
|
||||
/**
|
||||
* @brief Extendes the basic ControllerBase with the common components
|
||||
* HasActionsIF for commandability and HasLocalDataPoolIF to keep
|
||||
* a pool of local data pool variables.
|
||||
* @details
|
||||
* Default implementations required for the interfaces will be empty and have
|
||||
* to be implemented by child class.
|
||||
*/
|
||||
class ExtendedControllerBase: public ControllerBase,
|
||||
public HasActionsIF,
|
||||
public HasLocalDataPoolIF {
|
||||
public:
|
||||
ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
|
||||
size_t commandQueueDepth = 3);
|
||||
virtual ~ExtendedControllerBase();
|
||||
|
||||
/* SystemObjectIF overrides */
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
virtual MessageQueueId_t getCommandQueue() const override;
|
||||
|
||||
/* ExecutableObjectIF overrides */
|
||||
virtual ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
||||
|
||||
protected:
|
||||
LocalDataPoolManager poolManager;
|
||||
ActionHelper actionHelper;
|
||||
|
||||
/**
|
||||
* Implemented by child class. Handle all command messages which are
|
||||
* not health, mode, action or housekeeping messages.
|
||||
* @param message
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
|
||||
|
||||
/**
|
||||
* Periodic helper from ControllerBase, implemented by child class.
|
||||
*/
|
||||
virtual void performControlOperation() = 0;
|
||||
|
||||
/* Handle the four messages mentioned above */
|
||||
void handleQueue() override;
|
||||
|
||||
/* HasActionsIF overrides */
|
||||
virtual ReturnValue_t executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy, const uint8_t* data,
|
||||
size_t size) override;
|
||||
|
||||
/* HasLocalDatapoolIF overrides */
|
||||
virtual LocalDataPoolManager* getHkManagerHandle() override;
|
||||
virtual object_id_t getObjectId() const override;
|
||||
virtual uint32_t getPeriodicOperationFrequency() const override;
|
||||
|
||||
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override = 0;
|
||||
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
|
||||
|
||||
// Mode abstract functions
|
||||
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode) override = 0;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */
|
35
src/fsfw/coordinates/CoordinateTransformations.h
Normal file
35
src/fsfw/coordinates/CoordinateTransformations.h
Normal file
@ -0,0 +1,35 @@
|
||||
#ifndef COORDINATETRANSFORMATIONS_H_
|
||||
#define COORDINATETRANSFORMATIONS_H_
|
||||
|
||||
#include "coordinatesConf.h"
|
||||
#include "fsfw/timemanager/Clock.h"
|
||||
#include <cstring>
|
||||
|
||||
class CoordinateTransformations {
|
||||
public:
|
||||
static void positionEcfToEci(const double* ecfCoordinates, double* eciCoordinates, timeval *timeUTC = NULL);
|
||||
|
||||
static void velocityEcfToEci(const double* ecfVelocity,
|
||||
const double* ecfPosition,
|
||||
double* eciVelocity, timeval *timeUTC = NULL);
|
||||
|
||||
static void positionEciToEcf(const double* eciCoordinates, double* ecfCoordinates,timeval *timeUTC = NULL);
|
||||
static void velocityEciToEcf(const double* eciVelocity,const double* eciPosition, double* ecfVelocity,timeval* timeUTC = NULL);
|
||||
|
||||
static double getEarthRotationAngle(timeval timeUTC);
|
||||
|
||||
static void getEarthRotationMatrix(timeval timeUTC, double matrix[][3]);
|
||||
private:
|
||||
CoordinateTransformations();
|
||||
static void ecfToEci(const double* ecfCoordinates, double* eciCoordinates,
|
||||
const double* ecfPositionIfCoordinatesAreVelocity, timeval *timeUTCin);
|
||||
static void eciToEcf(const double* eciCoordinates,
|
||||
double* ecfCoordinates,
|
||||
const double* eciPositionIfCoordinatesAreVelocity,timeval *timeUTCin);
|
||||
|
||||
static double getJuleanCenturiesTT(timeval timeUTC);
|
||||
static void getTransMatrixECITOECF(timeval time,double Tfi[3][3]);
|
||||
|
||||
};
|
||||
|
||||
#endif /* COORDINATETRANSFORMATIONS_H_ */
|
181
src/fsfw/coordinates/Jgm3Model.h
Normal file
181
src/fsfw/coordinates/Jgm3Model.h
Normal file
@ -0,0 +1,181 @@
|
||||
#ifndef FRAMEWORK_COORDINATES_JGM3MODEL_H_
|
||||
#define FRAMEWORK_COORDINATES_JGM3MODEL_H_
|
||||
|
||||
#include "coordinatesConf.h"
|
||||
#include "CoordinateTransformations.h"
|
||||
|
||||
#include "fsfw/globalfunctions/math/VectorOperations.h"
|
||||
#include "fsfw/globalfunctions/timevalOperations.h"
|
||||
#include "fsfw/globalfunctions/constants.h"
|
||||
#include <memory.h>
|
||||
#include <cstdint>
|
||||
|
||||
template<uint8_t DEGREE,uint8_t ORDER>
|
||||
class Jgm3Model {
|
||||
public:
|
||||
static const uint32_t factorialLookupTable[DEGREE+3]; //This table is used instead of factorial calculation, must be increased if order or degree is higher
|
||||
|
||||
Jgm3Model() {
|
||||
y0[0] = 0;
|
||||
y0[1] = 0;
|
||||
y0[2] = 0;
|
||||
y0[3] = 0;
|
||||
y0[4] = 0;
|
||||
y0[5] = 0;
|
||||
|
||||
lastExecutionTime.tv_sec = 0;
|
||||
lastExecutionTime.tv_usec = 0;
|
||||
}
|
||||
virtual ~Jgm3Model(){};
|
||||
|
||||
//double acsNavOrbit(double posECF[3],double velECF[3],timeval gpsTime);
|
||||
|
||||
double y0[6]; //position and velocity at beginning of RK step in EC
|
||||
timeval lastExecutionTime; //Time of last execution
|
||||
|
||||
|
||||
void accelDegOrd(const double pos[3],const double S[ORDER+1][DEGREE+1],const double C[ORDER+1][DEGREE+1],double* accel){
|
||||
//Get radius of this position
|
||||
double r = VectorOperations<double>::norm(pos,3);
|
||||
|
||||
|
||||
|
||||
//Initialize the V and W matrix
|
||||
double V[DEGREE+2][ORDER+2] = {{0}};
|
||||
double W[DEGREE+2][ORDER+2] = {{0}};
|
||||
|
||||
for(uint8_t m=0;m<(ORDER+2);m++){
|
||||
for(uint8_t n=m;n<(DEGREE+2);n++){
|
||||
if((n==0) && (m==0)){
|
||||
//Montenbruck "Satellite Orbits Eq.3.31"
|
||||
V[0][0] = Earth::MEAN_RADIUS / r;
|
||||
W[0][0] = 0;
|
||||
}else{
|
||||
if(n==m){
|
||||
//Montenbruck "Satellite Orbits Eq.3.29"
|
||||
V[m][m] = (2*m-1)* (pos[0]*Earth::MEAN_RADIUS/pow(r,2)*V[m-1][m-1] - pos[1]*Earth::MEAN_RADIUS/pow(r,2)*W[m-1][m-1]);
|
||||
W[m][m] = (2*m-1)* (pos[0]*Earth::MEAN_RADIUS/pow(r,2)*W[m-1][m-1] + pos[1]*Earth::MEAN_RADIUS/pow(r,2)*V[m-1][m-1]);
|
||||
}else{
|
||||
//Montenbruck "Satellite Orbits Eq.3.30"
|
||||
V[n][m] = ((2*n-1)/(double)(n-m))*pos[2]*Earth::MEAN_RADIUS / pow(r,2)*V[n-1][m];
|
||||
W[n][m] = ((2*n-1)/(double)(n-m))*pos[2]*Earth::MEAN_RADIUS / pow(r,2)*W[n-1][m];
|
||||
if(n!=(m+1)){
|
||||
V[n][m] = V[n][m] - (((n+m-1)/(double)(n-m)) * (pow(Earth::MEAN_RADIUS,2) / pow(r,2)) * V[n-2][m]);
|
||||
W[n][m] = W[n][m] - (((n+m-1)/(double)(n-m)) * (pow(Earth::MEAN_RADIUS,2) / pow(r,2)) * W[n-2][m]);
|
||||
}//End of if(n!=(m+1))
|
||||
}//End of if(n==m){
|
||||
}//End of if(n==0 and m==0)
|
||||
}//End of for(uint8_t n=0;n<(DEGREE+1);n++)
|
||||
}//End of for(uint8_t m=0;m<(ORDER+1);m++)
|
||||
|
||||
|
||||
//overwrite accel if not properly initialized
|
||||
accel[0] = 0;
|
||||
accel[1] = 0;
|
||||
accel[2] = 0;
|
||||
|
||||
for(uint8_t m=0;m<(ORDER+1);m++){
|
||||
for(uint8_t n=m;n<(DEGREE+1);n++){
|
||||
//Use table lookup to get factorial
|
||||
double partAccel[3] = {0};
|
||||
double factor = Earth::STANDARD_GRAVITATIONAL_PARAMETER/pow(Earth::MEAN_RADIUS,2);
|
||||
if(m==0){
|
||||
//Montenbruck "Satellite Orbits Eq.3.33"
|
||||
partAccel[0] = factor * (-C[n][0]*V[n+1][1]);
|
||||
partAccel[1] = factor * (-C[n][0]*W[n+1][1]);
|
||||
}else{
|
||||
double factMN = static_cast<double>(factorialLookupTable[n-m+2]) / static_cast<double>(factorialLookupTable[n-m]);
|
||||
partAccel[0] = factor * 0.5 * ((-C[n][m]*V[n+1][m+1]-S[n][m]*W[n+1][m+1])+factMN*(C[n][m]*V[n+1][m-1]+S[n][m]*W[n+1][m-1]));
|
||||
partAccel[1] = factor * 0.5 * ((-C[n][m]*W[n+1][m+1]+S[n][m]*V[n+1][m+1])+factMN*(-C[n][m]*W[n+1][m-1]+S[n][m]*V[n+1][m-1]));
|
||||
}
|
||||
|
||||
partAccel[2] = factor * ((n-m+1)*(-C[n][m]*V[n+1][m]-S[n][m]*W[n+1][m]));
|
||||
|
||||
|
||||
accel[0] += partAccel[0];
|
||||
accel[1] += partAccel[1];
|
||||
accel[2] += partAccel[2];
|
||||
}//End of for(uint8_t n=0;n<DEGREE;n++)
|
||||
}//End of uint8_t m=0;m<ORDER;m++
|
||||
}
|
||||
|
||||
void initializeNavOrbit(const double position[3],const double velocity[3], timeval timeUTC){
|
||||
CoordinateTransformations::positionEcfToEci(position,&y0[0],&timeUTC);
|
||||
CoordinateTransformations::velocityEcfToEci(velocity,position,&y0[3],&timeUTC);
|
||||
lastExecutionTime = timeUTC;
|
||||
}
|
||||
|
||||
|
||||
void acsNavOrbit(timeval timeUTC, const double S[ORDER+1][DEGREE+1],const double C[ORDER+1][DEGREE+1], double outputPos[3],double outputVel[3]){
|
||||
|
||||
//RK4 Integration for this timestamp
|
||||
double deltaT = timevalOperations::toDouble(timeUTC-lastExecutionTime);
|
||||
|
||||
double y0dot[6] = {0,0,0,0,0,0};
|
||||
double yA[6] = {0,0,0,0,0,0};
|
||||
double yAdot[6] = {0,0,0,0,0,0};
|
||||
double yB[6] = {0,0,0,0,0,0};
|
||||
double yBdot[6] = {0,0,0,0,0,0};
|
||||
double yC[6] = {0,0,0,0,0,0};
|
||||
double yCdot[6] = {0,0,0,0,0,0};
|
||||
|
||||
//Step One
|
||||
rungeKuttaStep(y0,y0dot,lastExecutionTime,S,C);
|
||||
|
||||
//Step Two
|
||||
VectorOperations<double>::mulScalar(y0dot,deltaT/2,yA,6);
|
||||
VectorOperations<double>::add(y0,yA,yA,6);
|
||||
rungeKuttaStep(yA,yAdot,lastExecutionTime,S,C);
|
||||
|
||||
//Step Three
|
||||
VectorOperations<double>::mulScalar(yAdot,deltaT/2,yB,6);
|
||||
VectorOperations<double>::add(y0,yB,yB,6);
|
||||
rungeKuttaStep(yB,yBdot,lastExecutionTime,S,C);
|
||||
|
||||
//Step Four
|
||||
VectorOperations<double>::mulScalar(yBdot,deltaT,yC,6);
|
||||
VectorOperations<double>::add(y0,yC,yC,6);
|
||||
rungeKuttaStep(yC,yCdot,lastExecutionTime,S,C);
|
||||
|
||||
//Calc new State
|
||||
VectorOperations<double>::mulScalar(yAdot,2,yAdot,6);
|
||||
VectorOperations<double>::mulScalar(yBdot,2,yBdot,6);
|
||||
VectorOperations<double>::add(y0dot,yAdot,y0dot,6);
|
||||
VectorOperations<double>::add(y0dot,yBdot,y0dot,6);
|
||||
VectorOperations<double>::add(y0dot,yCdot,y0dot,6);
|
||||
VectorOperations<double>::mulScalar(y0dot,1./6.*deltaT,y0dot,6);
|
||||
VectorOperations<double>::add(y0,y0dot,y0,6);
|
||||
|
||||
CoordinateTransformations::positionEciToEcf(&y0[0],outputPos,&timeUTC);
|
||||
CoordinateTransformations::velocityEciToEcf(&y0[3],&y0[0],outputVel,&timeUTC);
|
||||
|
||||
lastExecutionTime = timeUTC;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void rungeKuttaStep(const double* yIn,double* yOut,timeval time, const double S[ORDER+1][DEGREE+1],const double C[ORDER+1][DEGREE+1]){
|
||||
double rECF[3] = {0,0,0};
|
||||
double rDotECF[3] = {0,0,0};
|
||||
double accelECF[3] = {0,0,0};
|
||||
double accelECI[3] = {0,0,0};
|
||||
|
||||
|
||||
CoordinateTransformations::positionEciToEcf(&yIn[0],rECF,&time);
|
||||
CoordinateTransformations::velocityEciToEcf(&yIn[3],&yIn[0],rDotECF,&time);
|
||||
accelDegOrd(rECF,S,C,accelECF);
|
||||
//This is not correct, as the acceleration would have derived terms but we don't know the velocity and position at that time
|
||||
//Tests showed that a wrong velocity does make the equation worse than neglecting it
|
||||
CoordinateTransformations::positionEcfToEci(accelECF,accelECI,&time);
|
||||
memcpy(&yOut[0],&yIn[3],sizeof(yOut[0])*3);
|
||||
memcpy(&yOut[3],accelECI,sizeof(yOut[0])*3);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* FRAMEWORK_COORDINATES_JGM3MODEL_H_ */
|
49
src/fsfw/coordinates/Sgp4Propagator.h
Normal file
49
src/fsfw/coordinates/Sgp4Propagator.h
Normal file
@ -0,0 +1,49 @@
|
||||
#ifndef SGP4PROPAGATOR_H_
|
||||
#define SGP4PROPAGATOR_H_
|
||||
|
||||
#include "coordinatesConf.h"
|
||||
#include "fsfw/platform.h"
|
||||
|
||||
#ifndef PLATFORM_WIN
|
||||
#include <sys/time.h>
|
||||
#endif
|
||||
#include "fsfw/contrib/sgp4/sgp4unit.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
class Sgp4Propagator {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SGP4PROPAGATOR_CLASS;
|
||||
static const ReturnValue_t INVALID_ECCENTRICITY = MAKE_RETURN_CODE(0xA1);
|
||||
static const ReturnValue_t INVALID_MEAN_MOTION = MAKE_RETURN_CODE(0xA2);
|
||||
static const ReturnValue_t INVALID_PERTURBATION_ELEMENTS = MAKE_RETURN_CODE(0xA3);
|
||||
static const ReturnValue_t INVALID_SEMI_LATUS_RECTUM = MAKE_RETURN_CODE(0xA4);
|
||||
static const ReturnValue_t INVALID_EPOCH_ELEMENTS = MAKE_RETURN_CODE(0xA5);
|
||||
static const ReturnValue_t SATELLITE_HAS_DECAYED = MAKE_RETURN_CODE(0xA6);
|
||||
static const ReturnValue_t TLE_TOO_OLD = MAKE_RETURN_CODE(0xB1);
|
||||
static const ReturnValue_t TLE_NOT_INITIALIZED = MAKE_RETURN_CODE(0xB2);
|
||||
|
||||
|
||||
|
||||
Sgp4Propagator();
|
||||
virtual ~Sgp4Propagator();
|
||||
|
||||
ReturnValue_t initialize(const uint8_t *line1, const uint8_t *line2);
|
||||
|
||||
/**
|
||||
*
|
||||
* @param[out] position in ECF
|
||||
* @param[out] velocity in ECF
|
||||
* @param time to which to propagate
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t propagate(double *position, double *velocity, timeval time, uint8_t gpsUtcOffset);
|
||||
|
||||
private:
|
||||
bool initialized;
|
||||
timeval epoch;
|
||||
elsetrec satrec;
|
||||
gravconsttype whichconst;
|
||||
|
||||
};
|
||||
|
||||
#endif /* SGP4PROPAGATOR_H_ */
|
11
src/fsfw/coordinates/coordinatesConf.h
Normal file
11
src/fsfw/coordinates/coordinatesConf.h
Normal file
@ -0,0 +1,11 @@
|
||||
#ifndef FSFW_SRC_FSFW_COORDINATES_COORDINATESCONF_H_
|
||||
#define FSFW_SRC_FSFW_COORDINATES_COORDINATESCONF_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
|
||||
#ifndef FSFW_ADD_COORDINATES
|
||||
#warning Coordinates files were included but compilation was \
|
||||
not enabled with FSFW_ADD_COORDINATES
|
||||
#endif
|
||||
|
||||
#endif /* FSFW_SRC_FSFW_COORDINATES_COORDINATESCONF_H_ */
|
63
src/fsfw/datalinklayer/BCFrame.h
Normal file
63
src/fsfw/datalinklayer/BCFrame.h
Normal file
@ -0,0 +1,63 @@
|
||||
/**
|
||||
* @file BCFrame.h
|
||||
* @brief This file defines the BCFrame class.
|
||||
* @date 24.04.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef BCFRAME_H_
|
||||
#define BCFRAME_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "CCSDSReturnValuesIF.h"
|
||||
|
||||
/**
|
||||
* Small helper class to identify a BcFrame.
|
||||
* @ingroup ccsds_handling
|
||||
*/
|
||||
class BcFrame: public CCSDSReturnValuesIF {
|
||||
private:
|
||||
static const uint8_t UNLOCK_COMMAND = 0b00000000;//! Identifier for a certain BC Command.
|
||||
static const uint8_t SET_V_R_1 = 0b10000010;//! Identifier for a certain BC Command.
|
||||
static const uint8_t SET_V_R_2 = 0b00000000;//! Identifier for a certain BC Command.
|
||||
|
||||
public:
|
||||
uint8_t byte1; //!< First content byte
|
||||
uint8_t byte2; //!< Second content byte
|
||||
uint8_t vR; //!< vR byte
|
||||
/**
|
||||
* Simple default constructor.
|
||||
*/
|
||||
BcFrame() :
|
||||
byte1(0), byte2(0), vR(0) {
|
||||
}
|
||||
/**
|
||||
* Main and only useful method of the class.
|
||||
* With the buffer and size information passed, the class passes the content
|
||||
* and checks if it is one of the two valid BC Command Frames.
|
||||
* @param inBuffer Content of the frame to check,
|
||||
* @param inSize Size of the data to check.
|
||||
* @return - #BC_ILLEGAL_COMMAND if it is no command.
|
||||
* - #BC_IS_UNLOCK_COMMAND if it is an unlock command.
|
||||
* - #BC_IS_SET_VR_COMMAND if it is such.
|
||||
*/
|
||||
ReturnValue_t initialize(const uint8_t* inBuffer, uint16_t inSize) {
|
||||
ReturnValue_t returnValue = BC_ILLEGAL_COMMAND;
|
||||
if (inSize == 1) {
|
||||
byte1 = inBuffer[0];
|
||||
if (byte1 == UNLOCK_COMMAND) {
|
||||
returnValue = BC_IS_UNLOCK_COMMAND;
|
||||
}
|
||||
} else if (inSize == 3) {
|
||||
byte1 = inBuffer[0];
|
||||
byte2 = inBuffer[1];
|
||||
vR = inBuffer[2];
|
||||
if (byte1 == SET_V_R_1 && byte2 == SET_V_R_2) {
|
||||
returnValue = BC_IS_SET_VR_COMMAND;
|
||||
}
|
||||
}
|
||||
return returnValue;
|
||||
}
|
||||
};
|
||||
|
||||
#endif /* BCFRAME_H_ */
|
57
src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
Normal file
57
src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
Normal file
@ -0,0 +1,57 @@
|
||||
/**
|
||||
* @file CCSDSReturnValuesIF.h
|
||||
* @brief This file defines the CCSDSReturnValuesIF class.
|
||||
* @date 24.04.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef CCSDSRETURNVALUESIF_H_
|
||||
#define CCSDSRETURNVALUESIF_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
/**
|
||||
* This is a helper class to collect special return values that come up during CCSDS Handling.
|
||||
* @ingroup ccsds_handling
|
||||
*/
|
||||
class CCSDSReturnValuesIF: public HasReturnvaluesIF {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER_IF; //!< Basic ID of the interface.
|
||||
|
||||
static const ReturnValue_t BC_IS_SET_VR_COMMAND = MAKE_RETURN_CODE( 0x01 ); //!< A value to describe a BC frame.
|
||||
static const ReturnValue_t BC_IS_UNLOCK_COMMAND = MAKE_RETURN_CODE( 0x02 ); //!< A value to describe a BC frame.
|
||||
static const ReturnValue_t BC_ILLEGAL_COMMAND = MAKE_RETURN_CODE( 0xB0 );//!< A value to describe an illegal BC frame.
|
||||
static const ReturnValue_t BOARD_READING_NOT_FINISHED = MAKE_RETURN_CODE( 0xB1 ); //! The CCSDS Board is not yet finished reading, it requires another cycle.
|
||||
|
||||
static const ReturnValue_t NS_POSITIVE_W = MAKE_RETURN_CODE( 0xF0 );//!< NS is in the positive window
|
||||
static const ReturnValue_t NS_NEGATIVE_W = MAKE_RETURN_CODE( 0xF1 );//!< NS is in the negative window
|
||||
static const ReturnValue_t NS_LOCKOUT = MAKE_RETURN_CODE( 0xF2 ); //!< NS is in lockout state
|
||||
static const ReturnValue_t FARM_IN_LOCKOUT = MAKE_RETURN_CODE( 0xF3 );//!< FARM-1 is currently in lockout state
|
||||
static const ReturnValue_t FARM_IN_WAIT = MAKE_RETURN_CODE( 0xF4 ); //!< FARM-1 is currently in wait state
|
||||
|
||||
static const ReturnValue_t WRONG_SYMBOL = MAKE_RETURN_CODE( 0xE0 ); //!< An error code in the FrameFinder.
|
||||
static const ReturnValue_t DOUBLE_START = MAKE_RETURN_CODE( 0xE1 ); //!< An error code in the FrameFinder.
|
||||
static const ReturnValue_t START_SYMBOL_MISSED = MAKE_RETURN_CODE( 0xE2 );//!< An error code in the FrameFinder.
|
||||
static const ReturnValue_t END_WITHOUT_START = MAKE_RETURN_CODE( 0xE3 );//!< An error code in the FrameFinder.
|
||||
static const ReturnValue_t TOO_LARGE = MAKE_RETURN_CODE( 0xE4 );//!< An error code for a frame.
|
||||
static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE( 0xE5 );//!< An error code for a frame.
|
||||
static const ReturnValue_t WRONG_TF_VERSION = MAKE_RETURN_CODE( 0xE6 ); //!< An error code for a frame.
|
||||
static const ReturnValue_t WRONG_SPACECRAFT_ID = MAKE_RETURN_CODE( 0xE7 );//!< An error code for a frame.
|
||||
static const ReturnValue_t NO_VALID_FRAME_TYPE = MAKE_RETURN_CODE( 0xE8 );//!< An error code for a frame.
|
||||
static const ReturnValue_t CRC_FAILED = MAKE_RETURN_CODE( 0xE9 );//!< An error code for a frame.
|
||||
static const ReturnValue_t VC_NOT_FOUND = MAKE_RETURN_CODE( 0xEA ); //!< An error code for a frame.
|
||||
static const ReturnValue_t FORWARDING_FAILED = MAKE_RETURN_CODE( 0xEB );//!< An error code for a frame.
|
||||
static const ReturnValue_t CONTENT_TOO_LARGE = MAKE_RETURN_CODE( 0xEC );//!< An error code for a frame.
|
||||
static const ReturnValue_t RESIDUAL_DATA = MAKE_RETURN_CODE( 0xED );//!< An error code for a frame.
|
||||
static const ReturnValue_t DATA_CORRUPTED = MAKE_RETURN_CODE( 0xEE );//!< An error code for a frame.
|
||||
static const ReturnValue_t ILLEGAL_SEGMENTATION_FLAG = MAKE_RETURN_CODE( 0xEF );//!< An error code for a frame.
|
||||
static const ReturnValue_t ILLEGAL_FLAG_COMBINATION = MAKE_RETURN_CODE( 0xD0 ); //!< An error code for a frame.
|
||||
static const ReturnValue_t SHORTER_THAN_HEADER = MAKE_RETURN_CODE( 0xD1 ); //!< An error code for a frame.
|
||||
static const ReturnValue_t TOO_SHORT_BLOCKED_PACKET = MAKE_RETURN_CODE( 0xD2 ); //!< An error code for a frame.
|
||||
static const ReturnValue_t TOO_SHORT_MAP_EXTRACTION = MAKE_RETURN_CODE( 0xD3 ); //!< An error code for a frame.
|
||||
|
||||
virtual ~CCSDSReturnValuesIF() {
|
||||
} //!< Empty virtual destructor
|
||||
};
|
||||
|
||||
#endif /* CCSDSRETURNVALUESIF_H_ */
|
61
src/fsfw/datalinklayer/Clcw.h
Normal file
61
src/fsfw/datalinklayer/Clcw.h
Normal file
@ -0,0 +1,61 @@
|
||||
#ifndef CLCW_H_
|
||||
#define CLCW_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "ClcwIF.h"
|
||||
|
||||
/**
|
||||
* Small helper method to handle the Clcw values.
|
||||
* It has a content struct that manages the register and can be set externally.
|
||||
* @ingroup ccsds_handling
|
||||
*/
|
||||
class Clcw : public ClcwIF {
|
||||
private:
|
||||
static const uint8_t STATUS_FIELD_DEFAULT = 0b00000001; //!< Default for the status field.
|
||||
static const uint8_t NO_RF_AVIALABLE_POSITION = 7; //!< Position of a flag in the register (starting with 0).
|
||||
static const uint8_t NO_BIT_LOCK_POSITION = 6; //!< Position of a flag in the register (starting with 0).
|
||||
static const uint8_t LOCKOUT_FLAG_POSITION = 5; //!< Position of a flag in the register (starting with 0).
|
||||
static const uint8_t WAIT_FLAG_POSITION = 4; //!< Position of a flag in the register (starting with 0).
|
||||
static const uint8_t RETRANSMIT_FLAG_POSITION = 3; //!< Position of a flag in the register (starting with 0).
|
||||
static const uint8_t NO_RF_AVIALABLE_MASK = 0xFF xor (1 << NO_RF_AVIALABLE_POSITION); //!< Mask for a flag in the register.
|
||||
static const uint8_t NO_BIT_LOCK_MASK = 0xFF xor (1 << NO_BIT_LOCK_POSITION); //!< Mask for a flag in the register.
|
||||
static const uint8_t LOCKOUT_FLAG_MASK = 0xFF xor (1 << LOCKOUT_FLAG_POSITION); //!< Mask for a flag in the register.
|
||||
static const uint8_t WAIT_FLAG_MASK = 0xFF xor (1 << WAIT_FLAG_POSITION); //!< Mask for a flag in the register.
|
||||
static const uint8_t RETRANSMIT_FLAG_MASK = 0xFF xor (1 << RETRANSMIT_FLAG_POSITION); //!< Mask for a flag in the register.
|
||||
static const uint8_t FARM_B_COUNT_MASK = 0b11111001; //!< Mask for a counter in the register.
|
||||
/**
|
||||
* This is the data structure of the CLCW register.
|
||||
*/
|
||||
union clcwContent {
|
||||
uint32_t raw;
|
||||
struct {
|
||||
uint8_t status;
|
||||
uint8_t virtualChannelIdSpare;
|
||||
uint8_t flags;
|
||||
uint8_t vRValue;
|
||||
};
|
||||
};
|
||||
clcwContent content; //!< Represents the content of the register.
|
||||
public:
|
||||
/**
|
||||
* The constructor sets everything to default values.
|
||||
*/
|
||||
Clcw();
|
||||
/**
|
||||
* Nothing happens in the destructor.
|
||||
*/
|
||||
~Clcw();
|
||||
void setVirtualChannel( uint8_t setChannel );
|
||||
void setLockoutFlag( bool lockout );
|
||||
void setWaitFlag( bool waitFlag );
|
||||
void setRetransmitFlag( bool retransmitFlag );
|
||||
void setFarmBCount( uint8_t count );
|
||||
void setReceiverFrameSequenceNumber( uint8_t vR );
|
||||
void setRFAvailable( bool rfAvailable );
|
||||
void setBitLock( bool bitLock );
|
||||
uint32_t getAsWhole();
|
||||
void setWhole( uint32_t rawClcw );
|
||||
void print();
|
||||
};
|
||||
|
||||
#endif /* CLCW_H_ */
|
70
src/fsfw/datalinklayer/ClcwIF.h
Normal file
70
src/fsfw/datalinklayer/ClcwIF.h
Normal file
@ -0,0 +1,70 @@
|
||||
/**
|
||||
* @file ClcwIF.h
|
||||
* @brief This file defines the ClcwIF class.
|
||||
* @date 17.04.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef CLCWIF_H_
|
||||
#define CLCWIF_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/**
|
||||
* Interface to manage a CLCW register.
|
||||
* @ingroup ccsds_handling
|
||||
*/
|
||||
class ClcwIF {
|
||||
public:
|
||||
/**
|
||||
* Empty virtual destructor.
|
||||
*/
|
||||
virtual ~ClcwIF() { }
|
||||
/**
|
||||
* Simple setter.
|
||||
* @param setChannel The virtual channel id to set.
|
||||
*/
|
||||
virtual void setVirtualChannel( uint8_t setChannel ) = 0;
|
||||
/**
|
||||
* Simple setter.
|
||||
* @param lockout status of the flag.
|
||||
*/
|
||||
virtual void setLockoutFlag( bool lockout ) = 0;
|
||||
/**
|
||||
* Simple setter.
|
||||
* @param waitFlag status of the flag.
|
||||
*/
|
||||
virtual void setWaitFlag( bool waitFlag ) = 0;
|
||||
/**
|
||||
* Simple setter.
|
||||
* @param retransmitFlag status of the flag.
|
||||
*/
|
||||
virtual void setRetransmitFlag( bool retransmitFlag ) = 0;
|
||||
/**
|
||||
* Sets the farm B count.
|
||||
* @param count A full 8bit counter value can be passed. Only the last three bits are used.
|
||||
*/
|
||||
virtual void setFarmBCount( uint8_t count ) = 0;
|
||||
/**
|
||||
* Simple setter.
|
||||
* @param vR Value of vR.
|
||||
*/
|
||||
virtual void setReceiverFrameSequenceNumber( uint8_t vR ) = 0;
|
||||
/**
|
||||
* Returns the register as a full 32bit value.
|
||||
* @return The value.
|
||||
*/
|
||||
virtual uint32_t getAsWhole() = 0;
|
||||
/**
|
||||
* Sets the whole content to this value.
|
||||
* @param rawClcw The value to set the content.
|
||||
*/
|
||||
virtual void setWhole( uint32_t rawClcw ) = 0;
|
||||
/**
|
||||
* Debug method to print the CLCW.
|
||||
*/
|
||||
virtual void print() = 0;
|
||||
};
|
||||
|
||||
|
||||
#endif /* CLCWIF_H_ */
|
120
src/fsfw/datalinklayer/DataLinkLayer.h
Normal file
120
src/fsfw/datalinklayer/DataLinkLayer.h
Normal file
@ -0,0 +1,120 @@
|
||||
#ifndef DATALINKLAYER_H_
|
||||
#define DATALINKLAYER_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "CCSDSReturnValuesIF.h"
|
||||
#include "ClcwIF.h"
|
||||
#include "TcTransferFrame.h"
|
||||
#include "VirtualChannelReceptionIF.h"
|
||||
#include "fsfw/events/Event.h"
|
||||
|
||||
#include <map>
|
||||
|
||||
|
||||
class VirtualChannelReception;
|
||||
/**
|
||||
* A complete representation of the CCSDS Data Link Layer.
|
||||
* The operations of this layer are defined in the CCSDS TC Space Data Link Protocol
|
||||
* document. It is configured to handle a VC Demultiplexing function. All reception
|
||||
* steps are performed.
|
||||
*/
|
||||
class DataLinkLayer : public CCSDSReturnValuesIF {
|
||||
public:
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
|
||||
//! [EXPORT] : [COMMENT] A RF available signal was detected. P1: raw RFA state, P2: 0
|
||||
static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] A previously found RF available signal was lost.
|
||||
//! P1: raw RFA state, P2: 0
|
||||
static const Event RF_LOST = MAKE_EVENT(1, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
|
||||
static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
|
||||
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO);
|
||||
// static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
|
||||
//! [EXPORT] : [COMMENT] The CCSDS Board could not interpret a TC
|
||||
static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW);
|
||||
/**
|
||||
* The Constructor sets the passed parameters and nothing else.
|
||||
* @param set_frame_buffer The buffer in which incoming frame candidates are stored.
|
||||
* @param setClcw The CLCW class to work on when returning CLCW information.
|
||||
* @param set_start_sequence_length Length of the Start sequence in front of every TC Transfer Frame.
|
||||
* @param set_scid The SCID to operate on.
|
||||
*/
|
||||
DataLinkLayer( uint8_t* set_frame_buffer, ClcwIF* setClcw, uint8_t set_start_sequence_length, uint16_t set_scid );
|
||||
/**
|
||||
* Empty virtual destructor.
|
||||
*/
|
||||
~DataLinkLayer();
|
||||
/**
|
||||
* This method tries to process a frame that is placed in #frameBuffer.
|
||||
* The procedures described in the Standard are performed.
|
||||
* @param length Length of the incoming frame candidate.
|
||||
* @return @c RETURN_OK on successful handling, otherwise the return codes of the higher methods.
|
||||
*/
|
||||
ReturnValue_t processFrame( uint16_t length );
|
||||
/**
|
||||
* Configuration method to add a new TC Virtual Channel.
|
||||
* Shall only be called during initialization. As soon as the method was called, the layer can
|
||||
* handle Frames directed to this VC.
|
||||
* @param virtualChannelId Id of the VC. Shall be smaller than 64.
|
||||
* @param object Reference to the object that handles the Frame.
|
||||
* @return @c RETURN_OK on success, @c RETURN_FAILED otherwise.
|
||||
*/
|
||||
ReturnValue_t addVirtualChannel( uint8_t virtualChannelId, VirtualChannelReceptionIF* object );
|
||||
/**
|
||||
* The initialization method calls the @c initialize routine of all virtual channels.
|
||||
* @return The return code of the first failed VC initialization or @c RETURN_OK.
|
||||
*/
|
||||
ReturnValue_t initialize();
|
||||
private:
|
||||
typedef std::map<uint8_t, VirtualChannelReceptionIF*>::iterator virtualChannelIterator; //!< Typedef to simplify handling the #virtualChannels map.
|
||||
static const uint8_t FRAME_VERSION_NUMBER_DEFAULT = 0x00; //!< Constant for the default value of Frame Version Numbers.
|
||||
static const uint8_t FRAME_PRIMARY_HEADER_LENGTH = 5; //!< Length of the frame's primary header.
|
||||
static const uint8_t START_SEQUENCE_PATTERN = 0x00; //!< The start sequence pattern which might be with the frame.
|
||||
static const bool USE_CRC = true; //!< A global, so called "Managed Parameter" that identifies if incoming frames have CRC's or not.
|
||||
uint16_t spacecraftId; //!< The Space Craft Identifier (SCID) configured.
|
||||
uint8_t* frameBuffer; //!< A pointer to point to the current incoming frame.
|
||||
ClcwIF* clcw; //!< Pointer to store the CLCW to work on.
|
||||
uint16_t receivedDataLength; //!< Stores the length of the currently processed frame.
|
||||
TcTransferFrame currentFrame; //!< Stores a more convenient access to the current frame.
|
||||
uint8_t startSequenceLength; //!< Configured length of the start sequence. Maybe this must be done more variable.
|
||||
std::map<uint8_t, VirtualChannelReceptionIF*> virtualChannels; //!< Map of all virtual channels assigned.
|
||||
/**
|
||||
* Method that performs all possible frame validity checks (as specified).
|
||||
* @return Various error codes or @c RETURN_OK on success.
|
||||
*/
|
||||
ReturnValue_t frameValidationCheck();
|
||||
/**
|
||||
* First method to call.
|
||||
* Removes start sequence bytes and checks if the complete frame was received.
|
||||
* SHOULDDO: Maybe handling the start sequence must be done more variable.
|
||||
* @return @c RETURN_OK or @c TOO_SHORT.
|
||||
*/
|
||||
ReturnValue_t frameDelimitingAndFillRemoval();
|
||||
/**
|
||||
* Small helper method to check the CRC of the Frame.
|
||||
* @return @c RETURN_OK or @c CRC_FAILED.
|
||||
*/
|
||||
ReturnValue_t frameCheckCRC();
|
||||
/**
|
||||
* Method that groups the reception process of all Frames.
|
||||
* Calls #frameDelimitingAndFillRemoval and #frameValidationCheck.
|
||||
* @return The return codes of the sub calls.
|
||||
*/
|
||||
ReturnValue_t allFramesReception();
|
||||
/**
|
||||
* Dummy method for master channel demultiplexing.
|
||||
* As there's only one Master Channel here, the method calls #virtualChannelDemultiplexing.
|
||||
* @return The return codes of #virtualChannelDemultiplexing.
|
||||
*/
|
||||
ReturnValue_t masterChannelDemultiplexing();
|
||||
/**
|
||||
* Method to demultiplex the Frames to Virtual Channels (VC's).
|
||||
* Looks up the requested VC in #virtualChannels and forwards the Frame to its
|
||||
* #frameAcceptanceAndReportingMechanism method, if found.
|
||||
* @return The higher method codes or @c VC_NOT_FOUND.
|
||||
*/
|
||||
ReturnValue_t virtualChannelDemultiplexing();
|
||||
};
|
||||
|
||||
#endif /* DATALINKLAYER_H_ */
|
56
src/fsfw/datalinklayer/Farm1StateIF.h
Normal file
56
src/fsfw/datalinklayer/Farm1StateIF.h
Normal file
@ -0,0 +1,56 @@
|
||||
/**
|
||||
* @file Farm1StateIF.h
|
||||
* @brief This file defines the Farm1StateIF class.
|
||||
* @date 24.04.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef FARM1STATEIF_H_
|
||||
#define FARM1STATEIF_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "CCSDSReturnValuesIF.h"
|
||||
|
||||
class VirtualChannelReception;
|
||||
class TcTransferFrame;
|
||||
class ClcwIF;
|
||||
|
||||
/**
|
||||
* This is the interface for states of the FARM-1 state machine.
|
||||
* Classes implementing this interface can be used as FARM-1 states. This is a simple implementation
|
||||
* of the state pattern.
|
||||
*/
|
||||
class Farm1StateIF : public CCSDSReturnValuesIF {
|
||||
public:
|
||||
/**
|
||||
* A method that shall handle an incoming frame as AD Frame.
|
||||
* @param frame The frame to handle.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @return If forwarding to a MAP Channel is required, the return value shall be #FRAME_OK.
|
||||
* Otherwise, an appropriate return value or error code shall be generated.
|
||||
*/
|
||||
virtual ReturnValue_t handleADFrame( TcTransferFrame* frame, ClcwIF* clcw ) = 0;
|
||||
/**
|
||||
* This method shall handle frames that have been successfully identified as BC Unlock frames.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @return If forwarding to a MAP Channel is required, the return value shall be #FRAME_OK.
|
||||
* Otherwise, an appropriate return value or error code shall be generated.
|
||||
*/
|
||||
virtual ReturnValue_t handleBCUnlockCommand( ClcwIF* clcw ) = 0;
|
||||
/**
|
||||
* This method shall handle frames that have been successfully identified as BC Set VR frames.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @param vr The V(r) value found in the frame.
|
||||
* @return If forwarding to a MAP Channel is required, the return value shall be #FRAME_OK.
|
||||
* Otherwise, an appropriate return value or error code shall be generated.
|
||||
*/
|
||||
virtual ReturnValue_t handleBCSetVrCommand( ClcwIF* clcw, uint8_t vr ) = 0;
|
||||
/**
|
||||
* Empty virtual destructor.
|
||||
*/
|
||||
virtual ~Farm1StateIF() {
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
#endif /* FARM1STATEIF_H_ */
|
53
src/fsfw/datalinklayer/Farm1StateLockout.h
Normal file
53
src/fsfw/datalinklayer/Farm1StateLockout.h
Normal file
@ -0,0 +1,53 @@
|
||||
#ifndef FARM1STATELOCKOUT_H_
|
||||
#define FARM1STATELOCKOUT_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "Farm1StateIF.h"
|
||||
|
||||
/**
|
||||
* This class represents the FARM-1 "Lockout" State.
|
||||
* The Lockout state is reached if the received Transfer Frame Sequence Number is completely wrong
|
||||
* (i.e. within the Lockout Window). No AD Frames are forwarded. To leave the State, a BC Unlock
|
||||
* command is required.
|
||||
*/
|
||||
class Farm1StateLockout : public Farm1StateIF {
|
||||
private:
|
||||
/**
|
||||
* This is a reference to the "owner" class the State works on.
|
||||
*/
|
||||
VirtualChannelReception* myVC;
|
||||
public:
|
||||
/**
|
||||
* The default constructor if the State.
|
||||
* Sets the "owner" of the State.
|
||||
* @param setMyVC The "owner" class.
|
||||
*/
|
||||
Farm1StateLockout( VirtualChannelReception* setMyVC );
|
||||
/**
|
||||
* All AD Frames are rejected with FARM_IN_LOCKOUT
|
||||
* @param frame The frame to handle.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @return FARM_IN_LOCKOUT
|
||||
*/
|
||||
ReturnValue_t handleADFrame( TcTransferFrame* frame, ClcwIF* clcw );
|
||||
/**
|
||||
* These commands are handled as specified.
|
||||
* State changes to Farm1StateOpen.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @return As the frame needs no forwarding to a MAP Channel, #BC_IS_UNLOCK_COMMAND
|
||||
* is returned.
|
||||
*/
|
||||
ReturnValue_t handleBCUnlockCommand( ClcwIF* clcw );
|
||||
/**
|
||||
* These commands are handled as specified.
|
||||
* The V(r) value is not set in Lockout State, even though the Command itself is accepted.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @param vr The V(r) value found in the frame.
|
||||
* @return As the frame needs no forwarding to a MAP Channel, #BC_IS_SET_VR_COMMAND
|
||||
* is returned.
|
||||
*/
|
||||
ReturnValue_t handleBCSetVrCommand( ClcwIF* clcw, uint8_t vr );
|
||||
};
|
||||
|
||||
|
||||
#endif /* FARM1STATELOCKOUT_H_ */
|
63
src/fsfw/datalinklayer/Farm1StateOpen.h
Normal file
63
src/fsfw/datalinklayer/Farm1StateOpen.h
Normal file
@ -0,0 +1,63 @@
|
||||
/**
|
||||
* @file Farm1StateOpen.h
|
||||
* @brief This file defines the Farm1StateOpen class.
|
||||
* @date 24.04.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef FARM1STATEOPEN_H_
|
||||
#define FARM1STATEOPEN_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "Farm1StateIF.h"
|
||||
|
||||
/**
|
||||
* This class represents the FARM-1 "Open" State.
|
||||
* The Open state is the state of normal operation. It handles all types of frames,
|
||||
* including AD Frames. If a wrong Frame Sequence Number is detected in an AD Frame, the
|
||||
* State reacts as specified.
|
||||
*/
|
||||
class Farm1StateOpen : public Farm1StateIF {
|
||||
private:
|
||||
/**
|
||||
* This is a reference to the "owner" class the State works on.
|
||||
*/
|
||||
VirtualChannelReception* myVC;
|
||||
public:
|
||||
/**
|
||||
* The default constructor if the State.
|
||||
* Sets the "owner" of the State.
|
||||
* @param setMyVC The "owner" class.
|
||||
*/
|
||||
Farm1StateOpen( VirtualChannelReception* setMyVC );
|
||||
/**
|
||||
* Method to check the validity of AD Frames.
|
||||
* It checks the Frame Sequence Number and reacts as specified in the standard. The state may
|
||||
* change to Farm1StateLockout.
|
||||
* @param frame The frame to handle.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @return If the Sequence Number is ok, it returns #RETURN_OK. Otherwise either #NS_POSITIVE_W,
|
||||
* #NS_NEGATIVE_W or NS_LOCKOUT is returned.
|
||||
*/
|
||||
ReturnValue_t handleADFrame( TcTransferFrame* frame, ClcwIF* clcw );
|
||||
/**
|
||||
* These commands are handled as specified.
|
||||
* State does not change.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @return As the frame needs no forwarding to a MAP Channel, #BC_IS_UNLOCK_COMMAND
|
||||
* is returned.
|
||||
*/
|
||||
ReturnValue_t handleBCUnlockCommand( ClcwIF* clcw );
|
||||
/**
|
||||
* These commands are handled as specified.
|
||||
* State does not change.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @param vr The V(r) value found in the frame.
|
||||
* @return As the frame needs no forwarding to a MAP Channel, #BC_IS_SET_VR_COMMAND
|
||||
* is returned.
|
||||
*/
|
||||
ReturnValue_t handleBCSetVrCommand( ClcwIF* clcw, uint8_t vr );
|
||||
};
|
||||
|
||||
|
||||
#endif /* FARM1STATEOPEN_H_ */
|
59
src/fsfw/datalinklayer/Farm1StateWait.h
Normal file
59
src/fsfw/datalinklayer/Farm1StateWait.h
Normal file
@ -0,0 +1,59 @@
|
||||
/**
|
||||
* @file Farm1StateWait.h
|
||||
* @brief This file defines the Farm1StateWait class.
|
||||
* @date 24.04.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef FARM1STATEWAIT_H_
|
||||
#define FARM1STATEWAIT_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "Farm1StateIF.h"
|
||||
|
||||
/**
|
||||
* This class represents the FARM-1 "Wait" State.
|
||||
* The Wait state is reached if higher level procedures inform the FARM-1 Machine to wait
|
||||
* for a certain period. Currently, it is not in use.
|
||||
*/
|
||||
class Farm1StateWait : public Farm1StateIF {
|
||||
private:
|
||||
/**
|
||||
* This is a reference to the "owner" class the State works on.
|
||||
*/
|
||||
VirtualChannelReception* myVC;
|
||||
public:
|
||||
/**
|
||||
* The default constructor if the State.
|
||||
* Sets the "owner" of the State.
|
||||
* @param setMyVC The "owner" class.
|
||||
*/
|
||||
Farm1StateWait( VirtualChannelReception* setMyVC );
|
||||
/**
|
||||
* AD Frames are always discarded.
|
||||
* If the frame number is in the lockout window, the state changes to Farm1StateLockout.
|
||||
* @param frame The frame to handle.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @return Always returns FARM_IN_WAIT.
|
||||
*/
|
||||
ReturnValue_t handleADFrame( TcTransferFrame* frame, ClcwIF* clcw );
|
||||
/**
|
||||
* These commands are handled as specified.
|
||||
* State changes to Farm1StateOpen.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @return As the frame needs no forwarding to a MAP Channel, #BC_IS_UNLOCK_COMMAND
|
||||
* is returned.
|
||||
*/
|
||||
ReturnValue_t handleBCUnlockCommand( ClcwIF* clcw );
|
||||
/**
|
||||
* These commands are handled as specified.
|
||||
* @param clcw Any changes to the CLCW shall be done with the help of this interface.
|
||||
* @param vr The V(r) value found in the frame.
|
||||
* @return As the frame needs no forwarding to a MAP Channel, #BC_IS_SET_VR_COMMAND
|
||||
* is returned.
|
||||
*/
|
||||
ReturnValue_t handleBCSetVrCommand( ClcwIF* clcw, uint8_t vr );
|
||||
};
|
||||
|
||||
|
||||
#endif /* FARM1STATEWAIT_H_ */
|
74
src/fsfw/datalinklayer/MapPacketExtraction.h
Normal file
74
src/fsfw/datalinklayer/MapPacketExtraction.h
Normal file
@ -0,0 +1,74 @@
|
||||
#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
|
||||
#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "MapPacketExtractionIF.h"
|
||||
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
#include "fsfw/ipc/MessageQueueSenderIF.h"
|
||||
|
||||
class StorageManagerIF;
|
||||
|
||||
/**
|
||||
* Implementation of a MAP Packet Extraction class.
|
||||
* The class implements the full MAP Packet Extraction functionality as described in the CCSDS
|
||||
* TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
|
||||
* fully received. All found packets are forwarded to a single distribution entity.
|
||||
* @author B. Baetz
|
||||
*/
|
||||
class MapPacketExtraction: public MapPacketExtractionIF {
|
||||
private:
|
||||
static const uint32_t MAX_PACKET_SIZE = 4096;
|
||||
uint8_t lastSegmentationFlag; //!< The segmentation flag of the last received frame.
|
||||
uint8_t mapId; //!< MAP ID of this MAP Channel.
|
||||
uint32_t packetLength = 0; //!< Complete length of the current Space Packet.
|
||||
uint8_t* bufferPosition; //!< Position to write to in the internal Packet buffer.
|
||||
uint8_t packetBuffer[MAX_PACKET_SIZE]; //!< The internal Space Packet Buffer.
|
||||
object_id_t packetDestination;
|
||||
//!< Pointer to the store where full TC packets are stored.
|
||||
StorageManagerIF* packetStore = nullptr;
|
||||
MessageQueueId_t tcQueueId; //!< QueueId to send found packets to the distributor.
|
||||
/**
|
||||
* Debug method to print the packet Buffer's content.
|
||||
*/
|
||||
void printPacketBuffer();
|
||||
/**
|
||||
* Method that is called if the segmentation flag is @c NO_SEGMENTATION.
|
||||
* The method extracts one or more packets within the frame and forwards them to the OBSW.
|
||||
* @param frame The TC Transfer Frame to work on.
|
||||
* @return @c RETURN_OK if all Packets were extracted. If something is entirely wrong,
|
||||
* @c DATA_CORRUPTED is returned, if some bytes are left over @c RESIDUAL_DATA.
|
||||
*/
|
||||
ReturnValue_t unpackBlockingPackets(TcTransferFrame* frame);
|
||||
/**
|
||||
* Helper method to forward a complete packet to the OBSW.
|
||||
* @param data Pointer to the data, either directly from the frame or from the packetBuffer.
|
||||
* @param size Complete total size of the packet.
|
||||
* @return Return Code of the Packet Store or the Message Queue.
|
||||
*/
|
||||
ReturnValue_t sendCompletePacket( uint8_t* data, uint32_t size );
|
||||
/**
|
||||
* Helper method to reset the internal buffer.
|
||||
*/
|
||||
void clearBuffers();
|
||||
public:
|
||||
/**
|
||||
* Default constructor.
|
||||
* Members are set to default values.
|
||||
* @param setMapId The MAP ID of the instance.
|
||||
*/
|
||||
MapPacketExtraction( uint8_t setMapId, object_id_t setPacketDestination );
|
||||
ReturnValue_t extractPackets(TcTransferFrame* frame);
|
||||
/**
|
||||
* The #packetStore and the default destination of #tcQueue are initialized here.
|
||||
* @return @c RETURN_OK on success, @c RETURN_FAILED otherwise.
|
||||
*/
|
||||
ReturnValue_t initialize();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The MAP ID of this instance.
|
||||
*/
|
||||
uint8_t getMapId() const;
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */
|
48
src/fsfw/datalinklayer/MapPacketExtractionIF.h
Normal file
48
src/fsfw/datalinklayer/MapPacketExtractionIF.h
Normal file
@ -0,0 +1,48 @@
|
||||
/**
|
||||
* @file MapPacketExtractionIF.h
|
||||
* @brief This file defines the MapPacketExtractionIF class.
|
||||
* @date 25.03.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef MAPPACKETEXTRACTIONIF_H_
|
||||
#define MAPPACKETEXTRACTIONIF_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "CCSDSReturnValuesIF.h"
|
||||
#include "TcTransferFrame.h"
|
||||
|
||||
/**
|
||||
* This is the interface for MAP Packet Extraction classes.
|
||||
* All classes implementing this interface shall be able to extract blocked or segmented Space
|
||||
* Packets on a certain MAP channel. This is done in accordance with the CCSDS TC Space Data Link
|
||||
* Protocol.
|
||||
*/
|
||||
class MapPacketExtractionIF : public CCSDSReturnValuesIF {
|
||||
protected:
|
||||
static const uint8_t FIRST_PORTION = 0b01; //!< Identification of the first part of a segmented Packet.
|
||||
static const uint8_t CONTINUING_PORTION = 0b00; //!< Identification of a continuing part of segmented Packets.
|
||||
static const uint8_t LAST_PORTION = 0b10; //!< The last portion of a segmented Packet.
|
||||
static const uint8_t NO_SEGMENTATION = 0b11; //!< A Frame without segmentation but maybe with blocking.
|
||||
public:
|
||||
/**
|
||||
* Empty virtual destructor.
|
||||
*/
|
||||
virtual ~MapPacketExtractionIF() {
|
||||
}
|
||||
/**
|
||||
* Method to call to handle a single Transfer Frame.
|
||||
* The method tries to extract Packets from the frame as stated in the Standard.
|
||||
* @param frame
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t extractPackets( TcTransferFrame* frame ) = 0;
|
||||
/**
|
||||
* Any post-instantiation initialization shall be done in this method.
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t initialize() = 0;
|
||||
};
|
||||
|
||||
|
||||
#endif /* MAPPACKETEXTRACTIONIF_H_ */
|
139
src/fsfw/datalinklayer/TcTransferFrame.h
Normal file
139
src/fsfw/datalinklayer/TcTransferFrame.h
Normal file
@ -0,0 +1,139 @@
|
||||
#ifndef TCTRANSFERFRAME_H_
|
||||
#define TCTRANSFERFRAME_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* The TcTransferFrame class simplifies handling of such Frames.
|
||||
* It operates on any buffer passed on construction. The data length
|
||||
* is determined by the length field in the frame itself.
|
||||
* It has a lot of getters for convenient access to the content.
|
||||
* @ingroup ccsds_handling
|
||||
*/
|
||||
class TcTransferFrame {
|
||||
protected:
|
||||
/**
|
||||
* The struct that defines the Frame's Primary Header.
|
||||
*/
|
||||
struct TcTransferFramePrimaryHeader {
|
||||
uint8_t flagsAndScid; //!< Highest byte with Flags and part of SCID.
|
||||
uint8_t spacecraftId_l; //!< Byte with rest of SCID
|
||||
uint8_t vcidAndLength_h; //!< Byte with VCID and part of length.
|
||||
uint8_t length_l; //!< Byte with rest of length.
|
||||
uint8_t sequenceNumber; //!< Lowest byte with Frame Sequence Number N(S).
|
||||
};
|
||||
/**
|
||||
* The struct defining the whole Transfer Frame.
|
||||
*/
|
||||
struct tc_transfer_frame {
|
||||
TcTransferFramePrimaryHeader header; //!< The header struct.
|
||||
uint8_t dataField; //!< The data field of the Transfer Frame.
|
||||
};
|
||||
tc_transfer_frame* frame; //!< Pointer to a buffer where a Frame is placed.
|
||||
public:
|
||||
static const uint8_t FRAME_CRC_SIZE = 2; //!< Constant for the CRC size.
|
||||
/**
|
||||
* Empty Constructor that sets the data pointer to NULL.
|
||||
*/
|
||||
TcTransferFrame();
|
||||
/**
|
||||
* The data pointer passed in this Constructor is casted to the #tc_transfer_frame struct.
|
||||
* @param setData The data on which the class shall operate.
|
||||
*/
|
||||
TcTransferFrame(uint8_t* setData);
|
||||
/**
|
||||
* Getter.
|
||||
* @return The Version number.
|
||||
*/
|
||||
uint8_t getVersionNumber();
|
||||
/**
|
||||
* Getter.
|
||||
* @return If the bypass flag is set or not.
|
||||
*/
|
||||
bool bypassFlagSet();
|
||||
/**
|
||||
* Getter.
|
||||
* @return If the control command flag is set or not.
|
||||
*/
|
||||
bool controlCommandFlagSet();
|
||||
/**
|
||||
* Getter.
|
||||
* @return If the spare bits in the Header are zero or not.
|
||||
*/
|
||||
bool spareIsZero();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The Spacecraft Identifier.
|
||||
*/
|
||||
uint16_t getSpacecraftId();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The Virtual Channel Identifier.
|
||||
*/
|
||||
uint8_t getVirtualChannelId();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The Frame length as stored in the Header.
|
||||
*/
|
||||
uint16_t getFrameLength();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The length of pure data (without CRC), assuming that a Segment Header is present.
|
||||
*/
|
||||
uint16_t getDataLength();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The length of pure data (without CRC), assuming that no Segment Header is present (for BC Frames).
|
||||
*/
|
||||
uint16_t getFullDataLength();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The sequence number from the header.
|
||||
*/
|
||||
uint8_t getSequenceNumber();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The Sequence Flags in the Segment Header byte (right aligned).
|
||||
*/
|
||||
uint8_t getSequenceFlags();
|
||||
/**
|
||||
* Getter.
|
||||
* @return The Multiplexer Access Point Identifier from the Segment Header byte.
|
||||
*/
|
||||
uint8_t getMAPId();
|
||||
/**
|
||||
* Getter.
|
||||
* @return A pointer to the date field AFTER a Segment Header.
|
||||
*/
|
||||
uint8_t* getDataField();
|
||||
/**
|
||||
* Getter.
|
||||
* @return A pointer to the first byte in the Data Field (ignoring potential Segment Headers, for BC Frames).
|
||||
*/
|
||||
uint8_t* getFullDataField();
|
||||
/**
|
||||
* Getter.
|
||||
* @return A pointer to the beginning of the Frame.
|
||||
*/
|
||||
uint8_t* getFullFrame();
|
||||
/**
|
||||
* Getter
|
||||
* @return The total size of the Frame, which is the size stated in the Header + 1.
|
||||
*/
|
||||
uint16_t getFullSize();
|
||||
/**
|
||||
* Getter.
|
||||
* @return Size of the #TcTransferFramePrimaryHeader.
|
||||
*/
|
||||
uint16_t getHeaderSize();
|
||||
/**
|
||||
* Debug method to print the whole Frame to screen.
|
||||
*/
|
||||
void print();
|
||||
|
||||
};
|
||||
|
||||
#endif /* TCTRANSFERFRAME_H_ */
|
50
src/fsfw/datalinklayer/TcTransferFrameLocal.h
Normal file
50
src/fsfw/datalinklayer/TcTransferFrameLocal.h
Normal file
@ -0,0 +1,50 @@
|
||||
/**
|
||||
* @file TcTransferFrameLocal.h
|
||||
* @brief This file defines the TcTransferFrameLocal class.
|
||||
* @date 27.04.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef TCTRANSFERFRAMELOCAL_H_
|
||||
#define TCTRANSFERFRAMELOCAL_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "TcTransferFrame.h"
|
||||
|
||||
/**
|
||||
* This is a helper class to locally create TC Transfer Frames.
|
||||
* This is mainly required for testing purposes and therefore not very sophisticated.
|
||||
* @ingroup ccsds_handling
|
||||
*/
|
||||
class TcTransferFrameLocal : public TcTransferFrame {
|
||||
private:
|
||||
/**
|
||||
* A stuct to locally store the complete data.
|
||||
*/
|
||||
struct frameData {
|
||||
TcTransferFramePrimaryHeader header; //!< The primary header.
|
||||
uint8_t data[1019]; //!< The data field.
|
||||
};
|
||||
public:
|
||||
frameData localData; //!< The local data in the Frame.
|
||||
/**
|
||||
* The default Constructor.
|
||||
* All parameters in the Header are passed.
|
||||
* If a BC Frame is detected no segment header is created.
|
||||
* Otherwise (AD and BD), the Segment Header is set.
|
||||
* @param bypass The bypass flag.
|
||||
* @param controlCommand The Control Command flag.
|
||||
* @param scid The SCID.
|
||||
* @param vcId The VCID.
|
||||
* @param sequenceNumber The Frame Sequence Number N(s)
|
||||
* @param setSegmentHeader A value for the Segment Header.
|
||||
* @param data Data to put into the Frame Data Field.
|
||||
* @param dataSize Size of the Data.
|
||||
* @param forceCrc if != 0, the value is used as CRC.
|
||||
*/
|
||||
TcTransferFrameLocal(bool bypass, bool controlCommand, uint16_t scid, uint8_t vcId, uint8_t sequenceNumber,
|
||||
uint8_t setSegmentHeader = 0xC0, uint8_t* data = NULL, uint16_t dataSize = 0, uint16_t forceCrc = 0);
|
||||
};
|
||||
|
||||
|
||||
#endif /* TCTRANSFERFRAMELOCAL_H_ */
|
116
src/fsfw/datalinklayer/VirtualChannelReception.h
Normal file
116
src/fsfw/datalinklayer/VirtualChannelReception.h
Normal file
@ -0,0 +1,116 @@
|
||||
/**
|
||||
* @file VirtualChannelReception.h
|
||||
* @brief This file defines the VirtualChannelReception class.
|
||||
* @date 25.03.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef VIRTUALCHANNELRECEPTION_H_
|
||||
#define VIRTUALCHANNELRECEPTION_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "CCSDSReturnValuesIF.h"
|
||||
#include "Clcw.h"
|
||||
#include "Farm1StateIF.h"
|
||||
#include "Farm1StateLockout.h"
|
||||
#include "Farm1StateOpen.h"
|
||||
#include "Farm1StateWait.h"
|
||||
#include "MapPacketExtractionIF.h"
|
||||
#include "VirtualChannelReceptionIF.h"
|
||||
|
||||
#include <map>
|
||||
/**
|
||||
* Implementation of a TC Virtual Channel.
|
||||
* This is a full implementation of a virtual channel as specified in the CCSDS TC Space Data Link
|
||||
* Protocol. It is designed to operate within an instance of the @c DataLinkLayer class.
|
||||
* Features:
|
||||
* - any (6bit) Virtual Channel ID is assignable.
|
||||
* - Supports an arbitrary number of MAP Channels (with a map).
|
||||
* - Has a complete FARM-1 Machine built-in.
|
||||
*
|
||||
* The FARM-1 state machine uses the State Pattern.
|
||||
*/
|
||||
class VirtualChannelReception : public VirtualChannelReceptionIF, public CCSDSReturnValuesIF {
|
||||
friend class Farm1StateOpen;
|
||||
friend class Farm1StateWait;
|
||||
friend class Farm1StateLockout;
|
||||
private:
|
||||
uint8_t channelId; //!< Stores the VCID that was assigned on construction.
|
||||
uint8_t slidingWindowWidth; //!< A constant to set the FARM-1 sliding window width.
|
||||
uint8_t positiveWindow; //!< The positive window for the FARM-1 machine.
|
||||
uint8_t negativeWindow; //!< The negative window for the FARM-1 machine.
|
||||
protected:
|
||||
Farm1StateIF* currentState; //!< The current state. To change, one of the other states must be assigned to this pointer.
|
||||
Farm1StateOpen openState; //!< Instance of the FARM-1 State "Open".
|
||||
Farm1StateWait waitState; //!< Instance of the FARM-1 State "Wait".
|
||||
Farm1StateLockout lockoutState; //!< Instance of the FARM-1 State "Lockout".
|
||||
Clcw internalClcw; //!< A CLCW class to internally set the values before writing them back to the TTC System.
|
||||
uint8_t vR; //!< The Receiver Frame Sequence Number V(R) as it shall be maintained for every Virtual Channel.
|
||||
uint8_t farmBCounter; //!< The FARM-B COunter as it shall be maintained for every Virtual Channel.
|
||||
typedef std::map<uint8_t, MapPacketExtractionIF*>::iterator mapChannelIterator; //!< Typedef to simplify handling of the mapChannels map.
|
||||
std::map<uint8_t, MapPacketExtractionIF*> mapChannels; //!< A map that maintains all map Channels. Channels must be configured on initialization. MAy be omitted in a simplified version.
|
||||
/**
|
||||
* This method handles demultiplexing to different map channels.
|
||||
* It parses the entries of #mapChannels and forwards the Frame to a found MAP Channel.
|
||||
* @param frame The frame to forward.
|
||||
* @return #VC_NOT_FOUND or the return value of the map channel extraction.
|
||||
*/
|
||||
ReturnValue_t mapDemultiplexing( TcTransferFrame* frame );
|
||||
/**
|
||||
* A sub-method that actually does the FARM-1 handling for different Frame types.
|
||||
* @param frame The Tc Transfer Frame to handle.
|
||||
* @param clcw Any changes on the CLCW shall be done with this method.
|
||||
* @return The return code of higher methods or @c ILLEGAL_FLAG_COMBINATION.
|
||||
*/
|
||||
ReturnValue_t doFARM(TcTransferFrame* frame, ClcwIF* clcw);
|
||||
/**
|
||||
* Handles incoming BD Frames.
|
||||
* Handling these Frames is independent of the State, so no subcall to #currentState is
|
||||
* required.
|
||||
* @param frame The Tc Transfer Frame to handle.
|
||||
* @param clcw Any changes on the CLCW shall be done with this method.
|
||||
* @return Always returns @c RETURN_OK.
|
||||
*/
|
||||
ReturnValue_t handleBDFrame( TcTransferFrame* frame, ClcwIF* clcw );
|
||||
/**
|
||||
* Handles incoming BC Frames.
|
||||
* The type of the BC Frame is detected and checked first, then methods of #currentState are called.
|
||||
* @param frame The Tc Transfer Frame to handle.
|
||||
* @param clcw Any changes on the CLCW shall be done with this method.
|
||||
* @return The failure code of BC Frame interpretation or the return code of higher methods.
|
||||
*/
|
||||
ReturnValue_t handleBCFrame( TcTransferFrame* frame, ClcwIF* clcw );
|
||||
public:
|
||||
/**
|
||||
* Default constructor.
|
||||
* Only sets the channelId of the channel. Setting the Sliding Window width is possible as well.
|
||||
* @param setChannelId Virtual Channel Identifier (VCID) of the channel.
|
||||
*/
|
||||
VirtualChannelReception( uint8_t setChannelId, uint8_t setSlidingWindowWidth );
|
||||
ReturnValue_t frameAcceptanceAndReportingMechanism( TcTransferFrame* frame, ClcwIF* clcw );
|
||||
/**
|
||||
* Helper method to simplify adding a mapChannel during construction.
|
||||
* @param mapId The mapId of the object to add.
|
||||
* @param object Pointer to the MapPacketExtraction object itself.
|
||||
* @return @c RETURN_OK if the channel was successfully inserted, @c RETURN_FAILED otherwise.
|
||||
*/
|
||||
ReturnValue_t addMapChannel( uint8_t mapId, MapPacketExtractionIF* object );
|
||||
/**
|
||||
* The initialization routine checks the set #slidingWindowWidth and initializes all MAP
|
||||
* channels.
|
||||
* @return @c RETURN_OK on successful initialization, @c RETURN_FAILED otherwise.
|
||||
*/
|
||||
ReturnValue_t initialize();
|
||||
/**
|
||||
* Getter for the VCID.
|
||||
* @return The #channelId.
|
||||
*/
|
||||
uint8_t getChannelId() const;
|
||||
/**
|
||||
* Small method to set the state to Farm1StateWait.
|
||||
*/
|
||||
void setToWaitState();
|
||||
};
|
||||
|
||||
|
||||
#endif /* VIRTUALCHANNELRECEPTION_H_ */
|
58
src/fsfw/datalinklayer/VirtualChannelReceptionIF.h
Normal file
58
src/fsfw/datalinklayer/VirtualChannelReceptionIF.h
Normal file
@ -0,0 +1,58 @@
|
||||
/**
|
||||
* @file VirtualChannelReceptionIF.h
|
||||
* @brief This file defines the VirtualChannelReceptionIF class.
|
||||
* @date 25.03.2013
|
||||
* @author baetz
|
||||
*/
|
||||
|
||||
#ifndef VIRTUALCHANNELRECEPTIONIF_H_
|
||||
#define VIRTUALCHANNELRECEPTIONIF_H_
|
||||
|
||||
#include "dllConf.h"
|
||||
#include "ClcwIF.h"
|
||||
#include "TcTransferFrame.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
/**
|
||||
* This is the interface for Virtual Channel reception classes.
|
||||
* It represents a single TC Virtual Channel that operates on one IO
|
||||
*/
|
||||
class VirtualChannelReceptionIF {
|
||||
public:
|
||||
/**
|
||||
* Enum including all valid types of frames.
|
||||
* The type is made up by two flags, so 0b1111 is definitely illegal.
|
||||
*/
|
||||
enum frameType {
|
||||
AD_FRAME = 0b00,
|
||||
BC_FRAME = 0b11,
|
||||
BD_FRAME = 0b10,
|
||||
ILLEGAL_FRAME = 0b1111
|
||||
};
|
||||
/**
|
||||
* Empty virtual destructor.
|
||||
*/
|
||||
virtual ~VirtualChannelReceptionIF() {
|
||||
}
|
||||
/**
|
||||
* This method shall accept frames and do all FARM-1 stuff.
|
||||
* Handling the Frame includes forwarding to higher-level procedures.
|
||||
* @param frame The Tc Transfer Frame that was received and checked.
|
||||
* @param clcw Any changes to the CLCW value are forwarded by using this parameter.
|
||||
* @return The return Value shall indicate successful processing with @c RETURN_OK.
|
||||
*/
|
||||
virtual ReturnValue_t frameAcceptanceAndReportingMechanism( TcTransferFrame* frame, ClcwIF* clcw ) = 0;
|
||||
/**
|
||||
* If any other System Objects are required for operation they shall be initialized here.
|
||||
* @return @c RETURN_OK for successful initialization.
|
||||
*/
|
||||
virtual ReturnValue_t initialize() = 0;
|
||||
/**
|
||||
* Getter for the VCID.
|
||||
* @return The #channelId.
|
||||
*/
|
||||
virtual uint8_t getChannelId() const = 0;
|
||||
};
|
||||
|
||||
|
||||
#endif /* VIRTUALCHANNELRECEPTIONIF_H_ */
|
11
src/fsfw/datalinklayer/dllConf.h
Normal file
11
src/fsfw/datalinklayer/dllConf.h
Normal file
@ -0,0 +1,11 @@
|
||||
#ifndef FSFW_SRC_FSFW_DATALINKLAYER_DLLCONF_H_
|
||||
#define FSFW_SRC_FSFW_DATALINKLAYER_DLLCONF_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
|
||||
#ifndef FSFW_ADD_DATALINKLAYER
|
||||
#warning Datalinklayer files were included but compilation was \
|
||||
not enabled with FSFW_ADD_DATALINKLAYER
|
||||
#endif
|
||||
|
||||
#endif /* FSFW_SRC_FSFW_DATALINKLAYER_DLLCONF_H_ */
|
45
src/fsfw/datapool/DataSetIF.h
Normal file
45
src/fsfw/datapool/DataSetIF.h
Normal file
@ -0,0 +1,45 @@
|
||||
#ifndef FSFW_DATAPOOL_DATASETIF_H_
|
||||
#define FSFW_DATAPOOL_DATASETIF_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../timemanager/Clock.h"
|
||||
class PoolVariableIF;
|
||||
|
||||
/**
|
||||
* @brief This class defines a small interface to register on a DataSet.
|
||||
*
|
||||
* @details
|
||||
* Currently, the only purpose of this interface is to provide a
|
||||
* method for locally checked-out variables to register on a data set.
|
||||
* Still, it may become useful for other purposes as well.
|
||||
* @author Bastian Baetz
|
||||
* @ingroup data_pool
|
||||
*/
|
||||
class DataSetIF {
|
||||
public:
|
||||
static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
|
||||
static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION = MAKE_RETURN_CODE(1);
|
||||
static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE(2);
|
||||
static constexpr ReturnValue_t COMMITING_WITHOUT_READING = MAKE_RETURN_CODE(3);
|
||||
|
||||
static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE(4);
|
||||
static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE(5);
|
||||
static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE(6);
|
||||
|
||||
/**
|
||||
* @brief This is an empty virtual destructor,
|
||||
* as it is proposed for C++ interfaces.
|
||||
*/
|
||||
virtual ~DataSetIF() {}
|
||||
|
||||
/**
|
||||
* @brief This operation provides a method to register local data pool
|
||||
* variables to register in a data set by passing itself
|
||||
* to this DataSet operation.
|
||||
*/
|
||||
virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
|
||||
|
||||
virtual uint16_t getFillCount() const = 0;
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATAPOOL_DATASETIF_H_ */
|
46
src/fsfw/datapool/HkSwitchHelper.h
Normal file
46
src/fsfw/datapool/HkSwitchHelper.h
Normal file
@ -0,0 +1,46 @@
|
||||
#ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
|
||||
#define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
|
||||
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
#include "fsfw/action/CommandsActionsIF.h"
|
||||
#include "fsfw/events/EventReportingProxyIF.h"
|
||||
|
||||
//TODO this class violations separation between mission and framework
|
||||
//but it is only a transitional solution until the Datapool is
|
||||
//implemented decentrally
|
||||
|
||||
class HkSwitchHelper: public ExecutableObjectIF, public CommandsActionsIF {
|
||||
public:
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
|
||||
static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
|
||||
|
||||
HkSwitchHelper(EventReportingProxyIF *eventProxy);
|
||||
virtual ~HkSwitchHelper();
|
||||
|
||||
ReturnValue_t initialize();
|
||||
|
||||
virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
|
||||
|
||||
ReturnValue_t switchHK(SerializeIF *sids, bool enable);
|
||||
|
||||
virtual void setTaskIF(PeriodicTaskIF* task_){};
|
||||
|
||||
protected:
|
||||
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step);
|
||||
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
|
||||
ReturnValue_t returnCode);
|
||||
virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
|
||||
uint32_t size);
|
||||
virtual void completionSuccessfulReceived(ActionId_t actionId);
|
||||
virtual void completionFailedReceived(ActionId_t actionId,
|
||||
ReturnValue_t returnCode);
|
||||
virtual MessageQueueIF* getCommandQueuePtr();
|
||||
|
||||
private:
|
||||
CommandActionHelper commandActionHelper;
|
||||
MessageQueueIF* actionQueue;
|
||||
EventReportingProxyIF *eventProxy;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ */
|
181
src/fsfw/datapool/PoolDataSetBase.h
Normal file
181
src/fsfw/datapool/PoolDataSetBase.h
Normal file
@ -0,0 +1,181 @@
|
||||
#ifndef FSFW_DATAPOOL_POOLDATASETBASE_H_
|
||||
#define FSFW_DATAPOOL_POOLDATASETBASE_H_
|
||||
|
||||
#include "PoolDataSetIF.h"
|
||||
#include "PoolVariableIF.h"
|
||||
|
||||
#include "fsfw/serialize/SerializeIF.h"
|
||||
#include "fsfw/ipc/MutexIF.h"
|
||||
|
||||
/**
|
||||
* @brief The DataSetBase class manages a set of locally checked out variables.
|
||||
* @details
|
||||
* This class manages a list, where a set of local variables (or pool variables)
|
||||
* are registered. They are checked-out (i.e. their values are looked
|
||||
* up and copied) with the read call. After the user finishes working with the
|
||||
* pool variables, he can write back all variable values to the pool with
|
||||
* the commit call. The data set manages locking and freeing the data pool,
|
||||
* to ensure that all values are read and written back at once.
|
||||
*
|
||||
* An internal state manages usage of this class. Variables may only be
|
||||
* registered before the read call is made, and the commit call only
|
||||
* after the read call.
|
||||
*
|
||||
* If pool variables are writable and not committed until destruction
|
||||
* of the set, the DataSet class automatically sets the valid flag in the
|
||||
* data pool to invalid (without) changing the variable's value.
|
||||
*
|
||||
* The base class lockDataPool und unlockDataPool implementation are empty
|
||||
* and should be implemented to protect the underlying pool type.
|
||||
* @author Bastian Baetz
|
||||
* @ingroup data_pool
|
||||
*/
|
||||
class PoolDataSetBase:
|
||||
public PoolDataSetIF,
|
||||
public SerializeIF,
|
||||
public HasReturnvaluesIF {
|
||||
public:
|
||||
|
||||
/**
|
||||
* @brief Creates an empty dataset. Use registerVariable or
|
||||
* supply a pointer to this dataset to PoolVariable
|
||||
* initializations to register pool variables.
|
||||
*/
|
||||
PoolDataSetBase(PoolVariableIF** registeredVariablesArray, const size_t maxFillCount);
|
||||
|
||||
/* Forbidden for now */
|
||||
PoolDataSetBase(const PoolDataSetBase& otherSet) = delete;
|
||||
const PoolDataSetBase& operator=(const PoolDataSetBase& otherSet) = delete;
|
||||
|
||||
virtual~ PoolDataSetBase();
|
||||
|
||||
/**
|
||||
* @brief The read call initializes reading out all registered variables.
|
||||
* It is mandatory to call commit after every read call!
|
||||
* @details
|
||||
* It iterates through the list of registered variables and calls all read()
|
||||
* functions of the registered pool variables (which read out their values
|
||||
* from the data pool) which are not write-only.
|
||||
* In case of an error (e.g. a wrong data type, or an invalid data pool id),
|
||||
* the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
|
||||
*
|
||||
* The data pool is locked during the whole read operation and
|
||||
* freed afterwards. It is mandatory to call commit after a read call,
|
||||
* even if the read operation is not successful!
|
||||
* @return
|
||||
* - @c RETURN_OK if all variables were read successfully.
|
||||
* - @c INVALID_PARAMETER_DEFINITION if a pool entry does not exist or there
|
||||
* is a type conflict.
|
||||
* - @c SET_WAS_ALREADY_READ if read() is called twice without calling
|
||||
* commit() in between
|
||||
*/
|
||||
virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
|
||||
uint32_t lockTimeout = 20) override;
|
||||
/**
|
||||
* @brief The commit call initializes writing back the registered variables.
|
||||
* @details
|
||||
* It iterates through the list of registered variables and calls the
|
||||
* commit() method of the remaining registered variables (which write back
|
||||
* their values to the pool).
|
||||
*
|
||||
* The data pool is locked during the whole commit operation and
|
||||
* freed afterwards. The state changes to "was committed" after this operation.
|
||||
*
|
||||
* If the set does contain at least one variable which is not write-only
|
||||
* commit() can only be called after read(). If the set only contains
|
||||
* variables which are write only, commit() can be called without a
|
||||
* preceding read() call. Every read call must be followed by a commit call!
|
||||
* @return - @c RETURN_OK if all variables were read successfully.
|
||||
* - @c COMMITING_WITHOUT_READING if set was not read yet and
|
||||
* contains non write-only variables
|
||||
*/
|
||||
virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
|
||||
uint32_t lockTimeout = 20) override;
|
||||
|
||||
/**
|
||||
* Register the passed pool variable instance into the data set.
|
||||
* @param variable
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
|
||||
|
||||
/**
|
||||
* Provides the means to lock the underlying data structure to ensure
|
||||
* thread-safety. Default implementation is empty
|
||||
* @return Always returns -@c RETURN_OK
|
||||
*/
|
||||
virtual ReturnValue_t lockDataPool(
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
|
||||
uint32_t timeoutMs = 20) override;
|
||||
/**
|
||||
* Provides the means to unlock the underlying data structure to ensure
|
||||
* thread-safety. Default implementation is empty
|
||||
* @return Always returns -@c RETURN_OK
|
||||
*/
|
||||
virtual ReturnValue_t unlockDataPool() override;
|
||||
|
||||
virtual uint16_t getFillCount() const;
|
||||
|
||||
/* SerializeIF implementations */
|
||||
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
|
||||
const size_t maxSize,
|
||||
SerializeIF::Endianness streamEndianness) const override;
|
||||
virtual size_t getSerializedSize() const override;
|
||||
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
SerializeIF::Endianness streamEndianness) override;
|
||||
|
||||
/**
|
||||
* Can be used to individually protect every read and commit call.
|
||||
* @param protectEveryReadCommit
|
||||
* @param mutexTimeout
|
||||
*/
|
||||
void setReadCommitProtectionBehaviour(bool protectEveryReadCommit,
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
|
||||
uint32_t mutexTimeout = 20);
|
||||
protected:
|
||||
|
||||
/**
|
||||
* @brief The fill_count attribute ensures that the variables
|
||||
* register in the correct array position and that the maximum
|
||||
* number of variables is not exceeded.
|
||||
*/
|
||||
uint16_t fillCount = 0;
|
||||
/**
|
||||
* States of the seet.
|
||||
*/
|
||||
enum class States {
|
||||
STATE_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
|
||||
STATE_SET_WAS_READ //!< DATA_SET_WAS_READ
|
||||
};
|
||||
/**
|
||||
* @brief state manages the internal state of the data set,
|
||||
* which is important e.g. for the behavior on destruction.
|
||||
*/
|
||||
States state = States::STATE_SET_UNINITIALISED;
|
||||
|
||||
/**
|
||||
* @brief This array represents all pool variables registered in this set.
|
||||
* Child classes can use a static or dynamic container to create
|
||||
* an array of registered variables and assign the first entry here.
|
||||
*/
|
||||
PoolVariableIF** registeredVariables = nullptr;
|
||||
const size_t maxFillCount = 0;
|
||||
|
||||
void setContainer(PoolVariableIF** variablesContainer);
|
||||
PoolVariableIF** getContainer() const;
|
||||
|
||||
private:
|
||||
bool protectEveryReadCommitCall = false;
|
||||
MutexIF::TimeoutType timeoutTypeForSingleVars = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t mutexTimeoutForSingleVars = 20;
|
||||
|
||||
ReturnValue_t readVariable(uint16_t count);
|
||||
void handleAlreadyReadDatasetCommit(
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
|
||||
uint32_t timeoutMs = 20);
|
||||
ReturnValue_t handleUnreadDatasetCommit(
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
|
||||
uint32_t timeoutMs = 20);
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */
|
36
src/fsfw/datapool/PoolDataSetIF.h
Normal file
36
src/fsfw/datapool/PoolDataSetIF.h
Normal file
@ -0,0 +1,36 @@
|
||||
#ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
|
||||
#define FSFW_DATAPOOL_POOLDATASETIF_H_
|
||||
|
||||
#include "ReadCommitIF.h"
|
||||
#include "DataSetIF.h"
|
||||
|
||||
/**
|
||||
* @brief Extendes the DataSetIF by adding abstract functions to lock
|
||||
* and unlock a data pool and read/commit semantics.
|
||||
*/
|
||||
class PoolDataSetIF:
|
||||
virtual public DataSetIF,
|
||||
virtual public ReadCommitIF {
|
||||
public:
|
||||
virtual~ PoolDataSetIF() {};
|
||||
|
||||
/**
|
||||
* @brief Most underlying data structures will have a pool like structure
|
||||
* and will require a lock and unlock mechanism to ensure
|
||||
* thread-safety
|
||||
* @return Lock operation result
|
||||
*/
|
||||
virtual ReturnValue_t lockDataPool(
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
|
||||
uint32_t timeoutMs = 20) = 0;
|
||||
|
||||
/**
|
||||
* @brief Unlock call corresponding to the lock call.
|
||||
* @return Unlock operation result
|
||||
*/
|
||||
virtual ReturnValue_t unlockDataPool() = 0;
|
||||
|
||||
virtual bool isValid() const = 0;
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATAPOOL_POOLDATASETIF_H_ */
|
137
src/fsfw/datapool/PoolEntry.h
Normal file
137
src/fsfw/datapool/PoolEntry.h
Normal file
@ -0,0 +1,137 @@
|
||||
#ifndef FSFW_DATAPOOL_POOLENTRY_H_
|
||||
#define FSFW_DATAPOOL_POOLENTRY_H_
|
||||
|
||||
#include "PoolEntryIF.h"
|
||||
|
||||
#include <initializer_list>
|
||||
#include <type_traits>
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* @brief This is a small helper class that defines a single data pool entry.
|
||||
* @details
|
||||
* The helper is used to store all information together with the data as a
|
||||
* single data pool entry. The content's type is defined by the template
|
||||
* argument.
|
||||
*
|
||||
* It is prepared for use with plain old data types, but may be
|
||||
* extended to complex types if necessary. It can be initialized with a
|
||||
* certain value, size and validity flag.
|
||||
*
|
||||
* It holds a pointer to the real data and offers methods to access this data
|
||||
* and to acquire additional information (such as validity and array/byte size).
|
||||
* It is NOT intended to be used outside DataPool implementations as it performs
|
||||
* dynamic memory allocation.
|
||||
*
|
||||
* @ingroup data_pool
|
||||
*/
|
||||
template <typename T>
|
||||
class PoolEntry : public PoolEntryIF {
|
||||
public:
|
||||
static_assert(not std::is_same<T, bool>::value,
|
||||
"Do not use boolean for the PoolEntry type, use uint8_t "
|
||||
"instead! The ECSS standard defines a boolean as a one bit "
|
||||
"field. Therefore it is preferred to store a boolean as an "
|
||||
"uint8_t");
|
||||
/**
|
||||
* @brief In the classe's constructor, space is allocated on the heap and
|
||||
* potential initialization values are copied to that space.
|
||||
* @details
|
||||
* Not passing any arguments will initialize an non-array pool entry
|
||||
* with an initial invalid state and the value 0.
|
||||
* Please note that if an initializer list is passed, the length of the
|
||||
* initializer list needs to be correct for vector entries because
|
||||
* required allocated space will be deduced from the initializer list length
|
||||
* and the pool entry type.
|
||||
* @param initValue
|
||||
* Initializer list with values to initialize with, for example {0, 0} to
|
||||
* initialize the a pool entry of a vector with two entries to 0.
|
||||
* @param setValid
|
||||
* Sets the initialization flag. It is invalid by default.
|
||||
*/
|
||||
PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);
|
||||
|
||||
/**
|
||||
* @brief In the classe's constructor, space is allocated on the heap and
|
||||
* potential init values are copied to that space.
|
||||
* @param initValue
|
||||
* A pointer to the single value or array that holds the init value.
|
||||
* With the default value (nullptr), the entry is initalized with all 0.
|
||||
* @param setLength
|
||||
* Defines the array length of this entry.
|
||||
* @param setValid
|
||||
* Sets the initialization flag. It is invalid by default.
|
||||
*/
|
||||
PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
|
||||
|
||||
//! Explicitely deleted copy ctor, copying is not allowed.
|
||||
PoolEntry(const PoolEntry&) = delete;
|
||||
//! Explicitely deleted copy assignment, copying is not allowed.
|
||||
PoolEntry& operator=(const PoolEntry&) = delete;
|
||||
|
||||
/**
|
||||
* @brief The allocated memory for the variable is freed
|
||||
* in the destructor.
|
||||
* @details
|
||||
* As the data pool is global, this dtor is only called on program exit.
|
||||
* PoolEntries shall never be copied, as a copy might delete the variable
|
||||
* on the heap.
|
||||
*/
|
||||
~PoolEntry();
|
||||
|
||||
/**
|
||||
* Return typed pointer to start of data.
|
||||
* @return
|
||||
*/
|
||||
T* getDataPtr();
|
||||
|
||||
/**
|
||||
* @brief getSize returns the array size of the entry.
|
||||
* @details
|
||||
* For non-array pool entries return type size, for vector entries
|
||||
* return type size times the number of entries.
|
||||
*/
|
||||
uint8_t getSize();
|
||||
/**
|
||||
* @brief This operation returns the size in bytes.
|
||||
* @details The size is calculated by sizeof(type) * array_size.
|
||||
*/
|
||||
uint16_t getByteSize();
|
||||
/**
|
||||
* @brief This operation returns a the address pointer casted to void*.
|
||||
*/
|
||||
void* getRawData();
|
||||
/**
|
||||
* @brief This method allows to set the valid information
|
||||
* of the pool entry.
|
||||
*/
|
||||
void setValid( bool isValid );
|
||||
/**
|
||||
* @brief This method allows to get the valid information
|
||||
* of the pool entry.
|
||||
*/
|
||||
bool getValid();
|
||||
/**
|
||||
* @brief This is a debug method that prints all values and the valid
|
||||
* information to the screen. It prints all array entries in a row.
|
||||
*/
|
||||
void print();
|
||||
Type getType();
|
||||
|
||||
private:
|
||||
/**
|
||||
* @brief This attribute stores the length information.
|
||||
*/
|
||||
uint8_t length;
|
||||
/**
|
||||
* @brief Here, the validity information for a variable is stored.
|
||||
* Every entry (single variable or vector) has one valid flag.
|
||||
*/
|
||||
uint8_t valid;
|
||||
/**
|
||||
* @brief This is the address pointing to the allocated memory.
|
||||
*/
|
||||
T* address;
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */
|
63
src/fsfw/datapool/PoolEntryIF.h
Normal file
63
src/fsfw/datapool/PoolEntryIF.h
Normal file
@ -0,0 +1,63 @@
|
||||
#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
|
||||
#define FSFW_DATAPOOL_POOLENTRYIF_H_
|
||||
|
||||
#include "../globalfunctions/Type.h"
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* @brief This interface defines the access possibilities to a
|
||||
* single data pool entry.
|
||||
* @details
|
||||
* The interface provides methods to determine the size and the validity
|
||||
* information of a value. It also defines a method to receive a pointer to the
|
||||
* raw data content. It is mainly used by DataPool itself, but also as a
|
||||
* return pointer.
|
||||
*
|
||||
* @author Bastian Baetz
|
||||
* @ingroup data_pool
|
||||
*
|
||||
*/
|
||||
class PoolEntryIF {
|
||||
public:
|
||||
/**
|
||||
* @brief This is an empty virtual destructor,
|
||||
* as it is required for C++ interfaces.
|
||||
*/
|
||||
virtual ~PoolEntryIF() {
|
||||
}
|
||||
/**
|
||||
* @brief getSize returns the array size of the entry.
|
||||
* A single variable parameter has size 1.
|
||||
*/
|
||||
virtual uint8_t getSize() = 0;
|
||||
/**
|
||||
* @brief This operation returns the size in bytes, which is calculated by
|
||||
* sizeof(type) * array_size.
|
||||
*/
|
||||
virtual uint16_t getByteSize() = 0;
|
||||
/**
|
||||
* @brief This operation returns a the address pointer casted to void*.
|
||||
*/
|
||||
virtual void* getRawData() = 0;
|
||||
/**
|
||||
* @brief This method allows to set the valid information of the pool entry.
|
||||
*/
|
||||
virtual void setValid(bool isValid) = 0;
|
||||
/**
|
||||
* @brief This method allows to set the valid information of the pool entry.
|
||||
*/
|
||||
virtual bool getValid() = 0;
|
||||
/**
|
||||
* @brief This is a debug method that prints all values and the valid
|
||||
* information to the screen. It prints all array entries in a row.
|
||||
* @details
|
||||
* Also displays whether the pool entry is valid or invalid.
|
||||
*/
|
||||
virtual void print() = 0;
|
||||
/**
|
||||
* Returns the type of the entry.
|
||||
*/
|
||||
virtual Type getType() = 0;
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */
|
62
src/fsfw/datapool/PoolReadGuard.h
Normal file
62
src/fsfw/datapool/PoolReadGuard.h
Normal file
@ -0,0 +1,62 @@
|
||||
#ifndef FSFW_DATAPOOL_POOLREADHELPER_H_
|
||||
#define FSFW_DATAPOOL_POOLREADHELPER_H_
|
||||
|
||||
#include "ReadCommitIF.h"
|
||||
#include "../serviceinterface/ServiceInterface.h"
|
||||
#include <FSFWConfig.h>
|
||||
|
||||
/**
|
||||
* @brief Helper class to read data sets or pool variables
|
||||
*/
|
||||
class PoolReadGuard {
|
||||
public:
|
||||
PoolReadGuard(ReadCommitIF* readObject,
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
|
||||
uint32_t mutexTimeout = 20):
|
||||
readObject(readObject), mutexTimeout(mutexTimeout) {
|
||||
if(readObject != nullptr) {
|
||||
readResult = readObject->read(timeoutType, mutexTimeout);
|
||||
if(readResult != HasReturnvaluesIF::RETURN_OK) {
|
||||
#if FSFW_VERBOSE_LEVEL == 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "PoolReadHelper: Read failed!" << std::endl;
|
||||
#else
|
||||
sif::printError("PoolReadHelper: Read failed!\n");
|
||||
#endif /* FSFW_PRINT_VERBOSITY_LEVEL == 1 */
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t getReadResult() const {
|
||||
return readResult;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Can be used to suppress commit on destruction.
|
||||
*/
|
||||
void setNoCommitMode(bool commit) {
|
||||
this->noCommit = commit;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Default destructor which will take care of commiting changed values.
|
||||
*/
|
||||
~PoolReadGuard() {
|
||||
if(readObject != nullptr and not noCommit) {
|
||||
readObject->commit(timeoutType, mutexTimeout);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private:
|
||||
ReadCommitIF* readObject = nullptr;
|
||||
ReturnValue_t readResult = HasReturnvaluesIF::RETURN_OK;
|
||||
bool noCommit = false;
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t mutexTimeout = 20;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_DATAPOOL_POOLREADHELPER_H_ */
|
29
src/fsfw/datapool/PoolVarList.h
Normal file
29
src/fsfw/datapool/PoolVarList.h
Normal file
@ -0,0 +1,29 @@
|
||||
#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
|
||||
#define FSFW_DATAPOOL_POOLVARLIST_H_
|
||||
|
||||
#include "../datapool/PoolVariableIF.h"
|
||||
#include "../datapoolglob/GlobalPoolVariable.h"
|
||||
template <class T, uint8_t n_var>
|
||||
class PoolVarList {
|
||||
private:
|
||||
GlobPoolVar<T> variables[n_var];
|
||||
public:
|
||||
PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet,
|
||||
PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
|
||||
//I really should have a look at the new init list c++ syntax.
|
||||
if (dataSet == NULL) {
|
||||
return;
|
||||
}
|
||||
for (uint8_t count = 0; count < n_var; count++) {
|
||||
variables[count].dataPoolId = set_id[count];
|
||||
variables[count].readWriteMode = setReadWriteMode;
|
||||
dataSet->registerVariable(&variables[count]);
|
||||
}
|
||||
}
|
||||
|
||||
GlobPoolVar<T> &operator [](int i) { return variables[i]; }
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */
|
68
src/fsfw/datapool/PoolVariableIF.h
Normal file
68
src/fsfw/datapool/PoolVariableIF.h
Normal file
@ -0,0 +1,68 @@
|
||||
#ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
|
||||
#define FSFW_DATAPOOL_POOLVARIABLEIF_H_
|
||||
|
||||
#include "ReadCommitIF.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../serialize/SerializeIF.h"
|
||||
|
||||
|
||||
/**
|
||||
* @brief This interface is used to control data pool
|
||||
* variable representations.
|
||||
* @details
|
||||
* To securely handle data pool variables, all pool entries are locally
|
||||
* managed by data pool variable access classes, which are called pool
|
||||
* variables. To ensure a common state of a set of variables needed in a
|
||||
* function, these local pool variables again are managed by other classes,
|
||||
* like the DataSet classes. This interface provides unified access to
|
||||
* local pool variables for such manager classes.
|
||||
* @author Bastian Baetz
|
||||
* @ingroup data_pool
|
||||
*/
|
||||
class PoolVariableIF :
|
||||
public SerializeIF,
|
||||
public ReadCommitIF {
|
||||
|
||||
public:
|
||||
static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
|
||||
static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
|
||||
static constexpr ReturnValue_t INVALID_POOL_ENTRY = MAKE_RETURN_CODE(0xA1);
|
||||
|
||||
static constexpr bool VALID = 1;
|
||||
static constexpr bool INVALID = 0;
|
||||
static constexpr uint32_t NO_PARAMETER = 0xffffffff;
|
||||
|
||||
enum ReadWriteMode_t {
|
||||
VAR_READ, VAR_WRITE, VAR_READ_WRITE
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief This is an empty virtual destructor,
|
||||
* as it is proposed for C++ interfaces.
|
||||
*/
|
||||
virtual ~PoolVariableIF() {}
|
||||
/**
|
||||
* @brief This method returns if the variable is write-only,
|
||||
* read-write or read-only.
|
||||
*/
|
||||
virtual ReadWriteMode_t getReadWriteMode() const = 0;
|
||||
virtual void setReadWriteMode(ReadWriteMode_t newMode) = 0;
|
||||
|
||||
/**
|
||||
* @brief This operation shall return the data pool id of the variable.
|
||||
*/
|
||||
virtual uint32_t getDataPoolId() const = 0;
|
||||
/**
|
||||
* @brief With this call, the valid information of the
|
||||
* variable is returned.
|
||||
*/
|
||||
virtual bool isValid() const = 0;
|
||||
/**
|
||||
* @brief With this call, the valid information of the variable is set.
|
||||
*/
|
||||
virtual void setValid(bool validity) = 0;
|
||||
};
|
||||
|
||||
using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
|
||||
|
||||
#endif /* FSFW_DATAPOOL_POOLVARIABLEIF_H_ */
|
34
src/fsfw/datapool/ReadCommitIF.h
Normal file
34
src/fsfw/datapool/ReadCommitIF.h
Normal file
@ -0,0 +1,34 @@
|
||||
#ifndef FSFW_DATAPOOL_READCOMMITIF_H_
|
||||
#define FSFW_DATAPOOL_READCOMMITIF_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../ipc/MutexIF.h"
|
||||
|
||||
/**
|
||||
* @brief Common interface for all software objects which employ read-commit
|
||||
* semantics.
|
||||
*/
|
||||
class ReadCommitIF {
|
||||
friend class ReadCommitIFAttorney;
|
||||
public:
|
||||
virtual ~ReadCommitIF() {}
|
||||
virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType,
|
||||
uint32_t timeoutMs) = 0;
|
||||
virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType,
|
||||
uint32_t timeoutMs) = 0;
|
||||
|
||||
protected:
|
||||
|
||||
/* Optional and protected because this is interesting for classes grouping members with commit
|
||||
and read semantics where the lock is only necessary once. */
|
||||
virtual ReturnValue_t readWithoutLock() {
|
||||
return read(MutexIF::TimeoutType::WAITING, 20);
|
||||
}
|
||||
|
||||
virtual ReturnValue_t commitWithoutLock() {
|
||||
return commit(MutexIF::TimeoutType::WAITING, 20);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#endif /* FSFW_DATAPOOL_READCOMMITIF_H_ */
|
32
src/fsfw/datapool/ReadCommitIFAttorney.h
Normal file
32
src/fsfw/datapool/ReadCommitIFAttorney.h
Normal file
@ -0,0 +1,32 @@
|
||||
#ifndef FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_
|
||||
#define FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_
|
||||
|
||||
#include <fsfw/datapool/ReadCommitIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
/**
|
||||
* @brief This class determines which members are allowed to access protected members
|
||||
* of the ReadCommitIF.
|
||||
*/
|
||||
class ReadCommitIFAttorney {
|
||||
private:
|
||||
static ReturnValue_t readWithoutLock(ReadCommitIF* readCommitIF) {
|
||||
if(readCommitIF == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return readCommitIF->readWithoutLock();
|
||||
}
|
||||
|
||||
static ReturnValue_t commitWithoutLock(ReadCommitIF* readCommitIF) {
|
||||
if(readCommitIF == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return readCommitIF->commitWithoutLock();
|
||||
}
|
||||
|
||||
friend class PoolDataSetBase;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_ */
|
16
src/fsfw/datapool/SharedDataSetIF.h
Normal file
16
src/fsfw/datapool/SharedDataSetIF.h
Normal file
@ -0,0 +1,16 @@
|
||||
#ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
|
||||
#define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
|
||||
|
||||
#include "PoolDataSetIF.h"
|
||||
|
||||
class SharedDataSetIF {
|
||||
public:
|
||||
virtual ~SharedDataSetIF() {};
|
||||
|
||||
private:
|
||||
virtual ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType,
|
||||
dur_millis_t mutexTimeout) = 0;
|
||||
virtual ReturnValue_t unlockDataset() = 0;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_ */
|
11
src/fsfw/datapoollocal.h
Normal file
11
src/fsfw/datapoollocal.h
Normal file
@ -0,0 +1,11 @@
|
||||
#ifndef FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
|
||||
#define FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
|
||||
|
||||
/* Collected related headers */
|
||||
#include "fsfw/datapoollocal/LocalPoolVariable.h"
|
||||
#include "fsfw/datapoollocal/LocalPoolVector.h"
|
||||
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
|
||||
#include "fsfw/datapoollocal/LocalDataSet.h"
|
||||
#include "fsfw/datapoollocal/SharedLocalDataSet.h"
|
||||
|
||||
#endif /* FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_ */
|
27
src/fsfw/datapoollocal/AccessLocalPoolF.h
Normal file
27
src/fsfw/datapoollocal/AccessLocalPoolF.h
Normal file
@ -0,0 +1,27 @@
|
||||
#ifndef FSFW_DATAPOOLLOCAL_ACCESSLOCALPOOLF_H_
|
||||
#define FSFW_DATAPOOLLOCAL_ACCESSLOCALPOOLF_H_
|
||||
|
||||
class LocalDataPoolManager;
|
||||
class MutexIF;
|
||||
|
||||
/**
|
||||
* @brief Accessor class which can be used by classes which like to use the pool manager.
|
||||
*/
|
||||
class AccessPoolManagerIF {
|
||||
public:
|
||||
virtual ~AccessPoolManagerIF() {};
|
||||
|
||||
virtual MutexIF* getLocalPoolMutex() = 0;
|
||||
|
||||
/**
|
||||
* Can be used to get a handle to the local data pool manager.
|
||||
* This function is protected because it should only be used by the
|
||||
* class imlementing the interface.
|
||||
*/
|
||||
virtual LocalDataPoolManager* getPoolManagerHandle() = 0;
|
||||
|
||||
protected:
|
||||
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATAPOOLLOCAL_ACCESSLOCALPOOLF_H_ */
|
187
src/fsfw/datapoollocal/HasLocalDataPoolIF.h
Normal file
187
src/fsfw/datapoollocal/HasLocalDataPoolIF.h
Normal file
@ -0,0 +1,187 @@
|
||||
#ifndef FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
|
||||
#define FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
|
||||
|
||||
#include "localPoolDefinitions.h"
|
||||
#include "LocalDataPoolManager.h"
|
||||
|
||||
#include "../datapool/PoolEntryIF.h"
|
||||
#include "../serviceinterface/ServiceInterface.h"
|
||||
#include "../ipc/MessageQueueSenderIF.h"
|
||||
#include "../housekeeping/HousekeepingMessage.h"
|
||||
|
||||
#include <map>
|
||||
|
||||
class AccessPoolManagerIF;
|
||||
class ProvidesDataPoolSubscriptionIF;
|
||||
class LocalPoolDataSetBase;
|
||||
class LocalPoolObjectBase;
|
||||
|
||||
/**
|
||||
* @brief This interface is implemented by classes which posses a local data pool (not the
|
||||
* managing class). It defines the relationship between the local data pool owner
|
||||
* and the LocalDataPoolManager.
|
||||
* @details
|
||||
* Any class implementing this interface shall also have a LocalDataPoolManager member class which
|
||||
* contains the actual pool data structure and exposes the public interface for it.
|
||||
*
|
||||
* The local data pool can be accessed using helper classes by using the
|
||||
* LocalPoolVariable, LocalPoolVector or LocalDataSet classes. Every local pool variable can
|
||||
* be uniquely identified by a global pool ID (gp_id_t) and every dataset tied
|
||||
* to a pool manager can be uniqely identified by a global structure ID (sid_t).
|
||||
*
|
||||
* All software objects which want to use the local pool of another object shall also use this
|
||||
* interface, for example to get a handle to the subscription interface. The interface
|
||||
* can be retrieved using the object manager, provided the target object is a SystemObject.
|
||||
* For example, the following line of code can be used to retrieve the interface
|
||||
*
|
||||
* HasLocalDataPoolIF* poolIF = ObjectManager::instance()->
|
||||
* get<HasLocalDataPoolIF>(objects::SOME_OBJECT);
|
||||
* if(poolIF != nullptr) {
|
||||
* doSomething()
|
||||
* }
|
||||
*/
|
||||
class HasLocalDataPoolIF {
|
||||
friend class HasLocalDpIFManagerAttorney;
|
||||
friend class HasLocalDpIFUserAttorney;
|
||||
public:
|
||||
virtual~ HasLocalDataPoolIF() {};
|
||||
|
||||
static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
|
||||
|
||||
virtual object_id_t getObjectId() const = 0;
|
||||
|
||||
/** Command queue for housekeeping messages. */
|
||||
virtual MessageQueueId_t getCommandQueue() const = 0;
|
||||
|
||||
/**
|
||||
* Is used by pool owner to initialize the pool map once
|
||||
* The manager instance shall also be passed to this function.
|
||||
* It can be used to subscribe for periodic packets for for updates.
|
||||
*/
|
||||
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) = 0;
|
||||
|
||||
/**
|
||||
* Returns the minimum sampling frequency in milliseconds, which will
|
||||
* usually be the period the pool owner performs its periodic operation.
|
||||
* @return
|
||||
*/
|
||||
virtual dur_millis_t getPeriodicOperationFrequency() const = 0;
|
||||
|
||||
/**
|
||||
* @brief This function will be called by the manager if an update
|
||||
* notification is received.
|
||||
* @details HasLocalDataPoolIF
|
||||
* Can be overriden by the child class to handle changed datasets.
|
||||
* @param sid SID of the updated set
|
||||
* @param storeId If a snapshot was requested, data will be located inside
|
||||
* the IPC store with this store ID.
|
||||
* @param clearMessage If this is set to true, the pool manager will take care of
|
||||
* clearing the store automatically
|
||||
*/
|
||||
virtual void handleChangedDataset(sid_t sid,
|
||||
store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
|
||||
bool* clearMessage = nullptr) {
|
||||
if(clearMessage != nullptr) {
|
||||
*clearMessage = true;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function will be called by the manager if an update
|
||||
* notification is received.
|
||||
* @details
|
||||
* Can be overriden by the child class to handle changed pool variables.
|
||||
* @param gpid GPID of the updated variable.
|
||||
* @param storeId If a snapshot was requested, data will be located inside
|
||||
* the IPC store with this store ID.
|
||||
* @param clearMessage Relevant for snapshots. If the boolean this points to is set to true,
|
||||
* the pool manager will take care of clearing the store automatically
|
||||
* after the callback.
|
||||
*/
|
||||
virtual void handleChangedPoolVariable(gp_id_t gpid,
|
||||
store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
|
||||
bool* clearMessage = nullptr) {
|
||||
if(clearMessage != nullptr) {
|
||||
*clearMessage = true;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* These function can be implemented by pool owner, if they are required
|
||||
* and used by the housekeeping message interface.
|
||||
* */
|
||||
virtual ReturnValue_t addDataSet(sid_t sid) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
};
|
||||
virtual ReturnValue_t removeDataSet(sid_t sid) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
};
|
||||
virtual ReturnValue_t changeCollectionInterval(sid_t sid, float newIntervalSeconds) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
};
|
||||
|
||||
/**
|
||||
* This function can be used by data pool consumers to retrieve a handle
|
||||
* which allows subscriptions to dataset and variable updates in form of messages.
|
||||
* The consumers can then read the most recent variable value by calling read with
|
||||
* an own pool variable or set instance or using the deserialized snapshot data.
|
||||
* Returns the HK manager casted to the required interface by default.
|
||||
* @return
|
||||
*/
|
||||
virtual ProvidesDataPoolSubscriptionIF* getSubscriptionInterface() {
|
||||
return getHkManagerHandle();
|
||||
}
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* Every class implementing this interface should have a local data pool manager. This
|
||||
* function will return a reference to the manager.
|
||||
* @return
|
||||
*/
|
||||
virtual LocalDataPoolManager* getHkManagerHandle() = 0;
|
||||
|
||||
/**
|
||||
* Accessor handle required for internal handling. Not intended for users and therefore
|
||||
* declared protected. Users should instead use pool variables, sets or the subscription
|
||||
* interface to access pool entries. Returns the HK manager casted to a different interface
|
||||
* by default.
|
||||
* @return
|
||||
*/
|
||||
virtual AccessPoolManagerIF* getAccessorHandle() {
|
||||
return getHkManagerHandle();
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is used by the pool manager to get a valid dataset
|
||||
* from a SID. This function is protected to prevent users from
|
||||
* using raw data set pointers which could not be thread-safe. Users
|
||||
* should use the #ProvidesDataPoolSubscriptionIF.
|
||||
* @param sid Corresponding structure ID
|
||||
* @return
|
||||
*/
|
||||
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) = 0;
|
||||
|
||||
/**
|
||||
* Similar to the function above, but used to get a local pool variable
|
||||
* handle. This is only needed for update notifications, so it is not
|
||||
* defined as abstract. This function is protected to prevent users from
|
||||
* using raw pool variable pointers which could not be thread-safe.
|
||||
* Users should use the #ProvidesDataPoolSubscriptionIF.
|
||||
* @param localPoolId
|
||||
* @return
|
||||
*/
|
||||
virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden. "
|
||||
"Returning nullptr!" << std::endl;
|
||||
#else
|
||||
sif::printWarning("HasLocalDataPoolIF::getPoolObjectHandle: "
|
||||
"Not overriden. Returning nullptr!\n");
|
||||
#endif
|
||||
return nullptr;
|
||||
}
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_ */
|
415
src/fsfw/datapoollocal/LocalDataPoolManager.h
Normal file
415
src/fsfw/datapoollocal/LocalDataPoolManager.h
Normal file
@ -0,0 +1,415 @@
|
||||
#ifndef FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
|
||||
#define FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
|
||||
|
||||
#include "ProvidesDataPoolSubscriptionIF.h"
|
||||
#include "AccessLocalPoolF.h"
|
||||
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
#include "fsfw/housekeeping/HousekeepingPacketDownlink.h"
|
||||
#include "fsfw/housekeeping/HousekeepingMessage.h"
|
||||
#include "fsfw/housekeeping/PeriodicHousekeepingHelper.h"
|
||||
#include "fsfw/datapool/DataSetIF.h"
|
||||
#include "fsfw/datapool/PoolEntry.h"
|
||||
#include "fsfw/objectmanager/SystemObjectIF.h"
|
||||
#include "fsfw/ipc/MutexIF.h"
|
||||
#include "fsfw/ipc/CommandMessage.h"
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
#include "fsfw/ipc/MutexGuard.h"
|
||||
|
||||
#include <map>
|
||||
#include <vector>
|
||||
|
||||
namespace Factory {
|
||||
void setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
class LocalPoolDataSetBase;
|
||||
class HousekeepingSnapshot;
|
||||
class HasLocalDataPoolIF;
|
||||
class LocalDataPool;
|
||||
|
||||
/**
|
||||
* @brief This class is the managing instance for the local data pool.
|
||||
* @details
|
||||
* The actual data pool structure is a member of this class. Any class which
|
||||
* has a local data pool shall have this manager class as a member and implement
|
||||
* the HasLocalDataPoolIF.
|
||||
*
|
||||
* The manager offers some adaption points and functions which can be used
|
||||
* by the owning class to simplify data handling significantly.
|
||||
*
|
||||
* Please ensure that both initialize and initializeAfterTaskCreation are
|
||||
* called at some point by the owning class in the respective functions of the
|
||||
* same name!
|
||||
*
|
||||
* Users of the data pool use the helper classes LocalDataSet,
|
||||
* LocalPoolVariable and LocalPoolVector to access pool entries in
|
||||
* a thread-safe and efficient way.
|
||||
*
|
||||
* The local data pools employ a blackboard logic: Only the most recent
|
||||
* value is stored. The helper classes offer a read() and commit() interface
|
||||
* through the PoolVariableIF which is used to read and update values.
|
||||
* Each pool entry has a valid state too.
|
||||
* @author R. Mueller
|
||||
*/
|
||||
class LocalDataPoolManager:
|
||||
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 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);
|
||||
static constexpr ReturnValue_t POOLOBJECT_NOT_FOUND = MAKE_RETURN_CODE(4);
|
||||
static constexpr ReturnValue_t DATASET_NOT_FOUND = MAKE_RETURN_CODE(5);
|
||||
|
||||
|
||||
/**
|
||||
* This constructor is used by a class which wants to implement
|
||||
* a personal local data pool. The queueToUse can be supplied if it
|
||||
* is already known.
|
||||
*
|
||||
* initialize() has to be called in any case before using the object!
|
||||
* @param owner
|
||||
* @param queueToUse
|
||||
* @param appendValidityBuffer Specify whether a buffer containing the
|
||||
* validity state is generated when serializing or deserializing packets.
|
||||
*/
|
||||
LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
|
||||
bool appendValidityBuffer = true);
|
||||
virtual~ LocalDataPoolManager();
|
||||
|
||||
/**
|
||||
* Assigns the queue to use. Make sure to call this in the #initialize
|
||||
* function of the owner.
|
||||
* @param queueToUse
|
||||
* @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t initialize(MessageQueueIF* queueToUse);
|
||||
|
||||
/**
|
||||
* Initializes the map by calling the map initialization function and
|
||||
* setting the periodic factor for non-diagnostic packets.
|
||||
* Don't forget to call this in the #initializeAfterTaskCreation call of
|
||||
* the owner, otherwise the map will be invalid!
|
||||
* @param nonDiagInvlFactor
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t initializeAfterTaskCreation(
|
||||
uint8_t nonDiagInvlFactor = 5);
|
||||
|
||||
/**
|
||||
* @brief This should be called in the periodic handler of the owner.
|
||||
* @details
|
||||
* This in generally called in the #performOperation function of the owner.
|
||||
* It performs all the periodic functionalities of the data pool manager,
|
||||
* for example generating periodic HK packets.
|
||||
* Marked virtual as an adaption point for custom data pool managers.
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t performHkOperation();
|
||||
|
||||
/**
|
||||
* @brief Subscribe for the generation of periodic packets.
|
||||
* @details
|
||||
* This subscription mechanism will generally be used by the data creator
|
||||
* to generate housekeeping packets which are downlinked directly.
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
|
||||
float collectionInterval, bool isDiagnostics,
|
||||
object_id_t packetDestination = defaultHkDestination) 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
|
||||
*/
|
||||
ReturnValue_t subscribeForUpdatePacket(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 subscribeForSetUpdateMessage(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
|
||||
* pool variable has changed.
|
||||
* @details
|
||||
* This subscription mechanism will generally be used internally by
|
||||
* other software components.
|
||||
* @param localPoolId Pool ID of the pool variable
|
||||
* @param destinationObject
|
||||
* @param targetQueueId
|
||||
* @param generateSnapshot If this is set to true, a copy of the current
|
||||
* data with a timestamp will be generated and sent via message.
|
||||
* Otherwise, only an notification message is sent.
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
|
||||
object_id_t destinationObject,
|
||||
MessageQueueId_t targetQueueId,
|
||||
bool generateSnapshot) 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);
|
||||
|
||||
/**
|
||||
* @brief The manager is also able to handle housekeeping messages.
|
||||
* @details
|
||||
* This most commonly is used to handle messages for the housekeeping
|
||||
* interface, but the manager is also able to handle update notifications
|
||||
* and calls a special function which can be overriden by a child class
|
||||
* to handle data set or pool variable updates. This is relevant
|
||||
* for classes like controllers which have their own local datapool
|
||||
* but pull their data from other local datapools.
|
||||
* @param message
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
|
||||
|
||||
/**
|
||||
* Generate a housekeeping packet with a given SID.
|
||||
* @param sid
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t generateHousekeepingPacket(sid_t sid,
|
||||
LocalPoolDataSetBase* dataSet, bool forDownlink,
|
||||
MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
|
||||
|
||||
HasLocalDataPoolIF* getOwner();
|
||||
|
||||
ReturnValue_t printPoolEntry(lp_id_t localPoolId);
|
||||
|
||||
/**
|
||||
* Different types of housekeeping reporting are possible.
|
||||
* 1. PERIODIC:
|
||||
* HK packets are generated in fixed intervals and sent to
|
||||
* destination. Fromat will be raw.
|
||||
* 2. UPDATE_NOTIFICATION:
|
||||
* Notification will be sent out if HK data has changed.
|
||||
* 3. UPDATE_SNAPSHOT:
|
||||
* HK packets are only generated if explicitely requested.
|
||||
* Propably not necessary, just use multiple local data sets or
|
||||
* shared datasets.
|
||||
*/
|
||||
enum class ReportingType: uint8_t {
|
||||
//! Periodic generation of HK packets.
|
||||
PERIODIC,
|
||||
//! Housekeeping packet will be generated if values have changed.
|
||||
UPDATE_HK,
|
||||
//! Update notification will be sent out as message.
|
||||
UPDATE_NOTIFICATION,
|
||||
//! Notification will be sent out as message and a snapshot of the
|
||||
//! current data will be generated.
|
||||
UPDATE_SNAPSHOT,
|
||||
};
|
||||
|
||||
/** Different data types are possible in the HK receiver map. For example, updates can be
|
||||
requested for full datasets or for single pool variables. Periodic reporting is only possible
|
||||
for data sets. */
|
||||
enum class DataType: uint8_t {
|
||||
LOCAL_POOL_VARIABLE,
|
||||
DATA_SET
|
||||
};
|
||||
|
||||
/* Copying forbidden */
|
||||
LocalDataPoolManager(const LocalDataPoolManager &) = delete;
|
||||
LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
|
||||
|
||||
/**
|
||||
* This function can be used to clear the receivers list. This is
|
||||
* intended for test functions and not for regular operations, because
|
||||
* the insertion operations allocate dynamically.
|
||||
*/
|
||||
void clearReceiversList();
|
||||
|
||||
object_id_t getCreatorObjectId() const;
|
||||
|
||||
/**
|
||||
* 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;
|
||||
|
||||
protected:
|
||||
|
||||
/** Core data structure for the actual pool data */
|
||||
localpool::DataPool localPoolMap;
|
||||
/** Every housekeeping data manager has a mutex to protect access
|
||||
to it's data pool. */
|
||||
MutexIF* mutex = nullptr;
|
||||
|
||||
/** The class which actually owns the manager (and its datapool). */
|
||||
HasLocalDataPoolIF* owner = nullptr;
|
||||
|
||||
uint8_t nonDiagnosticIntervalFactor = 0;
|
||||
|
||||
/** Default receiver for periodic HK packets */
|
||||
static object_id_t defaultHkDestination;
|
||||
MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
|
||||
|
||||
union DataId {
|
||||
DataId(): sid() {};
|
||||
sid_t sid;
|
||||
lp_id_t localPoolId;
|
||||
};
|
||||
|
||||
/** The data pool manager will keep an internal map of HK receivers. */
|
||||
struct HkReceiver {
|
||||
/** Object ID of receiver */
|
||||
object_id_t objectId = objects::NO_OBJECT;
|
||||
|
||||
DataType dataType = DataType::DATA_SET;
|
||||
DataId dataId;
|
||||
|
||||
ReportingType reportingType = ReportingType::PERIODIC;
|
||||
MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
|
||||
};
|
||||
|
||||
/** This vector will contain the list of HK receivers. */
|
||||
using HkReceivers = std::vector<struct HkReceiver>;
|
||||
|
||||
HkReceivers hkReceivers;
|
||||
|
||||
struct HkUpdateResetHelper {
|
||||
DataType dataType = DataType::DATA_SET;
|
||||
DataId dataId;
|
||||
uint8_t updateCounter;
|
||||
uint8_t currentUpdateCounter;
|
||||
};
|
||||
|
||||
using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
|
||||
/** This list is used to manage creating multiple update packets and only resetting
|
||||
the update flag if all of them were created. Will only be created when needed. */
|
||||
HkUpdateResetList* hkUpdateResetList = nullptr;
|
||||
|
||||
/** This is the map holding the actual data. Should only be initialized
|
||||
* once ! */
|
||||
bool mapInitialized = false;
|
||||
/** This specifies whether a validity buffer is appended at the end
|
||||
* of generated housekeeping packets. */
|
||||
bool appendValidityBuffer = true;
|
||||
|
||||
/**
|
||||
* @brief Queue used for communication, for example commands.
|
||||
* Is also used to send messages. Can be set either in the constructor
|
||||
* or in the initialize() function.
|
||||
*/
|
||||
MessageQueueIF* hkQueue = nullptr;
|
||||
|
||||
/** Global IPC store is used to store all packets. */
|
||||
StorageManagerIF* ipcStore = nullptr;
|
||||
|
||||
/**
|
||||
* 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 classes designated by the LocalDpManagerAttorney may use this function.
|
||||
* @tparam T Type of the pool entry
|
||||
* @param localPoolId Pool ID of the variable to read
|
||||
* @param poolVar [out] Corresponding pool entry will be assigned to the
|
||||
* supplied pointer.
|
||||
* @return
|
||||
*/
|
||||
template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry);
|
||||
|
||||
/**
|
||||
* This function is used to fill the local data pool map with pool
|
||||
* entries. It should only be called once by the pool owner.
|
||||
* @param localDataPoolMap
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t initializeHousekeepingPoolEntriesOnce();
|
||||
|
||||
MutexIF* getLocalPoolMutex() override;
|
||||
|
||||
ReturnValue_t serializeHkPacketIntoStore(HousekeepingPacketDownlink& hkPacket,
|
||||
store_address_t& storeId, bool forDownlink, size_t* serializedSize);
|
||||
|
||||
void performPeriodicHkGeneration(HkReceiver& hkReceiver);
|
||||
ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics);
|
||||
ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval,
|
||||
bool isDiagnostics);
|
||||
ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
|
||||
|
||||
void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
|
||||
void handleChangeResetLogic(DataType type,
|
||||
DataId dataId, MarkChangedIF* toReset);
|
||||
void resetHkUpdateResetHelper();
|
||||
|
||||
ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver, ReturnValue_t& status);
|
||||
ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver, ReturnValue_t& status);
|
||||
ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver, ReturnValue_t& status);
|
||||
ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket, store_address_t& storeId);
|
||||
|
||||
void printWarningOrError(sif::OutputTypes outputType, const char* functionName,
|
||||
ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
|
||||
const char* errorPrint = nullptr);
|
||||
};
|
||||
|
||||
|
||||
template<class T> inline
|
||||
ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry) {
|
||||
if(poolEntry == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
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<T>* >(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;
|
||||
}
|
||||
|
||||
|
||||
#endif /* FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */
|
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