Merge remote-tracking branch 'upstream/development' into mueller/LocalPoolRefactoring

This commit is contained in:
Robin Müller 2020-12-10 16:54:22 +01:00
commit 67a8b031d0
160 changed files with 6820 additions and 2543 deletions

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@ -1,5 +1,8 @@
## Changes from ASTP 0.0.1 to 1.0.0
### Host OSAL
- Bugfix in MessageQueue, which caused the sender not to be set properly
### FreeRTOS OSAL
@ -15,3 +18,15 @@ a C file without issues
### Local Pool
- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
### Events
- makeEvent function: Now takes three input parameters instead of two and
allows setting a unique ID. Event.cpp source file removed, functions now
defined in header directly. Namespaces renamed. Functions declared `constexpr`
now

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@ -19,12 +19,12 @@ class VirtualChannelReception;
class DataLinkLayer : public CCSDSReturnValuesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
static const Event RF_AVAILABLE = MAKE_EVENT(0, SEVERITY::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
static const Event RF_LOST = MAKE_EVENT(1, SEVERITY::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
static const Event BIT_LOCK = MAKE_EVENT(2, SEVERITY::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, SEVERITY::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
// static const Event RF_CHAIN_LOST = MAKE_EVENT(4, SEVERITY::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< The CCSDS Board could not interpret a TC
static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
// static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW); //!< The CCSDS Board could not interpret a TC
/**
* The Constructor sets the passed parameters and nothing else.
* @param set_frame_buffer The buffer in which incoming frame candidates are stored.

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@ -1,15 +0,0 @@
#ifndef CONTROLLERSET_H_
#define CONTROLLERSET_H_
#include "DataSet.h"
class ControllerSet :public DataSet {
public:
ControllerSet();
virtual ~ControllerSet();
virtual void setToDefault() = 0;
void setInvalid();
};
#endif /* CONTROLLERSET_H_ */

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@ -1,131 +0,0 @@
#include "DataPool.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/MutexFactory.h"
DataPool::DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) ) {
mutex = MutexFactory::instance()->createMutex();
if (initFunction != NULL ) {
initFunction( &this->data_pool );
}
}
DataPool::~DataPool() {
MutexFactory::instance()->deleteMutex(mutex);
for ( std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.begin(); it != this->data_pool.end(); ++it ) {
delete it->second;
}
}
//The function checks PID, type and array length before returning a copy of the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
template <typename T> PoolEntry<T>* DataPool::getData( uint32_t data_pool_id, uint8_t sizeOrPosition ) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
if ( it != this->data_pool.end() ) {
PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
if (entry != NULL ) {
if ( sizeOrPosition <= entry->length ) {
return entry;
}
}
}
return NULL;
}
PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
if ( it != this->data_pool.end() ) {
return it->second;
} else {
return NULL;
}
}
//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t maxSize ) {
// std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
// if ( it != this->data_pool.end() ) {
// if ( it->second->getByteSize() <= maxSize ) {
// *size = it->second->getByteSize();
// memcpy( address, it->second->getRawData(), *size );
// return DP_SUCCESSFUL;
// }
// }
// *size = 0;
// return DP_FAILURE;
//}
ReturnValue_t DataPool::freeDataPoolLock() {
ReturnValue_t status = mutex->unlockMutex();
if ( status != RETURN_OK ) {
sif::error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl;
}
return status;
}
ReturnValue_t DataPool::lockDataPool() {
ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
if ( status != RETURN_OK ) {
sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
}
return status;
}
void DataPool::print() {
sif::debug << "DataPool contains: " << std::endl;
std::map<uint32_t, PoolEntryIF*>::iterator dataPoolIt;
dataPoolIt = this->data_pool.begin();
while( dataPoolIt != this->data_pool.end() ) {
sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
dataPoolIt->second->print();
dataPoolIt++;
}
}
template PoolEntry<uint8_t>* DataPool::getData<uint8_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint16_t>* DataPool::getData<uint16_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint32_t>* DataPool::getData<uint32_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint64_t>* DataPool::getData<uint64_t>(uint32_t data_pool_id,
uint8_t size);
template PoolEntry<int8_t>* DataPool::getData<int8_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<int16_t>* DataPool::getData<int16_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<int32_t>* DataPool::getData<int32_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<float>* DataPool::getData<float>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<double>* DataPool::getData<double>(uint32_t data_pool_id,
uint8_t size);
uint32_t DataPool::PIDToDataPoolId(uint32_t parameter_id) {
return (parameter_id >> 8) & 0x00FFFFFF;
}
uint8_t DataPool::PIDToArrayIndex(uint32_t parameter_id) {
return (parameter_id & 0x000000FF);
}
uint32_t DataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
return (poolId << 8) + index;
}
//SHOULDDO: Do we need a mutex lock here... I don't think so, as we only check static const values of elements in a list that do not change.
//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
ReturnValue_t DataPool::getType(uint32_t parameter_id, Type* type) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( PIDToDataPoolId(parameter_id));
if ( it != this->data_pool.end() ) {
*type = it->second->getType();
return RETURN_OK;
} else {
*type = Type::UNKNOWN_TYPE;
return RETURN_FAILED;
}
}
bool DataPool::exists(uint32_t parameterId) {
uint32_t poolId = PIDToDataPoolId(parameterId);
uint32_t index = PIDToArrayIndex(parameterId);
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( poolId );
if (it != data_pool.end()) {
if (it->second->getSize() >= index) {
return true;
}
}
return false;
}

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@ -1,135 +0,0 @@
/**
* \file DataPool.h
*
* \date 10/17/2012
* \author Bastian Baetz
*
* \brief This file contains the definition of the DataPool class and (temporarily)
* the "extern" definition of the global dataPool instance.
*/
#ifndef DATAPOOL_H_
#define DATAPOOL_H_
#include "PoolEntry.h"
#include "../globalfunctions/Type.h"
#include "../ipc/MutexIF.h"
#include <map>
/**
* \defgroup data_pool Data Pool
* This is the group, where all classes associated with Data Pool Handling belong to.
* This includes classes to access Data Pool variables.
*/
#define DP_SUCCESSFUL 0
#define DP_FAILURE 1
/**
* \brief This class represents the OBSW global data-pool.
*
* \details All variables are registered and space is allocated in an initialization
* function, which is passed do the constructor.
* Space for the variables is allocated on the heap (with a new call).
* The data is found by a data pool id, which uniquely represents a variable.
* Data pool variables should be used with a blackboard logic in mind,
* which means read data is valid (if flagged so), but not necessarily up-to-date.
* Variables are either single values or arrays.
* \ingroup data_pool
*/
class DataPool : public HasReturnvaluesIF {
private:
/**
* \brief This is the actual data pool itself.
* \details It is represented by a map
* with the data pool id as index and a pointer to a single PoolEntry as value.
*/
std::map<uint32_t, PoolEntryIF*> data_pool;
public:
/**
* \brief The mutex is created in the constructor and makes access mutual exclusive.
* \details Locking and unlocking the pool is only done by the DataSet class.
*/
MutexIF* mutex;
/**
* \brief In the classes constructor, the passed initialization function is called.
* \details To enable filling the pool,
* a pointer to the map is passed, allowing direct access to the pool's content.
* On runtime, adding or removing variables is forbidden.
*/
DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) );
/**
* \brief The destructor iterates through the data_pool map and calls all Entries destructors to clean up the heap.
*/
~DataPool();
/**
* \brief This is the default call to access the pool.
* \details A pointer to the PoolEntry object is returned.
* The call checks data pool id, type and array size. Returns NULL in case of failure.
* \param data_pool_id The data pool id to search.
* \param sizeOrPosition The array size (not byte size!) of the pool entry, or the position the user wants to read.
* If smaller than the entry size, everything's ok.
*/
template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id, uint8_t sizeOrPosition );
/**
* \brief An alternative call to get a data pool entry in case the type is not implicitly known
* (i.e. in Housekeeping Telemetry).
* \details It returns a basic interface and does NOT perform
* a size check. The caller has to assure he does not copy too much data.
* Returns NULL in case the entry is not found.
* \param data_pool_id The data pool id to search.
*/
PoolEntryIF* getRawData( uint32_t data_pool_id );
/**
* \brief This is a small helper function to facilitate locking the global data pool.
* \details It fetches the pool's mutex id and tries to acquire the mutex.
*/
ReturnValue_t lockDataPool();
/**
* \brief This is a small helper function to facilitate unlocking the global data pool.
* \details It fetches the pool's mutex id and tries to free the mutex.
*/
ReturnValue_t freeDataPoolLock();
/**
* \brief The print call is a simple debug method.
* \details It prints the current content of the data pool.
* It iterates through the data_pool map and calls each entry's print() method.
*/
void print();
/**
* Extracts the data pool id from a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The data pool id as used within the OBSW.
*/
static uint32_t PIDToDataPoolId( uint32_t parameter_id );
/**
* Extracts an array index out of a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The index of the corresponding data pool entry.
*/
static uint8_t PIDToArrayIndex( uint32_t parameter_id );
/**
* Retransforms a data pool id and an array index to a SCOS 2000 PID.
*/
static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
/**
* Method to return the type of a pool variable.
* @param parameter_id A parameterID (not pool id) of a DP member.
* @param type Returns the type or TYPE::UNKNOWN_TYPE
* @return RETURN_OK if parameter exists, RETURN_FAILED else.
*/
ReturnValue_t getType( uint32_t parameter_id, Type* type );
/**
* Method to check if a PID exists.
* Does not lock, as there's no possibility to alter the list that is checked during run-time.
* @param parameterId The PID (not pool id!) of a parameter.
* @return true if exists, false else.
*/
bool exists(uint32_t parameterId);
};
//We assume someone globally instantiates a DataPool.
extern DataPool dataPool;
#endif /* DATAPOOL_H_ */

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@ -1,150 +0,0 @@
#include "DataSet.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
DataSet::DataSet() :
fill_count(0), state(DATA_SET_UNINITIALISED) {
for (unsigned count = 0; count < DATA_SET_MAX_SIZE; count++) {
registeredVariables[count] = NULL;
}
}
DataSet::~DataSet() {
//Don't do anything with your variables, they are dead already! (Destructor is already called)
}
ReturnValue_t DataSet::read() {
ReturnValue_t result = RETURN_OK;
if (state == DATA_SET_UNINITIALISED) {
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
ReturnValue_t status = registeredVariables[count]->read();
if (status != RETURN_OK) {
result = INVALID_PARAMETER_DEFINITION;
break;
}
}
}
state = DATA_SET_WAS_READ;
freeDataPoolLock();
} else {
sif::error << "DataSet::read(): Call made in wrong position." << std::endl;
result = SET_WAS_ALREADY_READ;
}
return result;
}
ReturnValue_t DataSet::commit(uint8_t valid) {
setValid(valid);
return commit();
}
ReturnValue_t DataSet::commit() {
if (state == DATA_SET_WAS_READ) {
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commit();
}
}
state = DATA_SET_UNINITIALISED;
freeDataPoolLock();
return RETURN_OK;
} else {
ReturnValue_t result = RETURN_OK;
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
== PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commit();
} else if (registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if (result != COMMITING_WITHOUT_READING) {
sif::error <<
"DataSet::commit(): commit-without-read "
"call made with non write-only variable." << std::endl;
result = COMMITING_WITHOUT_READING;
}
}
}
state = DATA_SET_UNINITIALISED;
freeDataPoolLock();
return result;
}
}
void DataSet::registerVariable(PoolVariableIF* variable) {
if (state == DATA_SET_UNINITIALISED) {
if (variable != NULL) {
if (fill_count < DATA_SET_MAX_SIZE) {
registeredVariables[fill_count] = variable;
fill_count++;
return;
}
}
}
sif::error
<< "DataSet::registerVariable: failed. Either NULL, or set is full, or call made in wrong position."
<< std::endl;
return;
}
uint8_t DataSet::freeDataPoolLock() {
return ::dataPool.freeDataPoolLock();
}
uint8_t DataSet::lockDataPool() {
return ::dataPool.lockDataPool();
}
ReturnValue_t DataSet::serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
ReturnValue_t result = RETURN_FAILED;
for (uint16_t count = 0; count < fill_count; count++) {
result = registeredVariables[count]->serialize(buffer, size, maxSize,
streamEndianness);
if (result != RETURN_OK) {
return result;
}
}
return result;
}
size_t DataSet::getSerializedSize() const {
size_t size = 0;
for (uint16_t count = 0; count < fill_count; count++) {
size += registeredVariables[count]->getSerializedSize();
}
return size;
}
void DataSet::setValid(uint8_t valid) {
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ) {
registeredVariables[count]->setValid(valid);
}
}
}
ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
ReturnValue_t result = RETURN_FAILED;
for (uint16_t count = 0; count < fill_count; count++) {
result = registeredVariables[count]->deSerialize(buffer, size,
streamEndianness);
if (result != RETURN_OK) {
return result;
}
}
return result;
}

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@ -1,159 +0,0 @@
/*
* \file DataSet.h
*
* \brief This file contains the DataSet class and a small structure called DataSetContent.
*
* \date 10/17/2012
*
* \author Bastian Baetz
*
*/
#ifndef DATASET_H_
#define DATASET_H_
#include "DataPool.h"
#include "DataSetIF.h"
#include "PoolRawAccess.h"
#include "PoolVariable.h"
#include "PoolVarList.h"
#include "PoolVector.h"
#include "../serialize/SerializeAdapter.h"
/**
* \brief The DataSet class manages a set of locally checked out variables.
*
* \details This class manages a list, where a set of local variables (or pool variables) are
* registered. They are checked-out (i.e. their values are looked up and copied)
* with the read call. After the user finishes working with the pool variables,
* he can write back all variable values to the pool with the commit call.
* The data set manages locking and freeing the data pool, to ensure that all values
* are read and written back at once.
* An internal state manages usage of this class. Variables may only be registered before
* the read call is made, and the commit call only after the read call.
* If pool variables are writable and not committed until destruction of the set, the
* DataSet class automatically sets the valid flag in the data pool to invalid (without)
* changing the variable's value.
*
* \ingroup data_pool
*/
class DataSet: public DataSetIF, public HasReturnvaluesIF, public SerializeIF {
private:
//SHOULDDO we could use a linked list of datapool variables
static const uint8_t DATA_SET_MAX_SIZE = 63; //!< This definition sets the maximum number of variables to register in one DataSet.
/**
* \brief This array represents all pool variables registered in this set.
* \details It has a maximum size of DATA_SET_MAX_SIZE.
*/
PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
/**
* \brief The fill_count attribute ensures that the variables register in the correct array
* position and that the maximum number of variables is not exceeded.
*/
uint16_t fill_count;
/**
* States of the seet.
*/
enum States {
DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
DATA_SET_WAS_READ //!< DATA_SET_WAS_READ
};
/**
* \brief state manages the internal state of the data set, which is important e.g. for the
* behavior on destruction.
*/
States state;
/**
* \brief This is a small helper function to facilitate locking the global data pool.
* \details It makes use of the lockDataPool method offered by the DataPool class.
*/
uint8_t lockDataPool();
/**
* \brief This is a small helper function to facilitate unlocking the global data pool.
* \details It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
uint8_t freeDataPoolLock();
public:
static const uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
static const ReturnValue_t INVALID_PARAMETER_DEFINITION =
MAKE_RETURN_CODE( 0x01 );
static const ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
static const ReturnValue_t COMMITING_WITHOUT_READING =
MAKE_RETURN_CODE(0x03);
/**
* \brief The constructor simply sets the fill_count to zero and sets the state to "uninitialized".
*/
DataSet();
/**
* \brief The destructor automatically manages writing the valid information of variables.
* \details In case the data set was read out, but not committed (indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~DataSet();
/**
* \brief The read call initializes reading out all registered variables.
* \details It iterates through the list of registered variables and calls all read()
* functions of the registered pool variables (which read out their values from the
* data pool) which are not write-only. In case of an error (e.g. a wrong data type,
* or an invalid data pool id), the operation is aborted and
* \c INVALID_PARAMETER_DEFINITION returned.
* The data pool is locked during the whole read operation and freed afterwards.
* The state changes to "was written" after this operation.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c INVALID_PARAMETER_DEFINITION if PID, size or type of the
* requested variable is invalid.
* - \c SET_WAS_ALREADY_READ if read() is called twice without calling
* commit() in between
*/
ReturnValue_t read();
/**
* \brief The commit call initializes writing back the registered variables.
* \details It iterates through the list of registered variables and calls
* the commit() method of the remaining registered variables (which write back
* their values to the pool).
* The data pool is locked during the whole commit operation and freed afterwards.
* The state changes to "was committed" after this operation.
* If the set does contain at least one variable which is not write-only commit()
* can only be called after read(). If the set only contains variables which are
* write only, commit() can be called without a preceding read() call.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
* variables
*/
ReturnValue_t commit(void);
/**
* Variant of method above which sets validity of all elements of the set.
* @param valid Validity information from PoolVariableIF.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
* variables
*/
ReturnValue_t commit(uint8_t valid);
/**
* \brief This operation is used to register the local variables in the set.
* \details It copies all required information to the currently
* free space in the registeredVariables list.
*/
void registerVariable(PoolVariableIF* variable);
/**
* Set the valid information of all variables contained in the set which are not readonly
*
* @param valid Validity information from PoolVariableIF.
*/
void setValid(uint8_t valid);
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
};
#endif /* DATASET_H_ */

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/**
* \file DataSetIF.h
*
* \brief This file contains the small interface to access the DataSet class.
*
* \date 10/23/2012
*
* \author Bastian Baetz
*
*/
#ifndef DATASETIF_H_
#define DATASETIF_H_
#ifndef FSFW_DATAPOOL_DATASETIF_H_
#define FSFW_DATAPOOL_DATASETIF_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../timemanager/Clock.h"
class PoolVariableIF;
/**
* \brief This class defines a small interface to register on a DataSet.
* @brief This class defines a small interface to register on a DataSet.
*
* \details Currently, the only purpose of this interface is to provide a method for locally
* checked-out variables to register on a data set. Still, it may become useful for
* other purposes as well.
*
* \ingroup data_pool
* @details
* Currently, the only purpose of this interface is to provide a
* method for locally checked-out variables to register on a data set.
* Still, it may become useful for other purposes as well.
* @author Bastian Baetz
* @ingroup data_pool
*/
class DataSetIF {
public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
MAKE_RETURN_CODE( 0x01 );
static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
MAKE_RETURN_CODE(0x03);
static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE( 0x04 );
static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
/**
* \brief This is an empty virtual destructor, as it is proposed for C++ interfaces.
* @brief This is an empty virtual destructor,
* as it is proposed for C++ interfaces.
*/
virtual ~DataSetIF() {}
/**
* \brief This operation provides a method to register local data pool variables
* to register in a data set by passing itself to this DataSet operation.
* @brief This operation provides a method to register local data pool
* variables to register in a data set by passing itself
* to this DataSet operation.
*/
virtual void registerVariable( PoolVariableIF* variable ) = 0;
virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
virtual uint16_t getFillCount() const = 0;
};
#endif /* DATASETIF_H_ */
#endif /* FSFW_DATAPOOL_DATASETIF_H_ */

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@ -1,5 +1,4 @@
#include "HkSwitchHelper.h"
//#include <mission/tmtcservices/HKService_03.h>
#include "../datapool/HkSwitchHelper.h"
#include "../ipc/QueueFactory.h"
HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
@ -22,14 +21,14 @@ ReturnValue_t HkSwitchHelper::initialize() {
}
ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
CommandMessage message;
while (actionQueue->receiveMessage(&message) == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = commandActionHelper.handleReply(&message);
CommandMessage command;
while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = commandActionHelper.handleReply(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
message.setToUnknownCommand();
actionQueue->reply(&message);
command.setToUnknownCommand();
actionQueue->reply(&command);
}
return HasReturnvaluesIF::RETURN_OK;

View File

@ -13,7 +13,7 @@ class HkSwitchHelper: public ExecutableObjectIF, public CommandsActionsIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, SEVERITY::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
HkSwitchHelper(EventReportingProxyIF *eventProxy);
virtual ~HkSwitchHelper();

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@ -0,0 +1,169 @@
#include "PoolDataSetBase.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxFillCount):
registeredVariables(registeredVariablesArray),
maxFillCount(maxFillCount) {
}
PoolDataSetBase::~PoolDataSetBase() {}
ReturnValue_t PoolDataSetBase::registerVariable(
PoolVariableIF *variable) {
if (state != States::DATA_SET_UNINITIALISED) {
sif::error << "DataSet::registerVariable: "
"Call made in wrong position." << std::endl;
return DataSetIF::DATA_SET_UNINITIALISED;
}
if (variable == nullptr) {
sif::error << "DataSet::registerVariable: "
"Pool variable is nullptr." << std::endl;
return DataSetIF::POOL_VAR_NULL;
}
if (fillCount >= maxFillCount) {
sif::error << "DataSet::registerVariable: "
"DataSet is full." << std::endl;
return DataSetIF::DATA_SET_FULL;
}
registeredVariables[fillCount] = variable;
fillCount++;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (state == States::DATA_SET_UNINITIALISED) {
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
result = readVariable(count);
if(result != RETURN_OK) {
break;
}
}
state = States::DATA_SET_WAS_READ;
unlockDataPool();
}
else {
sif::error << "DataSet::read(): "
"Call made in wrong position. Don't forget to commit"
" member datasets!" << std::endl;
result = SET_WAS_ALREADY_READ;
}
return result;
}
uint16_t PoolDataSetBase::getFillCount() const {
return fillCount;
}
ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// These checks are often performed by the respective
// variable implementation too, but I guess a double check does not hurt.
if (registeredVariables[count]->getReadWriteMode() !=
PoolVariableIF::VAR_WRITE and
registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER)
{
result = registeredVariables[count]->readWithoutLock();
if(result != HasReturnvaluesIF::RETURN_OK) {
result = INVALID_PARAMETER_DEFINITION;
}
}
return result;
}
ReturnValue_t PoolDataSetBase::commit(uint32_t lockTimeout) {
if (state == States::DATA_SET_WAS_READ) {
handleAlreadyReadDatasetCommit(lockTimeout);
return HasReturnvaluesIF::RETURN_OK;
}
else {
return handleUnreadDatasetCommit(lockTimeout);
}
}
void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commitWithoutLock();
}
}
state = States::DATA_SET_UNINITIALISED;
unlockDataPool();
}
ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
== PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commitWithoutLock();
} else if (registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if (result != COMMITING_WITHOUT_READING) {
sif::error << "DataSet::commit(): commit-without-read call made "
"with non write-only variable." << std::endl;
result = COMMITING_WITHOUT_READING;
}
}
}
state = States::DATA_SET_UNINITIALISED;
unlockDataPool();
return result;
}
ReturnValue_t PoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::unlockDataPool() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size,
const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t count = 0; count < fillCount; count++) {
result = registeredVariables[count]->serialize(buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
ReturnValue_t PoolDataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t count = 0; count < fillCount; count++) {
result = registeredVariables[count]->deSerialize(buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
size_t PoolDataSetBase::getSerializedSize() const {
uint32_t size = 0;
for (uint16_t count = 0; count < fillCount; count++) {
size += registeredVariables[count]->getSerializedSize();
}
return size;
}
void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
this->registeredVariables = variablesContainer;
}

152
datapool/PoolDataSetBase.h Normal file
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@ -0,0 +1,152 @@
#ifndef FSFW_DATAPOOL_POOLDATASETBASE_H_
#define FSFW_DATAPOOL_POOLDATASETBASE_H_
#include "PoolDataSetIF.h"
#include "PoolVariableIF.h"
#include "../ipc/MutexIF.h"
/**
* @brief The DataSetBase class manages a set of locally checked out variables.
* @details
* This class manages a list, where a set of local variables (or pool variables)
* are registered. They are checked-out (i.e. their values are looked
* up and copied) with the read call. After the user finishes working with the
* pool variables, he can write back all variable values to the pool with
* the commit call. The data set manages locking and freeing the data pool,
* to ensure that all values are read and written back at once.
*
* An internal state manages usage of this class. Variables may only be
* registered before the read call is made, and the commit call only
* after the read call.
*
* If pool variables are writable and not committed until destruction
* of the set, the DataSet class automatically sets the valid flag in the
* data pool to invalid (without) changing the variable's value.
*
* The base class lockDataPool und unlockDataPool implementation are empty
* and should be implemented to protect the underlying pool type.
* @author Bastian Baetz
* @ingroup data_pool
*/
class PoolDataSetBase: public PoolDataSetIF,
public SerializeIF,
public HasReturnvaluesIF {
public:
/**
* @brief Creates an empty dataset. Use registerVariable or
* supply a pointer to this dataset to PoolVariable
* initializations to register pool variables.
*/
PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxFillCount);
virtual~ PoolDataSetBase();
/**
* @brief The read call initializes reading out all registered variables.
* @details
* It iterates through the list of registered variables and calls all read()
* functions of the registered pool variables (which read out their values
* from the data pool) which are not write-only.
* In case of an error (e.g. a wrong data type, or an invalid data pool id),
* the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
*
* The data pool is locked during the whole read operation and
* freed afterwards.The state changes to "was written" after this operation.
* @return
* - @c RETURN_OK if all variables were read successfully.
* - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the
* requested variable is invalid.
* - @c SET_WAS_ALREADY_READ if read() is called twice without calling
* commit() in between
*/
virtual ReturnValue_t read(uint32_t lockTimeout =
MutexIF::BLOCKING) override;
/**
* @brief The commit call initializes writing back the registered variables.
* @details
* It iterates through the list of registered variables and calls the
* commit() method of the remaining registered variables (which write back
* their values to the pool).
*
* The data pool is locked during the whole commit operation and
* freed afterwards. The state changes to "was committed" after this operation.
*
* If the set does contain at least one variable which is not write-only
* commit() can only be called after read(). If the set only contains
* variables which are write only, commit() can be called without a
* preceding read() call.
* @return - @c RETURN_OK if all variables were read successfully.
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
virtual ReturnValue_t commit(uint32_t lockTimeout =
MutexIF::BLOCKING) override;
/**
* Register the passed pool variable instance into the data set.
* @param variable
* @return
*/
virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
/**
* Provides the means to lock the underlying data structure to ensure
* thread-safety. Default implementation is empty
* @return Always returns -@c RETURN_OK
*/
virtual ReturnValue_t lockDataPool(uint32_t timeoutMs =
MutexIF::BLOCKING) override;
/**
* Provides the means to unlock the underlying data structure to ensure
* thread-safety. Default implementation is empty
* @return Always returns -@c RETURN_OK
*/
virtual ReturnValue_t unlockDataPool() override;
virtual uint16_t getFillCount() const;
/* SerializeIF implementations */
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override;
protected:
/**
* @brief The fill_count attribute ensures that the variables
* register in the correct array position and that the maximum
* number of variables is not exceeded.
*/
uint16_t fillCount = 0;
/**
* States of the seet.
*/
enum class States {
DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
DATA_SET_WAS_READ //!< DATA_SET_WAS_READ
};
/**
* @brief state manages the internal state of the data set,
* which is important e.g. for the behavior on destruction.
*/
States state = States::DATA_SET_UNINITIALISED;
/**
* @brief This array represents all pool variables registered in this set.
* Child classes can use a static or dynamic container to create
* an array of registered variables and assign the first entry here.
*/
PoolVariableIF** registeredVariables = nullptr;
const size_t maxFillCount = 0;
void setContainer(PoolVariableIF** variablesContainer);
private:
ReturnValue_t readVariable(uint16_t count);
void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
};
#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */

33
datapool/PoolDataSetIF.h Normal file
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@ -0,0 +1,33 @@
#ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
#define FSFW_DATAPOOL_POOLDATASETIF_H_
#include "DataSetIF.h"
/**
* @brief Extendes the DataSetIF by adding abstract functions to lock
* and unlock a data pool and read/commit semantics.
*/
class PoolDataSetIF: public DataSetIF {
public:
virtual~ PoolDataSetIF() {};
virtual ReturnValue_t read(dur_millis_t lockTimeout) = 0;
virtual ReturnValue_t commit(dur_millis_t lockTimeout) = 0;
/**
* @brief Most underlying data structures will have a pool like structure
* and will require a lock and unlock mechanism to ensure
* thread-safety
* @return Lock operation result
*/
virtual ReturnValue_t lockDataPool(dur_millis_t timeoutMs) = 0;
/**
* @brief Unlock call corresponding to the lock call.
* @return Unlock operation result
*/
virtual ReturnValue_t unlockDataPool() = 0;
virtual bool isValid() const = 0;
};
#endif /* FSFW_DATAPOOL_POOLDATASETIF_H_ */

View File

@ -1,4 +1,5 @@
#include "PoolEntry.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
#include <cstring>

View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
#ifndef FSFW_DATAPOOL_POOLENTRY_H_
#define FSFW_DATAPOOL_POOLENTRY_H_
#include "PoolEntryIF.h"
@ -127,4 +127,4 @@ public:
Type getType();
};
#endif /* POOLENTRY_H_ */
#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */

View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
#define FSFW_DATAPOOL_POOLENTRYIF_H_
#include "../globalfunctions/Type.h"
#include <cstdint>
@ -60,4 +60,4 @@ public:
virtual Type getType() = 0;
};
#endif /* POOLENTRYIF_H_ */
#endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */

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@ -1,187 +0,0 @@
#include "DataPool.h"
#include "PoolEntryIF.h"
#include "PoolRawAccess.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serialize/EndianConverter.h"
#include <cstring>
PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
DataSetIF *data_set, ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(
Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), readWriteMode(
setReadWriteMode) {
memset(value, 0, sizeof(value));
if (data_set != NULL) {
data_set->registerVariable(this);
}
}
PoolRawAccess::~PoolRawAccess() {
}
ReturnValue_t PoolRawAccess::read() {
PoolEntryIF *read_out = ::dataPool.getRawData(dataPoolId);
if (read_out != NULL) {
valid = read_out->getValid();
if (read_out->getSize() > arrayEntry) {
arraySize = read_out->getSize();
typeSize = read_out->getByteSize() / read_out->getSize();
type = read_out->getType();
if (typeSize <= sizeof(value)) {
uint16_t arrayPosition = arrayEntry * typeSize;
sizeTillEnd = read_out->getByteSize() - arrayPosition;
uint8_t *ptr =
&((uint8_t*) read_out->getRawData())[arrayPosition];
memcpy(value, ptr, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
//Error value type too large.
}
} else {
//Error index requested too large
}
} else {
//Error entry does not exist.
}
sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
valid = INVALID;
typeSize = 0;
sizeTillEnd = 0;
memset(value, 0, sizeof(value));
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t PoolRawAccess::commit() {
PoolEntryIF *write_back = ::dataPool.getRawData(dataPoolId);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->setValid(valid);
uint8_t array_position = arrayEntry * typeSize;
uint8_t *ptr = &((uint8_t*) write_back->getRawData())[array_position];
memcpy(ptr, value, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t* PoolRawAccess::getEntry() {
return value;
}
ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t *buffer,
size_t *writtenBytes, size_t maxSize) {
uint8_t *data_ptr = getEntry();
// debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
if (typeSize == 0) {
return DATA_POOL_ACCESS_FAILED;
}
if (typeSize > maxSize) {
return INCORRECT_SIZE;
}
EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
*writtenBytes = typeSize;
return HasReturnvaluesIF::RETURN_OK;
}
Type PoolRawAccess::getType() {
return type;
}
size_t PoolRawAccess::getSizeOfType() {
return typeSize;
}
size_t PoolRawAccess::getArraySize() {
return arraySize;
}
uint32_t PoolRawAccess::getDataPoolId() const {
return dataPoolId;
}
PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
return readWriteMode;
}
ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
size_t setSize) {
if (typeSize == setSize) {
EndianConverter::convertBigEndian(value, buffer, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
sif::error
<< "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
<< (uint32_t) typeSize << ", Requested: " << setSize
<< std::endl;
return INCORRECT_SIZE;
}
}
bool PoolRawAccess::isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void PoolRawAccess::setValid(uint8_t valid) {
this->valid = valid;
}
size_t PoolRawAccess::getSizeTillEnd() const {
return sizeTillEnd;
}
ReturnValue_t PoolRawAccess::serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const {
if (typeSize + *size <= maxSize) {
switch (streamEndianness) {
case (Endianness::BIG):
EndianConverter::convertBigEndian(*buffer, value, typeSize);
break;
case (Endianness::LITTLE):
EndianConverter::convertLittleEndian(*buffer, value, typeSize);
break;
default:
case (Endianness::MACHINE):
memcpy(*buffer, value, typeSize);
break;
}
*size += typeSize;
(*buffer) += typeSize;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SerializeIF::BUFFER_TOO_SHORT;
}
}
size_t PoolRawAccess::getSerializedSize() const {
return typeSize;
}
ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) {
if (*size >= typeSize) {
switch (streamEndianness) {
case (Endianness::BIG):
EndianConverter::convertBigEndian(value, *buffer, typeSize);
break;
case (Endianness::LITTLE):
EndianConverter::convertLittleEndian(value, *buffer, typeSize);
break;
default:
case (Endianness::MACHINE):
memcpy(value, *buffer, typeSize);
break;
}
*size -= typeSize;
*buffer += typeSize;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SerializeIF::STREAM_TOO_SHORT;
}
}

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@ -1,152 +0,0 @@
#ifndef POOLRAWACCESS_H_
#define POOLRAWACCESS_H_
#include "DataSetIF.h"
#include "PoolVariableIF.h"
/**
* This class allows accessing Data Pool variables as raw bytes.
* This is necessary to have an access method for HK data, as the PID's alone do not
* provide a type information.
* \ingroup data_pool
*/
class PoolRawAccess: public PoolVariableIF {
private:
/**
* \brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* \brief The array entry that is fetched from the data pool.
*/
uint8_t arrayEntry;
/**
* \brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* \brief This value contains the type of the data pool entry.
*/
Type type;
/**
* \brief This value contains the size of the data pool entry in bytes.
*/
size_t typeSize;
/**
* The size of the DP array (single values return 1)
*/