Merge remote-tracking branch 'upstream/master' into mueller/SimpleRingBufferUpdate2
This commit is contained in:
commit
96f2b68a22
@ -72,11 +72,15 @@ public:
|
||||
return tmp;
|
||||
}
|
||||
|
||||
T operator*() {
|
||||
T& operator*(){
|
||||
return *value;
|
||||
}
|
||||
|
||||
T *operator->() {
|
||||
const T& operator*() const{
|
||||
return *value;
|
||||
}
|
||||
|
||||
T *operator->(){
|
||||
return value;
|
||||
}
|
||||
|
||||
|
55
container/DynamicFIFO.h
Normal file
55
container/DynamicFIFO.h
Normal file
@ -0,0 +1,55 @@
|
||||
#ifndef FSFW_CONTAINER_DYNAMICFIFO_H_
|
||||
#define FSFW_CONTAINER_DYNAMICFIFO_H_
|
||||
|
||||
#include "FIFOBase.h"
|
||||
#include <vector>
|
||||
|
||||
/**
|
||||
* @brief Simple First-In-First-Out data structure. The maximum size
|
||||
* can be set in the constructor.
|
||||
* @details
|
||||
* The maximum capacity can be determined at run-time, so this container
|
||||
* performs dynamic memory allocation!
|
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* The public interface of FIFOBase exposes the user interface for the FIFO.
|
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* @tparam T Entry Type
|
||||
* @tparam capacity Maximum capacity
|
||||
*/
|
||||
template<typename T>
|
||||
class DynamicFIFO: public FIFOBase<T> {
|
||||
public:
|
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DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
|
||||
fifoVector(maxCapacity) {
|
||||
// trying to pass the pointer of the uninitialized vector
|
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// to the FIFOBase constructor directly lead to a super evil bug.
|
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// So we do it like this now.
|
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this->setContainer(fifoVector.data());
|
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};
|
||||
|
||||
/**
|
||||
* @brief Custom copy constructor which prevents setting the
|
||||
* underlying pointer wrong. This function allocates memory!
|
||||
* @details This is a very heavy operation so try to avoid this!
|
||||
*
|
||||
*/
|
||||
DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
|
||||
fifoVector(other.maxCapacity) {
|
||||
this->fifoVector = other.fifoVector;
|
||||
this->setContainer(fifoVector.data());
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Custom assignment operator
|
||||
* @details This is a very heavy operation so try to avoid this!
|
||||
* @param other DyamicFIFO to copy from
|
||||
*/
|
||||
DynamicFIFO& operator=(const DynamicFIFO& other){
|
||||
FIFOBase<T>::operator=(other);
|
||||
this->fifoVector = other.fifoVector;
|
||||
this->setContainer(fifoVector.data());
|
||||
return *this;
|
||||
}
|
||||
private:
|
||||
std::vector<T> fifoVector;
|
||||
};
|
||||
|
||||
#endif /* FSFW_CONTAINER_DYNAMICFIFO_H_ */
|
103
container/FIFO.h
103
container/FIFO.h
@ -1,82 +1,47 @@
|
||||
#ifndef FIFO_H_
|
||||
#define FIFO_H_
|
||||
#ifndef FSFW_CONTAINER_FIFO_H_
|
||||
#define FSFW_CONTAINER_FIFO_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "FIFOBase.h"
|
||||
#include <array>
|
||||
|
||||
/**
|
||||
* @brief Simple First-In-First-Out data structure
|
||||
* @brief Simple First-In-First-Out data structure with size fixed at
|
||||
* compile time
|
||||
* @details
|
||||
* Performs no dynamic memory allocation.
|
||||
* The public interface of FIFOBase exposes the user interface for the FIFO.
|
||||
* @tparam T Entry Type
|
||||
* @tparam capacity Maximum capacity
|
||||
*/
|
||||
template<typename T, uint8_t capacity>
|
||||
class FIFO {
|
||||
private:
|
||||
uint8_t readIndex, writeIndex, currentSize;
|
||||
T data[capacity];
|
||||
|
||||
uint8_t next(uint8_t current) {
|
||||
++current;
|
||||
if (current == capacity) {
|
||||
current = 0;
|
||||
}
|
||||
return current;
|
||||
}
|
||||
template<typename T, size_t capacity>
|
||||
class FIFO: public FIFOBase<T> {
|
||||
public:
|
||||
FIFO() :
|
||||
readIndex(0), writeIndex(0), currentSize(0) {
|
||||
FIFO(): FIFOBase<T>(nullptr, capacity) {
|
||||
this->setContainer(fifoArray.data());
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Custom copy constructor to set pointer correctly.
|
||||
* @param other
|
||||
*/
|
||||
FIFO(const FIFO& other): FIFOBase<T>(other) {
|
||||
this->fifoArray = other.fifoArray;
|
||||
this->setContainer(fifoArray.data());
|
||||
}
|
||||
|
||||
bool empty() {
|
||||
return (currentSize == 0);
|
||||
/**
|
||||
* @brief Custom assignment operator
|
||||
* @param other
|
||||
*/
|
||||
FIFO& operator=(const FIFO& other){
|
||||
FIFOBase<T>::operator=(other);
|
||||
this->fifoArray = other.fifoArray;
|
||||
this->setContainer(fifoArray.data());
|
||||
return *this;
|
||||
}
|
||||
|
||||
bool full() {
|
||||
return (currentSize == capacity);
|
||||
}
|
||||
|
||||
uint8_t size(){
|
||||
return currentSize;
|
||||
}
|
||||
|
||||
ReturnValue_t insert(T value) {
|
||||
if (full()) {
|
||||
return FULL;
|
||||
} else {
|
||||
data[writeIndex] = value;
|
||||
writeIndex = next(writeIndex);
|
||||
++currentSize;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t retrieve(T *value) {
|
||||
if (empty()) {
|
||||
return EMPTY;
|
||||
} else {
|
||||
*value = data[readIndex];
|
||||
readIndex = next(readIndex);
|
||||
--currentSize;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t peek(T * value) {
|
||||
if(empty()) {
|
||||
return EMPTY;
|
||||
} else {
|
||||
*value = data[readIndex];
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t pop() {
|
||||
T value;
|
||||
return this->retrieve(&value);
|
||||
}
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
|
||||
static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
|
||||
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
|
||||
private:
|
||||
std::array<T, capacity> fifoArray;
|
||||
};
|
||||
|
||||
#endif /* FIFO_H_ */
|
||||
#endif /* FSFW_CONTAINER_FIFO_H_ */
|
||||
|
65
container/FIFOBase.h
Normal file
65
container/FIFOBase.h
Normal file
@ -0,0 +1,65 @@
|
||||
#ifndef FSFW_CONTAINER_FIFOBASE_H_
|
||||
#define FSFW_CONTAINER_FIFOBASE_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <cstddef>
|
||||
#include <cstring>
|
||||
|
||||
template <typename T>
|
||||
class FIFOBase {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
|
||||
static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
|
||||
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
|
||||
|
||||
/** Default ctor, takes pointer to first entry of underlying container
|
||||
* and maximum capacity */
|
||||
FIFOBase(T* values, const size_t maxCapacity);
|
||||
|
||||
/**
|
||||
* Insert value into FIFO
|
||||
* @param value
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t insert(T value);
|
||||
/**
|
||||
* Retrieve item from FIFO. This removes the item from the FIFO.
|
||||
* @param value
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t retrieve(T *value);
|
||||
/**
|
||||
* Retrieve item from FIFO without removing it from FIFO.
|
||||
* @param value
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t peek(T * value);
|
||||
/**
|
||||
* Remove item from FIFO.
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t pop();
|
||||
|
||||
bool empty();
|
||||
bool full();
|
||||
size_t size();
|
||||
|
||||
|
||||
size_t getMaxCapacity() const;
|
||||
|
||||
protected:
|
||||
void setContainer(T* data);
|
||||
size_t maxCapacity = 0;
|
||||
|
||||
T* values;
|
||||
|
||||
size_t readIndex = 0;
|
||||
size_t writeIndex = 0;
|
||||
size_t currentSize = 0;
|
||||
|
||||
size_t next(size_t current);
|
||||
};
|
||||
|
||||
#include "FIFOBase.tpp"
|
||||
|
||||
#endif /* FSFW_CONTAINER_FIFOBASE_H_ */
|
87
container/FIFOBase.tpp
Normal file
87
container/FIFOBase.tpp
Normal file
@ -0,0 +1,87 @@
|
||||
#ifndef FSFW_CONTAINER_FIFOBASE_TPP_
|
||||
#define FSFW_CONTAINER_FIFOBASE_TPP_
|
||||
|
||||
#ifndef FSFW_CONTAINER_FIFOBASE_H_
|
||||
#error Include FIFOBase.h before FIFOBase.tpp!
|
||||
#endif
|
||||
|
||||
template<typename T>
|
||||
inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
|
||||
maxCapacity(maxCapacity), values(values){};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t FIFOBase<T>::insert(T value) {
|
||||
if (full()) {
|
||||
return FULL;
|
||||
} else {
|
||||
values[writeIndex] = value;
|
||||
writeIndex = next(writeIndex);
|
||||
++currentSize;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
|
||||
if (empty()) {
|
||||
return EMPTY;
|
||||
} else {
|
||||
*value = values[readIndex];
|
||||
readIndex = next(readIndex);
|
||||
--currentSize;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t FIFOBase<T>::peek(T* value) {
|
||||
if(empty()) {
|
||||
return EMPTY;
|
||||
} else {
|
||||
*value = values[readIndex];
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline ReturnValue_t FIFOBase<T>::pop() {
|
||||
T value;
|
||||
return this->retrieve(&value);
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline bool FIFOBase<T>::empty() {
|
||||
return (currentSize == 0);
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
inline bool FIFOBase<T>::full() {
|
||||
return (currentSize == maxCapacity);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline size_t FIFOBase<T>::size() {
|
||||
return currentSize;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline size_t FIFOBase<T>::next(size_t current) {
|
||||
++current;
|
||||
if (current == maxCapacity) {
|
||||
current = 0;
|
||||
}
|
||||
return current;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline size_t FIFOBase<T>::getMaxCapacity() const {
|
||||
return maxCapacity;
|
||||
}
|
||||
|
||||
|
||||
template<typename T>
|
||||
inline void FIFOBase<T>::setContainer(T *data) {
|
||||
this->values = data;
|
||||
}
|
||||
|
||||
#endif
|
@ -1,15 +1,20 @@
|
||||
#ifndef FIXEDMAP_H_
|
||||
#define FIXEDMAP_H_
|
||||
#ifndef FSFW_CONTAINER_FIXEDMAP_H_
|
||||
#define FSFW_CONTAINER_FIXEDMAP_H_
|
||||
|
||||
#include "ArrayList.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <utility>
|
||||
#include <type_traits>
|
||||
|
||||
/**
|
||||
* \ingroup container
|
||||
* @warning Iterators return a non-const key_t in the pair.
|
||||
* @warning A User is not allowed to change the key, otherwise the map is corrupted.
|
||||
* @ingroup container
|
||||
*/
|
||||
template<typename key_t, typename T>
|
||||
class FixedMap: public SerializeIF {
|
||||
static_assert (std::is_trivially_copyable<T>::value or std::is_base_of<SerializeIF, T>::value,
|
||||
"Types used in FixedMap must either be trivial copy-able or a derived Class from SerializeIF to be serialize-able");
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
|
||||
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
|
||||
@ -47,15 +52,6 @@ public:
|
||||
Iterator(std::pair<key_t, T> *pair) :
|
||||
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
|
||||
}
|
||||
|
||||
T operator*() {
|
||||
return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
|
||||
}
|
||||
|
||||
T *operator->() {
|
||||
return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
Iterator begin() const {
|
||||
@ -70,7 +66,7 @@ public:
|
||||
return _size;
|
||||
}
|
||||
|
||||
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
|
||||
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
|
||||
if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
|
||||
return KEY_ALREADY_EXISTS;
|
||||
}
|
||||
@ -79,7 +75,7 @@ public:
|
||||
}
|
||||
theMap[_size].first = key;
|
||||
theMap[_size].second = value;
|
||||
if (storedValue != NULL) {
|
||||
if (storedValue != nullptr) {
|
||||
*storedValue = Iterator(&theMap[_size]);
|
||||
}
|
||||
++_size;
|
||||
@ -87,7 +83,7 @@ public:
|
||||
}
|
||||
|
||||
ReturnValue_t insert(std::pair<key_t, T> pair) {
|
||||
return insert(pair.fist, pair.second);
|
||||
return insert(pair.first, pair.second);
|
||||
}
|
||||
|
||||
ReturnValue_t exists(key_t key) const {
|
||||
@ -196,4 +192,4 @@ public:
|
||||
|
||||
};
|
||||
|
||||
#endif /* FIXEDMAP_H_ */
|
||||
#endif /* FSFW_CONTAINER_FIXEDMAP_H_ */
|
||||
|
@ -48,7 +48,7 @@ private:
|
||||
if (_size <= position) {
|
||||
return;
|
||||
}
|
||||
memmove(&theMap[position], &theMap[position + 1],
|
||||
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
|
||||
(_size - position - 1) * sizeof(std::pair<key_t,T>));
|
||||
--_size;
|
||||
}
|
||||
@ -68,15 +68,6 @@ public:
|
||||
Iterator(std::pair<key_t, T> *pair) :
|
||||
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
|
||||
}
|
||||
|
||||
T operator*() {
|
||||
return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
|
||||
}
|
||||
|
||||
T *operator->() {
|
||||
return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
Iterator begin() const {
|
||||
@ -91,17 +82,17 @@ public:
|
||||
return _size;
|
||||
}
|
||||
|
||||
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
|
||||
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
|
||||
if (_size == theMap.maxSize()) {
|
||||
return MAP_FULL;
|
||||
}
|
||||
uint32_t position = findNicePlace(key);
|
||||
memmove(&theMap[position + 1], &theMap[position],
|
||||
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
|
||||
(_size - position) * sizeof(std::pair<key_t,T>));
|
||||
theMap[position].first = key;
|
||||
theMap[position].second = value;
|
||||
++_size;
|
||||
if (storedValue != NULL) {
|
||||
if (storedValue != nullptr) {
|
||||
*storedValue = Iterator(&theMap[position]);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -145,12 +136,6 @@ public:
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
//This is potentially unsafe
|
||||
// T *findValue(key_t key) const {
|
||||
// return &theMap[findFirstIndex(key)].second;
|
||||
// }
|
||||
|
||||
|
||||
Iterator find(key_t key) const {
|
||||
ReturnValue_t result = exists(key);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
@ -1,41 +0,0 @@
|
||||
#ifndef ISDERIVEDFROM_H_
|
||||
#define ISDERIVEDFROM_H_
|
||||
|
||||
template<typename D, typename B>
|
||||
class IsDerivedFrom {
|
||||
class No {
|
||||
};
|
||||
class Yes {
|
||||
No no[3];
|
||||
};
|
||||
|
||||
static Yes Test(B*); // declared, but not defined
|
||||
static No Test(... ); // declared, but not defined
|
||||
|
||||
public:
|
||||
enum {
|
||||
Is = sizeof(Test(static_cast<D*>(0))) == sizeof(Yes)
|
||||
};
|
||||
};
|
||||
|
||||
template<typename, typename>
|
||||
struct is_same {
|
||||
static bool const value = false;
|
||||
};
|
||||
|
||||
template<typename A>
|
||||
struct is_same<A, A> {
|
||||
static bool const value = true;
|
||||
};
|
||||
|
||||
|
||||
template<bool C, typename T = void>
|
||||
struct enable_if {
|
||||
typedef T type;
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
struct enable_if<false, T> { };
|
||||
|
||||
|
||||
#endif /* ISDERIVEDFROM_H_ */
|
@ -25,12 +25,10 @@ SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SimpleRingBuffer::~SimpleRingBuffer() {
|
||||
delete[] buffer;
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
|
||||
size_t amount) {
|
||||
if (availableWriteSpace() >= amount or overwriteOld) {
|
||||
@ -131,5 +129,3 @@ ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
|
||||
incrementRead(amount, READ_PTR);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
||||
|
@ -117,6 +117,7 @@ public:
|
||||
*/
|
||||
ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
|
||||
size_t* trueAmount = nullptr);
|
||||
|
||||
private:
|
||||
static const uint8_t READ_PTR = 0;
|
||||
uint8_t* buffer = nullptr;
|
||||
|
@ -1,17 +1,19 @@
|
||||
#include "../subsystem/SubsystemBase.h"
|
||||
#include "ChildHandlerBase.h"
|
||||
#include "../devicehandlers/ChildHandlerBase.h"
|
||||
#include "../subsystem/SubsystemBase.h"
|
||||
|
||||
ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
|
||||
object_id_t deviceCommunication, CookieIF * comCookie,
|
||||
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
|
||||
uint32_t thermalRequestPoolId, uint32_t parent,
|
||||
FailureIsolationBase* customFdir, size_t cmdQueueSize) :
|
||||
DeviceHandlerBase(setObjectId, deviceCommunication, comCookie,
|
||||
setDeviceSwitch, thermalStatePoolId,thermalRequestPoolId,
|
||||
(customFdir == nullptr? &childHandlerFdir : customFdir),
|
||||
cmdQueueSize),
|
||||
object_id_t deviceCommunication, CookieIF * cookie,
|
||||
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
|
||||
object_id_t parent, FailureIsolationBase* customFdir,
|
||||
size_t cmdQueueSize) :
|
||||
DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
|
||||
(customFdir == nullptr? &childHandlerFdir : customFdir),
|
||||
cmdQueueSize),
|
||||
parentId(parent), childHandlerFdir(setObjectId) {
|
||||
this->setThermalStateRequestPoolIds(thermalStatePoolId,
|
||||
thermalRequestPoolId);
|
||||
|
||||
}
|
||||
|
||||
ChildHandlerBase::~ChildHandlerBase() {
|
||||
@ -25,7 +27,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
|
||||
|
||||
MessageQueueId_t parentQueue = 0;
|
||||
|
||||
if (parentId != 0) {
|
||||
if (parentId != objects::NO_OBJECT) {
|
||||
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
|
||||
if (parent == NULL) {
|
||||
return RETURN_FAILED;
|
||||
|
@ -1,15 +1,15 @@
|
||||
#ifndef PAYLOADHANDLERBASE_H_
|
||||
#define PAYLOADHANDLERBASE_H_
|
||||
#ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
|
||||
#define FSFW_DEVICES_CHILDHANDLERBASE_H_
|
||||
|
||||
#include "ChildHandlerFDIR.h"
|
||||
#include "DeviceHandlerBase.h"
|
||||
|
||||
class ChildHandlerBase: public DeviceHandlerBase {
|
||||
public:
|
||||
ChildHandlerBase(object_id_t setObjectId,
|
||||
object_id_t deviceCommunication, CookieIF * comCookie,
|
||||
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
|
||||
uint32_t thermalRequestPoolId, uint32_t parent,
|
||||
ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
|
||||
CookieIF * cookie, uint32_t thermalStatePoolId,
|
||||
uint32_t thermalRequestPoolId,
|
||||
object_id_t parent = objects::NO_OBJECT,
|
||||
FailureIsolationBase* customFdir = nullptr,
|
||||
size_t cmdQueueSize = 20);
|
||||
virtual ~ChildHandlerBase();
|
||||
@ -22,4 +22,5 @@ protected:
|
||||
|
||||
};
|
||||
|
||||
#endif /* PAYLOADHANDLERBASE_H_ */
|
||||
#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
|
||||
|
||||
|
@ -1,12 +1,12 @@
|
||||
#include "DeviceHandlerBase.h"
|
||||
#include "AcceptsDeviceResponsesIF.h"
|
||||
#include "DeviceTmReportingWrapper.h"
|
||||
|
||||
#include "../objectmanager/ObjectManager.h"
|
||||
#include "../storagemanager/StorageManagerIF.h"
|
||||
#include "../thermal/ThermalComponentIF.h"
|
||||
#include "AcceptsDeviceResponsesIF.h"
|
||||
|
||||
#include "../datapool/DataSet.h"
|
||||
#include "../datapool/PoolVariable.h"
|
||||
#include "DeviceTmReportingWrapper.h"
|
||||
#include "../globalfunctions/CRC.h"
|
||||
#include "../subsystem/SubsystemBase.h"
|
||||
#include "../ipc/QueueFactory.h"
|
||||
@ -14,45 +14,47 @@
|
||||
|
||||
#include <iomanip>
|
||||
|
||||
object_id_t DeviceHandlerBase::powerSwitcherId = 0;
|
||||
object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
|
||||
object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
|
||||
object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
|
||||
object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
|
||||
object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
|
||||
|
||||
DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
|
||||
object_id_t deviceCommunication, CookieIF * comCookie,
|
||||
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
|
||||
uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
|
||||
size_t cmdQueueSize) :
|
||||
FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
|
||||
SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
|
||||
wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
|
||||
deviceCommunicationId(deviceCommunication), comCookie(comCookie),
|
||||
deviceThermalStatePoolId(thermalStatePoolId),
|
||||
deviceThermalRequestPoolId(thermalRequestPoolId),
|
||||
healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
|
||||
childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
|
||||
hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
|
||||
switchOffWasReported(false), actionHelper(this, nullptr),
|
||||
childTransitionDelay(5000),
|
||||
transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
|
||||
SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
|
||||
actionHelper(this, nullptr), childTransitionFailure(RETURN_OK),
|
||||
fdirInstance(fdirInstance), hkSwitcher(this),
|
||||
defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
|
||||
childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
|
||||
transitionSourceSubMode(SUBMODE_NONE) {
|
||||
commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
|
||||
CommandMessage::MAX_MESSAGE_SIZE);
|
||||
MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
insertInCommandMap(RAW_COMMAND_ID);
|
||||
cookieInfo.state = COOKIE_UNUSED;
|
||||
cookieInfo.pendingCommand = deviceCommandMap.end();
|
||||
if (comCookie == nullptr) {
|
||||
sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
|
||||
std::setw(8) << std::setfill('0') << this->getObjectId() <<
|
||||
std::dec << ": Do not pass nullptr as a cookie, consider "
|
||||
<< std::setfill(' ') << "passing a dummy cookie instead!" <<
|
||||
std::endl;
|
||||
sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex
|
||||
<< std::setw(8) << std::setfill('0') << this->getObjectId()
|
||||
<< std::dec << ": Do not pass nullptr as a cookie, consider "
|
||||
<< std::setfill(' ') << "passing a dummy cookie instead!"
|
||||
<< std::endl;
|
||||
}
|
||||
if (this->fdirInstance == nullptr) {
|
||||
this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
|
||||
defaultFDIRParentId);
|
||||
defaultFdirParentId);
|
||||
}
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::setThermalStateRequestPoolIds(
|
||||
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
|
||||
this->deviceThermalRequestPoolId = thermalStatePoolId;
|
||||
this->deviceThermalRequestPoolId = thermalRequestPoolId;
|
||||
}
|
||||
|
||||
|
||||
DeviceHandlerBase::~DeviceHandlerBase() {
|
||||
delete comCookie;
|
||||
if (defaultFDIRUsed) {
|
||||
@ -108,8 +110,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
|
||||
|
||||
communicationInterface = objectManager->get<DeviceCommunicationIF>(
|
||||
deviceCommunicationId);
|
||||
if (communicationInterface == NULL) {
|
||||
return RETURN_FAILED;
|
||||
if (communicationInterface == nullptr) {
|
||||
sif::error << "DeviceHandlerBase::initialize: Communication interface "
|
||||
"invalid." << std::endl;
|
||||
sif::error << "Make sure it is set up properly and implements"
|
||||
" DeviceCommunicationIF" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
result = communicationInterface->initializeInterface(comCookie);
|
||||
@ -118,27 +124,40 @@ ReturnValue_t DeviceHandlerBase::initialize() {
|
||||
}
|
||||
|
||||
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
|
||||
if (IPCStore == NULL) {
|
||||
return RETURN_FAILED;
|
||||
if (IPCStore == nullptr) {
|
||||
sif::error << "DeviceHandlerBase::initialize: IPC store not set up in "
|
||||
"factory." << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
|
||||
AcceptsDeviceResponsesIF>(rawDataReceiverId);
|
||||
if(rawDataReceiverId != objects::NO_OBJECT) {
|
||||
AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
|
||||
AcceptsDeviceResponsesIF>(rawDataReceiverId);
|
||||
|
||||
if (rawReceiver == NULL) {
|
||||
return RETURN_FAILED;
|
||||
if (rawReceiver == nullptr) {
|
||||
sif::error << "DeviceHandlerBase::initialize: Raw receiver object "
|
||||
"ID set but no valid object found." << std::endl;
|
||||
sif::error << "Make sure the raw receiver object is set up properly"
|
||||
" and implements AcceptsDeviceResponsesIF" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
defaultRawReceiver = rawReceiver->getDeviceQueue();
|
||||
}
|
||||
|
||||
defaultRawReceiver = rawReceiver->getDeviceQueue();
|
||||
|
||||
powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
|
||||
if (powerSwitcher == NULL) {
|
||||
return RETURN_FAILED;
|
||||
if(powerSwitcherId != objects::NO_OBJECT) {
|
||||
powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
|
||||
if (powerSwitcher == nullptr) {
|
||||
sif::error << "DeviceHandlerBase::initialize: Power switcher "
|
||||
<< "object ID set but no valid object found." << std::endl;
|
||||
sif::error << "Make sure the raw receiver object is set up properly"
|
||||
<< " and implements PowerSwitchIF" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
result = healthHelper.initialize();
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
return result;
|
||||
}
|
||||
|
||||
result = modeHelper.initialize();
|
||||
@ -168,7 +187,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
|
||||
|
||||
//Set temperature target state to NON_OP.
|
||||
DataSet mySet;
|
||||
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
|
||||
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
|
||||
PoolVariableIF::VAR_WRITE);
|
||||
mySet.read();
|
||||
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
|
||||
@ -200,38 +219,43 @@ void DeviceHandlerBase::readCommandQueue() {
|
||||
return;
|
||||
}
|
||||
|
||||
CommandMessage message;
|
||||
ReturnValue_t result = commandQueue->receiveMessage(&message);
|
||||
CommandMessage command;
|
||||
ReturnValue_t result = commandQueue->receiveMessage(&command);
|
||||
if (result != RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = healthHelper.handleHealthCommand(&message);
|
||||
result = healthHelper.handleHealthCommand(&command);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = modeHelper.handleModeCommand(&command);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = modeHelper.handleModeCommand(&message);
|
||||
result = actionHelper.handleActionMessage(&command);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = actionHelper.handleActionMessage(&message);
|
||||
result = parameterHelper.handleParameterMessage(&command);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = parameterHelper.handleParameterMessage(&message);
|
||||
// result = hkManager.handleHousekeepingMessage(&command);
|
||||
// if (result == RETURN_OK) {
|
||||
// return;
|
||||
// }
|
||||
|
||||
result = handleDeviceHandlerMessage(&command);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = handleDeviceHandlerMessage(&message);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = letChildHandleMessage(&message);
|
||||
result = letChildHandleMessage(&command);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
@ -273,7 +297,8 @@ void DeviceHandlerBase::doStateMachine() {
|
||||
case _MODE_WAIT_ON: {
|
||||
uint32_t currentUptime;
|
||||
Clock::getUptime(¤tUptime);
|
||||
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
|
||||
if (powerSwitcher != nullptr and currentUptime - timeoutStart >=
|
||||
powerSwitcher->getSwitchDelayMs()) {
|
||||
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
|
||||
0);
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
@ -293,6 +318,12 @@ void DeviceHandlerBase::doStateMachine() {
|
||||
case _MODE_WAIT_OFF: {
|
||||
uint32_t currentUptime;
|
||||
Clock::getUptime(¤tUptime);
|
||||
|
||||
if(powerSwitcher == nullptr) {
|
||||
setMode(MODE_OFF);
|
||||
break;
|
||||
}
|
||||
|
||||
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
|
||||
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
|
||||
0);
|
||||
@ -343,9 +374,10 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
|
||||
uint16_t maxDelayCycles, size_t replyLen, bool periodic,
|
||||
bool hasDifferentReplyId, DeviceCommandId_t replyId) {
|
||||
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
|
||||
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
|
||||
size_t replyLen, bool periodic, bool hasDifferentReplyId,
|
||||
DeviceCommandId_t replyId) {
|
||||
//No need to check, as we may try to insert multiple times.
|
||||
insertInCommandMap(deviceCommand);
|
||||
if (hasDifferentReplyId) {
|
||||
@ -371,7 +403,8 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
|
||||
ReturnValue_t DeviceHandlerBase::insertInCommandMap(
|
||||
DeviceCommandId_t deviceCommand) {
|
||||
DeviceCommandInfo info;
|
||||
info.expectedReplies = 0;
|
||||
info.isExecuting = false;
|
||||
@ -419,7 +452,7 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
|
||||
transitionSourceSubMode = submode;
|
||||
childTransitionFailure = CHILD_TIMEOUT;
|
||||
|
||||
//transitionTargetMode is set by setMode
|
||||
// transitionTargetMode is set by setMode
|
||||
setMode((modeTo | TRANSITION_MODE_CHILD_ACTION_MASK), submodeTo);
|
||||
}
|
||||
|
||||
@ -437,7 +470,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
|
||||
|
||||
if (mode == MODE_OFF) {
|
||||
DataSet mySet;
|
||||
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
|
||||
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
|
||||
PoolVariableIF::VAR_READ_WRITE);
|
||||
mySet.read();
|
||||
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
|
||||
@ -578,11 +611,8 @@ void DeviceHandlerBase::doSendRead() {
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::doGetRead() {
|
||||
size_t receivedDataLen;
|
||||
uint8_t *receivedData;
|
||||
DeviceCommandId_t foundId = 0xFFFFFFFF;
|
||||
size_t foundLen = 0;
|
||||
ReturnValue_t result;
|
||||
size_t receivedDataLen = 0;
|
||||
uint8_t *receivedData = nullptr;
|
||||
|
||||
if (cookieInfo.state != COOKIE_READ_SENT) {
|
||||
cookieInfo.state = COOKIE_UNUSED;
|
||||
@ -591,8 +621,8 @@ void DeviceHandlerBase::doGetRead() {
|
||||
|
||||
cookieInfo.state = COOKIE_UNUSED;
|
||||
|
||||
result = communicationInterface->readReceivedMessage(comCookie,
|
||||
&receivedData, &receivedDataLen);
|
||||
ReturnValue_t result = communicationInterface->readReceivedMessage(
|
||||
comCookie, &receivedData, &receivedDataLen);
|
||||
|
||||
if (result != RETURN_OK) {
|
||||
triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
|
||||
@ -608,51 +638,101 @@ void DeviceHandlerBase::doGetRead() {
|
||||
replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
|
||||
}
|
||||
|
||||
if (mode == MODE_RAW) {
|
||||
if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
|
||||
replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
|
||||
} else {
|
||||
//The loop may not execute more often than the number of received bytes (worst case).
|
||||
//This approach avoids infinite loops due to buggy scanForReply routines (seen in bug 1077).
|
||||
uint32_t remainingLength = receivedDataLen;
|
||||
for (uint32_t count = 0; count < receivedDataLen; count++) {
|
||||
result = scanForReply(receivedData, remainingLength, &foundId,
|
||||
&foundLen);
|
||||
switch (result) {
|
||||
case RETURN_OK:
|
||||
handleReply(receivedData, foundId, foundLen);
|
||||
break;
|
||||
case APERIODIC_REPLY: {
|
||||
result = interpretDeviceReply(foundId, receivedData);
|
||||
if (result != RETURN_OK) {
|
||||
replyRawReplyIfnotWiretapped(receivedData, foundLen);
|
||||
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
|
||||
foundId);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case IGNORE_REPLY_DATA:
|
||||
break;
|
||||
case IGNORE_FULL_PACKET:
|
||||
return;
|
||||
default:
|
||||
//We need to wait for timeout.. don't know what command failed and who sent it.
|
||||
}
|
||||
else {
|
||||
parseReply(receivedData, receivedDataLen);
|
||||
}
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
|
||||
size_t receivedDataLen) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
|
||||
DeviceCommandId_t foundId = 0xFFFFFFFF;
|
||||
size_t foundLen = 0;
|
||||
// The loop may not execute more often than the number of received bytes
|
||||
// (worst case). This approach avoids infinite loops due to buggy
|
||||
// scanForReply routines.
|
||||
uint32_t remainingLength = receivedDataLen;
|
||||
for (uint32_t count = 0; count < receivedDataLen; count++) {
|
||||
result = scanForReply(receivedData, remainingLength, &foundId,
|
||||
&foundLen);
|
||||
switch (result) {
|
||||
case RETURN_OK:
|
||||
handleReply(receivedData, foundId, foundLen);
|
||||
break;
|
||||
case APERIODIC_REPLY: {
|
||||
result = interpretDeviceReply(foundId, receivedData);
|
||||
if (result != RETURN_OK) {
|
||||
replyRawReplyIfnotWiretapped(receivedData, foundLen);
|
||||
triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
|
||||
break;
|
||||
}
|
||||
receivedData += foundLen;
|
||||
if (remainingLength > foundLen) {
|
||||
remainingLength -= foundLen;
|
||||
} else {
|
||||
return;
|
||||
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
|
||||
foundId);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case IGNORE_REPLY_DATA:
|
||||
break;
|
||||
case IGNORE_FULL_PACKET:
|
||||
return;
|
||||
default:
|
||||
//We need to wait for timeout.. don't know what command failed and who sent it.
|
||||
replyRawReplyIfnotWiretapped(receivedData, foundLen);
|
||||
triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
|
||||
break;
|
||||
}
|
||||
receivedData += foundLen;
|
||||
if (remainingLength > foundLen) {
|
||||
remainingLength -= foundLen;
|
||||
} else {
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
|
||||
DeviceCommandId_t foundId, uint32_t foundLen) {
|
||||
ReturnValue_t result;
|
||||
DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
|
||||
|
||||
if (iter == deviceReplyMap.end()) {
|
||||
replyRawReplyIfnotWiretapped(receivedData, foundLen);
|
||||
triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
|
||||
return;
|
||||
}
|
||||
|
||||
DeviceReplyInfo *info = &(iter->second);
|
||||
|
||||
if (info->delayCycles != 0) {
|
||||
|
||||
if (info->periodic != false) {
|
||||
info->delayCycles = info->maxDelayCycles;
|
||||
}
|
||||
else {
|
||||
info->delayCycles = 0;
|
||||
}
|
||||
|
||||
result = interpretDeviceReply(foundId, receivedData);
|
||||
|
||||
if (result != RETURN_OK) {
|
||||
// Report failed interpretation to FDIR.
|
||||
replyRawReplyIfnotWiretapped(receivedData, foundLen);
|
||||
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
|
||||
}
|
||||
replyToReply(iter, result);
|
||||
}
|
||||
else {
|
||||
// Other completion failure messages are created by timeout.
|
||||
// Powering down the device might take some time during which periodic
|
||||
// replies may still come in.
|
||||
if (mode != _MODE_WAIT_OFF) {
|
||||
triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
|
||||
uint8_t * *data, uint32_t * len) {
|
||||
uint8_t** data, uint32_t * len) {
|
||||
size_t lenTmp;
|
||||
|
||||
if (IPCStore == nullptr) {
|
||||
@ -675,7 +755,7 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
|
||||
|
||||
void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
|
||||
MessageQueueId_t sendTo, bool isCommand) {
|
||||
if (IPCStore == NULL || len == 0) {
|
||||
if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) {
|
||||
return;
|
||||
}
|
||||
store_address_t address;
|
||||
@ -686,18 +766,17 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
|
||||
return;
|
||||
}
|
||||
|
||||
CommandMessage message;
|
||||
CommandMessage command;
|
||||
|
||||
DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
|
||||
DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
|
||||
getObjectId(), address, isCommand);
|
||||
|
||||
// this->DeviceHandlerCommand = CommandMessage::CMD_NONE;
|
||||
|
||||
result = commandQueue->sendMessage(sendTo, &message);
|
||||
result = commandQueue->sendMessage(sendTo, &command);
|
||||
|
||||
if (result != RETURN_OK) {
|
||||
IPCStore->deleteData(address);
|
||||
//Silently discard data, this indicates heavy TM traffic which should not be increased by additional events.
|
||||
// Silently discard data, this indicates heavy TM traffic which
|
||||
// should not be increased by additional events.
|
||||
}
|
||||
}
|
||||
|
||||
@ -726,57 +805,6 @@ MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
|
||||
return commandQueue->getId();
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
|
||||
DeviceCommandId_t foundId, uint32_t foundLen) {
|
||||
ReturnValue_t result;
|
||||
DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
|
||||
|
||||
if (iter == deviceReplyMap.end()) {
|
||||
replyRawReplyIfnotWiretapped(receivedData, foundLen);
|
||||
triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
|
||||
return;
|
||||
}
|
||||
|
||||
DeviceReplyInfo *info = &(iter->second);
|
||||
|
||||
if (info->delayCycles != 0) {
|
||||
|
||||
if (info->periodic) {
|
||||
info->delayCycles = info->maxDelayCycles;
|
||||
} else {
|
||||
info->delayCycles = 0;
|
||||
}
|
||||
result = interpretDeviceReply(foundId, receivedData);
|
||||
if (result != RETURN_OK) {
|
||||
//Report failed interpretation to FDIR.
|
||||
replyRawReplyIfnotWiretapped(receivedData, foundLen);
|
||||
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
|
||||
}
|
||||
replyToReply(iter, result);
|
||||
} else {
|
||||
//Other completion failure messages are created by timeout.
|
||||
//Powering down the device might take some time during which periodic replies may still come in.
|
||||
if (mode != _MODE_WAIT_OFF) {
|
||||
triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
|
||||
// DeviceCommunicationIF *newCommunication = objectManager->get<
|
||||
// DeviceCommunicationIF>(newChannelId);
|
||||
//
|
||||
// if (newCommunication != NULL) {
|
||||
// ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
|
||||
// maxDeviceReplyLen);
|
||||
// if (result != RETURN_OK) {
|
||||
// return result;
|
||||
// }
|
||||
// return RETURN_OK;
|
||||
// }
|
||||
// return RETURN_FAILED;
|
||||
//}
|
||||
|
||||
void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
|
||||
storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
|
||||
ReturnValue_t result = getStorageData(storedRawData, &rawPacket,
|
||||
@ -793,6 +821,9 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
|
||||
if(powerSwitcher == nullptr) {
|
||||
return;
|
||||
}
|
||||
const uint8_t *switches;
|
||||
uint8_t numberOfSwitches = 0;
|
||||
ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
|
||||
@ -807,9 +838,7 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches,
|
||||
uint8_t *numberOfSwitches) {
|
||||
*switches = &deviceSwitch;
|
||||
*numberOfSwitches = 1;
|
||||
return RETURN_OK;
|
||||
return DeviceHandlerBase::NO_SWITCH;
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::modeChanged(void) {
|
||||
@ -845,6 +874,9 @@ uint32_t DeviceHandlerBase::getTransitionDelayMs(Mode_t modeFrom,
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
|
||||
if(powerSwitcher == nullptr) {
|
||||
return NO_SWITCH;
|
||||
}
|
||||
uint8_t numberOfSwitches = 0;
|
||||
const uint8_t *switches;
|
||||
|
||||
@ -895,9 +927,9 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
|
||||
if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
|
||||
&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
|
||||
DataSet mySet;
|
||||
PoolVariable<int8_t> thermalState(deviceThermalStatePoolId, &mySet,
|
||||
db_int8_t thermalState(deviceThermalStatePoolId, &mySet,
|
||||
PoolVariableIF::VAR_READ);
|
||||
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
|
||||
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
|
||||
PoolVariableIF::VAR_READ);
|
||||
mySet.read();
|
||||
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
|
||||
@ -925,7 +957,7 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
|
||||
MODE_ON);
|
||||
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
|
||||
DataSet mySet;
|
||||
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId,
|
||||
db_int8_t thermalRequest(deviceThermalRequestPoolId,
|
||||
&mySet, PoolVariableIF::VAR_READ_WRITE);
|
||||
mySet.read();
|
||||
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
|
||||
@ -997,8 +1029,8 @@ HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
|
||||
healthHelper.setHealth(health);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
healthHelper.setHealth(health);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::checkSwitchState() {
|
||||
@ -1111,35 +1143,47 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
|
||||
return;
|
||||
}
|
||||
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, data);
|
||||
if (iter->second.command != deviceCommandMap.end()) {//replies to a command
|
||||
//replies to a command
|
||||
if (iter->second.command != deviceCommandMap.end())
|
||||
{
|
||||
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
|
||||
|
||||
if (queueId != NO_COMMANDER) {
|
||||
//This may fail, but we'll ignore the fault.
|
||||
actionHelper.reportData(queueId, replyId, data);
|
||||
}
|
||||
|
||||
//This check should make sure we get any TM but don't get anything doubled.
|
||||
if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
|
||||
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
|
||||
} else if (forceDirectTm && (defaultRawReceiver != queueId)) {
|
||||
|
||||
// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
|
||||
//(progress or completed) it is in
|
||||
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
|
||||
true);
|
||||
|
||||
}
|
||||
} else { //unrequested/aperiodic replies
|
||||
if (wiretappingMode == TM) {
|
||||
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
|
||||
} else if (forceDirectTm) {
|
||||
// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
|
||||
//(progress or completed) it is in
|
||||
else if (forceDirectTm and (defaultRawReceiver != queueId) and
|
||||
(defaultRawReceiver != MessageQueueIF::NO_QUEUE))
|
||||
{
|
||||
// hiding of sender needed so the service will handle it as
|
||||
// unexpected Data, no matter what state (progress or completed)
|
||||
// it is in
|
||||
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
|
||||
true);
|
||||
true);
|
||||
}
|
||||
}
|
||||
//Try to cast to DataSet and commit data.
|
||||
//unrequested/aperiodic replies
|
||||
else
|
||||
{
|
||||
if (wiretappingMode == TM) {
|
||||
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
|
||||
}
|
||||
else if (forceDirectTm and defaultRawReceiver !=
|
||||
MessageQueueIF::NO_QUEUE)
|
||||
{
|
||||
// hiding of sender needed so the service will handle it as
|
||||
// unexpected Data, no matter what state (progress or completed)
|
||||
// it is in
|
||||
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
|
||||
true);
|
||||
}
|
||||
}
|
||||
//Try to cast to GlobDataSet and commit data.
|
||||
if (!neverInDataPool) {
|
||||
DataSet* dataSet = dynamic_cast<DataSet*>(data);
|
||||
if (dataSet != NULL) {
|
||||
@ -1178,18 +1222,23 @@ void DeviceHandlerBase::buildInternalCommand(void) {
|
||||
if (mode == MODE_NORMAL) {
|
||||
result = buildNormalDeviceCommand(&deviceCommandId);
|
||||
if (result == BUSY) {
|
||||
//so we can track misconfigurations
|
||||
sif::debug << std::hex << getObjectId()
|
||||
<< ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations
|
||||
<< ": DHB::buildInternalCommand: Busy" << std::endl;
|
||||
result = NOTHING_TO_SEND; //no need to report this
|
||||
}
|
||||
} else if (mode == MODE_RAW) {
|
||||
}
|
||||
else if (mode == MODE_RAW) {
|
||||
result = buildChildRawCommand();
|
||||
deviceCommandId = RAW_COMMAND_ID;
|
||||
} else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
|
||||
}
|
||||
else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
|
||||
result = buildTransitionDeviceCommand(&deviceCommandId);
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
return;
|
||||
}
|
||||
|
||||
if (result == NOTHING_TO_SEND) {
|
||||
return;
|
||||
}
|
||||
@ -1281,11 +1330,22 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
|
||||
executingTask = task_;
|
||||
executingTask = task_;
|
||||
}
|
||||
|
||||
// Default implementations empty.
|
||||
void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
|
||||
object_id_t objectId, uint32_t parameter) {}
|
||||
|
||||
void DeviceHandlerBase::performOperationHook() {}
|
||||
void DeviceHandlerBase::performOperationHook() {
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
|
||||
// In this function, the task handle should be valid if the task
|
||||
// was implemented correctly. We still check to be 1000 % sure :-)
|
||||
if(executingTask != nullptr) {
|
||||
pstIntervalMs = executingTask->getPeriodMs();
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
@ -1,22 +1,23 @@
|
||||
#ifndef DEVICEHANDLERBASE_H_
|
||||
#define DEVICEHANDLERBASE_H_
|
||||
#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
|
||||
#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
|
||||
|
||||
#include "DeviceHandlerIF.h"
|
||||
#include "DeviceCommunicationIF.h"
|
||||
#include "DeviceHandlerFailureIsolation.h"
|
||||
|
||||
#include "../objectmanager/SystemObject.h"
|
||||
#include "../tasks/PeriodicTaskIF.h"
|
||||
#include "../tasks/ExecutableObjectIF.h"
|
||||
#include "DeviceHandlerIF.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../action/HasActionsIF.h"
|
||||
#include "../datapool/PoolVariableIF.h"
|
||||
#include "DeviceCommunicationIF.h"
|
||||
#include "../modes/HasModesIF.h"
|
||||
#include "../power/PowerSwitchIF.h"
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
|
||||
#include "../action/ActionHelper.h"
|
||||
#include "../health/HealthHelper.h"
|
||||
#include "../parameters/ParameterHelper.h"
|
||||
#include "../datapool/HkSwitchHelper.h"
|
||||
#include "DeviceHandlerFailureIsolation.h"
|
||||
|
||||
#include <map>
|
||||
|
||||
@ -46,14 +47,16 @@ class StorageManagerIF;
|
||||
* If data has been received (GET_READ), the data will be interpreted.
|
||||
* The action for each step can be defined by the child class but as most
|
||||
* device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
|
||||
* a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
|
||||
* a default implementation is provided.
|
||||
* NOTE: RMAP is a standard which is used for FLP.
|
||||
* RMAP communication is not mandatory for projects implementing the FSFW.
|
||||
* However, the communication principles are similar to RMAP as there are
|
||||
* two write and two send calls involved.
|
||||
*
|
||||
* Device handler instances should extend this class and implement the abstract functions.
|
||||
* Components and drivers can send so called cookies which are used for communication
|
||||
* and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
|
||||
* Device handler instances should extend this class and implement the abstract
|
||||
* functions. Components and drivers can send so called cookies which are used
|
||||
* for communication and contain information about the communcation (e.g. slave
|
||||
* address for I2C or RMAP structs).
|
||||
* The following abstract methods must be implemented by a device handler:
|
||||
* 1. doStartUp()
|
||||
* 2. doShutDown()
|
||||
@ -100,12 +103,12 @@ public:
|
||||
* @param cmdQueueSize
|
||||
*/
|
||||
DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
|
||||
CookieIF * comCookie, uint8_t setDeviceSwitch,
|
||||
uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
|
||||
uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
|
||||
FailureIsolationBase* fdirInstance = nullptr,
|
||||
CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
|
||||
size_t cmdQueueSize = 20);
|
||||
|
||||
void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
|
||||
uint32_t thermalRequestPoolId);
|
||||
|
||||
/**
|
||||
* @brief This function is the device handler base core component and is
|
||||
* called periodically.
|
||||
@ -150,11 +153,9 @@ public:
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t initialize();
|
||||
|
||||
/**
|
||||
* Destructor.
|
||||
*/
|
||||
/** Destructor. */
|
||||
virtual ~DeviceHandlerBase();
|
||||
|
||||
protected:
|
||||
/**
|
||||
* @brief This is used to let the child class handle the transition from
|
||||
@ -232,8 +233,9 @@ protected:
|
||||
* Build the device command to send for a transitional mode.
|
||||
*
|
||||
* This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
|
||||
* @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp()
|
||||
* and doShutDown() as well as doTransition()
|
||||
* @c _MODE_START_UP and @c _MODE_SHUT_DOWN. So it is used by doStartUp()
|
||||
* and doShutDown() as well as doTransition(), by setting those
|
||||
* modes in the respective functions.
|
||||
*
|
||||
* A good idea is to implement a flag indicating a command has to be built
|
||||
* and a variable containing the command number to be built
|
||||
@ -321,12 +323,11 @@ protected:
|
||||
* - @c RETURN_FAILED when the reply could not be interpreted,
|
||||
* e.g. logical errors or range violations occurred
|
||||
*/
|
||||
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) = 0;
|
||||
|
||||
/**
|
||||
* @brief fill the #deviceCommandMap
|
||||
* @brief fill the #DeviceCommandMap and #DeviceReplyMap
|
||||
* called by the initialize() of the base class
|
||||
* @details
|
||||
* This is used to let the base class know which replies are expected.
|
||||
@ -470,6 +471,18 @@ protected:
|
||||
virtual ReturnValue_t getSwitches(const uint8_t **switches,
|
||||
uint8_t *numberOfSwitches);
|
||||
|
||||
/**
|
||||
* This function is used to initialize the local housekeeping pool
|
||||
* entries. The default implementation leaves the pool empty.
|
||||
* @param localDataPoolMap
|
||||
* @return
|
||||
*/
|
||||
//virtual ReturnValue_t initializePoolEntries(
|
||||
// LocalDataPool& localDataPoolMap) override;
|
||||
|
||||
/** Get the HK manager object handle */
|
||||
//virtual LocalDataPoolManager* getHkManagerHandle() override;
|
||||
|
||||
/**
|
||||
* @brief Hook function for child handlers which is called once per
|
||||
* performOperation(). Default implementation is empty.
|
||||
@ -493,7 +506,7 @@ public:
|
||||
ReturnValue_t setHealth(HealthState health);
|
||||
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
|
||||
ParameterWrapper *parameterWrapper,
|
||||
const ParameterWrapper *newValues, uint16_t startAtIndex);
|
||||
const ParameterWrapper *newValues, uint16_t startAtIndex) override;
|
||||
/**
|
||||
* Implementation of ExecutableObjectIF function
|
||||
*
|
||||
@ -505,7 +518,7 @@ public:
|
||||
|
||||
protected:
|
||||
/**
|
||||
* The Returnvalues ID of this class, required by HasReturnvaluesIF
|
||||
* The Returnvalues id of this class, required by HasReturnvaluesIF
|
||||
*/
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
|
||||
|
||||
@ -527,114 +540,138 @@ protected:
|
||||
static const DeviceCommandId_t NO_COMMAND_ID = -2;
|
||||
static const MessageQueueId_t NO_COMMANDER = 0;
|
||||
|
||||
/**
|
||||
* Pointer to the raw packet that will be sent.
|
||||
*/
|
||||
/** Pointer to the raw packet that will be sent.*/
|
||||
uint8_t *rawPacket = nullptr;
|
||||
/**
|
||||
* Size of the #rawPacket.
|
||||
*/
|
||||
/** Size of the #rawPacket. */
|
||||
uint32_t rawPacketLen = 0;
|
||||
|
||||
/**
|
||||
* The mode the device handler is currently in.
|
||||
*
|
||||
* This should never be changed directly but only with setMode()
|
||||
*/
|
||||
Mode_t mode;
|
||||
|
||||
/**
|
||||
* The submode the device handler is currently in.
|
||||
*
|
||||
* This should never be changed directly but only with setMode()
|
||||
*/
|
||||
Submode_t submode;
|
||||
|
||||
/**
|
||||
* This is the counter value from performOperation().
|
||||
*/
|
||||
/** This is the counter value from performOperation(). */
|
||||
uint8_t pstStep = 0;
|
||||
uint32_t pstIntervalMs = 0;
|
||||
|
||||
/**
|
||||
* wiretapping flag:
|
||||
* Wiretapping flag:
|
||||
*
|
||||
* indicates either that all raw messages to and from the device should be sent to #theOneWhoWantsToReadRawTraffic
|
||||
* or that all device TM should be downlinked to #theOneWhoWantsToReadRawTraffic
|
||||
* indicates either that all raw messages to and from the device should be
|
||||
* sent to #defaultRawReceiver
|
||||
* or that all device TM should be downlinked to #defaultRawReceiver.
|
||||
*/
|
||||
enum WiretappingMode {
|
||||
OFF = 0, RAW = 1, TM = 2
|
||||
} wiretappingMode;
|
||||
|
||||
/**
|
||||
* A message queue that accepts raw replies
|
||||
* @brief A message queue that accepts raw replies
|
||||
*
|
||||
* Statically initialized in initialize() to a configurable object. Used when there is no method
|
||||
* of finding a recipient, ie raw mode and reporting erreonous replies
|
||||
* Statically initialized in initialize() to a configurable object.
|
||||
* Used when there is no method of finding a recipient, ie raw mode and
|
||||
* reporting erroneous replies
|
||||
*/
|
||||
MessageQueueId_t defaultRawReceiver = 0;
|
||||
|
||||
MessageQueueId_t defaultRawReceiver = MessageQueueIF::NO_QUEUE;
|
||||
store_address_t storedRawData;
|
||||
|
||||
/**
|
||||
* the message queue which wants to read all raw traffic
|
||||
*
|
||||
* if #isWiretappingActive all raw communication from and to the device will be sent to this queue
|
||||
* @brief The message queue which wants to read all raw traffic
|
||||
* If #isWiretappingActive all raw communication from and to the device
|
||||
* will be sent to this queue
|
||||
*/
|
||||
MessageQueueId_t requestedRawTraffic = 0;
|
||||
|
||||
/**
|
||||
* the object used to set power switches
|
||||
*/
|
||||
PowerSwitchIF *powerSwitcher = nullptr;
|
||||
|
||||
/**
|
||||
* Pointer to the IPCStore.
|
||||
*
|
||||
* This caches the pointer received from the objectManager in the constructor.
|
||||
*/
|
||||
StorageManagerIF *IPCStore = nullptr;
|
||||
|
||||
/**
|
||||
* cached for init
|
||||
*/
|
||||
/** The comIF object ID is cached for the intialize() function */
|
||||
object_id_t deviceCommunicationId;
|
||||
|
||||
/**
|
||||
* Communication object used for device communication
|
||||
*/
|
||||
/** Communication object used for device communication */
|
||||
DeviceCommunicationIF * communicationInterface = nullptr;
|
||||
|
||||
/**
|
||||
* Cookie used for communication
|
||||
*/
|
||||
/** Cookie used for communication */
|
||||
CookieIF * comCookie;
|
||||
|
||||
/** Health helper for HasHealthIF */
|
||||
HealthHelper healthHelper;
|
||||
/** Mode helper for HasModesIF */
|
||||
ModeHelper modeHelper;
|
||||
/** Parameter helper for ReceivesParameterMessagesIF */
|
||||
ParameterHelper parameterHelper;
|
||||
/** Action helper for HasActionsIF */
|
||||
ActionHelper actionHelper;
|
||||
/** Housekeeping Manager */
|
||||
//LocalDataPoolManager hkManager;
|
||||
|
||||
/**
|
||||
* @brief Information about commands
|
||||
*/
|
||||
struct DeviceCommandInfo {
|
||||
bool isExecuting; //!< Indicates if the command is already executing.
|
||||
uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
|
||||
MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
|
||||
//! Indicates if the command is already executing.
|
||||
bool isExecuting;
|
||||
//! Dynamic value to indicate how many replies are expected.
|
||||
//! Inititated with 0.
|
||||
uint8_t expectedReplies;
|
||||
//! if this is != NO_COMMANDER, DHB was commanded externally and shall
|
||||
//! report everything to commander.
|
||||
MessageQueueId_t sendReplyTo;
|
||||
};
|
||||
using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo> ;
|
||||
/**
|
||||
* Information about commands
|
||||
*/
|
||||
DeviceCommandMap deviceCommandMap;
|
||||
|
||||
/**
|
||||
* @brief Information about expected replies
|
||||
*
|
||||
* This is used to keep track of pending replies
|
||||
* This is used to keep track of pending replies.
|
||||
*/
|
||||
struct DeviceReplyInfo {
|
||||
uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
|
||||
uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
|
||||
//! The maximum number of cycles the handler should wait for a reply
|
||||
//! to this command.
|
||||
uint16_t maxDelayCycles;
|
||||
//! The currently remaining cycles the handler should wait for a reply,
|
||||
//! 0 means there is no reply expected
|
||||
uint16_t delayCycles;
|
||||
size_t replyLen = 0; //!< Expected size of the reply.
|
||||
bool periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
|
||||
DeviceCommandMap::iterator command; //!< The command that expects this reply.
|
||||
//! if this is !=0, the delayCycles will not be reset to 0 but to
|
||||
//! maxDelayCycles
|
||||
bool periodic = false;
|
||||
//! The dataset used to access housekeeping data related to the
|
||||
//! respective device reply. Will point to a dataset held by
|
||||
//! the child handler (if one is specified)
|
||||
// DataSetIF* dataSet = nullptr;
|
||||
//! The command that expects this reply.
|
||||
DeviceCommandMap::iterator command;
|
||||
};
|
||||
|
||||
using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo> ;
|
||||
using DeviceReplyIter = DeviceReplyMap::iterator;
|
||||
|
||||
/**
|
||||
* The MessageQueue used to receive device handler commands and to send replies.
|
||||
* This map is used to check and track correct reception of all replies.
|
||||
*
|
||||
* It has multiple use:
|
||||
* - It stores the information on pending replies. If a command is sent,
|
||||
* the DeviceCommandInfo.count is incremented.
|
||||
* - It is used to time-out missing replies. If a command is sent, the
|
||||
* DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
|
||||
* - It is queried to check if a reply from the device can be interpreted.
|
||||
* scanForReply() returns the id of the command a reply was found for.
|
||||
* The reply is ignored in the following cases:
|
||||
* - No entry for the returned id was found
|
||||
* - The deviceReplyInfo.delayCycles is == 0
|
||||
*/
|
||||
DeviceReplyMap deviceReplyMap;
|
||||
|
||||
//! The MessageQueue used to receive device handler commands
|
||||
//! and to send replies.
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
|
||||
/**
|
||||
@ -642,23 +679,14 @@ protected:
|
||||
*
|
||||
* can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
|
||||
*/
|
||||
uint32_t deviceThermalStatePoolId;
|
||||
uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
|
||||
|
||||
/**
|
||||
* this is the datapool variable with the thermal request of the device
|
||||
*
|
||||
* can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
|
||||
*/
|
||||
uint32_t deviceThermalRequestPoolId;
|
||||
|
||||
/**
|
||||
* Taking care of the health
|
||||
*/
|
||||
HealthHelper healthHelper;
|
||||
|
||||
ModeHelper modeHelper;
|
||||
|
||||
ParameterHelper parameterHelper;
|
||||
uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
|
||||
|
||||
/**
|
||||
* Optional Error code
|
||||
@ -676,13 +704,15 @@ protected:
|
||||
|
||||
bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
|
||||
|
||||
PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
|
||||
//! Pointer to the task which executes this component, is invalid
|
||||
//! before setTaskIF was called.
|
||||
PeriodicTaskIF* executingTask = nullptr;
|
||||
|
||||
static object_id_t powerSwitcherId; //!< Object which switches power on and off.
|
||||
|
||||
static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
|
||||
|
||||
static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
|
||||
static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
|
||||
/**
|
||||
* Helper function to report a missed reply
|
||||
*
|
||||
@ -730,28 +760,40 @@ protected:
|
||||
/**
|
||||
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
|
||||
*
|
||||
* If the transition is complete, the mode should be set to the target mode, which can be deduced from the current mode which is
|
||||
* If the transition is complete, the mode should be set to the target mode,
|
||||
* which can be deduced from the current mode which is
|
||||
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
|
||||
*
|
||||
* The intended target submode is already set. The origin submode can be read in subModeFrom.
|
||||
* The intended target submode is already set.
|
||||
* The origin submode can be read in subModeFrom.
|
||||
*
|
||||
* If the transition can not be completed, the child class can try to reach an working mode by setting the mode either directly
|
||||
* or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW) if the device needs to be reconfigured.
|
||||
* If the transition can not be completed, the child class can try to reach
|
||||
* an working mode by setting the mode either directly
|
||||
* or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW)
|
||||
* if the device needs to be reconfigured.
|
||||
*
|
||||
* If nothing works, the child class can wait for the timeout and the base class will reset the mode to the mode where the transition
|
||||
* If nothing works, the child class can wait for the timeout and the base
|
||||
* class will reset the mode to the mode where the transition
|
||||
* originated from (the child should report the reason for the failed transition).
|
||||
*
|
||||
* The intended way to send commands is to set a flag (enum) indicating which command is to be sent here
|
||||
* and then to check in buildTransitionCommand() for the flag. This flag can also be used by doStartUp() and
|
||||
* doShutDown() to get a nice and clean implementation of buildTransitionCommand() without switching through modes.
|
||||
* The intended way to send commands is to set a flag (enum) indicating
|
||||
* which command is to be sent here and then to check in
|
||||
* buildTransitionCommand() for the flag. This flag can also be used by
|
||||
* doStartUp() and doShutDown() to get a nice and clean implementation of
|
||||
* buildTransitionCommand() without switching through modes.
|
||||
*
|
||||
* When the the condition for the completion of the transition is met, the mode can be set, for example in the parseReply() function.
|
||||
* When the the condition for the completion of the transition is met, the
|
||||
* mode can be set, for example in the scanForReply() function.
|
||||
*
|
||||
* The default implementation goes into the target mode;
|
||||
* The default implementation goes into the target mode directly.
|
||||
*
|
||||
* #transitionFailure can be set to a failure code indicating the reason for a failed transition
|
||||
* #transitionFailure can be set to a failure code indicating the reason
|
||||
* for a failed transition
|
||||
*
|
||||
* @param modeFrom the mode the transition originated from: [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed from _MODE_START_UP to _MODE_TO_ON)]
|
||||
* @param modeFrom
|
||||
* The mode the transition originated from:
|
||||
* [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed
|
||||
* from _MODE_START_UP to _MODE_TO_ON)]
|
||||
* @param subModeFrom the subMode of modeFrom
|
||||
*/
|
||||
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
|
||||
@ -953,24 +995,11 @@ protected:
|
||||
bool commandIsExecuting(DeviceCommandId_t commandId);
|
||||
|
||||
/**
|
||||
* This map is used to check and track correct reception of all replies.
|
||||
* set all switches returned by getSwitches()
|
||||
*
|
||||
* It has multiple use:
|
||||
* - it stores the information on pending replies. If a command is sent, the DeviceCommandInfo.count is incremented.
|
||||
* - it is used to time-out missing replies. If a command is sent, the DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
|
||||
* - it is queried to check if a reply from the device can be interpreted. scanForReply() returns the id of the command a reply was found for.
|
||||
* The reply is ignored in the following cases:
|
||||
* - No entry for the returned id was found
|
||||
* - The deviceReplyInfo.delayCycles is == 0
|
||||
* @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
|
||||
*/
|
||||
DeviceReplyMap deviceReplyMap;
|
||||
|
||||
/**
|
||||
* Information about commands
|
||||
*/
|
||||
DeviceCommandMap deviceCommandMap;
|
||||
|
||||
ActionHelper actionHelper;
|
||||
void commandSwitch(ReturnValue_t onOff);
|
||||
private:
|
||||
|
||||
/**
|
||||
@ -997,15 +1026,16 @@ private:
|
||||
};
|
||||
|
||||
/**
|
||||
* Info about the #cookie
|
||||
*
|
||||
* @brief Info about the #cookie
|
||||
* Used to track the state of the communication
|
||||
*/
|
||||
CookieInfo cookieInfo;
|
||||
|
||||
/** the object used to set power switches */
|
||||
PowerSwitchIF *powerSwitcher = nullptr;
|
||||
|
||||
/**
|
||||
* Used for timing out mode transitions.
|
||||
*
|
||||
* @brief Used for timing out mode transitions.
|
||||
* Set when setMode() is called.
|
||||
*/
|
||||
uint32_t timeoutStart = 0;
|
||||
@ -1016,11 +1046,12 @@ private:
|
||||
uint32_t childTransitionDelay;
|
||||
|
||||
/**
|
||||
* The mode the current transition originated from
|
||||
* @brief The mode the current transition originated from
|
||||
*
|
||||
* This is private so the child can not change it and fuck up the timeouts
|
||||
*
|
||||
* IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!! (it is _MODE_POWER_DOWN during this modes)
|
||||
* IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!!
|
||||
* (it is _MODE_POWER_DOWN during this modes)
|
||||
*
|
||||
* is element of [MODE_ON, MODE_NORMAL, MODE_RAW]
|
||||
*/
|
||||
@ -1031,13 +1062,6 @@ private:
|
||||
*/
|
||||
Submode_t transitionSourceSubMode;
|
||||
|
||||
/**
|
||||
* the switch of the device
|
||||
*
|
||||
* for devices using two switches override getSwitches()
|
||||
*/
|
||||
const uint8_t deviceSwitch;
|
||||
|
||||
/**
|
||||
* read the command queue
|
||||
*/
|
||||
@ -1135,12 +1159,6 @@ private:
|
||||
ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
|
||||
uint32_t *len);
|
||||
|
||||
/**
|
||||
* set all switches returned by getSwitches()
|
||||
*
|
||||
* @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
|
||||
*/
|
||||
void commandSwitch(ReturnValue_t onOff);
|
||||
|
||||
/**
|
||||
* @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
|
||||
@ -1165,7 +1183,12 @@ private:
|
||||
ReturnValue_t switchCookieChannel(object_id_t newChannelId);
|
||||
|
||||
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
|
||||
|
||||
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
||||
|
||||
void parseReply(const uint8_t* receivedData,
|
||||
size_t receivedDataLen);
|
||||
};
|
||||
|
||||
#endif /* DEVICEHANDLERBASE_H_ */
|
||||
#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
|
||||
|
||||
|
@ -1,19 +1,27 @@
|
||||
#include "DeviceHandlerBase.h"
|
||||
#include "DeviceHandlerFailureIsolation.h"
|
||||
|
||||
#include "../devicehandlers/DeviceHandlerIF.h"
|
||||
#include "../modes/HasModesIF.h"
|
||||
#include "../health/HealthTableIF.h"
|
||||
#include "../power/Fuse.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../thermal/ThermalComponentIF.h"
|
||||
|
||||
object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0;
|
||||
object_id_t DeviceHandlerFailureIsolation::powerConfirmationId =
|
||||
objects::NO_OBJECT;
|
||||
|
||||
DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent) :
|
||||
FailureIsolationBase(owner, parent), strangeReplyCount(MAX_STRANGE_REPLIES,
|
||||
STRANGE_REPLIES_TIME_MS, parameterDomainBase++), missedReplyCount(
|
||||
MAX_MISSED_REPLY_COUNT, MISSED_REPLY_TIME_MS,
|
||||
parameterDomainBase++), recoveryCounter(MAX_REBOOT,
|
||||
REBOOT_TIME_MS, parameterDomainBase++), fdirState(NONE), powerConfirmation(
|
||||
0) {
|
||||
DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner,
|
||||
object_id_t parent) :
|
||||
FailureIsolationBase(owner, parent),
|
||||
strangeReplyCount(DEFAULT_MAX_STRANGE_REPLIES,
|
||||
DEFAULT_STRANGE_REPLIES_TIME_MS,
|
||||
parameterDomainBase++),
|
||||
missedReplyCount( DEFAULT_MAX_MISSED_REPLY_COUNT,
|
||||
DEFAULT_MISSED_REPLY_TIME_MS,
|
||||
parameterDomainBase++),
|
||||
recoveryCounter(DEFAULT_MAX_REBOOT, DEFAULT_REBOOT_TIME_MS,
|
||||
parameterDomainBase++),
|
||||
fdirState(NONE) {
|
||||
}
|
||||
|
||||
DeviceHandlerFailureIsolation::~DeviceHandlerFailureIsolation() {
|
||||
@ -68,9 +76,11 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
|
||||
break;
|
||||
//****Power*****
|
||||
case PowerSwitchIF::SWITCH_WENT_OFF:
|
||||
result = sendConfirmationRequest(event, powerConfirmation);
|
||||
if (result == RETURN_OK) {
|
||||
setFdirState(DEVICE_MIGHT_BE_OFF);
|
||||
if(powerConfirmation != MessageQueueIF::NO_QUEUE) {
|
||||
result = sendConfirmationRequest(event, powerConfirmation);
|
||||
if (result == RETURN_OK) {
|
||||
setFdirState(DEVICE_MIGHT_BE_OFF);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case Fuse::FUSE_WENT_OFF:
|
||||
@ -133,7 +143,7 @@ void DeviceHandlerFailureIsolation::decrementFaultCounters() {
|
||||
|
||||
void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
|
||||
clearFaultCounters();
|
||||
if (!recoveryCounter.incrementAndCheck()) {
|
||||
if (not recoveryCounter.incrementAndCheck()) {
|
||||
startRecovery(reason);
|
||||
} else {
|
||||
setFaulty(reason);
|
||||
@ -142,7 +152,8 @@ void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
|
||||
|
||||
void DeviceHandlerFailureIsolation::wasParentsFault(EventMessage* event) {
|
||||
//We'll better ignore the SWITCH_WENT_OFF event and await a system-wide reset.
|
||||
//This means, no fault message will come through until a MODE_ or HEALTH_INFO message comes through -> Is that ok?
|
||||
//This means, no fault message will come through until a MODE_ or
|
||||
//HEALTH_INFO message comes through -> Is that ok?
|
||||
//Same issue in TxFailureIsolation!
|
||||
// if ((event->getEvent() == PowerSwitchIF::SWITCH_WENT_OFF)
|
||||
// && (fdirState != RECOVERY_ONGOING)) {
|
||||
@ -158,14 +169,16 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
|
||||
ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
|
||||
ReturnValue_t result = FailureIsolationBase::initialize();
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
|
||||
" initialize FailureIsolationBase." << std::endl;
|
||||
return result;
|
||||
}
|
||||
ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
|
||||
powerConfirmationId);
|
||||
if (power == NULL) {
|
||||
return RETURN_FAILED;
|
||||
if (power != nullptr) {
|
||||
powerConfirmation = power->getEventReceptionQueue();
|
||||
}
|
||||
powerConfirmation = power->getEventReceptionQueue();
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
|
@ -1,13 +1,13 @@
|
||||
#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
|
||||
#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
|
||||
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
|
||||
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
|
||||
|
||||
#include "../fdir/FaultCounter.h"
|
||||
#include "../fdir/FailureIsolationBase.h"
|
||||
|
||||
namespace Factory{
|
||||
void setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
|
||||
class DeviceHandlerFailureIsolation: public FailureIsolationBase {
|
||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||
friend class Heater;
|
||||
@ -20,22 +20,27 @@ public:
|
||||
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
|
||||
ParameterWrapper *parameterWrapper,
|
||||
const ParameterWrapper *newValues, uint16_t startAtIndex);
|
||||
|
||||
protected:
|
||||
FaultCounter strangeReplyCount;
|
||||
FaultCounter missedReplyCount;
|
||||
FaultCounter recoveryCounter;
|
||||
|
||||
enum FDIRState {
|
||||
NONE, RECOVERY_ONGOING, DEVICE_MIGHT_BE_OFF, AWAIT_SHUTDOWN
|
||||
};
|
||||
FDIRState fdirState;
|
||||
MessageQueueId_t powerConfirmation;
|
||||
|
||||
MessageQueueId_t powerConfirmation = MessageQueueIF::NO_QUEUE;
|
||||
static object_id_t powerConfirmationId;
|
||||
static const uint32_t MAX_REBOOT = 1;
|
||||
static const uint32_t REBOOT_TIME_MS = 180000;
|
||||
static const uint32_t MAX_STRANGE_REPLIES = 10;
|
||||
static const uint32_t STRANGE_REPLIES_TIME_MS = 10000;
|
||||
static const uint32_t MAX_MISSED_REPLY_COUNT = 5;
|
||||
static const uint32_t MISSED_REPLY_TIME_MS = 10000;
|
||||
|
||||
static const uint32_t DEFAULT_MAX_REBOOT = 1;
|
||||
static const uint32_t DEFAULT_REBOOT_TIME_MS = 180000;
|
||||
static const uint32_t DEFAULT_MAX_STRANGE_REPLIES = 10;
|
||||
static const uint32_t DEFAULT_STRANGE_REPLIES_TIME_MS = 10000;
|
||||
static const uint32_t DEFAULT_MAX_MISSED_REPLY_COUNT = 5;
|
||||
static const uint32_t DEFAULT_MISSED_REPLY_TIME_MS = 10000;
|
||||
|
||||
virtual ReturnValue_t eventReceived(EventMessage* event);
|
||||
virtual void eventConfirmed(EventMessage* event);
|
||||
void wasParentsFault(EventMessage* event);
|
||||
@ -49,4 +54,4 @@ protected:
|
||||
bool isFdirInActionOrAreWeFaulty(EventMessage* event);
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ */
|
||||
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ */
|
||||
|
@ -8,13 +8,16 @@
|
||||
const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
|
||||
sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
|
||||
sizeof(ReporterRangeMatcher) };
|
||||
//If one checks registerListener calls, there are around 40 (to max 50) objects registering for certain events.
|
||||
//Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. So a good guess is 75 to a max of 100 pools required for each, which fits well.
|
||||
// If one checks registerListener calls, there are around 40 (to max 50)
|
||||
// objects registering for certain events.
|
||||
// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
|
||||
// So a good guess is 75 to a max of 100 pools required for each, which fits well.
|
||||
// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
|
||||
const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
|
||||
|
||||
EventManager::EventManager(object_id_t setObjectId) :
|
||||
SystemObject(setObjectId), eventReportQueue(NULL), mutex(NULL), factoryBackend(
|
||||
0, POOL_SIZES, N_ELEMENTS, false, true) {
|
||||
SystemObject(setObjectId),
|
||||
factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
|
||||
mutex = MutexFactory::instance()->createMutex();
|
||||
eventReportQueue = QueueFactory::instance()->createMessageQueue(
|
||||
MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
|
||||
@ -108,41 +111,45 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
|
||||
|
||||
#ifdef DEBUG
|
||||
|
||||
//forward declaration, should be implemented by mission
|
||||
const char* translateObject(object_id_t object);
|
||||
const char * translateEvents(Event event);
|
||||
|
||||
void EventManager::printEvent(EventMessage* message) {
|
||||
const char *string = 0;
|
||||
switch (message->getSeverity()) {
|
||||
case SEVERITY::INFO:
|
||||
// string = translateObject(message->getReporter());
|
||||
// sif::info << "EVENT: ";
|
||||
// if (string != 0) {
|
||||
// sif::info << string;
|
||||
// } else {
|
||||
// sif::info << "0x" << std::hex << message->getReporter() << std::dec;
|
||||
// }
|
||||
// sif::info << " reported " << translateEvents(message->getEvent()) << " ("
|
||||
// << std::dec << message->getEventId() << std::hex << ") P1: 0x"
|
||||
// << message->getParameter1() << " P2: 0x"
|
||||
// << message->getParameter2() << std::dec << std::endl;
|
||||
break;
|
||||
default:
|
||||
#ifdef DEBUG_INFO_EVENT
|
||||
string = translateObject(message->getReporter());
|
||||
sif::error << "EVENT: ";
|
||||
sif::info << "EVENT: ";
|
||||
if (string != 0) {
|
||||
sif::error << string;
|
||||
sif::info << string;
|
||||
} else {
|
||||
sif::error << "0x" << std::hex << message->getReporter() << std::dec;
|
||||
sif::info << "0x" << std::hex << message->getReporter() << std::dec;
|
||||
}
|
||||
sif::error << " reported " << translateEvents(message->getEvent()) << " ("
|
||||
sif::info << " reported " << translateEvents(message->getEvent()) << " ("
|
||||
<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
|
||||
<< message->getParameter1() << " P2: 0x"
|
||||
<< message->getParameter2() << std::dec << std::endl;
|
||||
#endif
|
||||
break;
|
||||
default:
|
||||
string = translateObject(message->getReporter());
|
||||
sif::debug << "EventManager: ";
|
||||
if (string != 0) {
|
||||
sif::debug << string;
|
||||
}
|
||||
else {
|
||||
sif::debug << "0x" << std::hex << message->getReporter() << std::dec;
|
||||
}
|
||||
sif::debug << " reported " << translateEvents(message->getEvent())
|
||||
<< " (" << std::dec << message->getEventId() << ") "
|
||||
<< std::endl;
|
||||
|
||||
sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
|
||||
<< ", P1 Dec: " << std::dec << message->getParameter1()
|
||||
<< std::endl;
|
||||
sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
|
||||
<< ", P2 Dec: " << std::dec << message->getParameter2()
|
||||
<< std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
@ -10,6 +10,12 @@
|
||||
#include "../ipc/MutexIF.h"
|
||||
#include <map>
|
||||
|
||||
#ifdef DEBUG
|
||||
// forward declaration, should be implemented by mission
|
||||
extern const char* translateObject(object_id_t object);
|
||||
extern const char* translateEvents(Event event);
|
||||
#endif
|
||||
|
||||
class EventManager: public EventManagerIF,
|
||||
public ExecutableObjectIF,
|
||||
public SystemObject {
|
||||
@ -36,11 +42,11 @@ public:
|
||||
ReturnValue_t performOperation(uint8_t opCode);
|
||||
protected:
|
||||
|
||||
MessageQueueIF* eventReportQueue;
|
||||
MessageQueueIF* eventReportQueue = nullptr;
|
||||
|
||||
std::map<MessageQueueId_t, EventMatchTree> listenerList;
|
||||
|
||||
MutexIF* mutex;
|
||||
MutexIF* mutex = nullptr;
|
||||
|
||||
static const uint8_t N_POOLS = 3;
|
||||
LocalPool<N_POOLS> factoryBackend;
|
||||
|
@ -5,10 +5,12 @@
|
||||
#include "../ipc/QueueFactory.h"
|
||||
#include "../objectmanager/ObjectManagerIF.h"
|
||||
|
||||
FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
|
||||
eventQueue(NULL), ownerId(
|
||||
owner), owner(NULL), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
|
||||
eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
|
||||
FailureIsolationBase::FailureIsolationBase(object_id_t owner,
|
||||
object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
|
||||
ownerId(owner), faultTreeParent(parent),
|
||||
parameterDomainBase(parameterDomainBase) {
|
||||
eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
|
||||
EventMessage::EVENT_MESSAGE_SIZE);
|
||||
}
|
||||
|
||||
FailureIsolationBase::~FailureIsolationBase() {
|
||||
@ -18,27 +20,36 @@ FailureIsolationBase::~FailureIsolationBase() {
|
||||
ReturnValue_t FailureIsolationBase::initialize() {
|
||||
EventManagerIF* manager = objectManager->get<EventManagerIF>(
|
||||
objects::EVENT_MANAGER);
|
||||
if (manager == NULL) {
|
||||
if (manager == nullptr) {
|
||||
sif::error << "FailureIsolationBase::initialize: Event Manager has not"
|
||||
" been initialized!" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
ReturnValue_t result = manager->registerListener(eventQueue->getId());
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
if (ownerId != 0) {
|
||||
if (ownerId != objects::NO_OBJECT) {
|
||||
result = manager->subscribeToAllEventsFrom(eventQueue->getId(), ownerId);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
owner = objectManager->get<HasHealthIF>(ownerId);
|
||||
if (owner == NULL) {
|
||||
return RETURN_FAILED;
|
||||
if (owner == nullptr) {
|
||||
sif::error << "FailureIsolationBase::intialize: Owner object "
|
||||
"invalid. Make sure it implements HasHealthIF" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
}
|
||||
if (faultTreeParent != 0) {
|
||||
if (faultTreeParent != objects::NO_OBJECT) {
|
||||
ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
|
||||
faultTreeParent);
|
||||
if (parentIF == NULL) {
|
||||
if (parentIF == nullptr) {
|
||||
sif::error << "FailureIsolationBase::intialize: Parent object"
|
||||
<< "invalid." << std::endl;
|
||||
sif::error << "Make sure it implements ConfirmsFailuresIF."
|
||||
<< std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
eventQueue->setDefaultDestination(parentIF->getEventReceptionQueue());
|
||||
@ -93,9 +104,9 @@ MessageQueueId_t FailureIsolationBase::getEventReceptionQueue() {
|
||||
ReturnValue_t FailureIsolationBase::sendConfirmationRequest(EventMessage* event,
|
||||
MessageQueueId_t destination) {
|
||||
event->setMessageId(EventMessage::CONFIRMATION_REQUEST);
|
||||
if (destination != 0) {
|
||||
if (destination != MessageQueueIF::NO_QUEUE) {
|
||||
return eventQueue->sendMessage(destination, event);
|
||||
} else if (faultTreeParent != 0) {
|
||||
} else if (faultTreeParent != objects::NO_OBJECT) {
|
||||
return eventQueue->sendToDefault(event);
|
||||
}
|
||||
return RETURN_FAILED;
|
||||
|
@ -17,18 +17,25 @@ public:
|
||||
static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
|
||||
static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, SEVERITY::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
|
||||
static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, SEVERITY::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
|
||||
FailureIsolationBase(object_id_t owner, object_id_t parent = 0,
|
||||
|
||||
FailureIsolationBase(object_id_t owner,
|
||||
object_id_t parent = objects::NO_OBJECT,
|
||||
uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
|
||||
|
||||
virtual ~FailureIsolationBase();
|
||||
virtual ReturnValue_t initialize();
|
||||
|
||||
/**
|
||||
* This is called by the DHB in performOperation()
|
||||
*/
|
||||
void checkForFailures();
|
||||
MessageQueueId_t getEventReceptionQueue();
|
||||
MessageQueueId_t getEventReceptionQueue() override;
|
||||
virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
|
||||
uint32_t parameter2 = 0);
|
||||
protected:
|
||||
MessageQueueIF* eventQueue;
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
object_id_t ownerId;
|
||||
HasHealthIF* owner;
|
||||
HasHealthIF* owner = nullptr;
|
||||
object_id_t faultTreeParent;
|
||||
uint8_t parameterDomainBase;
|
||||
void setOwnerHealth(HasHealthIF::HealthState health);
|
||||
@ -38,7 +45,7 @@ protected:
|
||||
virtual ReturnValue_t confirmFault(EventMessage* event);
|
||||
virtual void decrementFaultCounters() = 0;
|
||||
ReturnValue_t sendConfirmationRequest(EventMessage* event,
|
||||
MessageQueueId_t destination = 0);
|
||||
MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
|
||||
void throwFdirEvent(Event event, uint32_t parameter1 = 0,
|
||||
uint32_t parameter2 = 0);
|
||||
private:
|
||||
|
@ -1,95 +1,124 @@
|
||||
#include "DleEncoder.h"
|
||||
#include "../globalfunctions/DleEncoder.h"
|
||||
|
||||
DleEncoder::DleEncoder() {
|
||||
}
|
||||
DleEncoder::DleEncoder() {}
|
||||
|
||||
DleEncoder::~DleEncoder() {
|
||||
DleEncoder::~DleEncoder() {}
|
||||
|
||||
ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
|
||||
size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
|
||||
size_t* encodedLen, bool addStxEtx) {
|
||||
if (maxDestLen < 2) {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
size_t encodedIndex = 0, sourceIndex = 0;
|
||||
uint8_t nextByte;
|
||||
if (addStxEtx) {
|
||||
destStream[0] = STX_CHAR;
|
||||
++encodedIndex;
|
||||
}
|
||||
|
||||
while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
|
||||
{
|
||||
nextByte = sourceStream[sourceIndex];
|
||||
// STX, ETX and CR characters in the stream need to be escaped with DLE
|
||||
if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
|
||||
if (encodedIndex + 1 >= maxDestLen) {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
else {
|
||||
destStream[encodedIndex] = DLE_CHAR;
|
||||
++encodedIndex;
|
||||
/* Escaped byte will be actual byte + 0x40. This prevents
|
||||
* STX, ETX, and carriage return characters from appearing
|
||||
* in the encoded data stream at all, so when polling an
|
||||
* encoded stream, the transmission can be stopped at ETX.
|
||||
* 0x40 was chosen at random with special requirements:
|
||||
* - Prevent going from one control char to another
|
||||
* - Prevent overflow for common characters */
|
||||
destStream[encodedIndex] = nextByte + 0x40;
|
||||
}
|
||||
}
|
||||
// DLE characters are simply escaped with DLE.
|
||||
else if (nextByte == DLE_CHAR) {
|
||||
if (encodedIndex + 1 >= maxDestLen) {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
else {
|
||||
destStream[encodedIndex] = DLE_CHAR;
|
||||
++encodedIndex;
|
||||
destStream[encodedIndex] = DLE_CHAR;
|
||||
}
|
||||
}
|
||||
else {
|
||||
destStream[encodedIndex] = nextByte;
|
||||
}
|
||||
++encodedIndex;
|
||||
++sourceIndex;
|
||||
}
|
||||
|
||||
if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
|
||||
if (addStxEtx) {
|
||||
destStream[encodedIndex] = ETX_CHAR;
|
||||
++encodedIndex;
|
||||
}
|
||||
*encodedLen = encodedIndex;
|
||||
return RETURN_OK;
|
||||
}
|
||||
else {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
|
||||
uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
|
||||
uint32_t maxDestStreamlen, uint32_t *decodedLen) {
|
||||
uint32_t encodedIndex = 0, decodedIndex = 0;
|
||||
size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
|
||||
size_t maxDestStreamlen, size_t *decodedLen) {
|
||||
size_t encodedIndex = 0, decodedIndex = 0;
|
||||
uint8_t nextByte;
|
||||
if (*sourceStream != STX) {
|
||||
return RETURN_FAILED;
|
||||
if (*sourceStream != STX_CHAR) {
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
++encodedIndex;
|
||||
|
||||
while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
|
||||
&& (sourceStream[encodedIndex] != ETX)
|
||||
&& (sourceStream[encodedIndex] != STX)) {
|
||||
if (sourceStream[encodedIndex] == DLE) {
|
||||
&& (sourceStream[encodedIndex] != ETX_CHAR)
|
||||
&& (sourceStream[encodedIndex] != STX_CHAR)) {
|
||||
if (sourceStream[encodedIndex] == DLE_CHAR) {
|
||||
nextByte = sourceStream[encodedIndex + 1];
|
||||
if (nextByte == 0x10) {
|
||||
// The next byte is a DLE character that was escaped by another
|
||||
// DLE character, so we can write it to the destination stream.
|
||||
if (nextByte == DLE_CHAR) {
|
||||
destStream[decodedIndex] = nextByte;
|
||||
} else {
|
||||
if ((nextByte == 0x42) || (nextByte == 0x43)
|
||||
|| (nextByte == 0x4D)) {
|
||||
}
|
||||
else {
|
||||
/* The next byte is a STX, DTX or 0x0D character which
|
||||
* was escaped by a DLE character. The actual byte was
|
||||
* also encoded by adding + 0x40 to prevent having control chars,
|
||||
* in the stream at all, so we convert it back. */
|
||||
if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
|
||||
destStream[decodedIndex] = nextByte - 0x40;
|
||||
} else {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
else {
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
}
|
||||
++encodedIndex;
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
destStream[decodedIndex] = sourceStream[encodedIndex];
|
||||
}
|
||||
|
||||
++encodedIndex;
|
||||
++decodedIndex;
|
||||
}
|
||||
if (sourceStream[encodedIndex] != ETX) {
|
||||
return RETURN_FAILED;
|
||||
} else {
|
||||
|
||||
if (sourceStream[encodedIndex] != ETX_CHAR) {
|
||||
*readLen = ++encodedIndex;
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
else {
|
||||
*readLen = ++encodedIndex;
|
||||
*decodedLen = decodedIndex;
|
||||
return RETURN_OK;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
|
||||
uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen,
|
||||
uint32_t* encodedLen, bool addStxEtx) {
|
||||
if (maxDestLen < 2) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
uint32_t encodedIndex = 0, sourceIndex = 0;
|
||||
uint8_t nextByte;
|
||||
if (addStxEtx) {
|
||||
destStream[0] = STX;
|
||||
++encodedIndex;
|
||||
}
|
||||
while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) {
|
||||
nextByte = sourceStream[sourceIndex];
|
||||
if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) {
|
||||
if (encodedIndex + 1 >= maxDestLen) {
|
||||
return RETURN_FAILED;
|
||||
} else {
|
||||
destStream[encodedIndex] = DLE;
|
||||
++encodedIndex;
|
||||
destStream[encodedIndex] = nextByte + 0x40;
|
||||
}
|
||||
} else if (nextByte == DLE) {
|
||||
if (encodedIndex + 1 >= maxDestLen) {
|
||||
return RETURN_FAILED;
|
||||
} else {
|
||||
destStream[encodedIndex] = DLE;
|
||||
++encodedIndex;
|
||||
destStream[encodedIndex] = DLE;
|
||||
}
|
||||
} else {
|
||||
destStream[encodedIndex] = nextByte;
|
||||
}
|
||||
++encodedIndex;
|
||||
++sourceIndex;
|
||||
}
|
||||
if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) {
|
||||
if (addStxEtx) {
|
||||
destStream[encodedIndex] = ETX;
|
||||
++encodedIndex;
|
||||
}
|
||||
*encodedLen = encodedIndex;
|
||||
return RETURN_OK;
|
||||
} else {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
@ -1,25 +1,79 @@
|
||||
#ifndef DLEENCODER_H_
|
||||
#define DLEENCODER_H_
|
||||
#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
|
||||
#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* @brief This DLE Encoder (Data Link Encoder) can be used to encode and
|
||||
* decode arbitrary data with ASCII control characters
|
||||
* @details
|
||||
* List of control codes:
|
||||
* https://en.wikipedia.org/wiki/C0_and_C1_control_codes
|
||||
*
|
||||
* This encoder can be used to achieve a basic transport layer when using
|
||||
* char based transmission systems.
|
||||
* The passed source strean is converted into a encoded stream by adding
|
||||
* a STX marker at the start of the stream and an ETX marker at the end of
|
||||
* the stream. Any STX, ETX, DLE and CR occurrences in the source stream are
|
||||
* escaped by a DLE character. The encoder also replaces escaped control chars
|
||||
* by another char, so STX, ETX and CR should not appear anywhere in the actual
|
||||
* encoded data stream.
|
||||
*
|
||||
* When using a strictly char based reception of packets encoded with DLE,
|
||||
* STX can be used to notify a reader that actual data will start to arrive
|
||||
* while ETX can be used to notify the reader that the data has ended.
|
||||
*/
|
||||
class DleEncoder: public HasReturnvaluesIF {
|
||||
private:
|
||||
DleEncoder();
|
||||
virtual ~DleEncoder();
|
||||
|
||||
public:
|
||||
static const uint8_t STX = 0x02;
|
||||
static const uint8_t ETX = 0x03;
|
||||
static const uint8_t DLE = 0x10;
|
||||
static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
|
||||
static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
|
||||
static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
|
||||
|
||||
//! Start Of Text character. First character is encoded stream
|
||||
static constexpr uint8_t STX_CHAR = 0x02;
|
||||
//! End Of Text character. Last character in encoded stream
|
||||
static constexpr uint8_t ETX_CHAR = 0x03;
|
||||
//! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
|
||||
//! in the source stream.
|
||||
static constexpr uint8_t DLE_CHAR = 0x10;
|
||||
static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
|
||||
|
||||
/**
|
||||
* Encodes the give data stream by preceding it with the STX marker
|
||||
* and ending it with an ETX marker. STX, ETX and DLE characters inside
|
||||
* the stream are escaped by DLE characters and also replaced by adding
|
||||
* 0x40 (which is reverted in the decoding process).
|
||||
* @param sourceStream
|
||||
* @param sourceLen
|
||||
* @param destStream
|
||||
* @param maxDestLen
|
||||
* @param encodedLen
|
||||
* @param addStxEtx
|
||||
* Adding STX and ETX can be omitted, if they are added manually.
|
||||
* @return
|
||||
*/
|
||||
static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
|
||||
uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
|
||||
bool addStxEtx = true);
|
||||
|
||||
/**
|
||||
* Converts an encoded stream back.
|
||||
* @param sourceStream
|
||||
* @param sourceStreamLen
|
||||
* @param readLen
|
||||
* @param destStream
|
||||
* @param maxDestStreamlen
|
||||
* @param decodedLen
|
||||
* @return
|
||||
*/
|
||||
static ReturnValue_t decode(const uint8_t *sourceStream,
|
||||
uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
|
||||
uint32_t maxDestStreamlen, uint32_t *decodedLen);
|
||||
|
||||
static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen,
|
||||
uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen,
|
||||
bool addStxEtx = true);
|
||||
size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
|
||||
size_t maxDestStreamlen, size_t *decodedLen);
|
||||
};
|
||||
|
||||
#endif /* DLEENCODER_H_ */
|
||||
#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */
|
||||
|
34
globalfunctions/PeriodicOperationDivider.cpp
Normal file
34
globalfunctions/PeriodicOperationDivider.cpp
Normal file
@ -0,0 +1,34 @@
|
||||
#include "PeriodicOperationDivider.h"
|
||||
|
||||
|
||||
PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
|
||||
bool resetAutomatically): resetAutomatically(resetAutomatically),
|
||||
counter(divider), divider(divider) {
|
||||
}
|
||||
|
||||
bool PeriodicOperationDivider::checkAndIncrement() {
|
||||
if(counter >= divider) {
|
||||
if(resetAutomatically) {
|
||||
counter = 0;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
counter ++;
|
||||
return false;
|
||||
}
|
||||
|
||||
void PeriodicOperationDivider::resetCounter() {
|
||||
counter = 0;
|
||||
}
|
||||
|
||||
void PeriodicOperationDivider::setDivider(uint32_t newDivider) {
|
||||
divider = newDivider;
|
||||
}
|
||||
|
||||
uint32_t PeriodicOperationDivider::getCounter() const {
|
||||
return counter;
|
||||
}
|
||||
|
||||
uint32_t PeriodicOperationDivider::getDivider() const {
|
||||
return divider;
|
||||
}
|
55
globalfunctions/PeriodicOperationDivider.h
Normal file
55
globalfunctions/PeriodicOperationDivider.h
Normal file
@ -0,0 +1,55 @@
|
||||
#ifndef FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_
|
||||
#define FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* @brief Lightweight helper class to facilitate periodic operation with
|
||||
* decreased frequencies.
|
||||
* @details
|
||||
* This class is useful to perform operations which have to be performed
|
||||
* with a reduced frequency, like debugging printouts in high periodic tasks
|
||||
* or low priority operations.
|
||||
*/
|
||||
class PeriodicOperationDivider {
|
||||
public:
|
||||
/**
|
||||
* Initialize with the desired divider and specify whether the internal
|
||||
* counter will be reset automatically.
|
||||
* @param divider
|
||||
* @param resetAutomatically
|
||||
*/
|
||||
PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
|
||||
|
||||
/**
|
||||
* Check whether operation is necessary.
|
||||
* If an operation is necessary and the class has been
|
||||
* configured to be reset automatically, the counter will be reset.
|
||||
* If not, the counter will be incremented.
|
||||
* @return
|
||||
* -@c true if the counter is larger or equal to the divider
|
||||
* -@c false otherwise
|
||||
*/
|
||||
bool checkAndIncrement();
|
||||
|
||||
/**
|
||||
* Can be used to reset the counter to 0 manually.
|
||||
*/
|
||||
void resetCounter();
|
||||
uint32_t getCounter() const;
|
||||
|
||||
/**
|
||||
* Can be used to set a new divider value.
|
||||
* @param newDivider
|
||||
*/
|
||||
void setDivider(uint32_t newDivider);
|
||||
uint32_t getDivider() const;
|
||||
private:
|
||||
bool resetAutomatically = true;
|
||||
uint32_t counter = 0;
|
||||
uint32_t divider = 0;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_ */
|
@ -90,3 +90,10 @@ double timevalOperations::toDouble(const timeval timeval) {
|
||||
double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
|
||||
return result / 1000000.;
|
||||
}
|
||||
|
||||
timeval timevalOperations::toTimeval(const double seconds) {
|
||||
timeval tval;
|
||||
tval.tv_sec = seconds;
|
||||
tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
|
||||
return tval;
|
||||
}
|
||||
|
@ -41,6 +41,7 @@ namespace timevalOperations {
|
||||
* @return seconds
|
||||
*/
|
||||
double toDouble(const timeval timeval);
|
||||
timeval toTimeval(const double seconds);
|
||||
}
|
||||
|
||||
#endif /* TIMEVALOPERATIONS_H_ */
|
||||
|
@ -1,9 +1,8 @@
|
||||
#include "HealthHelper.h"
|
||||
#include "../ipc/MessageQueueSenderIF.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
|
||||
healthTable(NULL), eventSender(NULL), objectId(objectId), parentQueue(
|
||||
0), owner(owner) {
|
||||
objectId(objectId), owner(owner) {
|
||||
}
|
||||
|
||||
HealthHelper::~HealthHelper() {
|
||||
@ -40,9 +39,19 @@ void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
|
||||
ReturnValue_t HealthHelper::initialize() {
|
||||
healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
|
||||
eventSender = objectManager->get<EventReportingProxyIF>(objectId);
|
||||
if ((healthTable == NULL) || eventSender == NULL) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
|
||||
if (healthTable == nullptr) {
|
||||
sif::error << "HealthHelper::initialize: Health table object needs"
|
||||
"to be created in factory." << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
if(eventSender == nullptr) {
|
||||
sif::error << "HealthHelper::initialize: Owner has to implement "
|
||||
"ReportingProxyIF." << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t result = healthTable->registerObject(objectId,
|
||||
HasHealthIF::HEALTHY);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
@ -62,22 +71,22 @@ void HealthHelper::setHealth(HasHealthIF::HealthState health) {
|
||||
|
||||
void HealthHelper::informParent(HasHealthIF::HealthState health,
|
||||
HasHealthIF::HealthState oldHealth) {
|
||||
if (parentQueue == 0) {
|
||||
if (parentQueue == MessageQueueIF::NO_QUEUE) {
|
||||
return;
|
||||
}
|
||||
CommandMessage message;
|
||||
HealthMessage::setHealthMessage(&message, HealthMessage::HEALTH_INFO,
|
||||
CommandMessage information;
|
||||
HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO,
|
||||
health, oldHealth);
|
||||
if (MessageQueueSenderIF::sendMessage(parentQueue, &message,
|
||||
owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
|
||||
owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug << "HealthHelper::informParent: sending health reply failed."
|
||||
<< std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
|
||||
ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(message));
|
||||
if (message->getSender() == 0) {
|
||||
void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
|
||||
ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(command));
|
||||
if (command->getSender() == MessageQueueIF::NO_QUEUE) {
|
||||
return;
|
||||
}
|
||||
CommandMessage reply;
|
||||
@ -85,12 +94,12 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
|
||||
HealthMessage::setHealthMessage(&reply,
|
||||
HealthMessage::REPLY_HEALTH_SET);
|
||||
} else {
|
||||
reply.setReplyRejected(result, message->getCommand());
|
||||
reply.setReplyRejected(result, command->getCommand());
|
||||
}
|
||||
if (MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
|
||||
owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug
|
||||
<< "HealthHelper::handleHealthCommand: sending health reply failed."
|
||||
<< std::endl;
|
||||
if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
|
||||
owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug << "HealthHelper::handleHealthCommand: sending health "
|
||||
"reply failed." << std::endl;
|
||||
|
||||
}
|
||||
}
|
||||
|
@ -1,11 +1,13 @@
|
||||
#ifndef HEALTHHELPER_H_
|
||||
#define HEALTHHELPER_H_
|
||||
#ifndef FSFW_HEALTH_HEALTHHELPER_H_
|
||||
#define FSFW_HEALTH_HEALTHHELPER_H_
|
||||
|
||||
#include "../events/EventManagerIF.h"
|
||||
#include "../events/EventReportingProxyIF.h"
|
||||
#include "HasHealthIF.h"
|
||||
#include "HealthMessage.h"
|
||||
#include "HealthTableIF.h"
|
||||
|
||||
#include "../events/EventManagerIF.h"
|
||||
#include "../events/EventReportingProxyIF.h"
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
#include "../objectmanager/ObjectManagerIF.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
@ -27,8 +29,8 @@ public:
|
||||
/**
|
||||
* ctor
|
||||
*
|
||||
* @param owner
|
||||
* @param objectId the object Id to use when communication with the HealthTable
|
||||
* @param useAsFrom id to use as from id when sending replies, can be set to 0
|
||||
*/
|
||||
HealthHelper(HasHealthIF* owner, object_id_t objectId);
|
||||
|
||||
@ -39,12 +41,12 @@ public:
|
||||
*
|
||||
* only valid after initialize() has been called
|
||||
*/
|
||||
HealthTableIF *healthTable;
|
||||
HealthTableIF *healthTable = nullptr;
|
||||
|
||||
/**
|
||||
* Proxy to forward events.
|
||||
*/
|
||||
EventReportingProxyIF* eventSender;
|
||||
EventReportingProxyIF* eventSender = nullptr;
|
||||
|
||||
/**
|
||||
* Try to handle the message.
|
||||
@ -100,7 +102,7 @@ private:
|
||||
/**
|
||||
* The Queue of the parent
|
||||
*/
|
||||
MessageQueueId_t parentQueue;
|
||||
MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
|
||||
|
||||
/**
|
||||
* The one using the healthHelper.
|
||||
@ -117,4 +119,4 @@ private:
|
||||
void handleSetHealthCommand(CommandMessage *message);
|
||||
};
|
||||
|
||||
#endif /* HEALTHHELPER_H_ */
|
||||
#endif /* FSFW_HEALTH_HEALTHHELPER_H_ */
|
||||
|
@ -100,7 +100,6 @@ void ObjectManager::initialize() {
|
||||
}
|
||||
|
||||
void ObjectManager::printList() {
|
||||
std::map<object_id_t, SystemObjectIF*>::iterator it;
|
||||
sif::debug << "ObjectManager: Object List contains:" << std::endl;
|
||||
for (auto const& it : objectList) {
|
||||
sif::debug << std::hex << it.first << " | " << it.second << std::endl;
|
||||
|
@ -64,6 +64,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
|
||||
void PeriodicTask::taskFunctionality() {
|
||||
TickType_t xLastWakeTime;
|
||||
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
|
||||
|
||||
for (auto const &object: objectList) {
|
||||
object->initializeAfterTaskCreation();
|
||||
}
|
||||
|
||||
/* The xLastWakeTime variable needs to be initialized with the current tick
|
||||
count. Note that this is the only time the variable is written to
|
||||
explicitly. After this assignment, xLastWakeTime is updated automatically
|
||||
|
@ -1,11 +1,10 @@
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
|
||||
#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_
|
||||
#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_
|
||||
|
||||
#include "FreeRTOSTaskIF.h"
|
||||
#include "../../objectmanager/ObjectManagerIF.h"
|
||||
#include "../../tasks/PeriodicTaskIF.h"
|
||||
#include "../../tasks/Typedef.h"
|
||||
#include "FreeRTOSTaskIF.h"
|
||||
|
||||
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
@ -24,7 +23,6 @@ public:
|
||||
/**
|
||||
* Keep in Mind that you need to call before this vTaskStartScheduler()!
|
||||
* A lot of task parameters are set in "FreeRTOSConfig.h".
|
||||
* TODO: why does this need to be called before vTaskStartScheduler?
|
||||
* @details
|
||||
* The class is initialized without allocated objects.
|
||||
* These need to be added with #addComponent.
|
||||
@ -125,4 +123,4 @@ protected:
|
||||
void handleMissedDeadline();
|
||||
};
|
||||
|
||||
#endif /* PERIODICTASK_H_ */
|
||||
#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */
|
||||
|
227
osal/host/Clock.cpp
Normal file
227
osal/host/Clock.cpp
Normal file
@ -0,0 +1,227 @@
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../../timemanager/Clock.h"
|
||||
|
||||
#include <chrono>
|
||||
#if defined(WIN32)
|
||||
#include <windows.h>
|
||||
#elif defined(LINUX)
|
||||
#include <fstream>
|
||||
#endif
|
||||
|
||||
uint16_t Clock::leapSeconds = 0;
|
||||
MutexIF* Clock::timeMutex = NULL;
|
||||
|
||||
using SystemClock = std::chrono::system_clock;
|
||||
|
||||
uint32_t Clock::getTicksPerSecond(void){
|
||||
sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
|
||||
return 0;
|
||||
//return CLOCKS_PER_SEC;
|
||||
//uint32_t ticks = sysconf(_SC_CLK_TCK);
|
||||
//return ticks;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
|
||||
// do some magic with chrono
|
||||
sif::warning << "Clock::setClock: not implemented yet" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::setClock(const timeval* time) {
|
||||
// do some magic with chrono
|
||||
#if defined(WIN32)
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
#elif defined(LINUX)
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
#else
|
||||
|
||||
#endif
|
||||
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getClock_timeval(timeval* time) {
|
||||
#if defined(WIN32)
|
||||
auto now = std::chrono::system_clock::now();
|
||||
auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
|
||||
auto epoch = now.time_since_epoch();
|
||||
time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
|
||||
auto fraction = now - secondsChrono;
|
||||
time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
|
||||
fraction).count();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
#elif defined(LINUX)
|
||||
timespec timeUnix;
|
||||
int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
|
||||
if(status!=0){
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
time->tv_sec = timeUnix.tv_sec;
|
||||
time->tv_usec = timeUnix.tv_nsec / 1000.0;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
#else
|
||||
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
|
||||
// do some magic with chrono
|
||||
sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
timeval Clock::getUptime() {
|
||||
timeval timeval;
|
||||
#if defined(WIN32)
|
||||
auto uptime = std::chrono::milliseconds(GetTickCount64());
|
||||
auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
|
||||
timeval.tv_sec = secondsChrono.count();
|
||||
auto fraction = uptime - secondsChrono;
|
||||
timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
|
||||
fraction).count();
|
||||
#elif defined(LINUX)
|
||||
double uptimeSeconds;
|
||||
if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
|
||||
{
|
||||
// value is rounded down automatically
|
||||
timeval.tv_sec = uptimeSeconds;
|
||||
timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
|
||||
}
|
||||
#else
|
||||
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
|
||||
#endif
|
||||
return timeval;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getUptime(timeval* uptime) {
|
||||
*uptime = getUptime();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
|
||||
timeval uptime = getUptime();
|
||||
*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
|
||||
// do some magic with chrono (C++20!)
|
||||
// Right now, the library doesn't have the new features yet.
|
||||
// so we work around that for now.
|
||||
auto now = SystemClock::now();
|
||||
auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
|
||||
auto fraction = now - seconds;
|
||||
time_t tt = SystemClock::to_time_t(now);
|
||||
struct tm* timeInfo;
|
||||
timeInfo = gmtime(&tt);
|
||||
time->year = timeInfo->tm_year + 1900;
|
||||
time->month = timeInfo->tm_mon+1;
|
||||
time->day = timeInfo->tm_mday;
|
||||
time->hour = timeInfo->tm_hour;
|
||||
time->minute = timeInfo->tm_min;
|
||||
time->second = timeInfo->tm_sec;
|
||||
auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
|
||||
time->usecond = usecond.count();
|
||||
|
||||
//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
|
||||
timeval* to) {
|
||||
struct tm time_tm;
|
||||
|
||||
time_tm.tm_year = from->year - 1900;
|
||||
time_tm.tm_mon = from->month - 1;
|
||||
time_tm.tm_mday = from->day;
|
||||
|
||||
time_tm.tm_hour = from->hour;
|
||||
time_tm.tm_min = from->minute;
|
||||
time_tm.tm_sec = from->second;
|
||||
|
||||
time_t seconds = mktime(&time_tm);
|
||||
|
||||
to->tv_sec = seconds;
|
||||
to->tv_usec = from->usecond;
|
||||
//Fails in 2038..
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
|
||||
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
|
||||
/ 3600.;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
|
||||
//SHOULDDO: works not for dates in the past (might have less leap seconds)
|
||||
if (timeMutex == NULL) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint16_t leapSeconds;
|
||||
ReturnValue_t result = getLeapSeconds(&leapSeconds);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
timeval leapSeconds_timeval = { 0, 0 };
|
||||
leapSeconds_timeval.tv_sec = leapSeconds;
|
||||
|
||||
//initial offset between UTC and TAI
|
||||
timeval UTCtoTAI1972 = { 10, 0 };
|
||||
|
||||
timeval TAItoTT = { 32, 184000 };
|
||||
|
||||
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
|
||||
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
leapSeconds = leapSeconds_;
|
||||
|
||||
result = timeMutex->unlockMutex();
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
|
||||
if(timeMutex == nullptr){
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
*leapSeconds_ = leapSeconds;
|
||||
|
||||
result = timeMutex->unlockMutex();
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::checkOrCreateClockMutex(){
|
||||
if(timeMutex == nullptr){
|
||||
MutexFactory* mutexFactory = MutexFactory::instance();
|
||||
if (mutexFactory == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
timeMutex = mutexFactory->createMutex();
|
||||
if (timeMutex == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
197
osal/host/FixedTimeslotTask.cpp
Normal file
197
osal/host/FixedTimeslotTask.cpp
Normal file
@ -0,0 +1,197 @@
|
||||
#include "../../osal/host/FixedTimeslotTask.h"
|
||||
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../osal/host/Mutex.h"
|
||||
#include "../../osal/host/FixedTimeslotTask.h"
|
||||
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../../tasks/ExecutableObjectIF.h"
|
||||
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
#if defined(WIN32)
|
||||
#include <windows.h>
|
||||
#elif defined(LINUX)
|
||||
#include <pthread.h>
|
||||
#endif
|
||||
|
||||
FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod setPeriod,
|
||||
void (*setDeadlineMissedFunc)()) :
|
||||
started(false), pollingSeqTable(setPeriod*1000), taskName(name),
|
||||
period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
|
||||
// It is propably possible to set task priorities by using the native
|
||||
// task handles for Windows / Linux
|
||||
mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
|
||||
#if defined(WIN32)
|
||||
/* List of possible priority classes:
|
||||
* https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
|
||||
* nf-processthreadsapi-setpriorityclass
|
||||
* And respective thread priority numbers:
|
||||
* https://docs.microsoft.com/en-us/windows/
|
||||
* win32/procthread/scheduling-priorities */
|
||||
int result = SetPriorityClass(
|
||||
reinterpret_cast<HANDLE>(mainThread.native_handle()),
|
||||
ABOVE_NORMAL_PRIORITY_CLASS);
|
||||
if(result != 0) {
|
||||
sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
|
||||
<< GetLastError() << std::endl;
|
||||
}
|
||||
result = SetThreadPriority(
|
||||
reinterpret_cast<HANDLE>(mainThread.native_handle()),
|
||||
THREAD_PRIORITY_NORMAL);
|
||||
if(result != 0) {
|
||||
sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
|
||||
<< GetLastError() << std::endl;
|
||||
}
|
||||
#elif defined(LINUX)
|
||||
// we can just copy and paste the code from linux here.
|
||||
#endif
|
||||
}
|
||||
|
||||
FixedTimeslotTask::~FixedTimeslotTask(void) {
|
||||
//Do not delete objects, we were responsible for ptrs only.
|
||||
terminateThread = true;
|
||||
if(mainThread.joinable()) {
|
||||
mainThread.join();
|
||||
}
|
||||
delete this;
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::taskEntryPoint(void* argument) {
|
||||
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
|
||||
|
||||
if (not originalTask->started) {
|
||||
// we have to suspend/block here until the task is started.
|
||||
// if semaphores are implemented, use them here.
|
||||
std::unique_lock<std::mutex> lock(initMutex);
|
||||
initCondition.wait(lock);
|
||||
}
|
||||
|
||||
this->taskFunctionality();
|
||||
sif::debug << "FixedTimeslotTask::taskEntryPoint: "
|
||||
"Returned from taskFunctionality." << std::endl;
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::startTask() {
|
||||
started = true;
|
||||
|
||||
// Notify task to start.
|
||||
std::lock_guard<std::mutex> lock(initMutex);
|
||||
initCondition.notify_one();
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(ms));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::taskFunctionality() {
|
||||
pollingSeqTable.intializeSequenceAfterTaskCreation();
|
||||
|
||||
// A local iterator for the Polling Sequence Table is created to
|
||||
// find the start time for the first entry.
|
||||
auto slotListIter = pollingSeqTable.current;
|
||||
|
||||
// Get start time for first entry.
|
||||
chron_ms interval(slotListIter->pollingTimeMs);
|
||||
auto currentStartTime {
|
||||
std::chrono::duration_cast<chron_ms>(
|
||||
std::chrono::system_clock::now().time_since_epoch())
|
||||
};
|
||||
if(interval.count() > 0) {
|
||||
delayForInterval(¤tStartTime, interval);
|
||||
}
|
||||
|
||||
/* Enter the loop that defines the task behavior. */
|
||||
for (;;) {
|
||||
if(terminateThread.load()) {
|
||||
break;
|
||||
}
|
||||
//The component for this slot is executed and the next one is chosen.
|
||||
this->pollingSeqTable.executeAndAdvance();
|
||||
if (not pollingSeqTable.slotFollowsImmediately()) {
|
||||
// we need to wait before executing the current slot
|
||||
//this gives us the time to wait:
|
||||
interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
|
||||
delayForInterval(¤tStartTime, interval);
|
||||
//TODO deadline missed check
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
|
||||
uint32_t slotTimeMs, int8_t executionStep) {
|
||||
ExecutableObjectIF* executableObject = objectManager->
|
||||
get<ExecutableObjectIF>(componentId);
|
||||
if (executableObject != nullptr) {
|
||||
pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep,
|
||||
executableObject, this);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
sif::error << "Component " << std::hex << componentId <<
|
||||
" not found, not adding it to pst" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::checkSequence() const {
|
||||
return pollingSeqTable.checkSequence();
|
||||
}
|
||||
|
||||
uint32_t FixedTimeslotTask::getPeriodMs() const {
|
||||
return period * 1000;
|
||||
}
|
||||
|
||||
bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
|
||||
const chron_ms interval) {
|
||||
bool shouldDelay = false;
|
||||
//Get current wakeup time
|
||||
auto currentStartTime =
|
||||
std::chrono::duration_cast<chron_ms>(
|
||||
std::chrono::system_clock::now().time_since_epoch());
|
||||
/* Generate the tick time at which the task wants to wake. */
|
||||
auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
|
||||
|
||||
if (currentStartTime < *previousWakeTimeMs) {
|
||||
/* The tick count has overflowed since this function was
|
||||
lasted called. In this case the only time we should ever
|
||||
actually delay is if the wake time has also overflowed,
|
||||
and the wake time is greater than the tick time. When this
|
||||
is the case it is as if neither time had overflowed. */
|
||||
if ((nextTimeToWake_ms < *previousWakeTimeMs)
|
||||
&& (nextTimeToWake_ms > currentStartTime)) {
|
||||
shouldDelay = true;
|
||||
}
|
||||
} else {
|
||||
/* The tick time has not overflowed. In this case we will
|
||||
delay if either the wake time has overflowed, and/or the
|
||||
tick time is less than the wake time. */
|
||||
if ((nextTimeToWake_ms < *previousWakeTimeMs)
|
||||
|| (nextTimeToWake_ms > currentStartTime)) {
|
||||
shouldDelay = true;
|
||||
}
|
||||
}
|
||||
|
||||
/* Update the wake time ready for the next call. */
|
||||
|
||||
(*previousWakeTimeMs) = nextTimeToWake_ms;
|
||||
|
||||
if (shouldDelay) {
|
||||
auto sleepTime = std::chrono::duration_cast<chron_ms>(
|
||||
nextTimeToWake_ms - currentStartTime);
|
||||
std::this_thread::sleep_for(sleepTime);
|
||||
return true;
|
||||
}
|
||||
//We are shifting the time in case the deadline was missed like rtems
|
||||
(*previousWakeTimeMs) = currentStartTime;
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
130
osal/host/FixedTimeslotTask.h
Normal file
130
osal/host/FixedTimeslotTask.h
Normal file
@ -0,0 +1,130 @@
|
||||
#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
|
||||
#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
|
||||
|
||||
#include "../../objectmanager/ObjectManagerIF.h"
|
||||
#include "../../tasks/FixedSlotSequence.h"
|
||||
#include "../../tasks/FixedTimeslotTaskIF.h"
|
||||
#include "../../tasks/Typedef.h"
|
||||
|
||||
#include <vector>
|
||||
#include <thread>
|
||||
#include <condition_variable>
|
||||
#include <atomic>
|
||||
|
||||
class ExecutableObjectIF;
|
||||
|
||||
/**
|
||||
* @brief This class represents a task for periodic activities with multiple
|
||||
* steps and strict timeslot requirements for these steps.
|
||||
* @details
|
||||
* @ingroup task_handling
|
||||
*/
|
||||
class FixedTimeslotTask: public FixedTimeslotTaskIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Standard constructor of the class.
|
||||
* @details
|
||||
* The class is initialized without allocated objects. These need to be
|
||||
* added with #addComponent.
|
||||
* @param priority
|
||||
* @param stack_size
|
||||
* @param setPeriod
|
||||
* @param setDeadlineMissedFunc
|
||||
* The function pointer to the deadline missed function that shall be
|
||||
* assigned.
|
||||
*/
|
||||
FixedTimeslotTask(const char *name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod setPeriod,
|
||||
void (*setDeadlineMissedFunc)());
|
||||
/**
|
||||
* @brief Currently, the executed object's lifetime is not coupled with
|
||||
* the task object's lifetime, so the destructor is empty.
|
||||
*/
|
||||
virtual ~FixedTimeslotTask(void);
|
||||
|
||||
/**
|
||||
* @brief The method to start the task.
|
||||
* @details The method starts the task with the respective system call.
|
||||
* Entry point is the taskEntryPoint method described below.
|
||||
* The address of the task object is passed as an argument
|
||||
* to the system call.
|
||||
*/
|
||||
ReturnValue_t startTask(void);
|
||||
|
||||
/**
|
||||
* Add timeslot to the polling sequence table.
|
||||
* @param componentId
|
||||
* @param slotTimeMs
|
||||
* @param executionStep
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t addSlot(object_id_t componentId,
|
||||
uint32_t slotTimeMs, int8_t executionStep);
|
||||
|
||||
ReturnValue_t checkSequence() const override;
|
||||
|
||||
uint32_t getPeriodMs() const;
|
||||
|
||||
ReturnValue_t sleepFor(uint32_t ms);
|
||||
|
||||
protected:
|
||||
using chron_ms = std::chrono::milliseconds;
|
||||
|
||||
bool started;
|
||||
//!< Typedef for the List of objects.
|
||||
typedef std::vector<ExecutableObjectIF*> ObjectList;
|
||||
std::thread mainThread;
|
||||
std::atomic<bool> terminateThread = false;
|
||||
|
||||
//! Polling sequence table which contains the object to execute
|
||||
//! and information like the timeslots and the passed execution step.
|
||||
FixedSlotSequence pollingSeqTable;
|
||||
|
||||
std::condition_variable initCondition;
|
||||
std::mutex initMutex;
|
||||
std::string taskName;
|
||||
/**
|
||||
* @brief The period of the task.
|
||||
* @details
|
||||
* The period determines the frequency of the task's execution.
|
||||
* It is expressed in clock ticks.
|
||||
*/
|
||||
TaskPeriod period;
|
||||
|
||||
/**
|
||||
* @brief The pointer to the deadline-missed function.
|
||||
* @details
|
||||
* This pointer stores the function that is executed if the task's deadline
|
||||
* is missed. So, each may react individually on a timing failure.
|
||||
* The pointer may be NULL, then nothing happens on missing the deadline.
|
||||
* The deadline is equal to the next execution of the periodic task.
|
||||
*/
|
||||
void (*deadlineMissedFunc)(void);
|
||||
/**
|
||||
* @brief This is the function executed in the new task's context.
|
||||
* @details
|
||||
* It converts the argument back to the thread object type and copies the
|
||||
* class instance to the task context.
|
||||
* The taskFunctionality method is called afterwards.
|
||||
* @param A pointer to the task object itself is passed as argument.
|
||||
*/
|
||||
|
||||
void taskEntryPoint(void* argument);
|
||||
/**
|
||||
* @brief The function containing the actual functionality of the task.
|
||||
* @details
|
||||
* The method sets and starts the task's period, then enters a loop that is
|
||||
* repeated as long as the isRunning attribute is true. Within the loop,
|
||||
* all performOperation methods of the added objects are called. Afterwards
|
||||
* the checkAndRestartPeriod system call blocks the task until the next
|
||||
* period. On missing the deadline, the deadlineMissedFunction is executed.
|
||||
*/
|
||||
void taskFunctionality(void);
|
||||
|
||||
bool delayForInterval(chron_ms * previousWakeTimeMs,
|
||||
const chron_ms interval);
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
|
159
osal/host/MessageQueue.cpp
Normal file
159
osal/host/MessageQueue.cpp
Normal file
@ -0,0 +1,159 @@
|
||||
#include "MessageQueue.h"
|
||||
#include "QueueMapManager.h"
|
||||
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../ipc/MutexHelper.h"
|
||||
|
||||
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
|
||||
messageSize(maxMessageSize), messageDepth(messageDepth) {
|
||||
queueLock = MutexFactory::instance()->createMutex();
|
||||
auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "MessageQueue::MessageQueue:"
|
||||
<< " Could not be created" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
MessageQueue::~MessageQueue() {
|
||||
MutexFactory::instance()->deleteMutex(queueLock);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, bool ignoreFault) {
|
||||
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
|
||||
return sendToDefaultFrom(message, this->getId());
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
|
||||
if (this->lastPartner != 0) {
|
||||
return sendMessageFrom(this->lastPartner, message, this->getId());
|
||||
} else {
|
||||
return MessageQueueIF::NO_REPLY_PARTNER;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo, message, sentFrom,
|
||||
ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t* receivedFrom) {
|
||||
ReturnValue_t status = this->receiveMessage(message);
|
||||
if(status == HasReturnvaluesIF::RETURN_OK) {
|
||||
*receivedFrom = this->lastPartner;
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
|
||||
if(messageQueue.empty()) {
|
||||
return MessageQueueIF::EMPTY;
|
||||
}
|
||||
// not sure this will work..
|
||||
//*message = std::move(messageQueue.front());
|
||||
MutexHelper mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
|
||||
MessageQueueMessage* currentMessage = &messageQueue.front();
|
||||
std::copy(currentMessage->getBuffer(),
|
||||
currentMessage->getBuffer() + messageSize, message->getBuffer());
|
||||
messageQueue.pop();
|
||||
// The last partner is the first uint32_t field in the message
|
||||
this->lastPartner = message->getSender();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getLastPartner() const {
|
||||
return lastPartner;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::flush(uint32_t* count) {
|
||||
*count = messageQueue.size();
|
||||
// Clears the queue.
|
||||
messageQueue = std::queue<MessageQueueMessage>();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getId() const {
|
||||
return mqId;
|
||||
}
|
||||
|
||||
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
||||
defaultDestinationSet = true;
|
||||
this->defaultDestination = defaultDestination;
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||
return defaultDestination;
|
||||
}
|
||||
|
||||
bool MessageQueue::isDefaultDestinationSet() const {
|
||||
return defaultDestinationSet;
|
||||
}
|
||||
|
||||
|
||||
// static core function to send messages.
|
||||
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
if(message->getMessageSize() > message->getMaximumMessageSize()) {
|
||||
// Actually, this should never happen or an error will be emitted
|
||||
// in MessageQueueMessage.
|
||||
// But I will still return a failure here.
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
|
||||
QueueMapManager::instance()->getMessageQueue(sendTo));
|
||||
if(targetQueue == nullptr) {
|
||||
if(not ignoreFault) {
|
||||
InternalErrorReporterIF* internalErrorReporter =
|
||||
objectManager->get<InternalErrorReporterIF>(
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
if (internalErrorReporter != nullptr) {
|
||||
internalErrorReporter->queueMessageNotSent();
|
||||
}
|
||||
}
|
||||
// TODO: Better returnvalue
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
|
||||
MutexHelper mutexLock(targetQueue->queueLock,
|
||||
MutexIF::TimeoutType::WAITING, 20);
|
||||
// not ideal, works for now though.
|
||||
MessageQueueMessage* mqmMessage =
|
||||
dynamic_cast<MessageQueueMessage*>(message);
|
||||
if(message != nullptr) {
|
||||
targetQueue->messageQueue.push(*mqmMessage);
|
||||
}
|
||||
else {
|
||||
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
|
||||
"is not MessageQueueMessage!" << std::endl;
|
||||
}
|
||||
|
||||
}
|
||||
else {
|
||||
return MessageQueueIF::FULL;
|
||||
}
|
||||
message->setSender(sentFrom);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::lockQueue(MutexIF::TimeoutType timeoutType,
|
||||
dur_millis_t lockTimeout) {
|
||||
return queueLock->lockMutex(timeoutType, lockTimeout);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::unlockQueue() {
|
||||
return queueLock->unlockMutex();
|
||||
}
|
231
osal/host/MessageQueue.h
Normal file
231
osal/host/MessageQueue.h
Normal file
@ -0,0 +1,231 @@
|
||||
#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
|
||||
#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
|
||||
|
||||
#include "../../internalError/InternalErrorReporterIF.h"
|
||||
#include "../../ipc/MessageQueueIF.h"
|
||||
#include "../../ipc/MessageQueueMessage.h"
|
||||
#include "../../ipc/MutexIF.h"
|
||||
#include "../../timemanager/Clock.h"
|
||||
|
||||
#include <queue>
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* @brief This class manages sending and receiving of
|
||||
* message queue messages.
|
||||
* @details
|
||||
* Message queues are used to pass asynchronous messages between processes.
|
||||
* They work like post boxes, where all incoming messages are stored in FIFO
|
||||
* order. This class creates a new receiving queue and provides methods to fetch
|
||||
* received messages. Being a child of MessageQueueSender, this class also
|
||||
* provides methods to send a message to a user-defined or a default destination.
|
||||
* In addition it also provides a reply method to answer to the queue it
|
||||
* received its last message from.
|
||||
*
|
||||
* The MessageQueue should be used as "post box" for a single owning object.
|
||||
* So all message queue communication is "n-to-one".
|
||||
* For creating the queue, as well as sending and receiving messages, the class
|
||||
* makes use of the operating system calls provided.
|
||||
*
|
||||
* Please keep in mind that FreeRTOS offers different calls for message queue
|
||||
* operations if called from an ISR.
|
||||
* For now, the system context needs to be switched manually.
|
||||
* @ingroup osal
|
||||
* @ingroup message_queue
|
||||
*/
|
||||
class MessageQueue : public MessageQueueIF {
|
||||
friend class MessageQueueSenderIF;
|
||||
public:
|
||||
/**
|
||||
* @brief The constructor initializes and configures the message queue.
|
||||
* @details
|
||||
* By making use of the according operating system call, a message queue is
|
||||
* created and initialized. The message depth - the maximum number of
|
||||
* messages to be buffered - may be set with the help of a parameter,
|
||||
* whereas the message size is automatically set to the maximum message
|
||||
* queue message size. The operating system sets the message queue id, or
|
||||
* in case of failure, it is set to zero.
|
||||
* @param message_depth
|
||||
* The number of messages to be buffered before passing an error to the
|
||||
* sender. Default is three.
|
||||
* @param max_message_size
|
||||
* With this parameter, the maximum message size can be adjusted.
|
||||
* This should be left default.
|
||||
*/
|
||||
MessageQueue(size_t messageDepth = 3,
|
||||
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
|
||||
/** Copying message queues forbidden */
|
||||
MessageQueue(const MessageQueue&) = delete;
|
||||
MessageQueue& operator=(const MessageQueue&) = delete;
|
||||
|
||||
/**
|
||||
* @brief The destructor deletes the formerly created message queue.
|
||||
* @details This is accomplished by using the delete call provided
|
||||
* by the operating system.
|
||||
*/
|
||||
virtual ~MessageQueue();
|
||||
|
||||
/**
|
||||
* @brief This operation sends a message to the given destination.
|
||||
* @details It directly uses the sendMessage call of the MessageQueueSender
|
||||
* parent, but passes its queue id as "sentFrom" parameter.
|
||||
* @param sendTo This parameter specifies the message queue id of the
|
||||
* destination message queue.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
* @param ignoreFault If set to true, the internal software fault counter
|
||||
* is not incremented if queue is full.
|
||||
*/
|
||||
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, bool ignoreFault = false) override;
|
||||
/**
|
||||
* @brief This operation sends a message to the default destination.
|
||||
* @details As in the sendMessage method, this function uses the
|
||||
* sendToDefault call of the MessageQueueSender parent class and adds its
|
||||
* queue id as "sentFrom" information.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
*/
|
||||
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
|
||||
/**
|
||||
* @brief This operation sends a message to the last communication partner.
|
||||
* @details This operation simplifies answering an incoming message by using
|
||||
* the stored lastPartner information as destination. If there was no
|
||||
* message received yet (i.e. lastPartner is zero), an error code is returned.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
*/
|
||||
ReturnValue_t reply(MessageQueueMessageIF* message) override;
|
||||
|
||||
/**
|
||||
* @brief With the sendMessage call, a queue message is sent to a
|
||||
* receiving queue.
|
||||
* @details
|
||||
* This method takes the message provided, adds the sentFrom information and
|
||||
* passes it on to the destination provided with an operating system call.
|
||||
* The OS's return value is returned.
|
||||
* @param sendTo This parameter specifies the message queue id to send
|
||||
* the message to.
|
||||
* @param message This is a pointer to a previously created message,
|
||||
* which is sent.
|
||||
* @param sentFrom The sentFrom information can be set to inject the
|
||||
* sender's queue id into the message. This variable is set to zero by
|
||||
* default.
|
||||
* @param ignoreFault If set to true, the internal software fault counter
|
||||
* is not incremented if queue is full.
|
||||
*/
|
||||
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault = false) override;
|
||||
|
||||
/**
|
||||
* @brief The sendToDefault method sends a queue message to the default
|
||||
* destination.
|
||||
* @details
|
||||
* In all other aspects, it works identical to the sendMessage method.
|
||||
* @param message This is a pointer to a previously created message,
|
||||
* which is sent.
|
||||
* @param sentFrom The sentFrom information can be set to inject the
|
||||
* sender's queue id into the message. This variable is set to zero by
|
||||
* default.
|
||||
*/
|
||||
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault = false) override;
|
||||
|
||||
/**
|
||||
* @brief This function reads available messages from the message queue
|
||||
* and returns the sender.
|
||||
* @details
|
||||
* It works identically to the other receiveMessage call, but in addition
|
||||
* returns the sender's queue id.
|
||||
* @param message A pointer to a message in which the received data is stored.
|
||||
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
|
||||
*/
|
||||
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t *receivedFrom) override;
|
||||
|
||||
/**
|
||||
* @brief This function reads available messages from the message queue.
|
||||
* @details
|
||||
* If data is available it is stored in the passed message pointer.
|
||||
* The message's original content is overwritten and the sendFrom
|
||||
* information is stored in the lastPartner attribute. Else, the lastPartner
|
||||
* information remains untouched, the message's content is cleared and the
|
||||
* function returns immediately.
|
||||
* @param message A pointer to a message in which the received data is stored.
|
||||
*/
|
||||
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
|
||||
/**
|
||||
* Deletes all pending messages in the queue.
|
||||
* @param count The number of flushed messages.
|
||||
* @return RETURN_OK on success.
|
||||
*/
|
||||
ReturnValue_t flush(uint32_t* count) override;
|
||||
/**
|
||||
* @brief This method returns the message queue id of the last
|
||||
* communication partner.
|
||||
*/
|
||||
MessageQueueId_t getLastPartner() const override;
|
||||
/**
|
||||
* @brief This method returns the message queue id of this class's
|
||||
* message queue.
|
||||
*/
|
||||
MessageQueueId_t getId() const override;
|
||||
|
||||
/**
|
||||
* @brief This method is a simple setter for the default destination.
|
||||
*/
|
||||
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
|
||||
/**
|
||||
* @brief This method is a simple getter for the default destination.
|
||||
*/
|
||||
MessageQueueId_t getDefaultDestination() const override;
|
||||
|
||||
bool isDefaultDestinationSet() const override;
|
||||
|
||||
ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType,
|
||||
dur_millis_t lockTimeout);
|
||||
ReturnValue_t unlockQueue();
|
||||
protected:
|
||||
/**
|
||||
* @brief Implementation to be called from any send Call within
|
||||
* MessageQueue and MessageQueueSenderIF.
|
||||
* @details
|
||||
* This method takes the message provided, adds the sentFrom information and
|
||||
* passes it on to the destination provided with an operating system call.
|
||||
* The OS's return value is returned.
|
||||
* @param sendTo
|
||||
* This parameter specifies the message queue id to send the message to.
|
||||
* @param message
|
||||
* This is a pointer to a previously created message, which is sent.
|
||||
* @param sentFrom
|
||||
* The sentFrom information can be set to inject the sender's queue id into
|
||||
* the message. This variable is set to zero by default.
|
||||
* @param ignoreFault
|
||||
* If set to true, the internal software fault counter is not incremented
|
||||
* if queue is full.
|
||||
* @param context Specify whether call is made from task or from an ISR.
|
||||
*/
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault=false);
|
||||
|
||||
//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
|
||||
|
||||
private:
|
||||
std::queue<MessageQueueMessage> messageQueue;
|
||||
/**
|
||||
* @brief The class stores the queue id it got assigned.
|
||||
* If initialization fails, the queue id is set to zero.
|
||||
*/
|
||||
MessageQueueId_t mqId = 0;
|
||||
size_t messageSize = 0;
|
||||
size_t messageDepth = 0;
|
||||
|
||||
MutexIF* queueLock;
|
||||
|
||||
bool defaultDestinationSet = false;
|
||||
MessageQueueId_t defaultDestination = 0;
|
||||
MessageQueueId_t lastPartner = 0;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
|
39
osal/host/Mutex.cpp
Normal file
39
osal/host/Mutex.cpp
Normal file
@ -0,0 +1,39 @@
|
||||
#include "Mutex.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
Mutex::Mutex() {}
|
||||
|
||||
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
|
||||
if(timeoutMs == MutexIF::BLOCKING) {
|
||||
mutex.lock();
|
||||
locked = true;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else if(timeoutMs == MutexIF::POLLING) {
|
||||
if(mutex.try_lock()) {
|
||||
locked = true;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
else if(timeoutMs > MutexIF::POLLING){
|
||||
auto chronoMs = std::chrono::milliseconds(timeoutMs);
|
||||
if(mutex.try_lock_for(chronoMs)) {
|
||||
locked = true;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
return MutexIF::MUTEX_TIMEOUT;
|
||||
}
|
||||
|
||||
ReturnValue_t Mutex::unlockMutex() {
|
||||
if(not locked) {
|
||||
return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
|
||||
}
|
||||
mutex.unlock();
|
||||
locked = false;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
std::timed_mutex* Mutex::getMutexHandle() {
|
||||
return &mutex;
|
||||
}
|
29
osal/host/Mutex.h
Normal file
29
osal/host/Mutex.h
Normal file
@ -0,0 +1,29 @@
|
||||
#ifndef FSFW_OSAL_HOSTED_MUTEX_H_
|
||||
#define FSFW_OSAL_HOSTED_MUTEX_H_
|
||||
|
||||
#include "../../ipc/MutexIF.h"
|
||||
|
||||
#include <mutex>
|
||||
|
||||
/**
|
||||
* @brief OS component to implement MUTual EXclusion
|
||||
*
|
||||
* @details
|
||||
* Mutexes are binary semaphores which include a priority inheritance mechanism.
|
||||
* Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
|
||||
* @ingroup osal
|
||||
*/
|
||||
class Mutex : public MutexIF {
|
||||
public:
|
||||
Mutex();
|
||||
ReturnValue_t lockMutex(TimeoutType timeoutType =
|
||||
TimeoutType::BLOCKING, uint32_t timeoutMs = 0) override;
|
||||
ReturnValue_t unlockMutex() override;
|
||||
|
||||
std::timed_mutex* getMutexHandle();
|
||||
private:
|
||||
bool locked = false;
|
||||
std::timed_mutex mutex;
|
||||
};
|
||||
|
||||
#endif /* FSFW_OSAL_HOSTED_MUTEX_H_ */
|
28
osal/host/MutexFactory.cpp
Normal file
28
osal/host/MutexFactory.cpp
Normal file
@ -0,0 +1,28 @@
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../osal/host/Mutex.h"
|
||||
|
||||
//TODO: Different variant than the lazy loading in QueueFactory.
|
||||
//What's better and why? -> one is on heap the other on bss/data
|
||||
//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
|
||||
MutexFactory* MutexFactory::factoryInstance = nullptr;
|
||||
|
||||
MutexFactory::MutexFactory() {
|
||||
}
|
||||
|
||||
MutexFactory::~MutexFactory() {
|
||||
}
|
||||
|
||||
MutexFactory* MutexFactory::instance() {
|
||||
if (factoryInstance == nullptr){
|
||||
factoryInstance = new MutexFactory();
|
||||
}
|
||||
return MutexFactory::factoryInstance;
|
||||
}
|
||||
|
||||
MutexIF* MutexFactory::createMutex() {
|
||||
return new Mutex();
|
||||
}
|
||||
|
||||
void MutexFactory::deleteMutex(MutexIF* mutex) {
|
||||
delete mutex;
|
||||
}
|
176
osal/host/PeriodicTask.cpp
Normal file
176
osal/host/PeriodicTask.cpp
Normal file
@ -0,0 +1,176 @@
|
||||
#include "Mutex.h"
|
||||
#include "PeriodicTask.h"
|
||||
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../../tasks/ExecutableObjectIF.h"
|
||||
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
#if defined(WIN32)
|
||||
#include <windows.h>
|
||||
#elif defined(LINUX)
|
||||
#include <pthread.h>
|
||||
#endif
|
||||
|
||||
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod setPeriod,
|
||||
void (*setDeadlineMissedFunc)()) :
|
||||
started(false), taskName(name), period(setPeriod),
|
||||
deadlineMissedFunc(setDeadlineMissedFunc) {
|
||||
// It is propably possible to set task priorities by using the native
|
||||
// task handles for Windows / Linux
|
||||
mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
|
||||
#if defined(WIN32)
|
||||
/* List of possible priority classes:
|
||||
* https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
|
||||
* nf-processthreadsapi-setpriorityclass
|
||||
* And respective thread priority numbers:
|
||||
* https://docs.microsoft.com/en-us/windows/
|
||||
* win32/procthread/scheduling-priorities */
|
||||
int result = SetPriorityClass(
|
||||
reinterpret_cast<HANDLE>(mainThread.native_handle()),
|
||||
ABOVE_NORMAL_PRIORITY_CLASS);
|
||||
if(result != 0) {
|
||||
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
|
||||
<< GetLastError() << std::endl;
|
||||
}
|
||||
result = SetThreadPriority(
|
||||
reinterpret_cast<HANDLE>(mainThread.native_handle()),
|
||||
THREAD_PRIORITY_NORMAL);
|
||||
if(result != 0) {
|
||||
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
|
||||
<< GetLastError() << std::endl;
|
||||
}
|
||||
#elif defined(LINUX)
|
||||
// we can just copy and paste the code from linux here.
|
||||
#endif
|
||||
}
|
||||
|
||||
PeriodicTask::~PeriodicTask(void) {
|
||||
//Do not delete objects, we were responsible for ptrs only.
|
||||
terminateThread = true;
|
||||
if(mainThread.joinable()) {
|
||||
mainThread.join();
|
||||
}
|
||||
delete this;
|
||||
}
|
||||
|
||||
void PeriodicTask::taskEntryPoint(void* argument) {
|
||||
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
||||
|
||||
|
||||
if (not originalTask->started) {
|
||||
// we have to suspend/block here until the task is started.
|
||||
// if semaphores are implemented, use them here.
|
||||
std::unique_lock<std::mutex> lock(initMutex);
|
||||
initCondition.wait(lock);
|
||||
}
|
||||
|
||||
this->taskFunctionality();
|
||||
sif::debug << "PeriodicTask::taskEntryPoint: "
|
||||
"Returned from taskFunctionality." << std::endl;
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::startTask() {
|
||||
started = true;
|
||||
|
||||
// Notify task to start.
|
||||
std::lock_guard<std::mutex> lock(initMutex);
|
||||
initCondition.notify_one();
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(ms));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void PeriodicTask::taskFunctionality() {
|
||||
std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
|
||||
auto currentStartTime {
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::system_clock::now().time_since_epoch())
|
||||
};
|
||||
auto nextStartTime{ currentStartTime };
|
||||
|
||||
/* Enter the loop that defines the task behavior. */
|
||||
for (;;) {
|
||||
if(terminateThread.load()) {
|
||||
break;
|
||||
}
|
||||
for (ObjectList::iterator it = objectList.begin();
|
||||
it != objectList.end(); ++it) {
|
||||
(*it)->performOperation();
|
||||
}
|
||||
if(not delayForInterval(¤tStartTime, periodChrono)) {
|
||||
sif::warning << "PeriodicTask: " << taskName <<
|
||||
" missed deadline!\n" << std::flush;
|
||||
if(deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
||||
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
|
||||
object);
|
||||
if (newObject == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
objectList.push_back(newObject);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t PeriodicTask::getPeriodMs() const {
|
||||
return period * 1000;
|
||||
}
|
||||
|
||||
bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs,
|
||||
const chron_ms interval) {
|
||||
bool shouldDelay = false;
|
||||
//Get current wakeup time
|
||||
auto currentStartTime =
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::system_clock::now().time_since_epoch());
|
||||
/* Generate the tick time at which the task wants to wake. */
|
||||
auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
|
||||
|
||||
if (currentStartTime < *previousWakeTimeMs) {
|
||||
/* The tick count has overflowed since this function was
|
||||
lasted called. In this case the only time we should ever
|
||||
actually delay is if the wake time has also overflowed,
|
||||
and the wake time is greater than the tick time. When this
|
||||
is the case it is as if neither time had overflowed. */
|
||||
if ((nextTimeToWake_ms < *previousWakeTimeMs)
|
||||
&& (nextTimeToWake_ms > currentStartTime)) {
|
||||
shouldDelay = true;
|
||||
}
|
||||
} else {
|
||||
/* The tick time has not overflowed. In this case we will
|
||||
delay if either the wake time has overflowed, and/or the
|
||||
tick time is less than the wake time. */
|
||||
if ((nextTimeToWake_ms < *previousWakeTimeMs)
|
||||
|| (nextTimeToWake_ms > currentStartTime)) {
|
||||
shouldDelay = true;
|
||||
}
|
||||
}
|
||||
|
||||
/* Update the wake time ready for the next call. */
|
||||
|
||||
(*previousWakeTimeMs) = nextTimeToWake_ms;
|
||||
|
||||
if (shouldDelay) {
|
||||
auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
nextTimeToWake_ms - currentStartTime);
|
||||
std::this_thread::sleep_for(sleepTime);
|
||||
return true;
|
||||
}
|
||||
//We are shifting the time in case the deadline was missed like rtems
|
||||
(*previousWakeTimeMs) = currentStartTime;
|
||||
return false;
|
||||
|
||||
}
|
123
osal/host/PeriodicTask.h
Normal file
123
osal/host/PeriodicTask.h
Normal file
@ -0,0 +1,123 @@
|
||||
#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
|
||||
#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
|
||||
|
||||
#include "../../objectmanager/ObjectManagerIF.h"
|
||||
#include "../../tasks/PeriodicTaskIF.h"
|
||||
#include "../../tasks/Typedef.h"
|
||||
|
||||
#include <vector>
|
||||
#include <thread>
|
||||
#include <condition_variable>
|
||||
#include <atomic>
|
||||
|
||||
class ExecutableObjectIF;
|
||||
|
||||
/**
|
||||
* @brief This class represents a specialized task for
|
||||
* periodic activities of multiple objects.
|
||||
* @details
|
||||
*
|
||||
* @ingroup task_handling
|
||||
*/
|
||||
class PeriodicTask: public PeriodicTaskIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Standard constructor of the class.
|
||||
* @details
|
||||
* The class is initialized without allocated objects. These need to be
|
||||
* added with #addComponent.
|
||||
* @param priority
|
||||
* @param stack_size
|
||||
* @param setPeriod
|
||||
* @param setDeadlineMissedFunc
|
||||
* The function pointer to the deadline missed function that shall be
|
||||
* assigned.
|
||||
*/
|
||||
PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
|
||||
TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
|
||||
/**
|
||||
* @brief Currently, the executed object's lifetime is not coupled with
|
||||
* the task object's lifetime, so the destructor is empty.
|
||||
*/
|
||||
virtual ~PeriodicTask(void);
|
||||
|
||||
/**
|
||||
* @brief The method to start the task.
|
||||
* @details The method starts the task with the respective system call.
|
||||
* Entry point is the taskEntryPoint method described below.
|
||||
* The address of the task object is passed as an argument
|
||||
* to the system call.
|
||||
*/
|
||||
ReturnValue_t startTask(void);
|
||||
/**
|
||||
* Adds an object to the list of objects to be executed.
|
||||
* The objects are executed in the order added.
|
||||
* @param object Id of the object to add.
|
||||
* @return
|
||||
* -@c RETURN_OK on success
|
||||
* -@c RETURN_FAILED if the object could not be added.
|
||||
*/
|
||||
ReturnValue_t addComponent(object_id_t object);
|
||||
|
||||
uint32_t getPeriodMs() const;
|
||||
|
||||
ReturnValue_t sleepFor(uint32_t ms);
|
||||
|
||||
protected:
|
||||
using chron_ms = std::chrono::milliseconds;
|
||||
bool started;
|
||||
//!< Typedef for the List of objects.
|
||||
typedef std::vector<ExecutableObjectIF*> ObjectList;
|
||||
std::thread mainThread;
|
||||
std::atomic<bool> terminateThread = false;
|
||||
|
||||
/**
|
||||
* @brief This attribute holds a list of objects to be executed.
|
||||
*/
|
||||
ObjectList objectList;
|
||||
|
||||
std::condition_variable initCondition;
|
||||
std::mutex initMutex;
|
||||
std::string taskName;
|
||||
/**
|
||||
* @brief The period of the task.
|
||||
* @details
|
||||
* The period determines the frequency of the task's execution.
|
||||
* It is expressed in clock ticks.
|
||||
*/
|
||||
TaskPeriod period;
|
||||
/**
|
||||
* @brief The pointer to the deadline-missed function.
|
||||
* @details
|
||||
* This pointer stores the function that is executed if the task's deadline
|
||||
* is missed. So, each may react individually on a timing failure.
|
||||
* The pointer may be NULL, then nothing happens on missing the deadline.
|
||||
* The deadline is equal to the next execution of the periodic task.
|
||||
*/
|
||||
void (*deadlineMissedFunc)(void);
|
||||
/**
|
||||
* @brief This is the function executed in the new task's context.
|
||||
* @details
|
||||
* It converts the argument back to the thread object type and copies the
|
||||
* class instance to the task context.
|
||||
* The taskFunctionality method is called afterwards.
|
||||
* @param A pointer to the task object itself is passed as argument.
|
||||
*/
|
||||
|
||||
void taskEntryPoint(void* argument);
|
||||
/**
|
||||
* @brief The function containing the actual functionality of the task.
|
||||
* @details
|
||||
* The method sets and starts the task's period, then enters a loop that is
|
||||
* repeated as long as the isRunning attribute is true. Within the loop,
|
||||
* all performOperation methods of the added objects are called. Afterwards
|
||||
* the checkAndRestartPeriod system call blocks the task until the next
|
||||
* period. On missing the deadline, the deadlineMissedFunction is executed.
|
||||
*/
|
||||
void taskFunctionality(void);
|
||||
|
||||
bool delayForInterval(chron_ms * previousWakeTimeMs,
|
||||
const chron_ms interval);
|
||||
};
|
||||
|
||||
#endif /* PERIODICTASK_H_ */
|
41
osal/host/QueueFactory.cpp
Normal file
41
osal/host/QueueFactory.cpp
Normal file
@ -0,0 +1,41 @@
|
||||
#include "../../ipc/QueueFactory.h"
|
||||
#include "../../osal/host/MessageQueue.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include <cstring>
|
||||
|
||||
QueueFactory* QueueFactory::factoryInstance = nullptr;
|
||||
|
||||
|
||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
||||
sentFrom,ignoreFault);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
QueueFactory* QueueFactory::instance() {
|
||||
if (factoryInstance == nullptr) {
|
||||
factoryInstance = new QueueFactory;
|
||||
}
|
||||
return factoryInstance;
|
||||
}
|
||||
|
||||
QueueFactory::QueueFactory() {
|
||||
}
|
||||
|
||||
QueueFactory::~QueueFactory() {
|
||||
}
|
||||
|
||||
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
|
||||
size_t maxMessageSize) {
|
||||
// A thread-safe queue can be implemented by using a combination
|
||||
// of std::queue and std::mutex. This uses dynamic memory allocation
|
||||
// which could be alleviated by using a custom allocator, external library
|
||||
// (etl::queue) or simply using std::queue, we're on a host machine anyway.
|
||||
return new MessageQueue(messageDepth, maxMessageSize);
|
||||
}
|
||||
|
||||
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
|
||||
delete queue;
|
||||
}
|
52
osal/host/QueueMapManager.cpp
Normal file
52
osal/host/QueueMapManager.cpp
Normal file
@ -0,0 +1,52 @@
|
||||
#include "QueueMapManager.h"
|
||||
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../ipc/MutexHelper.h"
|
||||
|
||||
QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
|
||||
|
||||
QueueMapManager::QueueMapManager() {
|
||||
mapLock = MutexFactory::instance()->createMutex();
|
||||
}
|
||||
|
||||
QueueMapManager* QueueMapManager::instance() {
|
||||
if (mqManagerInstance == nullptr){
|
||||
mqManagerInstance = new QueueMapManager();
|
||||
}
|
||||
return QueueMapManager::mqManagerInstance;
|
||||
}
|
||||
|
||||
ReturnValue_t QueueMapManager::addMessageQueue(
|
||||
MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
|
||||
// Not thread-safe, but it is assumed all message queues are created
|
||||
// at software initialization now. If this is to be made thread-safe in
|
||||
// the future, it propably would be sufficient to lock the increment
|
||||
// operation here
|
||||
uint32_t currentId = queueCounter++;
|
||||
auto returnPair = queueMap.emplace(currentId, queueToInsert);
|
||||
if(not returnPair.second) {
|
||||
// this should never happen for the atomic variable.
|
||||
sif::error << "QueueMapManager: This ID is already inside the map!"
|
||||
<< std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (id != nullptr) {
|
||||
*id = currentId;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MessageQueueIF* QueueMapManager::getMessageQueue(
|
||||
MessageQueueId_t messageQueueId) const {
|
||||
MutexHelper(mapLock, MutexIF::TimeoutType::WAITING, 50);
|
||||
auto queueIter = queueMap.find(messageQueueId);
|
||||
if(queueIter != queueMap.end()) {
|
||||
return queueIter->second;
|
||||
}
|
||||
else {
|
||||
sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
|
||||
messageQueueId << " does not exists in the map" << std::endl;
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
47
osal/host/QueueMapManager.h
Normal file
47
osal/host/QueueMapManager.h
Normal file
@ -0,0 +1,47 @@
|
||||
#ifndef FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_
|
||||
#define FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_
|
||||
|
||||
#include "../../ipc/MessageQueueSenderIF.h"
|
||||
#include "../../osal/host/MessageQueue.h"
|
||||
#include <unordered_map>
|
||||
#include <atomic>
|
||||
|
||||
using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
|
||||
|
||||
|
||||
/**
|
||||
* An internal map to map message queue IDs to message queues.
|
||||
* This propably should be a singleton..
|
||||
*/
|
||||
class QueueMapManager {
|
||||
public:
|
||||
//! Returns the single instance of SemaphoreFactory.
|
||||
static QueueMapManager* instance();
|
||||
|
||||
/**
|
||||
* Insert a message queue into the map and returns a message queue ID
|
||||
* @param queue The message queue to insert.
|
||||
* @param id The passed value will be set unless a nullptr is passed
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
|
||||
id = nullptr);
|
||||
/**
|
||||
* Get the message queue handle by providing a message queue ID.
|
||||
* @param messageQueueId
|
||||
* @return
|
||||
*/
|
||||
MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
|
||||
|
||||
private:
|
||||
//! External instantiation is forbidden.
|
||||
QueueMapManager();
|
||||
uint32_t queueCounter = 1;
|
||||
MutexIF* mapLock;
|
||||
QueueMap queueMap;
|
||||
static QueueMapManager* mqManagerInstance;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_ */
|
39
osal/host/SemaphoreFactory.cpp
Normal file
39
osal/host/SemaphoreFactory.cpp
Normal file
@ -0,0 +1,39 @@
|
||||
#include "../../tasks/SemaphoreFactory.h"
|
||||
#include "../../osal/linux/BinarySemaphore.h"
|
||||
#include "../../osal/linux/CountingSemaphore.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
|
||||
|
||||
SemaphoreFactory::SemaphoreFactory() {
|
||||
}
|
||||
|
||||
SemaphoreFactory::~SemaphoreFactory() {
|
||||
delete factoryInstance;
|
||||
}
|
||||
|
||||
SemaphoreFactory* SemaphoreFactory::instance() {
|
||||
if (factoryInstance == nullptr){
|
||||
factoryInstance = new SemaphoreFactory();
|
||||
}
|
||||
return SemaphoreFactory::factoryInstance;
|
||||
}
|
||||
|
||||
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
|
||||
// Just gonna wait for full C++20 for now.
|
||||
sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
|
||||
" Returning nullptr!\n" << std::flush;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
|
||||
uint8_t initCount, uint32_t arguments) {
|
||||
// Just gonna wait for full C++20 for now.
|
||||
sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
|
||||
" Returning nullptr!\n" << std::flush;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
|
||||
delete semaphore;
|
||||
}
|
51
osal/host/TaskFactory.cpp
Normal file
51
osal/host/TaskFactory.cpp
Normal file
@ -0,0 +1,51 @@
|
||||
#include "../../osal/host/FixedTimeslotTask.h"
|
||||
#include "../../osal/host/PeriodicTask.h"
|
||||
#include "../../tasks/TaskFactory.h"
|
||||
#include "../../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../../tasks/PeriodicTaskIF.h"
|
||||
|
||||
#include <chrono>
|
||||
|
||||
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
|
||||
|
||||
// Will propably not be used for hosted implementation
|
||||
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
|
||||
|
||||
TaskFactory::TaskFactory() {
|
||||
}
|
||||
|
||||
TaskFactory::~TaskFactory() {
|
||||
}
|
||||
|
||||
TaskFactory* TaskFactory::instance() {
|
||||
return TaskFactory::factoryInstance;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
|
||||
TaskPriority taskPriority_,TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_,
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
|
||||
deadLineMissedFunction_);
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
|
||||
TaskPriority taskPriority_,TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_,
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
|
||||
periodInSeconds_, deadLineMissedFunction_);
|
||||
}
|
||||
|
||||
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
|
||||
// This might block for some time!
|
||||
delete task;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(delayMs));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
@ -5,8 +5,8 @@
|
||||
|
||||
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
|
||||
size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
|
||||
PosixThread(name_,priority_,stackSize_),objectList(),started(false),
|
||||
periodMs(period_),deadlineMissedFunc(deadlineMissedFunc_) {
|
||||
PosixThread(name_, priority_, stackSize_), objectList(), started(false),
|
||||
periodMs(period_), deadlineMissedFunc(deadlineMissedFunc_) {
|
||||
}
|
||||
|
||||
PeriodicPosixTask::~PeriodicPosixTask() {
|
||||
@ -25,6 +25,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
|
||||
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
|
||||
object);
|
||||
if (newObject == nullptr) {
|
||||
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
|
||||
<< " it implements ExecutableObjectIF!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
objectList.push_back(newObject);
|
||||
@ -38,35 +40,41 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t PeriodicPosixTask::startTask(void){
|
||||
ReturnValue_t PeriodicPosixTask::startTask(void) {
|
||||
started = true;
|
||||
//sif::info << stackSize << std::endl;
|
||||
PosixThread::createTask(&taskEntryPoint,this);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void PeriodicPosixTask::taskFunctionality(void){
|
||||
if(!started){
|
||||
void PeriodicPosixTask::taskFunctionality(void) {
|
||||
if(not started) {
|
||||
suspend();
|
||||
}
|
||||
|
||||
for (auto const &object: objectList) {
|
||||
object->initializeAfterTaskCreation();
|
||||
}
|
||||
|
||||
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
|
||||
//The task's "infinite" inner loop is entered.
|
||||
while (1) {
|
||||
for (ObjectList::iterator it = objectList.begin();
|
||||
it != objectList.end(); ++it) {
|
||||
(*it)->performOperation();
|
||||
for (auto const &object: objectList) {
|
||||
object->performOperation();
|
||||
}
|
||||
if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
|
||||
|
||||
if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
|
||||
char name[20] = {0};
|
||||
int status = pthread_getname_np(pthread_self(),name,sizeof(name));
|
||||
if(status==0){
|
||||
int status = pthread_getname_np(pthread_self(), name, sizeof(name));
|
||||
if(status == 0) {
|
||||
sif::error << "PeriodicPosixTask " << name << ": Deadline "
|
||||
"missed." << std::endl;
|
||||
}else{
|
||||
}
|
||||
else {
|
||||
sif::error << "PeriodicPosixTask X: Deadline missed. " <<
|
||||
status << std::endl;
|
||||
}
|
||||
if (this->deadlineMissedFunc != NULL) {
|
||||
if (this->deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
}
|
||||
}
|
||||
|
@ -32,7 +32,7 @@ public:
|
||||
* The address of the task object is passed as an argument
|
||||
* to the system call.
|
||||
*/
|
||||
ReturnValue_t startTask(void);
|
||||
ReturnValue_t startTask() override;
|
||||
/**
|
||||
* Adds an object to the list of objects to be executed.
|
||||
* The objects are executed in the order added.
|
||||
|
138
osal/linux/TcUnixUdpPollingTask.cpp
Normal file
138
osal/linux/TcUnixUdpPollingTask.cpp
Normal file
@ -0,0 +1,138 @@
|
||||
#include "TcUnixUdpPollingTask.h"
|
||||
#include "../../globalfunctions/arrayprinter.h"
|
||||
|
||||
TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
|
||||
object_id_t tmtcUnixUdpBridge, size_t frameSize,
|
||||
double timeoutSeconds): SystemObject(objectId),
|
||||
tmtcBridgeId(tmtcUnixUdpBridge) {
|
||||
|
||||
if(frameSize > 0) {
|
||||
this->frameSize = frameSize;
|
||||
}
|
||||
else {
|
||||
this->frameSize = DEFAULT_MAX_FRAME_SIZE;
|
||||
}
|
||||
|
||||
// Set up reception buffer with specified frame size.
|
||||
// For now, it is assumed that only one frame is held in the buffer!
|
||||
receptionBuffer.reserve(this->frameSize);
|
||||
receptionBuffer.resize(this->frameSize);
|
||||
|
||||
if(timeoutSeconds == -1) {
|
||||
receptionTimeout = DEFAULT_TIMEOUT;
|
||||
}
|
||||
else {
|
||||
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
|
||||
}
|
||||
}
|
||||
|
||||
TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
|
||||
|
||||
ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
|
||||
// Poll for new UDP datagrams in permanent loop.
|
||||
while(1) {
|
||||
//! Sender Address is cached here.
|
||||
struct sockaddr_in senderAddress;
|
||||
socklen_t senderSockLen = 0;
|
||||
ssize_t bytesReceived = recvfrom(serverUdpSocket,
|
||||
receptionBuffer.data(), frameSize, receptionFlags,
|
||||
reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
|
||||
if(bytesReceived < 0) {
|
||||
// handle error
|
||||
sif::error << "TcSocketPollingTask::performOperation: Reception"
|
||||
"error." << std::endl;
|
||||
handleReadError();
|
||||
|
||||
continue;
|
||||
}
|
||||
// sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
|
||||
// << " bytes received" << std::endl;
|
||||
|
||||
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
|
||||
if(result != HasReturnvaluesIF::RETURN_FAILED) {
|
||||
|
||||
}
|
||||
tmtcBridge->registerCommConnect();
|
||||
tmtcBridge->checkAndSetClientAddress(senderAddress);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
|
||||
store_address_t storeId;
|
||||
ReturnValue_t result = tcStore->addData(&storeId,
|
||||
receptionBuffer.data(), bytesRead);
|
||||
// arrayprinter::print(receptionBuffer.data(), bytesRead);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
|
||||
"storage failed" << std::endl;
|
||||
sif::error << "Packet size: " << bytesRead << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
TmTcMessage message(storeId);
|
||||
|
||||
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Serial Polling: Sending message to queue failed"
|
||||
<< std::endl;
|
||||
tcStore->deleteData(storeId);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t TcUnixUdpPollingTask::initialize() {
|
||||
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
|
||||
if (tcStore == nullptr) {
|
||||
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
|
||||
<< std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
|
||||
if(tmtcBridge == nullptr) {
|
||||
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
|
||||
" TMTC bridge object!" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
serverUdpSocket = tmtcBridge->serverSocket;
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
|
||||
// Initialize the destination after task creation. This ensures
|
||||
// that the destination will be set in the TMTC bridge.
|
||||
targetTcDestination = tmtcBridge->getRequestQueue();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
|
||||
timeval tval;
|
||||
tval = timevalOperations::toTimeval(timeoutSeconds);
|
||||
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
|
||||
&tval, sizeof(receptionTimeout));
|
||||
if(result == -1) {
|
||||
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
|
||||
"receive timeout failed with " << strerror(errno) << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: sleep after error detection to prevent spam
|
||||
void TcUnixUdpPollingTask::handleReadError() {
|
||||
switch(errno) {
|
||||
case(EAGAIN): {
|
||||
// todo: When working in timeout mode, this will occur more often
|
||||
// and is not an error.
|
||||
sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
|
||||
<< std::endl;
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
sif::error << "TcUnixUdpPollingTask::handleReadError: "
|
||||
<< strerror(errno) << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
67
osal/linux/TcUnixUdpPollingTask.h
Normal file
67
osal/linux/TcUnixUdpPollingTask.h
Normal file
@ -0,0 +1,67 @@
|
||||
#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
|
||||
#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
|
||||
|
||||
#include "../../objectmanager/SystemObject.h"
|
||||
#include "../../osal/linux/TmTcUnixUdpBridge.h"
|
||||
#include "../../tasks/ExecutableObjectIF.h"
|
||||
|
||||
#include <sys/socket.h>
|
||||
#include <vector>
|
||||
|
||||
/**
|
||||
* @brief This class can be used to implement the polling of a Unix socket,
|
||||
* using UDP for now.
|
||||
* @details
|
||||
* The task will be blocked while the specified number of bytes has not been
|
||||
* received, so TC reception is handled inside a separate task.
|
||||
* This class caches the IP address of the sender. It is assumed there
|
||||
* is only one sender for now.
|
||||
*/
|
||||
class TcUnixUdpPollingTask: public SystemObject,
|
||||
public ExecutableObjectIF {
|
||||
friend class TmTcUnixUdpBridge;
|
||||
public:
|
||||
static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
|
||||
//! 0.5 default milliseconds timeout for now.
|
||||
static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
|
||||
|
||||
TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
|
||||
size_t frameSize = 0, double timeoutSeconds = -1);
|
||||
virtual~ TcUnixUdpPollingTask();
|
||||
|
||||
/**
|
||||
* Turn on optional timeout for UDP polling. In the default mode,
|
||||
* the receive function will block until a packet is received.
|
||||
* @param timeoutSeconds
|
||||
*/
|
||||
void setTimeout(double timeoutSeconds);
|
||||
|
||||
virtual ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
virtual ReturnValue_t initialize() override;
|
||||
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
||||
|
||||
protected:
|
||||
StorageManagerIF* tcStore = nullptr;
|
||||
|
||||
private:
|
||||
//! TMTC bridge is cached.
|
||||
object_id_t tmtcBridgeId = objects::NO_OBJECT;
|
||||
TmTcUnixUdpBridge* tmtcBridge = nullptr;
|
||||
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
|
||||
//! Reception flags: https://linux.die.net/man/2/recvfrom.
|
||||
int receptionFlags = 0;
|
||||
|
||||
//! Server socket, which is member of TMTC bridge and is assigned in
|
||||
//! constructor
|
||||
int serverUdpSocket = 0;
|
||||
|
||||
std::vector<uint8_t> receptionBuffer;
|
||||
|
||||
size_t frameSize = 0;
|
||||
timeval receptionTimeout;
|
||||
|
||||
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
|
||||
void handleReadError();
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
|
170
osal/linux/TmTcUnixUdpBridge.cpp
Normal file
170
osal/linux/TmTcUnixUdpBridge.cpp
Normal file
@ -0,0 +1,170 @@
|
||||
#include "TmTcUnixUdpBridge.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../../ipc/MutexHelper.h"
|
||||
|
||||
#include <errno.h>
|
||||
#include <arpa/inet.h>
|
||||
|
||||
|
||||
TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
|
||||
object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
|
||||
uint16_t serverPort, uint16_t clientPort):
|
||||
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
|
||||
mutex = MutexFactory::instance()->createMutex();
|
||||
|
||||
uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
|
||||
if(serverPort != 0xFFFF) {
|
||||
setServerPort = serverPort;
|
||||
}
|
||||
|
||||
uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
|
||||
if(clientPort != 0xFFFF) {
|
||||
setClientPort = clientPort;
|
||||
}
|
||||
|
||||
// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
|
||||
//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
|
||||
serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
|
||||
if(serverSocket < 0) {
|
||||
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
|
||||
" UDP socket!" << std::endl;
|
||||
handleSocketError();
|
||||
return;
|
||||
}
|
||||
|
||||
serverAddress.sin_family = AF_INET;
|
||||
|
||||
// Accept packets from any interface.
|
||||
//serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0");
|
||||
serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
|
||||
serverAddress.sin_port = htons(setServerPort);
|
||||
serverAddressLen = sizeof(serverAddress);
|
||||
setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
|
||||
sizeof(serverSocketOptions));
|
||||
|
||||
clientAddress.sin_family = AF_INET;
|
||||
clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
|
||||
clientAddress.sin_port = htons(setClientPort);
|
||||
clientAddressLen = sizeof(clientAddress);
|
||||
|
||||
int result = bind(serverSocket,
|
||||
reinterpret_cast<struct sockaddr*>(&serverAddress),
|
||||
serverAddressLen);
|
||||
if(result == -1) {
|
||||
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
|
||||
"local port " << setServerPort << " to server socket!"
|
||||
<< std::endl;
|
||||
handleBindError();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
|
||||
}
|
||||
|
||||
ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
|
||||
int flags = 0;
|
||||
|
||||
clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
|
||||
//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
|
||||
clientAddressLen = sizeof(serverAddress);
|
||||
|
||||
// char ipAddress [15];
|
||||
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
|
||||
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
|
||||
|
||||
ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
|
||||
reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
|
||||
if(bytesSent < 0) {
|
||||
sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
|
||||
<< std::endl;
|
||||
handleSendError();
|
||||
}
|
||||
// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
|
||||
// " sent." << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
|
||||
MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
|
||||
|
||||
// char ipAddress [15];
|
||||
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
|
||||
// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
|
||||
// sif::debug << "IP Address Old: " << inet_ntop(AF_INET,
|
||||
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
|
||||
|
||||
// Set new IP address if it has changed.
|
||||
if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
|
||||
clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
|
||||
clientAddressLen = sizeof(clientAddress);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void TmTcUnixUdpBridge::handleSocketError() {
|
||||
// See: https://man7.org/linux/man-pages/man2/socket.2.html
|
||||
switch(errno) {
|
||||
case(EACCES):
|
||||
case(EINVAL):
|
||||
case(EMFILE):
|
||||
case(ENFILE):
|
||||
case(EAFNOSUPPORT):
|
||||
case(ENOBUFS):
|
||||
case(ENOMEM):
|
||||
case(EPROTONOSUPPORT):
|
||||
sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
|
||||
<< " with " << strerror(errno) << std::endl;
|
||||
break;
|
||||
default:
|
||||
sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
|
||||
<< std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void TmTcUnixUdpBridge::handleBindError() {
|
||||
// See: https://man7.org/linux/man-pages/man2/bind.2.html
|
||||
switch(errno) {
|
||||
case(EACCES): {
|
||||
/*
|
||||
Ephermeral ports can be shown with following command:
|
||||
sysctl -A | grep ip_local_port_range
|
||||
*/
|
||||
sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
|
||||
"Ports 1-1024 are reserved on UNIX systems and require root "
|
||||
"rights while ephermeral ports should not be used as well."
|
||||
<< std::endl;
|
||||
}
|
||||
break;
|
||||
case(EADDRINUSE):
|
||||
case(EBADF):
|
||||
case(EINVAL):
|
||||
case(ENOTSOCK):
|
||||
case(EADDRNOTAVAIL):
|
||||
case(EFAULT):
|
||||
case(ELOOP):
|
||||
case(ENAMETOOLONG):
|
||||
case(ENOENT):
|
||||
case(ENOMEM):
|
||||
case(ENOTDIR):
|
||||
case(EROFS): {
|
||||
sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
|
||||
<< " with " << strerror(errno) << std::endl;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
|
||||
<< std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void TmTcUnixUdpBridge::handleSendError() {
|
||||
switch(errno) {
|
||||
default:
|
||||
sif::error << "TmTcUnixBridge::handleSendError: "
|
||||
<< strerror(errno) << std::endl;
|
||||
}
|
||||
}
|
||||
|
48
osal/linux/TmTcUnixUdpBridge.h
Normal file
48
osal/linux/TmTcUnixUdpBridge.h
Normal file
@ -0,0 +1,48 @@
|
||||
#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
|
||||
#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
|
||||
|
||||
#include "../../tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "../../tmtcservices/TmTcBridge.h"
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include <netinet/udp.h>
|
||||
|
||||
class TmTcUnixUdpBridge: public TmTcBridge {
|
||||
friend class TcUnixUdpPollingTask;
|
||||
public:
|
||||
// The ports chosen here should not be used by any other process.
|
||||
// List of used ports on Linux: /etc/services
|
||||
static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
|
||||
static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
|
||||
|
||||
TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
|
||||
object_id_t tmStoreId, object_id_t tcStoreId,
|
||||
uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
|
||||
virtual~ TmTcUnixUdpBridge();
|
||||
|
||||
void checkAndSetClientAddress(sockaddr_in clientAddress);
|
||||
|
||||
protected:
|
||||
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
|
||||
|
||||
private:
|
||||
int serverSocket = 0;
|
||||
|
||||
const int serverSocketOptions = 0;
|
||||
|
||||
struct sockaddr_in clientAddress;
|
||||
socklen_t clientAddressLen = 0;
|
||||
|
||||
struct sockaddr_in serverAddress;
|
||||
socklen_t serverAddressLen = 0;
|
||||
|
||||
//! Access to the client address is mutex protected as it is set
|
||||
//! by another task.
|
||||
MutexIF* mutex;
|
||||
|
||||
void handleSocketError();
|
||||
void handleBindError();
|
||||
void handleSendError();
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */
|
@ -1,12 +1,27 @@
|
||||
#ifndef HASPARAMETERSIF_H_
|
||||
#define HASPARAMETERSIF_H_
|
||||
#ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
|
||||
#define FSFW_PARAMETERS_HASPARAMETERSIF_H_
|
||||
|
||||
#include "ParameterWrapper.h"
|
||||
#include "../parameters/ParameterWrapper.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <stdint.h>
|
||||
|
||||
/** Each parameter is identified with a unique parameter ID */
|
||||
typedef uint32_t ParameterId_t;
|
||||
|
||||
/**
|
||||
* @brief This interface is used by components which have modifiable
|
||||
* parameters, e.g. atittude controllers
|
||||
* @details
|
||||
* Each parameter has a unique parameter ID. The first byte of the parameter
|
||||
* ID is the domain ID which can be used to identify unqiue spacecraft domains
|
||||
* (e.g. control and sensor domain in the AOCS controller).
|
||||
*
|
||||
* The second and third byte represent the matrix ID, which can represent
|
||||
* a 8-bit row and column number and the last byte...
|
||||
*
|
||||
* Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
|
||||
* of a 8 bit number now?
|
||||
*/
|
||||
class HasParametersIF {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
|
||||
@ -32,13 +47,11 @@ public:
|
||||
return (domainId << 24) + (parameterId << 8) + index;
|
||||
}
|
||||
|
||||
virtual ~HasParametersIF() {
|
||||
}
|
||||
virtual ~HasParametersIF() {}
|
||||
|
||||
/**
|
||||
* Always set parameter before checking newValues!
|
||||
*
|
||||
*
|
||||
* @param domainId
|
||||
* @param parameterId
|
||||
* @param parameterWrapper
|
||||
@ -51,4 +64,4 @@ public:
|
||||
const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
|
||||
};
|
||||
|
||||
#endif /* HASPARAMETERSIF_H_ */
|
||||
#endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */
|
||||
|
@ -1,11 +1,9 @@
|
||||
#include "../objectmanager/ObjectManagerIF.h"
|
||||
#include "ParameterHelper.h"
|
||||
#include "ParameterMessage.h"
|
||||
#include "../objectmanager/ObjectManagerIF.h"
|
||||
|
||||
ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
|
||||
owner(owner), storage(NULL) {
|
||||
|
||||
}
|
||||
owner(owner) {}
|
||||
|
||||
ParameterHelper::~ParameterHelper() {
|
||||
}
|
||||
@ -28,7 +26,6 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
|
||||
}
|
||||
break;
|
||||
case ParameterMessage::CMD_PARAMETER_LOAD: {
|
||||
|
||||
uint8_t domain = HasParametersIF::getDomain(
|
||||
ParameterMessage::getParameterId(message));
|
||||
uint16_t parameterId = HasParametersIF::getMatrixId(
|
||||
@ -36,12 +33,14 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
|
||||
uint8_t index = HasParametersIF::getIndex(
|
||||
ParameterMessage::getParameterId(message));
|
||||
|
||||
const uint8_t *storedStream;
|
||||
size_t storedStreamSize;
|
||||
const uint8_t *storedStream = nullptr;
|
||||
size_t storedStreamSize = 0;
|
||||
result = storage->getData(
|
||||
ParameterMessage::getStoreId(message), &storedStream,
|
||||
&storedStreamSize);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "ParameterHelper::handleParameterMessage: Getting"
|
||||
" store data failed for load command." << std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
@ -125,7 +124,8 @@ ReturnValue_t ParameterHelper::initialize() {
|
||||
}
|
||||
}
|
||||
|
||||
void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand) {
|
||||
void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
|
||||
Command_t initialCommand) {
|
||||
CommandMessage reply;
|
||||
reply.setReplyRejected(reason, initialCommand);
|
||||
MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
|
||||
|
@ -1,9 +1,16 @@
|
||||
#ifndef PARAMETERHELPER_H_
|
||||
#define PARAMETERHELPER_H_
|
||||
#ifndef FSFW_PARAMETERS_PARAMETERHELPER_H_
|
||||
#define FSFW_PARAMETERS_PARAMETERHELPER_H_
|
||||
|
||||
#include "ParameterMessage.h"
|
||||
#include "ReceivesParameterMessagesIF.h"
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
|
||||
/**
|
||||
* @brief Helper class to handle parameter messages.
|
||||
* @details
|
||||
* This class simplfies handling of parameter messages, which are sent
|
||||
* to a class which implements ReceivesParameterMessagesIF.
|
||||
*/
|
||||
class ParameterHelper {
|
||||
public:
|
||||
ParameterHelper(ReceivesParameterMessagesIF *owner);
|
||||
@ -15,13 +22,15 @@ public:
|
||||
private:
|
||||
ReceivesParameterMessagesIF *owner;
|
||||
|
||||
MessageQueueId_t ownerQueueId;
|
||||
MessageQueueId_t ownerQueueId = MessageQueueIF::NO_QUEUE;
|
||||
|
||||
StorageManagerIF *storage;
|
||||
StorageManagerIF *storage = nullptr;
|
||||
|
||||
ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, const ParameterWrapper *description);
|
||||
ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
|
||||
const ParameterWrapper *description);
|
||||
|
||||
void rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand);
|
||||
void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
|
||||
Command_t initialCommand);
|
||||
};
|
||||
|
||||
#endif /* PARAMETERHELPER_H_ */
|
||||
#endif /* FSFW_PARAMETERS_PARAMETERHELPER_H_ */
|
||||
|
@ -1,4 +1,4 @@
|
||||
#include "ParameterMessage.h"
|
||||
#include "../parameters/ParameterMessage.h"
|
||||
#include "../objectmanager/ObjectManagerIF.h"
|
||||
|
||||
ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {
|
||||
|
@ -1,8 +1,8 @@
|
||||
#ifndef PARAMETERMESSAGE_H_
|
||||
#define PARAMETERMESSAGE_H_
|
||||
#ifndef FSFW_PARAMETERS_PARAMETERMESSAGE_H_
|
||||
#define FSFW_PARAMETERS_PARAMETERMESSAGE_H_
|
||||
|
||||
#include "../ipc/CommandMessage.h"
|
||||
#include "HasParametersIF.h"
|
||||
#include "../ipc/CommandMessage.h"
|
||||
#include "../storagemanager/StorageManagerIF.h"
|
||||
|
||||
class ParameterMessage {
|
||||
@ -26,4 +26,4 @@ public:
|
||||
|
||||
};
|
||||
|
||||
#endif /* PARAMETERMESSAGE_H_ */
|
||||
#endif /* FSFW_PARAMETERS_PARAMETERMESSAGE_H_ */
|
||||
|
@ -1,20 +1,19 @@
|
||||
#include "ParameterWrapper.h"
|
||||
|
||||
ParameterWrapper::ParameterWrapper() :
|
||||
pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
|
||||
NULL), readonlyData(NULL) {
|
||||
pointsToStream(false), type(Type::UNKNOWN_TYPE) {
|
||||
}
|
||||
|
||||
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
|
||||
void *data) :
|
||||
pointsToStream(false), type(type), rows(rows), columns(columns), data(
|
||||
data), readonlyData(data) {
|
||||
pointsToStream(false), type(type), rows(rows), columns(columns),
|
||||
data(data), readonlyData(data) {
|
||||
}
|
||||
|
||||
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
|
||||
const void *data) :
|
||||
pointsToStream(false), type(type), rows(rows), columns(columns), data(
|
||||
NULL), readonlyData(data) {
|
||||
pointsToStream(false), type(type), rows(rows), columns(columns),
|
||||
data(nullptr), readonlyData(data) {
|
||||
}
|
||||
|
||||
ParameterWrapper::~ParameterWrapper() {
|
||||
@ -141,6 +140,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
|
||||
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
|
||||
size_t *size, Endianness streamEndianness) {
|
||||
return deSerialize(buffer, size, streamEndianness, 0);
|
||||
@ -184,16 +184,16 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
|
||||
return SerializeIF::STREAM_TOO_SHORT;
|
||||
}
|
||||
|
||||
data = NULL;
|
||||
data = nullptr;
|
||||
readonlyData = stream;
|
||||
pointsToStream = true;
|
||||
|
||||
stream += dataSize;
|
||||
if (remainingStream != NULL) {
|
||||
if (remainingStream != nullptr) {
|
||||
*remainingStream = stream;
|
||||
}
|
||||
streamSize -= dataSize;
|
||||
if (remainingSize != NULL) {
|
||||
if (remainingSize != nullptr) {
|
||||
*remainingSize = streamSize;
|
||||
}
|
||||
|
||||
@ -265,15 +265,15 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
|
||||
result = UNKNOW_DATATYPE;
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
//need a type to do arithmetic
|
||||
uint8_t *toDataWithType = (uint8_t*) data;
|
||||
uint8_t* typedData = static_cast<uint8_t*>(data);
|
||||
for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
|
||||
memcpy(
|
||||
toDataWithType
|
||||
+ (((startingRow + fromRow) * columns)
|
||||
+ startingColumn) * typeSize,
|
||||
from->readonlyData, typeSize * from->columns);
|
||||
size_t offset = (((startingRow + fromRow) * columns) +
|
||||
startingColumn) * typeSize;
|
||||
std::memcpy(typedData + offset, from->readonlyData,
|
||||
typeSize * from->columns);
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1,12 +1,16 @@
|
||||
#ifndef PARAMETERWRAPPER_H_
|
||||
#define PARAMETERWRAPPER_H_
|
||||
#ifndef FSFW_PARAMETERS_PARAMETERWRAPPER_H_
|
||||
#define FSFW_PARAMETERS_PARAMETERWRAPPER_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../serialize/SerializeAdapter.h"
|
||||
#include "../serialize/SerializeIF.h"
|
||||
#include <stddef.h>
|
||||
#include "../globalfunctions/Type.h"
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* @details
|
||||
*/
|
||||
class ParameterWrapper: public SerializeIF {
|
||||
friend class DataPoolParameterWrapper;
|
||||
public:
|
||||
@ -36,32 +40,21 @@ public:
|
||||
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
|
||||
|
||||
/**
|
||||
* Get a specific parameter value by supplying the row and the column.
|
||||
* @tparam T Type of target data
|
||||
* @param value [out] Pointer to storage location
|
||||
* @param row
|
||||
* @param column
|
||||
* @return
|
||||
* -@c RETURN_OK if element was retrieved successfully
|
||||
* -@c NOT_SET data has not been set yet
|
||||
* -@c DATATYPE_MISSMATCH Invalid supplied type
|
||||
* -@c OUT_OF_BOUNDS Invalid row and/or column.
|
||||
*/
|
||||
template<typename T>
|
||||
ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
|
||||
if (readonlyData == NULL){
|
||||
return NOT_SET;
|
||||
}
|
||||
|
||||
if (PodTypeConversion<T>::type != type) {
|
||||
return DATATYPE_MISSMATCH;
|
||||
}
|
||||
|
||||
if ((row >= rows) || (column >= columns)) {
|
||||
return OUT_OF_BOUNDS;
|
||||
}
|
||||
|
||||
if (pointsToStream) {
|
||||
const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
|
||||
streamWithtype += (row * columns + column) * type.getSize();
|
||||
int32_t size = type.getSize();
|
||||
return SerializeAdapter::deSerialize(value, &streamWithtype,
|
||||
&size, true);
|
||||
} else {
|
||||
const T *dataWithType = (const T *) readonlyData;
|
||||
*value = dataWithType[row * columns + column];
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
ReturnValue_t getElement(T *value, uint8_t row = 0,
|
||||
uint8_t column = 0) const;
|
||||
|
||||
template<typename T>
|
||||
void set(T *data, uint8_t rows, uint8_t columns) {
|
||||
@ -111,21 +104,22 @@ public:
|
||||
void setMatrix(const T& member) {
|
||||
this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
|
||||
}
|
||||
|
||||
ReturnValue_t set(const uint8_t *stream, size_t streamSize,
|
||||
const uint8_t **remainingStream = NULL, size_t *remainingSize =
|
||||
NULL);
|
||||
const uint8_t **remainingStream = nullptr,
|
||||
size_t *remainingSize = nullptr);
|
||||
|
||||
ReturnValue_t copyFrom(const ParameterWrapper *from,
|
||||
uint16_t startWritingAtIndex);
|
||||
|
||||
private:
|
||||
bool pointsToStream;
|
||||
bool pointsToStream = false;
|
||||
|
||||
Type type;
|
||||
uint8_t rows;
|
||||
uint8_t columns;
|
||||
void *data;
|
||||
const void *readonlyData;
|
||||
uint8_t rows = 0;
|
||||
uint8_t columns = 0;
|
||||
void *data = nullptr;
|
||||
const void *readonlyData = nullptr;
|
||||
|
||||
template<typename T>
|
||||
ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
|
||||
@ -136,4 +130,33 @@ private:
|
||||
const void *from, uint8_t fromRows, uint8_t fromColumns);
|
||||
};
|
||||
|
||||
#endif /* PARAMETERWRAPPER_H_ */
|
||||
template <typename T>
|
||||
inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
|
||||
uint8_t column) const {
|
||||
if (readonlyData == nullptr){
|
||||
return NOT_SET;
|
||||
}
|
||||
|
||||
if (PodTypeConversion<T>::type != type) {
|
||||
return DATATYPE_MISSMATCH;
|
||||
}
|
||||
|
||||
if ((row >= rows) or (column >= columns)) {
|
||||
return OUT_OF_BOUNDS;
|
||||
}
|
||||
|
||||
if (pointsToStream) {
|
||||
const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
|
||||
streamWithType += (row * columns + column) * type.getSize();
|
||||
int32_t size = type.getSize();
|
||||
return SerializeAdapter::deSerialize(value, &streamWithType,
|
||||
&size, true);
|
||||
}
|
||||
else {
|
||||
const T *dataWithType = static_cast<const T*>(readonlyData);
|
||||
*value = dataWithType[row * columns + column];
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* FSFW_PARAMETERS_PARAMETERWRAPPER_H_ */
|
||||
|
@ -1,5 +1,5 @@
|
||||
#ifndef RECEIVESPARAMETERMESSAGESIF_H_
|
||||
#define RECEIVESPARAMETERMESSAGESIF_H_
|
||||
#ifndef FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
|
||||
#define FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
|
||||
|
||||
|
||||
#include "HasParametersIF.h"
|
||||
@ -16,4 +16,4 @@ public:
|
||||
};
|
||||
|
||||
|
||||
#endif /* RECEIVESPARAMETERMESSAGESIF_H_ */
|
||||
#endif /* FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_ */
|
||||
|
@ -64,6 +64,7 @@ enum {
|
||||
LOCAL_POOL_OWNER_IF, //LPIF 58
|
||||
POOL_VARIABLE_IF, //PVA 59
|
||||
HOUSEKEEPING_MANAGER, //HKM 60
|
||||
DLE_ENCODER, //DLEE 61
|
||||
FW_CLASS_ID_COUNT //is actually count + 1 !
|
||||
|
||||
};
|
||||
|
@ -1,5 +1,5 @@
|
||||
#ifndef ENDIANSWAPPER_H_
|
||||
#define ENDIANSWAPPER_H_
|
||||
#ifndef FSFW_SERIALIZE_ENDIANCONVERTER_H_
|
||||
#define FSFW_SERIALIZE_ENDIANCONVERTER_H_
|
||||
|
||||
#include "../osal/Endiness.h"
|
||||
#include <cstring>
|
||||
@ -35,9 +35,7 @@
|
||||
*/
|
||||
class EndianConverter {
|
||||
private:
|
||||
EndianConverter() {
|
||||
}
|
||||
;
|
||||
EndianConverter() {};
|
||||
public:
|
||||
/**
|
||||
* Convert a typed variable between big endian and machine endian.
|
||||
@ -123,4 +121,4 @@ public:
|
||||
}
|
||||
};
|
||||
|
||||
#endif /* ENDIANSWAPPER_H_ */
|
||||
#endif /* FSFW_SERIALIZE_ENDIANCONVERTER_H_ */
|
||||
|
@ -1,13 +1,14 @@
|
||||
#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
|
||||
#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
|
||||
#ifndef FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_
|
||||
#define FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_
|
||||
|
||||
#include "../container/ArrayList.h"
|
||||
#include "SerializeIF.h"
|
||||
#include "../container/ArrayList.h"
|
||||
#include <utility>
|
||||
|
||||
/**
|
||||
* Also serializes length field !
|
||||
* @author baetz
|
||||
* @ingroup serialize
|
||||
* @author baetz
|
||||
*/
|
||||
template<typename T, typename count_t = uint8_t>
|
||||
class SerialArrayListAdapter : public SerializeIF {
|
||||
@ -21,14 +22,14 @@ public:
|
||||
}
|
||||
|
||||
static ReturnValue_t serialize(const ArrayList<T, count_t>* list,
|
||||
uint8_t** buffer, size_t* size, size_t maxSize,
|
||||
Endianness streamEndianness) {
|
||||
uint8_t** buffer, size_t* size, size_t maxSize,
|
||||
Endianness streamEndianness) {
|
||||
ReturnValue_t result = SerializeAdapter::serialize(&list->size,
|
||||
buffer, size, maxSize, streamEndianness);
|
||||
count_t i = 0;
|
||||
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
|
||||
result = SerializeAdapter::serialize(&list->entries[i], buffer,
|
||||
size, maxSize, streamEndianness);
|
||||
result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
|
||||
maxSize, streamEndianness);
|
||||
++i;
|
||||
}
|
||||
return result;
|
||||
@ -55,17 +56,18 @@ public:
|
||||
}
|
||||
|
||||
static ReturnValue_t deSerialize(ArrayList<T, count_t>* list,
|
||||
const uint8_t** buffer, size_t* size,
|
||||
const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) {
|
||||
count_t tempSize = 0;
|
||||
ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
|
||||
buffer, size, streamEndianness);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
return result;
|
||||
}
|
||||
if (tempSize > list->maxSize()) {
|
||||
return SerializeIF::TOO_MANY_ELEMENTS;
|
||||
}
|
||||
|
||||
list->size = tempSize;
|
||||
count_t i = 0;
|
||||
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
|
||||
@ -76,10 +78,9 @@ public:
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
private:
|
||||
ArrayList<T, count_t> *adaptee;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */
|
||||
#endif /* FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */
|
||||
|
@ -1,31 +1,57 @@
|
||||
#ifndef SERIALFIXEDARRAYLISTADAPTER_H_
|
||||
#define SERIALFIXEDARRAYLISTADAPTER_H_
|
||||
#ifndef FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_
|
||||
#define FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_
|
||||
|
||||
#include "../container/FixedArrayList.h"
|
||||
#include "SerialArrayListAdapter.h"
|
||||
#include "../container/FixedArrayList.h"
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
* @brief This adapter provides an interface for SerializeIF to serialize and
|
||||
* deserialize buffers with a header containing the buffer length.
|
||||
* @details
|
||||
* Can be used by SerialLinkedListAdapter by declaring
|
||||
* as a linked element with SerializeElement<SerialFixedArrayListAdapter<...>>.
|
||||
* The sequence of objects is defined in the constructor by
|
||||
* using the setStart and setNext functions.
|
||||
*
|
||||
* @tparam BUFFER_TYPE: Specifies the data type of the buffer
|
||||
* @tparam MAX_SIZE: Specifies the maximum allowed number of elements
|
||||
* (not bytes!)
|
||||
* @tparam count_t: specifies the type/size of the length field which defaults
|
||||
* to one byte.
|
||||
* @ingroup serialize
|
||||
*/
|
||||
template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>
|
||||
class SerialFixedArrayListAdapter : public FixedArrayList<T, MAX_SIZE, count_t>, public SerializeIF {
|
||||
template<typename BUFFER_TYPE, uint32_t MAX_SIZE, typename count_t = uint8_t>
|
||||
class SerialFixedArrayListAdapter :
|
||||
public FixedArrayList<BUFFER_TYPE, MAX_SIZE, count_t>,
|
||||
public SerializeIF {
|
||||
public:
|
||||
/**
|
||||
* Constructor arguments are forwarded to FixedArrayList constructor.
|
||||
* Refer to the fixed array list constructors for different options.
|
||||
* @param args
|
||||
*/
|
||||
template<typename... Args>
|
||||
SerialFixedArrayListAdapter(Args... args) : FixedArrayList<T, MAX_SIZE, count_t>(std::forward<Args>(args)...) {
|
||||
}
|
||||
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
|
||||
size_t maxSize, Endianness streamEndianness) const {
|
||||
return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, maxSize, streamEndianness);
|
||||
}
|
||||
size_t getSerializedSize() const {
|
||||
return SerialArrayListAdapter<T, count_t>::getSerializedSize(this);
|
||||
}
|
||||
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) {
|
||||
return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, streamEndianness);
|
||||
}
|
||||
SerialFixedArrayListAdapter(Args... args) :
|
||||
FixedArrayList<BUFFER_TYPE, MAX_SIZE, count_t>(
|
||||
std::forward<Args>(args)...){}
|
||||
|
||||
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
|
||||
size_t maxSize, Endianness streamEndianness) const {
|
||||
return SerialArrayListAdapter<BUFFER_TYPE, count_t>::serialize(this,
|
||||
buffer, size, maxSize, streamEndianness);
|
||||
}
|
||||
|
||||
size_t getSerializedSize() const {
|
||||
return SerialArrayListAdapter<BUFFER_TYPE, count_t>::
|
||||
getSerializedSize(this);
|
||||
}
|
||||
|
||||
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) {
|
||||
return SerialArrayListAdapter<BUFFER_TYPE, count_t>::deSerialize(this,
|
||||
buffer, size, streamEndianness);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* SERIALFIXEDARRAYLISTADAPTER_H_ */
|
||||
#endif /* FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_ */
|
||||
|
@ -1,32 +1,52 @@
|
||||
/**
|
||||
* @file SerialLinkedListAdapter.h
|
||||
* @brief This file defines the SerialLinkedListAdapter class.
|
||||
* @date 22.07.2014
|
||||
* @author baetz
|
||||
*/
|
||||
#ifndef SERIALLINKEDLISTADAPTER_H_
|
||||
#define SERIALLINKEDLISTADAPTER_H_
|
||||
#ifndef FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_
|
||||
#define FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_
|
||||
|
||||
#include "../container/SinglyLinkedList.h"
|
||||
#include "SerializeAdapter.h"
|
||||
#include "SerializeElement.h"
|
||||
#include "SerializeIF.h"
|
||||
//This is where we need the SerializeAdapter!
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
/**
|
||||
* @brief Implement the conversion of object data to data streams
|
||||
* or vice-versa, using linked lists.
|
||||
* @details
|
||||
* An alternative to the AutoSerializeAdapter functions
|
||||
* - All object members with a datatype are declared as
|
||||
* SerializeElement<element_type> members inside the class
|
||||
* implementing this adapter.
|
||||
* - The element type can also be a SerialBufferAdapter to
|
||||
* de-/serialize buffers.
|
||||
* - The element type can also be a SerialFixedArrayListAdapter to
|
||||
* de-/serialize buffers with a size header, which is scanned automatically.
|
||||
*
|
||||
* The sequence of objects is defined in the constructor by using
|
||||
* the setStart and setNext functions.
|
||||
*
|
||||
* 1. The serialization process is done by instantiating the class and
|
||||
* calling serialize after all SerializeElement entries have been set by
|
||||
* using the constructor or setter functions. An additional size variable
|
||||
* can be supplied which is calculated/incremented automatically.
|
||||
* 2. The deserialization process is done by instantiating the class and
|
||||
* supplying a buffer with the data which is converted into an object.
|
||||
* The size of data to serialize can be supplied and is
|
||||
* decremented in the function. Range checking is done internally.
|
||||
* @author baetz
|
||||
* @ingroup serialize
|
||||
*/
|
||||
template<typename T, typename count_t = uint8_t>
|
||||
class SerialLinkedListAdapter: public SinglyLinkedList<T>, public SerializeIF {
|
||||
public:
|
||||
|
||||
SerialLinkedListAdapter(typename LinkedElement<T>::Iterator start,
|
||||
bool printCount = false) :
|
||||
SinglyLinkedList<T>(start), printCount(printCount) {
|
||||
}
|
||||
|
||||
SerialLinkedListAdapter(LinkedElement<T>* first, bool printCount = false) :
|
||||
SinglyLinkedList<T>(first), printCount(printCount) {
|
||||
|
||||
}
|
||||
|
||||
SerialLinkedListAdapter(bool printCount = false) :
|
||||
SinglyLinkedList<T>(), printCount(printCount) {
|
||||
}
|
||||
@ -49,13 +69,14 @@ public:
|
||||
uint8_t** buffer, size_t* size, size_t maxSize,
|
||||
Endianness streamEndianness) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
|
||||
while ((result == HasReturnvaluesIF::RETURN_OK) and (element != nullptr)) {
|
||||
result = element->value->serialize(buffer, size, maxSize,
|
||||
streamEndianness);
|
||||
element = element->getNext();
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
virtual size_t getSerializedSize() const override {
|
||||
if (printCount) {
|
||||
return SerialLinkedListAdapter<T>::getSerializedSize()
|
||||
@ -64,32 +85,44 @@ public:
|
||||
return getSerializedSize(SinglyLinkedList<T>::start);
|
||||
}
|
||||
}
|
||||
|
||||
static size_t getSerializedSize(const LinkedElement<T> *element) {
|
||||
size_t size = 0;
|
||||
while (element != NULL) {
|
||||
while (element != nullptr) {
|
||||
size += element->value->getSerializedSize();
|
||||
element = element->getNext();
|
||||
}
|
||||
return size;
|
||||
}
|
||||
|
||||
|
||||
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) override {
|
||||
return deSerialize(SinglyLinkedList<T>::start, buffer, size, streamEndianness);
|
||||
return deSerialize(SinglyLinkedList<T>::start, buffer, size,
|
||||
streamEndianness);
|
||||
}
|
||||
|
||||
static ReturnValue_t deSerialize(LinkedElement<T>* element,
|
||||
const uint8_t** buffer, size_t* size, Endianness streamEndianness) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
|
||||
while ((result == HasReturnvaluesIF::RETURN_OK) and (element != nullptr)) {
|
||||
result = element->value->deSerialize(buffer, size, streamEndianness);
|
||||
element = element->getNext();
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
bool printCount;
|
||||
/**
|
||||
* Copying is forbidden by deleting the copy constructor and the copy
|
||||
* assignment operator because of the pointers to the linked list members.
|
||||
* Unless the child class implements an own copy constructor or
|
||||
* copy assignment operator, these operation will throw a compiler error.
|
||||
* @param
|
||||
*/
|
||||
SerialLinkedListAdapter(const SerialLinkedListAdapter &) = delete;
|
||||
SerialLinkedListAdapter& operator=(const SerialLinkedListAdapter&) = delete;
|
||||
|
||||
bool printCount;
|
||||
};
|
||||
|
||||
#endif /* SERIALLINKEDLISTADAPTER_H_ */
|
||||
#endif /* FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_ */
|
||||
|
@ -1,48 +1,114 @@
|
||||
#ifndef SERIALIZEADAPTER_H_
|
||||
#define SERIALIZEADAPTER_H_
|
||||
#ifndef _FSFW_SERIALIZE_SERIALIZEADAPTER_H_
|
||||
#define _FSFW_SERIALIZE_SERIALIZEADAPTER_H_
|
||||
|
||||
#include "../container/IsDerivedFrom.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "EndianConverter.h"
|
||||
#include "SerializeIF.h"
|
||||
#include <string.h>
|
||||
#include <cstddef>
|
||||
#include <type_traits>
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
/**
|
||||
* @brief These adapters provides an interface to use the SerializeIF functions
|
||||
* with arbitrary template objects to facilitate and simplify the
|
||||
* serialization of classes with different multiple different data types
|
||||
* into buffers and vice-versa.
|
||||
* @details
|
||||
* The correct serialization or deserialization function is chosen at
|
||||
* compile time with template type deduction.
|
||||
*
|
||||
* @ingroup serialize
|
||||
*/
|
||||
|
||||
class SerializeAdapter {
|
||||
public:
|
||||
/***
|
||||
* This function can be used to serialize a trivial copy-able type or a
|
||||
* child of SerializeIF.
|
||||
* The right template to be called is determined in the function itself.
|
||||
* For objects of non trivial copy-able type this function is almost never
|
||||
* called by the user directly. Instead helpers for specific types like
|
||||
* SerialArrayListAdapter or SerialLinkedListAdapter is the right choice here.
|
||||
*
|
||||
* @param[in] object Object to serialize, the used type is deduced from this pointer
|
||||
* @param[in/out] buffer Buffer to serialize into. Will be moved by the function.
|
||||
* @param[in/out] size Size of current written buffer. Will be incremented by the function.
|
||||
* @param[in] maxSize Max size of Buffer
|
||||
* @param[in] streamEndianness Endianness of serialized element as in according to SerializeIF::Endianness
|
||||
* @return
|
||||
* - @c BUFFER_TOO_SHORT The given buffer in is too short
|
||||
* - @c RETURN_FAILED Generic Error
|
||||
* - @c RETURN_OK Successful serialization
|
||||
*/
|
||||
template<typename T>
|
||||
static ReturnValue_t serialize(const T *object, uint8_t **buffer,
|
||||
size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) {
|
||||
InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
|
||||
size_t *size, size_t maxSize,
|
||||
SerializeIF::Endianness streamEndianness) {
|
||||
InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
|
||||
return adapter.serialize(object, buffer, size, maxSize,
|
||||
streamEndianness);
|
||||
}
|
||||
/**
|
||||
* Function to return the serialized size of the object in the pointer.
|
||||
* May be a trivially copy-able object or a Child of SerializeIF
|
||||
*
|
||||
* @param object Pointer to Object
|
||||
* @return Serialized size of object
|
||||
*/
|
||||
template<typename T>
|
||||
static uint32_t getSerializedSize(const T *object) {
|
||||
InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
|
||||
static size_t getSerializedSize(const T *object){
|
||||
InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
|
||||
return adapter.getSerializedSize(object);
|
||||
}
|
||||
/**
|
||||
* @brief
|
||||
* Deserializes a object from a given buffer of given size.
|
||||
* Object Must be trivially copy-able or a child of SerializeIF.
|
||||
*
|
||||
* @details
|
||||
* Buffer will be moved to the current read location. Size will be decreased by the function.
|
||||
*
|
||||
* @param[in/out] buffer Buffer to deSerialize from. Will be moved by the function.
|
||||
* @param[in/out] size Remaining size of the buffer to read from. Will be decreased by function.
|
||||
* @param[in] streamEndianness Endianness as in according to SerializeIF::Endianness
|
||||
* @return
|
||||
* - @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
|
||||
* - @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
|
||||
* - @c RETURN_FAILED Generic Error
|
||||
* - @c RETURN_OK Successful deserialization
|
||||
*/
|
||||
template<typename T>
|
||||
static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
|
||||
size_t *size, SerializeIF::Endianness streamEndianness) {
|
||||
InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
|
||||
InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
|
||||
return adapter.deSerialize(object, buffer, size, streamEndianness);
|
||||
}
|
||||
private:
|
||||
template<typename T, int>
|
||||
class InternalSerializeAdapter {
|
||||
/**
|
||||
* Internal template to deduce the right function calls at compile time
|
||||
*/
|
||||
template<typename T, bool> class InternalSerializeAdapter;
|
||||
|
||||
/**
|
||||
* Template to be used if T is not a child of SerializeIF
|
||||
*
|
||||
* @tparam T T must be trivially_copyable
|
||||
*/
|
||||
template<typename T>
|
||||
class InternalSerializeAdapter<T, false> {
|
||||
static_assert (std::is_trivially_copyable<T>::value,
|
||||
"If a type needs to be serialized it must be a child of "
|
||||
"SerializeIF or trivially copy-able");
|
||||
public:
|
||||
static ReturnValue_t serialize(const T *object, uint8_t **buffer,
|
||||
size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) {
|
||||
size_t *size, size_t max_size,
|
||||
SerializeIF::Endianness streamEndianness) {
|
||||
size_t ignoredSize = 0;
|
||||
if (size == NULL) {
|
||||
if (size == nullptr) {
|
||||
size = &ignoredSize;
|
||||
}
|
||||
//TODO check integer overflow of *size
|
||||
if (sizeof(T) + *size <= max_size) {
|
||||
// Check remaining size is large enough and check integer
|
||||
// overflow of *size
|
||||
size_t newSize = sizeof(T) + *size;
|
||||
if ((newSize <= max_size) and (newSize > *size)) {
|
||||
T tmp;
|
||||
switch (streamEndianness) {
|
||||
case SerializeIF::Endianness::BIG:
|
||||
@ -56,7 +122,7 @@ private:
|
||||
tmp = *object;
|
||||
break;
|
||||
}
|
||||
memcpy(*buffer, &tmp, sizeof(T));
|
||||
std::memcpy(*buffer, &tmp, sizeof(T));
|
||||
*size += sizeof(T);
|
||||
(*buffer) += sizeof(T);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -70,7 +136,7 @@ private:
|
||||
T tmp;
|
||||
if (*size >= sizeof(T)) {
|
||||
*size -= sizeof(T);
|
||||
memcpy(&tmp, *buffer, sizeof(T));
|
||||
std::memcpy(&tmp, *buffer, sizeof(T));
|
||||
switch (streamEndianness) {
|
||||
case SerializeIF::Endianness::BIG:
|
||||
*object = EndianConverter::convertBigEndian<T>(tmp);
|
||||
@ -94,22 +160,26 @@ private:
|
||||
uint32_t getSerializedSize(const T *object) {
|
||||
return sizeof(T);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* Template for objects that inherit from SerializeIF
|
||||
*
|
||||
* @tparam T A child of SerializeIF
|
||||
*/
|
||||
template<typename T>
|
||||
class InternalSerializeAdapter<T, 1> {
|
||||
class InternalSerializeAdapter<T, true> {
|
||||
public:
|
||||
ReturnValue_t serialize(const T *object, uint8_t **buffer,
|
||||
size_t *size, size_t max_size,
|
||||
ReturnValue_t serialize(const T *object, uint8_t **buffer, size_t *size,
|
||||
size_t max_size,
|
||||
SerializeIF::Endianness streamEndianness) const {
|
||||
size_t ignoredSize = 0;
|
||||
if (size == NULL) {
|
||||
if (size == nullptr) {
|
||||
size = &ignoredSize;
|
||||
}
|
||||
return object->serialize(buffer, size, max_size, streamEndianness);
|
||||
}
|
||||
uint32_t getSerializedSize(const T *object) const {
|
||||
size_t getSerializedSize(const T *object) const {
|
||||
return object->getSerializedSize();
|
||||
}
|
||||
|
||||
@ -120,4 +190,4 @@ private:
|
||||
};
|
||||
};
|
||||
|
||||
#endif /* SERIALIZEADAPTER_H_ */
|
||||
#endif /* _FSFW_SERIALIZE_SERIALIZEADAPTER_H_ */
|
||||
|
@ -1,12 +1,20 @@
|
||||
#ifndef SERIALIZEELEMENT_H_
|
||||
#define SERIALIZEELEMENT_H_
|
||||
#ifndef FSFW_SERIALIZE_SERIALIZEELEMENT_H_
|
||||
#define FSFW_SERIALIZE_SERIALIZEELEMENT_H_
|
||||
|
||||
#include "../container/SinglyLinkedList.h"
|
||||
#include "SerializeAdapter.h"
|
||||
#include "../container/SinglyLinkedList.h"
|
||||
#include <utility>
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
* @brief This class is used to mark datatypes for serialization with the
|
||||
* SerialLinkedListAdapter
|
||||
* @details
|
||||
* Used by declaring any arbitrary datatype with SerializeElement<T> myVariable,
|
||||
* inside a SerialLinkedListAdapter implementation and setting the sequence
|
||||
* of objects with setNext() and setStart().
|
||||
* Serialization and Deserialization is then performed automatically in
|
||||
* specified sequence order.
|
||||
* @ingroup serialize
|
||||
*/
|
||||
template<typename T>
|
||||
class SerializeElement: public SerializeIF, public LinkedElement<SerializeIF> {
|
||||
@ -19,7 +27,7 @@ public:
|
||||
SerializeElement() :
|
||||
LinkedElement<SerializeIF>(this) {
|
||||
}
|
||||
T entry;
|
||||
|
||||
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
|
||||
Endianness streamEndianness) const override {
|
||||
return SerializeAdapter::serialize(&entry, buffer, size, maxSize,
|
||||
@ -35,6 +43,7 @@ public:
|
||||
return SerializeAdapter::deSerialize(&entry, buffer, size,
|
||||
streamEndianness);
|
||||
}
|
||||
|
||||
operator T() {
|
||||
return entry;
|
||||
}
|
||||
@ -43,9 +52,12 @@ public:
|
||||
entry = newValue;
|
||||
return *this;
|
||||
}
|
||||
|
||||
T* operator->() {
|
||||
return &entry;
|
||||
}
|
||||
|
||||
T entry;
|
||||
};
|
||||
|
||||
#endif /* SERIALIZEELEMENT_H_ */
|
||||
#endif /* FSFW_SERIALIZE_SERIALIZEELEMENT_H_ */
|
||||
|
@ -1,17 +1,20 @@
|
||||
#ifndef SERIALIZEIF_H_
|
||||
#define SERIALIZEIF_H_
|
||||
#ifndef FSFW_SERIALIZE_SERIALIZEIF_H_
|
||||
#define FSFW_SERIALIZE_SERIALIZEIF_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <stddef.h>
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* \defgroup serialize Serialization
|
||||
* Contains serialisation services.
|
||||
* @defgroup serialize Serialization
|
||||
* Contains serialization services.
|
||||
*/
|
||||
|
||||
/**
|
||||
* Translation of objects into data streams.
|
||||
* \ingroup serialize
|
||||
* @brief Translation of objects into data streams and from data streams.
|
||||
* @details
|
||||
* Also provides options to convert from/to data with different endianness.
|
||||
* variables.
|
||||
* @ingroup serialize
|
||||
*/
|
||||
class SerializeIF {
|
||||
public:
|
||||
@ -20,21 +23,65 @@ public:
|
||||
};
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF;
|
||||
static const ReturnValue_t BUFFER_TOO_SHORT = MAKE_RETURN_CODE(1);
|
||||
static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2);
|
||||
static const ReturnValue_t TOO_MANY_ELEMENTS = MAKE_RETURN_CODE(3);
|
||||
static const ReturnValue_t BUFFER_TOO_SHORT = MAKE_RETURN_CODE(1); // !< The given buffer in serialize is too short
|
||||
static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2); // !< The input stream in deserialize is too short
|
||||
static const ReturnValue_t TOO_MANY_ELEMENTS = MAKE_RETURN_CODE(3);// !< There are too many elements to be deserialized
|
||||
|
||||
virtual ~SerializeIF() {
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Function to serialize the object into a buffer with maxSize. Size represents the written amount.
|
||||
* If a part of the buffer has been used already, size must be set to the used amount of bytes.
|
||||
*
|
||||
* @details
|
||||
* Implementations of this function must increase the size variable and move the buffer pointer.
|
||||
* MaxSize must be checked by implementations of this function
|
||||
* and BUFFER_TOO_SHORT has to be returned if size would be larger than maxSize.
|
||||
*
|
||||
* Custom implementations might use additional return values.
|
||||
*
|
||||
* @param[in/out] buffer Buffer to serialize into, will be set to the current write location
|
||||
* @param[in/out] size Size that has been used in the buffer already, will be increased by the function
|
||||
* @param[in] maxSize The size of the buffer that is allowed to be used for serialize.
|
||||
* @param[in] streamEndianness Endianness of the serialized data according to SerializeIF::Endianness
|
||||
* @return
|
||||
* - @c BUFFER_TOO_SHORT The given buffer in is too short
|
||||
* - @c RETURN_FAILED Generic error
|
||||
* - @c RETURN_OK Successful serialization
|
||||
*/
|
||||
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
|
||||
size_t maxSize, Endianness streamEndianness) const = 0;
|
||||
|
||||
/**
|
||||
* Gets the size of a object if it would be serialized in a buffer
|
||||
* @return Size of serialized object
|
||||
*/
|
||||
virtual size_t getSerializedSize() const = 0;
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Deserializes a object from a given buffer of given size.
|
||||
*
|
||||
* @details
|
||||
* Buffer must be moved to the current read location by the implementation
|
||||
* of this function. Size must be decreased by the implementation.
|
||||
* Implementations are not allowed to alter the buffer as indicated by const pointer.
|
||||
*
|
||||
* Custom implementations might use additional return values.
|
||||
*
|
||||
* @param[in/out] buffer Buffer to deSerialize from. Will be moved by the function.
|
||||
* @param[in/out] size Remaining size of the buffer to read from. Will be decreased by function.
|
||||
* @param[in] streamEndianness Endianness as in according to SerializeIF::Endianness
|
||||
* @return
|
||||
* - @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
|
||||
* - @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
|
||||
* - @c RETURN_FAILED Generic Error
|
||||
* - @c RETURN_OK Successful deserialization
|
||||
*/
|
||||
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
|
||||
Endianness streamEndianness) = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif /* SERIALIZEIF_H_ */
|
||||
#endif /* FSFW_SERIALIZE_SERIALIZEIF_H_ */
|
||||
|
@ -151,7 +151,6 @@ HybridIterator<ModeListEntry> Subsystem::getTable(Mode_t id) {
|
||||
}
|
||||
|
||||
ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
|
||||
ReturnValue_t result;
|
||||
switch (message->getCommand()) {
|
||||
case HealthMessage::HEALTH_INFO: {
|
||||
HealthState health = HealthMessage::getHealth(message);
|
||||
@ -166,7 +165,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
|
||||
FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> sequence;
|
||||
const uint8_t *pointer;
|
||||
size_t sizeRead;
|
||||
result = IPCStore->getData(
|
||||
ReturnValue_t result = IPCStore->getData(
|
||||
ModeSequenceMessage::getStoreAddress(message), &pointer,
|
||||
&sizeRead);
|
||||
if (result == RETURN_OK) {
|
||||
@ -193,7 +192,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
|
||||
FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> table;
|
||||
const uint8_t *pointer;
|
||||
size_t sizeRead;
|
||||
result = IPCStore->getData(
|
||||
ReturnValue_t result = IPCStore->getData(
|
||||
ModeSequenceMessage::getStoreAddress(message), &pointer,
|
||||
&sizeRead);
|
||||
if (result == RETURN_OK) {
|
||||
@ -210,21 +209,23 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
|
||||
|
||||
}
|
||||
break;
|
||||
case ModeSequenceMessage::DELETE_SEQUENCE:
|
||||
case ModeSequenceMessage::DELETE_SEQUENCE:{
|
||||
if (isInTransition) {
|
||||
replyToCommand(IN_TRANSITION, 0);
|
||||
break;
|
||||
}
|
||||
result = deleteSequence(ModeSequenceMessage::getSequenceId(message));
|
||||
ReturnValue_t result = deleteSequence(ModeSequenceMessage::getSequenceId(message));
|
||||
replyToCommand(result, 0);
|
||||
}
|
||||
break;
|
||||
case ModeSequenceMessage::DELETE_TABLE:
|
||||
case ModeSequenceMessage::DELETE_TABLE:{
|
||||
if (isInTransition) {
|
||||
replyToCommand(IN_TRANSITION, 0);
|
||||
break;
|
||||
}
|
||||
result = deleteTable(ModeSequenceMessage::getTableId(message));
|
||||
ReturnValue_t result = deleteTable(ModeSequenceMessage::getTableId(message));
|
||||
replyToCommand(result, 0);
|
||||
}
|
||||
break;
|
||||
case ModeSequenceMessage::LIST_SEQUENCES: {
|
||||
SerialFixedArrayListAdapter<Mode_t, MAX_NUMBER_OF_TABLES_OR_SEQUENCES> sequences;
|
||||
@ -549,7 +550,7 @@ Mode_t Subsystem::getFallbackSequence(Mode_t sequence) {
|
||||
for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
|
||||
iter != modeSequences.end(); ++iter) {
|
||||
if (iter.value->first == sequence) {
|
||||
return iter->fallbackSequence;
|
||||
return iter->second.fallbackSequence;
|
||||
}
|
||||
}
|
||||
return -1;
|
||||
@ -558,7 +559,7 @@ Mode_t Subsystem::getFallbackSequence(Mode_t sequence) {
|
||||
bool Subsystem::isFallbackSequence(Mode_t SequenceId) {
|
||||
for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
|
||||
iter != modeSequences.end(); iter++) {
|
||||
if (iter->fallbackSequence == SequenceId) {
|
||||
if (iter->second.fallbackSequence == SequenceId) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
@ -1,7 +1,8 @@
|
||||
#include "CCSDSTime.h"
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
#include <math.h>
|
||||
#include "../timemanager/CCSDSTime.h"
|
||||
#include <cstdio>
|
||||
#include <cinttypes>
|
||||
#include <cmath>
|
||||
|
||||
|
||||
CCSDSTime::CCSDSTime() {
|
||||
}
|
||||
@ -119,7 +120,7 @@ ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* f
|
||||
|
||||
if (temp->pField & (1 << 3)) { //day of year variation
|
||||
uint16_t tempDay = (temp->month << 8) + temp->day;
|
||||
ReturnValue_t result = convertDaysOfYear(tempDay, to->year,
|
||||
result = convertDaysOfYear(tempDay, to->year,
|
||||
&(temp->month), &(temp->day));
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
|
@ -5,7 +5,7 @@
|
||||
|
||||
#include "Clock.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <stdint.h>
|
||||
#include <cstdint>
|
||||
|
||||
bool operator<(const timeval& lhs, const timeval& rhs);
|
||||
bool operator<=(const timeval& lhs, const timeval& rhs);
|
||||
|
@ -122,8 +122,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
|
||||
|
||||
|
||||
// Implemented by child class, specifies what to do with reply.
|
||||
ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
|
||||
&nextCommand, iter->objectId, &isStep);
|
||||
ReturnValue_t result = handleReply(reply, iter->second.command, &iter->second.state,
|
||||
&nextCommand, iter->second.objectId, &isStep);
|
||||
|
||||
/* If the child implementation does not implement special handling for
|
||||
* rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
|
||||
@ -132,7 +132,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
|
||||
if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
|
||||
(result == RETURN_FAILED or result == INVALID_REPLY)) {
|
||||
result = reply->getReplyRejectedReason();
|
||||
failureParameter1 = iter->command;
|
||||
failureParameter1 = iter->second.command;
|
||||
}
|
||||
|
||||
switch (result) {
|
||||
@ -149,14 +149,14 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
|
||||
default:
|
||||
if (isStep) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, ++iter->step, failureParameter1,
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
|
||||
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
||||
result, ++iter->second.step, failureParameter1,
|
||||
failureParameter2);
|
||||
} else {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
|
||||
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
||||
result, 0, failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
@ -170,7 +170,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
|
||||
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
|
||||
CommandMapIter iter, CommandMessage* nextCommand,
|
||||
CommandMessage* reply, bool& isStep) {
|
||||
iter->command = nextCommand->getCommand();
|
||||
iter->second.command = nextCommand->getCommand();
|
||||
|
||||
// In case a new command is to be sent immediately, this is performed here.
|
||||
// If no new command is sent, only analyse reply result by initializing
|
||||
@ -185,14 +185,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
|
||||
if (isStep and result != NO_STEP_MESSAGE) {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::PROGRESS_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, ++iter->step);
|
||||
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
||||
iter->second.tcInfo.tcSequenceControl, ++iter->second.step);
|
||||
}
|
||||
else {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::COMPLETION_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, 0);
|
||||
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
||||
iter->second.tcInfo.tcSequenceControl, 0);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
}
|
||||
@ -200,16 +200,16 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
|
||||
if (isStep) {
|
||||
nextCommand->clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult,
|
||||
++iter->step, failureParameter1, failureParameter2);
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
|
||||
iter->second.tcInfo.tcPacketId,
|
||||
iter->second.tcInfo.tcSequenceControl, sendResult,
|
||||
++iter->second.step, failureParameter1, failureParameter2);
|
||||
} else {
|
||||
nextCommand->clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult, 0,
|
||||
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
||||
iter->second.tcInfo.tcSequenceControl, sendResult, 0,
|
||||
failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
@ -248,7 +248,7 @@ void CommandingServiceBase::handleRequestQueue() {
|
||||
iter = commandMap.find(queue);
|
||||
|
||||
if (iter != commandMap.end()) {
|
||||
result = iter->fifo.insert(address);
|
||||
result = iter->second.fifo.insert(address);
|
||||
if (result != RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY);
|
||||
}
|
||||
@ -316,11 +316,11 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
|
||||
CommandMapIter iter) {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
CommandMessage command;
|
||||
iter->subservice = storedPacket->getSubService();
|
||||
result = prepareCommand(&command, iter->subservice,
|
||||
iter->second.subservice = storedPacket->getSubService();
|
||||
result = prepareCommand(&command, iter->second.subservice,
|
||||
storedPacket->getApplicationData(),
|
||||
storedPacket->getApplicationDataSize(), &iter->state,
|
||||
iter->objectId);
|
||||
storedPacket->getApplicationDataSize(), &iter->second.state,
|
||||
iter->second.objectId);
|
||||
|
||||
ReturnValue_t sendResult = RETURN_OK;
|
||||
switch (result) {
|
||||
@ -330,13 +330,13 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
|
||||
&command);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
Clock::getUptime(&iter->uptimeOfStart);
|
||||
iter->step = 0;
|
||||
iter->subservice = storedPacket->getSubService();
|
||||
iter->command = command.getCommand();
|
||||
iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
|
||||
iter->tcInfo.tcPacketId = storedPacket->getPacketId();
|
||||
iter->tcInfo.tcSequenceControl =
|
||||
Clock::getUptime(&iter->second.uptimeOfStart);
|
||||
iter->second.step = 0;
|
||||
iter->second.subservice = storedPacket->getSubService();
|
||||
iter->second.command = command.getCommand();
|
||||
iter->second.tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
|
||||
iter->second.tcInfo.tcPacketId = storedPacket->getPacketId();
|
||||
iter->second.tcInfo.tcSequenceControl =
|
||||
storedPacket->getPacketSequenceControl();
|
||||
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
|
||||
} else {
|
||||
@ -386,7 +386,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
|
||||
|
||||
void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
|
||||
store_address_t address;
|
||||
if (iter->fifo.retrieve(&address) != RETURN_OK) {
|
||||
if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
|
||||
commandMap.erase(&iter);
|
||||
} else {
|
||||
TcPacketStored newPacket(address);
|
||||
@ -412,10 +412,10 @@ void CommandingServiceBase::checkTimeout() {
|
||||
Clock::getUptime(&uptime);
|
||||
CommandMapIter iter;
|
||||
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
|
||||
if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
|
||||
if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
|
||||
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
||||
TIMEOUT);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
|
@ -1,5 +1,5 @@
|
||||
#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
|
||||
#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
|
||||
#ifndef FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
|
||||
#define FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
|
||||
|
||||
#include "../objectmanager/SystemObject.h"
|
||||
#include "../storagemanager/StorageManagerIF.h"
|
||||
@ -211,8 +211,7 @@ protected:
|
||||
|
||||
virtual void doPeriodicOperation();
|
||||
|
||||
|
||||
struct CommandInfo {
|
||||
struct CommandInfo: public SerializeIF{
|
||||
struct tcInfo {
|
||||
uint8_t ackFlags;
|
||||
uint16_t tcPacketId;
|
||||
@ -225,6 +224,20 @@ protected:
|
||||
Command_t command;
|
||||
object_id_t objectId;
|
||||
FIFO<store_address_t, 3> fifo;
|
||||
|
||||
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
|
||||
size_t maxSize, Endianness streamEndianness) const override{
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
};
|
||||
|
||||
virtual size_t getSerializedSize() const override {
|
||||
return 0;
|
||||
};
|
||||
|
||||
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
|
||||
Endianness streamEndianness) override{
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
};
|
||||
};
|
||||
|
||||
using CommandMapIter = FixedMap<MessageQueueId_t,
|
||||
@ -345,4 +358,4 @@ private:
|
||||
void checkTimeout();
|
||||
};
|
||||
|
||||
#endif /* COMMANDINGSERVICEBASE_H_ */
|
||||
#endif /* FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ */
|
||||
|
@ -1,7 +1,7 @@
|
||||
#include "TmTcBridge.h"
|
||||
#include "../tmtcservices/TmTcBridge.h"
|
||||
|
||||
#include "../ipc/QueueFactory.h"
|
||||
#include "AcceptsTelecommandsIF.h"
|
||||
#include "../tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../globalfunctions/arrayprinter.h"
|
||||
|
||||
@ -66,6 +66,8 @@ ReturnValue_t TmTcBridge::initialize() {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
tmFifo = new DynamicFIFO<store_address_t>(maxNumberOfPacketsStored);
|
||||
|
||||
tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
|
||||
return RETURN_OK;
|
||||
}
|
||||
@ -90,102 +92,122 @@ ReturnValue_t TmTcBridge::handleTc() {
|
||||
}
|
||||
|
||||
ReturnValue_t TmTcBridge::handleTm() {
|
||||
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t result = handleTmQueue();
|
||||
if(result != RETURN_OK) {
|
||||
sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
sif::error << "TmTcBridge::handleTm: Error handling TM queue!"
|
||||
<< std::endl;
|
||||
status = result;
|
||||
}
|
||||
|
||||
if(tmStored and communicationLinkUp) {
|
||||
result = handleStoredTm();
|
||||
if(tmStored and communicationLinkUp and
|
||||
(packetSentCounter < sentPacketsPerCycle)) {
|
||||
result = handleStoredTm();
|
||||
if(result != RETURN_OK) {
|
||||
sif::error << "TmTcBridge::handleTm: Error handling stored TMs!"
|
||||
<< std::endl;
|
||||
status = result;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
|
||||
packetSentCounter = 0;
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t TmTcBridge::handleTmQueue() {
|
||||
TmTcMessage message;
|
||||
const uint8_t* data = nullptr;
|
||||
size_t size = 0;
|
||||
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
||||
for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
|
||||
result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
|
||||
result == HasReturnvaluesIF::RETURN_OK;
|
||||
result = tmTcReceptionQueue->receiveMessage(&message))
|
||||
{
|
||||
if(communicationLinkUp == false) {
|
||||
result = storeDownlinkData(&message);
|
||||
return result;
|
||||
//sif::info << (int) packetSentCounter << std::endl;
|
||||
if(communicationLinkUp == false or
|
||||
packetSentCounter >= sentPacketsPerCycle) {
|
||||
storeDownlinkData(&message);
|
||||
continue;
|
||||
}
|
||||
|
||||
result = tmStore->getData(message.getStorageId(), &data, &size);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
continue;
|
||||
}
|
||||
|
||||
result = sendTm(data, size);
|
||||
if (result != RETURN_OK) {
|
||||
sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
|
||||
tmStore->deleteData(message.getStorageId());
|
||||
return result;
|
||||
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
else {
|
||||
tmStore->deleteData(message.getStorageId());
|
||||
packetSentCounter++;
|
||||
}
|
||||
tmStore->deleteData(message.getStorageId());
|
||||
}
|
||||
return RETURN_OK;
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
|
||||
store_address_t storeId = 0;
|
||||
|
||||
if(tmFifo.full()) {
|
||||
sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
|
||||
<< "of stored packet IDs reached! "
|
||||
<< "Overwriting old data" << std::endl;
|
||||
tmFifo.retrieve(&storeId);
|
||||
tmStore->deleteData(storeId);
|
||||
if(tmFifo->full()) {
|
||||
sif::debug << "TmTcBridge::storeDownlinkData: TM downlink max. number "
|
||||
<< "of stored packet IDs reached! " << std::endl;
|
||||
if(overwriteOld) {
|
||||
tmFifo->retrieve(&storeId);
|
||||
tmStore->deleteData(storeId);
|
||||
}
|
||||
else {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
storeId = message->getStorageId();
|
||||
tmFifo.insert(storeId);
|
||||
tmFifo->insert(storeId);
|
||||
tmStored = true;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t TmTcBridge::handleStoredTm() {
|
||||
uint8_t counter = 0;
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
|
||||
//info << "TMTC Bridge: Sending stored TM data. There are "
|
||||
// << (int) fifo.size() << " left to send\r\n" << std::flush;
|
||||
ReturnValue_t status = RETURN_OK;
|
||||
while(not tmFifo->empty() and packetSentCounter < sentPacketsPerCycle) {
|
||||
//sif::info << "TMTC Bridge: Sending stored TM data. There are "
|
||||
// << (int) tmFifo->size() << " left to send\r\n" << std::flush;
|
||||
|
||||
store_address_t storeId;
|
||||
const uint8_t* data = nullptr;
|
||||
size_t size = 0;
|
||||
tmFifo.retrieve(&storeId);
|
||||
result = tmStore->getData(storeId, &data, &size);
|
||||
|
||||
sendTm(data,size);
|
||||
tmFifo->retrieve(&storeId);
|
||||
ReturnValue_t result = tmStore->getData(storeId, &data, &size);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
|
||||
result = sendTm(data,size);
|
||||
if(result != RETURN_OK) {
|
||||
sif::error << "TMTC Bridge: Could not send stored downlink data"
|
||||
<< std::endl;
|
||||
result = RETURN_FAILED;
|
||||
status = result;
|
||||
}
|
||||
counter ++;
|
||||
packetSentCounter ++;
|
||||
|
||||
if(tmFifo.empty()) {
|
||||
if(tmFifo->empty()) {
|
||||
tmStored = false;
|
||||
}
|
||||
tmStore->deleteData(storeId);
|
||||
}
|
||||
return result;
|
||||
return status;
|
||||
}
|
||||
|
||||
void TmTcBridge::registerCommConnect() {
|
||||
if(not communicationLinkUp) {
|
||||
//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
|
||||
//sif::info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
|
||||
communicationLinkUp = true;
|
||||
}
|
||||
}
|
||||
|
||||
void TmTcBridge::registerCommDisconnect() {
|
||||
//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
|
||||
//sif::info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
|
||||
if(communicationLinkUp) {
|
||||
communicationLinkUp = false;
|
||||
}
|
||||
@ -209,3 +231,7 @@ MessageQueueId_t TmTcBridge::getRequestQueue() {
|
||||
// Default implementation: Relay TC messages to TC distributor directly.
|
||||
return tmTcReceptionQueue->getDefaultDestination();
|
||||
}
|
||||
|
||||
void TmTcBridge::setFifoToOverwriteOldData(bool overwriteOld) {
|
||||
this->overwriteOld = overwriteOld;
|
||||
}
|
||||
|
@ -1,15 +1,15 @@
|
||||
#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
|
||||
#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
|
||||
|
||||
|
||||
#include "../objectmanager/SystemObject.h"
|
||||
#include "AcceptsTelemetryIF.h"
|
||||
#include "../tmtcservices/AcceptsTelemetryIF.h"
|
||||
#include "../tasks/ExecutableObjectIF.h"
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
#include "../storagemanager/StorageManagerIF.h"
|
||||
#include "AcceptsTelecommandsIF.h"
|
||||
|
||||
#include "../container/FIFO.h"
|
||||
#include "TmTcMessage.h"
|
||||
#include "../tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "../container/DynamicFIFO.h"
|
||||
#include "../tmtcservices/TmTcMessage.h"
|
||||
|
||||
class TmTcBridge : public AcceptsTelemetryIF,
|
||||
public AcceptsTelecommandsIF,
|
||||
@ -46,6 +46,12 @@ public:
|
||||
*/
|
||||
ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
|
||||
|
||||
/**
|
||||
* This will set up the bridge to overwrite old data in the FIFO.
|
||||
* @param overwriteOld
|
||||
*/
|
||||
void setFifoToOverwriteOldData(bool overwriteOld);
|
||||
|
||||
virtual void registerCommConnect();
|
||||
virtual void registerCommDisconnect();
|
||||
|
||||
@ -86,6 +92,8 @@ protected:
|
||||
//! by default, so telemetry will be handled immediately.
|
||||
bool communicationLinkUp = true;
|
||||
bool tmStored = false;
|
||||
bool overwriteOld = true;
|
||||
uint8_t packetSentCounter = 0;
|
||||
|
||||
/**
|
||||
* @brief Handle TC reception
|
||||
@ -145,7 +153,7 @@ protected:
|
||||
* This fifo can be used to store downlink data
|
||||
* which can not be sent at the moment.
|
||||
*/
|
||||
FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
|
||||
DynamicFIFO<store_address_t>* tmFifo = nullptr;
|
||||
uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
|
||||
uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
|
||||
};
|
||||
|
Loading…
Reference in New Issue
Block a user