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parameter updates

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This commit is contained in:
Robin Müller 2020-10-29 17:57:27 +01:00
parent 096643971b
commit 6ea9334923
6 changed files with 186 additions and 69 deletions
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42
parameters/HasParametersIF.h
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@ -1,12 +1,16 @@
#ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
#define FSFW_PARAMETERS_HASPARAMETERSIF_H_
#include "../parameters/ParameterWrapper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <stdint.h>
#include "ParameterWrapper.h"
#include <cstdint>
/** Each parameter is identified with a unique parameter ID */
typedef uint32_t ParameterId_t;
/**
* Each parameter is identified with a unique parameter ID
* The first byte of the parameter ID will denote the domain ID.
* The second and third byte will be the unique identifier number.
*/
using ParameterId_t = uint32_t;
/**
* @brief This interface is used by components which have modifiable
@ -19,13 +23,13 @@ typedef uint32_t ParameterId_t;
* The second and third byte represent the matrix ID, which can represent
* a 8-bit row and column number and the last byte...
*
* Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
* Yeah, is it matrix ID or parameter ID now and is index a 16 bit number
* of a 8 bit number now?
*/
class HasParametersIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
static const ReturnValue_t INVALID_MATRIX_ID = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t INVALID_IDENTIFIER_ID = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t INVALID_DOMAIN_ID = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t INVALID_VALUE = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t READ_ONLY = MAKE_RETURN_CODE(0x05);
@ -34,17 +38,24 @@ public:
return id >> 24;
}
static uint16_t getMatrixId(ParameterId_t id) {
return id >> 8;
static uint8_t getUniqueIdentifierId(ParameterId_t id) {
return id >> 16;
}
static uint8_t getIndex(ParameterId_t id) {
/**
* Get the index of a parameter. Please note that the index is always a
* linear index. For a vector, this is straightforward.
* For a matrix, the linear indexing run from left to right, top to bottom.
* @param id
* @return
*/
static uint16_t getIndex(ParameterId_t id) {
return id;
}
static uint32_t getFullParameterId(uint8_t domainId, uint16_t parameterId,
uint8_t index) {
return (domainId << 24) + (parameterId << 8) + index;
static uint32_t getFullParameterId(uint8_t domainId,
uint8_t uniqueIdentifier, uint16_t linearIndex) {
return (domainId << 24) + (uniqueIdentifier << 16) + linearIndex;
}
virtual ~HasParametersIF() {}
@ -56,11 +67,12 @@ public:
* @param parameterId
* @param parameterWrapper
* @param newValues
* @param startAtIndex
* @param startAtIndex Linear index, runs left to right, top to bottom for
* matrix indexes.
* @return
*/
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
virtual ReturnValue_t getParameter(uint8_t domainId,
uint16_t uniqueIdentifier, ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
};

70
parameters/ParameterHelper.cpp
View File

@ -9,15 +9,20 @@ ParameterHelper::~ParameterHelper() {
}
ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
if(storage == nullptr) {
// ParameterHelper was not initialized
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
switch (message->getCommand()) {
case ParameterMessage::CMD_PARAMETER_DUMP: {
ParameterWrapper description;
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(message));
uint16_t parameterId = HasParametersIF::getMatrixId(
uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
ParameterMessage::getParameterId(message));
result = owner->getParameter(domain, parameterId,
result = owner->getParameter(domain, uniqueIdentifier,
&description, &description, 0);
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(message->getSender(),
@ -26,49 +31,48 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
}
break;
case ParameterMessage::CMD_PARAMETER_LOAD: {
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(message));
uint16_t parameterId = HasParametersIF::getMatrixId(
ParameterMessage::getParameterId(message));
uint8_t index = HasParametersIF::getIndex(
ParameterMessage::getParameterId(message));
ParameterId_t parameterId = 0;
uint8_t ptc = 0;
uint8_t pfc = 0;
uint8_t rows = 0;
uint8_t columns = 0;
store_address_t storeId = ParameterMessage::getParameterLoadCommand(
message, &parameterId, &ptc, &pfc, &rows, &columns);
Type type(Type::getActualType(ptc, pfc));
const uint8_t *storedStream = nullptr;
size_t storedStreamSize = 0;
result = storage->getData(
ParameterMessage::getStoreId(message), &storedStream,
&storedStreamSize);
uint8_t domain = HasParametersIF::getDomain(parameterId);
uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
parameterId);
uint16_t linearIndex = HasParametersIF::getIndex(parameterId);
ConstStorageAccessor accessor(storeId);
result = storage->getData(storeId, accessor);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "ParameterHelper::handleParameterMessage: Getting"
" store data failed for load command." << std::endl;
<< " store data failed for load command." << std::endl;
break;
}
ParameterWrapper streamWrapper;
result = streamWrapper.set(storedStream, storedStreamSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(ParameterMessage::getStoreId(message));
break;
result = streamWrapper.set(type, rows, columns, accessor.data(),
accessor.size());
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ParameterWrapper ownerWrapper;
result = owner->getParameter(domain, parameterId, &ownerWrapper,
&streamWrapper, index);
result = owner->getParameter(domain, uniqueIdentifier, &ownerWrapper,
&streamWrapper, linearIndex);
result = ownerWrapper.copyFrom(&streamWrapper, linearIndex);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(ParameterMessage::getStoreId(message));
break;
return result;
}
result = ownerWrapper.copyFrom(&streamWrapper, index);
storage->deleteData(ParameterMessage::getStoreId(message));
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(message->getSender(),
ParameterMessage::getParameterId(message), &ownerWrapper);
}
}
break;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -115,13 +119,11 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
ReturnValue_t ParameterHelper::initialize() {
ownerQueueId = owner->getCommandQueue();
storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (storage == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
} else {
return HasReturnvaluesIF::RETURN_OK;
if (storage == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,

20
parameters/ParameterMessage.cpp
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@ -25,10 +25,26 @@ void ParameterMessage::setParameterDumpReply(CommandMessage* message,
}
void ParameterMessage::setParameterLoadCommand(CommandMessage* message,
ParameterId_t id, store_address_t storageID) {
ParameterId_t id, store_address_t storeId, uint8_t ptc, uint8_t pfc,
uint8_t rows = 1, uint8_t columns = 1) {
message->setCommand(CMD_PARAMETER_LOAD);
message->setParameter(id);
message->setParameter2(storageID.raw);
message->setParameter2(storeId.raw);
uint32_t packedParameterSettings = (ptc << 24) | (pfc << 16) |
(rows << 8) | columns;
message->setParameter3(packedParameterSettings);
}
store_address_t ParameterMessage::getParameterLoadCommand(
const CommandMessage *message, ParameterId_t* parameterId, uint8_t *ptc,
uint8_t *pfc, uint8_t *rows, uint8_t *columns) {
*parameterId = message->getParameter2();
uint32_t packedParamSettings = message->getParameter3();
*ptc = packedParamSettings >> 24 & 0xff;
*pfc = packedParamSettings >> 16 & 0xff;
*rows = packedParamSettings >> 8 & 0xff;
*columns = packedParamSettings & 0xff;
return message->getParameter2();
}
void ParameterMessage::clear(CommandMessage* message) {

35
parameters/ParameterMessage.h
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@ -5,6 +5,20 @@
#include "../ipc/CommandMessage.h"
#include "../storagemanager/StorageManagerIF.h"
/**
* @brief ParameterMessage interface
* @details
* General structure of a parameter message:
* 1. 4-byte Object ID
* 2. 4-byte Parameter ID, first byte is Domain ID, second byte is unique
* identifier, third and fourth byte is linear index to start from
* 3. 4-byte Parameter Settings. First byte and second byte are the PTC and PFC
* ECSS type identifiers (see ECSS-E-ST-70-41C15 p.428 or Type class in
* globalfunctions). Third byte is the number of rows and fourth byte
* is the number of columns. For single variable parameters, this will
* be [1, 1].
*
*/
class ParameterMessage {
private:
ParameterMessage();
@ -20,8 +34,27 @@ public:
ParameterId_t id);
static void setParameterDumpReply(CommandMessage* message,
ParameterId_t id, store_address_t storageID);
/**
* Command to set a load parameter message. The CCSDS / ECSS type in
* form of a PTC and a PFC is expected. See ECSS-E-ST-70-41C15 p.428
* for all types or the Type class in globalfunctions.
* @param message
* @param id
* @param storeId
* @param ptc Type information according to CCSDS/ECSS standards
* @param pfc Type information according to CCSDS/ECSS standards
* @param rows Set number of rows in parameter set, minimum one.
* @param columns Set number of columns in parameter set, minimum one
*/
static void setParameterLoadCommand(CommandMessage* message,
ParameterId_t id, store_address_t storageID);
ParameterId_t id, store_address_t storeId, uint8_t ptc,
uint8_t pfc, uint8_t rows, uint8_t columns);
static store_address_t getParameterLoadCommand(
const CommandMessage* message, ParameterId_t* parameterId,
uint8_t* ptc, uint8_t* pfc, uint8_t* rows, uint8_t* columns) ;
static void clear(CommandMessage* message);
};

55
parameters/ParameterWrapper.cpp
View File

@ -115,7 +115,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
uint8_t fromColumns) {
//treat from as a continuous Stream as we copy all of it
const uint8_t *fromAsStream = (const uint8_t*) from;
const uint8_t *fromAsStream = reinterpret_cast<const uint8_t*>(from);
size_t streamSize = fromRows * fromColumns * sizeof(T);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@ -123,8 +123,8 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
//get the start element of this row in data
T *dataWithDataType = ((T*) data)
+ (((startingRow + fromRow) * columns) + startingColumn);
uint16_t offset = (((startingRow + fromRow) * columns) + startingColumn);
T *dataWithDataType = static_cast<T*>(data) + offset;
for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
result = SerializeAdapter::deSerialize(
@ -159,6 +159,23 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
return copyFrom(&streamDescription, startWritingAtIndex);
}
ReturnValue_t ParameterWrapper::set(Type type, uint8_t rows, uint8_t columns,
const void *data, size_t dataSize) {
this->type = type;
this->rows = rows;
this->columns = columns;
size_t expectedSize = type.getSize() * rows * columns;
if (expectedSize < dataSize) {
return SerializeIF::STREAM_TOO_SHORT;
}
this->data = nullptr;
this->readonlyData = data;
pointsToStream = true;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
const uint8_t **remainingStream, size_t *remainingSize) {
ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
@ -202,11 +219,13 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex) {
if (data == NULL) {
// TODO: Optional diagnostic output (which can be disabled in FSFWConfig)
// to determined faulty implementations and configuration errors quickly.
if (data == nullptr) {
return READONLY;
}
if (from->readonlyData == NULL) {
if (from->readonlyData == nullptr) {
return SOURCE_NOT_SET;
}
@ -214,9 +233,16 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
return DATATYPE_MISSMATCH;
}
// The smallest allowed value for rows and columns is one.
if(rows == 0 or columns == 0) {
return COLUMN_OR_ROWS_ZERO;
}
//check if from fits into this
uint8_t startingRow = startWritingAtIndex / columns;
uint8_t startingColumn = startWritingAtIndex % columns;
uint8_t startingRow = 0;
uint8_t startingColumn = 0;
ParameterWrapper::convertLinearIndexToRowAndColumn(startWritingAtIndex,
&startingRow, &startingColumn);
if ((from->rows > (rows - startingRow))
|| (from->columns > (columns - startingColumn))) {
@ -279,3 +305,18 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
return result;
}
void ParameterWrapper::convertLinearIndexToRowAndColumn(uint16_t index,
uint8_t *row, uint8_t *column) {
if(row == nullptr or column == nullptr) {
return;
}
// Integer division.
*row = index / columns;
*column = index % columns;
}
uint16_t ParameterWrapper::convertRowAndColumnToLinearIndex(uint8_t row,
uint8_t column) {
return row * columns + column;
}

23
parameters/ParameterWrapper.h
View File

@ -22,6 +22,7 @@ public:
static const ReturnValue_t SOURCE_NOT_SET = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t OUT_OF_BOUNDS = MAKE_RETURN_CODE(0x06);
static const ReturnValue_t NOT_SET = MAKE_RETURN_CODE(0x07);
static const ReturnValue_t COLUMN_OR_ROWS_ZERO = MAKE_RETURN_CODE(0x08);
ParameterWrapper();
ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data);
@ -68,7 +69,7 @@ public:
template<typename T>
void set(const T *readonlyData, uint8_t rows, uint8_t columns) {
this->data = NULL;
this->data = nullptr;
this->readonlyData = readonlyData;
this->type = PodTypeConversion<T>::type;
this->rows = rows;
@ -97,14 +98,19 @@ public:
}
template<typename T>
void setMatrix(T& member) {
this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
this->set(member[0], sizeof(member)/sizeof(member[0]),
sizeof(member[0])/sizeof(member[0][0]));
}
template<typename T>
void setMatrix(const T& member) {
this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
this->set(member[0], sizeof(member)/sizeof(member[0]),
sizeof(member[0])/sizeof(member[0][0]));
}
ReturnValue_t set(Type type, uint8_t rows, uint8_t columns,
const void *data, size_t dataSize);
ReturnValue_t set(const uint8_t *stream, size_t streamSize,
const uint8_t **remainingStream = nullptr,
size_t *remainingSize = nullptr);
@ -113,6 +119,13 @@ public:
uint16_t startWritingAtIndex);
private:
void convertLinearIndexToRowAndColumn(uint16_t index,
uint8_t *row, uint8_t *column);
uint16_t convertRowAndColumnToLinearIndex(uint8_t row,
uint8_t column);
bool pointsToStream = false;
Type type;
@ -148,9 +161,9 @@ inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
if (pointsToStream) {
const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
streamWithType += (row * columns + column) * type.getSize();
int32_t size = type.getSize();
size_t size = type.getSize();
return SerializeAdapter::deSerialize(value, &streamWithType,
&size, true);
&size, SerializeIF::Endianness::BIG);
}
else {
const T *dataWithType = static_cast<const T*>(readonlyData);