Merge remote-tracking branch 'upstream/master' into mueller_StoreAccessor

This commit is contained in:
Robin Müller 2020-09-29 14:34:49 +02:00
commit 6f965c74ac
69 changed files with 5174 additions and 4366 deletions

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@ -1,5 +1,6 @@
#include "ActionHelper.h"
#include "HasActionsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :

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@ -1,96 +1,113 @@
#ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
#define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
#ifndef FSFW_CONTAINER_RINGBUFFERBASE_H_
#define FSFW_CONTAINER_RINGBUFFERBASE_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstddef>
template<uint8_t N_READ_PTRS = 1>
class RingBufferBase {
public:
RingBufferBase(uint32_t startAddress, uint32_t size, bool overwriteOld) :
start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) {
RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
start(startAddress), write(startAddress), size(size),
overwriteOld(overwriteOld) {
for (uint8_t count = 0; count < N_READ_PTRS; count++) {
read[count] = startAddress;
}
}
ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
if (availableReadData(n) >= amount) {
incrementRead(amount, n);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t writeData(uint32_t amount) {
if (availableWriteSpace() >= amount || overwriteOld) {
incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint32_t availableReadData(uint8_t n = 0) const {
return ((write + size) - read[n]) % size;
}
uint32_t availableWriteSpace(uint8_t n = 0) const {
//One less to avoid ambiguous full/empty problem.
return (((read[n] + size) - write - 1) % size);
}
virtual ~RingBufferBase() {}
bool isFull(uint8_t n = 0) {
return (availableWriteSpace(n) == 0);
}
bool isEmpty(uint8_t n = 0) {
return (availableReadData(n) == 0);
return (getAvailableReadData(n) == 0);
}
virtual ~RingBufferBase() {
size_t getAvailableReadData(uint8_t n = 0) const {
return ((write + size) - read[n]) % size;
}
uint32_t getRead(uint8_t n = 0) const {
return read[n];
size_t availableWriteSpace(uint8_t n = 0) const {
//One less to avoid ambiguous full/empty problem.
return (((read[n] + size) - write - 1) % size);
}
void setRead(uint32_t read, uint8_t n = 0) {
if (read >= start && read < (start+size)) {
this->read[n] = read;
bool overwritesOld() const {
return overwriteOld;
}
size_t getMaxSize() const {
return size - 1;
}
uint32_t getWrite() const {
return write;
}
void setWrite(uint32_t write) {
this->write = write;
}
void clear() {
write = start;
for (uint8_t count = 0; count < N_READ_PTRS; count++) {
read[count] = start;
}
}
uint32_t writeTillWrap() {
size_t writeTillWrap() {
return (start + size) - write;
}
uint32_t readTillWrap(uint8_t n = 0) {
size_t readTillWrap(uint8_t n = 0) {
return (start + size) - read[n];
}
uint32_t getStart() const {
size_t getStart() const {
return start;
}
bool overwritesOld() const {
return overwriteOld;
}
uint32_t maxSize() const {
return size - 1;
}
protected:
const uint32_t start;
uint32_t write;
uint32_t read[N_READ_PTRS];
const uint32_t size;
const size_t start;
size_t write;
size_t read[N_READ_PTRS];
const size_t size;
const bool overwriteOld;
void incrementWrite(uint32_t amount) {
write = ((write + amount - start) % size) + start;
}
void incrementRead(uint32_t amount, uint8_t n = 0) {
read[n] = ((read[n] + amount - start) % size) + start;
}
ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
if (getAvailableReadData(n) >= amount) {
incrementRead(amount, n);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t writeData(uint32_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
size_t getRead(uint8_t n = 0) const {
return read[n];
}
void setRead(uint32_t read, uint8_t n = 0) {
if (read >= start && read < (start+size)) {
this->read[n] = read;
}
}
uint32_t getWrite() const {
return write;
}
void setWrite(uint32_t write) {
this->write = write;
}
};
#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */
#endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */

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@ -0,0 +1,30 @@
#include "SharedRingBuffer.h"
#include "../ipc/MutexFactory.h"
#include "../ipc/MutexHelper.h"
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex();
}
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex();
}
ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
return mutex->lockMutex(timeoutType, timeout);
}
ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
return mutex->unlockMutex();
}
MutexIF* SharedRingBuffer::getMutexHandle() const {
return mutex;
}

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@ -0,0 +1,68 @@
#ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#include "SimpleRingBuffer.h"
#include "../ipc/MutexIF.h"
#include "../objectmanager/SystemObject.h"
#include "../timemanager/Clock.h"
/**
* @brief Ring buffer which can be shared among multiple objects
* @details
* This class offers a mutex to perform thread-safe operation on the ring
* buffer. It is still up to the developer to actually perform the lock
* and unlock operations.
*/
class SharedRingBuffer: public SystemObject,
public SimpleRingBuffer {
public:
/**
* This constructor allocates a new internal buffer with the supplied size.
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
*/
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
*/
SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* Unless a read-only constant value is read, all operations on the
* shared ring buffer should be protected by calling this function.
* @param timeoutType
* @param timeout
* @return
*/
virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
dur_millis_t timeout);
/**
* Any locked mutex also has to be unlocked, otherwise, access to the
* shared ring buffer will be blocked.
* @return
*/
virtual ReturnValue_t unlockRingBufferMutex();
/**
* The mutex handle can be accessed directly, for example to perform
* the lock with the #MutexHelper for a RAII compliant lock operation.
* @return
*/
MutexIF* getMutexHandle() const;
private:
MutexIF* mutex = nullptr;
};
#endif /* FSFW_CONTAINER_SHAREDRINGBUFFER_H_ */

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@ -1,27 +1,69 @@
#include "SimpleRingBuffer.h"
#include <string.h>
#include <cstring>
SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
RingBufferBase<>(0, size, overwriteOld) {
buffer = new uint8_t[size];
SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
size_t maxExcessBytes) :
RingBufferBase<>(0, size, overwriteOld),
maxExcessBytes(maxExcessBytes) {
if(maxExcessBytes > size) {
this->maxExcessBytes = size;
}
else {
this->maxExcessBytes = maxExcessBytes;
}
buffer = new uint8_t[size + maxExcessBytes];
}
SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
bool overwriteOld):
RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
bool overwriteOld, size_t maxExcessBytes):
RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
if(maxExcessBytes > size) {
this->maxExcessBytes = size;
}
else {
this->maxExcessBytes = maxExcessBytes;
}
}
SimpleRingBuffer::~SimpleRingBuffer() {
delete[] buffer;
}
ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
uint32_t amount) {
ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
size_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
uint32_t amountTillWrap = writeTillWrap();
size_t amountTillWrap = writeTillWrap();
if (amountTillWrap < amount) {
if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
return HasReturnvaluesIF::RETURN_FAILED;
}
excessBytes = amount - amountTillWrap;
}
*writePointer = &buffer[write];
return HasReturnvaluesIF::RETURN_OK;
}
else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
if(getExcessBytes() > 0) {
moveExcessBytesToStart();
}
incrementWrite(amount);
}
ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
size_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
size_t amountTillWrap = writeTillWrap();
if (amountTillWrap >= amount) {
// remaining size in buffer is sufficient to fit full amount.
memcpy(&buffer[write], data, amount);
} else {
}
else {
memcpy(&buffer[write], data, amountTillWrap);
memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
}
@ -32,12 +74,13 @@ ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
}
}
ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
bool readRemaining, uint32_t* trueAmount) {
uint32_t availableData = availableReadData(READ_PTR);
uint32_t amountTillWrap = readTillWrap(READ_PTR);
ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR);
size_t amountTillWrap = readTillWrap(READ_PTR);
if (availableData < amount) {
if (readRemaining) {
// more data available than amount specified.
amount = availableData;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
@ -52,12 +95,27 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
}
if(incrementReadPtr) {
deleteData(amount, readRemaining);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
bool deleteRemaining, uint32_t* trueAmount) {
uint32_t availableData = availableReadData(READ_PTR);
size_t SimpleRingBuffer::getExcessBytes() const {
return excessBytes;
}
void SimpleRingBuffer::moveExcessBytesToStart() {
if(excessBytes > 0) {
std::memcpy(buffer, &buffer[size], excessBytes);
excessBytes = 0;
}
}
ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
bool deleteRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR);
if (availableData < amount) {
if (deleteRemaining) {
amount = availableData;
@ -71,4 +129,3 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
incrementRead(amount, READ_PTR);
return HasReturnvaluesIF::RETURN_OK;
}

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@ -1,8 +1,8 @@
#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
#define FSFW_CONTAINER_SIMPLERINGBUFFER_H_
#include "RingBufferBase.h"
#include <stddef.h>
#include <cstddef>
/**
* @brief Circular buffer implementation, useful for buffering
@ -16,53 +16,114 @@ class SimpleRingBuffer: public RingBufferBase<> {
public:
/**
* This constructor allocates a new internal buffer with the supplied size.
*
* @param size
* @param overwriteOld
* @param overwriteOld If the ring buffer is overflowing at a write
* operation, the oldest data will be overwritten.
* @param maxExcessBytes These additional bytes will be allocated in addtion
* to the specified size to accomodate contiguous write operations
* with getFreeElement.
*
*/
SimpleRingBuffer(const size_t size, bool overwriteOld);
SimpleRingBuffer(const size_t size, bool overwriteOld,
size_t maxExcessBytes = 0);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
* @param maxExcessBytes
* If the buffer can accomodate additional bytes for contigous write
* operations with getFreeElement, this is the maximum allowed additional
* size
*/
SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
size_t maxExcessBytes = 0);
virtual ~SimpleRingBuffer();
/**
* Write to circular buffer and increment write pointer by amount
* Write to circular buffer and increment write pointer by amount.
* @param data
* @param amount
* @return -@c RETURN_OK if write operation was successfull
* -@c RETURN_FAILED if
*/
ReturnValue_t writeData(const uint8_t* data, size_t amount);
/**
* Returns a pointer to a free element. If the remaining buffer is
* not large enough, the data will be written past the actual size
* and the amount of excess bytes will be cached. This function
* does not increment the write pointer!
* @param writePointer Pointer to a pointer which can be used to write
* contiguous blocks into the ring buffer
* @param amount
* @return
*/
ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
/**
* Read from circular buffer at read pointer
* This increments the write pointer and also copies the excess bytes
* to the beginning. It should be called if the write operation
* conducted after calling getFreeElement() was performed.
* @return
*/
void confirmBytesWritten(size_t amount);
virtual size_t getExcessBytes() const;
/**
* Helper functions which moves any excess bytes to the start
* of the ring buffer.
* @return
*/
virtual void moveExcessBytesToStart();
/**
* Read from circular buffer at read pointer.
* @param data
* @param amount
* @param incrementReadPtr
* If this is set to true, the read pointer will be incremented.
* If readRemaining is set to true, the read pointer will be incremented
* accordingly.
* @param readRemaining
* @param trueAmount
* If this is set to true, the data will be read even if the amount
* specified exceeds the read data available.
* @param trueAmount [out]
* If readRemaining was set to true, the true amount read will be assigned
* to the passed value.
* @return
* - @c RETURN_OK if data was read successfully
* - @c RETURN_FAILED if not enough data was available and readRemaining
* was set to false.
*/
ReturnValue_t readData(uint8_t* data, uint32_t amount,
bool readRemaining = false, uint32_t* trueAmount = nullptr);
ReturnValue_t readData(uint8_t* data, size_t amount,
bool incrementReadPtr = false, bool readRemaining = false,
size_t* trueAmount = nullptr);
/**
* Delete data starting by incrementing read pointer
* Delete data by incrementing read pointer.
* @param amount
* @param deleteRemaining
* @param trueAmount
* If the amount specified is larger than the remaing size to read and this
* is set to true, the remaining amount will be deleted as well
* @param trueAmount [out]
* If deleteRemaining was set to true, the amount deleted will be assigned
* to the passed value.
* @return
*/
ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false,
uint32_t* trueAmount = nullptr);
ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
size_t* trueAmount = nullptr);
private:
// static const uint8_t TEMP_READ_PTR = 1;
static const uint8_t READ_PTR = 0;
uint8_t* buffer = nullptr;
size_t maxExcessBytes;
size_t excessBytes = 0;
};
#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */

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@ -18,7 +18,7 @@ MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
object_id_t setPacketDestination) :
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
packetBuffer), packetDestination(setPacketDestination), packetStore(
NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) {
NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
memset(packetBuffer, 0, sizeof(packetBuffer));
}

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@ -5,7 +5,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId,
MessageQueueId_t parentQueue) :
SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue(
parentQueue), commandQueue(), healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(3, CommandMessage::COMMAND_MESSAGE_SIZE);
commandQueue = QueueFactory::instance()->createMessageQueue(3);
}
HealthDevice::~HealthDevice() {

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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
#define FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
#ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
#define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
namespace SUBSYSTEM_ID {
enum {
@ -19,10 +19,12 @@ enum {
SYSTEM_MANAGER_1 = 75,
SYSTEM_1 = 79,
PUS_SERVICE_1 = 80,
PUS_SERVICE_9 = 89,
PUS_SERVICE_17 = 97,
FW_SUBSYSTEM_ID_RANGE
};
}
#endif /* FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ */
#endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */

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@ -1,33 +1,15 @@
/**
* @file CommandMessage.cpp
* @brief This file defines the CommandMessage class.
* @date 20.06.2013
* @author baetz
*/
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
#include "CommandMessage.h"
#include "../memory/MemoryMessage.h"
#include "../modes/ModeMessage.h"
#include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h"
namespace messagetypes {
void clearMissionMessage(CommandMessage* message);
}
#include "CommandMessageCleaner.h"
#include <cstring>
CommandMessage::CommandMessage() {
this->messageSize = COMMAND_MESSAGE_SIZE;
MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
setCommand(CMD_NONE);
}
CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
uint32_t parameter2) {
this->messageSize = COMMAND_MESSAGE_SIZE;
MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
setCommand(command);
setParameter(parameter1);
setParameter2(parameter2);
@ -35,82 +17,72 @@ CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
Command_t CommandMessage::getCommand() const {
Command_t command;
memcpy(&command, getData(), sizeof(Command_t));
std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
return command;
}
void CommandMessage::setCommand(Command_t command) {
memcpy(getData(), &command, sizeof(command));
std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
}
uint8_t CommandMessage::getMessageType() const {
// first byte of command ID.
return getCommand() >> 8 & 0xff;
}
uint32_t CommandMessage::getParameter() const {
uint32_t parameter1;
memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1));
std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
return parameter1;
}
void CommandMessage::setParameter(uint32_t parameter1) {
memcpy(getData() + sizeof(Command_t), &parameter1, sizeof(parameter1));
std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
}
uint32_t CommandMessage::getParameter2() const {
uint32_t parameter2;
memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t),
std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
sizeof(parameter2));
return parameter2;
}
void CommandMessage::setParameter2(uint32_t parameter2) {
memcpy(getData() + sizeof(Command_t) + sizeof(uint32_t), &parameter2,
std::memcpy(this->getData() + sizeof(uint32_t), &parameter2,
sizeof(parameter2));
}
uint32_t CommandMessage::getParameter3() const {
uint32_t parameter3;
std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
sizeof(parameter3));
return parameter3;
}
void CommandMessage::setParameter3(uint32_t parameter3) {
std::memcpy(this->getData() + 2 * sizeof(uint32_t), &parameter3,
sizeof(parameter3));
}
size_t CommandMessage::getMinimumMessageSize() const {
return MINIMUM_COMMAND_MESSAGE_SIZE;
}
void CommandMessage::clearCommandMessage() {
switch((getCommand()>>8) & 0xff){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(this);
break;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(this);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(this);
break;
case messagetypes::ACTION:
ActionMessage::clear(this);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(this);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(this);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(this);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(this);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(this);
break;
default:
messagetypes::clearMissionMessage(this);
break;
}
clear();
}
void CommandMessage::clear() {
CommandMessageCleaner::clearCommandMessage(this);
}
bool CommandMessage::isClearedCommandMessage() {
return getCommand() == CMD_NONE;
}
size_t CommandMessage::getMinimumMessageSize() const {
return COMMAND_MESSAGE_SIZE;
}
void CommandMessage::setToUnknownCommand() {
Command_t initialCommand = getCommand();
clearCommandMessage();
this->clear();
setReplyRejected(UNKNOWN_COMMAND, initialCommand);
}
@ -129,3 +101,11 @@ ReturnValue_t CommandMessage::getReplyRejectedReason(
}
return reason;
}
uint8_t* CommandMessage::getData() {
return MessageQueueMessage::getData() + sizeof(Command_t);
}
const uint8_t* CommandMessage::getData() const {
return MessageQueueMessage::getData() + sizeof(Command_t);
}

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@ -1,113 +1,88 @@
/**
* @file CommandMessage.h
* @brief This file defines the CommandMessage class.
* @date 20.06.2013
* @author baetz
*/
#ifndef FSFW_IPC_COMMANDMESSAGE_H_
#define FSFW_IPC_COMMANDMESSAGE_H_
#ifndef COMMANDMESSAGE_H_
#define COMMANDMESSAGE_H_
#include "CommandMessageIF.h"
#include "FwMessageTypes.h"
#include <MissionMessageTypes.h>
#include "MessageQueueMessage.h"
#include "FwMessageTypes.h"
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef ReturnValue_t Command_t;
class CommandMessage : public MessageQueueMessage {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
/**
* This is the size of a message as it is seen by the MessageQueue
*/
static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
+ sizeof(Command_t) + 2 * sizeof(uint32_t);
/**
* Default Constructor, does not initialize anything.
/**
* @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
* field, and 3 4-byte parameter
* @details
* It operates on an external memory which is contained inside a
* class implementing MessageQueueMessageIF by taking its address.
* This allows for a more flexible designs of message implementations.
* The pointer can be passed to different message implementations without
* the need of unnecessary copying.
*
* This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
* The command message is based of the generic MessageQueueMessage which
* currently has an internal message size of 28 bytes.
* @author Bastian Baetz
*/
class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
public:
/**
* Default size can accomodate 3 4-byte parameters.
*/
static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
3 * sizeof(uint32_t);
/**
* @brief Default Constructor, does not initialize anything.
* @details
* This constructor should be used when receiving a Message, as the
* content is filled by the MessageQueue.
*/
CommandMessage();
/**
* This constructor creates a new message with all message content initialized
* This constructor creates a new message with all message content
* initialized
*
* @param command The DeviceHandlerCommand_t that will be sent
* @param parameter1 The first parameter
* @param parameter2 The second parameter
*/
CommandMessage(Command_t command,
uint32_t parameter1, uint32_t parameter2);
CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
/**
* Default Destructor
* @brief Default Destructor
*/
virtual ~CommandMessage() {
}
virtual ~CommandMessage() {}
/**
* Read the DeviceHandlerCommand_t that is stored in the message, usually used after receiving
* Read the DeviceHandlerCommand_t that is stored in the message,
* usually used after receiving.
*
* @return the Command stored in the Message
*/
Command_t getCommand() const;
virtual Command_t getCommand() const override;
/**
* Set the DeviceHandlerCOmmand_t of the message
*
* Set the command type of the message. Default implementation also
* sets the message type, which will be the first byte of the command ID.
* @param the Command to be sent
*/
void setCommand(Command_t command);
virtual void setCommand(Command_t command);
virtual uint8_t* getData() override;
virtual const uint8_t* getData() const override;
/**
* Get the first parameter of the message
*
* @return the first Parameter of the message
*/
uint32_t getParameter() const;
/**
* Set the first parameter of the message
*
* @param the first parameter of the message
*/
void setParameter(uint32_t parameter1);
/**
* Get the second parameter of the message
*
* @return the second Parameter of the message
*/
uint32_t getParameter2() const;
/**
* Set the second parameter of the message
*
* @param the second parameter of the message
*/
void setParameter2(uint32_t parameter2);
/**
* Set the command to CMD_NONE and try to find
* the correct class to handle a more detailed
* clear.
* Also, calls a mission-specific clearMissionMessage
* function to separate between framework and mission
* messages. Not optimal, may be replaced by totally
* different auto-delete solution (e.g. smart pointers).
*
*/
void clearCommandMessage();
uint32_t getParameter3() const;
void setParameter3(uint32_t parameter3);
/**
* check if a message was cleared
@ -116,18 +91,41 @@ public:
*/
bool isClearedCommandMessage();
/**
* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
* Is needed quite often, so we better code it once only.
*/
void setToUnknownCommand();
void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
ReturnValue_t getReplyRejectedReason(
Command_t *initialCommand = nullptr) const;
void setToUnknownCommand() override;
size_t getMinimumMessageSize() const;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) override;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const override;
virtual void clear() override;
void clearCommandMessage();
/**
* Extract message ID, which is the first byte of the command ID for the
* default implementation.
* @return
*/
virtual uint8_t getMessageType() const override;
/** MessageQueueMessageIF functions used for minimum size check. */
size_t getMinimumMessageSize() const override;
};
#endif /* COMMANDMESSAGE_H_ */
#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */

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@ -0,0 +1,45 @@
#include "../ipc/CommandMessageCleaner.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
#include "../memory/MemoryMessage.h"
#include "../modes/ModeMessage.h"
#include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h"
void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
switch(message->getMessageType()){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(message);
break;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(message);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(message);
break;
case messagetypes::ACTION:
ActionMessage::clear(message);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(message);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(message);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(message);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(message);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(message);
break;
default:
messagetypes::clearMissionMessage(message);
break;
}
}

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@ -0,0 +1,16 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#include "../ipc/CommandMessage.h"
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessage* message);
}
class CommandMessageCleaner {
public:
static void clearCommandMessage(CommandMessage* message);
};
#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */

73
ipc/CommandMessageIF.h Normal file
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@ -0,0 +1,73 @@
#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
#define FSFW_IPC_COMMANDMESSAGEIF_H_
#include "MessageQueueMessageIF.h"
#include "FwMessageTypes.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t;
class CommandMessageIF {
public:
/**
* Header consists of sender ID and command ID.
*/
static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
sizeof(Command_t);
/**
* This minimum size is derived from the interface requirement to be able
* to set a rejected reply, which contains a returnvalue and the initial
* command.
*/
static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
sizeof(Command_t);
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, shall be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
//! Reply indicating that the current command was rejected,
//! par1 should contain the error code
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
virtual ~CommandMessageIF() {};
/**
* A command message shall have a uint16_t command ID field.
* @return
*/
virtual Command_t getCommand() const = 0;
/**
* A command message shall have a uint8_t message type ID field.
* @return
*/
virtual uint8_t getMessageType() const = 0;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
virtual void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) = 0;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
virtual ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const = 0;
virtual void setToUnknownCommand() = 0;
virtual void clear() = 0;
};
#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */

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@ -1,15 +1,15 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FSFW_IPC_MESSAGEQUEUEIF_H_
// COULDDO: We could support blocking calls
#include "messageQueueDefinitions.h"
#include "MessageQueueMessage.h"
#include "MessageQueueSenderIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
class MessageQueueIF {
public:
static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
static const MessageQueueId_t NO_QUEUE = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
/**

View File

@ -1,13 +1,27 @@
#include "MessageQueueMessage.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <string.h>
#include "../globalfunctions/arrayprinter.h"
#include <cstring>
MessageQueueMessage::MessageQueueMessage() :
messageSize(this->HEADER_SIZE) {
messageSize(getMinimumMessageSize()) {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
}
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size);
this->messageSize = this->HEADER_SIZE + size;
}
else {
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
"allowed size! Setting content to 0" << std::endl;
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
}
}
MessageQueueMessage::~MessageQueueMessage() {
}
@ -37,29 +51,34 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
}
MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) :
messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size);
} else {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
void MessageQueueMessage::print(bool printWholeMessage) {
sif::debug << "MessageQueueMessage content: " << std::endl;
if(printWholeMessage) {
arrayprinter::print(getData(), getMaximumMessageSize());
}
}
size_t MessageQueueMessage::getMinimumMessageSize() {
return this->HEADER_SIZE;
}
void MessageQueueMessage::print() {
sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
<< std::endl;
for (uint8_t count = 0; count < this->messageSize; count++) {
sif::debug << (uint32_t) this->internalBuffer[count] << ":";
else {
arrayprinter::print(getData(), getMessageSize());
}
sif::debug << std::dec << std::endl;
}
void MessageQueueMessage::clear() {
memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
}
size_t MessageQueueMessage::getMessageSize() const {
return this->messageSize;
}
void MessageQueueMessage::setMessageSize(size_t messageSize) {
this->messageSize = messageSize;
}
size_t MessageQueueMessage::getMinimumMessageSize() const {
return this->MIN_MESSAGE_SIZE;
}
size_t MessageQueueMessage::getMaximumMessageSize() const {
return this->MAX_MESSAGE_SIZE;
}

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@ -1,118 +1,149 @@
#ifndef MESSAGEQUEUEMESSAGE_H_
#define MESSAGEQUEUEMESSAGE_H_
#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#include "MessageQueueSenderIF.h"
#include <stddef.h>
#include "../ipc/MessageQueueMessageIF.h"
#include <cstddef>
/**
* \brief This class is the representation and data organizer for interprocess messages.
* @brief This class is the representation and data organizer
* for interprocess messages.
* @details
* To facilitate and standardize interprocess communication, this class was
* created to handle a lightweight "interprocess message protocol".
*
* \details To facilitate and standardize interprocess communication, this class was created
* to handle a lightweight "interprocess message protocol". It adds a header with the
* sender's queue id to every sent message and defines the maximum total message size.
* Specialized messages, such as device commanding messages, can be created by inheriting
* from this class and filling the buffer provided by getData with additional content.
* If larger amounts of data must be sent between processes, the data shall be stored in
* the IPC Store object and only the storage id is passed in a queue message.
* The class is used both to generate and send messages and to receive messages from
* other tasks.
* \ingroup message_queue
* It adds a header with the sender's queue id to every sent message and
* defines the maximum total message size. Specialized messages, such as
* device commanding messages, can be created by inheriting from this class
* and filling the buffer provided by getData with additional content.
*
* If larger amounts of data must be sent between processes, the data shall
* be stored in the IPC Store object and only the storage id is passed in a
* queue message.The class is used both to generate and send messages and to
* receive messages from other tasks.
* @ingroup message_queue
*/
class MessageQueueMessage {
class MessageQueueMessage: public MessageQueueMessageIF {
public:
/**
* \brief This constant defines the maximum size of the data content, excluding the header.
* \details It may be changed if necessary, but in general should be kept as small as possible.
* @brief The class is initialized empty with this constructor.
* @details
* The messageSize attribute is set to the header's size and the whole
* content is set to zero.
*/
MessageQueueMessage();
/**
* @brief With this constructor the class is initialized with
* the given content.
* @details
* If the passed message size fits into the buffer, the passed data is
* copied to the internal buffer and the messageSize information is set.
* Otherwise, messageSize is set to the header's size and the whole
* content is set to zero.
* @param data The data to be put in the message.
* @param size Size of the data to be copied. Must be smaller than
* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
*/
MessageQueueMessage(uint8_t* data, size_t size);
/**
* @brief As no memory is allocated in this class,
* the destructor is empty.
*/
virtual ~MessageQueueMessage();
/**
* @brief The size information of each message is stored in
* this attribute.
* @details
* It is public to simplify usage and to allow for passing the size
* address as a pointer. Care must be taken when inheriting from this class,
* as every child class is responsible for managing the size information by
* itself. When using the class to receive a message, the size information
* is updated automatically.
*
* Please note that the minimum size is limited by the size of the header
* while the maximum size is limited by the maximum allowed message size.
*/
size_t messageSize;
/**
* @brief This constant defines the maximum size of the data content,
* excluding the header.
* @details
* It may be changed if necessary, but in general should be kept
* as small as possible.
*/
static const size_t MAX_DATA_SIZE = 24;
/**
* \brief This constants defines the size of the header, which is added to every message.
* @brief This constant defines the maximum total size in bytes
* of a sent message.
* @details
* It is the sum of the maximum data and the header size. Be aware that
* this constant is used to define the buffer sizes for every message
* queue in the system. So, a change here may have significant impact on
* the required resources.
*/
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/**
* \brief This constant defines the maximum total size in bytes of a sent message.
* \details It is the sum of the maximum data and the header size. Be aware that this constant
* is used to define the buffer sizes for every message queue in the system. So, a change
* here may have significant impact on the required resources.
* @brief Defines the minimum size of a message where only the
* header is included
*/
static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private:
/**
* \brief This is the internal buffer that contains the actual message data.
* @brief This is the internal buffer that contains the
* actual message data.
*/
uint8_t internalBuffer[MAX_MESSAGE_SIZE];
public:
/**
* \brief The size information of each message is stored in this attribute.
* \details It is public to simplify usage and to allow for passing the variable's address as a
* pointer. Care must be taken when inheriting from this class, as every child class is
* responsible for managing the size information by itself. When using the class to
* receive a message, the size information is updated automatically.
* @brief This method is used to get the complete data of the message.
*/
size_t messageSize;
const uint8_t* getBuffer() const override;
/**
* \brief The class is initialized empty with this constructor.
* \details The messageSize attribute is set to the header's size and the whole content is set to
* zero.
* @brief This method is used to get the complete data of the message.
*/
MessageQueueMessage();
uint8_t* getBuffer() override;
/**
* \brief With this constructor the class is initialized with the given content.
* \details If the passed message size fits into the buffer, the passed data is copied to the
* internal buffer and the messageSize information is set. Otherwise, messageSize
* is set to the header's size and the whole content is set to zero.
* \param data The data to be put in the message.
* \param size Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
MessageQueueMessage(uint8_t* data, uint32_t size);
const uint8_t* getData() const override;
/**
* \brief As no memory is allocated in this class, the destructor is empty.
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual ~MessageQueueMessage();
uint8_t* getData() override;
/**
* \brief This method is used to get the complete data of the message.
* @brief This method is used to extract the sender's message
* queue id information from a received message.
*/
const uint8_t* getBuffer() const;
MessageQueueId_t getSender() const override;
/**
* \brief This method is used to get the complete data of the message.
* @brief With this method, the whole content
* and the message size is set to zero.
*/
uint8_t* getBuffer();
void clear() override;
/**
* \brief This method is used to fetch the data content of the message.
* \details It shall be used by child classes to add data at the right position.
* @brief This method is used to set the sender's message queue id
* information prior to ing the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/
const uint8_t* getData() const;
void setSender(MessageQueueId_t setId) override;
virtual size_t getMessageSize() const override;
virtual void setMessageSize(size_t messageSize) override;
virtual size_t getMinimumMessageSize() const override;
virtual size_t getMaximumMessageSize() const override;
/**
* \brief This method is used to fetch the data content of the message.
* \details It shall be used by child classes to add data at the right position.
* @brief This is a debug method that prints the content.
*/
uint8_t* getData();
/**
* \brief This method is used to extract the sender's message queue id information from a
* received message.
*/
MessageQueueId_t getSender() const;
/**
* \brief With this method, the whole content and the message size is set to zero.
*/
void clear();
/**
* \brief This is a debug method that prints the content (till messageSize) to the debug output.
*/
void print();
/**
* \brief This method is used to set the sender's message queue id information prior to
* sending the message.
* \param setId The message queue id that identifies the sending message queue.
*/
void setSender(MessageQueueId_t setId);
/**
* \brief This helper function is used by the MessageQueue class to check the size of an
* incoming message.
* \details The method must be overwritten by child classes if size checks shall be more strict.
* @return The default implementation returns HEADER_SIZE.
*/
virtual size_t getMinimumMessageSize();
void print(bool printWholeMessage);
};
#endif /* MESSAGEQUEUEMESSAGE_H_ */
#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

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@ -0,0 +1,80 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
#include <cstddef>
#include <cstdint>
class MessageQueueMessageIF {
public:
/**
* @brief This constants defines the size of the header,
* which is added to every message.
*/
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
virtual ~MessageQueueMessageIF() {};
/**
* @brief With this method, the whole content and the message
* size is set to zero.
* @details
* Implementations should also take care to clear data which is stored
* indirectly (e.g. storage data).
*/
virtual void clear() = 0;
/**
* @brief Get read-only pointer to the complete data of the message.
* @return
*/
virtual const uint8_t* getBuffer() const = 0;
/**
* @brief This method is used to get the complete data of the message.
*/
virtual uint8_t* getBuffer() = 0;
/**
* @brief This method is used to set the sender's message queue id
* information prior to sending the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/
virtual void setSender(MessageQueueId_t setId) = 0;
/**
* @brief This method is used to extract the sender's message queue id
* information from a received message.
*/
virtual MessageQueueId_t getSender() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual const uint8_t* getData() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual uint8_t* getData() = 0;
/**
* Get constant message size of current message implementation.
* @return
*/
virtual size_t getMessageSize() const = 0;
virtual void setMessageSize(size_t messageSize) = 0;
virtual size_t getMinimumMessageSize() const = 0;
virtual size_t getMaximumMessageSize() const = 0;
};
#endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

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@ -1,37 +1,26 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../ipc/MessageQueueMessageIF.h"
#include "../objectmanager/ObjectManagerIF.h"
class MessageQueueMessage;
//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
//MessageQueueMessage.
//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
//call does not sound ideal.
//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
//This also influences Interface design (getCommandQueue) and some other issues..
typedef uint32_t MessageQueueId_t;
class MessageQueueSenderIF {
public:
static const MessageQueueId_t NO_QUEUE = 0;
virtual ~MessageQueueSenderIF() {}
/**
* Allows sending messages without actually "owing" a message queue.
* Allows sending messages without actually "owning" a message queue.
* Not sure whether this is actually a good idea.
* Must be implemented by a subclass.
*/
static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom =
MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false);
MessageQueueMessage* message,
MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
bool ignoreFault = false);
private:
MessageQueueSenderIF() {}
};
#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */
#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */

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@ -0,0 +1,19 @@
#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#include <cstdint>
/*
* TODO: Actually, the definition of this ID to be a uint32_t is not ideal and
* breaks layering. However, it is difficult to keep layering, as the ID is
* stored in many places and sent around in MessageQueueMessage.
* Ideally, one would use the (current) object_id_t only, however, doing a
* lookup of queueIDs for every call does not sound ideal.
* In a first step, I'll circumvent the issue by not touching it,
* maybe in a second step. This also influences Interface design
* (getCommandQueue) and some other issues..
*/
using MessageQueueId_t = uint32_t;
#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

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@ -36,7 +36,7 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
commandedMode = mode;
commandedSubmode = submode;
if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
if ((parentQueueId != MessageQueueIF::NO_QUEUE)
&& (theOneWhoCommandedAMode != parentQueueId)) {
owner->setToExternalControl();
}
@ -74,7 +74,7 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
forced = false;
CommandMessage reply;
if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE) {
if ((mode != commandedMode) || (submode != commandedSubmode)) {
ModeMessage::setModeMessage(&reply,
ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
@ -86,12 +86,12 @@ void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
owner->getCommandQueue());
}
if (theOneWhoCommandedAMode != parentQueueId
&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
&& parentQueueId != MessageQueueIF::NO_QUEUE) {
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
submode);
MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
}
theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
}
void ModeHelper::startTimer(uint32_t timeoutMs) {

View File

@ -1,12 +1,5 @@
/**
* @file ObjectManager.h
* @brief This file contains the implementation of the ObjectManager class
* @date 18.09.2012
* @author Bastian Baetz
*/
#ifndef OBJECTMANAGER_H_
#define OBJECTMANAGER_H_
#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
#define FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
#include "ObjectManagerIF.h"
#include "SystemObjectIF.h"
@ -22,14 +15,15 @@
* most of the system initialization.
* As the system is static after initialization, no new objects are
* created or inserted into the list after startup.
* \ingroup system_objects
* @ingroup system_objects
* @author Bastian Baetz
*/
class ObjectManager : public ObjectManagerIF {
private:
//comparison?
/**
* \brief This is the map of all initialized objects in the manager.
* \details Objects in the List must inherit the SystemObjectIF.
* @brief This is the map of all initialized objects in the manager.
* @details Objects in the List must inherit the SystemObjectIF.
*/
std::map<object_id_t, SystemObjectIF*> objectList;
protected:
@ -54,7 +48,8 @@ public:
/**
* @brief In the class's destructor, all objects in the list are deleted.
*/
//SHOULDDO: If, for some reason, deleting an ObjectManager instance is required, check if this works.
// SHOULDDO: If, for some reason, deleting an ObjectManager instance is
// required, check if this works.
virtual ~ObjectManager( void );
ReturnValue_t insert( object_id_t id, SystemObjectIF* object );
ReturnValue_t remove( object_id_t id );
@ -64,4 +59,4 @@ public:
#endif /* OBJECTMANAGER_H_ */
#endif /* FSFW_OBJECTMANAGER_OBJECTMANAGER_H_ */

View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
#define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
#include "frameworkObjects.h"
#include "SystemObjectIF.h"
@ -21,7 +21,6 @@ public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
@ -80,6 +79,7 @@ public:
/**
* @brief This is the forward declaration of the global objectManager instance.
*/
// SHOULDDO: maybe put this in the glob namespace to explicitely mark it global?
extern ObjectManagerIF *objectManager;
/*Documentation can be found in the class method declaration above.*/

View File

@ -1,6 +1,6 @@
#include "../events/EventManagerIF.h"
#include "ObjectManager.h"
#include "SystemObject.h"
#include "../events/EventManagerIF.h"
SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
objectId(setObjectId), registered(doRegister) {

View File

@ -1,16 +1,9 @@
/**
* @file SystemObject.h
* @brief This file contains the definition of the SystemObject class.
* @date 07.11.2012
* @author Ulrich Mohr
*/
#ifndef SYSTEMOBJECT_H_
#define SYSTEMOBJECT_H_
#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
#define FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
#include "SystemObjectIF.h"
#include "../events/Event.h"
#include "../events/EventReportingProxyIF.h"
#include "SystemObjectIF.h"
#include "../timemanager/Clock.h"
/**
@ -20,7 +13,8 @@
* class that is announced to ObjectManager. It automatically includes
* itself (and therefore the inheriting class) in the object manager's
* list.
* \ingroup system_objects
* @author Ulrich Mohr
* @ingroup system_objects
*/
class SystemObject: public SystemObjectIF {
private:
@ -37,25 +31,28 @@ public:
* @param parameter1
* @param parameter2
*/
virtual void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0);
/**
* @brief The class's constructor.
* @details In the constructor, the object id is set and the class is
* inserted in the object manager.
* @param setObjectId The id the object shall have.
* @param doRegister Determines if the object is registered in the global object manager.
* @param doRegister Determines if the object is registered in
* the global object manager.
*/
SystemObject(object_id_t setObjectId, bool doRegister = true);
/**
* @brief On destruction, the object removes itself from the list.
*/
virtual ~SystemObject();
object_id_t getObjectId() const;
virtual ReturnValue_t initialize();
object_id_t getObjectId() const override;
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t checkObjectConnections();
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0) const;
};
#endif /* SYSTEMOBJECT_H_ */
#endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

View File

@ -1,26 +1,19 @@
/**
* @file SystemObjectIF.h
* @brief This file contains the definition of the SystemObjectIF interface.
* @date 18.09.2012
* @author Bastian Baetz
*/
#ifndef SYSTEMOBJECTIF_H_
#define SYSTEMOBJECTIF_H_
#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
#define FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
#include "../events/EventReportingProxyIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <stdint.h>
#include <cstdint>
/**
* \defgroup system_objects Software System Object Management
* The classes to create System Objects and classes to manage these are contained in this group.
* System Objects are software elements that can be controlled externally. They all have a unique
* object identifier.
* @defgroup system_objects Software System Object Management
* The classes to create System Objects and classes to manage these are
* contained in this group. System Objects are software elements that can be
* controlled externally. They all have a unique object identifier.
*/
/**
* This is the typedef for object identifiers.
* \ingroup system_objects
* @ingroup system_objects
*/
typedef uint32_t object_id_t;
@ -29,7 +22,8 @@ typedef uint32_t object_id_t;
* list.
* It does not provide any method definitions, still it is required to
* perform a type check with dynamic_cast.
* \ingroup system_objects
* @author Bastian Baetz
* @ingroup system_objects
*/
class SystemObjectIF : public EventReportingProxyIF {
public:
@ -41,24 +35,28 @@ public:
/**
* The empty virtual destructor as required for C++ interfaces.
*/
virtual ~SystemObjectIF() {
}
virtual ~SystemObjectIF() {}
/**
* Initializes all inter-object dependencies.
* This is necessary to avoid circular dependencies of not-fully
* initialized objects on start up.
* @return - \c RETURN_OK in case the initialization was successful
* - \c RETURN_FAILED otherwise
* @brief Initializes the object.
* There are initialization steps which can also be done in the constructor.
* However, there is no clean way to get a returnvalue from a constructor.
* Furthermore some components require other system object to be created
* which might not have been built yet.
* Therefore, a two-step initialization resolves this problem and prevents
* circular dependencies of not-fully initialized objects on start up.
* @return - @c RETURN_OK in case the initialization was successful
* - @c RETURN_FAILED otherwise
*/
virtual ReturnValue_t initialize() = 0;
/**
* Checks, if all object-object interconnections are satisfying for operation.
* Some objects need certain other objects (or a certain number), to be registered as children.
* These checks can be done in this method.
* @return - \c RETURN_OK in case the check was successful
* - \c any other code otherwise
* @brief Checks if all object-object interconnections are satisfying
* for operation.
* Some objects need certain other objects (or a certain number), to be
* registered as children. These checks can be done in this method.
* @return - @c RETURN_OK in case the check was successful
* - @c any other code otherwise
*/
virtual ReturnValue_t checkObjectConnections() = 0;
};
#endif /* SYSTEMOBJECTIF_H_ */
#endif /* #ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_ */

View File

@ -1,8 +1,17 @@
#ifndef FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
#define FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
#ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
#define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
namespace objects {
enum framework_objects {
// Default verification reporter.
PUS_SERVICE_1_VERIFICATION = 0x53000001,
PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
PUS_SERVICE_9_TIME_MGMT = 0x53000009,
PUS_SERVICE_17_TEST = 0x53000017,
PUS_SERVICE_200_MODE_MGMT = 0x53000200,
//Generic IDs for IPC, modes, health, events
HEALTH_TABLE = 0x53010000,
// MODE_STORE = 0x53010100,
@ -12,10 +21,11 @@ enum framework_objects {
//IDs for PUS Packet Communication
TC_STORE = 0x534f0100,
TM_STORE = 0x534f0200,
NO_OBJECT = 0xFFFFFFFF
};
}
#endif /* FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */
#endif /* FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */

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@ -1,5 +1,6 @@
#include "MessageQueue.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
@ -101,7 +102,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();

View File

@ -1,18 +1,21 @@
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
QueueFactory* QueueFactory::factoryInstance = NULL;
QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);
}
QueueFactory* QueueFactory::instance() {
if (factoryInstance == NULL) {
if (factoryInstance == nullptr) {
factoryInstance = new QueueFactory;
}
return factoryInstance;
@ -24,9 +27,9 @@ QueueFactory::QueueFactory() {
QueueFactory::~QueueFactory() {
}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
size_t maxMessageSize) {
return new MessageQueue(message_depth, maxMessageSize);
return new MessageQueue(messageDepth, maxMessageSize);
}
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

View File

@ -6,8 +6,8 @@
#include <linux/sysinfo.h>
#include <time.h>
#include <unistd.h>
#include <fstream>
//#include <fstream>
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = NULL;
@ -76,22 +76,23 @@ timeval Clock::getUptime() {
ReturnValue_t Clock::getUptime(timeval* uptime) {
//TODO This is not posix compatible and delivers only seconds precision
struct sysinfo sysInfo;
int result = sysinfo(&sysInfo);
if(result != 0){
return HasReturnvaluesIF::RETURN_FAILED;
}
uptime->tv_sec = sysInfo.uptime;
uptime->tv_usec = 0;
// is the OS not called Linux?
//Linux specific file read but more precise
// double uptimeSeconds;
// if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
// uptime->tv_sec = uptimeSeconds;
// uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
// }
double uptimeSeconds;
if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
uptime->tv_sec = uptimeSeconds;
uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
}
//TODO This is not posix compatible and delivers only seconds precision
// I suggest this is moved into another clock function which will
// deliver second precision later.
// struct sysinfo sysInfo;
// int result = sysinfo(&sysInfo);
// if(result != 0){
// return HasReturnvaluesIF::RETURN_FAILED;
// }
// return sysInfo.uptime;
return HasReturnvaluesIF::RETURN_OK;
}

View File

@ -1,8 +1,14 @@
#include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
#include "../../ipc/messageQueueDefinitions.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <mqueue.h>
#include <errno.h>
#include "MessageQueue.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
QueueFactory* QueueFactory::factoryInstance = nullptr;

41
pus/Service17Test.cpp Normal file
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@ -0,0 +1,41 @@
#include "Service17Test.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../objectmanager/SystemObject.h"
#include "../tmtcpacket/pus/TmPacketStored.h"
Service17Test::Service17Test(object_id_t objectId,
uint16_t apid, uint8_t serviceId):
PusServiceBase(objectId, apid, serviceId),
packetSubCounter(0) {
}
Service17Test::~Service17Test() {
}
ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
switch(subservice){
case Subservice::CONNECTION_TEST: {
TmPacketStored connectionPacket(apid, serviceId,
Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
requestQueue->getId());
return HasReturnvaluesIF::RETURN_OK;
}
case Subservice::EVENT_TRIGGER_TEST: {
TmPacketStored connectionPacket(apid, serviceId,
Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
requestQueue->getId());
triggerEvent(TEST, 1234, 5678);
return RETURN_OK;
}
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service17Test::performService() {
return HasReturnvaluesIF::RETURN_OK;
}

44
pus/Service17Test.h Normal file
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@ -0,0 +1,44 @@
#ifndef FSFW_PUS_SERVICE17TEST_H_
#define FSFW_PUS_SERVICE17TEST_H_
#include "../tmtcservices/PusServiceBase.h"
#include "../objectmanager/SystemObject.h"
/**
* @brief Test Service
* Full Documentation: ECSS-E70-41A p.167
*
* The test service provides the capability to activate test functions
* implemented on-board and to report the results of such tests.
* Service capability:
* - TC[17,1]: Perform connection test
* - TM[17,2]: Send Connection Test Report
* - TC[17,128]: Perform connection test and trigger event
*
* @ingroup pus_services
*/
class Service17Test: public PusServiceBase {
public:
// Custom events which can be triggered
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_17;
static constexpr Event TEST = MAKE_EVENT(0, SEVERITY::INFO);
enum Subservice: uint8_t {
//! [EXPORT] : [COMMAND] Perform connection test
CONNECTION_TEST = 1,
//! [EXPORT] : [REPLY] Connection test reply
CONNECTION_TEST_REPORT = 2,
//! [EXPORT] : [COMMAND] Trigger test reply and test event
EVENT_TRIGGER_TEST = 128,
};
Service17Test(object_id_t objectId, uint16_t apid, uint8_t serviceId);
virtual ~Service17Test();
virtual ReturnValue_t handleRequest(uint8_t subservice) override;
virtual ReturnValue_t performService() override;
protected:
uint16_t packetSubCounter = 0;
};
#endif /* FSFW_PUS_SERVICE17TEST_H_ */

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@ -0,0 +1,58 @@
#include "Service9TimeManagement.h"
#include "servicepackets/Service9Packets.h"
#include "../timemanager/CCSDSTime.h"
#include "../events/EventManagerIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
Service9TimeManagement::Service9TimeManagement(object_id_t objectId,
uint16_t apid, uint8_t serviceId) :
PusServiceBase(objectId, apid , serviceId) {
}
Service9TimeManagement::~Service9TimeManagement() {}
ReturnValue_t Service9TimeManagement::performService() {
return RETURN_OK;
}
ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
switch(subservice){
case SUBSERVICE::SET_TIME:{
return setTime();
}
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service9TimeManagement::setTime() {
Clock::TimeOfDay_t timeToSet;
TimePacket timePacket(currentPacket.getApplicationData(),
currentPacket.getApplicationDataSize());
ReturnValue_t result = CCSDSTime::convertFromCcsds(&timeToSet,
timePacket.getTime(), timePacket.getTimeSize());
if(result != RETURN_OK) {
triggerEvent(CLOCK_SET_FAILURE, result, 0);
return result;
}
uint32_t formerUptime;
Clock::getUptime(&formerUptime);
result = Clock::setClock(&timeToSet);
if(result == RETURN_OK) {
uint32_t newUptime;
Clock::getUptime(&newUptime);
triggerEvent(CLOCK_SET,newUptime,formerUptime);
return RETURN_OK;
}
else {
triggerEvent(CLOCK_SET_FAILURE, result, 0);
return RETURN_FAILED;
}
}

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@ -0,0 +1,41 @@
#ifndef FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
#define FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
#include "../tmtcservices/PusServiceBase.h"
class Service9TimeManagement: public PusServiceBase {
public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
static constexpr Event CLOCK_SET = MAKE_EVENT(0, SEVERITY::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, SEVERITY::LOW); //!< Clock could not be set. P1: Returncode.
static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
/**
* @brief This service provides the capability to set the on-board time.
*/
Service9TimeManagement(object_id_t objectId, uint16_t apid,
uint8_t serviceId);
virtual ~Service9TimeManagement();
virtual ReturnValue_t performService() override;
/**
* @brief Sets the onboard-time by retrieving the time to set from TC[9,128].
*/
virtual ReturnValue_t handleRequest(uint8_t subservice) override;
virtual ReturnValue_t setTime();
private:
enum SUBSERVICE {
SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
};
};
#endif /* FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_ */

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@ -0,0 +1,32 @@
#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
#define FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
#include "../../serialize/SerialLinkedListAdapter.h"
/**
* @brief Subservice 128
* @details
* It only contains the time encoded as ASCII, CRC, CUC or CDS
* @ingroup spacepackets
*/
class TimePacket : SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
public:
TimePacket(const uint8_t * timeBuffer_, uint32_t timeSize_) {
timeBuffer = timeBuffer_;
timeSize = timeSize_;
}
const uint8_t* getTime() {
return timeBuffer;
}
uint32_t getTimeSize() const {
return timeSize;
}
private:
TimePacket(const TimePacket &command);
const uint8_t * timeBuffer;
uint32_t timeSize; //!< [EXPORT] : [IGNORE]
};
#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_ */

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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
#define FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
#ifndef FSFW_RETURNVALUES_FWCLASSIDS_H_
#define FSFW_RETURNVALUES_FWCLASSIDS_H_
namespace CLASS_ID {
enum {
@ -56,7 +56,6 @@ enum {
DEVICE_COMMUNICATION_IF, //DC
BSP, //BSP
TIME_STAMPER_IF, //TSI 53
//TODO This will shift all IDs for FLP
SGP4PROPAGATOR_CLASS, //SGP4 54
MUTEX_IF, //MUX 55
MESSAGE_QUEUE_IF,//MQI 56
@ -65,9 +64,10 @@ enum {
POOL_VARIABLE_IF, //PVA 59
HOUSEKEEPING_MANAGER, //HKM 60
DLE_ENCODER, //DLEE 61
PUS_SERVICE_9, //PUS9 62
FW_CLASS_ID_COUNT //is actually count + 1 !
};
}
#endif /* FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_ */
#endif /* FSFW_RETURNVALUES_FWCLASSIDS_H_ */

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@ -9,8 +9,7 @@
#include <sys/time.h>
//! Don't use these for time points, type is not large enough for UNIX epoch.
typedef uint32_t dur_millis_t;
typedef double dur_seconds_t;
using dur_millis_t = uint32_t;
class Clock {
public:

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@ -6,19 +6,22 @@ Stopwatch::Stopwatch(bool displayOnDestruction,
StopwatchDisplayMode displayMode): displayOnDestruction(
displayOnDestruction), displayMode(displayMode) {
// Measures start time on initialization.
Clock::getClock_timeval(&startTime);
Clock::getUptime(&startTime);
}
void Stopwatch::start() {
Clock::getClock_timeval(&startTime);
Clock::getUptime(&startTime);
}
dur_millis_t Stopwatch::stop() {
dur_millis_t Stopwatch::stop(bool display) {
stopInternal();
if(display) {
this->display();
}
return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
}
dur_seconds_t Stopwatch::stopSeconds() {
double Stopwatch::stopSeconds() {
stopInternal();
return timevalOperations::toDouble(elapsedTime);
}
@ -52,6 +55,6 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const {
void Stopwatch::stopInternal() {
timeval endTime;
Clock::getClock_timeval(&endTime);
Clock::getUptime(&endTime);
elapsedTime = endTime - startTime;
}

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@ -1,5 +1,6 @@
#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
#ifndef FSFW_TIMEMANAGER_STOPWATCH_H_
#define FSFW_TIMEMANAGER_STOPWATCH_H_
#include "Clock.h"
enum class StopwatchDisplayMode {
@ -40,12 +41,12 @@ public:
* Calculates the elapsed time since start and returns it
* @return elapsed time in milliseconds (rounded)
*/
dur_millis_t stop();
dur_millis_t stop(bool display = false);
/**
* Calculates the elapsed time since start and returns it
* @return elapsed time in seconds (double precision)
*/
dur_seconds_t stopSeconds();
double stopSeconds();
/**
* Displays the elapsed times on the osstream, depending on internal display
@ -66,6 +67,4 @@ private:
};
#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */
#endif /* FSFW_TIMEMANAGER_STOPWATCH_H_ */

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@ -0,0 +1,23 @@
#include "TimeStamper.h"
#include "Clock.h"
#include <cstring>
TimeStamper::TimeStamper(object_id_t objectId): SystemObject(objectId) {}
ReturnValue_t TimeStamper::addTimeStamp(uint8_t* buffer,
const uint8_t maxSize) {
if(maxSize < TimeStamperIF::MISSION_TIMESTAMP_SIZE){
return HasReturnvaluesIF::RETURN_FAILED;
}
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
ReturnValue_t result = CCSDSTime::convertToCcsds(&cds,&now);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
std::memcpy(buffer,&cds,sizeof(cds));
return result;
}

36
timemanager/TimeStamper.h Normal file
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@ -0,0 +1,36 @@
#ifndef FSFW_TIMEMANAGER_TIMESTAMPER_H_
#define FSFW_TIMEMANAGER_TIMESTAMPER_H_
#include "TimeStamperIF.h"
#include "CCSDSTime.h"
#include "../objectmanager/SystemObject.h"
/**
* @brief Time stamper which can be used to add any timestamp to a
* given buffer.
* @details
* This time stamper uses the CCSDS CDC short timestamp as a fault timestamp.
* This timestamp has a size of 8 bytes. A custom timestamp can be used by
* overriding the #addTimeStamp function.
* @ingroup utility
*/
class TimeStamper: public TimeStamperIF, public SystemObject {
public:
/**
* @brief Default constructor which also registers the time stamper as a
* system object so it can be found with the #objectManager.
* @param objectId
*/
TimeStamper(object_id_t objectId);
/**
* Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
* This function can be overriden to use a custom timestamp.
* @param buffer
* @param maxSize
* @return
*/
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize);
};
#endif /* FSFW_TIMEMANAGER_TIMESTAMPER_H_ */

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@ -384,7 +384,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
}
void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
store_address_t address;
if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
commandMap.erase(&iter);

View File

@ -39,7 +39,11 @@ class CommandingServiceBase: public SystemObject,
public HasReturnvaluesIF {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
// We could make this configurable via preprocessor and the FSFWConfig file.
static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = 3;
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
@ -223,7 +227,7 @@ protected:
uint32_t state;
Command_t command;
object_id_t objectId;
FIFO<store_address_t, 3> fifo;
FIFO<store_address_t, COMMAND_INFO_FIFO_DEPTH> fifo;
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const override{
@ -235,7 +239,7 @@ protected:
};
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override{
Endianness streamEndianness) override {
return HasReturnvaluesIF::RETURN_FAILED;
};
};
@ -312,7 +316,7 @@ protected:
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
SerializeIF* header = nullptr);
void checkAndExecuteFifo(CommandMapIter iter);
void checkAndExecuteFifo(CommandMapIter& iter);
private:
/**

View File

@ -1,55 +1,59 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "VerificationReporter.h"
#include "AcceptsVerifyMessageIF.h"
#include "PusVerificationReport.h"
#include "VerificationReporter.h"
object_id_t VerificationReporter::messageReceiver = 0;
#include "../ipc/MessageQueueIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../objectmanager/frameworkObjects.h"
object_id_t VerificationReporter::messageReceiver =
objects::PUS_SERVICE_1_VERIFICATION;
VerificationReporter::VerificationReporter() :
acknowledgeQueue() {
acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
}
VerificationReporter::~VerificationReporter() {
//Default, empty
}
VerificationReporter::~VerificationReporter() {}
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
TcPacketBase* current_packet, uint8_t set_step) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(set_report_id,
current_packet->getAcknowledgeFlags(),
current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendSuccessReport: Error writing "
<< "to queue. Code: " << std::hex << status << std::dec
<< std::endl;
}
}
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
uint8_t set_step) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
tcSequenceControl, 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendSuccessReport: Error writing "
<< "to queue. Code: " << std::hex << status << std::dec
<< std::endl;
}
}
void VerificationReporter::sendFailureReport(uint8_t report_id,
TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
uint32_t parameter1, uint32_t parameter2) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(report_id,
@ -57,11 +61,12 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), error_code, step,
parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendFailureReport: Error writing "
<< "to queue. Code: " << std::hex << "0x" << status << std::dec
<< std::endl;
}
}
@ -69,27 +74,33 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t error_code, uint8_t step, uint32_t parameter1,
uint32_t parameter2) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(report_id, ackFlags, tcPacketId,
tcSequenceControl, error_code, step, parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendFailureReport: Error writing "
<< "to queue. Code: " << std::hex << "0x" << status << std::dec
<< std::endl;
}
}
void VerificationReporter::initialize() {
if(messageReceiver == objects::NO_OBJECT) {
sif::warning << "VerificationReporter::initialize: Verification message"
" receiver object ID not set yet in Factory!" << std::endl;
return;
}
AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
messageReceiver);
if (temp != NULL) {
this->acknowledgeQueue = temp->getVerificationQueue();
} else {
sif::error
<< "VerificationReporter::VerificationReporter: Configuration error."
<< std::endl;
if (temp == nullptr) {
sif::error << "VerificationReporter::initialize: Message "
<< "receiver invalid. Make sure it is set up properly and "
<< "implementsAcceptsVerifyMessageIF" << std::endl;
return;
}
this->acknowledgeQueue = temp->getVerificationQueue();
}

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@ -1,31 +1,50 @@
#ifndef VERIFICATIONREPORTER_H_
#define VERIFICATIONREPORTER_H_
#ifndef FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
#define FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "PusVerificationReport.h"
#include "../objectmanager/ObjectManagerIF.h"
namespace Factory{
void setStaticFrameworkObjectIds();
}
/**
* @brief This helper object is used to forward verification messages
* which are generated by the Flight Software Framework.
* @details
* The messages can be relayed to an arbitrary object, for example a dedicated
* Verification Reporter. The destination is set by setting the static framework
* Id VerificationReporter::messageReceiver. The default verification reporter
* will be the PUS service 1, which sends verification messages according
* to the PUS standard.
*
*/
class VerificationReporter {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
VerificationReporter();
virtual ~VerificationReporter();
void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet, uint8_t set_step = 0 );
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t set_step = 0);
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0,
uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
uint8_t set_step = 0 );
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
uint16_t tcPacketId, uint16_t tcSequenceControl,
uint8_t set_step = 0);
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
ReturnValue_t error_code = 0,
uint8_t step = 0, uint32_t parameter1 = 0,
uint32_t parameter2 = 0 );
void sendFailureReport(uint8_t report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, ReturnValue_t error_code = 0, uint8_t step = 0,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t error_code = 0, uint8_t step = 0,
uint32_t parameter1 = 0, uint32_t parameter2 = 0);
void initialize();
private:
static object_id_t messageReceiver;
MessageQueueId_t acknowledgeQueue;
};
#endif /* VERIFICATIONREPORTER_H_ */
#endif /* FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_ */