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updating code from Flying Laptop

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This is the framework of Flying Laptop OBSW version A.13.0.
This commit is contained in:
Ulrich Mohr 2018-07-12 16:29:32 +02:00
parent 1d22a6c97e
commit 575f70ba03
395 changed files with 12807 additions and 8404 deletions
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202
LICENSE Normal file
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@ -0,0 +1,202 @@
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21
NOTICE Normal file
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@ -0,0 +1,21 @@
Flight Software Framework
The initial version of the Flight Software Framework was developed during
the Flying Laptop Project by the Universität Stuttgart in coorporation
with Airbus Defence and Space GmbH.
Copyrights in the Flight Software Framework are retained by their contributors.
No copyright assignment is required to contribute to the Flight Software Framework.
Some files include explicit copyright notices and/or license notices.
For full authorship information, see the version control history.
Except as otherwise noted (below and/or in individual files), the
Flight Software Framework is licensed under the Apache License, Version 2.0.
The Flight Software Framework includes modules written by third parties.
The following third party modules are included, and carry
their own copyright notices and license terms:
under contrib/:
* sgp4: sgp4 code developed by david vallado under public domain, see https://www.celestrak.com/publications/AIAA/2006-6753/

5
THANKYOU
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@ -1,5 +0,0 @@
Besides Bastian Bätz and Ulrich Mohr, who were the main developers for Flying Laptop's Onboard Software, the following PhD Students contributed to the project:
Rouven Witt, who developed the FDIR concept and kept morale high as the team's Spaßbeauftragter.
Marek Dittmar, who started work on the ACS code and later tried to keep the development in time.
Nico Bucher, who performed software tests and as such was invaluable during the development.

32
action/ActionHelper.cpp
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@ -1,8 +1,7 @@
#include <framework/action/ActionHelper.h>
#include <framework/action/HasActionsIF.h>
#include <framework/objectmanager/ObjectManagerIF.h>
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueue* useThisQueue) :
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue), ipcStore(
NULL) {
}
@ -41,6 +40,10 @@ void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, Retur
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue;
}
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
@ -62,31 +65,38 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
}
}
void ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data) {
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
uint8_t *dataPtr;
uint32_t maxSize = data->getSerializedSize();
if (maxSize == 0) {
return;
//No error, there's simply nothing to report.
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t size = 0;
ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
&dataPtr);
if (result != HasReturnvaluesIF::RETURN_OK) {
//TODO event?
return;
return result;
}
result = data->serialize(&dataPtr, &size, maxSize, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
//TODO event?
return;
return result;
}
//We don't need to report the objectId, as we receive REQUESTED data before the completion success message.
//True aperiodic replies need to be reported with another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress);
if (queueToUse->sendMessage(reportTo, &reply) != HasReturnvaluesIF::RETURN_OK){
//TODO Service Implementation sucks at the moment
if (hideSender){
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if ( result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
//We don't neeed the objectId, as we receive REQUESTED data before the completion success message.
//True aperiodic replies need to be reported with dedicated DH message.
return result;
}

11
action/ActionHelper.h
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@ -1,25 +1,26 @@
#ifndef ACTIONHELPER_H_
#define ACTIONHELPER_H_
#include <framework/action/ActionMessage.h>
#include <framework/serialize/SerializeIF.h>
#include <framework/ipc/MessageQueueIF.h>
class HasActionsIF;
//TODO: Change MessageQueueId usage.
class ActionHelper {
public:
ActionHelper(HasActionsIF* setOwner, MessageQueue* useThisQueue);
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~ActionHelper();
ReturnValue_t handleActionMessage(CommandMessage* command);
ReturnValue_t initialize();
void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data);
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
void setQueueToUse(MessageQueueIF *queue);
protected:
static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;
MessageQueue* queueToUse;
MessageQueueIF* queueToUse;
StorageManagerIF* ipcStore;
virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
void resetHelper();

1
action/ActionMessage.cpp
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@ -1,4 +1,3 @@
#include <framework/action/ActionMessage.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/storagemanager/StorageManagerIF.h>

3
action/ActionMessage.h
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@ -1,4 +1,3 @@
#ifndef ACTIONMESSAGE_H_
#define ACTIONMESSAGE_H_
@ -11,7 +10,7 @@ class ActionMessage {
private:
ActionMessage();
public:
static const uint8_t MESSAGE_ID = FUNCTION_MESSAGE_ID;
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::ACTION;
static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);

1
action/CommandActionHelper.cpp
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@ -1,4 +1,3 @@
#include <framework/action/ActionMessage.h>
#include <framework/action/CommandActionHelper.h>
#include <framework/action/CommandsActionsIF.h>

5
action/CommandActionHelper.h
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@ -1,13 +1,12 @@
#ifndef COMMANDACTIONHELPER_H_
#define COMMANDACTIONHELPER_H_
#include <framework/action/ActionMessage.h>
#include <framework/ipc/MessageQueue.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/serialize/SerializeIF.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/ipc/MessageQueueIF.h>
class CommandsActionsIF;
@ -25,7 +24,7 @@ public:
uint8_t getCommandCount() const;
private:
CommandsActionsIF* owner;
MessageQueue* queueToUse;
MessageQueueIF* queueToUse;
StorageManagerIF* ipcStore;
uint8_t commandCount;
MessageQueueId_t lastTarget;

7
action/CommandsActionsIF.h
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@ -1,10 +1,9 @@
#ifndef COMMANDSACTIONSIF_H_
#define COMMANDSACTIONSIF_H_
#include <framework/action/CommandActionHelper.h>
#include <framework/ipc/MessageQueue.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/ipc/MessageQueueIF.h>
/**
* Interface to separate commanding actions of other objects.
@ -18,11 +17,11 @@
class CommandsActionsIF {
friend class CommandActionHelper;
public:
static const uint8_t INTERFACE_ID = COMMANDS_ACTIONS_IF;
static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
virtual ~CommandsActionsIF() {}
virtual MessageQueue* getCommandQueuePtr() = 0;
virtual MessageQueueIF* getCommandQueuePtr() = 0;
protected:
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;

11
action/HasActionsIF.h
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@ -1,21 +1,14 @@
/*
* HasActionsIF.h
*
* Created on: 20.02.2014
* Author: baetz
*/
#ifndef HASACTIONSIF_H_
#define HASACTIONSIF_H_
#include <framework/action/ActionHelper.h>
#include <framework/action/ActionMessage.h>
#include <framework/action/SimpleActionHelper.h>
#include <framework/ipc/MessageQueue.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/ipc/MessageQueueIF.h>
class HasActionsIF {
public:
static const uint8_t INTERFACE_ID = HAS_ACTIONS_IF;
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);

7
action/SimpleActionHelper.cpp
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@ -1,8 +1,7 @@
#include <framework/action/HasActionsIF.h>
#include <framework/action/SimpleActionHelper.h>
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
MessageQueue* useThisQueue) :
MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
0), lastAction(0), stepCount(0) {
}
@ -24,8 +23,8 @@ void SimpleActionHelper::finish(ReturnValue_t result) {
resetHelper();
}
void SimpleActionHelper::reportData(SerializeIF* data) {
ActionHelper::reportData(lastCommander, lastAction, data);
ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) {
return ActionHelper::reportData(lastCommander, lastAction, data);
}
void SimpleActionHelper::resetHelper() {

5
action/SimpleActionHelper.h
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@ -1,4 +1,3 @@
#ifndef SIMPLEACTIONHELPER_H_
#define SIMPLEACTIONHELPER_H_
@ -6,11 +5,11 @@
class SimpleActionHelper: public ActionHelper {
public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueue* useThisQueue);
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~SimpleActionHelper();
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void reportData(SerializeIF* data);
ReturnValue_t reportData(SerializeIF* data);
void resetHelper();
protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);

32
container/ArrayList.h
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@ -17,7 +17,7 @@ template<typename T, typename count_t = uint8_t>
class ArrayList {
template<typename U, typename count> friend class SerialArrayListAdapter;
public:
static const uint8_t INTERFACE_ID = ARRAY_LIST;
static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
/**
@ -80,13 +80,17 @@ public:
return value;
}
const T *operator->() const{
return value;
}
//SHOULDDO this should be implemented as non-member
bool operator==(const typename ArrayList<T, count_t>::Iterator& other) {
bool operator==(const typename ArrayList<T, count_t>::Iterator& other) const{
return (value == other.value);
}
//SHOULDDO this should be implemented as non-member
bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) {
bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
return !(*this == other);
}
}
@ -116,9 +120,10 @@ public:
*
* @param storage the array to use as backend
* @param maxSize size of storage
* @param size size of data already present in storage
*/
ArrayList(T *storage, count_t maxSize) :
size(0), entries(storage), maxSize_(maxSize), allocated(false) {
ArrayList(T *storage, count_t maxSize, count_t size = 0) :
size(size), entries(storage), maxSize_(maxSize), allocated(false) {
}
/**
@ -170,6 +175,12 @@ public:
*/
T *back() {
return &entries[size - 1];
//Alternative solution
//return const_cast<T*>(static_cast<const T*>(*this).back());
}
const T* back() const{
return &entries[size-1];
}
/**
@ -212,11 +223,6 @@ public:
count_t remaining() {
return (maxSize_ - size);
}
protected:
/**
* pointer to the array in which the entries are stored
*/
T *entries;
private:
/**
* This is the copy constructor
@ -230,7 +236,11 @@ private:
size(other.size), entries(other.entries), maxSize_(other.maxSize_), allocated(
false) {
}
private:
protected:
/**
* pointer to the array in which the entries are stored
*/
T *entries;
/**
* remembering the maximum size
*/

10
container/BinaryTree.h
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@ -1,10 +1,3 @@
/*
* BinaryTree.h
*
* Created on: 09.03.2015
* Author: baetz
*/
#ifndef FRAMEWORK_CONTAINER_BINARYTREE_H_
#define FRAMEWORK_CONTAINER_BINARYTREE_H_
@ -99,9 +92,6 @@ public:
}
iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) {
newNode->parent = parentNode.element;
//TODO: Why do I delete the child references of the node? This kills reconnection :-p
// newNode->left = NULL;
// newNode->right = NULL;
if (parentNode.element != NULL) {
if (insertLeft) {
parentNode.element->left = newNode;

2
container/FIFO.h
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@ -54,7 +54,7 @@ public:
return HasReturnvaluesIF::RETURN_OK;
}
}
static const uint8_t INTERFACE_ID = FIFO_CLASS;
static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
};

2
container/FixedMap.h
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@ -9,7 +9,7 @@
template<typename key_t, typename T>
class FixedMap: public SerializeIF {
public:
static const uint8_t INTERFACE_ID = FIXED_MAP;
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);

9
container/FixedOrderedMultimap.h
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@ -1,10 +1,3 @@
/*
* FixedOrderedMultimap.h
*
* Created on: 22.01.2015
* Author: baetz
*/
#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
@ -15,7 +8,7 @@
template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
class FixedOrderedMultimap {
public:
static const uint8_t INTERFACE_ID = FIXED_MAP;
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);

700
container/IndexedRingMemoryArray.h Normal file
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@ -0,0 +1,700 @@
#ifndef FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
#define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
#include <framework/container/ArrayList.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/serialize/SerialArrayListAdapter.h>
#include <framework/globalfunctions/crc_ccitt.h>
#include <cmath>
template<typename T>
class Index: public SerializeIF{
/**
* Index is the Type used for the list of indices. The template parameter is the type which describes the index, it needs to be a child of SerializeIF to be able to make it persistent
*/
static_assert(std::is_base_of<SerializeIF,T>::value,"Wrong Type for Index, Type must implement SerializeIF");
public:
Index():blockStartAddress(0),size(0),storedPackets(0){}
Index(uint32_t startAddress):blockStartAddress(startAddress),size(0),storedPackets(0){
}
void setBlockStartAddress(uint32_t newAddress){
this->blockStartAddress = newAddress;
}
uint32_t getBlockStartAddress() const {
return blockStartAddress;
}
const T* getIndexType() const {
return &indexType;
}
T* modifyIndexType(){
return &indexType;
}
/**
* Updates the index Type. Uses = operator
* @param indexType Type to copy from
*/
void setIndexType(T* indexType) {
this->indexType = *indexType;
}
uint32_t getSize() const {
return size;
}
void setSize(uint32_t size) {
this->size = size;
}
void addSize(uint32_t size){
this->size += size;
}
void setStoredPackets(uint32_t newStoredPackets){
this->storedPackets = newStoredPackets;
}
void addStoredPackets(uint32_t packets){
this->storedPackets += packets;
}
uint32_t getStoredPackets() const{
return this->storedPackets;
}
ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
const uint32_t max_size, bool bigEndian) const {
ReturnValue_t result = AutoSerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
result = indexType.serialize(buffer,size,max_size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
result = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
result = AutoSerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
return result;
}
ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
bool bigEndian){
ReturnValue_t result = AutoSerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
result = indexType.deSerialize(buffer,size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
result = AutoSerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
result = AutoSerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
return result;
}
uint32_t getSerializedSize() const {
uint32_t size = AutoSerializeAdapter::getSerializedSize(&blockStartAddress);
size += indexType.getSerializedSize();
size += AutoSerializeAdapter::getSerializedSize(&this->size);
size += AutoSerializeAdapter::getSerializedSize(&this->storedPackets);
return size;
}
bool operator==(const Index<T>& other){
return ((blockStartAddress == other.getBlockStartAddress()) && (size==other.getSize())) && (indexType == *(other.getIndexType()));
}
private:
uint32_t blockStartAddress;
uint32_t size;
uint32_t storedPackets;
T indexType;
};
template<typename T>
class IndexedRingMemoryArray: public SerializeIF, public ArrayList<Index<T>, uint32_t>{
/**
* Indexed Ring Memory Array is a class for a ring memory with indices. It assumes that the newest data comes in last
* It uses the currentWriteBlock as pointer to the current writing position
* The currentReadBlock must be set manually
*/
public:
IndexedRingMemoryArray(uint32_t startAddress, uint32_t size, uint32_t bytesPerBlock, SerializeIF* additionalInfo,
bool overwriteOld) :ArrayList<Index<T>,uint32_t>(NULL,(uint32_t)10,(uint32_t)0),totalSize(size),indexAddress(startAddress),currentReadSize(0),currentReadBlockSizeCached(0),lastBlockToReadSize(0), additionalInfo(additionalInfo),overwriteOld(overwriteOld){
//Calculate the maximum number of indices needed for this blocksize
uint32_t maxNrOfIndices = floor(static_cast<double>(size)/static_cast<double>(bytesPerBlock));
//Calculate the Size needeed for the index itself
uint32_t serializedSize = 0;
if(additionalInfo!=NULL){
serializedSize += additionalInfo->getSerializedSize();
}
//Size of current iterator type
Index<T> tempIndex;
serializedSize += tempIndex.getSerializedSize();
//Add Size of Array
serializedSize += sizeof(uint32_t); //size of array
serializedSize += (tempIndex.getSerializedSize() * maxNrOfIndices); //size of elements
serializedSize += sizeof(uint16_t); //size of crc
//Calculate new size after index
if(serializedSize > totalSize){
error << "IndexedRingMemory: Store is too small for index" << std::endl;
}
uint32_t useableSize = totalSize - serializedSize;
//Update the totalSize for calculations
totalSize = useableSize;
//True StartAddress
uint32_t trueStartAddress = indexAddress + serializedSize;
//Calculate True number of Blocks and reset size of true Number of Blocks
uint32_t trueNumberOfBlocks = floor(static_cast<double>(totalSize) / static_cast<double>(bytesPerBlock));
//allocate memory now
this->entries = new Index<T>[trueNumberOfBlocks];
this->size = trueNumberOfBlocks;
this->maxSize_ = trueNumberOfBlocks;
this->allocated = true;
//Check trueNumberOfBlocks
if(trueNumberOfBlocks<1){
error << "IndexedRingMemory: Invalid Number of Blocks: " << trueNumberOfBlocks;
}
//Fill address into index
uint32_t address = trueStartAddress;
for (typename IndexedRingMemoryArray<T>::Iterator it = this->begin();it!=this->end();++it) {
it->setBlockStartAddress(address);
it->setSize(0);
it->setStoredPackets(0);
address += bytesPerBlock;
}
//Initialize iterators
currentWriteBlock = this->begin();
currentReadBlock = this->begin();
lastBlockToRead = this->begin();
//Check last blockSize
uint32_t lastBlockSize = (trueStartAddress + useableSize) - (this->back()->getBlockStartAddress());
if((lastBlockSize<bytesPerBlock) && (this->size > 1)){
//remove the last Block so the second last block has more size
this->size -= 1;
debug << "IndexedRingMemory: Last Block is smaller than bytesPerBlock, removed last block" << std::endl;
}
}
/**
* Resets the whole index, the iterators and executes the given reset function on every index type
* @param typeResetFnc static reset function which accepts a pointer to the index Type
*/
void reset(void (*typeResetFnc)(T*)){
currentReadBlock = this->begin();
currentWriteBlock = this->begin();
lastBlockToRead = this->begin();
currentReadSize = 0;
currentReadBlockSizeCached = 0;
lastBlockToReadSize = 0;
for(typename IndexedRingMemoryArray<T>::Iterator it = this->begin();it!=this->end();++it){
it->setSize(0);
it->setStoredPackets(0);
(*typeResetFnc)(it->modifyIndexType());
}
}
void resetBlock(typename IndexedRingMemoryArray<T>::Iterator it,void (*typeResetFnc)(T*)){
it->setSize(0);
it->setStoredPackets(0);
(*typeResetFnc)(it->modifyIndexType());
}
/*
* Reading
*/
void setCurrentReadBlock(typename IndexedRingMemoryArray<T>::Iterator it){
currentReadBlock = it;
currentReadBlockSizeCached = it->getSize();
}
void resetRead(){
currentReadBlock = this->begin();
currentReadSize = 0;
currentReadBlockSizeCached = this->begin()->getSize();
lastBlockToRead = currentWriteBlock;
lastBlockToReadSize = currentWriteBlock->getSize();
}
/**
* Sets the last block to read to this iterator.
* Can be used to dump until block x
* @param it The iterator for the last read block
*/
void setLastBlockToRead(typename IndexedRingMemoryArray<T>::Iterator it){
lastBlockToRead = it;
lastBlockToReadSize = it->getSize();
}
/**
* Set the read pointer to the first written Block, which is the first non empty block in front of the write block
* Can be the currentWriteBlock as well
*/
void readOldest(){
resetRead();
currentReadBlock = getNextNonEmptyBlock();
currentReadBlockSizeCached = currentReadBlock->getSize();
}
/**
* Sets the current read iterator to the next Block and resets the current read size
* The current size of the block will be cached to avoid race condition between write and read
* If the end of the ring is reached the read pointer will be set to the begin
*/
void readNext(){
currentReadSize = 0;
if((this->size != 0) && (currentReadBlock.value ==this->back())){
currentReadBlock = this->begin();
}else{
currentReadBlock++;
}
currentReadBlockSizeCached = currentReadBlock->getSize();
}
/**
* Returns the address which is currently read from
* @return Address to read from
*/
uint32_t getCurrentReadAddress() const {
return getAddressOfCurrentReadBlock() + currentReadSize;
}
/**
* Adds readSize to the current size and checks if the read has no more data left and advances the read block
* @param readSize The size that was read
* @return Returns true if the read can go on
*/
bool addReadSize(uint32_t readSize) {
if(currentReadBlock == lastBlockToRead){
//The current read block is the last to read
if((currentReadSize+readSize)<lastBlockToReadSize){
//the block has more data -> return true
currentReadSize += readSize;
return true;
}else{
//Reached end of read -> return false
currentReadSize = lastBlockToReadSize;
return false;
}
}else{
//We are not in the last Block
if((currentReadSize + readSize)<currentReadBlockSizeCached){
//The current Block has more data
currentReadSize += readSize;
return true;
}else{
//The current block is written completely
readNext();
if(currentReadBlockSizeCached==0){
//Next block is empty
typename IndexedRingMemoryArray<T>::Iterator it(currentReadBlock);
//Search if any block between this and the last block is not empty
for(;it!=lastBlockToRead;++it){
if(it == this->end()){
//This is the end, next block is the begin
it = this->begin();
if(it == lastBlockToRead){
//Break if the begin is the lastBlockToRead
break;
}
}
if(it->getSize()!=0){
//This is a non empty block. Go on reading with this block
currentReadBlock = it;
currentReadBlockSizeCached = it->getSize();
return true;
}
}
//reached lastBlockToRead and every block was empty, check if the last block is also empty
if(lastBlockToReadSize!=0){
//go on with last Block
currentReadBlock = lastBlockToRead;
currentReadBlockSizeCached = lastBlockToReadSize;
return true;
}
//There is no non empty block left
return false;
}
//Size is larger than 0
return true;
}
}
}
uint32_t getRemainigSizeOfCurrentReadBlock() const{
if(currentReadBlock == lastBlockToRead){
return (lastBlockToReadSize - currentReadSize);
}else{
return (currentReadBlockSizeCached - currentReadSize);
}
}
uint32_t getAddressOfCurrentReadBlock() const {
return currentReadBlock->getBlockStartAddress();
}
/**
* Gets the next non empty Block after the current write block,
* @return Returns the iterator to the block. If there is non, the current write block is returned
*/
typename IndexedRingMemoryArray<T>::Iterator getNextNonEmptyBlock() const {
for(typename IndexedRingMemoryArray<T>::Iterator it = getNextWrite();it!=currentWriteBlock;++it){
if(it == this->end()){
it = this->begin();
if(it == currentWriteBlock){
break;
}
}
if(it->getSize()!=0){
return it;
}
}
return currentWriteBlock;
}
/**
* Returns a copy of the oldest Index type
* @return Type of Index
*/
T* getOldest(){
return (getNextNonEmptyBlock()->modifyIndexType());
}
/*
* Writing
*/
uint32_t getAddressOfCurrentWriteBlock() const{
return currentWriteBlock->getBlockStartAddress();
}
uint32_t getSizeOfCurrentWriteBlock() const{
return currentWriteBlock->getSize();
}
uint32_t getCurrentWriteAddress() const{
return getAddressOfCurrentWriteBlock() + getSizeOfCurrentWriteBlock();
}
void clearCurrentWriteBlock(){
currentWriteBlock->setSize(0);
currentWriteBlock->setStoredPackets(0);
}
void addCurrentWriteBlock(uint32_t size, uint32_t storedPackets){
currentWriteBlock->addSize(size);
currentWriteBlock->addStoredPackets(storedPackets);
}
T* modifyCurrentWriteBlockIndexType(){
return currentWriteBlock->modifyIndexType();
}
void updatePreviousWriteSize(uint32_t size, uint32_t storedPackets){
typename IndexedRingMemoryArray<T>::Iterator it = getPreviousBlock(currentWriteBlock);
it->addSize(size);
it->addStoredPackets(storedPackets);
}
/**
* Checks if the block has enough space for sizeToWrite
* @param sizeToWrite The data to be written in the Block
* @return Returns true if size to write is smaller the remaining size of the block
*/
bool hasCurrentWriteBlockEnoughSpace(uint32_t sizeToWrite){
typename IndexedRingMemoryArray<T>::Iterator next = getNextWrite();
uint32_t addressOfNextBlock = next->getBlockStartAddress();
uint32_t availableSize = ((addressOfNextBlock+totalSize) - (getAddressOfCurrentWriteBlock()+getSizeOfCurrentWriteBlock()))%totalSize;
return (sizeToWrite < availableSize);
}
/**
* Checks if the store is full if overwrite old is false
* @return Returns true if it is writeable and false if not
*/
bool isNextBlockWritable(){
//First check if this is the end of the list
typename IndexedRingMemoryArray<T>::Iterator next;
next = getNextWrite();
if((next->getSize()!=0) && (!overwriteOld)){
return false;
}
return true;
}
/**
* Updates current write Block Index Type
* @param infoOfNewBlock
*/
void updateCurrentBlock(T* infoOfNewBlock){
currentWriteBlock->setIndexType(infoOfNewBlock);
}
/**
* Succeed to next block, returns FAILED if overwrite is false and the store is full
* @return
*/
ReturnValue_t writeNext(){
//Check Next Block
if(!isNextBlockWritable()){
//The Index is full and does not overwrite old
return HasReturnvaluesIF::RETURN_FAILED;
}
//Next block can be written, update Metadata
currentWriteBlock = getNextWrite();
currentWriteBlock->setSize(0);
currentWriteBlock->setStoredPackets(0);
return HasReturnvaluesIF::RETURN_OK;
}
/**
* Serializes the Index and calculates the CRC.
* Parameters according to HasSerializeIF
* @param buffer
* @param size
* @param max_size
* @param bigEndian
* @return
*/
ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
const uint32_t max_size, bool bigEndian) const{
uint8_t* crcBuffer = *buffer;
uint32_t oldSize = *size;
if(additionalInfo!=NULL){
additionalInfo->serialize(buffer,size,max_size,bigEndian);
}
ReturnValue_t result = currentWriteBlock->serialize(buffer,size,max_size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
result = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
uint32_t i = 0;
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
result = SerializeAdapter<Index<T> >::serialize(&this->entries[i], buffer, size,
max_size, bigEndian);
++i;
}
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize));
result = AutoSerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
return result;
}
/**
* Get the serialized Size of the index
* @return The serialized size of the index
*/
uint32_t getSerializedSize() const {
uint32_t size = 0;
if(additionalInfo!=NULL){
size += additionalInfo->getSerializedSize();
}
size += currentWriteBlock->getSerializedSize();
size += AutoSerializeAdapter::getSerializedSize(&this->size);
size += (this->entries[0].getSerializedSize()) * this->size;
uint16_t crc = 0;
size += AutoSerializeAdapter::getSerializedSize(&crc);
return size;
}
/**
* DeSerialize the Indexed Ring from a buffer, deSerializes the current write iterator
* CRC Has to be checked before!
* @param buffer
* @param size
* @param bigEndian
* @return
*/
ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
bool bigEndian){
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(additionalInfo!=NULL){
result = additionalInfo->deSerialize(buffer,size,bigEndian);
}
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
Index<T> tempIndex;
result = tempIndex.deSerialize(buffer,size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
uint32_t tempSize = 0;
result = AutoSerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
if(this->size != tempSize){
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t i = 0;
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
result = SerializeAdapter<Index<T> >::deSerialize(
&this->entries[i], buffer, size,
bigEndian);
++i;
}
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
typename IndexedRingMemoryArray<T>::Iterator cmp(&tempIndex);
for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
if(*(cmp.value) == *(it.value)){
currentWriteBlock = it;
return HasReturnvaluesIF::RETURN_OK;
}
}
//Reached if current write block iterator is not found
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t getIndexAddress() const {
return indexAddress;
}
/*
* Statistics
*/
uint32_t getStoredPackets() const {
uint32_t size = 0;
for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
size += it->getStoredPackets();
}
return size;
}
uint32_t getTotalSize() const {
return totalSize;
}
uint32_t getCurrentSize() const{
uint32_t size = 0;
for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
size += it->getSize();
}
return size;
}
bool isEmpty() const{
return getCurrentSize()==0;
}
double getPercentageFilled() const{
uint32_t filledSize = 0;
for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
filledSize += it->getSize();
}
return (double)filledSize/(double)this->totalSize;
}
typename IndexedRingMemoryArray<T>::Iterator getCurrentWriteBlock() const{
return currentWriteBlock;
}
/**
* Get the next block of the currentWriteBlock.
* Returns the first one if currentWriteBlock is the last one
* @return Iterator pointing to the next block after currentWriteBlock
*/
typename IndexedRingMemoryArray<T>::Iterator getNextWrite() const{
typename IndexedRingMemoryArray<T>::Iterator next(currentWriteBlock);
if((this->size != 0) && (currentWriteBlock.value == this->back())){
next = this->begin();
}else{
++next;
}
return next;
}
/**
* Get the block in front of the Iterator
* Returns the last block if it is the first block
* @param it iterator which you want the previous block from
* @return pointing to the block before it
*/
typename IndexedRingMemoryArray<T>::Iterator getPreviousBlock(typename IndexedRingMemoryArray<T>::Iterator it) {
if(this->begin() == it){
typename IndexedRingMemoryArray<T>::Iterator next((this->back()));
return next;
}
typename IndexedRingMemoryArray<T>::Iterator next(it);
--next;
return next;
}
private:
//The total size used by the blocks (without index)
uint32_t totalSize;
//The address of the index
const uint32_t indexAddress;
//The iterators for writing and reading
typename IndexedRingMemoryArray<T>::Iterator currentWriteBlock;
typename IndexedRingMemoryArray<T>::Iterator currentReadBlock;
//How much of the current read block is read already
uint32_t currentReadSize;
//Cached Size of current read block
uint32_t currentReadBlockSizeCached;
//Last block of current write (should be write block)
typename IndexedRingMemoryArray<T>::Iterator lastBlockToRead;
//current size of last Block to read
uint32_t lastBlockToReadSize;
//Additional Info to be serialized with the index
SerializeIF* additionalInfo;
//Does it overwrite old blocks?
const bool overwriteOld;
};
#endif /* FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_ */

27
container/LinkedElementDecorator.h
View File

@ -1,27 +0,0 @@
/**
* @file LinkedElementDecorator.h
* @brief This file defines the LinkedElementDecorator class.
* @date 22.07.2014
* @author baetz
*/
#ifndef LINKEDELEMENTDECORATOR_H_
#define LINKEDELEMENTDECORATOR_H_
#include <framework/container/SinglyLinkedList.h>
#include <utility>
//TODO: This generates multiple inheritance from non-IF parents.
template<typename T, typename IF_T>
class LinkedElementDecorator : public LinkedElement<IF_T>, public T {
public:
template<typename... Args>
LinkedElementDecorator(Args... args) : LinkedElement<IF_T>(this), T(std::forward<Args>(args)...) {
}
virtual ~LinkedElementDecorator() {
}
};
#endif /* LINKEDELEMENTDECORATOR_H_ */

10
container/PlacementFactory.h
View File

@ -1,10 +1,3 @@
/*
* PlacementFactory.h
*
* Created on: 10.03.2015
* Author: baetz
*/
#ifndef FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
#define FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
@ -30,7 +23,8 @@ public:
}
template<typename T>
ReturnValue_t destroy(T* thisElement) {
//TODO: Shouldn't we call the destructor here first, in case something was allocated by the object (shouldn't do that, however).
//Need to call destructor first, in case something was allocated by the object (shouldn't do that, however).
thisElement->~T();
uint8_t* pointer = (uint8_t*) (thisElement);
return dataBackend->deleteData(pointer, sizeof(T));
}

13
container/RingBufferBase.h
View File

@ -1,10 +1,3 @@
/*
* RingBufferBase.h
*
* Created on: 06.02.2015
* Author