From bb7ebf4b275331db5181826e8be33088170f9a8d Mon Sep 17 00:00:00 2001 From: Spacefish Date: Thu, 10 Dec 2020 17:29:23 +0100 Subject: [PATCH 01/20] removed glob pool --- datapoolglob/ControllerSet.cpp | 14 - datapoolglob/ControllerSet.h | 15 -- datapoolglob/DataPoolAdmin.cpp | 301 ---------------------- datapoolglob/DataPoolAdmin.h | 60 ----- datapoolglob/DataPoolParameterWrapper.cpp | 179 ------------- datapoolglob/DataPoolParameterWrapper.h | 38 --- datapoolglob/GlobalDataPool.cpp | 133 ---------- datapoolglob/GlobalDataPool.h | 149 ----------- datapoolglob/GlobalDataSet.cpp | 48 ---- datapoolglob/GlobalDataSet.h | 98 ------- datapoolglob/GlobalPoolVariable.h | 213 --------------- datapoolglob/GlobalPoolVariable.tpp | 117 --------- datapoolglob/GlobalPoolVector.h | 185 ------------- datapoolglob/GlobalPoolVector.tpp | 117 --------- datapoolglob/PIDReader.h | 164 ------------ datapoolglob/PIDReaderList.h | 27 -- datapoolglob/PoolRawAccess.cpp | 239 ----------------- datapoolglob/PoolRawAccess.h | 220 ---------------- 18 files changed, 2317 deletions(-) delete mode 100644 datapoolglob/ControllerSet.cpp delete mode 100644 datapoolglob/ControllerSet.h delete mode 100644 datapoolglob/DataPoolAdmin.cpp delete mode 100644 datapoolglob/DataPoolAdmin.h delete mode 100644 datapoolglob/DataPoolParameterWrapper.cpp delete mode 100644 datapoolglob/DataPoolParameterWrapper.h delete mode 100644 datapoolglob/GlobalDataPool.cpp delete mode 100644 datapoolglob/GlobalDataPool.h delete mode 100644 datapoolglob/GlobalDataSet.cpp delete mode 100644 datapoolglob/GlobalDataSet.h delete mode 100644 datapoolglob/GlobalPoolVariable.h delete mode 100644 datapoolglob/GlobalPoolVariable.tpp delete mode 100644 datapoolglob/GlobalPoolVector.h delete mode 100644 datapoolglob/GlobalPoolVector.tpp delete mode 100644 datapoolglob/PIDReader.h delete mode 100644 datapoolglob/PIDReaderList.h delete mode 100644 datapoolglob/PoolRawAccess.cpp delete mode 100644 datapoolglob/PoolRawAccess.h diff --git a/datapoolglob/ControllerSet.cpp b/datapoolglob/ControllerSet.cpp deleted file mode 100644 index 54fc6e8c..00000000 --- a/datapoolglob/ControllerSet.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include - -ControllerSet::ControllerSet() { - -} - -ControllerSet::~ControllerSet() { -} - -void ControllerSet::setInvalid() { - read(); - setToDefault(); - commit(PoolVariableIF::INVALID); -} diff --git a/datapoolglob/ControllerSet.h b/datapoolglob/ControllerSet.h deleted file mode 100644 index 5da11397..00000000 --- a/datapoolglob/ControllerSet.h +++ /dev/null @@ -1,15 +0,0 @@ -#ifndef FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ -#define FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ - -#include "../datapoolglob/GlobalDataSet.h" - -class ControllerSet :public GlobDataSet { -public: - ControllerSet(); - virtual ~ControllerSet(); - - virtual void setToDefault() = 0; - void setInvalid(); -}; - -#endif /* FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ */ diff --git a/datapoolglob/DataPoolAdmin.cpp b/datapoolglob/DataPoolAdmin.cpp deleted file mode 100644 index 6ede0841..00000000 --- a/datapoolglob/DataPoolAdmin.cpp +++ /dev/null @@ -1,301 +0,0 @@ -#include "DataPoolAdmin.h" -#include "GlobalDataSet.h" -#include "GlobalDataPool.h" -#include "PoolRawAccess.h" - -#include "../ipc/CommandMessage.h" -#include "../ipc/QueueFactory.h" -#include "../parameters/ParameterMessage.h" - -DataPoolAdmin::DataPoolAdmin(object_id_t objectId) : - SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper( - this, NULL), actionHelper(this, NULL) { - commandQueue = QueueFactory::instance()->createMessageQueue(); -} - -DataPoolAdmin::~DataPoolAdmin() { - QueueFactory::instance()->deleteMessageQueue(commandQueue); -} - -ReturnValue_t DataPoolAdmin::performOperation(uint8_t opCode) { - handleCommand(); - return RETURN_OK; -} - -MessageQueueId_t DataPoolAdmin::getCommandQueue() const { - return commandQueue->getId(); -} - -ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId, - MessageQueueId_t commandedBy, const uint8_t* data, size_t size) { - if (actionId != SET_VALIDITY) { - return INVALID_ACTION_ID; - } - - if (size != 5) { - return INVALID_PARAMETERS; - } - - uint32_t address = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) - | data[3]; - - uint8_t valid = data[4]; - - uint32_t poolId = glob::dataPool.PIDToDataPoolId(address); - - GlobDataSet mySet; - PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE); - ReturnValue_t status = mySet.read(); - if (status != RETURN_OK) { - return INVALID_ADDRESS; - } - if (valid != 0) { - variable.setValid(PoolVariableIF::VALID); - } else { - variable.setValid(PoolVariableIF::INVALID); - } - - mySet.commit(); - - return EXECUTION_FINISHED; -} - -ReturnValue_t DataPoolAdmin::getParameter(uint8_t domainId, - uint16_t parameterId, ParameterWrapper* parameterWrapper, - const ParameterWrapper* newValues, uint16_t startAtIndex) { - return HasReturnvaluesIF::RETURN_FAILED; -} - -void DataPoolAdmin::handleCommand() { - CommandMessage command; - ReturnValue_t result = commandQueue->receiveMessage(&command); - if (result != RETURN_OK) { - return; - } - - result = actionHelper.handleActionMessage(&command); - - if (result == HasReturnvaluesIF::RETURN_OK) { - return; - } - - result = handleParameterCommand(&command); - if (result == HasReturnvaluesIF::RETURN_OK) { - return; - } - - result = memoryHelper.handleMemoryCommand(&command); - if (result != RETURN_OK) { - command.setToUnknownCommand(); - commandQueue->reply(&command); - } -} - -ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address, - const uint8_t* data, size_t size, uint8_t** dataPointer) { - uint32_t poolId = glob::dataPool.PIDToDataPoolId(address); - uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address); - GlobDataSet testSet; - PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet, - PoolVariableIF::VAR_READ); - ReturnValue_t status = testSet.read(); - if (status != RETURN_OK) { - return INVALID_ADDRESS; - } - uint8_t typeSize = varToGetSize.getSizeOfType(); - - if (size % typeSize != 0) { - return INVALID_SIZE; - } - - if (size > varToGetSize.getSizeTillEnd()) { - return INVALID_SIZE; - } - const uint8_t* readPosition = data; - - for (; size > 0; size -= typeSize) { - GlobDataSet rawSet; - PoolRawAccess variable(poolId, arrayIndex, &rawSet, - PoolVariableIF::VAR_READ_WRITE); - status = rawSet.read(); - if (status == RETURN_OK) { - status = variable.setEntryFromBigEndian(readPosition, typeSize); - if (status == RETURN_OK) { - status = rawSet.commit(); - } - } - arrayIndex += 1; - readPosition += typeSize; - } - return ACTIVITY_COMPLETED; -} - -ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size, - uint8_t** dataPointer, uint8_t* copyHere) { - uint32_t poolId = glob::dataPool.PIDToDataPoolId(address); - uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address); - GlobDataSet testSet; - PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet, - PoolVariableIF::VAR_READ); - ReturnValue_t status = testSet.read(); - if (status != RETURN_OK) { - return INVALID_ADDRESS; - } - uint8_t typeSize = varToGetSize.getSizeOfType(); - if (size > varToGetSize.getSizeTillEnd()) { - return INVALID_SIZE; - } - uint8_t* ptrToCopy = copyHere; - for (; size > 0; size -= typeSize) { - GlobDataSet rawSet; - PoolRawAccess variable(poolId, arrayIndex, &rawSet, - PoolVariableIF::VAR_READ); - status = rawSet.read(); - if (status == RETURN_OK) { - size_t temp = 0; - status = variable.getEntryEndianSafe(ptrToCopy, &temp, size); - if (status != RETURN_OK) { - return RETURN_FAILED; - } - } else { - //Error reading parameter. - } - arrayIndex += 1; - ptrToCopy += typeSize; - } - return ACTIVITY_COMPLETED; -} - -ReturnValue_t DataPoolAdmin::initialize() { - ReturnValue_t result = SystemObject::initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - - result = memoryHelper.initialize(commandQueue); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - - storage = objectManager->get(objects::IPC_STORE); - if (storage == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } - - result = actionHelper.initialize(commandQueue); - - return result; -} - -//mostly identical to ParameterHelper::handleParameterMessage() -ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) { - ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; - switch (command->getCommand()) { - case ParameterMessage::CMD_PARAMETER_DUMP: { - uint8_t domain = HasParametersIF::getDomain( - ParameterMessage::getParameterId(command)); - uint16_t parameterId = HasParametersIF::getMatrixId( - ParameterMessage::getParameterId(command)); - - DataPoolParameterWrapper wrapper; - result = wrapper.set(domain, parameterId); - - if (result == HasReturnvaluesIF::RETURN_OK) { - result = sendParameter(command->getSender(), - ParameterMessage::getParameterId(command), &wrapper); - } - } - break; - case ParameterMessage::CMD_PARAMETER_LOAD: { - - uint8_t domain = HasParametersIF::getDomain( - ParameterMessage::getParameterId(command)); - uint16_t parameterId = HasParametersIF::getMatrixId( - ParameterMessage::getParameterId(command)); - uint8_t index = HasParametersIF::getIndex( - ParameterMessage::getParameterId(command)); - - const uint8_t *storedStream; - size_t storedStreamSize; - result = storage->getData(ParameterMessage::getStoreId(command), - &storedStream, &storedStreamSize); - if (result != HasReturnvaluesIF::RETURN_OK) { - break; - } - - ParameterWrapper streamWrapper; - result = streamWrapper.set(storedStream, storedStreamSize); - if (result != HasReturnvaluesIF::RETURN_OK) { - storage->deleteData(ParameterMessage::getStoreId(command)); - break; - } - - DataPoolParameterWrapper poolWrapper; - result = poolWrapper.set(domain, parameterId); - if (result != HasReturnvaluesIF::RETURN_OK) { - storage->deleteData(ParameterMessage::getStoreId(command)); - break; - } - - result = poolWrapper.copyFrom(&streamWrapper, index); - - storage->deleteData(ParameterMessage::getStoreId(command)); - - if (result == HasReturnvaluesIF::RETURN_OK) { - result = sendParameter(command->getSender(), - ParameterMessage::getParameterId(command), &poolWrapper); - } - } - break; - default: - return HasReturnvaluesIF::RETURN_FAILED; - } - - if (result != HasReturnvaluesIF::RETURN_OK) { - rejectCommand(command->getSender(), result, command->getCommand()); - } - - return HasReturnvaluesIF::RETURN_OK; - -} - -//identical to ParameterHelper::sendParameter() -ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id, - const DataPoolParameterWrapper* wrapper) { - size_t serializedSize = wrapper->getSerializedSize(); - - uint8_t *storeElement; - store_address_t address; - - ReturnValue_t result = storage->getFreeElement(&address, serializedSize, - &storeElement); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - - size_t storeElementSize = 0; - - result = wrapper->serialize(&storeElement, &storeElementSize, - serializedSize, SerializeIF::Endianness::BIG); - - if (result != HasReturnvaluesIF::RETURN_OK) { - storage->deleteData(address); - return result; - } - - CommandMessage reply; - - ParameterMessage::setParameterDumpReply(&reply, id, address); - - commandQueue->sendMessage(to, &reply); - - return HasReturnvaluesIF::RETURN_OK; -} - -//identical to ParameterHelper::rejectCommand() -void DataPoolAdmin::rejectCommand(MessageQueueId_t to, ReturnValue_t reason, - Command_t initialCommand) { - CommandMessage reply; - reply.setReplyRejected(reason, initialCommand); - commandQueue->sendMessage(to, &reply); -} diff --git a/datapoolglob/DataPoolAdmin.h b/datapoolglob/DataPoolAdmin.h deleted file mode 100644 index d8871b65..00000000 --- a/datapoolglob/DataPoolAdmin.h +++ /dev/null @@ -1,60 +0,0 @@ -#ifndef FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ -#define FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ - -#include "DataPoolParameterWrapper.h" - -#include "../objectmanager/SystemObject.h" -#include "../returnvalues/HasReturnvaluesIF.h" -#include "../tasks/ExecutableObjectIF.h" -#include "../action/HasActionsIF.h" -#include "../ipc/MessageQueueIF.h" -#include "../parameters/ReceivesParameterMessagesIF.h" -#include "../action/SimpleActionHelper.h" -#include "../memory/MemoryHelper.h" - - -class DataPoolAdmin: public HasActionsIF, - public ExecutableObjectIF, - public AcceptsMemoryMessagesIF, - public HasReturnvaluesIF, - public ReceivesParameterMessagesIF, - public SystemObject { -public: - static const ActionId_t SET_VALIDITY = 1; - - DataPoolAdmin(object_id_t objectId); - - ~DataPoolAdmin(); - - ReturnValue_t performOperation(uint8_t opCode); - - MessageQueueId_t getCommandQueue() const; - - ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data, - size_t size, uint8_t** dataPointer); - ReturnValue_t handleMemoryDump(uint32_t address, size_t size, - uint8_t** dataPointer, uint8_t* copyHere); - - ReturnValue_t executeAction(ActionId_t actionId, - MessageQueueId_t commandedBy, const uint8_t* data, size_t size); - - //not implemented as ParameterHelper is no used - ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, - ParameterWrapper *parameterWrapper, - const ParameterWrapper *newValues, uint16_t startAtIndex); - - ReturnValue_t initialize(); -private: - StorageManagerIF *storage; - MessageQueueIF* commandQueue; - MemoryHelper memoryHelper; - SimpleActionHelper actionHelper; - void handleCommand(); - ReturnValue_t handleParameterCommand(CommandMessage *command); - ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, - const DataPoolParameterWrapper* wrapper); - void rejectCommand(MessageQueueId_t to, ReturnValue_t reason, - Command_t initialCommand); -}; - -#endif /* FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ */ diff --git a/datapoolglob/DataPoolParameterWrapper.cpp b/datapoolglob/DataPoolParameterWrapper.cpp deleted file mode 100644 index 3a57d90d..00000000 --- a/datapoolglob/DataPoolParameterWrapper.cpp +++ /dev/null @@ -1,179 +0,0 @@ -#include "../datapoolglob/GlobalDataSet.h" -#include "../datapoolglob/DataPoolParameterWrapper.h" -#include "../datapoolglob/PoolRawAccess.h" -#include "../parameters/HasParametersIF.h" - - -DataPoolParameterWrapper::DataPoolParameterWrapper() : - type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId( - PoolVariableIF::NO_PARAMETER) { - -} - -DataPoolParameterWrapper::~DataPoolParameterWrapper() { - -} - -ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId, - uint16_t parameterId) { - poolId = (domainId << 16) + parameterId; - - GlobDataSet mySet; - PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ); - ReturnValue_t status = mySet.read(); - if (status != HasReturnvaluesIF::RETURN_OK) { - //should only fail for invalid pool id - return HasParametersIF::INVALID_MATRIX_ID; - } - - type = raw.getType(); - rows = raw.getArraySize(); - columns = 1; - - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer, - size_t* size, size_t maxSize, Endianness streamEndianness) const { - ReturnValue_t result; - - result = SerializeAdapter::serialize(&type, buffer, size, maxSize, - streamEndianness); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - - result = SerializeAdapter::serialize(&columns, buffer, size, - maxSize, streamEndianness); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = SerializeAdapter::serialize(&rows, buffer, size, maxSize, - streamEndianness); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - - for (uint8_t index = 0; index < rows; index++){ - GlobDataSet mySet; - PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ); - mySet.read(); - result = raw.serialize(buffer,size,maxSize,streamEndianness); - if (result != HasReturnvaluesIF::RETURN_OK){ - return result; - } - } - return HasReturnvaluesIF::RETURN_OK; -} - -//same as ParameterWrapper -size_t DataPoolParameterWrapper::getSerializedSize() const { - size_t serializedSize = 0; - serializedSize += type.getSerializedSize(); - serializedSize += sizeof(rows); - serializedSize += sizeof(columns); - serializedSize += rows * columns * type.getSize(); - - return serializedSize; -} - -ReturnValue_t DataPoolParameterWrapper::deSerialize(const uint8_t** buffer, - size_t* size, Endianness streamEndianness) { - return HasReturnvaluesIF::RETURN_FAILED; -} - -template -ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow, - uint8_t startingColumn, const void* from, uint8_t fromRows) { - //treat from as a continuous Stream as we copy all of it - const uint8_t *fromAsStream = (const uint8_t *) from; - - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - - for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) { - - GlobDataSet mySet; - PoolRawAccess raw(poolId, startingRow + fromRow, &mySet, - PoolVariableIF::VAR_READ_WRITE); - mySet.read(); - - result = raw.setEntryFromBigEndian(fromAsStream, sizeof(T)); - - fromAsStream += sizeof(T); - - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - - mySet.commit(); - } - - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t DataPoolParameterWrapper::copyFrom(const ParameterWrapper* from, - uint16_t startWritingAtIndex) { - if (poolId == PoolVariableIF::NO_PARAMETER) { - return ParameterWrapper::NOT_SET; - } - - if (type != from->type) { - return ParameterWrapper::DATATYPE_MISSMATCH; - } - - //check if from fits into this - uint8_t startingRow = startWritingAtIndex / columns; - uint8_t startingColumn = startWritingAtIndex % columns; - - if ((from->rows > (rows - startingRow)) - || (from->columns > (columns - startingColumn))) { - return ParameterWrapper::TOO_BIG; - } - - ReturnValue_t result; - //copy data - if (from->pointsToStream) { - switch (type) { - case Type::UINT8_T: - result = deSerializeData(startingRow, startingColumn, - from->readonlyData, from->rows); - break; - case Type::INT8_T: - result = deSerializeData(startingRow, startingColumn, - from->readonlyData, from->rows); - break; - case Type::UINT16_T: - result = deSerializeData(startingRow, startingColumn, - from->readonlyData, from->rows); - break; - case Type::INT16_T: - result = deSerializeData(startingRow, startingColumn, - from->readonlyData, from->rows); - break; - case Type::UINT32_T: - result = deSerializeData(startingRow, startingColumn, - from->readonlyData, from->rows); - break; - case Type::INT32_T: - result = deSerializeData(startingRow, startingColumn, - from->readonlyData, from->rows); - break; - case Type::FLOAT: - result = deSerializeData(startingRow, startingColumn, - from->readonlyData, from->rows); - break; - case Type::DOUBLE: - result = deSerializeData(startingRow, startingColumn, - from->readonlyData, from->rows); - break; - default: - result = ParameterWrapper::UNKNOW_DATATYPE; - break; - } - } else { - //not supported - return HasReturnvaluesIF::RETURN_FAILED; - } - - return result; -} diff --git a/datapoolglob/DataPoolParameterWrapper.h b/datapoolglob/DataPoolParameterWrapper.h deleted file mode 100644 index b1e505a7..00000000 --- a/datapoolglob/DataPoolParameterWrapper.h +++ /dev/null @@ -1,38 +0,0 @@ -#ifndef DATAPOOLPARAMETERWRAPPER_H_ -#define DATAPOOLPARAMETERWRAPPER_H_ - -#include "../globalfunctions/Type.h" -#include "../parameters/ParameterWrapper.h" - -class DataPoolParameterWrapper: public SerializeIF { -public: - DataPoolParameterWrapper(); - virtual ~DataPoolParameterWrapper(); - - ReturnValue_t set(uint8_t domainId, uint16_t parameterId); - - virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const override; - - virtual size_t getSerializedSize() const override; - - virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness) override; - - ReturnValue_t copyFrom(const ParameterWrapper *from, - uint16_t startWritingAtIndex); - -private: - Type type; - uint8_t rows; - uint8_t columns; - - uint32_t poolId; - - template - ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn, - const void *from, uint8_t fromRows); - -}; - -#endif /* DATAPOOLPARAMETERWRAPPER_H_ */ diff --git a/datapoolglob/GlobalDataPool.cpp b/datapoolglob/GlobalDataPool.cpp deleted file mode 100644 index afb27b77..00000000 --- a/datapoolglob/GlobalDataPool.cpp +++ /dev/null @@ -1,133 +0,0 @@ -#include "../datapoolglob/GlobalDataPool.h" -#include "../serviceinterface/ServiceInterfaceStream.h" -#include "../ipc/MutexFactory.h" - -GlobalDataPool::GlobalDataPool( - void(*initFunction)(GlobPoolMap* pool_map)) { - mutex = MutexFactory::instance()->createMutex(); - if (initFunction != NULL ) { - initFunction( &this->globDataPool ); - } -} - -GlobalDataPool::~GlobalDataPool() { - MutexFactory::instance()->deleteMutex(mutex); - for(GlobPoolMapIter it = this->globDataPool.begin(); - it != this->globDataPool.end(); ++it ) - { - delete it->second; - } -} - -// The function checks PID, type and array length before returning a copy of -// the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr. -template PoolEntry* GlobalDataPool::getData( uint32_t data_pool_id, - uint8_t sizeOrPosition ) { - GlobPoolMapIter it = this->globDataPool.find( data_pool_id ); - if ( it != this->globDataPool.end() ) { - PoolEntry* entry = dynamic_cast< PoolEntry* >( it->second ); - if (entry != nullptr ) { - if ( sizeOrPosition <= entry->length ) { - return entry; - } - } - } - return nullptr; -} - -PoolEntryIF* GlobalDataPool::getRawData( uint32_t data_pool_id ) { - GlobPoolMapIter it = this->globDataPool.find( data_pool_id ); - if ( it != this->globDataPool.end() ) { - return it->second; - } else { - return nullptr; - } -} - -ReturnValue_t GlobalDataPool::unlockDataPool() { - ReturnValue_t status = mutex->unlockMutex(); - if(status != RETURN_OK) { - sif::error << "DataPool::DataPool: unlock of mutex failed with" - " error code: " << status << std::endl; - } - return status; -} - -ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) { - ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING, - timeoutMs); - if(status != RETURN_OK) { - sif::error << "DataPool::DataPool: lock of mutex failed " - "with error code: " << status << std::endl; - } - return status; -} - -void GlobalDataPool::print() { - sif::debug << "DataPool contains: " << std::endl; - std::map::iterator dataPoolIt; - dataPoolIt = this->globDataPool.begin(); - while( dataPoolIt != this->globDataPool.end() ) { - sif::debug << std::hex << dataPoolIt->first << std::dec << " |"; - dataPoolIt->second->print(); - dataPoolIt++; - } -} - -uint32_t GlobalDataPool::PIDToDataPoolId(uint32_t parameter_id) { - return (parameter_id >> 8) & 0x00FFFFFF; -} - -uint8_t GlobalDataPool::PIDToArrayIndex(uint32_t parameter_id) { - return (parameter_id & 0x000000FF); -} - -uint32_t GlobalDataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) { - return (poolId << 8) + index; -} - - -//SHOULDDO: Do we need a mutex lock here... I don't think so, -//as we only check static const values of elements in a list that do not change. -//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM -ReturnValue_t GlobalDataPool::getType(uint32_t parameter_id, Type* type) { - GlobPoolMapIter it = this->globDataPool.find( PIDToDataPoolId(parameter_id)); - if ( it != this->globDataPool.end() ) { - *type = it->second->getType(); - return RETURN_OK; - } else { - *type = Type::UNKNOWN_TYPE; - return RETURN_FAILED; - } -} - -bool GlobalDataPool::exists(uint32_t parameterId) { - uint32_t poolId = PIDToDataPoolId(parameterId); - uint32_t index = PIDToArrayIndex(parameterId); - GlobPoolMapIter it = this->globDataPool.find( poolId ); - if (it != globDataPool.end()) { - if (it->second->getSize() >= index) { - return true; - } - } - return false; -} - -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size ); -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size ); -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size ); -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size); -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size ); -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size ); -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size ); -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size ); -template PoolEntry* GlobalDataPool::getData( - uint32_t data_pool_id, uint8_t size); diff --git a/datapoolglob/GlobalDataPool.h b/datapoolglob/GlobalDataPool.h deleted file mode 100644 index ce5b132c..00000000 --- a/datapoolglob/GlobalDataPool.h +++ /dev/null @@ -1,149 +0,0 @@ -#ifndef GLOBALDATAPOOL_H_ -#define GLOBALDATAPOOL_H_ - -#include "../datapool/PoolEntry.h" -#include "../globalfunctions/Type.h" -#include "../ipc/MutexIF.h" -#include - -/** - * @defgroup data_pool Global data pool - * This is the group, where all classes associated with global - * data pool handling belong to. - * This includes classes to access Data Pool variables. - */ - -/** - * Typedefs for the global pool representations - */ -using GlobPoolMap = std::map; -using GlobPoolMapIter = GlobPoolMap::iterator; - -/** - * @brief This class represents the OBSW global data-pool. - * - * @details - * All variables are registered and space is allocated in an initialization - * function, which is passed do the constructor. Space for the variables is - * allocated on the heap (with a new call). - * - * The data is found by a data pool id, which uniquely represents a variable. - * Data pool variables should be used with a blackboard logic in mind, - * which means read data is valid (if flagged so), - * but not necessarily up-to-date. - * - * Variables are either single values or arrays. - * @author Bastian Baetz - * @ingroup data_pool - */ -class GlobalDataPool : public HasReturnvaluesIF { -private: - /** - * @brief This is the actual data pool itself. - * @details It is represented by a map with the data pool id as index - * and a pointer to a single PoolEntry as value. - */ - GlobPoolMap globDataPool; - - /** - * @brief The mutex is created in the constructor and makes - * access mutual exclusive. - * @details Locking and unlocking the pool is only done by the DataSet class. - */ - MutexIF* mutex; -public: - /** - * @brief In the classes constructor, - * the passed initialization function is called. - * @details - * To enable filling the pool, a pointer to the map is passed, - * allowing direct access to the pool's content. - * On runtime, adding or removing variables is forbidden. - */ - GlobalDataPool( void ( *initFunction )( GlobPoolMap* pool_map ) ); - - /** - * @brief The destructor iterates through the data_pool map and - * calls all entries destructors to clean up the heap. - */ - ~GlobalDataPool(); - - /** - * @brief This is the default call to access the pool. - * @details - * A pointer to the PoolEntry object is returned. - * The call checks data pool id, type and array size. - * Returns NULL in case of failure. - * @param data_pool_id The data pool id to search. - * @param sizeOrPosition The array size (not byte size!) of the pool entry, - * or the position the user wants to read. - * If smaller than the entry size, everything's ok. - */ - template PoolEntry* getData( uint32_t data_pool_id, - uint8_t sizeOrPosition ); - - /** - * @brief An alternative call to get a data pool entry in case the type is not implicitly known - * (i.e. in Housekeeping Telemetry). - * @details It returns a basic interface and does NOT perform - * a size check. The caller has to assure he does not copy too much data. - * Returns NULL in case the entry is not found. - * @param data_pool_id The data pool id to search. - */ - PoolEntryIF* getRawData( uint32_t data_pool_id ); - /** - * @brief This is a small helper function to facilitate locking the global data pool. - * @details It fetches the pool's mutex id and tries to acquire the mutex. - */ - ReturnValue_t lockDataPool(uint32_t timeoutMs = MutexIF::BLOCKING); - /** - * @brief This is a small helper function to facilitate unlocking the global data pool. - * @details It fetches the pool's mutex id and tries to free the mutex. - */ - ReturnValue_t unlockDataPool(); - /** - * @brief The print call is a simple debug method. - * @details It prints the current content of the data pool. - * It iterates through the data_pool map and calls each entry's print() method. - */ - void print(); - /** - * Extracts the data pool id from a SCOS 2000 PID. - * @param parameter_id The passed Parameter ID. - * @return The data pool id as used within the OBSW. - */ - static uint32_t PIDToDataPoolId( uint32_t parameter_id ); - /** - * Extracts an array index out of a SCOS 2000 PID. - * @param parameter_id The passed Parameter ID. - * @return The index of the corresponding data pool entry. - */ - static uint8_t PIDToArrayIndex( uint32_t parameter_id ); - /** - * Retransforms a data pool id and an array index to a SCOS 2000 PID. - */ - static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index ); - - /** - * Method to return the type of a pool variable. - * @param parameter_id A parameterID (not pool id) of a DP member. - * @param type Returns the type or TYPE::UNKNOWN_TYPE - * @return RETURN_OK if parameter exists, RETURN_FAILED else. - */ - ReturnValue_t getType( uint32_t parameter_id, Type* type ); - - /** - * Method to check if a PID exists. Does not lock, as there's no - * possibility to alter the list that is checked during run-time. - * @param parameterId The PID (not pool id!) of a parameter. - * @return true if exists, false else. - */ - bool exists(uint32_t parameterId); -}; - -//We assume someone globally instantiates a DataPool. -namespace glob { -extern GlobalDataPool dataPool; -} - -#endif /* DATAPOOL_H_ */ diff --git a/datapoolglob/GlobalDataSet.cpp b/datapoolglob/GlobalDataSet.cpp deleted file mode 100644 index 1e99f805..00000000 --- a/datapoolglob/GlobalDataSet.cpp +++ /dev/null @@ -1,48 +0,0 @@ -#include "../datapoolglob/GlobalDataPool.h" -#include "../datapoolglob/GlobalDataSet.h" -#include "../serviceinterface/ServiceInterfaceStream.h" - -GlobDataSet::GlobDataSet(): PoolDataSetBase( - reinterpret_cast(®isteredVariables), - DATA_SET_MAX_SIZE) {} - -// Don't do anything with your variables, they are dead already! -// (Destructor is already called) -GlobDataSet::~GlobDataSet() {} - -ReturnValue_t GlobDataSet::commit(bool valid, uint32_t lockTimeout) { - setEntriesValid(valid); - setSetValid(valid); - return commit(lockTimeout); -} - -ReturnValue_t GlobDataSet::commit(uint32_t lockTimeout) { - return PoolDataSetBase::commit(lockTimeout); -} - -bool GlobDataSet::isValid() const { - return this->valid; -} - -ReturnValue_t GlobDataSet::unlockDataPool() { - return glob::dataPool.unlockDataPool(); -} - -ReturnValue_t GlobDataSet::lockDataPool(uint32_t timeoutMs) { - return glob::dataPool.lockDataPool(timeoutMs); -} - -void GlobDataSet::setEntriesValid(bool valid) { - for (uint16_t count = 0; count < fillCount; count++) { - if (registeredVariables[count]->getReadWriteMode() - != PoolVariableIF::VAR_READ) { - registeredVariables[count]->setValid(valid); - } - } -} - -void GlobDataSet::setSetValid(bool valid) { - this->valid = valid; -} - - diff --git a/datapoolglob/GlobalDataSet.h b/datapoolglob/GlobalDataSet.h deleted file mode 100644 index 2f0edbd5..00000000 --- a/datapoolglob/GlobalDataSet.h +++ /dev/null @@ -1,98 +0,0 @@ -#ifndef FRAMEWORK_DATAPOOLGLOB_DATASET_H_ -#define FRAMEWORK_DATAPOOLGLOB_DATASET_H_ - -#include "../datapool/PoolDataSetBase.h" - -/** - * @brief The DataSet class manages a set of locally checked out variables - * for the global data pool. - * @details - * This class uses the read-commit() semantic provided by the DataSetBase class. - * It extends the base class by using the global data pool, - * having a valid state and implementing lock und unlock calls for the global - * datapool. - * - * For more information on how this class works, see the DataSetBase - * documentation. - * @author Bastian Baetz - * @ingroup data_pool - */ -class GlobDataSet: public PoolDataSetBase { -public: - - /** - * @brief Creates an empty GlobDataSet. Use registerVariable or - * supply a pointer to this dataset to PoolVariable - * initializations to register pool variables. - */ - GlobDataSet(); - - /** - * @brief The destructor automatically manages writing the valid - * information of variables. - * @details - * In case the data set was read out, but not committed(indicated by state), - * the destructor parses all variables that are still registered to the set. - * For each, the valid flag in the data pool is set to "invalid". - */ - ~GlobDataSet(); - - /** - * Variant of method above which sets validity of all elements of the set. - * @param valid Validity information from PoolVariableIF. - * @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 - */ - ReturnValue_t commit(bool valid, uint32_t lockTimeout = MutexIF::BLOCKING); - ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override; - - /** - * Set all entries - * @param valid - */ - void setSetValid(bool valid); - - bool isValid() const override; - - /** - * Set the valid information of all variables contained in the set which - * are not read-only - * - * @param valid Validity information from PoolVariableIF. - */ - void setEntriesValid(bool valid); - - //!< This definition sets the maximum number of variables to - //! register in one DataSet. - static const uint8_t DATA_SET_MAX_SIZE = 63; - -private: - /** - * If the valid state of a dataset is always relevant to the whole - * data set we can use this flag. - */ - bool valid = false; - - /** - * @brief This is a small helper function to facilitate locking - * the global data pool. - * @details - * It makes use of the lockDataPool method offered by the DataPool class. - */ - ReturnValue_t lockDataPool(uint32_t timeoutMs) override; - /** - * @brief This is a small helper function to facilitate - * unlocking the global data pool - * @details - * It makes use of the freeDataPoolLock method offered by the DataPool class. - */ - ReturnValue_t unlockDataPool() override; - - void handleAlreadyReadDatasetCommit(); - ReturnValue_t handleUnreadDatasetCommit(); - - PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE]; -}; - -#endif /* FRAMEWORK_DATAPOOLGLOB_DATASET_H_ */ diff --git a/datapoolglob/GlobalPoolVariable.h b/datapoolglob/GlobalPoolVariable.h deleted file mode 100644 index a995bfaf..00000000 --- a/datapoolglob/GlobalPoolVariable.h +++ /dev/null @@ -1,213 +0,0 @@ -#ifndef GLOBALPOOLVARIABLE_H_ -#define GLOBALPOOLVARIABLE_H_ - -#include "../datapool/DataSetIF.h" -#include "../datapoolglob/GlobalDataPool.h" -#include "../datapool/PoolVariableIF.h" -#include "../datapool/PoolEntry.h" -#include "../serialize/SerializeAdapter.h" -#include "../serviceinterface/ServiceInterfaceStream.h" - -template class PoolVarList; - - -/** - * @brief This is the access class for non-array data pool entries. - * - * @details - * To ensure safe usage of the data pool, operation is not done directly - * on the data pool entries, but on local copies. This class provides simple - * type-safe access to single data pool entries (i.e. entries with length = 1). - * The class can be instantiated as read-write and read only. - * It provides a commit-and-roll-back semantic, which means that the - * variable's value in the data pool is not changed until the - * commit call is executed. - * @tparam T The template parameter sets the type of the variable. - * Currently, all plain data types are supported, but in principle - * any type is possible. - * @ingroup data_pool - */ -template -class GlobPoolVar: public PoolVariableIF { - template friend class PoolVarList; - static_assert(not std::is_same::value, - "Do not use boolean for the PoolEntry type, use uint8_t instead!" - "There is no boolean type in CCSDS."); -public: - /** - * @brief In the constructor, the variable can register itself in a - * DataSet (if nullptr is not passed). - * @details - * It DOES NOT fetch the current value from the data pool, but - * sets the value attribute to default (0). - * The value is fetched within the read() operation. - * @param set_id This is the id in the global data pool - * this instance of the access class corresponds to. - * @param dataSet The data set in which the variable shall register - * itself. If NULL, the variable is not registered. - * @param setWritable If this flag is set to true, changes in the value - * attribute can be written back to the data pool, otherwise not. - */ - GlobPoolVar(uint32_t set_id, DataSetIF* dataSet, - ReadWriteMode_t setReadWriteMode); - - /** - * @brief This is the local copy of the data pool entry. - * @details The user can work on this attribute - * just like he would on a simple local variable. - */ - T value = 0; - - /** - * @brief Copy ctor to copy classes containing Pool Variables. - * (Robin): This only copies member variables, which is done - * by the default copy ctor. maybe we can ommit this ctor? - */ - GlobPoolVar(const GlobPoolVar& rhs); - - /** - * @brief The classes destructor is empty. - * @details If commit() was not called, the local value is - * discarded and not written back to the data pool. - */ - ~GlobPoolVar() {} - - /** - * @brief This is a call to read the value from the global data pool. - * @details - * When executed, this operation tries to fetch the pool entry with matching - * data pool id from the global data pool and copies the value and the valid - * information to its local attributes. In case of a failure (wrong type or - * pool id not found), the variable is set to zero and invalid. - * The read call is protected with a lock. - * It is recommended to use DataSets to read and commit multiple variables - * at once to avoid the overhead of unnecessary lock und unlock operations. - */ - ReturnValue_t read(uint32_t lockTimeout) override; - /** - * @brief The commit call writes back the variable's value to the data pool. - * @details - * It checks type and size, as well as if the variable is writable. If so, - * the value is copied and the valid flag is automatically set to "valid". - * The operation does NOT provide any mutual exclusive protection by itself. - * The commit call is protected with a lock. - * It is recommended to use DataSets to read and commit multiple variables - * at once to avoid the overhead of unnecessary lock und unlock operations. - */ - ReturnValue_t commit(uint32_t lockTimeout) override; - -protected: - /** - * @brief Like #read, but without a lock protection of the global pool. - * @details - * The operation does NOT provide any mutual exclusive protection by itself. - * This can be used if the lock is handled externally to avoid the overhead - * of consecutive lock und unlock operations. - * Declared protected to discourage free public usage. - */ - ReturnValue_t readWithoutLock() override; - /** - * @brief Like #commit, but without a lock protection of the global pool. - * @details - * The operation does NOT provide any mutual exclusive protection by itself. - * This can be used if the lock is handled externally to avoid the overhead - * of consecutive lock und unlock operations. - * Declared protected to discourage free public usage. - */ - ReturnValue_t commitWithoutLock() override; - /** - * @brief To access the correct data pool entry on read and commit calls, - * the data pool is stored. - */ - uint32_t dataPoolId; - - /** - * @brief The valid information as it was stored in the data pool is - * copied to this attribute. - */ - uint8_t valid; - - /** - * @brief The information whether the class is read-write or read-only - * is stored here. - */ - pool_rwm_t readWriteMode; - - /** - * Empty ctor for List initialization - */ - GlobPoolVar(); -public: - /** - * \brief This operation returns the data pool id of the variable. - */ - uint32_t getDataPoolId() const override; - - /** - * This method returns if the variable is write-only, read-write or read-only. - */ - ReadWriteMode_t getReadWriteMode() const override; - /** - * This operation sets the data pool id of the variable. - * The method is necessary to set id's of data pool member variables with bad initialization. - */ - void setDataPoolId(uint32_t poolId); - - /** - * \brief With this call, the valid information of the variable is returned. - */ - bool isValid() const override; - - uint8_t getValid(); - - void setValid(bool valid) override; - - operator T() { - return value; - } - - operator T() const { - return value; - } - - GlobPoolVar &operator=(T newValue) { - value = newValue; - return *this; - } - - GlobPoolVar &operator=(GlobPoolVar newPoolVariable) { - value = newPoolVariable.value; - return *this; - } - - virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, - const size_t max_size, - SerializeIF::Endianness streamEndianness) const override { - return SerializeAdapter::serialize(&value, buffer, size, max_size, - streamEndianness); - } - - virtual size_t getSerializedSize() const { - return SerializeAdapter::getSerializedSize(&value); - } - - virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - SerializeIF::Endianness streamEndianness) { - return SerializeAdapter::deSerialize(&value, buffer, size, - streamEndianness); - } -}; - -#include "../datapoolglob/GlobalPoolVariable.tpp" - -typedef GlobPoolVar gp_bool_t; -typedef GlobPoolVar gp_uint8_t; -typedef GlobPoolVar gp_uint16_t; -typedef GlobPoolVar gp_uint32_t; -typedef GlobPoolVar gp_int8_t; -typedef GlobPoolVar gp_int16_t; -typedef GlobPoolVar gp_int32_t; -typedef GlobPoolVar gp_float_t; -typedef GlobPoolVar gp_double_t; - -#endif /* POOLVARIABLE_H_ */ diff --git a/datapoolglob/GlobalPoolVariable.tpp b/datapoolglob/GlobalPoolVariable.tpp deleted file mode 100644 index d61d605d..00000000 --- a/datapoolglob/GlobalPoolVariable.tpp +++ /dev/null @@ -1,117 +0,0 @@ -#ifndef GLOBALPOOLVARIABLE_TPP_ -#define GLOBALPOOLVARIABLE_TPP_ - -template -inline GlobPoolVar::GlobPoolVar(uint32_t set_id, - DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode): - dataPoolId(set_id), valid(PoolVariableIF::INVALID), - readWriteMode(setReadWriteMode) -{ - if (dataSet != nullptr) { - dataSet->registerVariable(this); - } -} - -template -inline ReturnValue_t GlobPoolVar::read(uint32_t lockTimeout) { - ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = readWithoutLock(); - ReturnValue_t unlockResult = glob::dataPool.unlockDataPool(); - if(unlockResult != HasReturnvaluesIF::RETURN_OK) { - sif::error << "GlobPoolVar::read: Could not unlock global data pool" - << std::endl; - } - return result; -} - -template -inline ReturnValue_t GlobPoolVar::commit(uint32_t lockTimeout) { - ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = commitWithoutLock(); - ReturnValue_t unlockResult = glob::dataPool.unlockDataPool(); - if(unlockResult != HasReturnvaluesIF::RETURN_OK) { - sif::error << "GlobPoolVar::read: Could not unlock global data pool" - << std::endl; - } - return result; -} - -template -inline ReturnValue_t GlobPoolVar::readWithoutLock() { - PoolEntry* read_out = glob::dataPool.getData(dataPoolId, 1); - if (read_out != NULL) { - valid = read_out->valid; - value = *(read_out->address); - return HasReturnvaluesIF::RETURN_OK; - } else { - value = 0; - valid = false; - sif::error << "PoolVariable: read of DP Variable 0x" << std::hex - << dataPoolId << std::dec << " failed." << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -template -inline ReturnValue_t GlobPoolVar::commitWithoutLock() { - PoolEntry* write_back = glob::dataPool.getData(dataPoolId, 1); - if ((write_back != NULL) && (readWriteMode != VAR_READ)) { - write_back->valid = valid; - *(write_back->address) = value; - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -template -inline GlobPoolVar::GlobPoolVar(): - dataPoolId(PoolVariableIF::NO_PARAMETER), - valid(PoolVariableIF::INVALID), - readWriteMode(VAR_READ), value(0) {} - -template -inline GlobPoolVar::GlobPoolVar(const GlobPoolVar& rhs) : - dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode( - rhs.readWriteMode), value(rhs.value) {} - -template -inline pool_rwm_t GlobPoolVar::getReadWriteMode() const { - return readWriteMode; -} - -template -inline uint32_t GlobPoolVar::getDataPoolId() const { - return dataPoolId; -} - -template -inline void GlobPoolVar::setDataPoolId(uint32_t poolId) { - dataPoolId = poolId; -} - -template -inline bool GlobPoolVar::isValid() const { - if (valid) - return true; - else - return false; -} - -template -inline uint8_t GlobPoolVar::getValid() { - return valid; -} - -template -inline void GlobPoolVar::setValid(bool valid) { - this->valid = valid; -} - -#endif diff --git a/datapoolglob/GlobalPoolVector.h b/datapoolglob/GlobalPoolVector.h deleted file mode 100644 index 0f5daacd..00000000 --- a/datapoolglob/GlobalPoolVector.h +++ /dev/null @@ -1,185 +0,0 @@ -#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ -#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ - -#include "../datapool/DataSetIF.h" -#include "../datapool/PoolEntry.h" -#include "../datapool/PoolVariableIF.h" -#include "../serialize/SerializeAdapter.h" -#include "../serviceinterface/ServiceInterfaceStream.h" - -/** - * @brief This is the access class for array-type data pool entries. - * - * @details - * To ensure safe usage of the data pool, operation is not done directly on the - * data pool entries, but on local copies. This class provides simple type- - * and length-safe access to vector-style data pool entries (i.e. entries with - * length > 1). The class can be instantiated as read-write and read only. - * - * It provides a commit-and-roll-back semantic, which means that no array - * entry in the data pool is changed until the commit call is executed. - * There are two template parameters: - * @tparam T - * This template parameter specifies the data type of an array entry. Currently, - * all plain data types are supported, but in principle any type is possible. - * @tparam vector_size - * This template parameter specifies the vector size of this entry. Using a - * template parameter for this is not perfect, but avoids - * dynamic memory allocation. - * @ingroup data_pool - */ -template -class GlobPoolVector: public PoolVariableIF { -public: - /** - * @brief In the constructor, the variable can register itself in a - * DataSet (if no nullptr is passed). - * @details - * It DOES NOT fetch the current value from the data pool, but sets the - * value attribute to default (0). The value is fetched within the - * read() operation. - * @param set_id - * This is the id in the global data pool this instance of the access - * class corresponds to. - * @param dataSet - * The data set in which the variable shall register itself. If nullptr, - * the variable is not registered. - * @param setWritable - * If this flag is set to true, changes in the value attribute can be - * written back to the data pool, otherwise not. - */ - GlobPoolVector(uint32_t set_id, DataSetIF* set, - ReadWriteMode_t setReadWriteMode); - - /** - * @brief This is the local copy of the data pool entry. - * @details The user can work on this attribute - * just like he would on a local array of this type. - */ - T value[vectorSize]; - /** - * @brief The classes destructor is empty. - * @details If commit() was not called, the local value is - * discarded and not written back to the data pool. - */ - ~GlobPoolVector() {}; - /** - * @brief The operation returns the number of array entries - * in this variable. - */ - uint8_t getSize() { - return vectorSize; - } - /** - * @brief This operation returns the data pool id of the variable. - */ - uint32_t getDataPoolId() const { - return dataPoolId; - } - /** - * @brief This operation sets the data pool id of the variable. - * @details - * The method is necessary to set id's of data pool member variables - * with bad initialization. - */ - void setDataPoolId(uint32_t poolId) { - dataPoolId = poolId; - } - /** - * This method returns if the variable is write-only, read-write or read-only. - */ - ReadWriteMode_t getReadWriteMode() const { - return readWriteMode; - } - - - /** - * @brief With this call, the valid information of the variable is returned. - */ - bool isValid() const { - if (valid != INVALID) - return true; - else - return false; - } - void setValid(bool valid) {this->valid = valid;} - uint8_t getValid() {return valid;} - - T &operator [](int i) {return value[i];} - const T &operator [](int i) const {return value[i];} - - virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, - size_t max_size, Endianness streamEndianness) const override; - virtual size_t getSerializedSize() const override; - virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, - Endianness streamEndianness) override; - - /** - * @brief This is a call to read the array's values - * from the global data pool. - * @details - * When executed, this operation tries to fetch the pool entry with matching - * data pool id from the global data pool and copies all array values - * and the valid information to its local attributes. - * In case of a failure (wrong type, size or pool id not found), the - * variable is set to zero and invalid. - * The read call is protected by a lock of the global data pool. - * It is recommended to use DataSets to read and commit multiple variables - * at once to avoid the overhead of unnecessary lock und unlock operations. - */ - ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override; - /** - * @brief The commit call copies the array values back to the data pool. - * @details - * It checks type and size, as well as if the variable is writable. If so, - * the value is copied and the valid flag is automatically set to "valid". - * The commit call is protected by a lock of the global data pool. - * It is recommended to use DataSets to read and commit multiple variables - * at once to avoid the overhead of unnecessary lock und unlock operations. - */ - ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override; - -protected: - /** - * @brief Like #read, but without a lock protection of the global pool. - * @details - * The operation does NOT provide any mutual exclusive protection by itself. - * This can be used if the lock is handled externally to avoid the overhead - * of consecutive lock und unlock operations. - * Declared protected to discourage free public usage. - */ - ReturnValue_t readWithoutLock() override; - /** - * @brief Like #commit, but without a lock protection of the global pool. - * @details - * The operation does NOT provide any mutual exclusive protection by itself. - * This can be used if the lock is handled externally to avoid the overhead - * of consecutive lock und unlock operations. - * Declared protected to discourage free public usage. - */ - ReturnValue_t commitWithoutLock() override; - -private: - /** - * @brief To access the correct data pool entry on read and commit calls, - * the data pool id is stored. - */ - uint32_t dataPoolId; - /** - * @brief The valid information as it was stored in the data pool - * is copied to this attribute. - */ - uint8_t valid; - /** - * @brief The information whether the class is read-write or - * read-only is stored here. - */ - ReadWriteMode_t readWriteMode; -}; - -#include "../datapoolglob/GlobalPoolVector.tpp" - -template -using gp_vec_t = GlobPoolVector; - -#endif /* FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ */ diff --git a/datapoolglob/GlobalPoolVector.tpp b/datapoolglob/GlobalPoolVector.tpp deleted file mode 100644 index 013a682a..00000000 --- a/datapoolglob/GlobalPoolVector.tpp +++ /dev/null @@ -1,117 +0,0 @@ -#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_ -#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_ - - -template -inline GlobPoolVector::GlobPoolVector(uint32_t set_id, - DataSetIF* set, ReadWriteMode_t setReadWriteMode) : - dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) { - memset(this->value, 0, vectorSize * sizeof(T)); - if (set != nullptr) { - set->registerVariable(this); - } -} - - -template -inline ReturnValue_t GlobPoolVector::read(uint32_t lockTimeout) { - ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = readWithoutLock(); - ReturnValue_t unlockResult = glob::dataPool.unlockDataPool(); - if(unlockResult != HasReturnvaluesIF::RETURN_OK) { - sif::error << "GlobPoolVar::read: Could not unlock global data pool" - << std::endl; - } - return result; -} - -template -inline ReturnValue_t GlobPoolVector::commit( - uint32_t lockTimeout) { - ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = commitWithoutLock(); - ReturnValue_t unlockResult = glob::dataPool.unlockDataPool(); - if(unlockResult != HasReturnvaluesIF::RETURN_OK) { - sif::error << "GlobPoolVar::read: Could not unlock global data pool" - << std::endl; - } - return result; -} - -template -inline ReturnValue_t GlobPoolVector::readWithoutLock() { - PoolEntry* read_out = glob::dataPool.getData(this->dataPoolId, - vectorSize); - if (read_out != nullptr) { - this->valid = read_out->valid; - memcpy(this->value, read_out->address, read_out->getByteSize()); - - return HasReturnvaluesIF::RETURN_OK; - - } else { - memset(this->value, 0, vectorSize * sizeof(T)); - sif::error << "PoolVector: Read of DP Variable 0x" << std::hex - << std::setw(8) << std::setfill('0') << dataPoolId << - std::dec << " failed." << std::endl; - this->valid = INVALID; - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -template -inline ReturnValue_t GlobPoolVector::commitWithoutLock() { - PoolEntry* writeBack = glob::dataPool.getData(this->dataPoolId, - vectorSize); - if ((writeBack != nullptr) && (this->readWriteMode != VAR_READ)) { - writeBack->valid = valid; - memcpy(writeBack->address, this->value, writeBack->getByteSize()); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -template -inline ReturnValue_t GlobPoolVector::serialize(uint8_t** buffer, - size_t* size, size_t max_size, - SerializeIF::Endianness streamEndianness) const { - uint16_t i; - ReturnValue_t result; - for (i = 0; i < vectorSize; i++) { - result = SerializeAdapter::serialize(&(value[i]), buffer, size, - max_size, streamEndianness); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - } - return result; -} - -template -inline size_t GlobPoolVector::getSerializedSize() const { - return vectorSize * SerializeAdapter::getSerializedSize(value); -} - -template -inline ReturnValue_t GlobPoolVector::deSerialize( - const uint8_t** buffer, size_t* size, - SerializeIF::Endianness streamEndianness) { - uint16_t i; - ReturnValue_t result; - for (i = 0; i < vectorSize; i++) { - result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, - streamEndianness); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - } - return result; -} - -#endif diff --git a/datapoolglob/PIDReader.h b/datapoolglob/PIDReader.h deleted file mode 100644 index 9431e1d4..00000000 --- a/datapoolglob/PIDReader.h +++ /dev/null @@ -1,164 +0,0 @@ -#ifndef PIDREADER_H_ -#define PIDREADER_H_ -#include "../datapool/DataSetIF.h" -#include "../datapoolglob/GlobalDataPool.h" -#include "../datapool/PoolEntry.h" -#include "../datapool/PoolVariableIF.h" -#include "../serialize/SerializeAdapter.h" -#include "../serviceinterface/ServiceInterfaceStream.h" - -template class PIDReaderList; - -template -class PIDReader: public PoolVariableIF { - template friend class PIDReaderList; -protected: - uint32_t parameterId; - uint8_t valid; - ReturnValue_t readWithoutLock() { - uint8_t arrayIndex = GlobalDataPool::PIDToArrayIndex(parameterId); - PoolEntry *read_out = glob::dataPool.getData( - GlobalDataPool::PIDToDataPoolId(parameterId), arrayIndex); - if (read_out != NULL) { - valid = read_out->valid; - value = read_out->address[arrayIndex]; - return HasReturnvaluesIF::RETURN_OK; - } else { - value = 0; - valid = false; - sif::error << "PIDReader: read of PID 0x" << std::hex << parameterId - << std::dec << " failed." << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } - } - /** - * Never commit, is read-only. - * Reason is the possibility to access a single DP vector element, but if we commit, - * we set validity of the whole vector. - */ - ReturnValue_t commit(uint32_t lockTimeout) override { - return HasReturnvaluesIF::RETURN_FAILED; - } - ReturnValue_t commitWithoutLock() override { - return HasReturnvaluesIF::RETURN_FAILED; - } - - /** - * Empty ctor for List initialization - */ - PIDReader() : - parameterId(PoolVariableIF::NO_PARAMETER), valid( - PoolVariableIF::INVALID), value(0) { - - } -public: - /** - * \brief This is the local copy of the data pool entry. - */ - T value; - /** - * \brief In the constructor, the variable can register itself in a DataSet (if not NULL is - * passed). - * \details It DOES NOT fetch the current value from the data pool, but sets the value - * attribute to default (0). The value is fetched within the read() operation. - * \param set_id This is the id in the global data pool this instance of the access class - * corresponds to. - * \param dataSet The data set in which the variable shall register itself. If NULL, - * the variable is not registered. - * \param setWritable If this flag is set to true, changes in the value attribute can be - * written back to the data pool, otherwise not. - */ - PIDReader(uint32_t setParameterId, DataSetIF *dataSet) : - parameterId(setParameterId), valid(PoolVariableIF::INVALID), value( - 0) { - if (dataSet != NULL) { - dataSet->registerVariable(this); - } - } - - ReturnValue_t read(uint32_t lockTimeout) override { - ReturnValue_t result = glob::dataPool.lockDataPool(); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = readWithoutLock(); - ReturnValue_t unlockResult = glob::dataPool.unlockDataPool(); - if(unlockResult != HasReturnvaluesIF::RETURN_OK) { - sif::error << "PIDReader::read: Could not unlock data pool!" - << std::endl; - } - return result; - } - /** - * Copy ctor to copy classes containing Pool Variables. - */ - PIDReader(const PIDReader &rhs) : - parameterId(rhs.parameterId), valid(rhs.valid), value(rhs.value) { - } - - /** - * \brief The classes destructor is empty. - */ - ~PIDReader() { - - } - /** - * \brief This operation returns the data pool id of the variable. - */ - uint32_t getDataPoolId() const { - return GlobalDataPool::PIDToDataPoolId(parameterId); - } - uint32_t getParameterId() const { - return parameterId; - } - /** - * This method returns if the variable is write-only, read-write or read-only. - */ - ReadWriteMode_t getReadWriteMode() const { - return VAR_READ; - } - /** - * \brief With this call, the valid information of the variable is returned. - */ - bool isValid() const { - if (valid) - return true; - else - return false; - } - - uint8_t getValid() { - return valid; - } - - void setValid(bool valid) { - this->valid = valid; - } - - operator T() { - return value; - } - - PIDReader& operator=(T newValue) { - value = newValue; - return *this; - } - - virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, - size_t maxSize, Endianness streamEndianness) const override { - return SerializeAdapter::serialize(&value, buffer, size, maxSize, - streamEndianness); - } - - virtual size_t getSerializedSize() const override { - return SerializeAdapter::getSerializedSize(&value); - } - - virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size, - Endianness streamEndianness) override { - return SerializeAdapter::deSerialize(&value, buffer, size, - streamEndianness); - } -}; - -#endif /* PIDREADER_H_ */ diff --git a/datapoolglob/PIDReaderList.h b/datapoolglob/PIDReaderList.h deleted file mode 100644 index ae99f3aa..00000000 --- a/datapoolglob/PIDReaderList.h +++ /dev/null @@ -1,27 +0,0 @@ -#ifndef FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_ -#define FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_ - -#include "../datapool/PoolVariableIF.h" -#include "../datapoolglob/PIDReader.h" -template -class PIDReaderList { -private: - PIDReader variables[n_var]; -public: - PIDReaderList( const uint32_t setPid[n_var], DataSetIF* dataSet) { - //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].parameterId = setPid[count]; - dataSet->registerVariable(&variables[count]); - } - } - - PIDReader &operator [](int i) { return variables[i]; } -}; - - - -#endif /* FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_ */ diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp deleted file mode 100644 index 53706c6d..00000000 --- a/datapoolglob/PoolRawAccess.cpp +++ /dev/null @@ -1,239 +0,0 @@ -#include "../datapoolglob/GlobalDataPool.h" -#include "../datapoolglob/PoolRawAccess.h" -#include "../serviceinterface/ServiceInterfaceStream.h" -#include "../serialize/EndianConverter.h" - -#include - -PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry, - DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode) : - dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), - type(Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), - readWriteMode(setReadWriteMode) { - memset(value, 0, sizeof(value)); - if (dataSet != nullptr) { - dataSet->registerVariable(this); - } -} - -PoolRawAccess::~PoolRawAccess() {} - -ReturnValue_t PoolRawAccess::read(uint32_t lockTimeout) { - ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = readWithoutLock(); - ReturnValue_t unlockResult = glob::dataPool.unlockDataPool(); - if(unlockResult != HasReturnvaluesIF::RETURN_OK) { - sif::error << "GlobPoolVar::read: Could not unlock global data pool" - << std::endl; - } - return result; -} - -ReturnValue_t PoolRawAccess::readWithoutLock() { - ReturnValue_t result = RETURN_FAILED; - PoolEntryIF* readOut = glob::dataPool.getRawData(dataPoolId); - if (readOut != nullptr) { - result = handleReadOut(readOut); - if(result == RETURN_OK) { - return result; - } - } else { - result = READ_ENTRY_NON_EXISTENT; - } - handleReadError(result); - return result; -} - -ReturnValue_t PoolRawAccess::handleReadOut(PoolEntryIF* readOut) { - ReturnValue_t result = RETURN_FAILED; - valid = readOut->getValid(); - if (readOut->getSize() > arrayEntry) { - arraySize = readOut->getSize(); - typeSize = readOut->getByteSize() / readOut->getSize(); - type = readOut->getType(); - if (typeSize <= sizeof(value)) { - uint16_t arrayPosition = arrayEntry * typeSize; - sizeTillEnd = readOut->getByteSize() - arrayPosition; - uint8_t* ptr = &((uint8_t*) readOut->getRawData())[arrayPosition]; - memcpy(value, ptr, typeSize); - return RETURN_OK; - } else { - result = READ_TYPE_TOO_LARGE; - } - } else { - //debug << "PoolRawAccess: Size: " << (int)read_out->getSize() << std::endl; - result = READ_INDEX_TOO_LARGE; - } - return result; -} - -void PoolRawAccess::handleReadError(ReturnValue_t result) { - sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId - << std::dec << " failed, "; - if(result == READ_TYPE_TOO_LARGE) { - sif::error << "type too large." << std::endl; - } - else if(result == READ_INDEX_TOO_LARGE) { - sif::error << "index too large." << std::endl; - } - else if(result == READ_ENTRY_NON_EXISTENT) { - sif::error << "entry does not exist." << std::endl; - } - - valid = INVALID; - typeSize = 0; - sizeTillEnd = 0; - memset(value, 0, sizeof(value)); -} - -ReturnValue_t PoolRawAccess::commit(uint32_t lockTimeout) { - ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = commitWithoutLock(); - ReturnValue_t unlockResult = glob::dataPool.unlockDataPool(); - if(unlockResult != HasReturnvaluesIF::RETURN_OK) { - sif::error << "GlobPoolVar::read: Could not unlock global data pool" - << std::endl; - } - return result; -} - -ReturnValue_t PoolRawAccess::commitWithoutLock() { - PoolEntryIF* write_back = glob::dataPool.getRawData(dataPoolId); - if ((write_back != NULL) && (readWriteMode != VAR_READ)) { - write_back->setValid(valid); - uint8_t array_position = arrayEntry * typeSize; - uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position]; - memcpy(ptr, value, typeSize); - return HasReturnvaluesIF::RETURN_OK; - } else { - return HasReturnvaluesIF::RETURN_FAILED; - } -} - -uint8_t* PoolRawAccess::getEntry() { - return value; -} - -ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer, - size_t* writtenBytes, size_t max_size) { - uint8_t* data_ptr = getEntry(); - // debug << "PoolRawAccess::getEntry: Array position: " << - // index * size_of_type << " Size of T: " << (int)size_of_type << - // " ByteSize: " << byte_size << " Position: " << *size << std::endl; - if (typeSize == 0) - return DATA_POOL_ACCESS_FAILED; - if (typeSize > max_size) - return INCORRECT_SIZE; - EndianConverter::convertBigEndian(buffer, data_ptr, typeSize); - *writtenBytes = typeSize; - return HasReturnvaluesIF::RETURN_OK; -} - - -ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size, - size_t maxSize, Endianness streamEndianness) const { - if (typeSize + *size <= maxSize) { - switch(streamEndianness) { - case(Endianness::BIG): - EndianConverter::convertBigEndian(*buffer, value, typeSize); - break; - case(Endianness::LITTLE): - EndianConverter::convertLittleEndian(*buffer, value, typeSize); - break; - case(Endianness::MACHINE): - default: - memcpy(*buffer, value, typeSize); - break; - } - *size += typeSize; - (*buffer) += typeSize; - return HasReturnvaluesIF::RETURN_OK; - } else { - return SerializeIF::BUFFER_TOO_SHORT; - } -} - - -Type PoolRawAccess::getType() { - return type; -} - -size_t PoolRawAccess::getSizeOfType() { - return typeSize; -} - -size_t PoolRawAccess::getArraySize(){ - return arraySize; -} - -uint32_t PoolRawAccess::getDataPoolId() const { - return dataPoolId; -} - -PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const { - return readWriteMode; -} - -ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer, - size_t setSize) { - if (typeSize == setSize) { - EndianConverter::convertBigEndian(value, buffer, typeSize); - return HasReturnvaluesIF::RETURN_OK; - } else { - sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: " - "Internal" << (uint32_t) typeSize << ", Requested: " << setSize - << std::endl; - return INCORRECT_SIZE; - } -} - -bool PoolRawAccess::isValid() const { - if (valid != INVALID) - return true; - else - return false; -} - -void PoolRawAccess::setValid(bool valid) { - this->valid = valid; -} - -size_t PoolRawAccess::getSizeTillEnd() const { - return sizeTillEnd; -} - - -size_t PoolRawAccess::getSerializedSize() const { - return typeSize; -} - -ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size, - Endianness streamEndianness) { - - if (*size >= typeSize) { - switch(streamEndianness) { - case(Endianness::BIG): - EndianConverter::convertBigEndian(value, *buffer, typeSize); - break; - case(Endianness::LITTLE): - EndianConverter::convertLittleEndian(value, *buffer, typeSize); - break; - case(Endianness::MACHINE): - default: - memcpy(value, *buffer, typeSize); - break; - } - *size -= typeSize; - *buffer += typeSize; - return HasReturnvaluesIF::RETURN_OK; - } - else { - return SerializeIF::STREAM_TOO_SHORT; - } -} diff --git a/datapoolglob/PoolRawAccess.h b/datapoolglob/PoolRawAccess.h deleted file mode 100644 index 15643a41..00000000 --- a/datapoolglob/PoolRawAccess.h +++ /dev/null @@ -1,220 +0,0 @@ -#ifndef POOLRAWACCESS_H_ -#define POOLRAWACCESS_H_ - -#include "../datapool/DataSetIF.h" -#include "../datapool/PoolEntryIF.h" -#include "../datapool/PoolVariableIF.h" -#include "../globalfunctions/Type.h" - -/** - * @brief This class allows accessing Data Pool variables as raw bytes. - * @details - * This is necessary to have an access method for HK data, as the PID's alone - * do not provide type information. Please note that the the raw pool access - * read() and commit() calls are not thread-safe. - * - * Please supply a data set and use the data set read(), commit() calls for - * thread-safe data pool access. - * @ingroup data_pool - */ -class PoolRawAccess: public PoolVariableIF, HasReturnvaluesIF { -public: - /** - * This constructor is used to access a data pool entry with a - * given ID if the target type is not known. A DataSet object is supplied - * and the data pool entry with the given ID is registered to that data set. - * Please note that a pool raw access buffer only has a buffer - * with a size of double. As such, for vector entries which have - * @param data_pool_id Target data pool entry ID - * @param arrayEntry - * @param data_set Dataset to register data pool entry to - * @param setReadWriteMode - * @param registerVectors If set to true, the constructor checks if - * there are multiple vector entries to registers - * and registers all of them recursively into the data_set - * - */ - PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry, - DataSetIF* data_set, ReadWriteMode_t setReadWriteMode = - PoolVariableIF::VAR_READ); - - /** - * @brief This operation returns a pointer to the entry fetched. - * @details Return pointer to the buffer containing the raw data - * Size and number of data can be retrieved by other means. - */ - uint8_t* getEntry(); - /** - * @brief This operation returns the fetched entry from the data pool and - * flips the bytes, if necessary. - * @details It makes use of the getEntry call of this function, but additionally flips the - * bytes to big endian, which is the default for external communication (as House- - * keeping telemetry). To achieve this, the data is copied directly to the passed - * buffer, if it fits in the given max_size. - * @param buffer A pointer to a buffer to write to - * @param writtenBytes The number of bytes written is returned with this value. - * @param max_size The maximum size that the function may write to buffer. - * @return - @c RETURN_OK if entry could be acquired - * - @c RETURN_FAILED else. - */ - ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size, - size_t maxSize); - - /** - * @brief Serialize raw pool entry into provided buffer directly - * @param buffer Provided buffer. Raw pool data will be copied here - * @param size [out] Increment provided size value by serialized size - * @param max_size Maximum allowed serialization size - * @param bigEndian Specify endianess - * @return - @c RETURN_OK if serialization was successfull - * - @c SerializeIF::BUFFER_TOO_SHORT if range check failed - */ - ReturnValue_t serialize(uint8_t **buffer, size_t *size, - size_t maxSize, Endianness streamEndianness) const override; - - size_t getSerializedSize() const override; - - ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size, - Endianness streamEndianness) override; - - /** - * With this method, the content can be set from a big endian buffer safely. - * @param buffer Pointer to the data to set - * @param size Size of the data to write. Must fit this->size. - * @return - @c RETURN_OK on success - * - @c RETURN_FAILED on failure - */ - ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer, - size_t setSize); - /** - * @brief This operation returns the type of the entry currently stored. - */ - Type getType(); - /** - * @brief This operation returns the size of the entry currently stored. - */ - size_t getSizeOfType(); - /** - * - * @return the size of the datapool array - */ - size_t getArraySize(); - /** - * @brief This operation returns the data pool id of the variable. - */ - uint32_t getDataPoolId() const; - - static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS; - static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01); - static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02); - static const ReturnValue_t READ_TYPE_TOO_LARGE = MAKE_RETURN_CODE(0x03); - static const ReturnValue_t READ_INDEX_TOO_LARGE = MAKE_RETURN_CODE(0x04); - static const ReturnValue_t READ_ENTRY_NON_EXISTENT = MAKE_RETURN_CODE(0x05); - static const uint8_t RAW_MAX_SIZE = sizeof(double); - uint8_t value[RAW_MAX_SIZE]; - - - /** - * @brief The classes destructor is empty. If commit() was not called, the local value is - * discarded and not written back to the data pool. - */ - ~PoolRawAccess(); - - /** - * This method returns if the variable is read-write or read-only. - */ - ReadWriteMode_t getReadWriteMode() const; - /** - * @brief With this call, the valid information of the variable is returned. - */ - bool isValid() const; - - void setValid(bool valid); - /** - * Getter for the remaining size. - */ - size_t getSizeTillEnd() const; - - /** - * @brief This is a call to read the value from the global data pool. - * @details - * When executed, this operation tries to fetch the pool entry with matching - * data pool id from the global data pool and copies the value and the valid - * information to its local attributes. In case of a failure (wrong type or - * pool id not found), the variable is set to zero and invalid. - * The call is protected by a lock of the global data pool. - * @return -@c RETURN_OK Read successfull - * -@c READ_TYPE_TOO_LARGE - * -@c READ_INDEX_TOO_LARGE - * -@c READ_ENTRY_NON_EXISTENT - */ - ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override; - /** - * @brief The commit call writes back the variable's value to the data pool. - * @details - * It checks type and size, as well as if the variable is writable. If so, - * the value is copied and the valid flag is automatically set to "valid". - * The call is protected by a lock of the global data pool. - * - */ - ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override; - -protected: - /** - * @brief Like #read, but without a lock protection of the global pool. - * @details - * The operation does NOT provide any mutual exclusive protection by itself. - * This can be used if the lock is handled externally to avoid the overhead - * of consecutive lock und unlock operations. - * Declared protected to discourage free public usage. - */ - ReturnValue_t readWithoutLock() override; - /** - * @brief Like #commit, but without a lock protection of the global pool. - * @details - * The operation does NOT provide any mutual exclusive protection by itself. - * This can be used if the lock is handled externally to avoid the overhead - * of consecutive lock und unlock operations. - * Declared protected to discourage free public usage. - */ - ReturnValue_t commitWithoutLock() override; - - ReturnValue_t handleReadOut(PoolEntryIF* read_out); - void handleReadError(ReturnValue_t result); -private: - /** - * @brief To access the correct data pool entry on read and commit calls, the data pool id - * is stored. - */ - uint32_t dataPoolId; - /** - * @brief The array entry that is fetched from the data pool. - */ - uint8_t arrayEntry; - /** - * @brief The valid information as it was stored in the data pool is copied to this attribute. - */ - uint8_t valid; - /** - * @brief This value contains the type of the data pool entry. - */ - Type type; - /** - * @brief This value contains the size of the data pool entry type in bytes. - */ - size_t typeSize; - /** - * The size of the DP array (single values return 1) - */ - size_t arraySize; - /** - * The size (in bytes) from the selected entry till the end of this DataPool variable. - */ - size_t sizeTillEnd; - /** - * @brief The information whether the class is read-write or read-only is stored here. - */ - ReadWriteMode_t readWriteMode; -}; - -#endif /* POOLRAWACCESS_H_ */ From 715386e366d40eb4dacfed62cd529ab72e53cb79 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 13 Dec 2020 22:12:57 +0100 Subject: [PATCH 02/20] clened up a bit --- rmap/RMAP.cpp | 14 ++-- rmap/RMAP.h | 12 ++-- rmap/RMAPChannelIF.h | 11 +-- rmap/RMAPCookie.cpp | 9 +-- rmap/RMAPCookie.h | 16 +++-- rmap/RmapDeviceCommunicationIF.cpp | 10 +-- rmap/RmapDeviceCommunicationIF.h | 105 ++++++++++++++++------------- rmap/rmapStructs.h | 8 +-- 8 files changed, 100 insertions(+), 85 deletions(-) diff --git a/rmap/RMAP.cpp b/rmap/RMAP.cpp index 4ab8b17b..7ea6e532 100644 --- a/rmap/RMAP.cpp +++ b/rmap/RMAP.cpp @@ -1,8 +1,10 @@ -#include "../devicehandlers/DeviceCommunicationIF.h" -#include "rmapStructs.h" #include "RMAP.h" +#include "rmapStructs.h" #include "RMAPChannelIF.h" -#include + +#include "../devicehandlers/DeviceCommunicationIF.h" + +#include ReturnValue_t RMAP::reset(RMAPCookie* cookie) { return cookie->getChannel()->reset(); @@ -12,8 +14,8 @@ RMAP::RMAP(){ } -ReturnValue_t RMAP::sendWriteCommand(RMAPCookie *cookie, uint8_t* buffer, - uint32_t length) { +ReturnValue_t RMAP::sendWriteCommand(RMAPCookie *cookie, const uint8_t* buffer, + size_t length) { uint8_t instruction; if ((buffer == NULL) && (length != 0)) { @@ -61,7 +63,7 @@ ReturnValue_t RMAP::sendReadCommand(RMAPCookie *cookie, uint32_t expLength) { } ReturnValue_t RMAP::getReadReply(RMAPCookie *cookie, uint8_t **buffer, - uint32_t *size) { + size_t *size) { if (cookie->getChannel() == NULL) { return COMMAND_NO_CHANNEL; } diff --git a/rmap/RMAP.h b/rmap/RMAP.h index d14320cb..83e29fed 100644 --- a/rmap/RMAP.h +++ b/rmap/RMAP.h @@ -1,8 +1,8 @@ -#ifndef RMAPpp_H_ -#define RMAPpp_H_ +#ifndef FSFW_RMAP_RMAP_H_ +#define FSFW_RMAP_RMAP_H_ #include "../returnvalues/HasReturnvaluesIF.h" -#include "RMAPCookie.h" +#include "../rmap/RMAPCookie.h" //SHOULDTODO: clean up includes for RMAP, should be enough to include RMAP.h but right now it's quite chaotic... @@ -153,8 +153,8 @@ public: * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in write command * - return codes of RMAPChannelIF::sendCommand() */ - static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, uint8_t* buffer, - uint32_t length); + static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t* buffer, + size_t length); /** * get the reply to a write command @@ -204,7 +204,7 @@ public: * - return codes of RMAPChannelIF::getReply() */ static ReturnValue_t getReadReply(RMAPCookie *cookie, uint8_t **buffer, - uint32_t *size); + size_t *size); /** * @see sendReadCommand() diff --git a/rmap/RMAPChannelIF.h b/rmap/RMAPChannelIF.h index dac4a722..0aa809c5 100644 --- a/rmap/RMAPChannelIF.h +++ b/rmap/RMAPChannelIF.h @@ -1,8 +1,9 @@ -#ifndef RMAPCHANNELIF_H_ -#define RMAPCHANNELIF_H_ +#ifndef FSFW_RMAP_RMAPCHANNELIF_H_ +#define FSFW_RMAP_RMAPCHANNELIF_H_ #include "RMAPCookie.h" #include "../returnvalues/HasReturnvaluesIF.h" +#include class RMAPChannelIF { public: @@ -73,7 +74,7 @@ public: * - @c NOT_SUPPORTED if you dont feel like implementing something... */ virtual ReturnValue_t sendCommand(RMAPCookie *cookie, uint8_t instruction, - uint8_t *data, uint32_t datalen)=0; + const uint8_t *data, size_t datalen)=0; /** * get the reply to an rmap command @@ -92,7 +93,7 @@ public: * - all RMAP standard replies */ virtual ReturnValue_t getReply(RMAPCookie *cookie, uint8_t **databuffer, - uint32_t *len)=0; + size_t *len)=0; /** * @@ -112,4 +113,4 @@ public: }; -#endif /* RMAPCHANNELIF_H_ */ +#endif /* FSFW_RMAP_RMAPCHANNELIF_H_ */ diff --git a/rmap/RMAPCookie.cpp b/rmap/RMAPCookie.cpp index 597f066c..f8fe2d3e 100644 --- a/rmap/RMAPCookie.cpp +++ b/rmap/RMAPCookie.cpp @@ -1,6 +1,6 @@ #include "RMAPChannelIF.h" #include "RMAPCookie.h" -#include +#include RMAPCookie::RMAPCookie() { @@ -31,7 +31,8 @@ RMAPCookie::RMAPCookie() { RMAPCookie::RMAPCookie(uint32_t set_address, uint8_t set_extended_address, - RMAPChannelIF *set_channel, uint8_t set_command_mask, uint32_t maxReplyLen) { + RMAPChannelIF *set_channel, uint8_t set_command_mask, + size_t maxReplyLen) { this->header.dest_address = 0; this->header.protocol = 0x01; this->header.instruction = 0; @@ -93,11 +94,11 @@ RMAPCookie::~RMAPCookie() { } -uint32_t RMAPCookie::getMaxReplyLen() const { +size_t RMAPCookie::getMaxReplyLen() const { return maxReplyLen; } -void RMAPCookie::setMaxReplyLen(uint32_t maxReplyLen) { +void RMAPCookie::setMaxReplyLen(size_t maxReplyLen) { this->maxReplyLen = maxReplyLen; } diff --git a/rmap/RMAPCookie.h b/rmap/RMAPCookie.h index 4c6081bd..38542646 100644 --- a/rmap/RMAPCookie.h +++ b/rmap/RMAPCookie.h @@ -1,8 +1,9 @@ -#ifndef RMAPCOOKIE_H_ -#define RMAPCOOKIE_H_ +#ifndef FSFW_RMAP_RMAPCOOKIE_H_ +#define FSFW_RMAP_RMAPCOOKIE_H_ -#include "../devicehandlers/CookieIF.h" #include "rmapStructs.h" +#include "../devicehandlers/CookieIF.h" +#include class RMAPChannelIF; @@ -12,7 +13,8 @@ public: RMAPCookie(); RMAPCookie(uint32_t set_address, uint8_t set_extended_address, - RMAPChannelIF *set_channel, uint8_t set_command_mask, uint32_t maxReplyLen = 0); + RMAPChannelIF *set_channel, uint8_t set_command_mask, + size_t maxReplyLen = 0); virtual ~RMAPCookie(); @@ -28,8 +30,8 @@ public: void setCommandMask(uint8_t commandMask); uint8_t getCommandMask(); - uint32_t getMaxReplyLen() const; - void setMaxReplyLen(uint32_t maxReplyLen); + size_t getMaxReplyLen() const; + void setMaxReplyLen(size_t maxReplyLen); uint16_t getTransactionIdentifier() const; void setTransactionIdentifier(uint16_t id_); @@ -55,4 +57,4 @@ protected: uint8_t dataCRC; }; -#endif /* RMAPCOOKIE_H_ */ +#endif /* FSFW_RMAP_RMAPCOOKIE_H_ */ diff --git a/rmap/RmapDeviceCommunicationIF.cpp b/rmap/RmapDeviceCommunicationIF.cpp index db4a75b5..d81baabd 100644 --- a/rmap/RmapDeviceCommunicationIF.cpp +++ b/rmap/RmapDeviceCommunicationIF.cpp @@ -5,9 +5,9 @@ RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() { } -ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF* cookie, - uint8_t* data, uint32_t len) { - return RMAP::sendWriteCommand((RMAPCookie *) cookie, data, len); +ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF *cookie, + const uint8_t * sendData, size_t sendLen) { + return RMAP::sendWriteCommand((RMAPCookie *) cookie, sendData, sendLen); } ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) { @@ -15,13 +15,13 @@ ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) { } ReturnValue_t RmapDeviceCommunicationIF::requestReceiveMessage( - CookieIF* cookie) { + CookieIF *cookie, size_t requestLen) { return RMAP::sendReadCommand((RMAPCookie *) cookie, ((RMAPCookie *) cookie)->getMaxReplyLen()); } ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(CookieIF* cookie, - uint8_t** buffer, uint32_t* size) { + uint8_t** buffer, size_t * size) { return RMAP::getReadReply((RMAPCookie *) cookie, buffer, size); } diff --git a/rmap/RmapDeviceCommunicationIF.h b/rmap/RmapDeviceCommunicationIF.h index dacc720b..1333966a 100644 --- a/rmap/RmapDeviceCommunicationIF.h +++ b/rmap/RmapDeviceCommunicationIF.h @@ -1,10 +1,11 @@ -#ifndef MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ -#define MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ +#ifndef FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ +#define FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ #include "../devicehandlers/DeviceCommunicationIF.h" /** - * @brief This class is a implementation of a DeviceCommunicationIF for RMAP calls. It expects RMAPCookies or a derived class of RMAPCookies + * @brief This class is a implementation of a DeviceCommunicationIF for RMAP calls. + * It expects RMAPCookies or a derived class of RMAPCookies * * @details The open, close and reOpen calls are mission specific * The open call might return any child of RMAPCookies @@ -16,65 +17,73 @@ class RmapDeviceCommunicationIF: public DeviceCommunicationIF { public: virtual ~RmapDeviceCommunicationIF(); - /** - * This method is mission specific as the open call will return a mission specific cookie - * - * @param cookie A cookie, can be mission specific subclass of RMAP Cookie - * @param address The address of the RMAP Cookie - * @param maxReplyLen Maximum length of expected reply - * @return - */ - virtual ReturnValue_t open(CookieIF **cookie, uint32_t address, - uint32_t maxReplyLen) = 0; - - /** - * Use an existing cookie to open a connection to a new DeviceCommunication. - * The previous connection must not be closed. - * If the returnvalue is not RETURN_OK, the cookie is unchanged and - * can be used with the previous connection. - * + * @brief Device specific initialization, using the cookie. + * @details + * The cookie is already prepared in the factory. If the communication + * interface needs to be set up in some way and requires cookie information, + * this can be performed in this function, which is called on device handler + * initialization. * @param cookie - * @param address - * @param maxReplyLen - * @return + * @return -@c RETURN_OK if initialization was successfull + * - Everything else triggers failure event with returnvalue as parameter 1 */ - virtual ReturnValue_t reOpen(CookieIF *cookie, uint32_t address, - uint32_t maxReplyLen) = 0; - + virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0; /** - * Closing call of connection and memory free of cookie. Mission dependent call + * Called by DHB in the SEND_WRITE doSendWrite(). + * This function is used to send data to the physical device + * by implementing and calling related drivers or wrapper functions. * @param cookie + * @param data + * @param len + * @return -@c RETURN_OK for successfull send + * - Everything else triggers failure event with returnvalue as parameter 1 */ - virtual void close(CookieIF *cookie) = 0; + virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData, + size_t sendLen); - //SHOULDDO can data be const? /** - * - * - * @param cookie Expects an RMAPCookie or derived from RMAPCookie Class - * @param data Data to be send - * @param len Length of the data to be send - * @return - Return codes of RMAP::sendWriteCommand() + * Called by DHB in the GET_WRITE doGetWrite(). + * Get send confirmation that the data in sendMessage() was sent successfully. + * @param cookie + * @return -@c RETURN_OK if data was sent successfull + * - Everything else triggers falure event with returnvalue as parameter 1 */ - virtual ReturnValue_t sendMessage(CookieIF *cookie, uint8_t *data, - uint32_t len); - virtual ReturnValue_t getSendSuccess(CookieIF *cookie); - virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie); + /** + * Called by DHB in the SEND_WRITE doSendRead(). + * It is assumed that it is always possible to request a reply + * from a device. + * + * @param cookie + * @return -@c RETURN_OK to confirm the request for data has been sent. + * -@c NO_READ_REQUEST if no request shall be made. readReceivedMessage() + * will not be called in the respective communication cycle. + * - Everything else triggers failure event with returnvalue as parameter 1 + */ + virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen); + /** + * Called by DHB in the GET_WRITE doGetRead(). + * This function is used to receive data from the physical device + * by implementing and calling related drivers or wrapper functions. + * @param cookie + * @param data + * @param len + * @return @c RETURN_OK for successfull receive + * - Everything else triggers failure event with returnvalue as parameter 1 + */ virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, - uint32_t *size); + size_t *size); - virtual ReturnValue_t setAddress(CookieIF *cookie, uint32_t address); - - virtual uint32_t getAddress(CookieIF *cookie); - - virtual ReturnValue_t setParameter(CookieIF *cookie, uint32_t parameter); - - virtual uint32_t getParameter(CookieIF *cookie); + ReturnValue_t setAddress(CookieIF* cookie, + uint32_t address); + uint32_t getAddress(CookieIF* cookie); + ReturnValue_t setParameter(CookieIF* cookie, + uint32_t parameter); + uint32_t getParameter(CookieIF* cookie); }; -#endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */ +#endif /* FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */ diff --git a/rmap/rmapStructs.h b/rmap/rmapStructs.h index bf0fb260..11d8bb85 100644 --- a/rmap/rmapStructs.h +++ b/rmap/rmapStructs.h @@ -1,7 +1,7 @@ -#ifndef RMAPSTRUCTS_H_ -#define RMAPSTRUCTS_H_ +#ifndef FSFW_RMAP_RMAPSTRUCTS_H_ +#define FSFW_RMAP_RMAPSTRUCTS_H_ -#include +#include //SHOULDDO: having the defines within a namespace would be nice. Problem are the defines referencing the previous define, eg RMAP_COMMAND_WRITE @@ -95,4 +95,4 @@ struct rmap_write_reply_header { } -#endif /* RMAPSTRUCTS_H_ */ +#endif /* FSFW_RMAP_RMAPSTRUCTS_H_ */ From dc72fa938d593083b8fb60ff38ea7f9b6d754711 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:10:22 +0100 Subject: [PATCH 03/20] type update --- globalfunctions/Type.cpp | 1 - globalfunctions/Type.h | 13 ++++++++++--- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp index ae595b81..fa6d2f28 100644 --- a/globalfunctions/Type.cpp +++ b/globalfunctions/Type.cpp @@ -1,4 +1,3 @@ -#include "../serialize/SerializeAdapter.h" #include "Type.h" #include "../serialize/SerializeAdapter.h" diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h index be499ffc..d28f56ac 100644 --- a/globalfunctions/Type.h +++ b/globalfunctions/Type.h @@ -1,9 +1,12 @@ -#ifndef TYPE_H_ -#define TYPE_H_ +#ifndef FSFW_GLOBALFUNCTIONS_TYPE_H_ +#define FSFW_GLOBALFUNCTIONS_TYPE_H_ #include "../returnvalues/HasReturnvaluesIF.h" #include "../serialize/SerializeIF.h" +/** + * @brief Type definition for CCSDS or ECSS. + */ class Type: public SerializeIF { public: enum ActualType_t { @@ -56,6 +59,10 @@ struct PodTypeConversion { static const Type::ActualType_t type = Type::UNKNOWN_TYPE; }; template<> +struct PodTypeConversion { + static const Type::ActualType_t type = Type::UINT8_T; +}; +template<> struct PodTypeConversion { static const Type::ActualType_t type = Type::UINT8_T; }; @@ -88,4 +95,4 @@ struct PodTypeConversion { static const Type::ActualType_t type = Type::DOUBLE; }; -#endif /* TYPE_H_ */ +#endif /* FSFW_GLOBALFUNCTIONS_TYPE_H_ */ From 94fa917202970b0e7ecf516497be87ce8f1727c3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:17:22 +0100 Subject: [PATCH 04/20] some tweaks --- osal/FreeRTOS/BinSemaphUsingTask.cpp | 8 +++++-- osal/FreeRTOS/BinSemaphUsingTask.h | 27 ++++++++++++++++++----- osal/FreeRTOS/BinarySemaphore.cpp | 4 ++-- osal/FreeRTOS/BinarySemaphore.h | 6 ++--- osal/FreeRTOS/Clock.cpp | 10 ++++++++- osal/FreeRTOS/CountingSemaphUsingTask.cpp | 5 +++-- osal/FreeRTOS/CountingSemaphUsingTask.h | 13 ++++++----- osal/FreeRTOS/CountingSemaphore.cpp | 5 +++-- osal/FreeRTOS/CountingSemaphore.h | 3 ++- osal/FreeRTOS/MessageQueue.cpp | 7 +++++- osal/FreeRTOS/MessageQueue.h | 3 ++- osal/FreeRTOS/MutexFactory.cpp | 10 +++++---- osal/FreeRTOS/QueueFactory.cpp | 4 ++-- osal/FreeRTOS/TaskFactory.cpp | 20 ++++++++--------- osal/FreeRTOS/TaskManagement.cpp | 2 +- osal/FreeRTOS/TaskManagement.h | 3 +-- osal/FreeRTOS/Timekeeper.cpp | 2 +- timemanager/Clock.h | 6 ++--- 18 files changed, 88 insertions(+), 50 deletions(-) diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp index dd1e48ca..9c29948e 100644 --- a/osal/FreeRTOS/BinSemaphUsingTask.cpp +++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp @@ -1,5 +1,5 @@ -#include "../../osal/FreeRTOS/BinSemaphUsingTask.h" -#include "../../osal/FreeRTOS/TaskManagement.h" +#include "BinSemaphUsingTask.h" +#include "TaskManagement.h" #include "../../serviceinterface/ServiceInterfaceStream.h" BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() { @@ -16,6 +16,10 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() { xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr); } +void BinarySemaphoreUsingTask::refreshTaskHandle() { + handle = TaskManagement::getCurrentTaskHandle(); +} + ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType, uint32_t timeoutMs) { TickType_t timeout = 0; diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h index f3c0b0ea..65a091a3 100644 --- a/osal/FreeRTOS/BinSemaphUsingTask.h +++ b/osal/FreeRTOS/BinSemaphUsingTask.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ +#ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ +#define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ #include "../../returnvalues/HasReturnvaluesIF.h" #include "../../tasks/SemaphoreIF.h" @@ -7,13 +7,20 @@ #include #include +// todo: does not work for older FreeRTOS version, so we should +// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ? + /** * @brief Binary Semaphore implementation using the task notification value. * The notification value should therefore not be used - * for other purposes. + * for other purposes! * @details * Additional information: https://www.freertos.org/RTOS-task-notifications.html * and general semaphore documentation. + * This semaphore is bound to the task it is created in! + * Take care of building this class with the correct executing task, + * (for example in the initializeAfterTaskCreation() function) or + * by calling refreshTaskHandle() with the correct executing task. */ class BinarySemaphoreUsingTask: public SemaphoreIF, public HasReturnvaluesIF { @@ -25,6 +32,16 @@ public: //! @brief Default dtor virtual~ BinarySemaphoreUsingTask(); + /** + * This function can be used to get the correct task handle from the + * currently executing task. + * + * This is required because the task notification value will be used + * as a binary semaphore, and the semaphore might be created by another + * task. + */ + void refreshTaskHandle(); + ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override; ReturnValue_t release() override; @@ -67,10 +84,10 @@ public: * - @c RETURN_FAILED on failure */ static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify, - BaseType_t * higherPriorityTaskWoken); + BaseType_t* higherPriorityTaskWoken); protected: TaskHandle_t handle; }; -#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */ +#endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */ diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp index 8cc3c495..6fee5c35 100644 --- a/osal/FreeRTOS/BinarySemaphore.cpp +++ b/osal/FreeRTOS/BinarySemaphore.cpp @@ -1,5 +1,5 @@ -#include "../../osal/FreeRTOS/BinarySemaphore.h" -#include "../../osal/FreeRTOS/TaskManagement.h" +#include "BinarySemaphore.h" +#include "TaskManagement.h" #include "../../serviceinterface/ServiceInterfaceStream.h" BinarySemaphore::BinarySemaphore() { diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h index c6cedc53..8969d503 100644 --- a/osal/FreeRTOS/BinarySemaphore.h +++ b/osal/FreeRTOS/BinarySemaphore.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ -#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ +#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ +#define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ #include "../../returnvalues/HasReturnvaluesIF.h" #include "../../tasks/SemaphoreIF.h" @@ -104,4 +104,4 @@ protected: SemaphoreHandle_t handle; }; -#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */ +#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */ diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp index acfa98d7..d3f4e68e 100644 --- a/osal/FreeRTOS/Clock.cpp +++ b/osal/FreeRTOS/Clock.cpp @@ -1,6 +1,7 @@ +#include "Timekeeper.h" + #include "../../timemanager/Clock.h" #include "../../globalfunctions/timevalOperations.h" -#include "Timekeeper.h" #include #include @@ -67,6 +68,13 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) { return HasReturnvaluesIF::RETURN_OK; } + +//uint32_t Clock::getUptimeSeconds() { +// timeval uptime = getUptime(); +// return uptime.tv_sec; +//} + + ReturnValue_t Clock::getClock_usecs(uint64_t* time) { timeval time_timeval; ReturnValue_t result = getClock_timeval(&time_timeval); diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp index a47341bc..17cdf7ce 100644 --- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp +++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp @@ -1,5 +1,6 @@ -#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h" -#include "../../osal/FreeRTOS/TaskManagement.h" +#include "CountingSemaphUsingTask.h" +#include "TaskManagement.h" + #include "../../serviceinterface/ServiceInterfaceStream.h" CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount, diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h index 8977258c..f258197b 100644 --- a/osal/FreeRTOS/CountingSemaphUsingTask.h +++ b/osal/FreeRTOS/CountingSemaphUsingTask.h @@ -1,13 +1,11 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ +#ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ +#define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ -#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h" +#include "CountingSemaphUsingTask.h" #include "../../tasks/SemaphoreIF.h" -extern "C" { #include #include -} /** * @brief Couting Semaphore implementation which uses the notification value @@ -16,6 +14,9 @@ extern "C" { * @details * Additional information: https://www.freertos.org/RTOS-task-notifications.html * and general semaphore documentation. + * This semaphore is bound to the task it is created in! + * Take care of calling this function with the correct executing task, + * (for example in the initializeAfterTaskCreation() function). */ class CountingSemaphoreUsingTask: public SemaphoreIF { public: @@ -99,4 +100,4 @@ private: const uint8_t maxCount; }; -#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */ +#endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */ diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp index d1310a6a..a202e480 100644 --- a/osal/FreeRTOS/CountingSemaphore.cpp +++ b/osal/FreeRTOS/CountingSemaphore.cpp @@ -1,6 +1,7 @@ -#include "../../osal/FreeRTOS/CountingSemaphore.h" +#include "CountingSemaphore.h" +#include "TaskManagement.h" + #include "../../serviceinterface/ServiceInterfaceStream.h" -#include "../../osal/FreeRTOS/TaskManagement.h" #include diff --git a/osal/FreeRTOS/CountingSemaphore.h b/osal/FreeRTOS/CountingSemaphore.h index ae2f62ae..6af1d6d2 100644 --- a/osal/FreeRTOS/CountingSemaphore.h +++ b/osal/FreeRTOS/CountingSemaphore.h @@ -1,6 +1,7 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ #define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ -#include "../../osal/FreeRTOS/BinarySemaphore.h" + +#include "BinarySemaphore.h" /** * @brief Counting semaphores, which can be acquire more than once. diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index 2dfe5ab6..fdadf8b7 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -11,7 +11,12 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): maxMessageSize(maxMessageSize) { handle = xQueueCreate(messageDepth, maxMessageSize); if (handle == nullptr) { - sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl; + sif::error << "MessageQueue::MessageQueue:" + << " Creation failed." << std::endl; + sif::error << "Specified Message Depth: " << messageDepth + << std::endl; + sif::error << "Specified Maximum Message Size: " + << maxMessageSize << std::endl; } } diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h index b99bf7c8..8fa86283 100644 --- a/osal/FreeRTOS/MessageQueue.h +++ b/osal/FreeRTOS/MessageQueue.h @@ -1,10 +1,11 @@ #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ +#include "TaskManagement.h" + #include "../../internalError/InternalErrorReporterIF.h" #include "../../ipc/MessageQueueIF.h" #include "../../ipc/MessageQueueMessageIF.h" -#include "../../osal/FreeRTOS/TaskManagement.h" #include #include diff --git a/osal/FreeRTOS/MutexFactory.cpp b/osal/FreeRTOS/MutexFactory.cpp index 75b63d07..d9569e35 100644 --- a/osal/FreeRTOS/MutexFactory.cpp +++ b/osal/FreeRTOS/MutexFactory.cpp @@ -1,10 +1,12 @@ +#include "Mutex.h" + #include "../../ipc/MutexFactory.h" -#include "../FreeRTOS/Mutex.h" -//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? -> one is on heap the other on bss/data +//TODO: Different variant than the lazy loading in QueueFactory. +//What's better and why? -> one is on heap the other on bss/data //MutexFactory* MutexFactory::factoryInstance = new MutexFactory(); -MutexFactory* MutexFactory::factoryInstance = NULL; +MutexFactory* MutexFactory::factoryInstance = nullptr; MutexFactory::MutexFactory() { } @@ -13,7 +15,7 @@ MutexFactory::~MutexFactory() { } MutexFactory* MutexFactory::instance() { - if (factoryInstance == NULL){ + if (factoryInstance == nullptr){ factoryInstance = new MutexFactory(); } return MutexFactory::factoryInstance; diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index ed29e10c..5b3c73dc 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,8 +1,8 @@ -#include "MessageQueue.h" - #include "../../ipc/MessageQueueSenderIF.h" #include "../../ipc/QueueFactory.h" +#include "../../osal/FreeRTOS/MessageQueue.h" + QueueFactory* QueueFactory::factoryInstance = nullptr; diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp index 80df38b2..3ac5cb49 100644 --- a/osal/FreeRTOS/TaskFactory.cpp +++ b/osal/FreeRTOS/TaskFactory.cpp @@ -13,32 +13,30 @@ TaskFactory::~TaskFactory() { TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; } -/*** - * Keep in Mind that you need to call before this vTaskStartScheduler()! - * High taskPriority_ number means high priority. - */ + PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod period_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_, - period_, deadLineMissedFunction_)); + return dynamic_cast(new PeriodicTask(name_, taskPriority_, + stackSize_, period_, deadLineMissedFunction_)); } -/*** + +/** * Keep in Mind that you need to call before this vTaskStartScheduler()! */ FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod period_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - return (FixedTimeslotTaskIF*) (new FixedTimeslotTask(name_, taskPriority_, - stackSize_, period_, deadLineMissedFunction_)); + return dynamic_cast(new FixedTimeslotTask(name_, + taskPriority_,stackSize_, period_, deadLineMissedFunction_)); } ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) { - if (task == NULL) { + if (task == nullptr) { //delete self - vTaskDelete(NULL); + vTaskDelete(nullptr); return HasReturnvaluesIF::RETURN_OK; } else { //TODO not implemented diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp index b77f12a9..18572045 100644 --- a/osal/FreeRTOS/TaskManagement.cpp +++ b/osal/FreeRTOS/TaskManagement.cpp @@ -1,4 +1,4 @@ -#include "../../osal/FreeRTOS/TaskManagement.h" +#include "TaskManagement.h" void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h index eb735185..c6c46f21 100644 --- a/osal/FreeRTOS/TaskManagement.h +++ b/osal/FreeRTOS/TaskManagement.h @@ -3,10 +3,9 @@ #include "../../returnvalues/HasReturnvaluesIF.h" -extern "C" { #include #include -} + #include /** diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp index 1031f0c4..d986d832 100644 --- a/osal/FreeRTOS/Timekeeper.cpp +++ b/osal/FreeRTOS/Timekeeper.cpp @@ -1,6 +1,6 @@ #include "Timekeeper.h" -#include "FreeRTOSConfig.h" +#include Timekeeper * Timekeeper::myinstance = nullptr; diff --git a/timemanager/Clock.h b/timemanager/Clock.h index bc112388..d8b06fda 100644 --- a/timemanager/Clock.h +++ b/timemanager/Clock.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_ -#define FRAMEWORK_TIMEMANAGER_CLOCK_H_ +#ifndef FSFW_TIMEMANAGER_CLOCK_H_ +#define FSFW_TIMEMANAGER_CLOCK_H_ #include "../returnvalues/HasReturnvaluesIF.h" #include "../ipc/MutexHelper.h" @@ -151,4 +151,4 @@ private: }; -#endif /* FRAMEWORK_TIMEMANAGER_CLOCK_H_ */ +#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */ From 313d898aef8dd1f2591892aebbec7daab2be3fad Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:22:44 +0100 Subject: [PATCH 05/20] small update --- ipc/QueueFactory.h | 1 + osal/FreeRTOS/QueueFactory.cpp | 4 ++-- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h index 9853d256..6fc0643e 100644 --- a/ipc/QueueFactory.h +++ b/ipc/QueueFactory.h @@ -3,6 +3,7 @@ #include "MessageQueueIF.h" #include "MessageQueueMessage.h" + #include /** diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index 5b3c73dc..ed29e10c 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,8 +1,8 @@ +#include "MessageQueue.h" + #include "../../ipc/MessageQueueSenderIF.h" #include "../../ipc/QueueFactory.h" -#include "../../osal/FreeRTOS/MessageQueue.h" - QueueFactory* QueueFactory::factoryInstance = nullptr; From 7eeba71619c982fd8f7ca5449cdf3441b42a4ef1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:34:54 +0100 Subject: [PATCH 06/20] subsystem update --- subsystem/Subsystem.cpp | 4 +++- subsystem/SubsystemBase.cpp | 10 +++++----- subsystem/modes/ModeDefinitions.h | 21 +++++++++------------ subsystem/modes/ModeSequenceMessage.cpp | 25 ++++++------------------- subsystem/modes/ModeSequenceMessage.h | 10 ++++++---- subsystem/modes/ModeStore.cpp | 4 +++- subsystem/modes/ModeStore.h | 6 ++++-- subsystem/modes/ModeStoreIF.h | 6 ++++-- 8 files changed, 40 insertions(+), 46 deletions(-) diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index 56d47da2..50fc4d05 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -1,10 +1,12 @@ +#include "Subsystem.h" + #include "../health/HealthMessage.h" #include "../objectmanager/ObjectManagerIF.h" #include "../serialize/SerialArrayListAdapter.h" #include "../serialize/SerialFixedArrayListAdapter.h" #include "../serialize/SerializeElement.h" #include "../serialize/SerialLinkedListAdapter.h" -#include "Subsystem.h" + #include Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index 56ae1062..787d6be1 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -1,13 +1,13 @@ -#include "../serviceinterface/ServiceInterfaceStream.h" -#include "../serviceinterface/ServiceInterfaceStream.h" #include "SubsystemBase.h" + +#include "../serviceinterface/ServiceInterfaceStream.h" #include "../ipc/QueueFactory.h" SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode, uint16_t commandQueueDepth) : - SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), childrenChangedMode( - false), commandsOutstanding(0), commandQueue(NULL), healthHelper(this, - setObjectId), modeHelper(this), parentId(parent) { + SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), + childrenChangedMode(false), commandsOutstanding(0), commandQueue(NULL), + healthHelper(this, setObjectId), modeHelper(this), parentId(parent) { commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE); } diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h index a865ab0c..13a780ee 100644 --- a/subsystem/modes/ModeDefinitions.h +++ b/subsystem/modes/ModeDefinitions.h @@ -1,22 +1,19 @@ -#ifndef MODEDEFINITIONS_H_ -#define MODEDEFINITIONS_H_ +#ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ +#define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ #include "../../modes/HasModesIF.h" #include "../../objectmanager/SystemObjectIF.h" #include "../../serialize/SerializeIF.h" #include "../../serialize/SerialLinkedListAdapter.h" + class ModeListEntry: public SerializeIF, public LinkedElement { public: - ModeListEntry() : - LinkedElement(this), value1(0), value2(0), value3(0), value4( - 0) { + ModeListEntry(): LinkedElement(this) {} - } - - uint32_t value1; - uint32_t value2; - uint8_t value3; - uint8_t value4; + uint32_t value1 = 0; + uint32_t value2 = 0; + uint8_t value3 = 0; + uint8_t value4 = 0; virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize, Endianness streamEndianness) const { @@ -149,4 +146,4 @@ public: } }; -#endif //MODEDEFINITIONS_H_ +#endif /* FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ */ diff --git a/subsystem/modes/ModeSequenceMessage.cpp b/subsystem/modes/ModeSequenceMessage.cpp index 33019f58..7733098e 100644 --- a/subsystem/modes/ModeSequenceMessage.cpp +++ b/subsystem/modes/ModeSequenceMessage.cpp @@ -1,8 +1,7 @@ -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../objectmanager/ObjectManagerIF.h" +#include "ModeSequenceMessage.h" + #include "../../objectmanager/ObjectManagerIF.h" #include "../../storagemanager/StorageManagerIF.h" -#include "ModeSequenceMessage.h" void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, Mode_t sequence, store_address_t storeAddress) { @@ -11,25 +10,12 @@ void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, message->setParameter2(sequence); } -//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, -// Command_t command, ModeTableId_t table, store_address_t storeAddress) { -// message->setCommand(command); -// message->setParameter(storeAddress.raw); -// message->setParameter2(table); -//} - void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, Mode_t sequence) { message->setCommand(command); message->setParameter2(sequence); } -//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, -// Command_t command, ModeTableId_t table) { -// message->setCommand(command); -// message->setParameter2(table); -//} - void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, store_address_t storeAddress) { message->setCommand(command); @@ -63,9 +49,10 @@ void ModeSequenceMessage::clear(CommandMessage *message) { case SEQUENCE_LIST: case TABLE_LIST: case TABLE: - case SEQUENCE:{ - StorageManagerIF *ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore != NULL){ + case SEQUENCE: { + StorageManagerIF *ipcStore = objectManager->get( + objects::IPC_STORE); + if (ipcStore != nullptr){ ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message)); } } diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h index bbf747f1..7852c984 100644 --- a/subsystem/modes/ModeSequenceMessage.h +++ b/subsystem/modes/ModeSequenceMessage.h @@ -1,9 +1,11 @@ -#ifndef MODESEQUENCEMESSAGE_H_ -#define MODESEQUENCEMESSAGE_H_ +#ifndef FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ +#define FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ + +#include "ModeDefinitions.h" #include "../../ipc/CommandMessage.h" #include "../../storagemanager/StorageManagerIF.h" -#include "ModeDefinitions.h" + class ModeSequenceMessage { public: @@ -45,4 +47,4 @@ private: ModeSequenceMessage(); }; -#endif /* MODESEQUENCEMESSAGE_H_ */ +#endif /* FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ */ diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp index 217e177c..e216a167 100644 --- a/subsystem/modes/ModeStore.cpp +++ b/subsystem/modes/ModeStore.cpp @@ -1,6 +1,8 @@ #include "ModeStore.h" -#ifdef USE_MODESTORE +// todo: I think some parts are deprecated. If this is used, the define +// USE_MODESTORE could be part of the new FSFWConfig.h file. +#if FSFW_USE_MODESTORE == 1 ModeStore::ModeStore(object_id_t objectId, uint32_t slots) : SystemObject(objectId), store(slots), emptySlot(store.front()) { diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h index 0bf856a3..c05086c7 100644 --- a/subsystem/modes/ModeStore.h +++ b/subsystem/modes/ModeStore.h @@ -1,12 +1,14 @@ #ifndef MODESTORE_H_ #define MODESTORE_H_ -#ifdef USE_MODESTORE +#include + +#if FSFW_USE_MODESTORE == 1 #include "../../container/ArrayList.h" #include "../../container/SinglyLinkedList.h" #include "../../objectmanager/SystemObject.h" -#include "ModeStoreIF.h" +#include "../../subsystem/modes/ModeStoreIF.h" class ModeStore: public ModeStoreIF, public SystemObject { public: diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h index e5cac3b2..9e76deef 100644 --- a/subsystem/modes/ModeStoreIF.h +++ b/subsystem/modes/ModeStoreIF.h @@ -1,12 +1,14 @@ #ifndef MODESTOREIF_H_ #define MODESTOREIF_H_ -#ifdef USE_MODESTORE +#include + +#if FSFW_USE_MODESTORE == 1 #include "../../container/ArrayList.h" #include "../../container/SinglyLinkedList.h" #include "../../returnvalues/HasReturnvaluesIF.h" -#include "ModeDefinitions.h" +#include "../../subsystem/modes/ModeDefinitions.h" class ModeStoreIF { public: From 252bfa5c3935681ebd4717027eb67ce9dc5fcb0f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:35:45 +0100 Subject: [PATCH 07/20] subsystem convergence --- subsystem/Subsystem.cpp | 39 ++++++++++------------ subsystem/Subsystem.h | 59 ++++++++++++++++++---------------- subsystem/SubsystemBase.cpp | 64 ++++++++++++++++++------------------- subsystem/SubsystemBase.h | 27 +++++++++------- 4 files changed, 96 insertions(+), 93 deletions(-) diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index 50fc4d05..9712d7d4 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -1,5 +1,4 @@ #include "Subsystem.h" - #include "../health/HealthMessage.h" #include "../objectmanager/ObjectManagerIF.h" #include "../serialize/SerialArrayListAdapter.h" @@ -11,21 +10,12 @@ Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) : - SubsystemBase(setObjectId, parent, 0), isInTransition(false), childrenChangedHealth( - false), uptimeStartTable(0), currentTargetTable(), targetMode( - 0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables( - maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore( - NULL) -#ifdef USE_MODESTORE -,modeStore(NULL) -#endif -{ + SubsystemBase(setObjectId, parent, 0), isInTransition(false), + childrenChangedHealth(false), currentTargetTable(), + targetSubmode(SUBMODE_NONE), currentSequenceIterator(), + modeTables(maxNumberOfTables), modeSequences(maxNumberOfSequences) {} -} - -Subsystem::~Subsystem() { - //Auto-generated destructor stub -} +Subsystem::~Subsystem() {} ReturnValue_t Subsystem::checkSequence(HybridIterator iter, Mode_t fallbackSequence) { @@ -351,7 +341,8 @@ ReturnValue_t Subsystem::addSequence(ArrayList *sequence, ReturnValue_t result; - //Before initialize() is called, tables must not be checked as the children are not added yet. + //Before initialize() is called, tables must not be checked as the + //children are not added yet. //Sequences added before are checked by initialize() if (!preInit) { result = checkSequence( @@ -397,8 +388,8 @@ ReturnValue_t Subsystem::addTable(ArrayList *table, Mode_t id, ReturnValue_t result; - //Before initialize() is called, tables must not be checked as the children are not added yet. - //Tables added before are checked by initialize() + //Before initialize() is called, tables must not be checked as the children + //are not added yet. Tables added before are checked by initialize() if (!preInit) { result = checkTable( HybridIterator(table->front(), table->back())); @@ -589,12 +580,14 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode, triggerEvent(MODE_TRANSITION_FAILED, failureCode, parameter); if (mode == targetMode) { //already tried going back to the current mode - //go into fallback mode, also set current mode to fallback mode, so we come here at the next fail + //go into fallback mode, also set current mode to fallback mode, + //so we come here at the next fail modeHelper.setForced(true); ReturnValue_t result; if ((result = checkSequence(getFallbackSequence(mode))) != RETURN_OK) { triggerEvent(FALLBACK_FAILED, result, getFallbackSequence(mode)); - isInTransition = false; //keep still and allow arbitrary mode commands to recover + //keep still and allow arbitrary mode commands to recover + isInTransition = false; return; } mode = getFallbackSequence(mode); @@ -658,8 +651,10 @@ void Subsystem::cantKeepMode() { modeHelper.setForced(true); - //already set the mode, so that we do not try to go back in our old mode when the transition fails + //already set the mode, so that we do not try to go back in our old mode + //when the transition fails mode = getFallbackSequence(mode); - //SHOULDDO: We should store submodes for fallback sequence as well, otherwise we should get rid of submodes completely. + //SHOULDDO: We should store submodes for fallback sequence as well, + //otherwise we should get rid of submodes completely. startTransition(mode, SUBMODE_NONE); } diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index a40b8028..09d7850a 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -1,14 +1,19 @@ -#ifndef SUBSYSTEM_H_ -#define SUBSYSTEM_H_ +#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_ +#define FSFW_SUBSYSTEM_SUBSYSTEM_H_ + +#include "SubsystemBase.h" +#include "modes/ModeDefinitions.h" #include "../container/FixedArrayList.h" #include "../container/FixedMap.h" #include "../container/HybridIterator.h" #include "../container/SinglyLinkedList.h" #include "../serialize/SerialArrayListAdapter.h" -#include "modes/ModeDefinitions.h" -#include "SubsystemBase.h" +/** + * @brief TODO: documentation missing + * @details + */ class Subsystem: public SubsystemBase, public HasModeSequenceIF { public: static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM; @@ -30,8 +35,13 @@ public: static const ReturnValue_t TARGET_TABLE_NOT_REACHED = MAKE_RETURN_CODE(0xA1); static const ReturnValue_t TABLE_CHECK_FAILED = MAKE_RETURN_CODE(0xA2); - - + /** + * TODO: Doc for constructor + * @param setObjectId + * @param parent + * @param maxNumberOfSequences + * @param maxNumberOfTables + */ Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables); virtual ~Subsystem(); @@ -44,31 +54,27 @@ public: void setInitialMode(Mode_t mode); - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; - virtual ReturnValue_t checkObjectConnections(); + virtual ReturnValue_t checkObjectConnections() override; - virtual MessageQueueId_t getSequenceCommandQueue() const; + virtual MessageQueueId_t getSequenceCommandQueue() const override; /** - * - * - * IMPORTANT: Do not call on non existing sequence! Use existsSequence() first - * + * @brief Checks whether a sequence, identified by a mode. * @param sequence * @return */ ReturnValue_t checkSequence(Mode_t sequence); /** - * - * - * IMPORTANT: Do not call on non existing sequence! Use existsSequence() first - * + * @brief Checks whether a sequence, identified by a mode list iterator + * and a fallback sequence. * @param iter * @return */ - ReturnValue_t checkSequence(HybridIterator iter, Mode_t fallbackSequence); + ReturnValue_t checkSequence(HybridIterator iter, + Mode_t fallbackSequence); protected: struct EntryPointer { @@ -92,15 +98,15 @@ protected: bool childrenChangedHealth; - uint32_t uptimeStartTable; + uint32_t uptimeStartTable = 0; HybridIterator currentTargetTable; - Mode_t targetMode; + Mode_t targetMode = 0; Submode_t targetSubmode; - Mode_t initialMode; + Mode_t initialMode = 0; HybridIterator currentSequenceIterator; @@ -108,10 +114,10 @@ protected: FixedMap modeSequences; - StorageManagerIF *IPCStore; + StorageManagerIF *IPCStore = nullptr; #ifdef USE_MODESTORE - ModeStoreIF *modeStore; + ModeStoreIF *modeStore = nullptr; #endif bool existsModeSequence(Mode_t id); @@ -124,8 +130,6 @@ protected: HybridIterator getCurrentTable(); -// void startSequence(Mode_t sequence); - /** * DO NOT USE ON NON EXISTING SEQUENCE * @@ -153,7 +157,8 @@ protected: virtual void startTransition(Mode_t mode, Submode_t submode); - void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count); + void sendSerializablesAsCommandMessage(Command_t command, + SerializeIF **elements, uint8_t count); void transitionFailed(ReturnValue_t failureCode, uint32_t parameter); @@ -161,4 +166,4 @@ protected: }; -#endif /* SUBSYSTEM_H_ */ +#endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */ diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index 787d6be1..f60c8847 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -1,15 +1,15 @@ -#include "SubsystemBase.h" - #include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../subsystem/SubsystemBase.h" #include "../ipc/QueueFactory.h" SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode, uint16_t commandQueueDepth) : SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), - childrenChangedMode(false), commandsOutstanding(0), commandQueue(NULL), + childrenChangedMode(false), + commandQueue(QueueFactory::instance()->createMessageQueue( + commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)), healthHelper(this, setObjectId), modeHelper(this), parentId(parent) { - commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, - CommandMessage::MAX_MESSAGE_SIZE); } SubsystemBase::~SubsystemBase() { @@ -21,10 +21,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) { ChildInfo info; HasModesIF *child = objectManager->get(objectId); - //This is a rather ugly hack to have the changedHealth info for all children available. (needed for FOGs). + // This is a rather ugly hack to have the changedHealth info for all + // children available. HasHealthIF* healthChild = objectManager->get(objectId); - if (child == NULL) { - if (healthChild == NULL) { + if (child == nullptr) { + if (healthChild == nullptr) { return CHILD_DOESNT_HAVE_MODES; } else { info.commandQueue = healthChild->getCommandQueue(); @@ -38,14 +39,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) { info.submode = SUBMODE_NONE; info.healthChanged = false; - std::pair::iterator, bool> returnValue = - childrenMap.insert( - std::pair(objectId, info)); - if (!(returnValue.second)) { + auto resultPair = childrenMap.emplace(objectId, info); + if (not resultPair.second) { return COULD_NOT_INSERT_CHILD; - } else { - return RETURN_OK; } + return RETURN_OK; } ReturnValue_t SubsystemBase::checkStateAgainstTable( @@ -76,15 +74,15 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable( return RETURN_OK; } -void SubsystemBase::executeTable(HybridIterator tableIter, Submode_t targetSubmode) { - - CommandMessage message; +void SubsystemBase::executeTable(HybridIterator tableIter, + Submode_t targetSubmode) { + CommandMessage command; std::map::iterator iter; commandsOutstanding = 0; - for (; tableIter.value != NULL; ++tableIter) { + for (; tableIter.value != nullptr; ++tableIter) { object_id_t object = tableIter.value->getObject(); if ((iter = childrenMap.find(object)) == childrenMap.end()) { //illegal table entry, should only happen due to misconfigured mode table @@ -100,17 +98,17 @@ void SubsystemBase::executeTable(HybridIterator tableIter, Submod if (healthHelper.healthTable->hasHealth(object)) { if (healthHelper.healthTable->isFaulty(object)) { - ModeMessage::setModeMessage(&message, + ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF, SUBMODE_NONE); } else { if (modeHelper.isForced()) { - ModeMessage::setModeMessage(&message, + ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED, tableIter.value->getMode(), submodeToCommand); } else { if (healthHelper.healthTable->isCommandable(object)) { - ModeMessage::setModeMessage(&message, + ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, tableIter.value->getMode(), submodeToCommand); } else { @@ -119,17 +117,17 @@ void SubsystemBase::executeTable(HybridIterator tableIter, Submod } } } else { - ModeMessage::setModeMessage(&message, ModeMessage::CMD_MODE_COMMAND, + ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, tableIter.value->getMode(), submodeToCommand); } - if ((iter->second.mode == ModeMessage::getMode(&message)) - && (iter->second.submode == ModeMessage::getSubmode(&message)) + if ((iter->second.mode == ModeMessage::getMode(&command)) + && (iter->second.submode == ModeMessage::getSubmode(&command)) && !modeHelper.isForced()) { continue; //don't send redundant mode commands (produces event spam), but still command if mode is forced to reach lower levels } ReturnValue_t result = commandQueue->sendMessage( - iter->second.commandQueue, &message); + iter->second.commandQueue, &command); if (result == RETURN_OK) { ++commandsOutstanding; } @@ -306,31 +304,31 @@ void SubsystemBase::announceMode(bool recursive) { void SubsystemBase::checkCommandQueue() { ReturnValue_t result; - CommandMessage message; + CommandMessage command; - for (result = commandQueue->receiveMessage(&message); result == RETURN_OK; - result = commandQueue->receiveMessage(&message)) { + for (result = commandQueue->receiveMessage(&command); result == RETURN_OK; + result = commandQueue->receiveMessage(&command)) { - result = healthHelper.handleHealthCommand(&message); + result = healthHelper.handleHealthCommand(&command); if (result == RETURN_OK) { continue; } - result = modeHelper.handleModeCommand(&message); + result = modeHelper.handleModeCommand(&command); if (result == RETURN_OK) { continue; } - result = handleModeReply(&message); + result = handleModeReply(&command); if (result == RETURN_OK) { continue; } - result = handleCommandMessage(&message); + result = handleCommandMessage(&command); if (result != RETURN_OK) { CommandMessage reply; reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, - message.getCommand()); + command.getCommand()); replyToCommand(&reply); } } diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h index 61a7eaef..b8e4f902 100644 --- a/subsystem/SubsystemBase.h +++ b/subsystem/SubsystemBase.h @@ -1,5 +1,7 @@ -#ifndef SUBSYSTEMBASE_H_ -#define SUBSYSTEMBASE_H_ +#ifndef FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ +#define FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ + +#include "modes/HasModeSequenceIF.h" #include "../container/HybridIterator.h" #include "../health/HasHealthIF.h" @@ -7,11 +9,14 @@ #include "../modes/HasModesIF.h" #include "../objectmanager/SystemObject.h" #include "../returnvalues/HasReturnvaluesIF.h" -#include "modes/HasModeSequenceIF.h" #include "../tasks/ExecutableObjectIF.h" #include "../ipc/MessageQueueIF.h" #include +/** + * @defgroup subsystems Subsystem Objects + * Contains all Subsystem and Assemblies + */ class SubsystemBase: public SystemObject, public HasModesIF, public HasHealthIF, @@ -30,17 +35,17 @@ public: Mode_t initialMode = 0, uint16_t commandQueueDepth = 8); virtual ~SubsystemBase(); - virtual MessageQueueId_t getCommandQueue() const; + virtual MessageQueueId_t getCommandQueue() const override; ReturnValue_t registerChild(object_id_t objectId); - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; - virtual ReturnValue_t performOperation(uint8_t opCode); + virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual ReturnValue_t setHealth(HealthState health); + virtual ReturnValue_t setHealth(HealthState health) override; - virtual HasHealthIF::HealthState getHealth(); + virtual HasHealthIF::HealthState getHealth() override; protected: struct ChildInfo { @@ -58,9 +63,9 @@ protected: /** * Always check this against <=0, so you are robust against too many replies */ - int32_t commandsOutstanding; + int32_t commandsOutstanding = 0; - MessageQueueIF* commandQueue; + MessageQueueIF* commandQueue = nullptr; HealthHelper healthHelper; @@ -122,4 +127,4 @@ protected: virtual void modeChanged(); }; -#endif /* SUBSYSTEMBASE_H_ */ +#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */ From e97787cceb7380d78b64d157333672c2a56edde3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:39:19 +0100 Subject: [PATCH 08/20] some more tweaks --- subsystem/Subsystem.cpp | 12 ++++++------ subsystem/Subsystem.h | 4 +++- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index 9712d7d4..4de6906c 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -367,7 +367,7 @@ ReturnValue_t Subsystem::addSequence(ArrayList *sequence, } if (inStore) { -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 result = modeStore->storeArray(sequence, &(modeSequences.find(id)->entries.firstLinkedElement)); if (result != RETURN_OK) { @@ -410,7 +410,7 @@ ReturnValue_t Subsystem::addTable(ArrayList *table, Mode_t id, } if (inStore) { -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 result = modeStore->storeArray(table, &(modeTables.find(id)->firstLinkedElement)); if (result != RETURN_OK) { @@ -440,7 +440,7 @@ ReturnValue_t Subsystem::deleteSequence(Mode_t id) { return ACCESS_DENIED; } -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 modeStore->deleteList(sequenceInfo->entries.firstLinkedElement); #endif modeSequences.erase(id); @@ -463,7 +463,7 @@ ReturnValue_t Subsystem::deleteTable(Mode_t id) { return ACCESS_DENIED; } -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 modeStore->deleteList(pointer->firstLinkedElement); #endif modeSequences.erase(id); @@ -482,10 +482,10 @@ ReturnValue_t Subsystem::initialize() { return RETURN_FAILED; } -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 modeStore = objectManager->get(objects::MODE_STORE); - if (modeStore == NULL) { + if (modeStore == nullptr) { return RETURN_FAILED; } #endif diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index 09d7850a..c3a72d54 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -10,6 +10,8 @@ #include "../container/SinglyLinkedList.h" #include "../serialize/SerialArrayListAdapter.h" +#include + /** * @brief TODO: documentation missing * @details @@ -116,7 +118,7 @@ protected: StorageManagerIF *IPCStore = nullptr; -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 ModeStoreIF *modeStore = nullptr; #endif From 5eafd4f353a2dd48fe5f4546a2a17d2bd16ad3f7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:42:02 +0100 Subject: [PATCH 09/20] tiny format stuff --- subsystem/modes/ModeStoreIF.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h index 9e76deef..9682501d 100644 --- a/subsystem/modes/ModeStoreIF.h +++ b/subsystem/modes/ModeStoreIF.h @@ -5,10 +5,11 @@ #if FSFW_USE_MODESTORE == 1 +#include "ModeDefinitions.h" + #include "../../container/ArrayList.h" #include "../../container/SinglyLinkedList.h" #include "../../returnvalues/HasReturnvaluesIF.h" -#include "../../subsystem/modes/ModeDefinitions.h" class ModeStoreIF { public: From 9d5ac16398d1da81116b9ba0df0a3100bf85390d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:43:08 +0100 Subject: [PATCH 10/20] some more improvements --- subsystem/modes/ModeStore.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h index c05086c7..a5cb4059 100644 --- a/subsystem/modes/ModeStore.h +++ b/subsystem/modes/ModeStore.h @@ -1,14 +1,15 @@ -#ifndef MODESTORE_H_ -#define MODESTORE_H_ +#ifndef FSFW_SUBSYSTEM_MODES_MODESTORE_H_ +#define FSFW_SUBSYSTEM_MODES_MODESTORE_H_ #include #if FSFW_USE_MODESTORE == 1 +#include "ModeStoreIF.h" + #include "../../container/ArrayList.h" #include "../../container/SinglyLinkedList.h" #include "../../objectmanager/SystemObject.h" -#include "../../subsystem/modes/ModeStoreIF.h" class ModeStore: public ModeStoreIF, public SystemObject { public: @@ -43,5 +44,5 @@ private: #endif -#endif /* MODESTORE_H_ */ +#endif /* FSFW_SUBSYSTEM_MODES_MODESTORE_H_ */ From d62e092be6c57ccfad63d61cc5dea3e785ddad98 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:49:30 +0100 Subject: [PATCH 11/20] task convergence --- tasks/FixedTimeslotTaskIF.h | 21 ++++++++++++++++++--- tasks/TaskFactory.h | 14 ++++++++------ 2 files changed, 26 insertions(+), 9 deletions(-) diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h index 421978f0..a138db4e 100644 --- a/tasks/FixedTimeslotTaskIF.h +++ b/tasks/FixedTimeslotTaskIF.h @@ -1,16 +1,31 @@ #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ -#include "../objectmanager/ObjectManagerIF.h" #include "PeriodicTaskIF.h" +#include "../objectmanager/ObjectManagerIF.h" /** - * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task + * @brief Following the same principle as the base class IF. + * This is the interface for a Fixed timeslot task */ class FixedTimeslotTaskIF : public PeriodicTaskIF { public: virtual ~FixedTimeslotTaskIF() {} - virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) = 0; + + /** + * Add an object with a slot time and the execution step to the task. + * The execution step shall be passed to the object. + * @param componentId + * @param slotTimeMs + * @param executionStep + * @return + */ + virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) = 0; + /** + * Check whether the sequence is valid and perform all other required + * initialization steps which are needed after task creation + */ virtual ReturnValue_t checkSequence() const = 0; }; diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h index cbf2272c..85cdda90 100644 --- a/tasks/TaskFactory.h +++ b/tasks/TaskFactory.h @@ -1,10 +1,11 @@ -#ifndef FRAMEWORK_TASKS_TASKFACTORY_H_ -#define FRAMEWORK_TASKS_TASKFACTORY_H_ +#ifndef FSFW_TASKS_TASKFACTORY_H_ +#define FSFW_TASKS_TASKFACTORY_H_ -#include #include "FixedTimeslotTaskIF.h" #include "Typedef.h" +#include + /** * Singleton Class that produces Tasks. */ @@ -48,10 +49,11 @@ public: /** * Function to be called to delete a task - * @param task The pointer to the task that shall be deleted, NULL specifies current Task + * @param task The pointer to the task that shall be deleted, + * nullptr specifies current Task * @return Success of deletion */ - static ReturnValue_t deleteTask(PeriodicTaskIF* task = NULL); + static ReturnValue_t deleteTask(PeriodicTaskIF* task = nullptr); /** * Function to be called to delay current task @@ -69,4 +71,4 @@ private: }; -#endif /* FRAMEWORK_TASKS_TASKFACTORY_H_ */ +#endif /* FSFW_TASKS_TASKFACTORY_H_ */ From 57853ba566eb786b66eaaaf64954bbf2e1d694cb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 20:22:59 +0100 Subject: [PATCH 12/20] event update --- events/EventManager.cpp | 9 ++++----- events/EventManagerIF.h | 22 ++++++++++++++-------- 2 files changed, 18 insertions(+), 13 deletions(-) diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 3fbe3ee8..182fb72b 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -1,7 +1,5 @@ #include "EventManager.h" -#include "EventMessage.h" #include - #include "../serviceinterface/ServiceInterfaceStream.h" #include "../ipc/QueueFactory.h" #include "../ipc/MutexFactory.h" @@ -11,6 +9,7 @@ // objects registering for certain events. // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. // So a good guess is 75 to a max of 100 pools required for each, which fits well. +// This should be configurable.. const LocalPool::LocalPoolConfig EventManager::poolConfig = { {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES, sizeof(EventMatchTree::Node)}, @@ -43,7 +42,7 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) { EventMessage message; result = eventReportQueue->receiveMessage(&message); if (result == HasReturnvaluesIF::RETURN_OK) { -#ifdef DEBUG +#if FSFW_OBJ_EVENT_TRANSLATION == 1 printEvent(&message); #endif notifyListeners(&message); @@ -119,8 +118,8 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, void EventManager::printEvent(EventMessage* message) { const char *string = 0; switch (message->getSeverity()) { - case severity::INFO: -#ifdef DEBUG_INFO_EVENT + case SEVERITY::INFO: +#if DEBUG_INFO_EVENT == 1 string = translateObject(message->getReporter()); sif::info << "EVENT: "; if (string != 0) { diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h index f9ac420b..253e6910 100644 --- a/events/EventManagerIF.h +++ b/events/EventManagerIF.h @@ -1,10 +1,11 @@ #ifndef EVENTMANAGERIF_H_ #define EVENTMANAGERIF_H_ -#include "eventmatching/eventmatching.h" #include "EventMessage.h" +#include "eventmatching/eventmatching.h" #include "../objectmanager/ObjectManagerIF.h" #include "../ipc/MessageQueueSenderIF.h" +#include "../ipc/MessageQueueIF.h" class EventManagerIF { public: @@ -16,7 +17,8 @@ public: virtual MessageQueueId_t getEventReportQueue() = 0; - virtual ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false) = 0; + virtual ReturnValue_t registerListener(MessageQueueId_t listener, + bool forwardAllButSelected = false) = 0; virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0; virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, @@ -31,18 +33,22 @@ public: bool reporterInverted = false) = 0; static void triggerEvent(object_id_t reportingObject, Event event, - uint32_t parameter1 = 0, uint32_t parameter2 = 0, MessageQueueId_t sentFrom = 0) { + uint32_t parameter1 = 0, uint32_t parameter2 = 0, + MessageQueueId_t sentFrom = 0) { EventMessage message(event, reportingObject, parameter1, parameter2); triggerEvent(&message, sentFrom); } - static void triggerEvent(EventMessage* message, MessageQueueId_t sentFrom = 0) { - static MessageQueueId_t eventmanagerQueue = 0; - if (eventmanagerQueue == 0) { + + static void triggerEvent(EventMessage* message, + MessageQueueId_t sentFrom = 0) { + static MessageQueueId_t eventmanagerQueue = MessageQueueIF::NO_QUEUE; + if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) { EventManagerIF *eventmanager = objectManager->get( objects::EVENT_MANAGER); - if (eventmanager != NULL) { - eventmanagerQueue = eventmanager->getEventReportQueue(); + if (eventmanager == nullptr) { + return; } + eventmanagerQueue = eventmanager->getEventReportQueue(); } MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom); } From 0f6d878d86d3f01b9ee32b5d842e50b77873aba8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 20:48:41 +0100 Subject: [PATCH 13/20] update --- events/EventManager.cpp | 3 ++- events/EventManager.h | 12 +++++++----- 2 files changed, 9 insertions(+), 6 deletions(-) diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 182fb72b..33276141 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -1,4 +1,6 @@ #include "EventManager.h" +#include "EventMessage.h" + #include #include "../serviceinterface/ServiceInterfaceStream.h" #include "../ipc/QueueFactory.h" @@ -9,7 +11,6 @@ // objects registering for certain events. // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. // So a good guess is 75 to a max of 100 pools required for each, which fits well. -// This should be configurable.. const LocalPool::LocalPoolConfig EventManager::poolConfig = { {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES, sizeof(EventMatchTree::Node)}, diff --git a/events/EventManager.h b/events/EventManager.h index fe35d9d3..6678fc07 100644 --- a/events/EventManager.h +++ b/events/EventManager.h @@ -1,14 +1,16 @@ -#ifndef EVENTMANAGER_H_ -#define EVENTMANAGER_H_ +#ifndef FSFW_EVENT_EVENTMANAGER_H_ +#define FSFW_EVENT_EVENTMANAGER_H_ -#include "eventmatching/EventMatchTree.h" #include "EventManagerIF.h" +#include "eventmatching/EventMatchTree.h" + +#include + #include "../objectmanager/SystemObject.h" #include "../storagemanager/LocalPool.h" #include "../tasks/ExecutableObjectIF.h" #include "../ipc/MessageQueueIF.h" #include "../ipc/MutexIF.h" -#include #include @@ -68,4 +70,4 @@ protected: void unlockMutex(); }; -#endif /* EVENTMANAGER_H_ */ +#endif /* FSFW_EVENT_EVENTMANAGER_H_ */ From d96d3d6c46c1c8e060f6705c17f0f7489f415385 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 20:58:20 +0100 Subject: [PATCH 14/20] one define now --- defaultcfg/fsfwconfig/FSFWConfig.h | 2 -- events/EventManager.cpp | 2 +- events/EventManager.h | 4 ++-- unittest/testcfg/FSFWConfig.h | 4 +--- 4 files changed, 4 insertions(+), 8 deletions(-) diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index 1386bf66..7e19235c 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -27,13 +27,11 @@ #define FSFW_OBJ_EVENT_TRANSLATION 0 #if FSFW_OBJ_EVENT_TRANSLATION == 1 -#define FSFW_DEBUG_OUTPUT 1 //! Specify whether info events are printed too. #define FSFW_DEBUG_INFO 1 #include #include #else -#define FSFW_DEBUG_OUTPUT 0 #endif //! When using the newlib nano library, C99 support for stdio facilities diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 33276141..ba31cc58 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -114,7 +114,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, return result; } -#if FSFW_DEBUG_OUTPUT == 1 +#if FSFW_OBJ_EVENT_TRANSLATION == 1 void EventManager::printEvent(EventMessage* message) { const char *string = 0; diff --git a/events/EventManager.h b/events/EventManager.h index 6678fc07..c6bd07be 100644 --- a/events/EventManager.h +++ b/events/EventManager.h @@ -14,7 +14,7 @@ #include -#if FSFW_DEBUG_OUTPUT == 1 +#if FSFW_OBJ_EVENT_TRANSLATION == 1 // forward declaration, should be implemented by mission extern const char* translateObject(object_id_t object); extern const char* translateEvents(Event event); @@ -61,7 +61,7 @@ protected: void notifyListeners(EventMessage *message); -#if FSFW_DEBUG_OUTPUT == 1 +#if FSFW_OBJ_EVENT_TRANSLATION == 1 void printEvent(EventMessage *message); #endif diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h index 4fb224c1..59934560 100644 --- a/unittest/testcfg/FSFWConfig.h +++ b/unittest/testcfg/FSFWConfig.h @@ -29,13 +29,11 @@ //! additional output which requires the translation files translateObjects //! and translateEvents (and their compiles source files) #if FSFW_OBJ_EVENT_TRANSLATION == 1 -#define FSFW_DEBUG_OUTPUT 1 //! Specify whether info events are printed too. -#define FSFW_DEBUG_INFO 1 +#define FSFW_DEBUG_INFO 1 #include #include #else -#define FSFW_DEBUG_OUTPUT 0 #endif //! When using the newlib nano library, C99 support for stdio facilities From a3ebad46e7335f0b4287f388359f02793062d44b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 21:00:15 +0100 Subject: [PATCH 15/20] small fix --- events/EventManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/events/EventManager.cpp b/events/EventManager.cpp index ba31cc58..6cc97eb6 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -119,7 +119,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, void EventManager::printEvent(EventMessage* message) { const char *string = 0; switch (message->getSeverity()) { - case SEVERITY::INFO: + case severity::INFO: #if DEBUG_INFO_EVENT == 1 string = translateObject(message->getReporter()); sif::info << "EVENT: "; From 3cc053a58105c51828147e0ea92efaeb11418b59 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 23:56:44 +0100 Subject: [PATCH 16/20] changes from mueller/master taken over --- osal/FreeRTOS/BinSemaphUsingTask.cpp | 6 +++ osal/FreeRTOS/BinSemaphUsingTask.h | 7 ++- osal/FreeRTOS/CountingSemaphUsingTask.cpp | 5 ++ osal/FreeRTOS/CountingSemaphUsingTask.h | 6 +++ osal/FreeRTOS/FixedTimeslotTask.cpp | 42 ++++++----------- osal/FreeRTOS/FixedTimeslotTask.h | 2 - osal/FreeRTOS/FreeRTOSTaskIF.h | 38 +++++++++++++-- osal/FreeRTOS/PeriodicTask.cpp | 39 +++++----------- osal/FreeRTOS/PeriodicTask.h | 3 +- osal/FreeRTOS/TaskManagement.cpp | 1 + osal/FreeRTOS/TaskManagement.h | 57 +++++++++++------------ 11 files changed, 111 insertions(+), 95 deletions(-) diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp index 9c29948e..a420ec48 100644 --- a/osal/FreeRTOS/BinSemaphUsingTask.cpp +++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp @@ -2,6 +2,9 @@ #include "TaskManagement.h" #include "../../serviceinterface/ServiceInterfaceStream.h" +#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \ + tskKERNEL_VERSION_MAJOR > 8 + BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() { handle = TaskManagement::getCurrentTaskHandle(); if(handle == nullptr) { @@ -97,3 +100,6 @@ uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR( higherPriorityTaskWoken); return notificationValue; } + +#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \ + tskKERNEL_VERSION_MAJOR > 8 */ diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h index 65a091a3..ec434853 100644 --- a/osal/FreeRTOS/BinSemaphUsingTask.h +++ b/osal/FreeRTOS/BinSemaphUsingTask.h @@ -7,8 +7,8 @@ #include #include -// todo: does not work for older FreeRTOS version, so we should -// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ? +#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \ + tskKERNEL_VERSION_MAJOR > 8 /** * @brief Binary Semaphore implementation using the task notification value. @@ -90,4 +90,7 @@ protected: TaskHandle_t handle; }; +#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \ + tskKERNEL_VERSION_MAJOR > 8 */ + #endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */ diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp index 17cdf7ce..9d309acc 100644 --- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp +++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp @@ -3,6 +3,9 @@ #include "../../serviceinterface/ServiceInterfaceStream.h" +#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \ + tskKERNEL_VERSION_MAJOR > 8 + CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount): maxCount(maxCount) { if(initCount > maxCount) { @@ -113,3 +116,5 @@ uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR( uint8_t CountingSemaphoreUsingTask::getMaxCount() const { return maxCount; } + +#endif diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h index f258197b..45915b6b 100644 --- a/osal/FreeRTOS/CountingSemaphUsingTask.h +++ b/osal/FreeRTOS/CountingSemaphUsingTask.h @@ -7,6 +7,9 @@ #include #include +#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \ + tskKERNEL_VERSION_MAJOR > 8 + /** * @brief Couting Semaphore implementation which uses the notification value * of the task. The notification value should therefore not be used @@ -100,4 +103,7 @@ private: const uint8_t maxCount; }; +#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \ + tskKERNEL_VERSION_MAJOR > 8 */ + #endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */ diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 062686e2..fc5b89fe 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -114,38 +114,24 @@ void FixedTimeslotTask::taskFunctionality() { intervalMs = this->pst.getIntervalToPreviousSlotMs(); interval = pdMS_TO_TICKS(intervalMs); - checkMissedDeadline(xLastWakeTime, interval); - - // Wait for the interval. This exits immediately if a deadline was - // missed while also updating the last wake time. - vTaskDelayUntil(&xLastWakeTime, interval); +#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \ + tskKERNEL_VERSION_MAJOR > 10 + BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, interval); + if(wasDelayed == pdFALSE) { + handleMissedDeadline(); + } +#else + if(checkMissedDeadline(xLastWakeTime, interval)) { + handleMissedDeadline(); + } + // Wait for the interval. This exits immediately if a deadline was + // missed while also updating the last wake time. + vTaskDelayUntil(&xLastWakeTime, interval); +#endif } } } -void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval) { - /* Check whether deadline was missed while also taking overflows - * into account. Drawing this on paper with a timeline helps to understand - * it. */ - TickType_t currentTickCount = xTaskGetTickCount(); - TickType_t timeToWake = xLastWakeTime + interval; - // Time to wake has not overflown. - if(timeToWake > xLastWakeTime) { - /* If the current time has overflown exclusively or the current - * tick count is simply larger than the time to wake, a deadline was - * missed */ - if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } - } - /* Time to wake has overflown. A deadline was missed if the current time - * is larger than the time to wake */ - else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } -} - void FixedTimeslotTask::handleMissedDeadline() { if(deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h index 7d2cdb70..f2245ba4 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.h +++ b/osal/FreeRTOS/FixedTimeslotTask.h @@ -93,8 +93,6 @@ protected: */ void taskFunctionality(void); - void checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval); void handleMissedDeadline(); }; diff --git a/osal/FreeRTOS/FreeRTOSTaskIF.h b/osal/FreeRTOS/FreeRTOSTaskIF.h index 06fda282..2a2d9494 100644 --- a/osal/FreeRTOS/FreeRTOSTaskIF.h +++ b/osal/FreeRTOS/FreeRTOSTaskIF.h @@ -1,13 +1,41 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ -#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ +#ifndef FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ +#define FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ #include #include class FreeRTOSTaskIF { public: - virtual~ FreeRTOSTaskIF() {} - virtual TaskHandle_t getTaskHandle() = 0; + virtual~ FreeRTOSTaskIF() {} + virtual TaskHandle_t getTaskHandle() = 0; + +protected: + + bool checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval) { + /* Check whether deadline was missed while also taking overflows + * into account. Drawing this on paper with a timeline helps to understand + * it. */ + TickType_t currentTickCount = xTaskGetTickCount(); + TickType_t timeToWake = xLastWakeTime + interval; + // Time to wake has not overflown. + if(timeToWake > xLastWakeTime) { + /* If the current time has overflown exclusively or the current + * tick count is simply larger than the time to wake, a deadline was + * missed */ + if((currentTickCount < xLastWakeTime) or + (currentTickCount > timeToWake)) { + return true; + } + } + /* Time to wake has overflown. A deadline was missed if the current time + * is larger than the time to wake */ + else if((timeToWake < xLastWakeTime) and + (currentTickCount > timeToWake)) { + return true; + } + return false; + } }; -#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */ +#endif /* FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ */ diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 5c0a840d..2ee7bec0 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -80,10 +80,18 @@ void PeriodicTask::taskFunctionality() { object->performOperation(); } - checkMissedDeadline(xLastWakeTime, xPeriod); - - vTaskDelayUntil(&xLastWakeTime, xPeriod); - +#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \ + tskKERNEL_VERSION_MAJOR > 10 + BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, xPeriod); + if(wasDelayed == pdFALSE) { + handleMissedDeadline(); + } +#else + if(checkMissedDeadline(xLastWakeTime, xPeriod)) { + handleMissedDeadline(); + } + vTaskDelayUntil(&xLastWakeTime, xPeriod); +#endif } } @@ -105,29 +113,6 @@ uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; } -void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval) { - /* Check whether deadline was missed while also taking overflows - * into account. Drawing this on paper with a timeline helps to understand - * it. */ - TickType_t currentTickCount = xTaskGetTickCount(); - TickType_t timeToWake = xLastWakeTime + interval; - // Time to wake has not overflown. - if(timeToWake > xLastWakeTime) { - /* If the current time has overflown exclusively or the current - * tick count is simply larger than the time to wake, a deadline was - * missed */ - if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } - } - /* Time to wake has overflown. A deadline was missed if the current time - * is larger than the time to wake */ - else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } -} - TaskHandle_t PeriodicTask::getTaskHandle() { return handle; } diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index 87b8b6d2..36ef568f 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -71,6 +71,7 @@ public: TaskHandle_t getTaskHandle() override; protected: + bool started; TaskHandle_t handle; @@ -118,8 +119,6 @@ protected: */ void taskFunctionality(void); - void checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval); void handleMissedDeadline(); }; diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp index 18572045..c0d0067e 100644 --- a/osal/FreeRTOS/TaskManagement.cpp +++ b/osal/FreeRTOS/TaskManagement.cpp @@ -22,3 +22,4 @@ size_t TaskManagement::getTaskStackHighWatermark( TaskHandle_t task) { return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t); } + diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h index c6c46f21..b9aece48 100644 --- a/osal/FreeRTOS/TaskManagement.h +++ b/osal/FreeRTOS/TaskManagement.h @@ -26,38 +26,37 @@ enum class CallContext { }; -class TaskManagement { -public: - /** - * @brief In this function, a function dependant on the portmacro.h header - * function calls to request a context switch can be specified. - * This can be used if sending to the queue from an ISR caused a task - * to unblock and a context switch is required. - */ - static void requestContextSwitch(CallContext callContext); +namespace TaskManagement { +/** + * @brief In this function, a function dependant on the portmacro.h header + * function calls to request a context switch can be specified. + * This can be used if sending to the queue from an ISR caused a task + * to unblock and a context switch is required. + */ +void requestContextSwitch(CallContext callContext); - /** - * If task preemption in FreeRTOS is disabled, a context switch - * can be requested manually by calling this function. - */ - static void vRequestContextSwitchFromTask(void); +/** + * If task preemption in FreeRTOS is disabled, a context switch + * can be requested manually by calling this function. + */ +void vRequestContextSwitchFromTask(void); - /** - * @return The current task handle - */ - static TaskHandle_t getCurrentTaskHandle(); +/** + * @return The current task handle + */ +TaskHandle_t getCurrentTaskHandle(); + +/** + * Get returns the minimum amount of remaining stack space in words + * that was a available to the task since the task started executing. + * Please note that the actual value in bytes depends + * on the stack depth type. + * E.g. on a 32 bit machine, a value of 200 means 800 bytes. + * @return Smallest value of stack remaining since the task was started in + * words. + */ +size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr); - /** - * Get returns the minimum amount of remaining stack space in words - * that was a available to the task since the task started executing. - * Please note that the actual value in bytes depends - * on the stack depth type. - * E.g. on a 32 bit machine, a value of 200 means 800 bytes. - * @return Smallest value of stack remaining since the task was started in - * words. - */ - static size_t getTaskStackHighWatermark( - TaskHandle_t task = nullptr); }; #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */ From f733a85a9c51a8612084f947485c33161d75346f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 15 Dec 2020 14:41:33 +0100 Subject: [PATCH 17/20] type update --- globalfunctions/Type.h | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h index d28f56ac..fa894e3e 100644 --- a/globalfunctions/Type.h +++ b/globalfunctions/Type.h @@ -3,6 +3,7 @@ #include "../returnvalues/HasReturnvaluesIF.h" #include "../serialize/SerializeIF.h" +#include /** * @brief Type definition for CCSDS or ECSS. @@ -56,13 +57,14 @@ private: template struct PodTypeConversion { + 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"); static const Type::ActualType_t type = Type::UNKNOWN_TYPE; }; template<> -struct PodTypeConversion { - static const Type::ActualType_t type = Type::UINT8_T; -}; -template<> struct PodTypeConversion { static const Type::ActualType_t type = Type::UINT8_T; }; From a57af5852d9ce76cd3340e147e82bceffce92303 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 15 Dec 2020 15:04:07 +0100 Subject: [PATCH 18/20] made check sequence --- subsystem/Subsystem.h | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index c3a72d54..a3f7de45 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -62,21 +62,6 @@ public: virtual MessageQueueId_t getSequenceCommandQueue() const override; - /** - * @brief Checks whether a sequence, identified by a mode. - * @param sequence - * @return - */ - ReturnValue_t checkSequence(Mode_t sequence); - - /** - * @brief Checks whether a sequence, identified by a mode list iterator - * and a fallback sequence. - * @param iter - * @return - */ - ReturnValue_t checkSequence(HybridIterator iter, - Mode_t fallbackSequence); protected: struct EntryPointer { @@ -166,6 +151,21 @@ protected: void cantKeepMode(); + /** + * @brief Checks whether a sequence, identified by a mode. + * @param sequence + * @return + */ + ReturnValue_t checkSequence(Mode_t sequence); + + /** + * @brief Checks whether a sequence, identified by a mode list iterator + * and a fallback sequence. + * @param iter + * @return + */ + ReturnValue_t checkSequence(HybridIterator iter, + Mode_t fallbackSequence); }; #endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */ From 4c152e9fd83f94916b36410a53d0c530b94c7d55 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 15 Dec 2020 15:07:41 +0100 Subject: [PATCH 19/20] subsystem doc upodate --- subsystem/Subsystem.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index a3f7de45..69563643 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -160,7 +160,8 @@ protected: /** * @brief Checks whether a sequence, identified by a mode list iterator - * and a fallback sequence. + * and a fallback sequence. Iterator needs to point to a valid + * sequence. * @param iter * @return */ From 103d8b8c6a1669c6dabf2d10b7b20505088fe58c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 15 Dec 2020 15:12:31 +0100 Subject: [PATCH 20/20] fixed timeslot task IF --- tasks/FixedTimeslotTaskIF.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h index a138db4e..2fc7e092 100644 --- a/tasks/FixedTimeslotTaskIF.h +++ b/tasks/FixedTimeslotTaskIF.h @@ -14,7 +14,8 @@ public: /** * Add an object with a slot time and the execution step to the task. - * The execution step shall be passed to the object. + * The execution step will be passed to the object (e.g. as an operation + * code in #performOperation) * @param componentId * @param slotTimeMs * @param executionStep