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Robin Müller
2021-07-13 18:40:52 +02:00
parent 5adb5cce95
commit bdb8b0a757
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81
inc/fsfw/parameters/HasParametersIF.h Normal file
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#ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
#define FSFW_PARAMETERS_HASPARAMETERSIF_H_
#include "ParameterWrapper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
/**
* Each parameter is identified with a unique parameter ID
* The first byte of the parameter ID will denote the domain ID.
* The second and third byte will be the unique identifier number.
*/
using ParameterId_t = uint32_t;
/**
* @brief This interface is used by components which have modifiable
* 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 byte is a unique identfier ID.
*
* The third and fourth byte can be used as a linear index for matrix or array
* parameter entries.
*/
class HasParametersIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
static const ReturnValue_t INVALID_IDENTIFIER_ID = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t INVALID_DOMAIN_ID = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t INVALID_VALUE = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t READ_ONLY = MAKE_RETURN_CODE(0x05);
static uint8_t getDomain(ParameterId_t id) {
return id >> 24;
}
static uint8_t getUniqueIdentifierId(ParameterId_t id) {
return id >> 16;
}
/**
* Get the index of a parameter. Please note that the index is always a
* linear index. For a vector, this is straightforward.
* For a matrix, the linear indexing run from left to right, top to bottom.
* @param id
* @return
*/
static uint16_t getIndex(ParameterId_t id) {
return id;
}
static uint32_t getFullParameterId(uint8_t domainId, uint8_t uniqueId, uint16_t linearIndex) {
return (domainId << 24) + (uniqueId << 16) + linearIndex;
}
virtual ~HasParametersIF() {}
/**
* This is the generic function overriden by child classes to set
* parameters. To set a parameter, the parameter wrapper is used with
* a variety of set functions. The provided values can be checked with
* newValues.
* Always set parameter before checking newValues!
*
* @param domainId
* @param parameterId
* @param parameterWrapper
* @param newValues
* @param startAtIndex Linear index, runs left to right, top to bottom for
* matrix indexes.
* @return
*/
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) = 0;
};
#endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */

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inc/fsfw/parameters/ParameterHelper.h Normal file
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#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);
virtual ~ParameterHelper();
ReturnValue_t handleParameterMessage(CommandMessage *message);
ReturnValue_t initialize();
private:
ReceivesParameterMessagesIF *owner;
MessageQueueId_t ownerQueueId = MessageQueueIF::NO_QUEUE;
StorageManagerIF *storage = nullptr;
ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
const ParameterWrapper *description);
void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand);
};
#endif /* FSFW_PARAMETERS_PARAMETERHELPER_H_ */

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inc/fsfw/parameters/ParameterMessage.h Normal file
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#ifndef FSFW_PARAMETERS_PARAMETERMESSAGE_H_
#define FSFW_PARAMETERS_PARAMETERMESSAGE_H_
#include "HasParametersIF.h"
#include "../ipc/CommandMessage.h"
#include "../storagemanager/StorageManagerIF.h"
/**
* @brief ParameterMessage interface
* @details
* General structure of a parameter message:
* 1. 4-byte Object ID
* 2. 4-byte Parameter ID, first byte is Domain ID, second byte is unique
* identifier, third and fourth byte is linear index to start from
* 3. 4-byte Parameter Settings. First byte and second byte are the PTC and PFC
* ECSS type identifiers (see ECSS-E-ST-70-41C15 p.428 or Type class in
* globalfunctions). Third byte is the number of rows and fourth byte
* is the number of columns. For single variable parameters, this will
* be [1, 1].
*
*/
class ParameterMessage {
private:
ParameterMessage();
public:
static const uint8_t MESSAGE_ID = messagetypes::PARAMETER;
static const Command_t CMD_PARAMETER_LOAD = MAKE_COMMAND_ID( 0x01 );
static const Command_t CMD_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x02 );
static const Command_t REPLY_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x03 );
static ParameterId_t getParameterId(const CommandMessage* message);
static store_address_t getStoreId(const CommandMessage* message);
static void setParameterDumpCommand(CommandMessage* message,
ParameterId_t id);
static void setParameterDumpReply(CommandMessage* message,
ParameterId_t id, store_address_t storageID);
/**
* Command to set a load parameter message. The CCSDS / ECSS type in
* form of a PTC and a PFC is expected. See ECSS-E-ST-70-41C15 p.428
* for all types or the Type class in globalfunctions.
* @param message
* @param id
* @param storeId
* @param ptc Type information according to CCSDS/ECSS standards
* @param pfc Type information according to CCSDS/ECSS standards
* @param rows Set number of rows in parameter set, minimum one.
* @param columns Set number of columns in parameter set, minimum one
*/
static void setParameterLoadCommand(CommandMessage* message,
ParameterId_t id, store_address_t storeId, uint8_t ptc,
uint8_t pfc, uint8_t rows, uint8_t columns);
static store_address_t getParameterLoadCommand(
const CommandMessage* message, ParameterId_t* parameterId,
uint8_t* ptc, uint8_t* pfc, uint8_t* rows, uint8_t* columns) ;
static void clear(CommandMessage* message);
};
#endif /* FSFW_PARAMETERS_PARAMETERMESSAGE_H_ */

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inc/fsfw/parameters/ParameterWrapper.h Normal file
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#ifndef FSFW_PARAMETERS_PARAMETERWRAPPER_H_
#define FSFW_PARAMETERS_PARAMETERWRAPPER_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serialize/SerializeIF.h"
#include "../globalfunctions/Type.h"
#include <cstddef>
/**
* @brief This wrapper encapsulates the access to parameters provided by HasParametersIF.
* @details
* This wrapper is used by the ParameterHelper to interface with the on-board parameters
* exposed by the software via the HasParametersIF. A handle of this wrapper is passed
* to the user which then can be used to set or dump the parameters.
*
* The wrapper provides a set of setter functions. The user should call those setter functions,
* supplying an address to the local parameters. The user can also deserialize or
* serialize the parameter data. Please note that this will also serialize and deserialize
* the parameter information field (4 bytes) containing the ECSS PTC, PFC and rows and columns
* number.
*/
class ParameterWrapper: public SerializeIF {
friend class DataPoolParameterWrapper;
public:
static const uint8_t INTERFACE_ID = CLASS_ID::PARAMETER_WRAPPER;
static const ReturnValue_t UNKNOWN_DATATYPE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t DATATYPE_MISSMATCH = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t READONLY = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t TOO_BIG = MAKE_RETURN_CODE(0x04);
static const ReturnValue_t SOURCE_NOT_SET = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t OUT_OF_BOUNDS = MAKE_RETURN_CODE(0x06);
static const ReturnValue_t NOT_SET = MAKE_RETURN_CODE(0x07);
static const ReturnValue_t COLUMN_OR_ROWS_ZERO = MAKE_RETURN_CODE(0x08);
ParameterWrapper();
ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data);
ParameterWrapper(Type type, uint8_t rows, uint8_t columns, const void *data);
virtual ~ParameterWrapper();
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
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;
template<typename T>
void set(T *data, uint8_t rows, uint8_t columns) {
this->data = data;
this->readonlyData = data;
this->type = PodTypeConversion<T>::type;
this->rows = rows;
this->columns = columns;
this->pointsToStream = false;
}
template<typename T>
void set(const T *readonlyData, uint8_t rows, uint8_t columns) {
this->data = nullptr;
this->readonlyData = readonlyData;
this->type = PodTypeConversion<T>::type;
this->rows = rows;
this->columns = columns;
this->pointsToStream = false;
}
/**
* Setter function for scalar non-const entries
* @tparam T
* @param member
*/
template<typename T>
void set(T& member) {
this->set(&member, 1, 1);
}
/**
* Setter function for scalar const entries.
* TODO: This is confusing, it should not be called set. Maybe we should call all functions
* assign instead?
* @tparam T
* @param readonlyMember
*/
template<typename T>
void set(const T& readonlyMember) {
this->set(&readonlyMember, 1, 1);
}
template<typename T>
void setVector(T& member) {
/* For a vector entry, the number of rows will be one
(left to right, top to bottom indexing) */
this->set(member, 1, sizeof(member) / sizeof(member[0]));
}
template<typename T>
void setVector(const T& member) {
/* For a vector entry, the number of rows will be one
(left to right, top to bottom indexing) */
this->set(member, 1, sizeof(member) / sizeof(member[0]));
}
template<typename T>
void setMatrix(T& member) {
this->set(member[0], sizeof(member)/sizeof(member[0]),
sizeof(member[0])/sizeof(member[0][0]));
}
template<typename T>
void setMatrix(const T& member) {
this->set(member[0], sizeof(member)/sizeof(member[0]),
sizeof(member[0])/sizeof(member[0][0]));
}
ReturnValue_t set(Type type, uint8_t rows, uint8_t columns,
const void *data, size_t dataSize);
ReturnValue_t set(const uint8_t *stream, size_t streamSize,
const uint8_t **remainingStream = nullptr,
size_t *remainingSize = nullptr);
ReturnValue_t copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex);
private:
void convertLinearIndexToRowAndColumn(uint16_t index,
uint8_t *row, uint8_t *column);
uint16_t convertRowAndColumnToLinearIndex(uint8_t row,
uint8_t column);
bool pointsToStream = false;
Type type;
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,
size_t maxSize, Endianness streamEndianness) const;
template<typename T>
ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn,
const void *from, uint8_t fromRows, uint8_t fromColumns);
};
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();
size_t size = type.getSize();
return SerializeAdapter::deSerialize(value, &streamWithType,
&size, SerializeIF::Endianness::BIG);
}
else {
const T *dataWithType = static_cast<const T*>(readonlyData);
*value = dataWithType[row * columns + column];
return HasReturnvaluesIF::RETURN_OK;
}
}
#endif /* FSFW_PARAMETERS_PARAMETERWRAPPER_H_ */

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inc/fsfw/parameters/ReceivesParameterMessagesIF.h Normal file
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#ifndef FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
#define FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
#include "HasParametersIF.h"
#include "../ipc/MessageQueueSenderIF.h"
class ReceivesParameterMessagesIF : public HasParametersIF {
public:
static const uint8_t DOMAIN_ID_BASE = 0;
virtual ~ReceivesParameterMessagesIF() {
}
virtual MessageQueueId_t getCommandQueue() const = 0;
};
#endif /* FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_ */