diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp index de024c81..d535a72b 100644 --- a/datapool/PoolEntry.cpp +++ b/datapool/PoolEntry.cpp @@ -1,13 +1,34 @@ #include #include +#include +#include template -PoolEntry::PoolEntry( T* initValue, uint8_t set_length, uint8_t set_valid ) : length(set_length), valid(set_valid) { +PoolEntry::PoolEntry(std::initializer_list initValue, uint8_t setLength, + bool setValid ) : length(setLength), valid(setValid) { this->address = new T[this->length]; - if (initValue != NULL) { - memcpy(this->address, initValue, this->getByteSize() ); + if(initValue.size() == 0) { + std::memset(this->address, 0, this->getByteSize()); + } + else if (initValue.size() != setLength){ + sif::warning << "PoolEntry: setLength is not equal to initializer list" + "length! Performing zero initialization with given setLength" + << std::endl; + std::memset(this->address, 0, this->getByteSize()); + } + else { + std::copy(initValue.begin(), initValue.end(), this->address); + } +} + +template +PoolEntry::PoolEntry( T* initValue, uint8_t setLength, bool setValid ) : + length(setLength), valid(setValid) { + this->address = new T[this->length]; + if (initValue != nullptr) { + std::memcpy(this->address, initValue, this->getByteSize() ); } else { - memset(this->address, 0, this->getByteSize() ); + std::memset(this->address, 0, this->getByteSize() ); } } @@ -34,21 +55,20 @@ void* PoolEntry::getRawData() { } template -void PoolEntry::setValid( uint8_t isValid ) { +void PoolEntry::setValid(bool isValid) { this->valid = isValid; } template -uint8_t PoolEntry::getValid() { +bool PoolEntry::getValid() { return valid; } template void PoolEntry::print() { - for (uint8_t size = 0; size < this->length; size++ ) { - sif::debug << "| " << std::hex << (double)this->address[size] - << (this->valid? " (valid) " : " (invalid) "); - } + sif::debug << "Pool Entry Validity: " << + (this->valid? " (valid) " : " (invalid) ") << std::endl; + arrayprinter::print(reinterpret_cast(address), length); sif::debug << std::dec << std::endl; } diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h index ce41a991..1a22bb63 100644 --- a/datapool/PoolEntry.h +++ b/datapool/PoolEntry.h @@ -1,81 +1,126 @@ -#ifndef POOLENTRY_H_ -#define POOLENTRY_H_ - +#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_ +#define FRAMEWORK_DATAPOOL_POOLENTRY_H_ #include -#include -#include + +#include +#include +#include + /** - * \brief This is a small helper class that defines a single data pool entry. + * @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. * - * \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 the DataPool class. + * 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. * - * \ingroup data_pool + * 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 class PoolEntry : public PoolEntryIF { public: + static_assert(not std::is_same::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 + * @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 (NULL), the entry is initalized with all 0. - * \param set_length Defines the array length of this entry. - * \param set_valid Sets the initialization flag. It is invalid (0) by default. + * @details + * Not passing any arguments will initialize an non-array pool entry + * (setLength = 1) with an initial invalid state. + * Please note that if an initializer list is passed, the correct + * corresponding length should be passed too, otherwise a zero + * initialization will be performed with the given setLength. + * @param initValue + * Initializer list with values to initialize with, for example {0,0} to + * initialize the two entries to zero. + * @param setLength + * Defines the array length of this entry. Should be equal to the + * intializer list length. + * @param setValid + * Sets the initialization flag. It is invalid by default. */ - PoolEntry( T* initValue = NULL, uint8_t set_length = 1, uint8_t set_valid = 0 ); + PoolEntry(std::initializer_list initValue = {}, uint8_t setLength = 1, + bool setValid = false); /** - * \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. + * @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(); + /** - * \brief This is the address pointing to the allocated memory. + * @brief This is the address pointing to the allocated memory. */ T* address; /** - * \brief This attribute stores the length information. + * @brief This attribute stores the length information. */ uint8_t length; /** - * \brief Here, the validity information for a variable is stored. + * @brief Here, the validity information for a variable is stored. * Every entry (single variable or vector) has one valid flag. */ uint8_t valid; /** - * \brief getSize returns the array size of the entry. - * \details A single parameter has size 1. + * @brief getSize returns the array size of the entry. + * @details A single parameter has size 1. */ uint8_t getSize(); /** - * \brief This operation returns the size in bytes. - * \details The size is calculated by sizeof(type) * array_size. + * @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*. + * @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. + * @brief This method allows to set the valid information + * of the pool entry. */ - void setValid( uint8_t isValid ); + void setValid( bool isValid ); /** - * \brief This method allows to get the valid information of the pool entry. + * @brief This method allows to get the valid information + * of the pool entry. */ - uint8_t getValid(); + 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. + * @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(); diff --git a/datapool/PoolEntryIF.h b/datapool/PoolEntryIF.h index 514e67ef..a075436e 100644 --- a/datapool/PoolEntryIF.h +++ b/datapool/PoolEntryIF.h @@ -1,62 +1,57 @@ -/** - * \file PoolEntryIF.h - * - * \brief This file holds the class that defines the Interface for Pool Entry elements. - * - * \date 10/18/2012 - * - * \author Bastian Baetz - */ - -#ifndef POOLENTRYIF_H_ -#define POOLENTRYIF_H_ +#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_ +#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_ #include -#include - - +#include /** - * \brief This interface defines the access possibilities to a single data pool entry. + * @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. * - * \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. - * - * \ingroup data_pool + * @author Bastian Baetz + * @ingroup data_pool * */ class PoolEntryIF { public: /** - * \brief This is an empty virtual destructor, as it is proposed for C++ interfaces. + * @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. + * @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 + * @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*. + * @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. + * @brief This method allows to set the valid information of the pool entry. */ - virtual void setValid(uint8_t isValid) = 0; + virtual void setValid(bool isValid) = 0; /** - * \brief This method allows to set the valid information of the pool entry. + * @brief This method allows to set the valid information of the pool entry. */ - virtual uint8_t getValid() = 0; + 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. + * @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; /** diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp index ba68bcd2..fd81b894 100644 --- a/datapool/PoolRawAccess.cpp +++ b/datapool/PoolRawAccess.cpp @@ -4,6 +4,8 @@ #include #include +#include + PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry, DataSetIF* data_set, ReadWriteMode_t setReadWriteMode) : dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(Type::UNKNOWN_TYPE), typeSize( diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp index cffc2125..dce20265 100644 --- a/osal/FreeRTOS/Clock.cpp +++ b/osal/FreeRTOS/Clock.cpp @@ -1,16 +1,18 @@ #include #include -#include -#include "Timekeeper.h" +#include -#include -#include +#include +#include + +#include +#include //TODO sanitize input? //TODO much of this code can be reused for tick-only systems uint16_t Clock::leapSeconds = 0; -MutexIF* Clock::timeMutex = NULL; +MutexIF* Clock::timeMutex = nullptr; uint32_t Clock::getTicksPerSecond(void) { return 1000; @@ -56,7 +58,6 @@ ReturnValue_t Clock::getUptime(timeval* uptime) { timeval Clock::getUptime() { TickType_t ticksSinceStart = xTaskGetTickCount(); - return Timekeeper::ticksToTimeval(ticksSinceStart); } @@ -128,7 +129,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) { ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) { //SHOULDDO: works not for dates in the past (might have less leap seconds) - if (timeMutex == NULL) { + if (timeMutex == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp index 81f7f997..643b2747 100644 --- a/osal/FreeRTOS/Timekeeper.cpp +++ b/osal/FreeRTOS/Timekeeper.cpp @@ -1,20 +1,19 @@ -#include "Timekeeper.h" -#include +#include -Timekeeper::Timekeeper() : - offset( { 0, 0 }) { - // TODO Auto-generated constructor stub +#include "FreeRTOSConfig.h" -} +Timekeeper * Timekeeper::myinstance = nullptr; -Timekeeper * Timekeeper::myinstance = NULL; +Timekeeper::Timekeeper() : offset( { 0, 0 } ) {} + +Timekeeper::~Timekeeper() {} const timeval& Timekeeper::getOffset() const { return offset; } Timekeeper* Timekeeper::instance() { - if (myinstance == NULL) { + if (myinstance == nullptr) { myinstance = new Timekeeper(); } return myinstance; @@ -24,10 +23,6 @@ void Timekeeper::setOffset(const timeval& offset) { this->offset = offset; } -Timekeeper::~Timekeeper() { - // TODO Auto-generated destructor stub -} - timeval Timekeeper::ticksToTimeval(TickType_t ticks) { timeval uptime; uptime.tv_sec = ticks / configTICK_RATE_HZ; @@ -40,3 +35,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) { return uptime; } + +TickType_t Timekeeper::getTicks() { + return xTaskGetTickCount(); +} diff --git a/osal/FreeRTOS/Timekeeper.h b/osal/FreeRTOS/Timekeeper.h index 2ba3e4a9..7d3ca22b 100644 --- a/osal/FreeRTOS/Timekeeper.h +++ b/osal/FreeRTOS/Timekeeper.h @@ -3,7 +3,9 @@ #include -#include +#include +#include + /** * A Class to basically store the time difference between uptime and UTC @@ -25,6 +27,11 @@ public: virtual ~Timekeeper(); static timeval ticksToTimeval(TickType_t ticks); + /** + * Get elapsed time in system ticks. + * @return + */ + static TickType_t getTicks(); const timeval& getOffset() const; void setOffset(const timeval& offset); diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp index e24a4fe4..630b2cf4 100644 --- a/osal/linux/Clock.cpp +++ b/osal/linux/Clock.cpp @@ -1,10 +1,10 @@ -#include -#include +#include #include - +#include #include #include +#include #include //#include @@ -65,6 +65,15 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) { return HasReturnvaluesIF::RETURN_OK; } +timeval Clock::getUptime() { + timeval uptime; + auto result = getUptime(&uptime); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Clock::getUptime: Error getting uptime" << std::endl; + } + return uptime; +} + ReturnValue_t Clock::getUptime(timeval* uptime) { //TODO This is not posix compatible and delivers only seconds precision struct sysinfo sysInfo; diff --git a/timemanager/Clock.h b/timemanager/Clock.h index af657247..121c63df 100644 --- a/timemanager/Clock.h +++ b/timemanager/Clock.h @@ -2,12 +2,15 @@ #define FRAMEWORK_TIMEMANAGER_CLOCK_H_ #include -#include -#include #include #include +#include +#include +//! Don't use these for time points, type is not large enough for UNIX epoch. +typedef uint32_t dur_millis_t; +typedef double dur_seconds_t; class Clock { public: @@ -21,7 +24,7 @@ public: uint32_t usecond; //!< Microseconds, 0 .. 999999 } TimeOfDay_t; - /**static Clock* TimeOfDay_t(); + /** * This method returns the number of clock ticks per second. * In RTEMS, this is typically 1000. * @return The number of ticks. @@ -33,22 +36,23 @@ public: * This system call sets the system time. * To set the time, it uses a TimeOfDay_t struct. * @param time The struct with the time settings to set. - * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned. + * @return -@c RETURN_OK on success. Otherwise, the OS failure code + * is returned. */ static ReturnValue_t setClock(const TimeOfDay_t* time); /** * This system call sets the system time. * To set the time, it uses a timeval struct. * @param time The struct with the time settings to set. - * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned. + * @return -@c RETURN_OK on success. Otherwise, the OS failure code is returned. */ static ReturnValue_t setClock(const timeval* time); /** * This system call returns the current system clock in timeval format. - * The timval format has the fields \c tv_sec with seconds and \c tv_usec with + * The timval format has the fields @c tv_sec with seconds and @c tv_usec with * microseconds since an OS-defined epoch. * @param time A pointer to a timeval struct where the current time is stored. - * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned. + * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned. */ static ReturnValue_t getClock_timeval(timeval* time); @@ -56,7 +60,7 @@ public: * Get the time since boot in a timeval struct * * @param[out] time A pointer to a timeval struct where the uptime is stored. - * @return\c RETURN_OK on success. Otherwise, the OS failure code is returned. + * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned. * * @deprecated, I do not think this should be able to fail, use timeval getUptime() */ diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp new file mode 100644 index 00000000..52118d58 --- /dev/null +++ b/timemanager/Stopwatch.cpp @@ -0,0 +1,57 @@ +#include +#include +#include + +Stopwatch::Stopwatch(bool displayOnDestruction, + StopwatchDisplayMode displayMode): displayOnDestruction( + displayOnDestruction), displayMode(displayMode) { + // Measures start time on initialization. + Clock::getClock_timeval(&startTime); +} + +void Stopwatch::start() { + Clock::getClock_timeval(&startTime); +} + +dur_millis_t Stopwatch::stop() { + stopInternal(); + return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000; +} + +dur_seconds_t Stopwatch::stopSeconds() { + stopInternal(); + return timevalOperations::toDouble(elapsedTime); +} + +void Stopwatch::display() { + if(displayMode == StopwatchDisplayMode::MILLIS) { + sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 + + elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl; + } + else if(displayMode == StopwatchDisplayMode::SECONDS) { + sif::info <<"Stopwatch: Operation took " << std::setprecision(3) + << std::fixed << timevalOperations::toDouble(elapsedTime) + << " seconds" << std::endl; + } +} + +Stopwatch::~Stopwatch() { + if(displayOnDestruction) { + stopInternal(); + display(); + } +} + +void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) { + this->displayMode = displayMode; +} + +StopwatchDisplayMode Stopwatch::getDisplayMode() const { + return displayMode; +} + +void Stopwatch::stopInternal() { + timeval endTime; + Clock::getClock_timeval(&endTime); + elapsedTime = endTime - startTime; +} diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h new file mode 100644 index 00000000..630202cc --- /dev/null +++ b/timemanager/Stopwatch.h @@ -0,0 +1,71 @@ +#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ +#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ +#include + +enum class StopwatchDisplayMode { + MILLIS, + SECONDS +}; + +/** + * @brief Simple Stopwatch implementation to measure elapsed time + * @details + * This class can be used to measure elapsed times. It also displays elapsed + * times automatically on destruction if not explicitely deactivated in the + * constructor. The default time format is the elapsed time in miliseconds + * in seconds as a double. + * @author R. Mueller + */ +class Stopwatch { +public: + /** + * Default constructor. Call "Stopwatch stopwatch" without brackets if + * no parameters are required! + * @param displayOnDestruction If set to true, displays measured time on + * object destruction + * @param displayMode Display format is either MS rounded or MS as double + * format + * @param outputPrecision If using double format, specify precision here. + */ + Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode + = StopwatchDisplayMode::MILLIS); + virtual~ Stopwatch(); + + /** + * Caches the start time + */ + void start(); + + /** + * Calculates the elapsed time since start and returns it + * @return elapsed time in milliseconds (rounded) + */ + dur_millis_t stop(); + /** + * Calculates the elapsed time since start and returns it + * @return elapsed time in seconds (double precision) + */ + dur_seconds_t stopSeconds(); + + /** + * Displays the elapsed times on the osstream, depending on internal display + * mode. + */ + void display(); + + StopwatchDisplayMode getDisplayMode() const; + void setDisplayMode(StopwatchDisplayMode displayMode); + bool displayOnDestruction = true; +private: + timeval startTime {0, 0}; + timeval elapsedTime {0, 0}; + + StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS; + + void stopInternal(); +}; + + + + +#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */ diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp new file mode 100644 index 00000000..f9a7d3bc --- /dev/null +++ b/tmtcservices/TmTcBridge.cpp @@ -0,0 +1,192 @@ +#include + +#include +#include +#include +#include + +TmTcBridge::TmTcBridge(object_id_t objectId_, + object_id_t ccsdsPacketDistributor_): SystemObject(objectId_), + ccsdsPacketDistributor(ccsdsPacketDistributor_) +{ + TmTcReceptionQueue = QueueFactory::instance()-> + createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); +} + +TmTcBridge::~TmTcBridge() {} + +ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( + uint8_t sentPacketsPerCycle) { + if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) { + this->sentPacketsPerCycle = sentPacketsPerCycle; + return RETURN_OK; + } + else { + sif::warning << "TmTcBridge: Number of packets sent per cycle " + "exceeds limits. Keeping default value." << std::endl; + return RETURN_FAILED; + } +} + +ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( + uint8_t maxNumberOfPacketsStored) { + if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) { + this->maxNumberOfPacketsStored = maxNumberOfPacketsStored; + return RETURN_OK; + } + else { + sif::warning << "TmTcBridge: Number of packets stored " + "exceeds limits. Keeping default value." << std::endl; + return RETURN_FAILED; + } +} + +ReturnValue_t TmTcBridge::initialize() { + tcStore = objectManager->get(objects::TC_STORE); + if (tcStore == NULL) { + return RETURN_FAILED; + } + tmStore = objectManager->get(objects::TM_STORE); + if (tmStore == NULL) { + return RETURN_FAILED; + } + AcceptsTelecommandsIF* tcDistributor = + objectManager->get(ccsdsPacketDistributor); + if (tcDistributor == NULL) { + return RETURN_FAILED; + } + TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue()); + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { + ReturnValue_t result; + result = handleTc(); + if(result != RETURN_OK) { + sif::error << "TMTC Bridge: Error handling TCs" << std::endl; + } + result = handleTm(); + if (result != RETURN_OK) { + sif::error << "TMTC Bridge: Error handling TMs" << std::endl; + } + return result; +} + +ReturnValue_t TmTcBridge::handleTc() { + uint8_t * recvBuffer = nullptr; + size_t recvLen = 0; + ReturnValue_t result = receiveTc(&recvBuffer, &recvLen); + return result; +} + +ReturnValue_t TmTcBridge::handleTm() { + ReturnValue_t result = handleTmQueue(); + if(result != RETURN_OK) { + sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl; + return RETURN_FAILED; + } + + if(tmStored and communicationLinkUp) { + result = handleStoredTm(); + } + return result; + +} + +ReturnValue_t TmTcBridge::handleTmQueue() { + TmTcMessage message; + const uint8_t* data = nullptr; + size_t size = 0; + for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message); + result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message)) + { + if(communicationLinkUp == false) { + result = storeDownlinkData(&message); + return result; + } + + result = tmStore->getData(message.getStorageId(), &data, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + continue; + } + + result = sendTm(data, size); + if (result != RETURN_OK) { + sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl; + tmStore->deleteData(message.getStorageId()); + return result; + + } + tmStore->deleteData(message.getStorageId()); + } + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { + //debug << "TMTC Bridge: Comm Link down. " + // "Saving packet ID to be sent later\r\n" << std::flush; + store_address_t storeId = 0; + + if(tmFifo.full()) { + sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs " + "reached! Overwriting old data" << std::endl; + tmFifo.retrieve(&storeId); + tmStore->deleteData(storeId); + } + storeId = message->getStorageId(); + tmFifo.insert(storeId); + tmStored = true; + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::handleStoredTm() { + uint8_t counter = 0; + ReturnValue_t result = RETURN_OK; + while(not tmFifo.empty() and counter < sentPacketsPerCycle) { + //info << "TMTC Bridge: Sending stored TM data. There are " + // << (int) fifo.size() << " left to send\r\n" << std::flush; + store_address_t storeId; + const uint8_t* data = nullptr; + size_t size = 0; + tmFifo.retrieve(&storeId); + result = tmStore->getData(storeId, &data, &size); + + sendTm(data,size); + + if(result != RETURN_OK) { + sif::error << "TMTC Bridge: Could not send stored downlink data" + << std::endl; + result = RETURN_FAILED; + } + counter ++; + + if(tmFifo.empty()) { + tmStored = false; + } + tmStore->deleteData(storeId); + } + return result; +} + +void TmTcBridge::registerCommConnect() { + if(not communicationLinkUp) { + //info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; + communicationLinkUp = true; + } +} + +void TmTcBridge::registerCommDisconnect() { + //info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; + if(communicationLinkUp) { + communicationLinkUp = false; + } +} + +MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { + return TmTcReceptionQueue->getId(); +} + + +void TmTcBridge::printData(uint8_t * data, size_t dataLen) { + arrayprinter::print(data, dataLen); +} diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h new file mode 100644 index 00000000..3e0432d8 --- /dev/null +++ b/tmtcservices/TmTcBridge.h @@ -0,0 +1,152 @@ +#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ +#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ + +#include +#include +#include +#include +#include + +#include +#include + +class TmTcBridge : public AcceptsTelemetryIF, + public ExecutableObjectIF, + public HasReturnvaluesIF, + public SystemObject { +public: + static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; + static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15; + static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20; + + static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5; + static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10; + + TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_); + virtual ~TmTcBridge(); + + /** + * Set number of packets sent per performOperation().Please note that this + * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE + * @param sentPacketsPerCycle + * @return -@c RETURN_OK if value was set successfully + * -@c RETURN_FAILED otherwise, stored value stays the same + */ + ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle); + + /** + * Set number of packets sent per performOperation().Please note that this + * value must be smaller than MAX_DOWNLINK_PACKETS_STORED + * @param sentPacketsPerCycle + * @return -@c RETURN_OK if value was set successfully + * -@c RETURN_FAILED otherwise, stored value stays the same + */ + ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored); + + virtual void registerCommConnect(); + virtual void registerCommDisconnect(); + + /** + * Initializes necessary FSFW components for the TMTC Bridge + * @return + */ + virtual ReturnValue_t initialize() override; + + /** + * @brief Handles TMTC reception + */ + virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; + + /** + * Return TMTC Reception Queue + * @param virtualChannel + * @return + */ + MessageQueueId_t getReportReceptionQueue( + uint8_t virtualChannel = 0) override; +protected: + //! Used to send and receive TMTC messages. + //! TmTcMessage is used to transport messages between tasks. + MessageQueueIF* TmTcReceptionQueue = nullptr; + StorageManagerIF* tcStore = nullptr; + StorageManagerIF* tmStore = nullptr; + object_id_t ccsdsPacketDistributor = 0; + //! Used to specify whether communication link is up + bool communicationLinkUp = false; + bool tmStored = false; + + /** + * @brief Handle TC reception + * @details + * Default implementation provided, but is empty. + * Child handler should override this in most cases orsend TC to the + * TC distributor directly with the address of the reception queue by + * calling getReportRecptionQueue() + * @return + */ + virtual ReturnValue_t handleTc(); + + /** + * Implemented by child class. Perform receiving of Telecommand, + * for example by implementing specific drivers or wrappers, + * e.g. UART Communication or an ethernet stack + * @param recvBuffer [out] Received data + * @param size [out] Size of received data + * @return + */ + virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0; + + /** + * Handle Telemetry. Default implementation provided. + * Calls sendTm() + * @return + */ + virtual ReturnValue_t handleTm(); + + /** + * Read the TM Queue and send TM if necessary. Default implementation provided + * @return + */ + virtual ReturnValue_t handleTmQueue(); + + /** + * Send stored data if communication link is active + * @return + */ + virtual ReturnValue_t handleStoredTm(); + + /** + * Implemented by child class. Perform sending of Telemetry by implementing + * communication drivers or wrappers, e.g. UART communication or lwIP stack. + * @param data + * @param dataLen + * @return + */ + virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0; + + /** + * Store data to be sent later if communication link is not up. + * @param message + * @return + */ + virtual ReturnValue_t storeDownlinkData(TmTcMessage * message); + + + /** + * Print data as hexidecimal array + * @param data + * @param dataLen + */ + void printData(uint8_t * data, size_t dataLen); + + /** + * This fifo can be used to store downlink data + * which can not be sent at the moment. + */ + FIFO tmFifo; + uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; + uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; +}; + + +#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */