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Merge branch 'master' into mueller/feature/windowsUdpBridge

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Steffen Gaisser 2020-09-29 14:59:50 +02:00
commit ea29b272bf
72 changed files with 5519 additions and 4490 deletions
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1
action/ActionHelper.cpp
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@ -1,5 +1,6 @@
#include "ActionHelper.h"
#include "HasActionsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :

125
container/RingBufferBase.h
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@ -1,96 +1,113 @@
#ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
#define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
#ifndef FSFW_CONTAINER_RINGBUFFERBASE_H_
#define FSFW_CONTAINER_RINGBUFFERBASE_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstddef>
template<uint8_t N_READ_PTRS = 1>
class RingBufferBase {
public:
RingBufferBase(uint32_t startAddress, uint32_t size, bool overwriteOld) :
start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) {
RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
start(startAddress), write(startAddress), size(size),
overwriteOld(overwriteOld) {
for (uint8_t count = 0; count < N_READ_PTRS; count++) {
read[count] = startAddress;
}
}
ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
if (availableReadData(n) >= amount) {
incrementRead(amount, n);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t writeData(uint32_t amount) {
if (availableWriteSpace() >= amount || overwriteOld) {
incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint32_t availableReadData(uint8_t n = 0) const {
return ((write + size) - read[n]) % size;
}
uint32_t availableWriteSpace(uint8_t n = 0) const {
//One less to avoid ambiguous full/empty problem.
return (((read[n] + size) - write - 1) % size);
}
virtual ~RingBufferBase() {}
bool isFull(uint8_t n = 0) {
return (availableWriteSpace(n) == 0);
}
bool isEmpty(uint8_t n = 0) {
return (availableReadData(n) == 0);
return (getAvailableReadData(n) == 0);
}
virtual ~RingBufferBase() {
size_t getAvailableReadData(uint8_t n = 0) const {
return ((write + size) - read[n]) % size;
}
uint32_t getRead(uint8_t n = 0) const {
return read[n];
size_t availableWriteSpace(uint8_t n = 0) const {
//One less to avoid ambiguous full/empty problem.
return (((read[n] + size) - write - 1) % size);
}
void setRead(uint32_t read, uint8_t n = 0) {
if (read >= start && read < (start+size)) {
this->read[n] = read;
}
bool overwritesOld() const {
return overwriteOld;
}
uint32_t getWrite() const {
return write;
}
void setWrite(uint32_t write) {
this->write = write;
size_t getMaxSize() const {
return size - 1;
}
void clear() {
write = start;
for (uint8_t count = 0; count < N_READ_PTRS; count++) {
read[count] = start;
}
}
uint32_t writeTillWrap() {
size_t writeTillWrap() {
return (start + size) - write;
}
uint32_t readTillWrap(uint8_t n = 0) {
size_t readTillWrap(uint8_t n = 0) {
return (start + size) - read[n];
}
uint32_t getStart() const {
size_t getStart() const {
return start;
}
bool overwritesOld() const {
return overwriteOld;
}
uint32_t maxSize() const {
return size - 1;
}
protected:
const uint32_t start;
uint32_t write;
uint32_t read[N_READ_PTRS];
const uint32_t size;
const size_t start;
size_t write;
size_t read[N_READ_PTRS];
const size_t size;
const bool overwriteOld;
void incrementWrite(uint32_t amount) {
write = ((write + amount - start) % size) + start;
}
void incrementRead(uint32_t amount, uint8_t n = 0) {
read[n] = ((read[n] + amount - start) % size) + start;
}
ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
if (getAvailableReadData(n) >= amount) {
incrementRead(amount, n);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t writeData(uint32_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
size_t getRead(uint8_t n = 0) const {
return read[n];
}
void setRead(uint32_t read, uint8_t n = 0) {
if (read >= start && read < (start+size)) {
this->read[n] = read;
}
}
uint32_t getWrite() const {
return write;
}
void setWrite(uint32_t write) {
this->write = write;
}
};
#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */
#endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */

30
container/SharedRingBuffer.cpp Normal file
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@ -0,0 +1,30 @@
#include "SharedRingBuffer.h"
#include "../ipc/MutexFactory.h"
#include "../ipc/MutexHelper.h"
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex();
}
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex();
}
ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
return mutex->lockMutex(timeoutType, timeout);
}
ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
return mutex->unlockMutex();
}
MutexIF* SharedRingBuffer::getMutexHandle() const {
return mutex;
}

68
container/SharedRingBuffer.h Normal file
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@ -0,0 +1,68 @@
#ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#include "SimpleRingBuffer.h"
#include "../ipc/MutexIF.h"
#include "../objectmanager/SystemObject.h"
#include "../timemanager/Clock.h"
/**
* @brief Ring buffer which can be shared among multiple objects
* @details
* This class offers a mutex to perform thread-safe operation on the ring
* buffer. It is still up to the developer to actually perform the lock
* and unlock operations.
*/
class SharedRingBuffer: public SystemObject,
public SimpleRingBuffer {
public:
/**
* This constructor allocates a new internal buffer with the supplied size.
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
*/
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
*/
SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* Unless a read-only constant value is read, all operations on the
* shared ring buffer should be protected by calling this function.
* @param timeoutType
* @param timeout
* @return
*/
virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
dur_millis_t timeout);
/**
* Any locked mutex also has to be unlocked, otherwise, access to the
* shared ring buffer will be blocked.
* @return
*/
virtual ReturnValue_t unlockRingBufferMutex();
/**
* The mutex handle can be accessed directly, for example to perform
* the lock with the #MutexHelper for a RAII compliant lock operation.
* @return
*/
MutexIF* getMutexHandle() const;
private:
MutexIF* mutex = nullptr;
};
#endif /* FSFW_CONTAINER_SHAREDRINGBUFFER_H_ */

93
container/SimpleRingBuffer.cpp
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@ -1,27 +1,69 @@
#include "SimpleRingBuffer.h"
#include <string.h>
#include <cstring>
SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
RingBufferBase<>(0, size, overwriteOld) {
buffer = new uint8_t[size];
SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
size_t maxExcessBytes) :
RingBufferBase<>(0, size, overwriteOld),
maxExcessBytes(maxExcessBytes) {
if(maxExcessBytes > size) {
this->maxExcessBytes = size;
}
else {
this->maxExcessBytes = maxExcessBytes;
}
buffer = new uint8_t[size + maxExcessBytes];
}
SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
bool overwriteOld):
RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
bool overwriteOld, size_t maxExcessBytes):
RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
if(maxExcessBytes > size) {
this->maxExcessBytes = size;
}
else {
this->maxExcessBytes = maxExcessBytes;
}
}
SimpleRingBuffer::~SimpleRingBuffer() {
delete[] buffer;
}
ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
size_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
size_t amountTillWrap = writeTillWrap();
if (amountTillWrap < amount) {
if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
return HasReturnvaluesIF::RETURN_FAILED;
}
excessBytes = amount - amountTillWrap;
}
*writePointer = &buffer[write];
return HasReturnvaluesIF::RETURN_OK;
}
else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
if(getExcessBytes() > 0) {
moveExcessBytesToStart();
}
incrementWrite(amount);
}
ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
uint32_t amount) {
size_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
uint32_t amountTillWrap = writeTillWrap();
size_t amountTillWrap = writeTillWrap();
if (amountTillWrap >= amount) {
// remaining size in buffer is sufficient to fit full amount.
memcpy(&buffer[write], data, amount);
} else {
}
else {
memcpy(&buffer[write], data, amountTillWrap);
memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
}
@ -32,12 +74,13 @@ ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
}
}
ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
bool readRemaining, uint32_t* trueAmount) {
uint32_t availableData = availableReadData(READ_PTR);
uint32_t amountTillWrap = readTillWrap(READ_PTR);
ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR);
size_t amountTillWrap = readTillWrap(READ_PTR);
if (availableData < amount) {
if (readRemaining) {
// more data available than amount specified.
amount = availableData;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
@ -52,12 +95,27 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
}
if(incrementReadPtr) {
deleteData(amount, readRemaining);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
bool deleteRemaining, uint32_t* trueAmount) {
uint32_t availableData = availableReadData(READ_PTR);
size_t SimpleRingBuffer::getExcessBytes() const {
return excessBytes;
}
void SimpleRingBuffer::moveExcessBytesToStart() {
if(excessBytes > 0) {
std::memcpy(buffer, &buffer[size], excessBytes);
excessBytes = 0;
}
}
ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
bool deleteRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR);
if (availableData < amount) {
if (deleteRemaining) {
amount = availableData;
@ -71,4 +129,3 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
incrementRead(amount, READ_PTR);
return HasReturnvaluesIF::RETURN_OK;
}

97
container/SimpleRingBuffer.h
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@ -1,8 +1,8 @@
#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
#define FSFW_CONTAINER_SIMPLERINGBUFFER_H_
#include "RingBufferBase.h"
#include <stddef.h>
#include <cstddef>
/**
* @brief Circular buffer implementation, useful for buffering
@ -16,53 +16,114 @@ class SimpleRingBuffer: public RingBufferBase<> {
public:
/**
* This constructor allocates a new internal buffer with the supplied size.
*
* @param size
* @param overwriteOld
* @param overwriteOld If the ring buffer is overflowing at a write
* operation, the oldest data will be overwritten.
* @param maxExcessBytes These additional bytes will be allocated in addtion
* to the specified size to accomodate contiguous write operations
* with getFreeElement.
*
*/
SimpleRingBuffer(const size_t size, bool overwriteOld);
SimpleRingBuffer(const size_t size, bool overwriteOld,
size_t maxExcessBytes = 0);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
* @param maxExcessBytes
* If the buffer can accomodate additional bytes for contigous write
* operations with getFreeElement, this is the maximum allowed additional
* size
*/
SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
size_t maxExcessBytes = 0);
virtual ~SimpleRingBuffer();
/**
* Write to circular buffer and increment write pointer by amount
* Write to circular buffer and increment write pointer by amount.
* @param data
* @param amount
* @return -@c RETURN_OK if write operation was successfull
* -@c RETURN_FAILED if
*/
ReturnValue_t writeData(const uint8_t* data, size_t amount);
/**
* Returns a pointer to a free element. If the remaining buffer is
* not large enough, the data will be written past the actual size
* and the amount of excess bytes will be cached. This function
* does not increment the write pointer!
* @param writePointer Pointer to a pointer which can be used to write
* contiguous blocks into the ring buffer
* @param amount
* @return
*/
ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
/**
* Read from circular buffer at read pointer
* This increments the write pointer and also copies the excess bytes
* to the beginning. It should be called if the write operation
* conducted after calling getFreeElement() was performed.
* @return
*/
void confirmBytesWritten(size_t amount);
virtual size_t getExcessBytes() const;
/**
* Helper functions which moves any excess bytes to the start
* of the ring buffer.
* @return
*/
virtual void moveExcessBytesToStart();
/**
* Read from circular buffer at read pointer.
* @param data
* @param amount
* @param incrementReadPtr
* If this is set to true, the read pointer will be incremented.
* If readRemaining is set to true, the read pointer will be incremented
* accordingly.
* @param readRemaining
* @param trueAmount
* If this is set to true, the data will be read even if the amount
* specified exceeds the read data available.
* @param trueAmount [out]
* If readRemaining was set to true, the true amount read will be assigned
* to the passed value.
* @return
* - @c RETURN_OK if data was read successfully
* - @c RETURN_FAILED if not enough data was available and readRemaining
* was set to false.
*/
ReturnValue_t readData(uint8_t* data, uint32_t amount,
bool readRemaining = false, uint32_t* trueAmount = nullptr);
ReturnValue_t readData(uint8_t* data, size_t amount,
bool incrementReadPtr = false, bool readRemaining = false,
size_t* trueAmount = nullptr);
/**
* Delete data starting by incrementing read pointer
* Delete data by incrementing read pointer.
* @param amount
* @param deleteRemaining
* @param trueAmount
* If the amount specified is larger than the remaing size to read and this
* is set to true, the remaining amount will be deleted as well
* @param trueAmount [out]
* If deleteRemaining was set to true, the amount deleted will be assigned
* to the passed value.
* @return
*/
ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false,
uint32_t* trueAmount = nullptr);
ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
size_t* trueAmount = nullptr);
private:
// static const uint8_t TEMP_READ_PTR = 1;
static const uint8_t READ_PTR = 0;
uint8_t* buffer = nullptr;
size_t maxExcessBytes;
size_t excessBytes = 0;
};
#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */

4180
contrib/sgp4/sgp4unit.cpp
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234
contrib/sgp4/sgp4unit.h
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@ -1,117 +1,117 @@
#ifndef _sgp4unit_
#define _sgp4unit_
/* ----------------------------------------------------------------
*
* sgp4unit.h
*
* this file contains the sgp4 procedures for analytical propagation
* of a satellite. the code was originally released in the 1980 and 1986
* spacetrack papers. a detailed discussion of the theory and history
* may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
* and kelso.
*
* companion code for
* fundamentals of astrodynamics and applications
* 2007
* by david vallado
*
* (w) 719-573-2600, email dvallado@agi.com
*
* current :
* 20 apr 07 david vallado
* misc fixes for constants
* changes :
* 11 aug 06 david vallado
* chg lyddane choice back to strn3, constants, misc doc
* 15 dec 05 david vallado
* misc fixes
* 26 jul 05 david vallado
* fixes for paper
* note that each fix is preceded by a
* comment with "sgp4fix" and an explanation of
* what was changed
* 10 aug 04 david vallado
* 2nd printing baseline working
* 14 may 01 david vallado
* 2nd edition baseline
* 80 norad
* original baseline
* ---------------------------------------------------------------- */
#include <math.h>
#include <stdio.h>
// -------------------------- structure declarations ----------------------------
typedef enum
{
wgs72old,
wgs72,
wgs84
} gravconsttype;
typedef struct elsetrec
{
long int satnum;
int epochyr, epochtynumrev;
int error;
char init, method;
/* Near Earth */
int isimp;
double aycof , con41 , cc1 , cc4 , cc5 , d2 , d3 , d4 ,
delmo , eta , argpdot, omgcof , sinmao , t , t2cof, t3cof ,
t4cof , t5cof , x1mth2 , x7thm1 , mdot , nodedot, xlcof , xmcof ,
nodecf;
/* Deep Space */
int irez;
double d2201 , d2211 , d3210 , d3222 , d4410 , d4422 , d5220 , d5232 ,
d5421 , d5433 , dedt , del1 , del2 , del3 , didt , dmdt ,
dnodt , domdt , e3 , ee2 , peo , pgho , pho , pinco ,
plo , se2 , se3 , sgh2 , sgh3 , sgh4 , sh2 , sh3 ,
si2 , si3 , sl2 , sl3 , sl4 , gsto , xfact , xgh2 ,
xgh3 , xgh4 , xh2 , xh3 , xi2 , xi3 , xl2 , xl3 ,
xl4 , xlamo , zmol , zmos , atime , xli , xni;
double a , altp , alta , epochdays, jdsatepoch , nddot , ndot ,
bstar , rcse , inclo , nodeo , ecco , argpo , mo ,
no;
} elsetrec;
// --------------------------- function declarations ----------------------------
int sgp4init
(
gravconsttype whichconst, const int satn, const double epoch,
const double xbstar, const double xecco, const double xargpo,
const double xinclo, const double xmo, const double xno,
const double xnodeo,
elsetrec& satrec
);
int sgp4
(
gravconsttype whichconst,
elsetrec& satrec, double tsince,
double r[], double v[]
);
double gstime
(
double
);
void getgravconst
(
gravconsttype,
double&,
double&,
double&,
double&,
double&,
double&,
double&,
double&
);
#endif
#ifndef _sgp4unit_
#define _sgp4unit_
/* ----------------------------------------------------------------
*
* sgp4unit.h
*
* this file contains the sgp4 procedures for analytical propagation
* of a satellite. the code was originally released in the 1980 and 1986
* spacetrack papers. a detailed discussion of the theory and history
* may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
* and kelso.
*
* companion code for
* fundamentals of astrodynamics and applications
* 2007
* by david vallado
*
* (w) 719-573-2600, email dvallado@agi.com
*
* current :
* 20 apr 07 david vallado
* misc fixes for constants
* changes :
* 11 aug 06 david vallado
* chg lyddane choice back to strn3, constants, misc doc
* 15 dec 05 david vallado
* misc fixes
* 26 jul 05 david vallado
* fixes for paper
* note that each fix is preceded by a
* comment with "sgp4fix" and an explanation of
* what was changed
* 10 aug 04 david vallado
* 2nd printing baseline working
* 14 may 01 david vallado
* 2nd edition baseline
* 80 norad
* original baseline
* ---------------------------------------------------------------- */
#include <math.h>
#include <stdio.h>
// -------------------------- structure declarations ----------------------------
typedef enum
{
wgs72old,
wgs72,
wgs84
} gravconsttype;
typedef struct elsetrec
{
long int satnum;
int epochyr, epochtynumrev;
int error;
char init, method;
/* Near Earth */
int isimp;
double aycof , con41 , cc1 , cc4 , cc5 , d2 , d3 , d4 ,
delmo , eta , argpdot, omgcof , sinmao , t , t2cof, t3cof ,
t4cof , t5cof , x1mth2 , x7thm1 , mdot , nodedot, xlcof , xmcof ,
nodecf;
/* Deep Space */
int irez;
double d2201 , d2211 , d3210 , d3222 , d4410 , d4422 , d5220 , d5232 ,
d5421 , d5433 , dedt , del1 , del2 , del3 , didt , dmdt ,
dnodt , domdt , e3 , ee2 , peo , pgho , pho , pinco ,
plo , se2 , se3 , sgh2 , sgh3 , sgh4 , sh2 , sh3 ,
si2 , si3 , sl2 , sl3 , sl4 , gsto , xfact , xgh2 ,
xgh3 , xgh4 , xh2 , xh3 , xi2 , xi3 , xl2 , xl3 ,
xl4 , xlamo , zmol , zmos , atime , xli , xni;
double a , altp , alta , epochdays, jdsatepoch , nddot , ndot ,
bstar , rcse , inclo , nodeo , ecco , argpo , mo ,
no;
} elsetrec;
// --------------------------- function declarations ----------------------------
int sgp4init
(
gravconsttype whichconst, const int satn, const double epoch,
const double xbstar, const double xecco, const double xargpo,
const double xinclo, const double xmo, const double xno,
const double xnodeo,
elsetrec& satrec
);
int sgp4
(
gravconsttype whichconst,
elsetrec& satrec, double tsince,
double r[], double v[]
);
double gstime
(
double
);
void getgravconst
(
gravconsttype,
double&,
double&,
double&,
double&,
double&,
double&,
double&,
double&
);
#endif

2
datalinklayer/MapPacketExtraction.cpp
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@ -18,7 +18,7 @@ MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
object_id_t setPacketDestination) :
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
packetBuffer), packetDestination(setPacketDestination), packetStore(
NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) {
NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
memset(packetBuffer, 0, sizeof(packetBuffer));
}

20
devicehandlers/FixedSequenceSlot.cpp
View File

@ -1,20 +0,0 @@
/**
* @file PollingSlot.cpp
* @brief This file defines the PollingSlot class.
* @date 19.12.2012
* @author baetz
*/
#include "FixedSequenceSlot.h"
#include "../objectmanager/SystemObjectIF.h"
#include <cstddef>
FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
int8_t setSequenceId, PeriodicTaskIF* executingTask) :
handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
handler = objectManager->get<ExecutableObjectIF>(handlerId);
handler->setTaskIF(executingTask);
}
FixedSequenceSlot::~FixedSequenceSlot() {}

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);
}
HealthDevice::~HealthDevice() {

1
events/fwSubsystemIdRanges.h
View File

@ -19,6 +19,7 @@ enum {
SYSTEM_MANAGER_1 = 75,
SYSTEM_1 = 79,
PUS_SERVICE_1 = 80,
PUS_SERVICE_9 = 89,
PUS_SERVICE_17 = 97,
FW_SUBSYSTEM_ID_RANGE
};

198
globalfunctions/timevalOperations.cpp
View File

@ -1,99 +1,99 @@
#include "timevalOperations.h"
timeval& operator+=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator+(timeval lhs, const timeval& rhs) {
lhs += rhs;
return lhs;
}
timeval& operator-=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator-(timeval lhs, const timeval& rhs) {
lhs -= rhs;
return lhs;
}
double operator/(const timeval& lhs, const timeval& rhs) {
double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 / rhs64;
}
timeval& operator/=(timeval& lhs, double scalar) {
int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
product /= scalar;
lhs.tv_sec = product / 1000000;
lhs.tv_usec = product - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator/(timeval lhs, double scalar) {
lhs /= scalar;
return lhs;
}
timeval& operator*=(timeval& lhs, double scalar) {
int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
product *= scalar;
lhs.tv_sec = product / 1000000;
lhs.tv_usec = product - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator*(timeval lhs, double scalar) {
lhs *= scalar;
return lhs;
}
timeval operator*(double scalar, timeval rhs) {
rhs *= scalar;
return rhs;
}
bool operator==(const timeval& lhs, const timeval& rhs) {
int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 == rhs64;
}
bool operator!=(const timeval& lhs, const timeval& rhs) {
return !operator==(lhs, rhs);
}
bool operator<(const timeval& lhs, const timeval& rhs) {
int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 < rhs64;
}
bool operator>(const timeval& lhs, const timeval& rhs) {
return operator<(rhs, lhs);
}
bool operator<=(const timeval& lhs, const timeval& rhs) {
return !operator>(lhs, rhs);
}
bool operator>=(const timeval& lhs, const timeval& rhs) {
return !operator<(lhs, rhs);
}
double timevalOperations::toDouble(const timeval timeval) {
double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
return result / 1000000.;
}
timeval timevalOperations::toTimeval(const double seconds) {
timeval tval;
tval.tv_sec = seconds;
tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
return tval;
}
#include "timevalOperations.h"
timeval& operator+=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator+(timeval lhs, const timeval& rhs) {
lhs += rhs;
return lhs;
}
timeval& operator-=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator-(timeval lhs, const timeval& rhs) {
lhs -= rhs;
return lhs;
}
double operator/(const timeval& lhs, const timeval& rhs) {
double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 / rhs64;
}
timeval& operator/=(timeval& lhs, double scalar) {
int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
product /= scalar;
lhs.tv_sec = product / 1000000;
lhs.tv_usec = product - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator/(timeval lhs, double scalar) {
lhs /= scalar;
return lhs;
}
timeval& operator*=(timeval& lhs, double scalar) {
int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
product *= scalar;
lhs.tv_sec = product / 1000000;
lhs.tv_usec = product - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator*(timeval lhs, double scalar) {
lhs *= scalar;
return lhs;
}
timeval operator*(double scalar, timeval rhs) {
rhs *= scalar;
return rhs;
}
bool operator==(const timeval& lhs, const timeval& rhs) {
int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 == rhs64;
}
bool operator!=(const timeval& lhs, const timeval& rhs) {
return !operator==(lhs, rhs);
}
bool operator<(const timeval& lhs, const timeval& rhs) {
int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 < rhs64;
}
bool operator>(const timeval& lhs, const timeval& rhs) {
return operator<(rhs, lhs);
}
bool operator<=(const timeval& lhs, const timeval& rhs) {
return !operator>(lhs, rhs);
}
bool operator>=(const timeval& lhs, const timeval& rhs) {
return !operator<(lhs, rhs);
}
double timevalOperations::toDouble(const timeval timeval) {
double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
return result / 1000000.;
}
timeval timevalOperations::toTimeval(const double seconds) {
timeval tval;
tval.tv_sec = seconds;
tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
return tval;
}

146
ipc/CommandMessage.cpp
View File

@ -1,124 +1,96 @@
/**
* @file CommandMessage.cpp
* @brief This file defines the CommandMessage class.
* @date 20.06.2013
* @author baetz
*/
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
#include "CommandMessage.h"
#include "../memory/MemoryMessage.h"
#include "../modes/ModeMessage.h"
#include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h"
namespace messagetypes {
void clearMissionMessage(CommandMessage* message);
}
#include "CommandMessageCleaner.h"
#include <cstring>
CommandMessage::CommandMessage() {
this->messageSize = COMMAND_MESSAGE_SIZE;
setCommand(CMD_NONE);
MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
setCommand(CMD_NONE);
}
CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
uint32_t parameter2) {
this->messageSize = COMMAND_MESSAGE_SIZE;
setCommand(command);
setParameter(parameter1);
setParameter2(parameter2);
uint32_t parameter2) {
MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
setCommand(command);
setParameter(parameter1);
setParameter2(parameter2);
}
Command_t CommandMessage::getCommand() const {
Command_t command;
memcpy(&command, getData(), sizeof(Command_t));
return command;
Command_t command;
std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
return command;
}
void CommandMessage::setCommand(Command_t command) {
memcpy(getData(), &command, sizeof(command));
std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
}
uint8_t CommandMessage::getMessageType() const {
// first byte of command ID.
return getCommand() >> 8 & 0xff;
}
uint32_t CommandMessage::getParameter() const {
uint32_t parameter1;
memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1));
return parameter1;
uint32_t parameter1;
std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
return parameter1;
}
void CommandMessage::setParameter(uint32_t parameter1) {
memcpy(getData() + sizeof(Command_t), &parameter1, sizeof(parameter1));
std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
}
uint32_t CommandMessage::getParameter2() const {
uint32_t parameter2;
memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t),
sizeof(parameter2));
return parameter2;
uint32_t parameter2;
std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
sizeof(parameter2));
return parameter2;
}
void CommandMessage::setParameter2(uint32_t parameter2) {
memcpy(getData() + sizeof(Command_t) + sizeof(uint32_t), &parameter2,
sizeof(parameter2));
std::memcpy(this->getData() + sizeof(uint32_t), &parameter2,
sizeof(parameter2));
}
void CommandMessage::clearCommandMessage() {
switch((getCommand()>>8) & 0xff){
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;
}
uint32_t CommandMessage::getParameter3() const {
uint32_t parameter3;
std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
sizeof(parameter3));
return parameter3;
}
bool CommandMessage::isClearedCommandMessage() {
return getCommand() == CMD_NONE;
void CommandMessage::setParameter3(uint32_t parameter3) {
std::memcpy(this->getData() + 2 * sizeof(uint32_t), &parameter3,
sizeof(parameter3));
}
size_t CommandMessage::getMinimumMessageSize() const {
return COMMAND_MESSAGE_SIZE;
return MINIMUM_COMMAND_MESSAGE_SIZE;
}
void CommandMessage::clearCommandMessage() {
clear();
}
void CommandMessage::clear() {
CommandMessageCleaner::clearCommandMessage(this);
}
bool CommandMessage::isClearedCommandMessage() {
return getCommand() == CMD_NONE;
}
void CommandMessage::setToUnknownCommand() {
Command_t initialCommand = getCommand();
clearCommandMessage();
setReplyRejected(UNKNOWN_COMMAND, initialCommand);
Command_t initialCommand = getCommand();
this->clear();
setReplyRejected(UNKNOWN_COMMAND, initialCommand);
}
void CommandMessage::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) {
Command_t initialCommand) {
setCommand(REPLY_REJECTED);
setParameter(reason);
setParameter2(initialCommand);
setParameter(reason);
setParameter2(initialCommand);
}
ReturnValue_t CommandMessage::getReplyRejectedReason(
@ -129,3 +101,11 @@ ReturnValue_t CommandMessage::getReplyRejectedReason(
}
return reason;
}
uint8_t* CommandMessage::getData() {
return MessageQueueMessage::getData() + sizeof(Command_t);
}
const uint8_t* CommandMessage::getData() const {
return MessageQueueMessage::getData() + sizeof(Command_t);
}

169
ipc/CommandMessage.h
View File

@ -1,114 +1,88 @@
/**
* @file CommandMessage.h
* @brief This file defines the CommandMessage class.
* @date 20.06.2013
* @author baetz
*/
#ifndef FSFW_IPC_COMMANDMESSAGE_H_
#define FSFW_IPC_COMMANDMESSAGE_H_
#ifndef COMMANDMESSAGE_H_
#define COMMANDMESSAGE_H_
#include "FwMessageTypes.h"
#include <config/ipc/MissionMessageTypes.h>
#include "CommandMessageIF.h"
#include "MessageQueueMessage.h"
#include "FwMessageTypes.h"
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef ReturnValue_t Command_t;
class CommandMessage : public MessageQueueMessage {
/**
* @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
* field, and 3 4-byte parameter
* @details
* It operates on an external memory which is contained inside a
* 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 MessageQueueMessage, public CommandMessageIF {
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;
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
/**
* Default size can accomodate 3 4-byte parameters.
*/
static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
3 * sizeof(uint32_t);
/**
* This is the size of a message as it is seen by the MessageQueue
*/
static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
+ sizeof(Command_t) + 2 * sizeof(uint32_t);
/**
* Default Constructor, does not initialize anything.
*
* This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
* @brief Default Constructor, does not initialize anything.
* @details
* This constructor should be used when receiving a Message, as the
* content is filled by the MessageQueue.
*/
CommandMessage();
/**
* This constructor creates a new message with all message content initialized
* This constructor creates a new message with all message content
* initialized
*
* @param command The DeviceHandlerCommand_t that will be sent
* @param parameter1 The first parameter
* @param parameter2 The second parameter
*/
CommandMessage(Command_t command,
uint32_t parameter1, uint32_t parameter2);
CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
/**
* Default Destructor
* @brief Default Destructor
*/
virtual ~CommandMessage() {
}
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;
/**
* 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);
/**
* Set the DeviceHandlerCOmmand_t of the message
*
* @param the Command to be sent
*/
void setCommand(Command_t command);
virtual uint8_t* getData() override;
virtual const uint8_t* getData() const override;
/**
* Get the first parameter of the message
*
* @return the first Parameter of the message
*/
uint32_t getParameter() const;
/**
* Set the first parameter of the message
*
* @param the first parameter of the message
*/
void setParameter(uint32_t parameter1);
/**
* Get the second parameter of the message
*
* @return the second Parameter of the message
*/
uint32_t getParameter2() const;
/**
* Set the second parameter of the message
*
* @param the second parameter of the message
*/
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();
uint32_t getParameter3() const;
void setParameter3(uint32_t parameter3);
/**
* check if a message was cleared
@ -117,18 +91,41 @@ public:
*/
bool isClearedCommandMessage();