trying to fuse header / inc

src/fsfw/datapool/CMakeLists.txt

@@ -0,0 +1,6 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		HkSwitchHelper.cpp
+		PoolDataSetBase.cpp
+		PoolEntry.cpp
+)

src/fsfw/datapool/DataSetIF.h

@@ -0,0 +1,45 @@
+#ifndef FSFW_DATAPOOL_DATASETIF_H_
+#define FSFW_DATAPOOL_DATASETIF_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Clock.h"
+class PoolVariableIF;
+
+/**
+ * @brief	This class defines a small interface to register on a DataSet.
+ *
+ * @details
+ * Currently, the only purpose of this interface is to provide a
+ * method for locally checked-out variables to register on a data set.
+ * Still, it may become useful for other purposes as well.
+ * @author 	Bastian Baetz
+ * @ingroup data_pool
+ */
+class DataSetIF {
+public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
+	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION = MAKE_RETURN_CODE(1);
+	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t COMMITING_WITHOUT_READING = MAKE_RETURN_CODE(3);
+
+	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE(4);
+	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE(5);
+	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE(6);
+
+	/**
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is proposed for C++ interfaces.
+	 */
+	virtual ~DataSetIF() {}
+
+	/**
+	 * @brief	This operation provides a method to register local data pool
+	 * 			variables to register in a data set by passing itself
+	 * 			to this DataSet operation.
+	 */
+	virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
+
+	virtual uint16_t getFillCount() const = 0;
+};
+
+#endif /* FSFW_DATAPOOL_DATASETIF_H_ */

src/fsfw/datapool/HkSwitchHelper.cpp

@@ -0,0 +1,75 @@
+#include "fsfw/datapool/HkSwitchHelper.h"
+#include "fsfw/ipc/QueueFactory.h"
+
+HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
+		commandActionHelper(this), eventProxy(eventProxy) {
+	actionQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+HkSwitchHelper::~HkSwitchHelper() {
+    QueueFactory::instance()->deleteMessageQueue(actionQueue);
+}
+
+ReturnValue_t HkSwitchHelper::initialize() {
+	ReturnValue_t result = commandActionHelper.initialize();
+
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	return result;
+}
+
+ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
+	CommandMessage command;
+	while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
+		ReturnValue_t result = commandActionHelper.handleReply(&command);
+		if (result == HasReturnvaluesIF::RETURN_OK) {
+			continue;
+		}
+		command.setToUnknownCommand();
+		actionQueue->reply(&command);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void HkSwitchHelper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {
+}
+
+void HkSwitchHelper::stepFailedReceived(ActionId_t actionId, uint8_t step,
+		ReturnValue_t returnCode) {
+	eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
+}
+
+void HkSwitchHelper::dataReceived(ActionId_t actionId, const uint8_t* data,
+		uint32_t size) {
+}
+
+void HkSwitchHelper::completionSuccessfulReceived(ActionId_t actionId) {
+}
+
+void HkSwitchHelper::completionFailedReceived(ActionId_t actionId,
+		ReturnValue_t returnCode) {
+	eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
+}
+
+ReturnValue_t HkSwitchHelper::switchHK(SerializeIF* sids, bool enable) {
+//	ActionId_t action = HKService::DISABLE_HK;
+//	if (enable) {
+//		action = HKService::ENABLE_HK;
+//	}
+//
+//	ReturnValue_t result = commandActionHelper.commandAction(
+//			objects::PUS_HK_SERVICE, action, sids);
+//
+//	if (result != HasReturnvaluesIF::RETURN_OK) {
+//		eventProxy->forwardEvent(SWITCHING_TM_FAILED, result);
+//	}
+//	return result;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* HkSwitchHelper::getCommandQueuePtr() {
+	return actionQueue;
+}

src/fsfw/datapool/HkSwitchHelper.h

@@ -0,0 +1,46 @@
+#ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
+#define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
+
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/events/EventReportingProxyIF.h"
+
+//TODO this class violations separation between mission and framework
+//but it is only a transitional solution until the Datapool is
+//implemented decentrally
+
+class HkSwitchHelper: public ExecutableObjectIF, public CommandsActionsIF {
+public:
+
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
+	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
+
+	HkSwitchHelper(EventReportingProxyIF *eventProxy);
+	virtual ~HkSwitchHelper();
+
+	ReturnValue_t initialize();
+
+	virtual ReturnValue_t  performOperation(uint8_t operationCode = 0);
+
+	ReturnValue_t switchHK(SerializeIF *sids, bool enable);
+
+	virtual void setTaskIF(PeriodicTaskIF* task_){};
+
+protected:
+	virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step);
+	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
+			ReturnValue_t returnCode);
+	virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
+			uint32_t size);
+	virtual void completionSuccessfulReceived(ActionId_t actionId);
+	virtual void completionFailedReceived(ActionId_t actionId,
+			ReturnValue_t returnCode);
+	virtual MessageQueueIF* getCommandQueuePtr();
+
+private:
+	CommandActionHelper commandActionHelper;
+	MessageQueueIF* actionQueue;
+	EventReportingProxyIF *eventProxy;
+};
+
+#endif /* FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ */

src/fsfw/datapool/PoolDataSetBase.cpp

@@ -0,0 +1,233 @@
+#include "fsfw/datapool/PoolDataSetBase.h"
+#include "fsfw/datapool/ReadCommitIFAttorney.h"
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+#include <cstring>
+
+PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
+        const size_t maxFillCount):
+        registeredVariables(registeredVariablesArray),
+        maxFillCount(maxFillCount) {}
+
+PoolDataSetBase::~PoolDataSetBase() {}
+
+
+ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF *variable) {
+    if(registeredVariables == nullptr) {
+        /* Underlying container invalid */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if (state != States::STATE_SET_UNINITIALISED) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "DataSet::registerVariable: Call made in wrong position." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: Call made in wrong position.");
+#endif
+        return DataSetIF::DATA_SET_UNINITIALISED;
+    }
+    if (variable == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "DataSet::registerVariable: Pool variable is nullptr." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: Pool variable is nullptr.\n");
+#endif
+        return DataSetIF::POOL_VAR_NULL;
+    }
+    if (fillCount >= maxFillCount) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "DataSet::registerVariable: DataSet is full." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: DataSet is full.\n");
+#endif
+        return DataSetIF::DATA_SET_FULL;
+    }
+    registeredVariables[fillCount] = variable;
+    fillCount++;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::read(MutexIF::TimeoutType timeoutType,
+        uint32_t lockTimeout) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    ReturnValue_t error = result;
+    if (state == States::STATE_SET_UNINITIALISED) {
+        lockDataPool(timeoutType, lockTimeout);
+        for (uint16_t count = 0; count < fillCount; count++) {
+            result = readVariable(count);
+            if(result != RETURN_OK) {
+                error = result;
+            }
+        }
+        state = States::STATE_SET_WAS_READ;
+        unlockDataPool();
+    }
+    else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "PoolDataSetBase::read: Call made in wrong position. Don't forget to "
+                "commit member datasets!" << std::endl;
+#else
+        sif::printWarning("PoolDataSetBase::read: Call made in wrong position. Don't forget to "
+                "commit member datasets!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+        result = SET_WAS_ALREADY_READ;
+    }
+
+    if(error != HasReturnvaluesIF::RETURN_OK) {
+        result = error;
+    }
+    return result;
+}
+
+uint16_t PoolDataSetBase::getFillCount() const {
+    return fillCount;
+}
+
+ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    if(registeredVariables[count] == nullptr) {
+        /* Configuration error. */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    /* These checks are often performed by the respective variable implementation too, but I guess
+    a double check does not hurt. */
+    if (registeredVariables[count]->getReadWriteMode() != PoolVariableIF::VAR_WRITE and
+            registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER) {
+        if(protectEveryReadCommitCall) {
+            result = registeredVariables[count]->read(timeoutTypeForSingleVars,
+                    mutexTimeoutForSingleVars);
+        }
+        else {
+            /* The readWithoutLock function is protected, so we use the attorney here */
+            result = ReadCommitIFAttorney::readWithoutLock(registeredVariables[count]);
+        }
+
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            result = INVALID_PARAMETER_DEFINITION;
+        }
+    }
+    return result;
+}
+
+ReturnValue_t PoolDataSetBase::commit(MutexIF::TimeoutType timeoutType,
+        uint32_t lockTimeout) {
+    if (state == States::STATE_SET_WAS_READ) {
+        handleAlreadyReadDatasetCommit(timeoutType, lockTimeout);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return handleUnreadDatasetCommit(timeoutType, lockTimeout);
+    }
+}
+
+void PoolDataSetBase::handleAlreadyReadDatasetCommit(
+        MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
+    lockDataPool(timeoutType, lockTimeout);
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if ((registeredVariables[count]->getReadWriteMode() != PoolVariableIF::VAR_READ) and
+                (registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER)) {
+            if(protectEveryReadCommitCall) {
+                registeredVariables[count]->commit(timeoutTypeForSingleVars,
+                        mutexTimeoutForSingleVars);
+            }
+            else {
+                /* The commitWithoutLock function is protected, so we use the attorney here */
+                ReadCommitIFAttorney::commitWithoutLock(registeredVariables[count]);
+            }
+        }
+    }
+    state = States::STATE_SET_UNINITIALISED;
+    unlockDataPool();
+}
+
+ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(
+        MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    lockDataPool(timeoutType, lockTimeout);
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if ((registeredVariables[count]->getReadWriteMode() == PoolVariableIF::VAR_WRITE) and
+                (registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER)) {
+            if(protectEveryReadCommitCall) {
+                result = registeredVariables[count]->commit(timeoutTypeForSingleVars,
+                        mutexTimeoutForSingleVars);
+            }
+            else {
+                /* The commitWithoutLock function is protected, so we use the attorney here */
+                ReadCommitIFAttorney::commitWithoutLock(registeredVariables[count]);
+            }
+
+        } else if (registeredVariables[count]->getDataPoolId()
+                != PoolVariableIF::NO_PARAMETER) {
+            if (result != COMMITING_WITHOUT_READING) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::error << "DataSet::commit(): commit-without-read call made "
+                        "with non write-only variable." << std::endl;
+#endif
+                result = COMMITING_WITHOUT_READING;
+            }
+        }
+    }
+    state = States::STATE_SET_UNINITIALISED;
+    unlockDataPool();
+    return result;
+}
+
+
+ReturnValue_t PoolDataSetBase::lockDataPool(MutexIF::TimeoutType timeoutType,
+        uint32_t lockTimeout) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::unlockDataPool() {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size,
+        const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        result = registeredVariables[count]->serialize(buffer, size, maxSize, streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    return result;
+}
+
+ReturnValue_t PoolDataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
+        SerializeIF::Endianness streamEndianness) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        result = registeredVariables[count]->deSerialize(buffer, size,
+                streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    return result;
+}
+
+size_t PoolDataSetBase::getSerializedSize() const {
+    uint32_t size = 0;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        size += registeredVariables[count]->getSerializedSize();
+    }
+    return size;
+}
+
+void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
+    this->registeredVariables = variablesContainer;
+}
+
+PoolVariableIF** PoolDataSetBase::getContainer() const {
+    return registeredVariables;
+}
+
+void PoolDataSetBase::setReadCommitProtectionBehaviour(
+        bool protectEveryReadCommit, MutexIF::TimeoutType timeoutType,
+        uint32_t mutexTimeout) {
+    this->protectEveryReadCommitCall = protectEveryReadCommit;
+    this->timeoutTypeForSingleVars = timeoutType;
+    this->mutexTimeoutForSingleVars = mutexTimeout;
+}

src/fsfw/datapool/PoolDataSetBase.h

@@ -0,0 +1,181 @@
+#ifndef FSFW_DATAPOOL_POOLDATASETBASE_H_
+#define FSFW_DATAPOOL_POOLDATASETBASE_H_
+
+#include "PoolDataSetIF.h"
+#include "PoolVariableIF.h"
+
+#include "fsfw/serialize/SerializeIF.h"
+#include "fsfw/ipc/MutexIF.h"
+
+/**
+ * @brief	The DataSetBase class manages a set of locally checked out variables.
+ * @details
+ * This class manages a list, where a set of local variables (or pool variables)
+ * are registered. They are checked-out (i.e. their values are looked
+ * up and copied) with the read call. After the user finishes working with the
+ * pool variables, he can write back all variable values to the pool with
+ * the commit call. The data set manages locking and freeing the data pool,
+ * to ensure that all values are read and written back at once.
+ *
+ * An internal state manages usage of this class. Variables may only be
+ * registered before the read call is made, and the commit call only
+ * after the read call.
+ *
+ * If pool variables are writable and not committed until destruction
+ * of the set, the DataSet class automatically sets the valid flag in the
+ * data pool to invalid (without) changing the variable's value.
+ *
+ * The base class lockDataPool und unlockDataPool implementation are empty
+ * and should be implemented to protect the underlying pool type.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class PoolDataSetBase:
+        public PoolDataSetIF,
+        public SerializeIF,
+        public HasReturnvaluesIF {
+public:
+
+    /**
+     * @brief	Creates an empty dataset. Use registerVariable or
+     * 			supply a pointer to this dataset to PoolVariable
+     * 			initializations to register pool variables.
+     */
+    PoolDataSetBase(PoolVariableIF** registeredVariablesArray, const size_t maxFillCount);
+
+    /* Forbidden for now */
+    PoolDataSetBase(const PoolDataSetBase& otherSet) = delete;
+    const PoolDataSetBase& operator=(const PoolDataSetBase& otherSet) = delete;
+
+    virtual~ PoolDataSetBase();
+
+    /**
+     * @brief	The read call initializes reading out all registered variables.
+     * 			It is mandatory to call commit after every read call!
+     * @details
+     * It iterates through the list of registered variables and calls all read()
+     * functions of the registered pool variables (which read out their values
+     * from the data pool) which are not write-only.
+     * In case of an error (e.g. a wrong data type, or an invalid data pool id),
+     * the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
+     *
+     * The data pool is locked during the whole read operation and
+     * freed afterwards. It is mandatory to call commit after a read call,
+     * even if the read operation is not successful!
+     * @return
+     * - @c RETURN_OK if all variables were read successfully.
+     * - @c INVALID_PARAMETER_DEFINITION if a pool entry does not exist or there
+     *      is a type conflict.
+     * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
+     *      commit() in between
+     */
+    virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t lockTimeout = 20) override;
+    /**
+     * @brief	The commit call initializes writing back the registered variables.
+     * @details
+     * It iterates through the list of registered variables and calls the
+     * commit() method of the remaining registered variables (which write back
+     * their values to the pool).
+     *
+     * The data pool is locked during the whole commit operation and
+     * freed afterwards. The state changes to "was committed" after this operation.
+     *
+     * If the set does contain at least one variable which is not write-only
+     * commit() can only be called after read(). If the set only contains
+     * variables which are write only, commit() can be called without a
+     * preceding read() call. Every read call must be followed by a commit call!
+     * @return	- @c RETURN_OK if all variables were read successfully.
+     * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
+     * 			  contains non write-only variables
+     */
+    virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t lockTimeout = 20) override;
+
+    /**
+     * Register the passed pool variable instance into the data set.
+     * @param variable
+     * @return
+     */
+    virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
+
+    /**
+     * Provides the means to lock the underlying data structure to ensure
+     * thread-safety. Default implementation is empty
+     * @return Always returns -@c RETURN_OK
+     */
+    virtual ReturnValue_t lockDataPool(
+            MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t timeoutMs = 20) override;
+    /**
+     * Provides the means to unlock the underlying data structure to ensure
+     * thread-safety. Default implementation is empty
+     * @return Always returns -@c RETURN_OK
+     */
+    virtual ReturnValue_t unlockDataPool() override;
+
+    virtual uint16_t getFillCount() const;
+
+    /* SerializeIF implementations */
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            const size_t maxSize,
+            SerializeIF::Endianness streamEndianness) const override;
+    virtual size_t getSerializedSize() const override;
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            SerializeIF::Endianness streamEndianness) override;
+
+    /**
+     * Can be used to individually protect every read and commit call.
+     * @param protectEveryReadCommit
+     * @param mutexTimeout
+     */
+    void setReadCommitProtectionBehaviour(bool protectEveryReadCommit,
+            MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t mutexTimeout = 20);
+protected:
+
+    /**
+     * @brief	The fill_count attribute ensures that the variables
+     * 			register in the correct array position and that the maximum
+     * 			number of variables is not exceeded.
+     */
+    uint16_t fillCount = 0;
+    /**
+     * States of the seet.
+     */
+    enum class States {
+        STATE_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
+        STATE_SET_WAS_READ     //!< DATA_SET_WAS_READ
+    };
+    /**
+     * @brief	state manages the internal state of the data set,
+     *          which is important e.g. for the behavior on destruction.
+     */
+    States state = States::STATE_SET_UNINITIALISED;
+
+    /**
+     * @brief	This array represents all pool variables registered in this set.
+     * Child classes can use a static or dynamic container to create
+     * an array of registered variables and assign the first entry here.
+     */
+    PoolVariableIF** registeredVariables = nullptr;
+    const size_t maxFillCount = 0;
+
+    void setContainer(PoolVariableIF** variablesContainer);
+    PoolVariableIF** getContainer() const;
+
+private:
+    bool protectEveryReadCommitCall = false;
+    MutexIF::TimeoutType timeoutTypeForSingleVars = MutexIF::TimeoutType::WAITING;
+    uint32_t mutexTimeoutForSingleVars = 20;
+
+    ReturnValue_t readVariable(uint16_t count);
+    void handleAlreadyReadDatasetCommit(
+            MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t timeoutMs = 20);
+    ReturnValue_t handleUnreadDatasetCommit(
+            MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t timeoutMs = 20);
+};
+
+#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */

src/fsfw/datapool/PoolDataSetIF.h

@@ -0,0 +1,36 @@
+#ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
+#define FSFW_DATAPOOL_POOLDATASETIF_H_
+
+#include "ReadCommitIF.h"
+#include "DataSetIF.h"
+
+/**
+ * @brief   Extendes the DataSetIF by adding abstract functions to lock
+ *          and unlock a data pool and read/commit semantics.
+ */
+class PoolDataSetIF:
+        virtual public DataSetIF,
+        virtual public ReadCommitIF {
+public:
+    virtual~ PoolDataSetIF() {};
+
+    /**
+     * @brief   Most underlying data structures will have a pool like structure
+     *          and will require a lock and unlock mechanism to ensure
+     *          thread-safety
+     * @return Lock operation result
+     */
+    virtual ReturnValue_t lockDataPool(
+    		MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+			uint32_t timeoutMs = 20) = 0;
+
+    /**
+     * @brief   Unlock call corresponding to the lock call.
+     * @return Unlock operation result
+     */
+    virtual ReturnValue_t unlockDataPool() = 0;
+
+    virtual bool isValid() const = 0;
+};
+
+#endif /* FSFW_DATAPOOL_POOLDATASETIF_H_ */

src/fsfw/datapool/PoolEntry.cpp

@@ -0,0 +1,102 @@
+#include "fsfw/datapool/PoolEntry.h"
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
+
+#include <cstring>
+#include <algorithm>
+
+template <typename T>
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid ):
+		length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
+	this->address = new T[this->length];
+	if(initValue.size() == 0) {
+		std::memset(this->address, 0, this->getByteSize());
+	}
+	else {
+		std::copy(initValue.begin(), initValue.end(), this->address);
+	}
+}
+
+template <typename T>
+PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid):
+		length(setLength), valid(setValid) {
+	this->address = new T[this->length];
+	if (initValue != nullptr) {
+		std::memcpy(this->address, initValue, this->getByteSize() );
+	} else {
+		std::memset(this->address, 0, this->getByteSize() );
+	}
+}
+
+//As the data pool is global, this dtor is only be called on program exit.
+//Warning! Never copy pool entries!
+template <typename T>
+PoolEntry<T>::~PoolEntry() {
+	delete[] this->address;
+}
+
+template <typename T>
+uint16_t PoolEntry<T>::getByteSize() {
+	return ( sizeof(T) * this->length );
+}
+
+template <typename T>
+uint8_t PoolEntry<T>::getSize() {
+	return this->length;
+}
+
+template <typename T>
+void* PoolEntry<T>::getRawData() {
+	return this->address;
+}
+
+template <typename T>
+void PoolEntry<T>::setValid(bool isValid) {
+	this->valid = isValid;
+}
+
+template <typename T>
+bool PoolEntry<T>::getValid() {
+	return valid;
+}
+
+template <typename T>
+void PoolEntry<T>::print() {
+	const char* validString = nullptr;
+	if(valid) {
+		validString = "Valid";
+	}
+	else {
+		validString = "Invalid";
+	}
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+	 sif::info << "PoolEntry information." << std::endl;
+	 sif::info << "PoolEntry validity: " << validString << std::endl;
+#else
+	 sif::printInfo("PoolEntry information.\n");
+	 sif::printInfo("PoolEntry validity: %s\n", validString);
+#endif
+	arrayprinter::print(reinterpret_cast<uint8_t*>(address), getByteSize());
+}
+
+template<typename T>
+inline T* PoolEntry<T>::getDataPtr() {
+	return this->address;
+}
+
+template<typename T>
+Type PoolEntry<T>::getType() {
+	return PodTypeConversion<T>::type;
+}
+
+template class PoolEntry<uint8_t>;
+template class PoolEntry<uint16_t>;
+template class PoolEntry<uint32_t>;
+template class PoolEntry<uint64_t>;
+template class PoolEntry<int8_t>;
+template class PoolEntry<int16_t>;
+template class PoolEntry<int32_t>;
+template class PoolEntry<int64_t>;
+template class PoolEntry<float>;
+template class PoolEntry<double>;

src/fsfw/datapool/PoolEntry.h

@@ -0,0 +1,137 @@
+#ifndef FSFW_DATAPOOL_POOLENTRY_H_
+#define FSFW_DATAPOOL_POOLENTRY_H_
+
+#include "PoolEntryIF.h"
+
+#include <initializer_list>
+#include <type_traits>
+#include <cstddef>
+
+/**
+ * @brief	This is a small helper class that defines a single data pool entry.
+ * @details
+ * The helper is used to store all information together with the data as a
+ * single data pool entry. The content's type is defined by the template
+ * argument.
+ *
+ * It is prepared for use with plain old data types, but may be
+ * extended to complex types if necessary. It can be initialized with a
+ * certain value, size and validity flag.
+ *
+ * It holds a pointer to the real data and offers methods to access this data
+ * and to acquire additional information (such as validity and array/byte size).
+ * It is NOT intended to be used outside DataPool implementations as it performs
+ * dynamic memory allocation.
+ *
+ * @ingroup data_pool
+ */
+template <typename T>
+class PoolEntry : public PoolEntryIF {
+public:
+	static_assert(not std::is_same<T, bool>::value,
+				"Do not use boolean for the PoolEntry type, use uint8_t "
+				"instead! The ECSS standard defines a boolean as a one bit "
+				"field. Therefore it is preferred to store a boolean as an "
+				"uint8_t");
+	/**
+	 * @brief	In the classe's constructor, space is allocated on the heap and
+	 * 			potential initialization values are copied to that space.
+	 * @details
+	 * Not passing any arguments will initialize an non-array pool entry
+	 * with an initial invalid state and the value 0.
+	 * Please note that if an initializer list is passed, the length of the
+	 * initializer list needs to be correct for vector entries because
+	 * required allocated space will be deduced from the initializer list length
+	 * and the pool entry type.
+	 * @param initValue
+	 * Initializer list with values to initialize with, for example {0, 0} to
+	 * initialize the a pool entry of a vector with two entries to 0.
+	 * @param setValid
+	 * Sets the initialization flag. It is invalid by default.
+	 */
+	PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);
+
+	/**
+	 * @brief	In the classe's constructor, space is allocated on the heap and
+	 * 			potential init values are copied to that space.
+	 * @param initValue
+	 * A pointer to the single value or array that holds the init value.
+	 * With the default value (nullptr), the entry is initalized with all 0.
+	 * @param setLength
+	 * Defines the array length of this entry.
+	 * @param setValid
+	 * Sets the initialization flag. It is invalid by default.
+	 */
+	PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
+
+	//! Explicitely deleted copy ctor, copying is not allowed.
+	PoolEntry(const PoolEntry&) = delete;
+	//! Explicitely deleted copy assignment, copying is not allowed.
+	PoolEntry& operator=(const PoolEntry&) = delete;
+
+	/**
+	 * @brief	The allocated memory for the variable is freed
+	 * 			in the destructor.
+	 * @details
+	 * As the data pool is global, this dtor is only called on program exit.
+	 * PoolEntries shall never be copied, as a copy might delete the variable
+	 * on the heap.
+	 */
+	~PoolEntry();
+
+	/**
+	 * Return typed pointer to start of data.
+	 * @return
+	 */
+	T* getDataPtr();
+
+	/**
+	 * @brief	getSize returns the array size of the entry.
+	 * @details
+	 * For non-array pool entries return type size, for vector entries
+	 * return type size times the number of entries.
+	 */
+	uint8_t getSize();
+	/**
+	 * @brief	This operation returns the size in bytes.
+	 * @details	The size is calculated by sizeof(type) * array_size.
+	 */
+	uint16_t getByteSize();
+	/**
+	 * @brief	This operation returns a the address pointer casted to void*.
+	 */
+	void* getRawData();
+	/**
+	 * @brief	This method allows to set the valid information
+	 * 			of the pool entry.
+	 */
+	void setValid( bool isValid );
+	/**
+	 * @brief	This method allows to get the valid information
+	 * 			of the pool entry.
+	 */
+	bool getValid();
+	/**
+	 * @brief	This is a debug method that prints all values and the valid
+	 * 			information to the screen. It prints all array entries in a row.
+	 */
+	void print();
+	Type getType();
+
+private:
+	/**
+	 * @brief	This attribute stores the length information.
+	 */
+	uint8_t length;
+	/**
+	 * @brief	Here, the validity information for a variable is stored.
+	 * 			Every entry (single variable or vector) has one valid flag.
+	 */
+	uint8_t valid;
+	/**
+	 * @brief	This is the address pointing to the allocated memory.
+	 */
+	T* address;
+};
+
+#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */

src/fsfw/datapool/PoolEntryIF.h

@@ -0,0 +1,63 @@
+#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
+#define FSFW_DATAPOOL_POOLENTRYIF_H_
+
+#include "../globalfunctions/Type.h"
+#include <cstdint>
+
+/**
+ * @brief	This interface defines the access possibilities to a
+ * 			single data pool entry.
+ * @details
+ * The interface provides methods to determine the size and the validity
+ * information of a value. It also defines a method to receive a pointer to the
+ * raw data content. It is mainly used by DataPool itself, but also as a
+ * return pointer.
+ *
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ *
+ */
+class PoolEntryIF {
+public:
+	/**
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is required for C++ interfaces.
+	 */
+	virtual ~PoolEntryIF() {
+	}
+	/**
+	 * @brief	getSize returns the array size of the entry.
+	 * 			A single variable parameter has size 1.
+	 */
+	virtual uint8_t getSize() = 0;
+	/**
+	 * @brief	This operation returns the size in bytes, which is calculated by
+	 * 			sizeof(type) * array_size.
+	 */
+	virtual uint16_t getByteSize() = 0;
+	/**
+	 * @brief	This operation returns a the address pointer casted to void*.
+	 */
+	virtual void* getRawData() = 0;
+	/**
+	 * @brief	This method allows to set the valid information of the pool entry.
+	 */
+	virtual void setValid(bool isValid) = 0;
+	/**
+	 * @brief	This method allows to set the valid information of the pool entry.
+	 */
+	virtual bool getValid() = 0;
+	/**
+	 * @brief	This is a debug method that prints all values and the valid
+	 * 			information to the screen. It prints all array entries in a row.
+	 * @details
+	 * Also displays whether the pool entry is valid or invalid.
+	 */
+	virtual void print() = 0;
+	/**
+	 * Returns the type of the entry.
+	 */
+	virtual Type getType() = 0;
+};
+
+#endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */

src/fsfw/datapool/PoolReadGuard.h

@@ -0,0 +1,62 @@
+#ifndef FSFW_DATAPOOL_POOLREADHELPER_H_
+#define FSFW_DATAPOOL_POOLREADHELPER_H_
+
+#include "ReadCommitIF.h"
+#include "../serviceinterface/ServiceInterface.h"
+#include <FSFWConfig.h>
+
+/**
+ * @brief 	Helper class to read data sets or pool variables
+ */
+class PoolReadGuard {
+public:
+    PoolReadGuard(ReadCommitIF* readObject,
+            MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t mutexTimeout = 20):
+                readObject(readObject), mutexTimeout(mutexTimeout) {
+        if(readObject != nullptr) {
+            readResult = readObject->read(timeoutType, mutexTimeout);
+            if(readResult != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::error << "PoolReadHelper: Read failed!" << std::endl;
+#else
+                sif::printError("PoolReadHelper: Read failed!\n");
+#endif /* FSFW_PRINT_VERBOSITY_LEVEL == 1 */
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+            }
+        }
+    }
+
+    ReturnValue_t getReadResult() const {
+        return readResult;
+    }
+
+    /**
+     * @brief   Can be used to suppress commit on destruction.
+     */
+    void setNoCommitMode(bool commit) {
+        this->noCommit = commit;
+    }
+
+    /**
+     * @brief   Default destructor which will take care of commiting changed values.
+     */
+    ~PoolReadGuard() {
+        if(readObject != nullptr and not noCommit) {
+            readObject->commit(timeoutType, mutexTimeout);
+        }
+
+    }
+
+private:
+    ReadCommitIF* readObject = nullptr;
+    ReturnValue_t readResult = HasReturnvaluesIF::RETURN_OK;
+    bool noCommit = false;
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    uint32_t mutexTimeout = 20;
+};
+
+
+
+#endif /* FSFW_DATAPOOL_POOLREADHELPER_H_ */

src/fsfw/datapool/PoolVarList.h

@@ -0,0 +1,29 @@
+#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
+#define FSFW_DATAPOOL_POOLVARLIST_H_
+
+#include "../datapool/PoolVariableIF.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
+template <class T, uint8_t n_var>
+class PoolVarList {
+private:
+	GlobPoolVar<T> variables[n_var];
+public:
+	PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet,
+	        PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
+		//I really should have a look at the new init list c++ syntax.
+		if (dataSet == NULL) {
+			return;
+		}
+		for (uint8_t count = 0; count < n_var; count++) {
+			variables[count].dataPoolId = set_id[count];
+			variables[count].readWriteMode = setReadWriteMode;
+			dataSet->registerVariable(&variables[count]);
+		}
+	}
+
+	GlobPoolVar<T> &operator [](int i) { return variables[i]; }
+};
+
+
+
+#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */

src/fsfw/datapool/PoolVariableIF.h

@@ -0,0 +1,68 @@
+#ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
+#define FSFW_DATAPOOL_POOLVARIABLEIF_H_
+
+#include "ReadCommitIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
+
+
+/**
+ * @brief	This interface is used to control data pool
+ * 			variable representations.
+ * @details
+ * To securely handle data pool variables, all pool entries are locally
+ * managed by data pool variable access classes, which are called pool
+ * variables. To ensure a common state of a set of variables needed in a
+ * function, these local pool variables again are managed by other classes,
+ * like the DataSet classes. This interface provides unified access to
+ * local pool variables for such manager classes.
+ * @author 	Bastian Baetz
+ * @ingroup data_pool
+ */
+class PoolVariableIF :
+        public SerializeIF,
+        public ReadCommitIF {
+
+public:
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
+    static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
+    static constexpr ReturnValue_t INVALID_POOL_ENTRY = MAKE_RETURN_CODE(0xA1);
+
+    static constexpr bool VALID = 1;
+    static constexpr bool INVALID = 0;
+    static constexpr uint32_t NO_PARAMETER = 0xffffffff;
+
+    enum ReadWriteMode_t {
+        VAR_READ, VAR_WRITE, VAR_READ_WRITE
+    };
+
+    /**
+     * @brief	This is an empty virtual destructor,
+     * 			as it is proposed for C++ interfaces.
+     */
+    virtual ~PoolVariableIF() {}
+    /**
+     * @brief	This method returns if the variable is write-only,
+     * 			read-write or read-only.
+     */
+    virtual ReadWriteMode_t getReadWriteMode() const = 0;
+    virtual void setReadWriteMode(ReadWriteMode_t newMode) = 0;
+
+    /**
+     * @brief	This operation shall return the data pool id of the variable.
+     */
+    virtual uint32_t getDataPoolId() const = 0;
+    /**
+     * @brief	With this call, the valid information of the
+     * 			variable is returned.
+     */
+    virtual bool isValid() const = 0;
+    /**
+     * @brief	With this call, the valid information of the variable is set.
+     */
+    virtual void setValid(bool validity) = 0;
+};
+
+using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
+
+#endif /* FSFW_DATAPOOL_POOLVARIABLEIF_H_ */

src/fsfw/datapool/ReadCommitIF.h

@@ -0,0 +1,34 @@
+#ifndef FSFW_DATAPOOL_READCOMMITIF_H_
+#define FSFW_DATAPOOL_READCOMMITIF_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MutexIF.h"
+
+/**
+ * @brief 	Common interface for all software objects which employ read-commit
+ * 			semantics.
+ */
+class ReadCommitIF {
+    friend class ReadCommitIFAttorney;
+public:
+	virtual ~ReadCommitIF() {}
+	virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType,
+			uint32_t timeoutMs) = 0;
+	virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType,
+			uint32_t timeoutMs) = 0;
+
+protected:
+
+	/* Optional and protected because this is interesting for classes grouping members with commit
+	and read semantics where the lock is only necessary once. */
+	virtual ReturnValue_t readWithoutLock()  {
+		return read(MutexIF::TimeoutType::WAITING, 20);
+	}
+
+	virtual ReturnValue_t commitWithoutLock() {
+		return commit(MutexIF::TimeoutType::WAITING, 20);
+	}
+};
+
+
+#endif /* FSFW_DATAPOOL_READCOMMITIF_H_ */

src/fsfw/datapool/ReadCommitIFAttorney.h

@@ -0,0 +1,32 @@
+#ifndef FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_
+#define FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_
+
+#include <fsfw/datapool/ReadCommitIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+/**
+ * @brief   This class determines which members are allowed to access protected members
+ *          of the ReadCommitIF.
+ */
+class ReadCommitIFAttorney {
+private:
+    static ReturnValue_t readWithoutLock(ReadCommitIF* readCommitIF) {
+        if(readCommitIF == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return readCommitIF->readWithoutLock();
+    }
+
+    static ReturnValue_t commitWithoutLock(ReadCommitIF* readCommitIF) {
+        if(readCommitIF == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return readCommitIF->commitWithoutLock();
+    }
+
+    friend class PoolDataSetBase;
+};
+
+
+
+#endif /* FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_ */

src/fsfw/datapool/SharedDataSetIF.h

@@ -0,0 +1,16 @@
+#ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
+#define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
+
+#include "PoolDataSetIF.h"
+
+class SharedDataSetIF {
+public:
+    virtual ~SharedDataSetIF() {};
+
+private:
+    virtual ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType,
+            dur_millis_t mutexTimeout) = 0;
+    virtual ReturnValue_t unlockDataset() = 0;
+};
+
+#endif /* FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_ */