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Merge branch 'mueller_framework' into front_branch

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This commit is contained in:
Robin Müller 2020-06-14 17:13:52 +02:00
commit cd424d79e7
24 changed files with 539 additions and 311 deletions
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4
datapoollocal/LocalDataPoolManager.cpp
View File

@ -41,8 +41,8 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
}
ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
MessageQueueMessage *message) {
return HasReturnvaluesIF::RETURN_OK;
HousekeepingMessage& message) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t LocalDataPoolManager::printPoolEntry(

2
datapoollocal/LocalDataPoolManager.h
View File

@ -46,7 +46,7 @@ public:
LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
ReturnValue_t generateHousekeepingPacket(sid_t sid);
ReturnValue_t handleHousekeepingMessage(MessageQueueMessage* message);
ReturnValue_t handleHousekeepingMessage(HousekeepingMessage& message);
/**
* This function is used to fill the local data pool map with pool

28
devicehandlers/DeviceHandlerBase.cpp
View File

@ -225,15 +225,6 @@ void DeviceHandlerBase::readCommandQueue() {
return;
}
// This is really annoying. I can't cast a parent object to a child.
// But I want to use another message format..
// CommandMessage* cmdMessage = dynamic_cast<CommandMessage*>(msgPtr);
// if(cmdMessage == nullptr) {
// sif::error << "DeviceHandlerBase::readCommandQueue: Could not cast"
// " message to CommandMessage!" << std::endl;
// return;
// }
if(healthHelperActive) {
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
@ -256,11 +247,11 @@ void DeviceHandlerBase::readCommandQueue() {
return;
}
// HousekeepingMessage* hkMessage = dynamic_cast<HousekeepingMessage*>(msgPtr);
// result = hkManager.handleHousekeepingMessage(hkMessage);
// if (result == RETURN_OK) {
// return;
// }
HousekeepingMessage hkMessage(&message);
result = hkManager.handleHousekeepingMessage(hkMessage);
if (result == RETURN_OK) {
return;
}
result = handleDeviceHandlerMessage(&command);
if (result == RETURN_OK) {
@ -758,7 +749,7 @@ 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 || sendTo == MessageQueueIF::NO_QUEUE) {
if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) {
return;
}
store_address_t address;
@ -775,13 +766,12 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
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.
}
}

2
devicehandlers/HealthDevice.cpp
View File

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

48
housekeeping/HousekeepingMessage.cpp
View File

@ -1,18 +1,46 @@
#include <framework/housekeeping/HousekeepingMessage.h>
#include <cstring>
HousekeepingMessage::HousekeepingMessage() {
HousekeepingMessage::HousekeepingMessage(MessageQueueMessageIF* message):
CommandMessageBase(message) {
}
void HousekeepingMessage::setHkReportMessage() {
HousekeepingMessage::~HousekeepingMessage() {
}
void HousekeepingMessage::setHkReportMessage(sid_t sid,
store_address_t storeId) {
CommandMessageBase::setCommand(HK_REPORT);
setSid(sid);
setParameter(storeId.raw);
}
//void HousekeepingMessage::setAddHkReportStructMessage(CommandMessage *message,
// set_t setId, store_address_t packet) {
// message->setCommand(ADD_HK_REPORT_STRUCT);
// message->setParameter(setId);
// message->setParameter2(packet.raw);
//}
size_t HousekeepingMessage::getMinimumMessageSize() const {
return HK_MESSAGE_SIZE;
}
//void Housekeeping
size_t HousekeepingMessage::getMaximumMessageSize() const {
return MessageQueueMessage::MAX_MESSAGE_SIZE;
}
void HousekeepingMessage::clear() {
// clear IPC store where it is needed.
}
sid_t HousekeepingMessage::getSid() const {
sid_t sid;
std::memcpy(&sid.raw, CommandMessageBase::getData(), sizeof(sid.raw));
return sid;
}
uint8_t* HousekeepingMessage::getData() {
return internalMessage->getBuffer() + sizeof(sid_t);
}
void HousekeepingMessage::setParameter(uint32_t parameter) {
memcpy(getData(), &parameter, sizeof(parameter));
}
void HousekeepingMessage::setSid(sid_t sid) {
std::memcpy(CommandMessageBase::getData(), &sid.raw, sizeof(sid.raw));
}

40
housekeeping/HousekeepingMessage.h
View File

@ -1,6 +1,8 @@
#ifndef FRAMEWORK_HK_HOUSEKEEPINGMESSAGE_H_
#define FRAMEWORK_HK_HOUSEKEEPINGMESSAGE_H_
#include <framework/ipc/CommandMessage.h>
#include <framework/ipc/CommandMessageBase.h>
#include <framework/ipc/FwMessageTypes.h>
#include <framework/objectmanager/SystemObjectIF.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <limits>
@ -11,29 +13,34 @@ union sid_t {
struct {
object_id_t objectId ;
// A generic 32 bit ID to identify unique HK packets for a single
// object.
// For example, the DeviceCommandId_t is used for DeviceHandlers
/**
* A generic 32 bit ID to identify unique HK packets for a single
* object. For example, the DeviceCommandId_t is used for
* DeviceHandlers
*/
uint32_t ownerSetId;
};
/**
* Alternative access to the raw value.
* Alternative access to the raw value. This is also the size of the type.
*/
uint64_t raw;
};
class HousekeepingMessage: public MessageQueueMessage {
class HousekeepingMessage : public CommandMessageBase {
public:
static constexpr size_t HK_MESSAGE_SIZE = sizeof(MessageQueueId_t)
+ sizeof(Command_t) + sizeof(sid_t) * sizeof(uint32_t);
/**
* No instances of a message shall be created, instead
* a CommandMessage instance is manipulated.
*/
HousekeepingMessage();
// HousekeepingMessage(const HousekeepingMessage&) = delete;
// HousekeepingMessage operator=(const HousekeepingMessage &) = delete;
HousekeepingMessage(MessageQueueMessageIF* message);
virtual ~HousekeepingMessage();
static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
static constexpr Command_t ADD_HK_REPORT_STRUCT =
MAKE_COMMAND_ID(1);
static constexpr Command_t ADD_DIAGNOSTICS_REPORT_STRUCT =
@ -78,9 +85,18 @@ public:
static constexpr Command_t MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL =
MAKE_COMMAND_ID(32);
// static void setAddHkReportStructMessage(CommandMessage* message,
// DevisetId, store_address_t packet);
static void setHkReportMessage();
void setHkReportMessage(sid_t sid, store_address_t storeId);
void setParameter(uint32_t parameter);
virtual void clear() override;
virtual size_t getMinimumMessageSize() const override;
virtual size_t getMaximumMessageSize() const override;
virtual uint8_t* getData() override;
private:
sid_t getSid() const;
void setSid(sid_t sid);
};

155
ipc/CommandMessage.cpp
View File

@ -1,170 +1,81 @@
#include <framework/devicehandlers/DeviceHandlerMessage.h>
#include <framework/health/HealthMessage.h>
#include <framework/ipc/CommandMessage.h>
#include <framework/memory/MemoryMessage.h>
#include <framework/modes/ModeMessage.h>
#include <framework/monitoring/MonitoringMessage.h>
#include <framework/subsystem/modes/ModeSequenceMessage.h>
#include <framework/tmstorage/TmStoreMessage.h>
#include <framework/parameters/ParameterMessage.h>
#include <cstring>
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessage* message);
}
CommandMessage::CommandMessage(MessageQueueMessage* receiverMessage):
internalMessage(receiverMessage) {
CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
CommandMessageBase(receiverMessage) {
if(receiverMessage == nullptr) {
sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
" as the message queue message, pass the address of an actual"
" message!" << std::endl;
return;
}
internalMessage->messageSize = COMMAND_MESSAGE_SIZE;
setCommand(CMD_NONE);
if(receiverMessage->getMaximumMessageSize() <
MINIMUM_COMMAND_MESSAGE_SIZE) {
sif::error << "CommandMessage::ComandMessage: Passed message buffer"
" can not hold minimum "<< MINIMUM_COMMAND_MESSAGE_SIZE
<< " bytes!" << std::endl;
return;
}
internalMessage->setMessageSize(MINIMUM_COMMAND_MESSAGE_SIZE);
}
CommandMessage::CommandMessage(MessageQueueMessage* messageToSet,
CommandMessage::CommandMessage(MessageQueueMessageIF* messageToSet,
Command_t command, uint32_t parameter1, uint32_t parameter2):
internalMessage(messageToSet) {
CommandMessageBase(messageToSet) {
if(messageToSet == nullptr) {
sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
" as the message queue message, pass the address of an actual"
" message!" << std::endl;
}
internalMessage->messageSize = COMMAND_MESSAGE_SIZE;
if(messageToSet->getMaximumMessageSize() <
MINIMUM_COMMAND_MESSAGE_SIZE) {
sif::error << "CommandMessage::ComandMessage: Passed message buffer"
" can not hold minimum "<< MINIMUM_COMMAND_MESSAGE_SIZE
<< " bytes!" << std::endl;
return;
}
internalMessage->setMessageSize(MINIMUM_COMMAND_MESSAGE_SIZE);
setCommand(command);
setParameter(parameter1);
setParameter2(parameter2);
}
Command_t CommandMessage::getCommand() const {
Command_t command;
memcpy(&command, internalMessage->getData(), sizeof(Command_t));
return command;
}
uint8_t CommandMessage::getMessageType() const {
return getCommand() >> 8 & 0xff;
}
void CommandMessage::setCommand(Command_t command) {
memcpy(internalMessage->getData(), &command, sizeof(command));
}
uint32_t CommandMessage::getParameter() const {
uint32_t parameter1;
memcpy(&parameter1, internalMessage->getData() + sizeof(Command_t),
sizeof(parameter1));
std::memcpy(&parameter1, CommandMessageBase::getData(), sizeof(parameter1));
return parameter1;
}
void CommandMessage::setParameter(uint32_t parameter1) {
memcpy(internalMessage->getData() + sizeof(Command_t),
&parameter1, sizeof(parameter1));
std::memcpy(CommandMessageBase::getData(), &parameter1, sizeof(parameter1));
}
uint32_t CommandMessage::getParameter2() const {
uint32_t parameter2;
memcpy(&parameter2, internalMessage->getData() + sizeof(Command_t)
+ sizeof(uint32_t), sizeof(parameter2));
std::memcpy(&parameter2, CommandMessageBase::getData() + sizeof(uint32_t),
sizeof(parameter2));
return parameter2;
}
void CommandMessage::setParameter2(uint32_t parameter2) {
memcpy(internalMessage-> getData() + sizeof(Command_t) + sizeof(uint32_t),
&parameter2, sizeof(parameter2));
std::memcpy(CommandMessageBase::getData() + sizeof(uint32_t), &parameter2,
sizeof(parameter2));
}
void CommandMessage::clear() {
clearCommandMessage();
size_t CommandMessage::getMinimumMessageSize() const {
return MINIMUM_COMMAND_MESSAGE_SIZE;
}
void CommandMessage::clearCommandMessage() {
switch(getMessageType()){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(this);
break;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(this);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(this);
break;
case messagetypes::ACTION:
ActionMessage::clear(this);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(this);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(this);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(this);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(this);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(this);
break;
default:
messagetypes::clearMissionMessage(this);
break;
}
size_t CommandMessage::getMaximumMessageSize() const {
return MessageQueueMessage::MAX_MESSAGE_SIZE;
}
bool CommandMessage::isClearedCommandMessage() {
return getCommand() == CMD_NONE;
}
size_t CommandMessage::getMinimumMessageSize() const {
return COMMAND_MESSAGE_SIZE;
}
void CommandMessage::setToUnknownCommand() {
Command_t initialCommand = getCommand();
clearCommandMessage();
this->clear();
setReplyRejected(UNKNOWN_COMMAND, initialCommand);
}
void CommandMessage::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) {
setCommand(REPLY_REJECTED);
setParameter(reason);
setParameter2(initialCommand);
}
MessageQueueId_t CommandMessage::getSender() const {
return internalMessage->getSender();
}
uint8_t* CommandMessage::getBuffer() {
return internalMessage->getBuffer();
}
void CommandMessage::setSender(MessageQueueId_t setId) {
internalMessage->setSender(setId);
}
const uint8_t* CommandMessage::getBuffer() const {
return internalMessage->getBuffer();
}
uint8_t* CommandMessage::getData() {
return internalMessage->getData();
}
const uint8_t* CommandMessage::getData() const {
return internalMessage->getData();
}
size_t CommandMessage::getMessageSize() const {
return COMMAND_MESSAGE_SIZE;
}
size_t CommandMessage::getMaximumMessageSize() const {
return MessageQueueMessage::MAX_MESSAGE_SIZE;
}

98
ipc/CommandMessage.h
View File

@ -1,47 +1,34 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
#define FRAMEWORK_IPC_COMMANDMESSAGE_H_
#include <framework/ipc/CommandMessageBase.h>
#include <framework/ipc/MessageQueueMessage.h>
#include <framework/ipc/FwMessageTypes.h>
#include <config/ipc/MissionMessageTypes.h>
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t;
/**
* @brief Used to pass command messages between tasks. Primary message type
* for IPC. Contains sender, 2-byte command field, and 2 4-byte
* parameters.
* @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
* field, and 2 4-byte parameters.
* @details
* It operates on an external memory which is contained inside a
* MessageQueueMessage by taking its address.
* class implementing MessageQueueMessageIF by taking its address.
* This allows for a more flexible designs of message implementations.
* The pointer can be passed to different message implementations without
* the need of unnecessary copying.
*
* The command message is based of the generic MessageQueueMessage which
* currently has an internal message size of 28 bytes.
* @author Bastian Baetz
*/
class CommandMessage: public MessageQueueMessageIF {
class CommandMessage: public CommandMessageBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, will be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
//! Reply indicating that the current command was rejected,
//! par1 should contain the error code
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );
/**
* This is the size of a message as it is seen by the MessageQueue.
* 14 of the 24 available MessageQueueMessage bytes are used.
*/
static const size_t COMMAND_MESSAGE_SIZE = MessageQueueMessage::HEADER_SIZE
+ sizeof(Command_t) + 2 * sizeof(uint32_t);
static const size_t MINIMUM_COMMAND_MESSAGE_SIZE =
MessageQueueMessage::HEADER_SIZE + sizeof(Command_t) +
2 * sizeof(uint32_t);
/**
* Default Constructor, does not initialize anything.
@ -49,7 +36,7 @@ public:
* This constructor should be used when receiving a Message, as the
* content is filled by the MessageQueue.
*/
CommandMessage(MessageQueueMessage* receiverMessage);
CommandMessage(MessageQueueMessageIF* receiverMessage);
/**
* This constructor creates a new message with all message content
* initialized
@ -58,7 +45,7 @@ public:
* @param parameter1 The first parameter
* @param parameter2 The second parameter
*/
CommandMessage(MessageQueueMessage* messageToSet, Command_t command,
CommandMessage(MessageQueueMessageIF* messageToSet, Command_t command,
uint32_t parameter1, uint32_t parameter2);
/**
@ -66,39 +53,11 @@ public:
*/
virtual ~CommandMessage() {}
/**
* Read the DeviceHandlerCommand_t that is stored in the message,
* usually used after receiving.
*
* @return the Command stored in the Message
*/
Command_t getCommand() const;
/*
* MessageQueueMessageIF functions, which generally just call the
* respective functions of the internal message
*/
uint8_t * getBuffer() override;
const uint8_t * getBuffer() const override;
void setSender(MessageQueueId_t setId) override;
MessageQueueId_t getSender() const override;
uint8_t * getData() override;
const uint8_t* getData() const override;
/** MessageQueueMessageIF functions used for minimum size check. */
size_t getMinimumMessageSize() const override;
size_t getMessageSize() const override;
/** MessageQueueMessageIF functions used for maximum size check. */
size_t getMaximumMessageSize() const override;
/**
* Extract message ID, which is the first byte of the command ID.
* @return
*/
uint8_t getMessageType() const;
/**
* Set the command type of the message
* @param the Command to be sent
*/
void setCommand(Command_t command);
/**
* Get the first parameter of the message
* @return the first Parameter of the message
@ -123,20 +82,6 @@ public:
*/
void setParameter2(uint32_t parameter2);
/**
* Set the command to CMD_NONE and try to find
* the correct class to handle a more detailed
* clear.
* Also, calls a mission-specific clearMissionMessage
* function to separate between framework and mission
* messages. Not optimal, may be replaced by totally
* different auto-delete solution (e.g. smart pointers).
*
*/
void clearCommandMessage();
void clear() override;
/**
* check if a message was cleared
*
@ -149,17 +94,6 @@ public:
* Is needed quite often, so we better code it once only.
*/
void setToUnknownCommand();
void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand = CMD_NONE);
private:
/**
* @brief Pointer to the message containing the data.
* @details
* The command message does not actually own the memory containing a
* message, it just oprates on it via a pointer to a message queue message.
*/
MessageQueueMessage* internalMessage;
};

82
ipc/CommandMessageBase.cpp Normal file
View File

@ -0,0 +1,82 @@
#include <framework/ipc/CommandMessageBase.h>
#include <framework/ipc/CommandMessageCleaner.h>
#include <cstring>
CommandMessageBase::CommandMessageBase(MessageQueueMessageIF *message):
internalMessage(message) {
}
Command_t CommandMessageBase::getCommand() const {
Command_t command;
std::memcpy(&command, internalMessage->getData(), sizeof(Command_t));
return command;
}
void CommandMessageBase::setCommand(Command_t command) {
std::memcpy(internalMessage->getData(), &command, sizeof(Command_t));
}
uint8_t CommandMessageBase::getMessageType() const {
// first byte of command ID.
return getCommand() >> 8 & 0xff;
}
MessageQueueId_t CommandMessageBase::getSender() const {
return internalMessage->getSender();
}
uint8_t* CommandMessageBase::getBuffer() {
return internalMessage->getBuffer();
}
void CommandMessageBase::setSender(MessageQueueId_t setId) {
internalMessage->setSender(setId);
}
const uint8_t* CommandMessageBase::getBuffer() const {
return internalMessage->getBuffer();
}
// Header includes command ID.
uint8_t* CommandMessageBase::getData() {
return internalMessage->getData() + sizeof(Command_t);
}
// Header includes command ID.
const uint8_t* CommandMessageBase::getData() const {
return internalMessage->getData() + sizeof(Command_t);
}
void CommandMessageBase::setMessageSize(size_t messageSize) {
internalMessage->setMessageSize(messageSize);
}
size_t CommandMessageBase::getMessageSize() const {
return internalMessage->getMessageSize();
}
MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
return internalMessage;
}
void CommandMessageBase::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) {
std::memcpy(getData(), &reason, sizeof(reason));
std::memcpy(getData() + sizeof(reason), &initialCommand,
sizeof(initialCommand));
}
ReturnValue_t CommandMessageBase::getReplyRejectedReason(
Command_t *initialCommand) const {
ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
std::memcpy(&reason, getData(), sizeof(reason));
if(initialCommand != nullptr) {
std::memcpy(initialCommand, getData() + sizeof(reason),
sizeof(Command_t));
}
return reason;
}
void CommandMessageBase::clear() {
CommandMessageCleaner::clearCommandMessage(this);
}

92
ipc/CommandMessageBase.h Normal file
View File

@ -0,0 +1,92 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_
#define FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_
#include <framework/ipc/CommandMessageIF.h>
#include <framework/ipc/MessageQueueMessage.h>
/**
* @brief Base implementation of a generic command message, which has
* a Command_t ID and message type ID in the header in addition
* to the sender message queue ID.
* @details
* This is the base implementation serves as a base for other command messages
* and which implements most functions required for MessageQueueMessageIF.
* The only functions which have to be supplied by a specific command message
* impelementations are the size related functions which are used for
* size checks:
*
* 1. getMinimumMessageSize()
* 2. getMaximumMessageSize()
*
* Don't forget to set the message size of the passed message in the concrete
* commandmessage implementation!
*/
class CommandMessageBase: public CommandMessageIF {
public:
CommandMessageBase(MessageQueueMessageIF* message);
/**
* Read the DeviceHandlerCommand_t that is stored in the message,
* usually used after receiving.
*
* @return the Command stored in the Message
*/
virtual Command_t getCommand() const override;
/**
* Set the command type of the message. Default implementation also
* sets the message type, which will be the first byte of the command ID.
* @param the Command to be sent
*/
virtual void setCommand(Command_t command);
/**
* Extract message ID, which is the first byte of the command ID for the
* default implementation.
* @return
*/
virtual uint8_t getMessageType() const override;
/*
* MessageQueueMessageIF functions, which generally just call the
* respective functions of the internal message queue message.
*/
virtual uint8_t * getBuffer() override;
virtual const uint8_t * getBuffer() const override;
virtual void setSender(MessageQueueId_t setId) override;
virtual MessageQueueId_t getSender() const override;
virtual uint8_t * getData() override;
virtual const uint8_t* getData() const override;
virtual void setMessageSize(size_t messageSize) override;
virtual size_t getMessageSize() const override;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) override;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const override;
virtual MessageQueueMessageIF* getInternalMessage() const override;
virtual void clear() override;
protected:
/**
* @brief Pointer to the message containing the data.
* @details
* The command message does not actually own the memory containing a
* message, it just oprates on it via a pointer to a message queue message.
*/
MessageQueueMessageIF* internalMessage = nullptr;
};
#endif /* FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_ */

45
ipc/CommandMessageCleaner.cpp Normal file
View File

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

16
ipc/CommandMessageCleaner.h Normal file
View File

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

75
ipc/CommandMessageIF.h Normal file
View File

@ -0,0 +1,75 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGEIF_H_
#define FRAMEWORK_IPC_COMMANDMESSAGEIF_H_
#include <framework/ipc/MessageQueueMessageIF.h>
#include <framework/ipc/FwMessageTypes.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t;
// TODO: actually, this interface propably does not have to implement
// MQM IF, because there is a getter function for the internal message..
// But it is also convenient to have the full access to all MQM IF functions.
// That way, I can just pass CommandMessages to functions expecting a MQM IF.
// The command message implementations just forwards the calls. Maybe
// we should just leave it like that.
class CommandMessageIF: public MessageQueueMessageIF {
public:
static constexpr size_t HEADER_SIZE = sizeof(MessageQueueId_t) +
sizeof(Command_t);
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, shall be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
//! Reply indicating that the current command was rejected,
//! par1 should contain the error code
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
virtual ~CommandMessageIF() {};
/**
* A command message shall have a uint16_t command ID field.
* @return
*/
virtual Command_t getCommand() const = 0;
/**
* A command message shall have a uint8_t message type ID field.
* @return
*/
virtual uint8_t getMessageType() const = 0;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
virtual void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) = 0;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
virtual ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const = 0;
/**
* This function is used to get a pointer to the internal message, as
* the command message implementations always operate on the memory
* contained in the message queue message implementation.
* This pointer can be used to set the internal message of different
* command message implementations.
* @return
*/
virtual MessageQueueMessageIF* getInternalMessage() const = 0;
};
#endif /* FRAMEWORK_IPC_COMMANDMESSAGEIF_H_ */

4
ipc/MessageQueueMessage.cpp
View File

@ -75,3 +75,7 @@ size_t MessageQueueMessage::getMessageSize() const {
size_t MessageQueueMessage::getMaximumMessageSize() const {
return this->MAX_MESSAGE_SIZE;
}
void MessageQueueMessage::setMessageSize(size_t messageSize) {
this->messageSize = messageSize;
}

7
ipc/MessageQueueMessage.h
View File

@ -3,7 +3,7 @@
#include <framework/ipc/MessageQueueMessageIF.h>
#include <framework/ipc/MessageQueueSenderIF.h>
#include <stddef.h>
#include <cstddef>
/**
* @brief This class is the representation and data organizer
@ -88,12 +88,12 @@ public:
* queue in the system. So, a change here may have significant impact on
* the required resources.
*/
static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/**
* @brief Defines the minimum size of a message where only the
* header is included
*/
static const size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private:
/**
* @brief This is the internal buffer that contains the
@ -150,6 +150,7 @@ public:
virtual size_t getMinimumMessageSize() const override;
virtual size_t getMessageSize() const override;
virtual void setMessageSize(size_t messageSize) override;
virtual size_t getMaximumMessageSize() const override;

4
ipc/MessageQueueMessageIF.h
View File

@ -24,7 +24,8 @@ public:
/**
* @brief With this method, the whole content and the message
* size is set to zero.
* size is set to zero. Implementations should also take care
* to clear data which is stored indirectly (e.g. storage data).
*/
virtual void clear() = 0;
@ -77,6 +78,7 @@ public:
* @return
*/
virtual size_t getMessageSize() const = 0;
virtual void setMessageSize(size_t messageSize) = 0;
/**
* Get maximum allowed size of current message implementation.

2
memory/MemoryHelper.cpp
View File

@ -119,7 +119,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
break;
}
if (queueToUse->sendMessage(lastSender, &reply) != RETURN_OK) {
reply.clearCommandMessage();
reply.clear();
}
}

2
osal/FreeRTOS/MessageQueue.cpp
View File

@ -101,7 +101,7 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
}
MessageQueueId_t MessageQueue::getId() const {
return (MessageQueueId_t) handle;
return reinterpret_cast<MessageQueueId_t>(handle);
}
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {

22
osal/FreeRTOS/MessageQueue.h
View File

@ -3,7 +3,7 @@
#include <framework/internalError/InternalErrorReporterIF.h>
#include <framework/ipc/MessageQueueIF.h>
#include <framework/ipc/MessageQueueMessage.h>
#include <framework/ipc/MessageQueueMessageIF.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
#include <freertos/FreeRTOS.h>
@ -85,14 +85,14 @@ public:
* @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 );
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 );
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
@ -100,7 +100,7 @@ public:
* (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 );
ReturnValue_t reply(MessageQueueMessageIF* message) override;
/**
* @brief With the sendMessage call, a queue message is sent to a receiving queue.
@ -113,9 +113,10 @@ public:
* 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 );
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.
@ -125,7 +126,8 @@ public:
* This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
/**
* @brief This function reads available messages from the message queue and returns the sender.
@ -135,7 +137,7 @@ public:
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom);
MessageQueueId_t *receivedFrom) override;
/**
* @brief This function reads available messages from the message queue.
@ -145,7 +147,7 @@ public:
* 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);
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.

15
serialize/SerialBufferAdapter.cpp
View File

@ -37,9 +37,13 @@ ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer_,
}
if (constBuffer != nullptr) {
memcpy(*buffer_, this->constBuffer, bufferLength);
} else if (buffer != nullptr) {
}
else if (buffer != nullptr) {
// This will propably be never reached, constBuffer should always be
// set if non-const buffer is set.
memcpy(*buffer_, this->buffer, bufferLength);
} else {
}
else {
return HasReturnvaluesIF::RETURN_FAILED;
}
*size_ += bufferLength;
@ -93,7 +97,7 @@ template<typename count_t>
uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
if(buffer == nullptr) {
sif::error << "Wrong access function for stored type !"
" Use getConstBuffer()" << std::endl;
" Use getConstBuffer()." << std::endl;
return nullptr;
}
return buffer;
@ -110,9 +114,10 @@ const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
template<typename count_t>
void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
count_t buffer_length) {
count_t bufferLength) {
this->buffer = buffer;
bufferLength = buffer_length;
this->constBuffer = buffer;
this->bufferLength = bufferLength;
}

2
serialize/SerialBufferAdapter.h
View File

@ -67,7 +67,7 @@ public:
uint8_t * getBuffer();
const uint8_t * getConstBuffer();
void setBuffer(uint8_t* buffer_, count_t bufferLength_);
void setBuffer(uint8_t* buffer, count_t bufferLength);
private:
bool serializeLength = false;
const uint8_t *constBuffer = nullptr;

68
tmtcservices/CommandingServiceBase.cpp
View File

@ -81,40 +81,58 @@ void CommandingServiceBase::handleCommandQueue() {
ReturnValue_t result = RETURN_FAILED;
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
result = commandQueue->receiveMessage(&reply)) {
handleCommandMessage(reply);
if(reply.getInternalMessage() == nullptr) {
// This should never happen unless the passed message maximum size
// is too small!
sif::error << "CommandingServiceBase::handleCommandMessage: Reply"
"does not satisfy minimum requirements for a command "
"message!" << std::endl;
continue;
}
handleCommandMessage(&reply);
}
}
void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
void CommandingServiceBase::handleCommandMessage(CommandMessageIF* reply) {
bool isStep = false;
MessageQueueMessage message;
CommandMessage nextCommand(&message);
CommandMapIter iter;
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
handleUnrequestedReply(&reply);
return;
}
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
handleUnrequestedReply(&reply);
CommandMapIter iter = commandMap.find(reply->getSender());
// handle unrequested reply first
if (reply->getSender() == MessageQueueIF::NO_QUEUE or
iter == commandMap.end()) {
handleUnrequestedReply(reply);
return;
}
nextCommand.setCommand(CommandMessage::CMD_NONE);
// Implemented by child class, specifies what to do with reply.
ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
&nextCommand, iter->objectId, &isStep);
/* If the child implementation does not implement special handling for
* rejected replies (RETURN_FAILED is returned), a failure verification
* will be generated with the reason as the return code and the initial
* command as failure parameter 1 */
if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
result == RETURN_FAILED) {
result = reply->getReplyRejectedReason(
reinterpret_cast<Command_t*>(&failureParameter1));
}
switch (result) {
case EXECUTION_COMPLETE:
case RETURN_OK:
case NO_STEP_MESSAGE:
// handle result of reply handler implemented by developer.
handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
break;
case INVALID_REPLY:
//might be just an unrequested reply at a bad moment
handleUnrequestedReply(&reply);
handleUnrequestedReply(reply);
break;
default:
if (isStep) {
@ -138,17 +156,17 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
}
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
bool& isStep) {
iter->command = nextCommand.getCommand();
CommandMapIter iter, CommandMessageIF* nextCommand,
CommandMessageIF* reply, bool& isStep) {
iter->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
// sendResult as RETURN_OK
ReturnValue_t sendResult = RETURN_OK;
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage(reply.getSender(),
&nextCommand);
if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage(reply->getSender(),
nextCommand);
}
if (sendResult == RETURN_OK) {
@ -168,14 +186,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
}
else {
if (isStep) {
nextCommand.clearCommandMessage();
nextCommand->clear();
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult,
++iter->step, failureParameter1, failureParameter2);
} else {
nextCommand.clearCommandMessage();
nextCommand->clear();
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@ -311,7 +329,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
storedPacket->getPacketSequenceControl();
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
} else {
command.clearCommandMessage();
command.clear();
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
checkAndExecuteFifo(iter);
}
@ -328,7 +346,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
checkAndExecuteFifo(iter);
} else {
command.clearCommandMessage();
command.clear();
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
checkAndExecuteFifo(iter);
}
@ -366,9 +384,9 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
}
void CommandingServiceBase::handleUnrequestedReply(
CommandMessage* reply) {
reply->clearCommandMessage();
void CommandingServiceBase::handleUnrequestedReply(CommandMessageIF* reply) {
CommandMessage commandReply(reply->getInternalMessage());
commandReply.clear();
}

27
tmtcservices/CommandingServiceBase.h
View File

@ -141,15 +141,17 @@ protected:
* @param objectId Target object ID
* @return
*/
virtual ReturnValue_t prepareCommand(CommandMessage *message,
virtual ReturnValue_t prepareCommand(CommandMessageIF *message,
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0;
/**
* This function is implemented by child services to specify how replies
* to a command from another software component are handled
* to a command from another software component are handled.
* @param reply
* This is the reply in form of a command message.
* This is the reply which can be accessed via the command message
* interface. The internal message pointer can be passed to different
* command message implementations (see CommandMessageIF)
* @param previousCommand
* Command_t of related command
* @param state [out/in]
@ -163,19 +165,26 @@ protected:
* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
* generate TC verification success
* - @c INVALID_REPLY calls handleUnrequestedReply
* - Anything else triggers a TC verification failure
* - Anything else triggers a TC verification failure. If RETURN_FAILED
* is returned and the command ID is CommandMessage::REPLY_REJECTED,
* a failure verification message with the reason as the error parameter
* and the initial command as failure parameter 1.
*/
virtual ReturnValue_t handleReply(const CommandMessage *reply,
virtual ReturnValue_t handleReply(const CommandMessageIF *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId,
CommandMessageIF *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0;
/**
* This function can be overidden to handle unrequested reply,
* when the reply sender ID is unknown or is not found is the command map.
* The default implementation will clear the command message and all
* its contents.
* @param reply
* Reply which is non-const so the default implementation can clear the
* message.
*/
virtual void handleUnrequestedReply(CommandMessage *reply);
virtual void handleUnrequestedReply(CommandMessageIF *reply);
virtual void doPeriodicOperation();
@ -303,9 +312,9 @@ private:
void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
void handleCommandMessage(CommandMessage& reply);
void handleCommandMessage(CommandMessageIF* reply);
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
CommandMessageIF* nextCommand,CommandMessageIF* reply, bool& isStep);
void checkTimeout();
};

10
tmtcservices/VerificationReporter.cpp
View File

@ -24,9 +24,8 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
current_packet->getPacketSequenceControl(), 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendSuccessReport: Error writing "
"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
}
}
@ -40,9 +39,8 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
tcSequenceControl, 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendSuccessReport: Error writing "
"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
}
}