50 lines
2.4 KiB
Markdown
50 lines
2.4 KiB
Markdown
## FSFW Core Modules
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These core modules provide the most important functionalities of the
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Flight Software Framework
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### Clock
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* This is a class of static functions that can be used at anytime
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* Leap Seconds must be set if any time conversions from UTC to other times is used
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### ObjectManager
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* Must be created during program startup
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* The component which handles all references. All SystemObjects register at this component.
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* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
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* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
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A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
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```cpp
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template <typename T> T* ObjectManagerIF::get( object_id_t id )
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```
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* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
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By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
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### Event Manager
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* Component which allows routing of events
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* Other objects can subscribe to specific events, ranges of events or all events of an object.
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* Subscriptions can be done during runtime but should be done during initialization
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* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
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### Health Table
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* A component which holds every health state
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* Provides a thread safe way to access all health states without the need of message exchanges
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### Stores
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* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can
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be exchanged with Stores. With this, only the store address must be exchanged in the message.
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* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
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* All of them should use the Thread Safe Class storagemanager/PoolManager
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### Tasks
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There are two different types of tasks:
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* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
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* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
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