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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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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);