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Merge remote-tracking branch 'upstream/master' into mueller/newLocalDataPools

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Robin Müller 2020-11-02 14:41:47 +01:00
commit 1f632b9331
36 changed files with 1443 additions and 989 deletions
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259
container/FixedOrderedMultimap.h
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@ -1,10 +1,33 @@
#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#ifndef FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#define FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#include "ArrayList.h"
#include <cstring>
#include <set>
/**
* @brief An associative container which allows multiple entries of the same key.
* @details
* Same keys are ordered by KEY_COMPARE function which is std::less<key_t> > by default.
*
* It uses the ArrayList, so technically this is not a real map, it is an array of pairs
* of type key_t, T. It is ordered by key_t as FixedMap but allows same keys. Thus it has a linear
* complexity O(n). As long as the number of entries remains low, this
* should not be an issue.
* The number of insertion and deletion operation should be minimized
* as those incur extensive memory move operations (the underlying container
* is not node based).
*
* Its of fixed size so no allocations are performed after the construction.
*
* The maximum size is given as first parameter of the constructor.
*
* It provides an iterator to do list iterations.
*
* The type T must have a copy constructor if it is not trivial copy-able.
*
* @warning Iterators return a non-const key_t in the pair.
* @warning A User is not allowed to change the key, otherwise the map is corrupted.
*
* \ingroup container
*/
template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
@ -14,152 +37,170 @@ public:
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
private:
typedef KEY_COMPARE compare;
compare myComp;
ArrayList<std::pair<key_t, T>, uint32_t> theMap;
uint32_t _size;
/***
* Constructor which needs a size_t for the maximum allowed size
*
* Can not be resized during runtime
*
* Allocates memory at construction
* @param maxSize size_t of Maximum allowed size
*/
FixedOrderedMultimap(size_t maxSize):theMap(maxSize), _size(0){
}
uint32_t findFirstIndex(key_t key, uint32_t startAt = 0) const {
if (startAt >= _size) {
return startAt + 1;
}
uint32_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
uint32_t findNicePlace(key_t key) const {
uint32_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
}
return i;
}
void removeFromPosition(uint32_t position) {
if (_size <= position) {
return;
}
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
}
public:
FixedOrderedMultimap(uint32_t maxSize) :
theMap(maxSize), _size(0) {
}
/***
* Virtual destructor frees Memory by deleting its member
*/
virtual ~FixedOrderedMultimap() {
}
class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
/***
* Special iterator for FixedOrderedMultimap
*/
class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
public:
Iterator() :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
}
Iterator(std::pair<key_t, T> *pair) :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
}
};
/***
* Returns an iterator pointing to the first element
* @return Iterator pointing to first element
*/
Iterator begin() const {
return Iterator(&theMap[0]);
}
/**
* Returns an iterator pointing to one element past the end
* @return Iterator pointing to one element past the end
*/
Iterator end() const {
return Iterator(&theMap[_size]);
}
uint32_t size() const {
/***
* Returns the current size of the map (not maximum size!)
* @return Current size
*/
size_t size() const{
return _size;
}
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
uint32_t position = findNicePlace(key);
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t,T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
/**
* Clears the map, does not deallocate any memory
*/
void clear(){
_size = 0;
}
ReturnValue_t insert(std::pair<key_t, T> pair) {
return insert(pair.first, pair.second);
/**
* Returns the maximum size of the map
* @return Maximum size of the map
*/
size_t maxSize() const{
return theMap.maxSize();
}
ReturnValue_t exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
/***
* Used to insert a key and value separately.
*
* @param[in] key Key of the new element
* @param[in] value Value of the new element
* @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr
* @return RETURN_OK if insert was successful, MAP_FULL if no space is available
*/
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr);
ReturnValue_t erase(Iterator *iter) {
uint32_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
}
/***
* Used to insert new pair instead of single values
*
* @param pair Pair to be inserted
* @return RETURN_OK if insert was successful, MAP_FULL if no space is available
*/
ReturnValue_t insert(std::pair<key_t, T> pair);
ReturnValue_t erase(key_t key) {
uint32_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
}
/***
* Can be used to check if a certain key is in the map
* @param key Key to be checked
* @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
*/
ReturnValue_t exists(key_t key) const;
Iterator find(key_t key) const {
/***
* Used to delete the element in the iterator
*
* The iterator will point to the element before or begin(),
* but never to one element in front of the map.
*
* @warning The iterator needs to be valid and dereferenceable
* @param[in/out] iter Pointer to iterator to the element that needs to be ereased
* @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
*/
ReturnValue_t erase(Iterator *iter);
/***
* Used to erase by key
* @param key Key to be erased
* @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
*/
ReturnValue_t erase(key_t key);
/***
* Find returns the first appearance of the key
*
* If the key does not exist, it points to end()
*
* @param key Key to search for
* @return Iterator pointing to the first entry of key
*/
Iterator find(key_t key) const{
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return end();
}
return Iterator(&theMap[findFirstIndex(key)]);
};
/***
* Finds first entry of the given key and returns a
* pointer to the value
*
* @param key Key to search for
* @param value Found value
* @return RETURN_OK if it points to the value,
* KEY_DOES_NOT_EXIST if the key is not in the map
*/
ReturnValue_t find(key_t key, T **value) const;
friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
const typename FixedOrderedMultimap::Iterator& rhs) {
return (lhs.value == rhs.value);
}
ReturnValue_t find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
const typename FixedOrderedMultimap::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
void clear() {
_size = 0;
}
private:
typedef KEY_COMPARE compare;
compare myComp;
ArrayList<std::pair<key_t, T>, size_t> theMap;
size_t _size;
uint32_t maxSize() const {
return theMap.maxSize();
}
size_t findFirstIndex(key_t key, size_t startAt = 0) const;
size_t findNicePlace(key_t key) const;
void removeFromPosition(size_t position);
};
#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */
#include "FixedOrderedMultimap.tpp"
#endif /* FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */

109
container/FixedOrderedMultimap.tpp Normal file
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@ -0,0 +1,109 @@
#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
size_t position = findNicePlace(key);
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t,T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
return insert(pair.first, pair.second);
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
size_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
size_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
if (startAt >= _size) {
return startAt + 1;
}
size_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
size_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
if (_size <= position) {
return;
}
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
}
#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

25
container/SharedRingBuffer.cpp
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@ -9,6 +9,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
mutex = MutexFactory::instance()->createMutex();
}
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
@ -16,6 +17,11 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
mutex = MutexFactory::instance()->createMutex();
}
void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
this->fifoDepth = fifoDepth;
}
ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
return mutex->lockMutex(timeoutType, timeout);
@ -25,6 +31,25 @@ ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
return mutex->unlockMutex();
}
MutexIF* SharedRingBuffer::getMutexHandle() const {
return mutex;
}
ReturnValue_t SharedRingBuffer::initialize() {
if(fifoDepth > 0) {
receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
}
return SystemObject::initialize();
}
DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
if(receiveSizesFIFO == nullptr) {
// Configuration error.
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl;
}
return receiveSizesFIFO;
}

24
container/SharedRingBuffer.h
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@ -2,6 +2,7 @@
#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#include "SimpleRingBuffer.h"
#include "DynamicFIFO.h"
#include "../ipc/MutexIF.h"
#include "../objectmanager/SystemObject.h"
#include "../timemanager/Clock.h"
@ -26,6 +27,16 @@ public:
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* @brief This function can be used to add an optional FIFO to the class
* @details
* This FIFO will be allocated in the initialize function (and will
* have a fixed maximum size after that). It can be used to store
* values like packet sizes, for example for a shared ring buffer
* used by producer/consumer tasks.
*/
void setToUseReceiveSizeFIFO(size_t fifoDepth);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
@ -59,8 +70,21 @@ public:
* @return
*/
MutexIF* getMutexHandle() const;
ReturnValue_t initialize() override;
/**
* If the shared ring buffer was configured to have a sizes FIFO, a handle
* to that FIFO can be retrieved with this function.
* Do not forget to protect access with a lock if required!
* @return
*/
DynamicFIFO<size_t>* getReceiveSizesFIFO();
private:
MutexIF* mutex = nullptr;
size_t fifoDepth = 0;
DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
};

2
devicehandlers/DeviceHandlerBase.cpp
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@ -1251,7 +1251,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (result == BUSY) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Busy" << std::endl;
<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
result = NOTHING_TO_SEND; //no need to report this
}
}

176
ipc/MessageQueueIF.h
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@ -1,61 +1,77 @@
#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FSFW_IPC_MESSAGEQUEUEIF_H_
// COULDDO: We could support blocking calls
#include "messageQueueDefinitions.h"
#include "MessageQueueMessage.h"
#include "MessageQueueMessageIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
// COULDDO: We could support blocking calls
// semaphores are being implemented, which makes this idea even more iteresting.
/**
* @defgroup message_queue Message Queue
* @brief Message Queue related software components
*/
class MessageQueueIF {
public:
static const MessageQueueId_t NO_QUEUE = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
/**
* No new messages on the queue
*/
//! No new messages on the queue
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
/**
* No space left for more messages
*/
//! No space left for more messages
static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
/**
* Returned if a reply method was called without partner
*/
//! Returned if a reply method was called without partner
static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
//! Returned if the target destination is invalid.
static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
virtual ~MessageQueueIF() {}
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
* \return RETURN_OK if ok
* \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
* @details
* This operation simplifies answering an incoming message by using the
* stored lastParnter information as destination. If there was no message
* received yet (i.e. lastPartner is zero), an error code is returned.
* @param message
* A pointer to a previously created message, which is sent.
* @return
* -@c RETURN_OK if ok
* -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found.
*/
virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
* @brief This function reads available messages from the message queue
* and returns the sender.
* @details
* It works identically to the other receiveMessage call, but in addition
* returns the sender's queue id.
* @param message
* A pointer to a message in which the received data is stored.
* @param receivedFrom
* A pointer to a queue id in which the sender's id is stored.
*/
virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) = 0;
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in the
* lastPartner attribute. Else, the lastPartner information remains untouched, the
* message's content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
* @details
* If data is available it is stored in the passed message pointer.
* The message's original content is overwritten and the sendFrom
* information is stored in theblastPartner attribute. Else, the lastPartner
* information remains untouched, the message's content is cleared and the
* function returns immediately.
* @param message
* A pointer to a message in which the received data is stored.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::EMPTY if queue is empty
*/
virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0;
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
@ -63,57 +79,89 @@ public:
*/
virtual ReturnValue_t flush(uint32_t* count) = 0;
/**
* @brief This method returns the message queue id of the last communication partner.
* @brief This method returns the message queue
* id of the last communication partner.
*/
virtual MessageQueueId_t getLastPartner() const = 0;
/**
* @brief This method returns the message queue id of this class's message queue.
* @brief This method returns the message queue
* id of this class's message queue.
*/
virtual MessageQueueId_t getId() const = 0;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full (if implemented).
* @brief With the sendMessage call, a queue message
* is sent to a receiving queue.
* @details
* This method takes the message provided, adds the sentFrom information
* and passes it on to the destination provided with an operating system
* call. The OS's returnvalue is returned.
* @param sendTo
* This parameter specifies the message queue id to send the message to.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id
* into the message. This variable is set to zero by default.
* @param ignoreFault
* If set to true, the internal software fault counter is not incremented
* if queue is full (if implemented).
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
* queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false ) = 0;
/**
* \brief The sendToDefaultFrom method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* @brief This operation sends a message to the given destination.
* @details
* It directly uses the sendMessage call of the MessageQueueSender parent,
* but passes its queue id as "sentFrom" parameter.
* @param sendTo
* This parameter specifies the message queue id of the destination
* message queue.
* @param message
* A pointer to a previously created message, which is sent.
* @param ignoreFault
* If set to true, the internal software fault counter is not incremented
* if queue is full.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault = false ) = 0;
/**
* @brief The sendToDefaultFrom method sends a queue message
* to the default destination.
* @details
* In all other aspects, it works identical to the sendMessage method.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id
* into the message. This variable is set to zero by default.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* Implementation class and adds its queue id as "sentFrom" information.
* @details
* As in the sendMessage method, this function uses the sendToDefault
* call of the Implementation class and adds its queue id as
* "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) = 0;
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) = 0;
/**
* \brief This method is a simple setter for the default destination.
* @brief This method is a simple setter for the default destination.
*/
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0;
/**
* \brief This method is a simple getter for the default destination.
* @brief This method is a simple getter for the default destination.
*/
virtual MessageQueueId_t getDefaultDestination() const = 0;
@ -122,4 +170,4 @@ public:
#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */
#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

6
ipc/MessageQueueSenderIF.h
View File

@ -1,8 +1,8 @@
#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../ipc/MessageQueueMessageIF.h"
#include "MessageQueueIF.h"
#include "MessageQueueMessageIF.h"
#include "../objectmanager/ObjectManagerIF.h"
class MessageQueueSenderIF {
@ -15,7 +15,7 @@ public:
* Not sure whether this is actually a good idea.
*/
static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message,
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
bool ignoreFault = false);
private:

10
ipc/QueueFactory.h
View File

@ -1,8 +1,10 @@
#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
#define FRAMEWORK_IPC_QUEUEFACTORY_H_
#ifndef FSFW_IPC_QUEUEFACTORY_H_
#define FSFW_IPC_QUEUEFACTORY_H_
#include "MessageQueueIF.h"
#include <stdint.h>
#include "MessageQueueMessage.h"
#include <cstdint>
/**
* Creates message queues.
* This class is a "singleton" interface, i.e. it provides an
@ -30,4 +32,4 @@ private:
static QueueFactory* factoryInstance;
};
#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */
#endif /* FSFW_IPC_QUEUEFACTORY_H_ */

131
osal/FreeRTOS/MessageQueue.cpp
View File

@ -1,42 +1,76 @@
#include "MessageQueue.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
defaultDestination(0),lastPartner(0) {
handle = xQueueCreate(message_depth, max_message_size);
if (handle == NULL) {
sif::error << "MessageQueue creation failed" << std::endl;
// TODO I guess we should have a way of checking if we are in an ISR and then
// use the "fromISR" versions of all calls
// As a first step towards this, introduces system context variable which needs
// to be switched manually
// Haven't found function to find system context.
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;
}
}
MessageQueue::~MessageQueue() {
if (handle != NULL) {
if (handle != nullptr) {
vQueueDelete(handle);
}
}
void MessageQueue::switchSystemContext(CallContext callContext) {
this->callContext = callContext;
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
if (this->lastPartner != 0) {
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
callContext);
}
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
if (result != pdPASS) {
if (not ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->
get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if(status == HasReturnvaluesIF::RETURN_OK) {
@ -45,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
message->getBuffer()), 0);
if (result == pdPASS){
this->lastPartner = message->getSender();
return HasReturnvaluesIF::RETURN_OK;
@ -67,51 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
}
MessageQueueId_t MessageQueue::getId() const {
return (MessageQueueId_t) handle;
return reinterpret_cast<MessageQueueId_t>(handle);
}
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
defaultDestinationSet = true;
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return defaultDestination;
}
bool MessageQueue::isDefaultDestinationSet() const {
return 0;
return defaultDestinationSet;
}
// static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
message->setSender(sentFrom);
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault, CallContext callContext) {
BaseType_t result = pdFALSE;
QueueHandle_t destination = nullptr;
BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
return MessageQueueIF::DESTINVATION_INVALID;
}
else {
destination = reinterpret_cast<QueueHandle_t>(sendTo);
}
return HasReturnvaluesIF::RETURN_OK;
message->setSender(sentFrom);
if(callContext == CallContext::TASK) {
result = xQueueSendToBack(destination,
static_cast<const void*>(message->getBuffer()), 0);
}
else {
/* If the call context is from an interrupt,
* request a context switch if a higher priority task
* was blocked by the interrupt. */
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
static_cast<const void*>(message->getBuffer()),
&xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken == pdTRUE) {
TaskManagement::requestContextSwitch(callContext);
}
}
return handleSendResult(result, ignoreFault);
}

243
osal/FreeRTOS/MessageQueue.h
View File

@ -1,159 +1,150 @@
#ifndef MESSAGEQUEUE_H_
#define MESSAGEQUEUE_H_
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
#include "../../ipc/MessageQueueMessage.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <FreeRTOS.h>
#include <queue.h>
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>
#include <fsfw/ipc/MessageQueueMessage.h>
//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
// TODO: this class assumes that MessageQueueId_t is the same size as void*
// (the FreeRTOS handle type), compiler will catch this but it might be nice
// to have something checking or even an always working solution
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
/**
* @brief This class manages sending and receiving of message queue messages.
* @brief This class manages sending and receiving of
* message queue messages.
* @details
* Message queues are used to pass asynchronous messages between processes.
* They work like post boxes, where all incoming messages are stored in FIFO
* order. This class creates a new receiving queue and provides methods to fetch
* received messages. Being a child of MessageQueueSender, this class also
* provides methods to send a message to a user-defined or a default destination.
* In addition it also provides a reply method to answer to the queue it
* received its last message from.
*
* @details Message queues are used to pass asynchronous messages between processes.
* They work like post boxes, where all incoming messages are stored in FIFO
* order. This class creates a new receiving queue and provides methods to fetch
* received messages. Being a child of MessageQueueSender, this class also provides
* methods to send a message to a user-defined or a default destination. In addition
* it also provides a reply method to answer to the queue it received its last message
* from.
* The MessageQueue should be used as "post box" for a single owning object. So all
* message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class makes
* use of the operating system calls provided.
* \ingroup message_queue
* The MessageQueue should be used as "post box" for a single owning object.
* So all message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class
* makes use of the operating system calls provided.
*
* Please keep in mind that FreeRTOS offers different calls for message queue
* operations if called from an ISR.
* For now, the system context needs to be switched manually.
* @ingroup osal
* @ingroup message_queue
*/
class MessageQueue : public MessageQueueIF {
friend class MessageQueueSenderIF;
public:
/**
* @brief The constructor initializes and configures the message queue.
* @details By making use of the according operating system call, a message queue is created
* and initialized. The message depth - the maximum number of messages to be
* buffered - may be set with the help of a parameter, whereas the message size is
* automatically set to the maximum message queue message size. The operating system
* sets the message queue id, or i case of failure, it is set to zero.
* @param message_depth The number of messages to be buffered before passing an error to the
* sender. Default is three.
* @param max_message_size With this parameter, the maximum message size can be adjusted.
* This should be left default.
* @details
* By making use of the according operating system call, a message queue
* is created and initialized. The message depth - the maximum number of
* messages to be buffered - may be set with the help of a parameter,
* whereas the message size is automatically set to the maximum message
* queue message size. The operating system sets the message queue id, or
* in case of failure, it is set to zero.
* @param message_depth
* The number of messages to be buffered before passing an error to the
* sender. Default is three.
* @param max_message_size
* With this parameter, the maximum message size can be adjusted.
* This should be left default.
*/
MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
MessageQueue( size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/**
* @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system.
* @details This is accomplished by using the delete call provided
* by the operating system.
*/
virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
* queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
* This function is used to switch the call context. This has to be called
* if a message is sent or received from an ISR!
* @param callContext
*/
void switchSystemContext(CallContext callContext);
/** MessageQueueIF implementation */
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault = false );
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t sendToDefault( MessageQueueMessage* message );
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply( MessageQueueMessage* message );
MessageQueueMessageIF* message, bool ignoreFault = false) override;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message,
MessageQueueId_t *receivedFrom);
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in the
* lastPartner attribute. Else, the lastPartner information remains untouched, the
* message's content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
* @return RETURN_OK on success.
*/
ReturnValue_t flush(uint32_t* count);
/**
* @brief This method returns the message queue id of the last communication partner.
*/
MessageQueueId_t getLastPartner() const;
/**
* @brief This method returns the message queue id of this class's message queue.
*/
MessageQueueId_t getId() const;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination);
/**
* \brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const;
ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
MessageQueueId_t getLastPartner() const override;
MessageQueueId_t getId() const override;
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
bool isDefaultDestinationSet() const;
protected:
/**
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
* @brief Implementation to be called from any send Call within
* MessageQueue and MessageQueueSenderIF.
* @details
* This method takes the message provided, adds the sentFrom information and
* passes it on to the destination provided with an operating system call.
* The OS's return value is returned.
* @param sendTo
* This parameter specifies the message queue id to send the message to.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id into
* the message. This variable is set to zero by default.
* @param ignoreFault
* If set to true, the internal software fault counter is not incremented
* if queue is full.
* @param context Specify whether call is made from task or from an ISR.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private:
bool defaultDestinationSet = false;
QueueHandle_t handle;
MessageQueueId_t defaultDestination;
MessageQueueId_t lastPartner;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
const size_t maxMessageSize;
//! Stores the current system context
CallContext callContext = CallContext::TASK;
};
#endif /* MESSAGEQUEUE_H_ */
#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */

6
osal/FreeRTOS/QueueFactory.cpp
View File

@ -1,14 +1,14 @@
#include "MessageQueue.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);

103
osal/linux/MessageQueue.cpp
View File

@ -9,9 +9,11 @@
#include <errno.h>
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE) {
defaultDestination(MessageQueueIF::NO_QUEUE),
maxMessageSize(maxMessageSize) {
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
mq_attr attributes;
this->id = 0;
@ -46,7 +48,7 @@ MessageQueue::~MessageQueue() {
status = mq_unlink(name);
if(status != 0){
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
<< strerror(errno) <<std::endl;
<< strerror(errno) << std::endl;
}
}
@ -61,22 +63,27 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
// This happens if the msg_max value is not large enough
// It is ignored if the executable is run in privileged mode.
// Run the unlockRealtime script or grant the mode manually by using:
// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
// Persistent solution for session:
// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
// Permanent solution:
// sudo nano /etc/sysctl.conf
// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
// Apply changes with: sudo sysctl -p
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
sif::error << "MessageQueue::MessageQueue: Default MQ size "
<< defaultMqMaxMsg << " is too small for requested size "
<< messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" << std::endl;
}
break;
}
@ -118,15 +125,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
@ -134,21 +141,34 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if(message == nullptr) {
sif::error << "MessageQueue::receiveMessage: Message is "
"nullptr!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(message->getMaximumMessageSize() < maxMessageSize) {
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
unsigned int messagePriority = 0;
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
message->MAX_MESSAGE_SIZE,&messagePriority);
message->getMaximumMessageSize(),&messagePriority);
if (status > 0) {
this->lastPartner = message->getSender();
//Check size of incoming message.
if (message->messageSize < message->getMinimumMessageSize()) {
if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
@ -158,7 +178,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
} else {
//No message was received. Keep lastPartner anyway, I might send
//something later. But still, delete packet content.
memset(message->getData(), 0, message->MAX_DATA_SIZE);
memset(message->getData(), 0, message->getMaximumMessageSize());
switch(errno){
case EAGAIN:
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@ -258,18 +278,19 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return this->defaultDestination;
}
@ -281,11 +302,18 @@ bool MessageQueue::isDefaultDestinationSet() const {
uint16_t MessageQueue::queueCounter = 0;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
if(message == nullptr) {
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
"nullptr!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
message->setSender(sentFrom);
int result = mq_send(sendTo,
reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
reinterpret_cast<const char*>(message->getBuffer()),
message->getMessageSize(),0);
//TODO: Check if we're in ISR.
if (result != 0) {
@ -303,13 +331,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
//MQ_NONBLOCK flag was set in its attributes, and the
//specified queue is full.
return MessageQueueIF::FULL;
case EBADF:
case EBADF: {
//mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
<< " sent from " << sentFrom << std::endl;
/*NO BREAK*/
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
<< " destination invalid." << std::endl;
sif::error << strerror(errno) << " in "
<<"mq_send to: " << sendTo << " sent from "
<< sentFrom << std::endl;
return DESTINVATION_INVALID;
}
case EINTR:
//The call was interrupted by a signal.
case EINVAL:

30
osal/linux/MessageQueue.h
View File

@ -1,5 +1,5 @@
#ifndef MESSAGEQUEUE_H_
#define MESSAGEQUEUE_H_
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
@ -56,14 +56,14 @@ public:
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault = false );
MessageQueueMessageIF* message, bool ignoreFault = false );
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
*/
virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
@ -71,7 +71,7 @@ public:
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply( MessageQueueMessage* message );
ReturnValue_t reply( MessageQueueMessageIF* message );
/**
* @brief This function reads available messages from the message queue and returns the sender.
@ -80,7 +80,7 @@ public:
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message,
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom);
/**
@ -91,7 +91,7 @@ public:
* message's content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message);
ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
@ -114,7 +114,9 @@ public:
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false );
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false );
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
@ -122,7 +124,8 @@ public:
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief This method is a simple setter for the default destination.
*/
@ -145,7 +148,9 @@ protected:
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false);
private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this attribute.
@ -171,11 +176,12 @@ private:
/**
* The name of the message queue, stored for unlinking
*/
char name[5];
char name[16];
static uint16_t queueCounter;
const size_t maxMessageSize;
ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
};
#endif /* MESSAGEQUEUE_H_ */
#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */

2
osal/linux/QueueFactory.cpp
View File

@ -15,7 +15,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);

59
tcdistribution/CCSDSDistributor.cpp
View File

@ -1,31 +1,39 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "CCSDSDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/SpacePacketBase.h"
CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
object_id_t setObjectId):
TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
}
CCSDSDistributor::~CCSDSDistributor() {
CCSDSDistributor::~CCSDSDistributor() {}
}
iterator_t CCSDSDistributor::selectDestination() {
// debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* p_packet = NULL;
TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
// sif::debug << "CCSDSDistributor::selectDestination received: " <<
// this->currentMessage.getStorageId().pool_index << ", " <<
// this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* packet = nullptr;
size_t size = 0;
//TODO check returncode?
this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
SpacePacketBase current_packet( p_packet );
// info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl;
iterator_t position = this->queueMap.find( current_packet.getAPID() );
ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
&packet, &size );
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CCSDSDistributor::selectDestination: Getting data from"
" store failed!" << std::endl;
}
SpacePacketBase currentPacket(packet);
// sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
// << std::hex << currentPacket.getAPID() << std::dec << std::endl;
TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
if ( position != this->queueMap.end() ) {
return position;
} else {
//The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report.
return this->queueMap.find( this->default_apid );
//The APID was not found. Forward packet to main SW-APID anyway to
// create acceptance failure report.
return this->queueMap.find( this->defaultApid );
}
}
MessageQueueId_t CCSDSDistributor::getRequestQueue() {
@ -35,9 +43,9 @@ MessageQueueId_t CCSDSDistributor::getRequestQueue() {
ReturnValue_t CCSDSDistributor::registerApplication(
AcceptsTelecommandsIF* application) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( application->getIdentifier(), application->getRequestQueue() ) ).second;
if( errorCode == false ) {
auto insertPair = this->queueMap.emplace(application->getIdentifier(),
application->getRequestQueue());
if(not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
@ -46,9 +54,8 @@ ReturnValue_t CCSDSDistributor::registerApplication(
ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid,
MessageQueueId_t id) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( apid, id ) ).second;
if( errorCode == false ) {
auto insertPair = this->queueMap.emplace(apid, id);
if(not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
@ -62,7 +69,11 @@ uint16_t CCSDSDistributor::getIdentifier() {
ReturnValue_t CCSDSDistributor::initialize() {
ReturnValue_t status = this->TcDistributor::initialize();
this->tcStore = objectManager->get<StorageManagerIF>( objects::TC_STORE );
if (this->tcStore == NULL) status = RETURN_FAILED;
if (this->tcStore == nullptr) {
sif::error << "CCSDSDistributor::initialize: Could not initialize"
" TC store!" << std::endl;
status = RETURN_FAILED;
}
return status;
}

99
tcdistribution/CCSDSDistributor.h
View File

@ -1,58 +1,71 @@
#ifndef CCSDSDISTRIBUTOR_H_
#define CCSDSDISTRIBUTOR_H_
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../storagemanager/StorageManagerIF.h"
#include "CCSDSDistributorIF.h"
#include "TcDistributor.h"
#include "../tcdistribution/CCSDSDistributorIF.h"
#include "../tcdistribution/TcDistributor.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
/**
* An instantiation of the CCSDSDistributorIF.
* It receives Space Packets, and selects a destination depending on the APID of the telecommands.
* @brief An instantiation of the CCSDSDistributorIF.
* @details
* It receives Space Packets, and selects a destination depending on the
* APID of the telecommands.
* The Secondary Header (with Service/Subservice) is ignored.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF {
protected:
/**
* This implementation checks if an Application with fitting APID has registered and forwards the
* packet to the according message queue.
* If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure
* message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
iterator_t selectDestination();
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t default_apid;
/**
* A reference to the TC storage must be maintained, as this class handles pure Space Packets and there
* exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore;
/**
* The callback here handles the generation of acceptance success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class CCSDSDistributor : public TcDistributor,
public CCSDSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The constructor sets the default APID and calls the TcDistributor ctor with a certain object id.
* \c tcStore is set in the \c initialize method.
* @param set_default_apid The default APID, where packets with unknown destination are sent to.
* @brief The constructor sets the default APID and calls the
* TcDistributor ctor with a certain object id.
* @details
* @c tcStore is set in the @c initialize method.
* @param setDefaultApid The default APID, where packets with unknown
* destination are sent to.
*/
CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
/**
* The destructor is empty.
*/
~CCSDSDistributor();
MessageQueueId_t getRequestQueue();
ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id );
ReturnValue_t registerApplication( AcceptsTelecommandsIF* application );
uint16_t getIdentifier();
ReturnValue_t initialize();
virtual ~CCSDSDistributor();
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) override;
ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) override;
uint16_t getIdentifier() override;
ReturnValue_t initialize() override;
protected:
/**
* This implementation checks if an application with fitting APID has
* registered and forwards the packet to the according message queue.
* If the packet is not found, it returns the queue to @c defaultApid,
* where a Acceptance Failure message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ) override;
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t defaultApid;
/**
* A reference to the TC storage must be maintained, as this class handles
* pure Space Packets and there exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore = nullptr;
};
#endif /* CCSDSDISTRIBUTOR_H_ */
#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */

36
tcdistribution/CCSDSDistributorIF.h
View File

@ -1,34 +1,38 @@
#ifndef CCSDSDISTRIBUTORIF_H_
#define CCSDSDISTRIBUTORIF_H_
#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This is the Interface to a CCSDS Distributor.
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves,
* either by passing a pointer to themselves (and implementing the CCSDSApplicationIF,
* or by explicitly passing an APID and a MessageQueueId to route the TC's to.
* \ingroup tc_distribution
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register
* themselves, either by passing a pointer to themselves (and implementing the
* CCSDSApplicationIF), or by explicitly passing an APID and a MessageQueueId
* to route the TC's to.
* @ingroup tc_distribution
*/
class CCSDSDistributorIF {
public:
/**
* With this call, a class implementing the CCSDSApplicationIF can register at the
* distributor.
* With this call, a class implementing the CCSDSApplicationIF can register
* at the distributor.
* @param application A pointer to the Application to register.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication( AcceptsTelecommandsIF* application ) = 0;
virtual ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) = 0;
/**
* With this call, other Applications can register to the CCSDS distributor.
* This is done by passing an APID and a MessageQueueId to the method.
* @param apid The APID to register.
* @param id The MessageQueueId of the message queue to send the TC Packets to.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @param id The MessageQueueId of the message queue to send the
* TC Packets to.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id ) = 0;
virtual ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) = 0;
/**
* The empty virtual destructor.
*/
@ -37,4 +41,4 @@ public:
};
#endif /* CCSDSDISTRIBUTORIF_H_ */
#endif /* FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ */

125
tcdistribution/PUSDistributor.cpp
View File

@ -1,61 +1,71 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "CCSDSDistributorIF.h"
#include "PUSDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
RETURN_FAILED), packetSource(setPacketSource) {
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource) :
TcDistributor(setObjectId), checker(setApid), verifyChannel(),
tcStatus(RETURN_FAILED), packetSource(setPacketSource) {}
PUSDistributor::~PUSDistributor() {}
PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
// sif:: debug << "PUSDistributor::handlePacket received: "
// << this->current_packet_id.store_index << ", "
// << this->current_packet_id.packet_index << std::endl;
TcMqMapIter queueMapIt = this->queueMap.end();
if(this->currentPacket == nullptr) {
return queueMapIt;
}
this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket->getWholeData() != nullptr) {
tcStatus = checker.checkPacket(currentPacket);
#ifdef DEBUG
if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: Packet format "
<< "invalid, code "<< static_cast<int>(tcStatus)
<< std::endl;
}
#endif
uint32_t queue_id = currentPacket->getService();
queueMapIt = this->queueMap.find(queue_id);
}
else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#ifdef DEBUG
sif::debug << "PUSDistributor::handlePacket: Destination not found, "
<< "code "<< static_cast<int>(tcStatus) << std::endl;
#endif
}
if (tcStatus != RETURN_OK) {
return this->queueMap.end();
}
else {
return queueMapIt;
}
}
PUSDistributor::~PUSDistributor() {
}
iterator_t PUSDistributor::selectDestination() {
// debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
iterator_t queueMapIt = this->queueMap.end();
this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket.getWholeData() != NULL) {
tcStatus = checker.checkPacket(&currentPacket);
// info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl;
uint32_t queue_id = currentPacket.getService();
queueMapIt = this->queueMap.find(queue_id);
} else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
}
if (tcStatus != RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
<< std::endl;
return this->queueMap.end();
} else {
return queueMapIt;
}
}
//uint16_t PUSDistributor::createDestination( uint8_t service_id, uint8_t subservice_id ) {
// return ( service_id << 8 ) + subservice_id;
//}
ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
uint16_t serviceId = service->getIdentifier();
// sif::info << "Service ID: " << (int)serviceId << std::endl;
MessageQueueId_t queue = service->getRequestQueue();
errorCode = this->queueMap.insert(
std::pair<uint32_t, MessageQueueId_t>(serviceId, queue)).second;
if (errorCode == false) {
//TODO Return Code
returnValue = MessageQueueIF::NO_QUEUE;
auto returnPair = queueMap.emplace(serviceId, queue);
if (not returnPair.second) {
sif::error << "PUSDistributor::registerService: Service ID already"
" exists in map." << std::endl;
return SERVICE_ID_ALREADY_EXISTS;
}
return returnValue;
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t PUSDistributor::getRequestQueue() {
@ -68,13 +78,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
}
if (tcStatus != RETURN_OK) {
this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE,
&currentPacket, tcStatus);
//A failed packet is deleted immediately after reporting, otherwise it will block memory.
currentPacket.deletePacket();
currentPacket, tcStatus);
// A failed packet is deleted immediately after reporting,
// otherwise it will block memory.
currentPacket->deletePacket();
return RETURN_FAILED;
} else {
this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS,
&currentPacket);
currentPacket);
return RETURN_OK;
}
}
@ -84,11 +95,19 @@ uint16_t PUSDistributor::getIdentifier() {
}
ReturnValue_t PUSDistributor::initialize() {
currentPacket = new TcPacketStored();
if(currentPacket == nullptr) {
// Should not happen, memory allocation failed!
return ObjectManagerIF::CHILD_INIT_FAILED;
}
CCSDSDistributorIF* ccsdsDistributor =
objectManager->get<CCSDSDistributorIF>(packetSource);
if (ccsdsDistributor == NULL) {
return RETURN_FAILED;
} else {
return ccsdsDistributor->registerApplication(this);
if (ccsdsDistributor == nullptr) {
sif::error << "PUSDistributor::initialize: Packet source invalid."
<< " Make sure it exists and implements CCSDSDistributorIF!"
<< std::endl;
return RETURN_FAILED;
}
return ccsdsDistributor->registerApplication(this);
}

60
tcdistribution/PUSDistributor.h
View File

@ -1,67 +1,79 @@
#ifndef PUSDISTRIBUTOR_H_
#define PUSDISTRIBUTOR_H_
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "PUSDistributorIF.h"
#include "TcDistributor.h"
#include "TcPacketCheck.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/VerificationReporter.h"
/**
* This class accepts PUS Telecommands and forwards them to Application services.
* In addition, the class performs a formal packet check and sends acceptance success
* or failure messages.
* \ingroup tc_distribution
* This class accepts PUS Telecommands and forwards them to Application
* services. In addition, the class performs a formal packet check and
* sends acceptance success or failure messages.
* @ingroup tc_distribution
*/
class PUSDistributor: public TcDistributor,
public PUSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id.
* The ctor passes @c set_apid to the checker class and calls the
* TcDistribution ctor with a certain object id.
* @param setApid The APID of this receiving Application.
* @param setObjectId Object ID of the distributor itself
* @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF.
* @param setPacketSource Object ID of the source of TC packets.
* Must implement CCSDSDistributorIF.
*/
PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource);
/**
* The destructor is empty.
*/
virtual ~PUSDistributor();
ReturnValue_t registerService(AcceptsTelecommandsIF* service);
MessageQueueId_t getRequestQueue();
uint16_t getIdentifier();
ReturnValue_t initialize();
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t initialize() override;
uint16_t getIdentifier() override;
protected:
/**
* This attribute contains the class, that performs a formal packet check.
*/
TcPacketCheck checker;
/**
* With this class, verification messages are sent to the TC Verification service.
* With this class, verification messages are sent to the
* TC Verification service.
*/
VerificationReporter verifyChannel;
/**
* The currently handled packet is stored here.
*/
TcPacketStored currentPacket;
TcPacketStored* currentPacket = nullptr;
/**
* With this variable, the current check status is stored to generate acceptance messages later.
* With this variable, the current check status is stored to generate
* acceptance messages later.
*/
ReturnValue_t tcStatus;
const object_id_t packetSource;
/**
* This method reads the packet service, checks if such a service is registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification messages.
* @return Iterator to map entry of found service id or iterator to \c map.end().
* This method reads the packet service, checks if such a service is
* registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification
* messages.
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
iterator_t selectDestination();
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance success/failure messages.
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus);
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
};
#endif /* PUSDISTRIBUTOR_H_ */
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */

13
tcdistribution/PUSDistributorIF.h
View File

@ -1,11 +1,12 @@
#ifndef PUSDISTRIBUTORIF_H_
#define PUSDISTRIBUTORIF_H_
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This interface allows PUS Services to register themselves at a PUS Distributor.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class PUSDistributorIF {
public:
@ -17,10 +18,10 @@ public:
/**
* With this method, Services can register themselves at the PUS Distributor.
* @param service A pointer to the registering Service.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerService( AcceptsTelecommandsIF* service ) = 0;
};
#endif /* PUSDISTRIBUTORIF_H_ */
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */

28
tcdistribution/TcDistributor.cpp
View File

@ -1,12 +1,13 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "TcDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcservices/TmTcMessage.h"
#include "../ipc/QueueFactory.h"
TcDistributor::TcDistributor(object_id_t set_object_id) :
SystemObject(set_object_id), tcQueue(NULL) {
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
TcDistributor::TcDistributor(object_id_t objectId) :
SystemObject(objectId) {
tcQueue = QueueFactory::instance()->
createMessageQueue(DISTRIBUTER_MAX_PACKETS);
}
TcDistributor::~TcDistributor() {
@ -15,7 +16,6 @@ TcDistributor::~TcDistributor() {
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t status = RETURN_OK;
// debug << "TcDistributor: performing Operation." << std::endl;
for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = tcQueue->receiveMessage(&currentMessage)) {
status = handlePacket();
@ -29,7 +29,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t TcDistributor::handlePacket() {
iterator_t queueMapIt = this->selectDestination();
TcMqMapIter queueMapIt = this->selectDestination();
ReturnValue_t returnValue = RETURN_FAILED;
if (queueMapIt != this->queueMap.end()) {
returnValue = this->tcQueue->sendMessage(queueMapIt->second,
@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() {
}
void TcDistributor::print() {
sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
<< std::endl;
for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
it++) {
sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
<< std::endl;
sif::debug << "Distributor content is: " << std::endl
<< "ID\t| Message Queue ID" << std::endl;
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
for (const auto& queueMapIter: queueMap) {
sif::debug << queueMapIter.first << "\t| 0x" << queueMapIter.second
<< std::endl;
}
sif::debug << std::dec;
sif::debug << std::setfill(' ') << std::dec;
}

136
tcdistribution/TcDistributor.h
View File

@ -1,5 +1,6 @@
#ifndef TCDISTRIBUTOR_H_
#define TCDISTRIBUTOR_H_
#ifndef FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
#define FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
@ -9,16 +10,12 @@
#include "../ipc/MessageQueueIF.h"
#include <map>
/**
* \defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands belong to this group.
* @defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands
* belong to this group.
*/
/**
* This typedef simplifies writing down the \c map iterator.
*/
typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
/**
* This is the base class to implement distributors for Space Packets.
@ -28,62 +25,19 @@ typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
* message queue ids to some identifier. The process of unpacking the
* destination information from the packet is handled by the child class
* implementations.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
std::map<uint32_t, MessageQueueId_t> queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual iterator_t selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or \c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of operation
* after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns \c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt to send the TC.
* @return - \c RETURN_OK on success
* - \c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class TcDistributor : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
static constexpr ReturnValue_t SERVICE_ID_ALREADY_EXISTS = MAKE_RETURN_CODE(3);
/**
* Within the default constructor, the SystemObject id is set and the
* message queue is initialized.
@ -91,7 +45,7 @@ public:
* @param set_object_id This id is assigned to the distributor
* implementation.
*/
TcDistributor( object_id_t set_object_id );
TcDistributor(object_id_t objectId);
/**
* The destructor is empty, the message queues are not in the vicinity of
* this class.
@ -110,7 +64,59 @@ public:
* queueMap.
*/
void print();
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue = nullptr;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
TcMessageQueueMap queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual TcMqMapIter selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or @c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of
* operation after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns @c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt
* to send the TC.
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static constexpr uint8_t DISTRIBUTER_MAX_PACKETS = 128;
};
#endif /* TCDISTRIBUTOR_H_ */
#endif /* FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ */

24
tcdistribution/TcPacketCheck.cpp
View File

@ -1,31 +1,33 @@
#include "TcPacketCheck.h"
#include "../globalfunctions/CRC.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../storagemanager/StorageManagerIF.h"
#include "TcPacketCheck.h"
#include "../tmtcservices/VerificationCodes.h"
TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
TcPacketCheck::TcPacketCheck( uint16_t setApid ) : apid(setApid) {
}
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) {
uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(),
currentPacket->getFullSize() );
if ( calculated_crc != 0 ) {
return INCORRECT_CHECKSUM;
}
bool condition = !(current_packet->hasSecondaryHeader()) ||
current_packet->getPacketVersionNumber() != CCSDS_VERSION_NUMBER ||
!(current_packet->isTelecommand());
bool condition = (not currentPacket->hasSecondaryHeader()) or
(currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
(not currentPacket->isTelecommand());
if ( condition ) {
return INCORRECT_PRIMARY_HEADER;
}
if ( current_packet->getAPID() != this->apid )
if ( currentPacket->getAPID() != this->apid )
return ILLEGAL_APID;
if ( !current_packet->isSizeCorrect() ) {
if ( not currentPacket->isSizeCorrect() ) {
return INCOMPLETE_PACKET;
}
condition = (current_packet->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(current_packet->getPusVersionNumber() != PUS_VERSION_NUMBER);
condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER);
if ( condition ) {
return INCORRECT_SECONDARY_HEADER;
}

25
tcdistribution/TcPacketCheck.h
View File

@ -1,28 +1,29 @@
#ifndef TCPACKETCHECK_H_
#define TCPACKETCHECK_H_
#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
/**
* This class performs a formal packet check for incoming PUS Telecommand Packets.
* Currently, it only checks if the APID and CRC are correct.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcPacketCheck : public HasReturnvaluesIF {
protected:
/**
* Describes the version number a packet must have to pass.
*/
static const uint8_t CCSDS_VERSION_NUMBER = 0;
static constexpr uint8_t CCSDS_VERSION_NUMBER = 0;
/**
* Describes the secondary header a packet must have to pass.
*/
static const uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
/**
* Describes the TC Packet PUS Version Number a packet must have to pass.
*/
static const uint8_t PUS_VERSION_NUMBER = 1;
static constexpr uint8_t PUS_VERSION_NUMBER = 1;
/**
* The packet id each correct packet should have.
* It is composed of the APID and some static fields.
@ -41,19 +42,19 @@ public:
* The constructor only sets the APID attribute.
* @param set_apid The APID to set.
*/
TcPacketCheck( uint16_t set_apid );
TcPacketCheck( uint16_t setApid );
/**
* This is the actual method to formally check a certain Telecommand Packet.
* The packet's Application Data can not be checked here.
* @param current_packet The packt to check
* @return - \c RETURN_OK on success.
* - \c INCORRECT_CHECKSUM if checksum is invalid.
* - \c ILLEGAL_APID if APID does not match.
* @return - @c RETURN_OK on success.
* - @c INCORRECT_CHECKSUM if checksum is invalid.
* - @c ILLEGAL_APID if APID does not match.
*/
ReturnValue_t checkPacket( TcPacketStored* current_packet );
ReturnValue_t checkPacket( TcPacketStored* currentPacket );
uint16_t getApid() const;
};
#endif /* TCPACKETCHECK_H_ */
#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */

8
timemanager/TimeStamperIF.h
View File

@ -14,8 +14,12 @@ public:
static const uint8_t INTERFACE_ID = CLASS_ID::TIME_STAMPER_IF;
static const ReturnValue_t BAD_TIMESTAMP = MAKE_RETURN_CODE(1);
static const uint8_t MISSION_TIMESTAMP_SIZE = 8; //!< This is a mission-specific constant and determines the total size reserved for timestamps.
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize) = 0;
//! This is a mission-specific constant and determines the total
//! size reserved for timestamps.
//! TODO: Default define in FSFWConfig ?
static const uint8_t MISSION_TIMESTAMP_SIZE = 8;
virtual ReturnValue_t addTimeStamp(uint8_t* buffer,
const uint8_t maxSize) = 0;
virtual ~TimeStamperIF() {}
};

9
tmtcpacket/SpacePacketBase.cpp
View File

@ -1,6 +1,6 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "SpacePacketBase.h"
#include <string.h>
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
this->data = (SpacePacketPointer*) set_address;
@ -14,7 +14,8 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
return (this->data->header.packet_id_h & 0b11100000) >> 5;
}
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
//reset header to zero:
memset(data,0, sizeof(this->data->header) );
//Set TC/TM bit.
@ -81,7 +82,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
this->data->header.packet_length_l = ( new_length & 0x00FF );
}
uint32_t SpacePacketBase::getFullSize() {
size_t SpacePacketBase::getFullSize() {
//+1 is done because size in packet data length field is: size of data field -1
return this->getPacketDataLength() + sizeof(this->data->header) + 1;
}

14
tmtcpacket/SpacePacketBase.h
View File

@ -1,10 +1,11 @@
#ifndef SPACEPACKETBASE_H_
#define SPACEPACKETBASE_H_
#ifndef FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#include "ccsds_header.h"
#include <cstddef>
/**
* \defgroup tmtcpackets Space Packets
* @defgroup tmtcpackets Space Packets
* This is the group, where all classes associated with Telecommand and
* Telemetry packets belong to.
* The class hierarchy resembles the dependency between the different standards
@ -81,7 +82,8 @@ public:
*/
bool isTelecommand( void );
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount = 0);
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
uint16_t apid, uint16_t sequenceCount = 0);
/**
* The CCSDS header provides a secondary header flag (the fifth-highest bit),
* which is checked with this method.
@ -167,10 +169,10 @@ public:
* This method returns the full raw packet size.
* @return The full size of the packet in bytes.
*/
uint32_t getFullSize();
size_t getFullSize();
uint32_t getApidAndSequenceCount() const;
};
#endif /* SPACEPACKETBASE_H_ */
#endif /* FSFW_TMTCPACKET_SPACEPACKETBASE_H_ */

3
tmtcpacket/pus/PacketTimestampInterpreterIF.h
View File

@ -7,7 +7,8 @@ class TmPacketMinimal;
class PacketTimestampInterpreterIF {
public:
virtual ~PacketTimestampInterpreterIF() {}
virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet, timeval* timestamp) const = 0;
virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet,
timeval* timestamp) const = 0;
virtual ReturnValue_t getPacketTimeRaw(TmPacketMinimal* packet, const uint8_t** timePtr, uint32_t* size) const = 0;
};

70
tmtcpacket/pus/TcPacketBase.cpp
View File

@ -1,11 +1,14 @@
#include "../../globalfunctions/CRC.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TcPacketBase.h"
#include <string.h>
TcPacketBase::TcPacketBase(const uint8_t* set_data) :
SpacePacketBase(set_data) {
tcData = (TcPacketPointer*) set_data;
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
TcPacketBase::TcPacketBase(const uint8_t* setData) :
SpacePacketBase(setData) {
tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
}
TcPacketBase::~TcPacketBase() {
@ -13,28 +16,28 @@ TcPacketBase::~TcPacketBase() {
}
uint8_t TcPacketBase::getService() {
return tcData->data_field.service_type;
return tcData->dataField.service_type;
}
uint8_t TcPacketBase::getSubService() {
return tcData->data_field.service_subtype;
return tcData->dataField.service_subtype;
}
uint8_t TcPacketBase::getAcknowledgeFlags() {
return tcData->data_field.version_type_ack & 0b00001111;
return tcData->dataField.version_type_ack & 0b00001111;
}
const uint8_t* TcPacketBase::getApplicationData() const {
return &tcData->data;
return &tcData->appData;
}
uint16_t TcPacketBase::getApplicationDataSize() {
return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1;
return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
}
uint16_t TcPacketBase::getErrorControl() {
uint16_t size = getApplicationDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tcData->data;
uint8_t* p_to_buffer = &tcData->appData;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
@ -42,41 +45,42 @@ void TcPacketBase::setErrorControl() {
uint32_t full_size = getFullSize();
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getApplicationDataSize();
(&tcData->data)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL
(&tcData->appData)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->appData)[size + 1] = (crc) & 0X00FF; // CRCL
}
void TcPacketBase::setData(const uint8_t* p_Data) {
SpacePacketBase::setData(p_Data);
tcData = (TcPacketPointer*) p_Data;
void TcPacketBase::setData(const uint8_t* pData) {
SpacePacketBase::setData(pData);
tcData = (TcPacketPointer*) pData;
}
uint8_t TcPacketBase::getSecondaryHeaderFlag() {
return (tcData->data_field.version_type_ack & 0b10000000) >> 7;
return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
}
uint8_t TcPacketBase::getPusVersionNumber() {
return (tcData->data_field.version_type_ack & 0b01110000) >> 4;
return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
}
void TcPacketBase::print() {
uint8_t * wholeData = getWholeData();
sif::debug << "TcPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count) {
sif::debug << std::hex << (uint16_t) wholeData[count] << " ";
}
sif::debug << std::dec << std::endl;
sif::debug << "TcPacketBase::print: " << std::endl;
arrayprinter::print(getWholeData(), getFullSize());
}
void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
uint8_t ack, uint8_t service, uint8_t subservice) {
uint8_t ack, uint8_t service, uint8_t subservice) {
initSpacePacketHeader(true, true, apid, sequenceCount);
memset(&tcData->data_field, 0, sizeof(tcData->data_field));
setPacketDataLength(sizeof(tcData->data_field) + CRC_SIZE);
std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
//Data Field Header:
//Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000
tcData->data_field.version_type_ack = 0b00010000;
tcData->data_field.version_type_ack |= (ack & 0x0F);
tcData->data_field.service_type = service;
tcData->data_field.service_subtype = subservice;
//Set CCSDS_secondary_header_flag to 0 and version number to 001
tcData->dataField.version_type_ack = 0b00010000;
tcData->dataField.version_type_ack |= (ack & 0x0F);
tcData->dataField.service_type = service;
tcData->dataField.service_subtype = subservice;
}
size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
appDataLen + TcPacketBase::CRC_SIZE;
}

134
tmtcpacket/pus/TcPacketBase.h
View File

@ -1,7 +1,9 @@
#ifndef TCPACKETBASE_H_
#define TCPACKETBASE_H_
#ifndef TMTCPACKET_PUS_TCPACKETBASE_H_
#define TMTCPACKET_PUS_TCPACKETBASE_H_
#include "../../tmtcpacket/SpacePacketBase.h"
#include <cstddef>
/**
* This struct defines a byte-wise structured PUS TC Data Field Header.
@ -23,14 +25,14 @@ struct PUSTcDataFieldHeader {
*/
struct TcPacketPointer {
CCSDSPrimaryHeader primary;
PUSTcDataFieldHeader data_field;
uint8_t data;
PUSTcDataFieldHeader dataField;
uint8_t appData;
};
/**
* This class is the basic data handler for any ECSS PUS Telecommand packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* In addition to #SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TC Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
@ -39,67 +41,38 @@ struct TcPacketPointer {
* @ingroup tmtcpackets
*/
class TcPacketBase : public SpacePacketBase {
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
public:
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) + 2);
/**
* With this constant for the acknowledge field responses on all levels are expected.
*/
static const uint8_t ACK_ALL = 0b1111;
/**
* With this constant for the acknowledge field a response on acceptance is expected.
*/
static const uint8_t ACK_ACCEPTANCE = 0b0001;
/**
* With this constant for the acknowledge field a response on start of execution is expected.
*/
static const uint8_t ACK_START = 0b0010;
/**
* With this constant for the acknowledge field responses on execution steps are expected.
*/
static const uint8_t ACK_STEP = 0b0100;
/**
* With this constant for the acknowledge field a response on completion is expected.
*/
static const uint8_t ACK_COMPLETION = 0b1000;
/**
* With this constant for the acknowledge field no responses are expected.
*/
static const uint8_t ACK_NONE = 0b000;
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTcDataFieldHeader) + 2);
enum AckField {
//! No acknowledgements are expected.
ACK_NONE = 0b0000,
//! Acknowledgements on acceptance are expected.
ACK_ACCEPTANCE = 0b0001,
//! Acknowledgements on start are expected.
ACK_START = 0b0010,
//! Acknowledgements on step are expected.
ACK_STEP = 0b0100,
//! Acknowledfgement on completion are expected.
ACK_COMPLETION = 0b1000
};
static constexpr uint8_t ACK_ALL = ACK_ACCEPTANCE | ACK_START | ACK_STEP |
ACK_COMPLETION;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
* @param setData The position where the packet data lies.
*/
TcPacketBase( const uint8_t* set_data );
TcPacketBase( const uint8_t* setData );
/**
* This is the empty default destructor.
*/
virtual ~TcPacketBase();
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice);
/**
* This command returns the CCSDS Secondary Header Flag.
* It shall always be zero for PUS Packets. This is the
@ -166,22 +139,49 @@ public:
* current content of the packet.
*/
void setErrorControl();
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* p_data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Calculate full packet length from application data length.
* @param appDataLen
* @return
*/
static size_t calculateFullPacketLength(size_t appDataLen);
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
uint8_t service, uint8_t subservice);
/**
* With this method, the packet data pointer can be redirected to another
* location.
* This call overwrites the parent's setData method to set both its
* @c tc_data pointer and the parent's @c data pointer.
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* pData );
};
#endif /* TCPACKETBASE_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETBASE_H_ */

65
tmtcpacket/pus/TcPacketStored.cpp
View File

@ -1,37 +1,50 @@
#include "TcPacketStored.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TcPacketStored.h"
#include <string.h>
#include <cstring>
StorageManagerIF* TcPacketStored::store = nullptr;
TcPacketStored::TcPacketStored(store_address_t setAddress) :
TcPacketBase(NULL), storeAddress(setAddress) {
this->setStoreAddress(this->storeAddress);
TcPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t ack, uint8_t service,
uint8_t subservice, uint8_t sequence_count, const uint8_t* data,
uint32_t size) :
TcPacketBase(NULL) {
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
size_t size, uint8_t ack) :
TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!this->checkAndSetStore()) {
if (not this->checkAndSetStore()) {
return;
}
uint8_t* p_data = NULL;
uint8_t* pData = nullptr;
ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
(TC_PACKET_MIN_SIZE + size), &p_data);
(TC_PACKET_MIN_SIZE + size), &pData);
if (returnValue != this->store->RETURN_OK) {
sif::warning << "TcPacketStored: Could not get free element from store!"
<< std::endl;
return;
}
this->setData(p_data);
initializeTcPacket(apid, sequence_count, ack, service, subservice);
memcpy(&tcData->data, data, size);
this->setData(pData);
initializeTcPacket(apid, sequenceCount, ack, service, subservice);
memcpy(&tcData->appData, data, size);
this->setPacketDataLength(
size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
this->setErrorControl();
}
TcPacketStored::TcPacketStored() :
TcPacketBase(NULL) {
ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
size_t* dataSize) {
auto result = this->store->getData(storeAddress, dataPtr, dataSize);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "TcPacketStored: Could not get data!" << std::endl;
}
return result;
}
TcPacketStored::TcPacketStored(): TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->checkAndSetStore();
@ -40,14 +53,14 @@ TcPacketStored::TcPacketStored() :
ReturnValue_t TcPacketStored::deletePacket() {
ReturnValue_t result = this->store->deleteData(this->storeAddress);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->setData( NULL);
this->setData(nullptr);
return result;
}
bool TcPacketStored::checkAndSetStore() {
if (this->store == NULL) {
if (this->store == nullptr) {
this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (this->store == NULL) {
if (this->store == nullptr) {
sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
<< std::endl;
return false;
@ -58,17 +71,17 @@ bool TcPacketStored::checkAndSetStore() {
void TcPacketStored::setStoreAddress(store_address_t setAddress) {
this->storeAddress = setAddress;
const uint8_t* temp_data = NULL;
const uint8_t* tempData = nullptr;
size_t temp_size;
ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
if (this->checkAndSetStore()) {
status = this->store->getData(this->storeAddress, &temp_data,
status = this->store->getData(this->storeAddress, &tempData,
&temp_size);
}
if (status == StorageManagerIF::RETURN_OK) {
this->setData(temp_data);
this->setData(tempData);
} else {
this->setData(NULL);
this->setData(nullptr);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
@ -78,7 +91,7 @@ store_address_t TcPacketStored::getStoreAddress() {
}
bool TcPacketStored::isSizeCorrect() {
const uint8_t* temp_data = NULL;
const uint8_t* temp_data = nullptr;
size_t temp_size;
ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
&temp_size);
@ -90,8 +103,6 @@ bool TcPacketStored::isSizeCorrect() {
return false;
}
StorageManagerIF* TcPacketStored::store = NULL;
TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
TcPacketBase(data) {
if (getFullSize() != size) {
@ -100,7 +111,7 @@ TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
if (this->checkAndSetStore()) {
ReturnValue_t status = store->addData(&storeAddress, data, size);
if (status != HasReturnvaluesIF::RETURN_OK) {
this->setData(NULL);
this->setData(nullptr);
}
}
}

78
tmtcpacket/pus/TcPacketStored.h
View File

@ -1,8 +1,8 @@
#ifndef TCPACKETSTORED_H_
#define TCPACKETSTORED_H_
#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
#define TMTCPACKET_PUS_TCPACKETSTORED_H_
#include "../../storagemanager/StorageManagerIF.h"
#include "TcPacketBase.h"
#include "../../storagemanager/StorageManagerIF.h"
/**
* This class generates a ECSS PUS Telecommand packet within a given
@ -15,26 +15,6 @@
* @ingroup tmtcpackets
*/
class TcPacketStored : public TcPacketBase {
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. \c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li \c true if the store is linked or could be created.
* @li \c false otherwise.
*/
bool checkAndSetStore();
public:
/**
* This is a default constructor which does not set the data pointer.
@ -53,18 +33,20 @@ public:
* a new PUS Telecommand Packet is created there.
* Packet Application Data passed in data is copied into the packet.
* @param apid Sets the packet's APID field.
* @param ack Set's the packet's Ack field,
* which specifies number and size of verification packets returned
* for this command.
* @param service Sets the packet's Service ID field.
* This specifies the destination service.
* This specifies the destination service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the destination sub-service.
* @param sequence_count Sets the packet's Source Sequence Count field.
* This specifies the destination sub-service.
* @param sequence_count Sets the packet's Source Sequence Count field.
* @param data The data to be copied to the Application Data Field.
* @param size The amount of data to be copied.
* @param ack Set's the packet's Ack field, which specifies
* number of verification packets returned
* for this command.
*/
TcPacketStored( uint16_t apid, uint8_t ack, uint8_t service, uint8_t subservice, uint8_t sequence_count = 0, const uint8_t* data = NULL, uint32_t size = 0 );
TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t sequence_count = 0, const uint8_t* data = nullptr,
size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
/**
* Another constructor to create a TcPacket from a raw packet stream.
* Takes the data and adds it unchecked to the TcStore.
@ -72,10 +54,19 @@ public:
* @param Size size of the packet.
*/
TcPacketStored( const uint8_t* data, uint32_t size);
/**
* Getter function for the raw data.
* @param dataPtr [out] Pointer to the data pointer to set
* @param dataSize [out] Address of size to set.
* @return -@c RETURN_OK if data was retrieved successfully.
*/
ReturnValue_t getData(const uint8_t ** dataPtr,
size_t* dataSize);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
* the packet is not linked.
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if the packet is not linked.
*/
store_address_t getStoreAddress();
/**
@ -99,7 +90,28 @@ public:
* store or size is incorrect.
*/
bool isSizeCorrect();
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
};
#endif /* TCPACKETSTORED_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */

73
tmtcpacket/pus/TmPacketBase.cpp
View File

@ -1,13 +1,19 @@
#include "TmPacketBase.h"
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TmPacketBase.h"
#include "../../timemanager/CCSDSTime.h"
#include <string.h>
TmPacketBase::TmPacketBase(uint8_t* set_data) :
SpacePacketBase(set_data) {
tm_data = (TmPacketPointer*) set_data;
#include <cstring>
TimeStamperIF* TmPacketBase::timeStamper = nullptr;
object_id_t TmPacketBase::timeStamperId = 0;
TmPacketBase::TmPacketBase(uint8_t* setData) :
SpacePacketBase(setData) {
tmData = reinterpret_cast<TmPacketPointer*>(setData);
}
TmPacketBase::~TmPacketBase() {
@ -15,25 +21,25 @@ TmPacketBase::~TmPacketBase() {
}
uint8_t TmPacketBase::getService() {
return tm_data->data_field.service_type;
return tmData->data_field.service_type;
}
uint8_t TmPacketBase::getSubService() {
return tm_data->data_field.service_subtype;
return tmData->data_field.service_subtype;
}
uint8_t* TmPacketBase::getSourceData() {
return &tm_data->data;
return &tmData->data;
}
uint16_t TmPacketBase::getSourceDataSize() {
return getPacketDataLength() - sizeof(tm_data->data_field)
return getPacketDataLength() - sizeof(tmData->data_field)
- CRC_SIZE + 1;
}
uint16_t TmPacketBase::getErrorControl() {
uint32_t size = getSourceDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tm_data->data;
uint8_t* p_to_buffer = &tmData->data;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
@ -47,16 +53,12 @@ void TmPacketBase::setErrorControl() {
void TmPacketBase::setData(const uint8_t* p_Data) {
SpacePacketBase::setData(p_Data);
tm_data = (TmPacketPointer*) p_Data;
tmData = (TmPacketPointer*) p_Data;
}
void TmPacketBase::print() {
/*uint8_t * wholeData = getWholeData();
debug << "TmPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count ) {
debug << std::hex << (uint16_t)wholeData[count] << " ";
}
debug << std::dec << std::endl;*/
sif::debug << "TmPacketBase::print: " << std::endl;
arrayprinter::print(getWholeData(), getFullSize());
}
bool TmPacketBase::checkAndSetStamper() {
@ -73,32 +75,36 @@ bool TmPacketBase::checkAndSetStamper() {
ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
uint32_t tempSize = 0;
return CCSDSTime::convertFromCcsds(timestamp, tm_data->data_field.time,
&tempSize, sizeof(tm_data->data_field.time));
return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time,
&tempSize, sizeof(tmData->data_field.time));
}
uint8_t* TmPacketBase::getPacketTimeRaw() const{
return tm_data->data_field.time;
return tmData->data_field.time;
}
void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter) {
void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t packetSubcounter) {
//Set primary header:
initSpacePacketHeader(false, true, apid);
//Set data Field Header:
//First, set to zero.
memset(&tm_data->data_field, 0, sizeof(tm_data->data_field));
//Set CCSDS_secondary header flag to 0, version number to 001 and ack to 0000
memset(&tmData->data_field, 0, sizeof(tmData->data_field));
// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
// The other 4 bits of the first byte are the spacecraft time reference status
// To change to PUS-C, set 0b00100000
tm_data->data_field.version_type_ack = 0b00010000;
tm_data->data_field.service_type = service;
tm_data->data_field.service_subtype = subservice;
tm_data->data_field.subcounter = packetSubcounter;
// The other 4 bits of the first byte are the spacecraft time reference
// status. To change to PUS-C, set 0b00100000.
// Set CCSDS_secondary header flag to 0, version number to 001 and ack
// to 0000
tmData->data_field.version_type_ack = 0b00010000;
tmData->data_field.service_type = service;
tmData->data_field.service_subtype = subservice;
tmData->data_field.subcounter = packetSubcounter;
//Timestamp packet
if (checkAndSetStamper()) {
timeStamper->addTimeStamp(tm_data->data_field.time, sizeof(tm_data->data_field.time));
timeStamper->addTimeStamp(tmData->data_field.time,
sizeof(tmData->data_field.time));
}
}
@ -106,9 +112,6 @@ void TmPacketBase::setSourceDataSize(uint16_t size) {
setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
}
uint32_t TmPacketBase::getTimestampSize() const {
return sizeof(tm_data->data_field.time);
size_t TmPacketBase::getTimestampSize() const {
return sizeof(tmData->data_field.time);
}
TimeStamperIF* TmPacketBase::timeStamper = NULL;
object_id_t TmPacketBase::timeStamperId = 0;

113
tmtcpacket/pus/TmPacketBase.h
View File

@ -1,8 +1,8 @@
#ifndef TMPACKETBASE_H_
#define TMPACKETBASE_H_
#ifndef TMTCPACKET_PUS_TMPACKETBASE_H_
#define TMTCPACKET_PUS_TMPACKETBASE_H_
#include "../SpacePacketBase.h"
#include "../../timemanager/TimeStamperIF.h"
#include "../../tmtcpacket/SpacePacketBase.h"
#include "../../timemanager/Clock.h"
#include "../../objectmanager/SystemObjectIF.h"
@ -14,7 +14,7 @@ void setStaticFrameworkObjectIds();
* This struct defines a byte-wise structured PUS TM Data Field Header.
* Any optional fields in the header must be added or removed here.
* Currently, no Destination field is present, but an eigth-byte representation
* for a time tag [TBD].
* for a time tag.
* @ingroup tmtcpackets
*/
struct PUSTmDataFieldHeader {
@ -40,7 +40,7 @@ struct TmPacketPointer {
/**
* This class is the basic data handler for any ECSS PUS Telemetry packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* In addition to #SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TM Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
@ -54,29 +54,27 @@ public:
/**
* This constant defines the minimum size of a valid PUS Telemetry Packet.
*/
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTmDataFieldHeader) + 2); //!< Minimum size of a valid PUS Telemetry Packet.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; //!< Maximum size of a TM Packet in this mission.
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000; //!< First byte of secondary header for PUS-A packets.
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTmDataFieldHeader) + 2);
//! Maximum size of a TM Packet in this mission.
//! TODO: Make this dependant on a config variable.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
//! First byte of secondary header for PUS-A packets.
//! TODO: Maybe also support PUS-C via config?
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
*/
TmPacketBase( uint8_t* set_data );
TmPacketBase( uint8_t* setData );
/**
* This is the empty default destructor.
*/
virtual ~TmPacketBase();
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter);
/**
* This is a getter for the packet's PUS Service ID, which is the second
* byte of the Data Field Header.
@ -106,11 +104,14 @@ public:
*/
uint16_t getSourceDataSize();
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
*/
void setSourceDataSize(uint16_t size);
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet. This method is not protected because
* a recalculation by the user might be necessary when manipulating fields
* like the sequence count.
*/
void setErrorControl();
/**
* This getter returns the Error Control Field of the packet.
*
@ -120,28 +121,15 @@ public:
* @return The PUS Error Control
*/
uint16_t getErrorControl();
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet.
*/
void setErrorControl();
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* p_Data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Interprets the "time"-field in the secondary header and returns it in timeval format.
* Interprets the "time"-field in the secondary header and returns it in
* timeval format.
* @return Converted timestamp of packet.
*/
ReturnValue_t getPacketTime(timeval* timestamp) const;
@ -151,7 +139,7 @@ public:
*/
uint8_t* getPacketTimeRaw() const;
uint32_t getTimestampSize() const;
size_t getTimestampSize() const;
protected:
/**
@ -160,20 +148,49 @@ protected:
*
* To be hardware-safe, all elements are of byte size.
*/
TmPacketPointer* tm_data;
TmPacketPointer* tmData;
/**
* The timeStamper is responsible for adding a timestamp to the packet.
* It is initialized lazy.
*/
static TimeStamperIF* timeStamper;
//! The ID to use when looking for a time stamper.
static object_id_t timeStamperId;
static object_id_t timeStamperId; //!< The ID to use when looking for a time stamper.
/**
* Checks if a time stamper is available and tries to set it if not.
* @return Returns false if setting failed.
*/
bool checkAndSetStamper();
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packetSubcounter);
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* @c tc_data pointer and the parent's @c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* pData );
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
*/
void setSourceDataSize(uint16_t size);
/**
* Checks if a time stamper is available and tries to set it if not.
* @return Returns false if setting failed.
*/
bool checkAndSetStamper();
};
#endif /* TMPACKETBASE_H_ */
#endif /* TMTCPACKET_PUS_TMPACKETBASE_H_ */

44
tmtcpacket/pus/TmPacketStored.cpp
View File

@ -1,11 +1,16 @@
#include "TmPacketStored.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TmPacketStored.h"
#include "../../tmtcservices/TmTcMessage.h"
#include <string.h>
#include <cstring>
StorageManagerIF *TmPacketStored::store = nullptr;
InternalErrorReporterIF *TmPacketStored::internalErrorReporter = nullptr;
TmPacketStored::TmPacketStored(store_address_t setAddress) :
TmPacketBase(NULL), storeAddress(setAddress) {
TmPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
@ -14,10 +19,10 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
TmPacketBase(NULL) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!checkAndSetStore()) {
if (not checkAndSetStore()) {
return;
}
uint8_t *pData = NULL;
uint8_t *pData = nullptr;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
@ -38,7 +43,7 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
SerializeIF *header) :
TmPacketBase(NULL) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!checkAndSetStore()) {
if (not checkAndSetStore()) {
return;
}
size_t sourceDataSize = 0;
@ -77,29 +82,29 @@ store_address_t TmPacketStored::getStoreAddress() {
void TmPacketStored::deletePacket() {
store->deleteData(storeAddress);
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
setData(NULL);
setData(nullptr);
}
void TmPacketStored::setStoreAddress(store_address_t setAddress) {
storeAddress = setAddress;
const uint8_t* temp_data = NULL;
size_t temp_size;
if (!checkAndSetStore()) {
const uint8_t* tempData = nullptr;
size_t tempSize;
if (not checkAndSetStore()) {
return;
}
ReturnValue_t status = store->getData(storeAddress, &temp_data, &temp_size);
ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize);
if (status == StorageManagerIF::RETURN_OK) {
setData(temp_data);
setData(tempData);
} else {
setData(NULL);
setData(nullptr);
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
bool TmPacketStored::checkAndSetStore() {
if (store == NULL) {
if (store == nullptr) {
store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if (store == NULL) {
if (store == nullptr) {
sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
<< std::endl;
return false;
@ -108,12 +113,9 @@ bool TmPacketStored::checkAndSetStore() {
return true;
}
StorageManagerIF *TmPacketStored::store = NULL;
InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
MessageQueueId_t sentFrom, bool doErrorReporting) {
if (getWholeData() == NULL) {
if (getWholeData() == nullptr) {
//SHOULDDO: More decent code.
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -133,11 +135,11 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
}
void TmPacketStored::checkAndReportLostTm() {
if (internalErrorReporter == NULL) {
if (internalErrorReporter == nullptr) {
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
}
if (internalErrorReporter != NULL) {
if (internalErrorReporter != nullptr) {
internalErrorReporter->lostTm();
}
}

90
tmtcpacket/pus/TmPacketStored.h
View File

@ -1,9 +1,10 @@
#ifndef TMPACKETSTORED_H_
#define TMPACKETSTORED_H_
#ifndef TMTCPACKET_PUS_TMPACKETSTORED_H_
#define TMTCPACKET_PUS_TMPACKETSTORED_H_
#include "TmPacketBase.h"
#include "../../serialize/SerializeIF.h"
#include "../../storagemanager/StorageManagerIF.h"
#include "TmPacketBase.h"
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueSenderIF.h"
@ -18,31 +19,6 @@
* @ingroup tmtcpackets
*/
class TmPacketStored : public TmPacketBase {
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. \c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TM_STORE.
*/
static StorageManagerIF* store;
static InternalErrorReporterIF *internalErrorReporter;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li \c true if the store is linked or could be created.
* @li \c false otherwise.
*/
bool checkAndSetStore();
void checkAndReportLostTm();
public:
/**
* This is a default constructor which does not set the data pointer.
@ -52,28 +28,38 @@ public:
/**
* With this constructor, new space is allocated in the packet store and
* a new PUS Telemetry Packet is created there.
* Packet Application Data passed in data is copied into the packet. The Application data is
* passed in two parts, first a header, then a data field. This allows building a Telemetry
* Packet from two separate data sources.
* Packet Application Data passed in data is copied into the packet.
* The Application data is passed in two parts, first a header, then a
* data field. This allows building a Telemetry Packet from two separate
* data sources.
* @param apid Sets the packet's APID field.
* @param service Sets the packet's Service ID field.
* This specifies the source service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the source sub-service.
* @param packet_counter Sets the Packet counter field of this packet
* @param data The payload data to be copied to the Application Data Field
* @param data The payload data to be copied to the
* Application Data Field
* @param size The amount of data to be copied.
* @param headerData The header Data of the Application field; will be copied in front of data
* @param headerData The header Data of the Application field,
* will be copied in front of data
* @param headerSize The size of the headerDataF
*/
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packet_counter = 0, const uint8_t* data = NULL, uint32_t size = 0, const uint8_t* headerData = NULL, uint32_t headerSize = 0);
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packet_counter = 0, const uint8_t* data = nullptr,
uint32_t size = 0, const uint8_t* headerData = nullptr,
uint32_t headerSize = 0);
/**
* Another ctor to directly pass structured content and header data to the packet to avoid additional buffers.
* Another ctor to directly pass structured content and header data to the
* packet to avoid additional buffers.
*/
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packet_counter, SerializeIF* content, SerializeIF* header = NULL);
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packet_counter, SerializeIF* content,
SerializeIF* header = nullptr);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if
* the packet is not linked.
*/
store_address_t getStoreAddress();
@ -89,8 +75,34 @@ public:
*/
void setStoreAddress( store_address_t setAddress );
ReturnValue_t sendPacket( MessageQueueId_t destination, MessageQueueId_t sentFrom, bool doErrorReporting = true );
ReturnValue_t sendPacket( MessageQueueId_t destination,
MessageQueueId_t sentFrom, bool doErrorReporting = true );
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TM_STORE.
*/
static StorageManagerIF* store;
static InternalErrorReporterIF *internalErrorReporter;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
void checkAndReportLostTm();
};
#endif /* TMPACKETSTORED_H_ */
#endif /* TMTCPACKET_PUS_TMPACKETSTORED_H_ */