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This commit is contained in:
Robin Müller
2021-07-13 18:40:52 +02:00
parent 5adb5cce95
commit bdb8b0a757
738 changed files with 0 additions and 78 deletions
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6
src/core/parameters/CMakeLists.txt Normal file
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target_sources(${LIB_FSFW_NAME}
PRIVATE
ParameterHelper.cpp
ParameterMessage.cpp
ParameterWrapper.cpp
)

140
src/core/parameters/ParameterHelper.cpp Normal file
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#include "ParameterHelper.h"
#include "ParameterMessage.h"
#include "../objectmanager/ObjectManager.h"
ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner):
owner(owner) {}
ParameterHelper::~ParameterHelper() {
}
ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
if(storage == nullptr) {
// ParameterHelper was not initialized
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
switch (message->getCommand()) {
case ParameterMessage::CMD_PARAMETER_DUMP: {
ParameterWrapper description;
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(message));
uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
ParameterMessage::getParameterId(message));
result = owner->getParameter(domain, uniqueIdentifier,
&description, &description, 0);
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(message->getSender(),
ParameterMessage::getParameterId(message), &description);
}
}
break;
case ParameterMessage::CMD_PARAMETER_LOAD: {
ParameterId_t parameterId = 0;
uint8_t ptc = 0;
uint8_t pfc = 0;
uint8_t rows = 0;
uint8_t columns = 0;
store_address_t storeId = ParameterMessage::getParameterLoadCommand(
message, &parameterId, &ptc, &pfc, &rows, &columns);
Type type(Type::getActualType(ptc, pfc));
uint8_t domain = HasParametersIF::getDomain(parameterId);
uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
parameterId);
uint16_t linearIndex = HasParametersIF::getIndex(parameterId);
ConstStorageAccessor accessor(storeId);
result = storage->getData(storeId, accessor);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ParameterHelper::handleParameterMessage: Getting"
<< " store data failed for load command." << std::endl;
#endif
break;
}
ParameterWrapper streamWrapper;
result = streamWrapper.set(type, rows, columns, accessor.data(),
accessor.size());
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ParameterWrapper ownerWrapper;
result = owner->getParameter(domain, uniqueIdentifier, &ownerWrapper,
&streamWrapper, linearIndex);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = ownerWrapper.copyFrom(&streamWrapper, linearIndex);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = sendParameter(message->getSender(),
ParameterMessage::getParameterId(message), &ownerWrapper);
break;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
if (result != HasReturnvaluesIF::RETURN_OK) {
rejectCommand(message->getSender(), result, message->getCommand());
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
const ParameterWrapper* description) {
size_t serializedSize = description->getSerializedSize();
uint8_t *storeElement = nullptr;
store_address_t address;
ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
&storeElement);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t storeElementSize = 0;
result = description->serialize(&storeElement, &storeElementSize,
serializedSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(address);
return result;
}
CommandMessage reply;
ParameterMessage::setParameterDumpReply(&reply, id, address);
MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ParameterHelper::initialize() {
ownerQueueId = owner->getCommandQueue();
storage = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (storage == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand) {
CommandMessage reply;
reply.setReplyRejected(reason, initialCommand);
MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
}

65
src/core/parameters/ParameterMessage.cpp Normal file
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#include "ParameterMessage.h"
#include "../objectmanager/ObjectManager.h"
ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {
return message->getParameter();
}
store_address_t ParameterMessage::getStoreId(const CommandMessage* message) {
store_address_t address;
address.raw = message->getParameter2();
return address;
}
void ParameterMessage::setParameterDumpCommand(CommandMessage* message,
ParameterId_t id) {
message->setCommand(CMD_PARAMETER_DUMP);
message->setParameter(id);
}
void ParameterMessage::setParameterDumpReply(CommandMessage* message,
ParameterId_t id, store_address_t storageID) {
message->setCommand(REPLY_PARAMETER_DUMP);
message->setParameter(id);
message->setParameter2(storageID.raw);
}
void ParameterMessage::setParameterLoadCommand(CommandMessage* message,
ParameterId_t id, store_address_t storeId, uint8_t ptc, uint8_t pfc,
uint8_t rows = 1, uint8_t columns = 1) {
message->setCommand(CMD_PARAMETER_LOAD);
message->setParameter(id);
message->setParameter2(storeId.raw);
uint32_t packedParameterSettings = (ptc << 24) | (pfc << 16) |
(rows << 8) | columns;
message->setParameter3(packedParameterSettings);
}
store_address_t ParameterMessage::getParameterLoadCommand(
const CommandMessage *message, ParameterId_t* parameterId, uint8_t *ptc,
uint8_t *pfc, uint8_t *rows, uint8_t *columns) {
*parameterId = message->getParameter();
uint32_t packedParamSettings = message->getParameter3();
*ptc = packedParamSettings >> 24 & 0xff;
*pfc = packedParamSettings >> 16 & 0xff;
*rows = packedParamSettings >> 8 & 0xff;
*columns = packedParamSettings & 0xff;
return message->getParameter2();
}
void ParameterMessage::clear(CommandMessage* message) {
switch (message->getCommand()) {
case CMD_PARAMETER_LOAD:
case REPLY_PARAMETER_DUMP: {
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message));
}
break;
}
default:
break;
}
}

351
src/core/parameters/ParameterWrapper.cpp Normal file
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#include "ParameterWrapper.h"
#include <FSFWConfig.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
ParameterWrapper::ParameterWrapper() :
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) {
}
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
const void *data):
pointsToStream(false), type(type), rows(rows), columns(columns),
data(nullptr), readonlyData(data) {
}
ParameterWrapper::~ParameterWrapper() {
}
ReturnValue_t ParameterWrapper::serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const {
ReturnValue_t result;
result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&columns, buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
/* serialize uses readonlyData, as it is always valid */
if (readonlyData == nullptr) {
return NOT_SET;
}
switch (type) {
case Type::UINT8_T:
result = serializeData<uint8_t>(buffer, size, maxSize,
streamEndianness);
break;
case Type::INT8_T:
result = serializeData<int8_t>(buffer, size, maxSize, streamEndianness);
break;
case Type::UINT16_T:
result = serializeData<uint16_t>(buffer, size, maxSize,
streamEndianness);
break;
case Type::INT16_T:
result = serializeData<int16_t>(buffer, size, maxSize,
streamEndianness);
break;
case Type::UINT32_T:
result = serializeData<uint32_t>(buffer, size, maxSize,
streamEndianness);
break;
case Type::INT32_T:
result = serializeData<int32_t>(buffer, size, maxSize,
streamEndianness);
break;
case Type::FLOAT:
result = serializeData<float>(buffer, size, maxSize, streamEndianness);
break;
case Type::DOUBLE:
result = serializeData<double>(buffer, size, maxSize, streamEndianness);
break;
default:
result = UNKNOWN_DATATYPE;
break;
}
return result;
}
size_t ParameterWrapper::getSerializedSize() const {
uint32_t serializedSize = 0;
serializedSize += type.getSerializedSize();
serializedSize += sizeof(rows);
serializedSize += sizeof(columns);
serializedSize += rows * columns * type.getSize();
return serializedSize;
}
template<typename T>
ReturnValue_t ParameterWrapper::serializeData(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const {
const T *element = (const T*) readonlyData;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
uint16_t dataSize = columns * rows;
while (dataSize != 0) {
result = SerializeAdapter::serialize(element, buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
element++;
dataSize--;
}
return result;
}
template<typename T>
ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
uint8_t startingColumn, const void *from, uint8_t fromRows,
uint8_t fromColumns) {
//treat from as a continuous Stream as we copy all of it
const uint8_t *fromAsStream = reinterpret_cast<const uint8_t*>(from);
size_t streamSize = fromRows * fromColumns * sizeof(T);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
//get the start element of this row in data
uint16_t offset = (((startingRow + fromRow) *
static_cast<uint16_t>(columns)) + startingColumn);
T *dataWithDataType = static_cast<T*>(data) + offset;
for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
result = SerializeAdapter::deSerialize(
dataWithDataType + fromColumn, &fromAsStream, &streamSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
}
return result;
}
ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
size_t *size, Endianness streamEndianness) {
return deSerialize(buffer, size, streamEndianness, 0);
}
ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
size_t *size, Endianness streamEndianness,
uint16_t startWritingAtIndex) {
ParameterWrapper streamDescription;
ReturnValue_t result = streamDescription.set(*buffer, *size, buffer, size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return copyFrom(&streamDescription, startWritingAtIndex);
}
ReturnValue_t ParameterWrapper::set(Type type, uint8_t rows, uint8_t columns,
const void *data, size_t dataSize) {
this->type = type;
this->rows = rows;
this->columns = columns;
size_t expectedSize = type.getSize() * rows * columns;
if (expectedSize < dataSize) {
return SerializeIF::STREAM_TOO_SHORT;
}
this->data = nullptr;
this->readonlyData = data;
pointsToStream = true;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
const uint8_t **remainingStream, size_t *remainingSize) {
ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
&streamSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::deSerialize(&columns, &stream, &streamSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::deSerialize(&rows, &stream, &streamSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t dataSize = type.getSize() * rows * columns;
if (streamSize < dataSize) {
return SerializeIF::STREAM_TOO_SHORT;
}
data = nullptr;
readonlyData = stream;
pointsToStream = true;
stream += dataSize;
if (remainingStream != nullptr) {
*remainingStream = stream;
}
streamSize -= dataSize;
if (remainingSize != nullptr) {
*remainingSize = streamSize;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex) {
if (data == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return READONLY;
}
if (from->readonlyData == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return SOURCE_NOT_SET;
}
if (type != from->type) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return DATATYPE_MISSMATCH;
}
// The smallest allowed value for rows and columns is one.
if(rows == 0 or columns == 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return COLUMN_OR_ROWS_ZERO;
}
//check if from fits into this
uint8_t startingRow = 0;
uint8_t startingColumn = 0;
ParameterWrapper::convertLinearIndexToRowAndColumn(startWritingAtIndex,
&startingRow, &startingColumn);
if ((from->rows > (rows - startingRow))
|| (from->columns > (columns - startingColumn))) {
return TOO_BIG;
}
uint8_t typeSize = type.getSize();
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
//copy data
if (from->pointsToStream) {
switch (type) {
case Type::UINT8_T:
result = deSerializeData<uint8_t>(startingRow, startingColumn,
from->readonlyData, from->rows, from->columns);
break;
case Type::INT8_T:
result = deSerializeData<int8_t>(startingRow, startingColumn,
from->readonlyData, from->rows, from->columns);
break;
case Type::UINT16_T:
result = deSerializeData<uint16_t>(startingRow, startingColumn,
from->readonlyData, from->rows, from->columns);
break;
case Type::INT16_T:
result = deSerializeData<int16_t>(startingRow, startingColumn,
from->readonlyData, from->rows, from->columns);
break;
case Type::UINT32_T:
result = deSerializeData<uint32_t>(startingRow, startingColumn,
from->readonlyData, from->rows, from->columns);
break;
case Type::INT32_T:
result = deSerializeData<int32_t>(startingRow, startingColumn,
from->readonlyData, from->rows, from->columns);
break;
case Type::FLOAT:
result = deSerializeData<float>(startingRow, startingColumn,
from->readonlyData, from->rows, from->columns);
break;
case Type::DOUBLE:
result = deSerializeData<double>(startingRow, startingColumn,
from->readonlyData, from->rows, from->columns);
break;
default:
result = UNKNOWN_DATATYPE;
break;
}
}
else {
//need a type to do arithmetic
uint8_t* typedData = static_cast<uint8_t*>(data);
for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
size_t offset = (((startingRow + fromRow) * static_cast<uint16_t>(
columns)) + startingColumn) * typeSize;
std::memcpy(typedData + offset, from->readonlyData,
typeSize * from->columns);
}
}
return result;
}
void ParameterWrapper::convertLinearIndexToRowAndColumn(uint16_t index,
uint8_t *row, uint8_t *column) {
if(row == nullptr or column == nullptr) {
return;
}
// Integer division.
*row = index / columns;
*column = index % columns;
}
uint16_t ParameterWrapper::convertRowAndColumnToLinearIndex(uint8_t row,
uint8_t column) {
return row * columns + column;
}