Split up FIFO into StaticFIFO and normale FIFO

container/FIFO.h

@@ -1,82 +1,26 @@
-#ifndef FIFO_H_
-#define FIFO_H_
+#ifndef FRAMEWORK_CONTAINER_FIFO_H_
+#define FRAMEWORK_CONTAINER_FIFO_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/container/FIFOBase.h>
+#include <vector>
 
 /**
- * @brief Simple First-In-First-Out data structure
+ * @brief 	Simple First-In-First-Out data structure. The maximum size
+ * 			can be set in the constructor. THe public interface of
+ * 			FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */
-template<typename T, uint8_t capacity>
-class FIFO {
-private:
-	uint8_t readIndex, writeIndex, currentSize;
-	T data[capacity];
-
-	uint8_t next(uint8_t current) {
-		++current;
-		if (current == capacity) {
-			current = 0;
-		}
-		return current;
-	}
+template<typename T>
+class FIFO: public FIFOBase<T> {
 public:
-	FIFO() :
-			readIndex(0), writeIndex(0), currentSize(0) {
-	}
-
-	bool empty() {
-		return (currentSize == 0);
-	}
-
-	bool full() {
-		return (currentSize == capacity);
-	}
-
-	uint8_t size(){
-		return currentSize;
-	}
-
-	ReturnValue_t insert(T value) {
-		if (full()) {
-			return FULL;
-		} else {
-			data[writeIndex] = value;
-			writeIndex = next(writeIndex);
-			++currentSize;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-
-	ReturnValue_t retrieve(T *value) {
-		if (empty()) {
-			return EMPTY;
-		} else {
-			*value = data[readIndex];
-			readIndex = next(readIndex);
-			--currentSize;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-
-	ReturnValue_t peek(T * value) {
-	    if(empty()) {
-	        return EMPTY;
-	    } else {
-	       *value = data[readIndex];
-	       return HasReturnvaluesIF::RETURN_OK;
-	    }
-	}
-
-	ReturnValue_t pop() {
-		T value;
-		return this->retrieve(&value);
-	}
-
-	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);
+	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity) {
+		values.reserve(maxCapacity);
+		values.resize(maxCapacity);
 	};
 
-#endif /* FIFO_H_ */
+private:
+	std::vector<T> values;
+};
+
+#endif /* FRAMEWORK_CONTAINER_FIFO_H_ */

container/FIFOBase.h

@@ -0,0 +1,59 @@
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#define FRAMEWORK_CONTAINER_FIFOBASE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+
+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, no input arguments required. */
+	FIFOBase(T* values, const size_t maxCapacity);
+
+	/**
+	 * Insert value into FIFO
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t insert(T value);
+	/**
+	 * Retrieve item from FIFO. This removes the item from the FIFO.
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t retrieve(T *value);
+	/**
+	 * Retrieve item from FIFO without removing it from FIFO.
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t peek(T * value);
+	/**
+	 * Remove item from FIFO.
+	 * @return
+	 */
+	ReturnValue_t pop();
+
+	bool empty();
+	bool full();
+	size_t size();
+
+private:
+	T* values;
+	size_t maxCapacity;
+
+	size_t readIndex = 0;
+	size_t writeIndex = 0;
+	size_t currentSize = 0;
+
+	size_t next(size_t current);
+};
+
+#include <framework/container/FIFOBase.tpp>
+
+#endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */

container/FIFOBase.tpp

@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+#define FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#error Include FIFOBase.h before FIFOBase.tpp!
+#endif
+
+template<typename T>
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+		values(values), maxCapacity(maxCapacity) {};
+
+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 {
+		*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 {
+		*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;
+}
+
+#endif

container/StaticFIFO.h

@@ -0,0 +1,23 @@
+#ifndef FRAMEWORK_CONTAINER_STATICFIFO_H_
+#define FRAMEWORK_CONTAINER_STATICFIFO_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/container/FIFOBase.h>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure with size fixed at
+ * 			compile time. 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 StaticFIFO: public FIFOBase<T> {
+public:
+	StaticFIFO(): FIFOBase<T>(values.data(), capacity) {};
+
+private:
+	std::array<T, capacity> values;
+};
+
+#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */

globalfunctions/timevalOperations.cpp

@@ -90,3 +90,10 @@ double timevalOperations::toDouble(const timeval timeval) {
 	double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
 	return result / 1000000.;
 }
+
+timeval timevalOperations::toTimeval(const double seconds) {
+	timeval tval;
+	tval.tv_sec = seconds;
+	tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
+	return tval;
+}

globalfunctions/timevalOperations.h

@@ -41,6 +41,7 @@ namespace timevalOperations {
  * @return seconds
  */
 double toDouble(const timeval timeval);
+timeval toTimeval(const double seconds);
 }
 
 #endif /* TIMEVALOPERATIONS_H_ */

osal/linux/TcUnixUdpPollingTask.cpp

@@ -1,16 +1,80 @@
 #include <framework/osal/linux/TcUnixUdpPollingTask.h>
 
 TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
-		object_id_t tmtcUnixUdpBridge): SystemObject(objectId) {
+		object_id_t tmtcUnixUdpBridge, size_t frameSize,
+		double timeoutSeconds): SystemObject(objectId),
+		tmtcBridgeId(tmtcUnixUdpBridge) {
+
+	if(frameSize > 0) {
+		this->frameSize = frameSize;
+	}
+	else {
+		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
+	}
+
+	// Set up reception buffer with specified frame size.
+	// For now, it is assumed that only one frame is held in the buffer!
+	receptionBuffer.reserve(this->frameSize);
+	receptionBuffer.resize(this->frameSize);
+
+	if(timeoutSeconds == -1) {
+		receptionTimeout = DEFAULT_TIMEOUT;
+	}
+	else {
+		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
+	}
+
+	// Set receive timeout.
+	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+			&receptionTimeout, sizeof(receptionTimeout));
+	if(result == -1) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting receive"
+				"timeout failed with " << strerror(errno) << std::endl;
+		return;
+	}
 }
 
 TcSocketPollingTask::~TcSocketPollingTask() {
 }
 
 ReturnValue_t TcSocketPollingTask::performOperation(uint8_t opCode) {
+	// Poll for new data permanently. The call will block until the specified
+	// length of bytes has been received or a timeout occured.
+	while(1) {
+		//! Sender Address is cached here.
+		struct sockaddr_in senderAddress;
+		socklen_t senderSockLen = 0;
+		ssize_t bytesReceived = recvfrom(serverUdpSocket,
+				receptionBuffer.data(), frameSize, receptionFlags,
+				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
+		if(bytesReceived < 0) {
+			//handle error
+			sif::error << "TcSocketPollingTask::performOperation: recvfrom "
+					"failed with " << strerror(errno) << std::endl;
+			continue;
+		}
+		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+				<< " bytes received" << std::endl;
+
+		ReturnValue_t result = handleSuccessfullTcRead();
+		tmtcBridge->checkAndSetClientAddress(senderAddress);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcSocketPollingTask::initialize() {
+	tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
+	if(tmtcBridge == nullptr) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
+				" TMTC bridge object!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	serverUdpSocket = tmtcBridge->serverSocket;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TcSocketPollingTask::handleSuccessfullTcRead() {
+
 	return HasReturnvaluesIF::RETURN_OK;
 }

osal/linux/TcUnixUdpPollingTask.h

@@ -1,8 +1,11 @@
 #ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #include <framework/objectmanager/SystemObject.h>
+#include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/tasks/ExecutableObjectIF.h>
+
 #include <sys/socket.h>
+#include <vector>
 
 /**
  * @brief 	This class can be used to implement the polling of a Unix socket,
@@ -17,15 +20,34 @@ class TcSocketPollingTask: public SystemObject,
 		public ExecutableObjectIF {
 	friend class TmTcUnixUdpBridge;
 public:
-	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge);
+	static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
+	//! 0.5  default milliseconds timeout for now.
+	static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
+
+	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+			size_t frameSize = 0, double timeoutSeconds = -1);
 	virtual~ TcSocketPollingTask();
 
 	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 	virtual ReturnValue_t initialize() override;
+
 private:
-	//! Sender Address is cached here.
-	const struct sockaddr senderAddress;
-};
+	//! TMTC bridge is cached.
+	object_id_t tmtcBridgeId = objects::NO_OBJECT;
+	TmTcUnixUdpBridge* tmtcBridge = nullptr;
+	//! Reception flags: https://linux.die.net/man/2/recvfrom.
+	int receptionFlags = 0;
+
+	//! Server socket, which is member of TMTC bridge and is assigned in
+	//! constructor
+	int serverUdpSocket = 0;
+
+	std::vector<uint8_t> receptionBuffer;
+
+	size_t frameSize = 0;
+	timeval receptionTimeout;
+
+	ReturnValue_t handleSuccessfullTcRead();
 
 
 

osal/linux/TmTcUnixUdpBridge.cpp

@@ -1,11 +1,14 @@
 #include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <errno.h>
+#include <framework/ipc/MutexHelper.h>
 
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		object_id_t ccsdsPacketDistributor, uint16_t serverPort,
 		uint16_t clientPort):
 		TmTcBridge(objectId, ccsdsPacketDistributor) {
+	mutex = MutexFactory::instance()->createMutex();
+
 	uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
 	if(serverPort != 0xFFFF) {
 		setServerPort = serverPort;
@@ -16,6 +19,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		setClientPort = clientPort;
 	}
 
+	// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
 	serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
 	if(socket < 0) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
@@ -26,14 +30,16 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 	}
 
 	serverAddress.sin_family = AF_INET;
+	// Accept packets from any interface.
 	serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
 	serverAddress.sin_port = htons(setServerPort);
 	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
 			sizeof(serverSocketOptions));
 
+	serverSocketLen = sizeof(serverAddress);
 	int result = bind(serverSocket,
 			reinterpret_cast<struct sockaddr*>(&serverAddress),
-			sizeof(serverAddress));
+			serverSocketLen);
 	if(result == -1) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
 				"local port " << setServerPort << " to server socket!"
@@ -81,6 +87,17 @@ void TmTcUnixUdpBridge::handleSocketError() {
 	}
 }
 
+void TmTcUnixUdpBridge::setTimeout(float timeoutSeconds) {
+}
+
+void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+	MutexHelper lock(mutex, 10);
+	// Set new IP address if it has changed.
+	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
+	}
+}
+
 void TmTcUnixUdpBridge::handleBindError() {
 	// See: https://man7.org/linux/man-pages/man2/bind.2.html
 	switch(errno) {

osal/linux/TmTcUnixUdpBridge.h

@@ -7,16 +7,20 @@
 #include <netinet/udp.h>
 
 class TmTcUnixUdpBridge: public TmTcBridge {
+	friend class TcSocketPollingTask;
 public:
 	// The ports chosen here should not be used by any other process.
 	// List of used ports on Linux: /etc/services
-	static constexpr int DEFAULT_UDP_SERVER_PORT = 7301;
-	static constexpr int DEFAULT_UDP_CLIENT_PORT = 7302;
+	static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
+	static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
 
 	TmTcUnixUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
 			 uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();
 
+	void setTimeout(float timeoutSeconds);
+	void checkAndSetClientAddress(sockaddr_in clientAddress);
+
 protected:
 	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer,
 			size_t * size) override;
@@ -24,8 +28,16 @@ protected:
 private:
 	int serverSocket = 0;
 	const int serverSocketOptions = 0;
+
 	struct sockaddr_in clientAddress;
+	socklen_t clientSocketLen = 0;
+
 	struct sockaddr_in serverAddress;
+	socklen_t serverSocketLen = 0;
+
+	//! Access to the client address is mutex protected as it is set
+	//! by another task.
+	MutexIF* mutex;
 
 	void handleSocketError();
 	void handleBindError();

tmtcservices/CommandingServiceBase.h

@@ -10,7 +10,7 @@
 #include <framework/tmtcservices/VerificationReporter.h>
 #include <framework/ipc/CommandMessage.h>
 #include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
+#include <framework/container/StaticFIFO.h>
 #include <framework/serialize/SerializeIF.h>
 
 class TcPacketStored;
@@ -199,7 +199,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		FIFO<store_address_t, 3> fifo;
+		StaticFIFO<store_address_t, 3> fifo;
 	};
 
 	using CommandMapIter = FixedMap<MessageQueueId_t,

tmtcservices/TmTcBridge.h

@@ -8,7 +8,7 @@
 #include <framework/objectmanager/SystemObject.h>
 
 #include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/container/FIFO.h>
+#include <framework/container/StaticFIFO.h>
 
 class TmTcBridge : public AcceptsTelemetryIF,
 		public ExecutableObjectIF,
@@ -143,7 +143,7 @@ protected:
 	 * This fifo can be used to store downlink data
 	 * which can not be sent at the moment.
 	 */
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+	StaticFIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
     uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
     uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };