hk continued

datapool/DataSetBase.h

@@ -102,7 +102,7 @@ public:
 	virtual ReturnValue_t unlockDataPool() override;
 
 	/* SerializeIF implementations */
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
 				const size_t maxSize, bool bigEndian) const override;
 	virtual size_t getSerializedSize() const override;
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,

datapoollocal/LocalDataPoolManager.cpp

@@ -1,16 +1,17 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/objectmanager/frameworkObjects.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/ipc/MutexHelper.h>
+#include <framework/ipc/QueueFactory.h>
 
 #include <array>
 
-LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner) {
+LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
+        uint32_t replyQueueDepth, bool appendValidityBuffer):
+        appendValidityBuffer(appendValidityBuffer) {
 	if(owner == nullptr) {
 		sif::error << "HkManager: Invalid supplied owner!" << std::endl;
-		std::exit(0);
+		return;
 	}
 	this->owner = owner;
 	mutex = MutexFactory::instance()->createMutex();
@@ -23,6 +24,8 @@ LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner) {
 	    sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
 	            "Could not set IPC store." << std::endl;
 	}
+	hkQueue = QueueFactory::instance()->createMessageQueue(replyQueueDepth,
+	        HousekeepingMessage::HK_MESSAGE_SIZE);
 }
 
 LocalDataPoolManager::~LocalDataPoolManager() {}
@@ -36,13 +39,21 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 		}
 		return result;
 	}
-	sif::warning << "HousekeepingManager: The map" << std::endl;
+	sif::warning << "HousekeepingManager: The map should only be initialized "
+	        "once!" << std::endl;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 		HousekeepingMessage& message) {
-	return HasReturnvaluesIF::RETURN_FAILED;
+    Command_t command = message.getCommand();
+    switch(command) {
+    case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
+    case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT):
+        return generateHousekeepingPacket(message.getSid());
+    default:
+        return CommandMessageIF::UNKNOWN_COMMAND;
+    }
 }
 
 ReturnValue_t LocalDataPoolManager::printPoolEntry(
@@ -51,7 +62,7 @@ ReturnValue_t LocalDataPoolManager::printPoolEntry(
 	if (poolIter == localDpMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
+		return POOL_ENTRY_NOT_FOUND;
 	}
 	poolIter->second->print();
 	return HasReturnvaluesIF::RETURN_OK;
@@ -61,6 +72,15 @@ MutexIF* LocalDataPoolManager::getMutexHandle() {
 	return mutex;
 }
 
+void LocalDataPoolManager::setHkPacketDestination(
+        MessageQueueId_t destinationQueueId) {
+    this->currentHkPacketDestination = destinationQueueId;
+}
+
+const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
+    return owner;
+}
+
 ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	LocalDataSet* dataSetToSerialize = dynamic_cast<LocalDataSet*>(
 			owner->getDataSetHandle(sid));
@@ -70,28 +90,56 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	store_address_t storeId;
-	size_t hkSize = dataSetToSerialize->getSerializedSize();
+	ReturnValue_t result = serializeHkPacketIntoStore(&storeId,
+	        dataSetToSerialize);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+	    return result;
+	}
+
+	// and now we set a HK message and send it the HK packet destination.
+	MessageQueueMessage message;
+	HousekeepingMessage hkMessage(&message);
+	hkMessage.setHkReportMessage(sid, storeId);
+	if(hkQueue == nullptr) {
+	    return QUEUE_NOT_SET;
+	}
+
+	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
+	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
+	}
+	else {
+	    result = hkQueue->sendToDefault(&hkMessage);
+	}
+
+	return result;
+}
+
+ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
+        store_address_t *storeId, LocalDataSet* dataSet) {
+    size_t hkSize = dataSet->getSerializedSize();
     uint8_t* storePtr = nullptr;
-	ReturnValue_t result = ipcStore->getFreeElement(&storeId, hkSize,&storePtr);
+    ReturnValue_t result = ipcStore->getFreeElement(storeId, hkSize,&storePtr);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "HousekeepingManager::generateHousekeepingPacket: "
                 "Could not get free element from IPC store." << std::endl;
         return result;
     }
     size_t size = 0;
-	dataSetToSerialize->serialize(&storePtr, &size, hkSize, false);
+
-	// and now we have to set a HK message and send it the queue.
+    if(appendValidityBuffer) {
-	return HasReturnvaluesIF::RETURN_OK;
+        result = dataSet->serializeWithValidityBuffer(&storePtr,
+                &size, hkSize, false);
+    }
+    else {
+        result = dataSet->serialize(&storePtr, &size, hkSize, false);
     }
 
-void LocalDataPoolManager::setHkPacketQueue(MessageQueueIF *msgQueue) {
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-	this->hkPacketQueue = msgQueue;
+        sif::error << "HousekeepingManager::serializeHkPacketIntoStore: "
+                "Serialization proccess failed!" << std::endl;
+    }
+    return result;
 }
 
-void LocalDataPoolManager::setHkReplyQueue(MessageQueueIF *replyQueue) {
-    this->hkReplyQueue = replyQueue;
-}
 
-const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
+
-	return owner;
-}

datapoollocal/LocalDataPoolManager.h

@@ -13,6 +13,8 @@
 
 #include <map>
 
+class LocalDataSet;
+
 /**
  * @brief 	This class is the managing instance for local data pool.
  * @details
@@ -37,8 +39,16 @@ class LocalDataPoolManager {
 	friend class LocalPoolVector;
 	friend class LocalDataSet;
 public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
 
-	LocalDataPoolManager(OwnsLocalDataPoolIF* owner);
+    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x0);
+    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x1);
+
+    static constexpr ReturnValue_t QUEUE_NOT_SET = MAKE_RETURN_CODE(0x2);
+    //static constexpr ReturnValue_t SET_NOT_FOUND = MAKE_RETURN_CODE(0x3);
+
+	LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
+	        uint32_t replyQueueDepth = 20, bool appendValidityBuffer = true);
 	virtual~ LocalDataPoolManager();
 
 	/* Copying forbidden */
@@ -57,10 +67,7 @@ public:
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
 	//! Set the queue for HK packets, which are sent unrequested.
-	void setHkPacketQueue(MessageQueueIF* msgQueue);
+	void setHkPacketDestination(MessageQueueId_t destinationQueueId);
-	//! Set the queue for replies. This can be set manually or by the owner
-	//! class if the manager if message are relayed by it.
-	void setHkReplyQueue(MessageQueueIF* replyQueue);
 
 	const OwnsLocalDataPoolIF* getOwner() const;
 
@@ -70,6 +77,10 @@ private:
 	//! This is the map holding the actual data. Should only be initialized
 	//! once !
 	bool mapInitialized = false;
+	//! This specifies whether a validity buffer is appended at the end
+	//! of generated housekeeping packets.
+	bool appendValidityBuffer = true;
+
 	LocalDataPool localDpMap;
 
 	//! Every housekeeping data manager has a mutex to protect access
@@ -79,13 +90,14 @@ private:
 	//! The class which actually owns the manager (and its datapool).
 	OwnsLocalDataPoolIF* owner = nullptr;
 
-	//! Used for replies.
+	//! Queue used for communication, for example commands.
-	//! (maybe we dont need this, the sender can be retrieved from command
+	//! Is also used to send messages.
-	//! message..)
+	MessageQueueIF* hkQueue = nullptr;
-	MessageQueueIF* hkReplyQueue = nullptr;
+
-	//! Used for HK packets, which are generated without requests.
+	//! HK replies will always be a reply to the commander, but HK packet
-	//! Maybe this will just be the TM funnel.
+	//! can be sent to another destination by specifying this message queue
-	MessageQueueIF* hkPacketQueue = nullptr;
+	//! ID, for example to a dedicated housekeeping service implementation.
+	MessageQueueId_t currentHkPacketDestination = MessageQueueIF::NO_QUEUE;
 
 	//! Global IPC store is used to store all packets.
 	StorageManagerIF* ipcStore = nullptr;
@@ -113,6 +125,8 @@ private:
 			PoolEntry<T> **poolEntry);
 
 	void setMinimalSamplingFrequency(float frequencySeconds);
+	ReturnValue_t serializeHkPacketIntoStore(store_address_t* storeId,
+	        LocalDataSet* dataSet);
 };
 
 
@@ -123,14 +137,14 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 	if (poolIter == localDpMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
+		return POOL_ENTRY_NOT_FOUND;
 	}
 
 	*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
 	if(*poolEntry == nullptr) {
 		sif::debug << "HousekeepingManager::fetchPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_TYPE_CONFLICT;
+		return POOL_ENTRY_TYPE_CONFLICT;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

datapoollocal/LocalDataSet.cpp

@@ -1,20 +1,23 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
 
+#include <cmath>
+#include <cstring>
+
 LocalDataSet::LocalDataSet(OwnsLocalDataPoolIF *hkOwner): DataSetBase() {
-	if(hkOwner != nullptr) {
+    if(hkOwner == nullptr) {
+        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+                << std::endl;
+    }
     hkManager = hkOwner->getHkManagerHandle();
 }
-	else {
-		// config error, error output here.
-	}
-}
 
 LocalDataSet::LocalDataSet(object_id_t ownerId): DataSetBase()  {
     OwnsLocalDataPoolIF* hkOwner = objectManager->get<OwnsLocalDataPoolIF>(
             ownerId);
     if(hkOwner == nullptr) {
-		// config error, error output here.
+        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+                << std::endl;
     }
     hkManager = hkOwner->getHkManagerHandle();
 }
@@ -27,9 +30,50 @@ ReturnValue_t LocalDataSet::lockDataPool(uint32_t timeoutMs) {
 	return mutex->lockMutex(timeoutMs);
 }
 
+ReturnValue_t LocalDataSet::serializeWithValidityBuffer(uint8_t **buffer,
+        size_t *size, const size_t maxSize, bool bigEndian) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+    uint8_t validityMask[validityMaskSize];
+    uint8_t validBufferIndex = 0;
+    uint8_t validBufferIndexBit = 0;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if(registeredVariables[count]->isValid()) {
+            // set validity buffer here.
+            this->bitSetter(validityMask + validBufferIndex,
+                    validBufferIndexBit, true);
+            if(validBufferIndexBit == 7) {
+                validBufferIndex ++;
+                validBufferIndexBit = 0;
+            }
+            else {
+                validBufferIndexBit ++;
+            }
+        }
+        result = registeredVariables[count]->serialize(buffer, size, maxSize,
+                bigEndian);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    // copy validity buffer to end
+    std::memcpy(*buffer, validityMask, validityMaskSize);
+    *size += validityMaskSize;
+    return result;
+}
+
 ReturnValue_t LocalDataSet::unlockDataPool() {
 	MutexIF* mutex = hkManager->getMutexHandle();
 	return mutex->unlockMutex();
 }
 
+void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position,
+        bool value) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl;
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1UL << shiftNumber;
+}
 

datapoollocal/LocalDataSet.h

@@ -55,6 +55,20 @@ public:
 	 */
 	~LocalDataSet();
 
+	/**
+	 * Special version of the serilization function which appends a
+	 * validity buffer at the end. Each bit of this validity buffer
+	 * denotes whether the container data set entries are valid from left
+	 * to right, MSB first.
+	 * @param buffer
+	 * @param size
+	 * @param maxSize
+	 * @param bigEndian
+	 * @param withValidityBuffer
+	 * @return
+	 */
+	ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
+	        size_t* size, const size_t maxSize, bool bigEndian) const ;
 protected:
 private:
 	/**
@@ -79,6 +93,16 @@ private:
 	ReturnValue_t unlockDataPool() override;
 
 	LocalDataPoolManager* hkManager;
+
+	/**
+	 * Sets the bit at the bit-position of a byte provided by its address
+	 * to the specified value (zero or one).
+	 * @param byte Pointer to byte to bitset.
+	 * @param position MSB first, 0 to 7 possible.
+	 * @param value Value to set.
+	 * @return
+	 */
+	void bitSetter(uint8_t* byte, uint8_t position, bool value) const;
 };
 
 #endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */

datapoollocal/OwnsLocalDataPoolIF.h

@@ -40,9 +40,7 @@ class OwnsLocalDataPoolIF {
 public:
 	virtual~ OwnsLocalDataPoolIF() {};
 
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING;
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
-	static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0XA0);
-	static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0xA1);
 
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	virtual ReturnValue_t initializeHousekeepingPoolEntries(

housekeeping/HousekeepingMessage.h

@@ -96,6 +96,7 @@ public:
 
 	void setParameter(uint32_t parameter);
 	uint32_t getParameter() const;
+	sid_t getSid() const;
 
 	void setHkReportMessage(sid_t sid, store_address_t storeId);
 	void setHkDiagnosticsMessage(sid_t sid, store_address_t storeId);
@@ -106,7 +107,7 @@ public:
 	virtual size_t getMinimumMessageSize() const override;
 	virtual void clear() override;
 private:
-	sid_t getSid() const;
+
 	void setSid(sid_t sid);
 
 	virtual uint8_t* getData() override;

returnvalues/FwClassIds.h

@@ -61,8 +61,9 @@ enum {
 	MUTEX_IF, //MUX 55
 	MESSAGE_QUEUE_IF,//MQI 56
 	SEMAPHORE_IF, //SPH 57
-	HOUSEKEEPING, //HK 58
+	LOCAL_POOL_OWNER_IF, //LPIF 58
 	POOL_VARIABLE_IF, //PVA 59
+	HOUSEKEEPING_MANAGER, //HKM 60
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };