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Merge branch 'master' into mueller/HealthHelperIdFix

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This commit is contained in:
Robin Müller 2020-09-10 16:40:20 +02:00
commit 036a022e66
11 changed files with 183 additions and 142 deletions
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8
container/ArrayList.h
View File

@ -72,11 +72,15 @@ public:
return tmp;
}
T operator*() {
T& operator*(){
return *value;
}
T *operator->() {
const T& operator*() const{
return *value;
}
T *operator->(){
return value;
}

17
container/DynamicFIFO.h
View File

@ -27,14 +27,27 @@ public:
/**
* @brief Custom copy constructor which prevents setting the
* underlying pointer wrong.
* 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;
};

12
container/FIFO.h
View File

@ -25,9 +25,21 @@ public:
* @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;
};

28
container/FixedMap.h
View File

@ -1,15 +1,20 @@
#ifndef FIXEDMAP_H_
#define FIXEDMAP_H_
#ifndef FSFW_CONTAINER_FIXEDMAP_H_
#define FSFW_CONTAINER_FIXEDMAP_H_
#include "ArrayList.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <utility>
#include <type_traits>
/**
* \ingroup container
* @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);
@ -47,15 +52,6 @@ public:
Iterator(std::pair<key_t, T> *pair) :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
}
T operator*() {
return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
}
T *operator->() {
return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
}
};
Iterator begin() const {
@ -70,7 +66,7 @@ public:
return _size;
}
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
return KEY_ALREADY_EXISTS;
}
@ -79,7 +75,7 @@ public:
}
theMap[_size].first = key;
theMap[_size].second = value;
if (storedValue != NULL) {
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[_size]);
}
++_size;
@ -87,7 +83,7 @@ public:
}
ReturnValue_t insert(std::pair<key_t, T> pair) {
return insert(pair.fist, pair.second);
return insert(pair.first, pair.second);
}
ReturnValue_t exists(key_t key) const {
@ -196,4 +192,4 @@ public:
};
#endif /* FIXEDMAP_H_ */
#endif /* FSFW_CONTAINER_FIXEDMAP_H_ */

23
container/FixedOrderedMultimap.h
View File

@ -48,7 +48,7 @@ private:
if (_size <= position) {
return;
}
memmove(&theMap[position], &theMap[position + 1],
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
}
@ -68,15 +68,6 @@ public:
Iterator(std::pair<key_t, T> *pair) :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
}
T operator*() {
return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
}
T *operator->() {
return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
}
};
Iterator begin() const {
@ -91,17 +82,17 @@ public:
return _size;
}
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
uint32_t position = findNicePlace(key);
memmove(&theMap[position + 1], &theMap[position],
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 != NULL) {
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
@ -145,12 +136,6 @@ public:
return HasReturnvaluesIF::RETURN_OK;
}
//This is potentially unsafe
// T *findValue(key_t key) const {
// return &theMap[findFirstIndex(key)].second;
// }
Iterator find(key_t key) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {

41
container/IsDerivedFrom.h
View File

@ -1,41 +0,0 @@
#ifndef ISDERIVEDFROM_H_
#define ISDERIVEDFROM_H_
template<typename D, typename B>
class IsDerivedFrom {
class No {
};
class Yes {
No no[3];
};
static Yes Test(B*); // declared, but not defined
static No Test(... ); // declared, but not defined
public:
enum {
Is = sizeof(Test(static_cast<D*>(0))) == sizeof(Yes)
};
};
template<typename, typename>
struct is_same {
static bool const value = false;
};
template<typename A>
struct is_same<A, A> {
static bool const value = true;
};
template<bool C, typename T = void>
struct enable_if {
typedef T type;
};
template<typename T>
struct enable_if<false, T> { };
#endif /* ISDERIVEDFROM_H_ */

103
serialize/SerializeAdapter.h
View File

@ -1,11 +1,11 @@
#ifndef SERIALIZEADAPTER_H_
#define SERIALIZEADAPTER_H_
#ifndef _FSFW_SERIALIZE_SERIALIZEADAPTER_H_
#define _FSFW_SERIALIZE_SERIALIZEADAPTER_H_
#include "../container/IsDerivedFrom.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "EndianConverter.h"
#include "SerializeIF.h"
#include <string.h>
#include <cstddef>
#include <type_traits>
/**
* \ingroup serialize
@ -13,36 +13,91 @@
class SerializeAdapter {
public:
/***
* This function can be used to serialize a trivial copy-able type or a child of SerializeIF.
* The right template to be called is determined in the function itself.
* For objects of non trivial copy-able type this function is almost never called by the user directly.
* Instead helpers for specific types like SerialArrayListAdapter or SerialLinkedListAdapter is the right choice here.
*
* @param[in] object Object to serialize, the used type is deduced from this pointer
* @param[in/out] buffer Buffer to serialize into. Will be moved by the function.
* @param[in/out] size Size of current written buffer. Will be incremented by the function.
* @param[in] maxSize Max size of Buffer
* @param[in] streamEndianness Endianness of serialized element as in according to SerializeIF::Endianness
* @return
* - @c BUFFER_TOO_SHORT The given buffer in is too short
* - @c RETURN_FAILED Generic Error
* - @c RETURN_OK Successful serialization
*/
template<typename T>
static ReturnValue_t serialize(const T *object, uint8_t **buffer,
size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) {
InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) {
InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
return adapter.serialize(object, buffer, size, maxSize,
streamEndianness);
}
/**
* Function to return the serialized size of the object in the pointer.
* May be a trivially copy-able object or a Child of SerializeIF
*
* @param object Pointer to Object
* @return Serialized size of object
*/
template<typename T>
static uint32_t getSerializedSize(const T *object) {
InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
static size_t getSerializedSize(const T *object){
InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
return adapter.getSerializedSize(object);
}
/**
* @brief
* Deserializes a object from a given buffer of given size.
* Object Must be trivially copy-able or a child of SerializeIF.
*
* @details
* Buffer will be moved to the current read location. Size will be decreased by the function.
*
* @param[in/out] buffer Buffer to deSerialize from. Will be moved by the function.
* @param[in/out] size Remaining size of the buffer to read from. Will be decreased by function.
* @param[in] streamEndianness Endianness as in according to SerializeIF::Endianness
* @return
* - @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
* - @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
* - @c RETURN_FAILED Generic Error
* - @c RETURN_OK Successful deserialization
*/
template<typename T>
static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
size_t *size, SerializeIF::Endianness streamEndianness) {
InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
return adapter.deSerialize(object, buffer, size, streamEndianness);
}
private:
template<typename T, int>
class InternalSerializeAdapter {
/**
* Internal template to deduce the right function calls at compile time
*/
template<typename T, bool> class InternalSerializeAdapter;
/**
* Template to be used if T is not a child of SerializeIF
*
* @tparam T T must be trivially_copyable
*/
template<typename T>
class InternalSerializeAdapter<T, false> {
static_assert (std::is_trivially_copyable<T>::value,
"If a type needs to be serialized it must be a child of SerializeIF or trivially copy-able");
public:
static ReturnValue_t serialize(const T *object, uint8_t **buffer,
size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) {
size_t *size, size_t max_size,
SerializeIF::Endianness streamEndianness) {
size_t ignoredSize = 0;
if (size == NULL) {
if (size == nullptr) {
size = &ignoredSize;
}
//TODO check integer overflow of *size
if (sizeof(T) + *size <= max_size) {
//Check remaining size is large enough and check integer overflow of *size
size_t newSize = sizeof(T) + *size;
if ((newSize <= max_size) and (newSize > *size)) {
T tmp;
switch (streamEndianness) {
case SerializeIF::Endianness::BIG:
@ -94,22 +149,26 @@ private:
uint32_t getSerializedSize(const T *object) {
return sizeof(T);
}
};
/**
* Template for objects that inherit from SerializeIF
*
* @tparam T A child of SerializeIF
*/
template<typename T>
class InternalSerializeAdapter<T, 1> {
class InternalSerializeAdapter<T, true> {
public:
ReturnValue_t serialize(const T *object, uint8_t **buffer,
size_t *size, size_t max_size,
ReturnValue_t serialize(const T *object, uint8_t **buffer, size_t *size,
size_t max_size,
SerializeIF::Endianness streamEndianness) const {
size_t ignoredSize = 0;
if (size == NULL) {
if (size == nullptr) {
size = &ignoredSize;
}
return object->serialize(buffer, size, max_size, streamEndianness);
}
uint32_t getSerializedSize(const T *object) const {
size_t getSerializedSize(const T *object) const {
return object->getSerializedSize();
}
@ -120,4 +179,4 @@ private:
};
};
#endif /* SERIALIZEADAPTER_H_ */
#endif /* _FSFW_SERIALIZE_SERIALIZEADAPTER_H_ */

2
serialize/SerializeIF.h
View File

@ -43,7 +43,7 @@ public:
* @param[in] maxSize The size of the buffer that is allowed to be used for serialize.
* @param[in] streamEndianness Endianness of the serialized data according to SerializeIF::Endianness
* @return
* - @¢ BUFFER_TOO_SHORT The given buffer in is too short
* - @c BUFFER_TOO_SHORT The given buffer in is too short
* - @c RETURN_FAILED Generic error
* - @c RETURN_OK Successful serialization
*/

4
subsystem/Subsystem.cpp
View File

@ -550,7 +550,7 @@ Mode_t Subsystem::getFallbackSequence(Mode_t sequence) {
for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
iter != modeSequences.end(); ++iter) {
if (iter.value->first == sequence) {
return iter->fallbackSequence;
return iter->second.fallbackSequence;
}
}
return -1;
@ -559,7 +559,7 @@ Mode_t Subsystem::getFallbackSequence(Mode_t sequence) {
bool Subsystem::isFallbackSequence(Mode_t SequenceId) {
for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
iter != modeSequences.end(); iter++) {
if (iter->fallbackSequence == SequenceId) {
if (iter->second.fallbackSequence == SequenceId) {
return true;
}
}

70
tmtcservices/CommandingServiceBase.cpp
View File

@ -122,8 +122,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
// Implemented by child class, specifies what to do with reply.
ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
&nextCommand, iter->objectId, &isStep);
ReturnValue_t result = handleReply(reply, iter->second.command, &iter->second.state,
&nextCommand, iter->second.objectId, &isStep);
/* If the child implementation does not implement special handling for
* rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
@ -132,7 +132,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
(result == RETURN_FAILED or result == INVALID_REPLY)) {
result = reply->getReplyRejectedReason();
failureParameter1 = iter->command;
failureParameter1 = iter->second.command;
}
switch (result) {
@ -149,14 +149,14 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
default:
if (isStep) {
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, ++iter->step, failureParameter1,
TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
result, ++iter->second.step, failureParameter1,
failureParameter2);
} else {
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
result, 0, failureParameter1, failureParameter2);
}
failureParameter1 = 0;
@ -170,7 +170,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
CommandMapIter iter, CommandMessage* nextCommand,
CommandMessage* reply, bool& isStep) {
iter->command = nextCommand->getCommand();
iter->second.command = nextCommand->getCommand();
// In case a new command is to be sent immediately, this is performed here.
// If no new command is sent, only analyse reply result by initializing
@ -185,14 +185,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
if (isStep and result != NO_STEP_MESSAGE) {
verificationReporter.sendSuccessReport(
TC_VERIFY::PROGRESS_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, ++iter->step);
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
iter->second.tcInfo.tcSequenceControl, ++iter->second.step);
}
else {
verificationReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, 0);
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
iter->second.tcInfo.tcSequenceControl, 0);
checkAndExecuteFifo(iter);
}
}
@ -200,16 +200,16 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
if (isStep) {
nextCommand->clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult,
++iter->step, failureParameter1, failureParameter2);
TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
iter->second.tcInfo.tcPacketId,
iter->second.tcInfo.tcSequenceControl, sendResult,
++iter->second.step, failureParameter1, failureParameter2);
} else {
nextCommand->clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult, 0,
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
iter->second.tcInfo.tcSequenceControl, sendResult, 0,
failureParameter1, failureParameter2);
}
failureParameter1 = 0;
@ -248,7 +248,7 @@ void CommandingServiceBase::handleRequestQueue() {
iter = commandMap.find(queue);
if (iter != commandMap.end()) {
result = iter->fifo.insert(address);
result = iter->second.fifo.insert(address);
if (result != RETURN_OK) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY);
}
@ -316,11 +316,11 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
CommandMapIter iter) {
ReturnValue_t result = RETURN_OK;
CommandMessage command;
iter->subservice = storedPacket->getSubService();
result = prepareCommand(&command, iter->subservice,
iter->second.subservice = storedPacket->getSubService();
result = prepareCommand(&command, iter->second.subservice,
storedPacket->getApplicationData(),
storedPacket->getApplicationDataSize(), &iter->state,
iter->objectId);
storedPacket->getApplicationDataSize(), &iter->second.state,
iter->second.objectId);
ReturnValue_t sendResult = RETURN_OK;
switch (result) {
@ -330,13 +330,13 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
&command);
}
if (sendResult == RETURN_OK) {
Clock::getUptime(&iter->uptimeOfStart);
iter->step = 0;
iter->subservice = storedPacket->getSubService();
iter->command = command.getCommand();
iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
iter->tcInfo.tcPacketId = storedPacket->getPacketId();
iter->tcInfo.tcSequenceControl =
Clock::getUptime(&iter->second.uptimeOfStart);
iter->second.step = 0;
iter->second.subservice = storedPacket->getSubService();
iter->second.command = command.getCommand();
iter->second.tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
iter->second.tcInfo.tcPacketId = storedPacket->getPacketId();
iter->second.tcInfo.tcSequenceControl =
storedPacket->getPacketSequenceControl();
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
} else {
@ -386,7 +386,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
store_address_t address;
if (iter->fifo.retrieve(&address) != RETURN_OK) {
if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
commandMap.erase(&iter);
} else {
TcPacketStored newPacket(address);
@ -412,10 +412,10 @@ void CommandingServiceBase::checkTimeout() {
Clock::getUptime(&uptime);
CommandMapIter iter;
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
TIMEOUT);
checkAndExecuteFifo(iter);
}

17
tmtcservices/CommandingServiceBase.h
View File

@ -211,8 +211,7 @@ protected:
virtual void doPeriodicOperation();
struct CommandInfo {
struct CommandInfo: public SerializeIF{
struct tcInfo {
uint8_t ackFlags;
uint16_t tcPacketId;
@ -225,6 +224,20 @@ protected:
Command_t command;
object_id_t objectId;
FIFO<store_address_t, 3> fifo;
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const override{
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual size_t getSerializedSize() const override {
return 0;
};
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override{
return HasReturnvaluesIF::RETURN_FAILED;
};
};
using CommandMapIter = FixedMap<MessageQueueId_t,