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meier/udp_bridge_embedded_linux #1

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meierj wants to merge 12 commits from meier/udp_bridge_embedded_linux into master
pull from: meier/udp_bridge_embedded_linux
merge into: eive:master
Conversation 0 Commits 12 Files Changed 3 +7357 -2380
164 changed files with 7357 additions and 2380 deletions
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.gitmodules vendored Normal file
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77
action/ActionHelper.cpp
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@ -1,9 +1,11 @@
#include "ActionHelper.h"
#include "HasActionsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
ActionHelper::ActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue) {
}
ActionHelper::~ActionHelper() {
@ -32,13 +34,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
return HasReturnvaluesIF::RETURN_OK;
}
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, result);
queueToUse->sendMessage(reportTo, &reply);
@ -48,8 +52,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue;
}
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
@ -61,6 +65,11 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, result);
queueToUse->sendMessage(commandedBy, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
@ -85,22 +94,28 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
//We don't need to report the objectId, as we receive REQUESTED data before the completion success message.
//True aperiodic replies need to be reported with another dedicated message.
// We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message.
// True aperiodic replies need to be reported with
// another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress);
//TODO Service Implementation sucks at the moment
if (hideSender){
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} else {
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if ( result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
@ -108,3 +123,39 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
void ActionHelper::resetHelper() {
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, const uint8_t *data, size_t dataSize,
bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
// We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message.
// True aperiodic replies need to be reported with
// another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress);
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
}

90
action/ActionHelper.h
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@ -1,15 +1,18 @@
#ifndef ACTIONHELPER_H_
#define ACTIONHELPER_H_
#ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_
#include "ActionMessage.h"
#include "../serialize/SerializeIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* \brief Action Helper is a helper class which handles action messages
* @brief Action Helper is a helper class which handles action messages
*
* Components which use the HasActionIF this helper can be used to handle the action messages.
* It does handle step messages as well as other answers to action calls. It uses the executeAction function
* of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
* Components which use the HasActionIF this helper can be used to handle
* the action messages.
* It does handle step messages as well as other answers to action calls.
* It uses the executeAction function of its owner as callback.
* The call of the initialize function is mandatory and needs a
* valid MessageQueueIF pointer!
*/
class HasActionsIF;
@ -18,7 +21,8 @@ public:
/**
* Constructor of the action helper
* @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during initialize function as well.
* @param useThisQueue messageQueue to be used, can be set during
* initialize function as well.
*/
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -26,28 +30,36 @@ public:
/**
* Function to be called from the owner with a new command message
*
* If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
* If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically.
*
* @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/
ReturnValue_t handleActionMessage(CommandMessage* command);
/**
* Helper initialize function. Must be called before use of any other helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
* Helper initialize function. Must be called before use of any other
* helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor
* @return Returns RETURN_OK if successful
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/**
* Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
* Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value.
*
* @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner to send a action completion message
*
@ -55,39 +67,59 @@ public:
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner if an action does report data
*
* @param reportTo MessageQueueId_t to report the action completion message to
* Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false);
/**
* Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender = false);
/**
* Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
* message queue is unavailable at construction and initialize but must be setup before first call of other functions.
* Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper
*/
void setQueueToUse(MessageQueueIF *queue);
protected:
static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
//!< Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;//!< Pointer to the owner
MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
//! Queue to be used as response sender, has to be set in ctor or with
//! setQueueToUse
MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
/**
*Internal function called by handleActionMessage(CommandMessage* command)
*
* Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store
*/
virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress);
/**
*
* @brief Default implementation is empty.
*/
virtual void resetHelper();
};
#endif /* ACTIONHELPER_H_ */
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */

17
action/HasActionsIF.h
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@ -1,11 +1,12 @@
#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
#define FRAMEWORK_ACTION_HASACTIONSIF_H_
#ifndef FSFW_ACTION_HASACTIONSIF_H_
#define FSFW_ACTION_HASACTIONSIF_H_
#include "ActionHelper.h"
#include "ActionMessage.h"
#include "SimpleActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* @brief
* Interface for component which uses actions
@ -47,14 +48,16 @@ public:
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Execute or initialize the execution of a certain function.
* Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
* be done. When needing more steps, return RETURN_OK and issue steps and
* completion manually.
* One "step failed" or completion report must be issued!
* The ActionHelpers will execute this function and behave differently
* depending on the returnvalue.
*
* @return
* -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated
*/
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
};
#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
#endif /* FSFW_ACTION_HASACTIONSIF_H_ */

7
action/SimpleActionHelper.cpp
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@ -1,16 +1,17 @@
#include "HasActionsIF.h"
#include "SimpleActionHelper.h"
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
0), lastAction(0), stepCount(0) {
ActionHelper(setOwner, useThisQueue), isExecuting(false) {
}
SimpleActionHelper::~SimpleActionHelper() {
}
void SimpleActionHelper::step(ReturnValue_t result) {
//STEP_OFFESET is subtracted to compensate for adding offset in base method, which is not necessary here.
// STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
result);
if (result != HasReturnvaluesIF::RETURN_OK) {

20
action/SimpleActionHelper.h
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@ -1,8 +1,13 @@
#ifndef SIMPLEACTIONHELPER_H_
#define SIMPLEACTIONHELPER_H_
#ifndef FSFW_ACTION_SIMPLEACTIONHELPER_H_
#define FSFW_ACTION_SIMPLEACTIONHELPER_H_
#include "ActionHelper.h"
/**
* @brief This is an action helper which is only able to service one action
* at a time but remembers last commander and last action which
* simplifies usage
*/
class SimpleActionHelper: public ActionHelper {
public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -12,13 +17,14 @@ public:
ReturnValue_t reportData(SerializeIF* data);
protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
virtual void resetHelper();
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
virtual void resetHelper();
private:
bool isExecuting;
MessageQueueId_t lastCommander;
ActionId_t lastAction;
uint8_t stepCount;
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
ActionId_t lastAction = 0;
uint8_t stepCount = 0;
};
#endif /* SIMPLEACTIONHELPER_H_ */

150
container/ArrayList.h
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@ -1,15 +1,15 @@
#ifndef ARRAYLIST_H_
#define ARRAYLIST_H_
#ifndef FSFW_CONTAINER_ARRAYLIST_H_
#define FSFW_CONTAINER_ARRAYLIST_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serialize/SerializeIF.h"
/**
* A List that stores its values in an array.
*
* The backend is an array that can be allocated by the class itself or supplied via ctor.
*
* @brief A List that stores its values in an array.
* @details
* The underlying storage is an array that can be allocated by the class
* itself or supplied via ctor.
*
* @ingroup container
*/
@ -20,6 +20,53 @@ public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
/**
* This is the allocating constructor.
* It allocates an array of the specified size.
* @param maxSize
*/
ArrayList(count_t maxSize) :
size(0), maxSize_(maxSize), allocated(true) {
entries = new T[maxSize];
}
/**
* This is the non-allocating constructor
*
* It expects a pointer to an array of a certain size and initializes
* itself to it.
*
* @param storage the array to use as backend
* @param maxSize size of storage
* @param size size of data already present in storage
*/
ArrayList(T *storage, count_t maxSize, count_t size = 0) :
size(size), entries(storage), maxSize_(maxSize), allocated(false) {
}
/**
* Copying is forbiden by declaring copy ctor and copy assignment deleted
* It is too ambigous in this case.
* (Allocate a new backend? Use the same? What to do in an modifying call?)
*/
ArrayList(const ArrayList& other) = delete;
const ArrayList& operator=(const ArrayList& other) = delete;
/**
* Number of Elements stored in this List
*/
count_t size;
/**
* Destructor, if the allocating constructor was used, it deletes the array.
*/
virtual ~ArrayList() {
if (allocated) {
delete[] entries;
}
}
/**
* An Iterator to go trough an ArrayList
*
@ -31,10 +78,7 @@ public:
/**
* Empty ctor, points to NULL
*/
Iterator() :
value(0) {
}
Iterator(): value(0) {}
/**
* Initializes the Iterator to point to an element
@ -72,71 +116,31 @@ public:
return tmp;
}
T& operator*(){
T& operator*() {
return *value;
}
const T& operator*() const{
const T& operator*() const {
return *value;
}
T *operator->(){
T *operator->() {
return value;
}
const T *operator->() const{
const T *operator->() const {
return value;
}
};
//SHOULDDO this should be implemented as non-member
bool operator==(const typename ArrayList<T, count_t>::Iterator& other) const{
return (value == other.value);
}
//SHOULDDO this should be implemented as non-member
bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
return !(*this == other);
}
}
;
/**
* Number of Elements stored in this List
*/
count_t size;
/**
* This is the allocating constructor;
*
* It allocates an array of the specified size.
*
* @param maxSize
*/
ArrayList(count_t maxSize) :
size(0), maxSize_(maxSize), allocated(true) {
entries = new T[maxSize];
friend bool operator==(const ArrayList::Iterator& lhs,
const ArrayList::Iterator& rhs) {
return (lhs.value == rhs.value);
}
/**
* This is the non-allocating constructor
*
* It expects a pointer to an array of a certain size and initializes itself to it.
*
* @param storage the array to use as backend
* @param maxSize size of storage
* @param size size of data already present in storage
*/
ArrayList(T *storage, count_t maxSize, count_t size = 0) :
size(size), entries(storage), maxSize_(maxSize), allocated(false) {
}
/**
* Destructor, if the allocating constructor was used, it deletes the array.
*/
virtual ~ArrayList() {
if (allocated) {
delete[] entries;
}
friend bool operator!=(const ArrayList::Iterator& lhs,
const ArrayList::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
/**
@ -192,7 +196,7 @@ public:
*
* @return maximum number of elements
*/
uint32_t maxSize() const {
size_t maxSize() const {
return this->maxSize_;
}
@ -227,19 +231,7 @@ public:
count_t remaining() {
return (maxSize_ - size);
}
private:
/**
* This is the copy constructor
*
* It is private, as copying is too ambigous in this case. (Allocate a new backend? Use the same?
* What to do in an modifying call?)
*
* @param other
*/
ArrayList(const ArrayList& other) :
size(other.size), entries(other.entries), maxSize_(other.maxSize_), allocated(
false) {
}
protected:
/**
* pointer to the array in which the entries are stored
@ -248,12 +240,14 @@ protected:
/**
* remembering the maximum size
*/
uint32_t maxSize_;
size_t maxSize_;
/**
* true if the array was allocated and needs to be deleted in the destructor.
*/
bool allocated;
};
#endif /* ARRAYLIST_H_ */
#endif /* FSFW_CONTAINER_ARRAYLIST_H_ */

30
container/FIFOBase.h
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@ -19,32 +19,46 @@ public:
/**
* Insert value into FIFO
* @param value
* @return
* @return RETURN_OK on success, FULL if full
*/
ReturnValue_t insert(T value);
/**
* Retrieve item from FIFO. This removes the item from the FIFO.
* @param value
* @return
* @param value Must point to a valid T
* @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
*/
ReturnValue_t retrieve(T *value);
/**
* Retrieve item from FIFO without removing it from FIFO.
* @param value
* @return
* @param value Must point to a valid T
* @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
*/
ReturnValue_t peek(T * value);
/**
* Remove item from FIFO.
* @return
* @return RETURN_OK on success, EMPTY if empty
*/
ReturnValue_t pop();
/***
* Check if FIFO is empty
* @return True if empty, False if not
*/
bool empty();
/***
* Check if FIFO is Full
* @return True if full, False if not
*/
bool full();
/***
* Current used size (elements) used
* @return size_t in elements
*/
size_t size();
/***
* Get maximal capacity of fifo
* @return size_t with max capacity of this fifo
*/
size_t getMaxCapacity() const;
protected:

6
container/FIFOBase.tpp
View File

@ -26,6 +26,9 @@ inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
if (empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
readIndex = next(readIndex);
--currentSize;
@ -38,6 +41,9 @@ inline ReturnValue_t FIFOBase<T>::peek(T* value) {
if(empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
return HasReturnvaluesIF::RETURN_OK;
}

6
container/FixedArrayList.h
View File

@ -2,11 +2,13 @@
#define FIXEDARRAYLIST_H_
#include "ArrayList.h"
#include <cmath>
/**
* \ingroup container
*/
template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>
template<typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList: public ArrayList<T, count_t> {
static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
private:
T data[MAX_SIZE];
public:
@ -18,11 +20,13 @@ public:
ArrayList<T, count_t>(data, MAX_SIZE) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data;
this->size = other.size;
}
FixedArrayList& operator=(FixedArrayList other) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data;
this->size = other.size;
return *this;
}

39
container/FixedMap.h
View File

@ -7,14 +7,21 @@
#include <type_traits>
/**
* @brief Map implementation for maps with a pre-defined size.
* @details
* Can be initialized with desired maximum size.
* Iterator is used to access <key,value> pair and iterate through map entries.
* Complexity O(n).
* @warning Iterators return a non-const key_t in the pair.
* @warning A User is not allowed to change the key, otherwise the map is corrupted.
* @ingroup container
*/
template<typename key_t, typename T>
class FixedMap: public SerializeIF {
static_assert (std::is_trivially_copyable<T>::value or std::is_base_of<SerializeIF, T>::value,
"Types used in FixedMap must either be trivial copy-able or a derived Class from SerializeIF to be serialize-able");
static_assert (std::is_trivially_copyable<T>::value or
std::is_base_of<SerializeIF, T>::value,
"Types used in FixedMap must either be trivial copy-able or a "
"derived class from SerializeIF to be serialize-able");
public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
@ -54,6 +61,16 @@ public:
}
};
friend bool operator==(const typename FixedMap::Iterator& lhs,
const typename FixedMap::Iterator& rhs) {
return (lhs.value == rhs.value);
}
friend bool operator!=(const typename FixedMap::Iterator& lhs,
const typename FixedMap::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
Iterator begin() const {
return Iterator(&theMap[0]);
}
@ -136,6 +153,24 @@ public:
return HasReturnvaluesIF::RETURN_OK;
}
bool empty() {
if(_size == 0) {
return true;
}
else {
return false;
}
}
bool full() {
if(_size >= theMap.maxSize()) {
return true;
}
else {
return false;
}
}
void clear() {
_size = 0;
}

266
container/FixedOrderedMultimap.h
View File

@ -1,166 +1,206 @@
#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#ifndef FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#define FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
#include "ArrayList.h"
#include <cstring>
#include <set>
/**
* @brief An associative container which allows multiple entries of the same key.
* @details
* Same keys are ordered by KEY_COMPARE function which is std::less<key_t> > by default.
*
* It uses the ArrayList, so technically this is not a real map, it is an array of pairs
* of type key_t, T. It is ordered by key_t as FixedMap but allows same keys. Thus it has a linear
* complexity O(n). As long as the number of entries remains low, this
* should not be an issue.
* The number of insertion and deletion operation should be minimized
* as those incur extensive memory move operations (the underlying container
* is not node based).
*
* Its of fixed size so no allocations are performed after the construction.
*
* The maximum size is given as first parameter of the constructor.
*
* It provides an iterator to do list iterations.
*
* The type T must have a copy constructor if it is not trivial copy-able.
*
* @warning Iterators return a non-const key_t in the pair.
* @warning A User is not allowed to change the key, otherwise the map is corrupted.
*
* \ingroup container
*/
template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
class FixedOrderedMultimap {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
private:
typedef KEY_COMPARE compare;
compare myComp;
ArrayList<std::pair<key_t, T>, uint32_t> theMap;
uint32_t _size;
/***
* Constructor which needs a size_t for the maximum allowed size
*
* Can not be resized during runtime
*
* Allocates memory at construction
* @param maxSize size_t of Maximum allowed size
*/
FixedOrderedMultimap(size_t maxSize):theMap(maxSize), _size(0){
}
uint32_t findFirstIndex(key_t key, uint32_t startAt = 0) const {
if (startAt >= _size) {
return startAt + 1;
}
uint32_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
uint32_t findNicePlace(key_t key) const {
uint32_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
}
return i;
}
void removeFromPosition(uint32_t position) {
if (_size <= position) {
return;
}
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
}
public:
FixedOrderedMultimap(uint32_t maxSize) :
theMap(maxSize), _size(0) {
}
/***
* Virtual destructor frees Memory by deleting its member
*/
virtual ~FixedOrderedMultimap() {
}
class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
/***
* Special iterator for FixedOrderedMultimap
*/
class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
public:
Iterator() :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
}
Iterator(std::pair<key_t, T> *pair) :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
}
};
/***
* Returns an iterator pointing to the first element
* @return Iterator pointing to first element
*/
Iterator begin() const {
return Iterator(&theMap[0]);
}
/**
* Returns an iterator pointing to one element past the end
* @return Iterator pointing to one element past the end
*/
Iterator end() const {
return Iterator(&theMap[_size]);
}
uint32_t size() const {
/***
* Returns the current size of the map (not maximum size!)
* @return Current size
*/
size_t size() const{
return _size;
}
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
uint32_t position = findNicePlace(key);
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t,T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
/**
* Clears the map, does not deallocate any memory
*/
void clear(){
_size = 0;
}
ReturnValue_t insert(std::pair<key_t, T> pair) {
return insert(pair.fist, pair.second);
/**
* Returns the maximum size of the map
* @return Maximum size of the map
*/
size_t maxSize() const{
return theMap.maxSize();
}
ReturnValue_t exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
/***
* Used to insert a key and value separately.
*
* @param[in] key Key of the new element
* @param[in] value Value of the new element
* @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr
* @return RETURN_OK if insert was successful, MAP_FULL if no space is available
*/
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr);
ReturnValue_t erase(Iterator *iter) {
uint32_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
}
/***
* Used to insert new pair instead of single values
*
* @param pair Pair to be inserted
* @return RETURN_OK if insert was successful, MAP_FULL if no space is available
*/
ReturnValue_t insert(std::pair<key_t, T> pair);
ReturnValue_t erase(key_t key) {
uint32_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
}
/***
* Can be used to check if a certain key is in the map
* @param key Key to be checked
* @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
*/
ReturnValue_t exists(key_t key) const;
Iterator find(key_t key) const {
/***
* Used to delete the element in the iterator
*
* The iterator will point to the element before or begin(),
* but never to one element in front of the map.
*
* @warning The iterator needs to be valid and dereferenceable
* @param[in/out] iter Pointer to iterator to the element that needs to be ereased
* @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
*/
ReturnValue_t erase(Iterator *iter);
/***
* Used to erase by key
* @param key Key to be erased
* @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
*/
ReturnValue_t erase(key_t key);
/***
* Find returns the first appearance of the key
*
* If the key does not exist, it points to end()
*
* @param key Key to search for
* @return Iterator pointing to the first entry of key
*/
Iterator find(key_t key) const{
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return end();
}
return Iterator(&theMap[findFirstIndex(key)]);
};
/***
* Finds first entry of the given key and returns a
* pointer to the value
*
* @param key Key to search for
* @param value Found value
* @return RETURN_OK if it points to the value,
* KEY_DOES_NOT_EXIST if the key is not in the map
*/
ReturnValue_t find(key_t key, T **value) const;
friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
const typename FixedOrderedMultimap::Iterator& rhs) {
return (lhs.value == rhs.value);
}
ReturnValue_t find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
const typename FixedOrderedMultimap::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
void clear() {
_size = 0;
}
private:
typedef KEY_COMPARE compare;
compare myComp;
ArrayList<std::pair<key_t, T>, size_t> theMap;
size_t _size;
uint32_t maxSize() const {
return theMap.maxSize();
}
size_t findFirstIndex(key_t key, size_t startAt = 0) const;
size_t findNicePlace(key_t key) const;
void removeFromPosition(size_t position);
};
#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */
#include "FixedOrderedMultimap.tpp"
#endif /* FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */

109
container/FixedOrderedMultimap.tpp Normal file
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@ -0,0 +1,109 @@
#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
size_t position = findNicePlace(key);
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t,T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
return insert(pair.first, pair.second);
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
size_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
size_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
if (startAt >= _size) {
return startAt + 1;
}
size_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
size_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
if (_size <= position) {
return;
}
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
}
#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

42
container/PlacementFactory.h
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@ -3,26 +3,62 @@
#include "../storagemanager/StorageManagerIF.h"
#include <utility>
/**
* The Placement Factory is used to create objects at runtime in a specific pool.
* In general, this should be avoided and it should only be used if you know what you are doing.
* You are not allowed to use this container with a type that allocates memory internally like ArrayList.
*
* Also, you have to check the returned pointer in generate against nullptr!
*
* A backend of Type StorageManagerIF must be given as a place to store the new objects.
* Therefore ThreadSafety is only provided by your StorageManager Implementation.
*
* Objects must be destroyed by the user with "destroy"! Otherwise the pool will not be cleared.
*
* The concept is based on the placement new operator.
*
* @warning Do not use with any Type that allocates memory internally!
* @ingroup container
*/
class PlacementFactory {
public:
PlacementFactory(StorageManagerIF* backend) :
dataBackend(backend) {
}
/***
* Generates an object of type T in the backend storage.
*
* @warning Do not use with any Type that allocates memory internally!
*
* @tparam T Type of Object
* @param args Constructor Arguments to be passed
* @return A pointer to the new object or a nullptr in case of failure
*/
template<typename T, typename ... Args>
T* generate(Args&&... args) {
store_address_t tempId;
uint8_t* pData = NULL;
uint8_t* pData = nullptr;
ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T),
&pData);
if (result != HasReturnvaluesIF::RETURN_OK) {
return NULL;
return nullptr;
}
T* temp = new (pData) T(std::forward<Args>(args)...);
return temp;
}
/***
* Function to destroy the object allocated with generate and free space in backend.
* This must be called by the user.
*
* @param thisElement Element to be destroyed
* @return RETURN_OK if the element was destroyed, different errors on failure
*/
template<typename T>
ReturnValue_t destroy(T* thisElement) {
if (thisElement == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
//Need to call destructor first, in case something was allocated by the object (shouldn't do that, however).
thisElement->~T();
uint8_t* pointer = (uint8_t*) (thisElement);

79
container/RingBufferTest.cpp.ignore
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@ -1,79 +0,0 @@
#include <iostream>
#include "SimpleRingBuffer.h"
int main() {
using namespace std;
SimpleRingBuffer buffer(64, false);
uint8_t data[8] = {'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h'};
ReturnValue_t result = buffer.writeData(data, 8);
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "writeData failed." << endl;
}
result = buffer.writeData(data, 8);
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "writeData failed." << endl;
}
uint8_t buffer2[47] = {0};
for (uint8_t count = 0; count<sizeof(buffer2); count++) {
buffer2[count] = count;
}
result = buffer.writeData(buffer2, sizeof(buffer2));
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "writeData failed." << endl;
}
result = buffer.writeData(buffer2, sizeof(buffer2));
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "writeData failed." << endl;
}
uint8_t readBuffer[64] = {0};
uint32_t writtenData = 0;
result = buffer.readData(readBuffer, 12, true, &writtenData);
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "readData failed." << endl;
} else {
cout << "Read data: " << writtenData << endl;
for (uint32_t count = 0; count < writtenData; count++) {
cout << hex << (uint16_t)readBuffer[count] << " ";
}
cout << dec << endl;
}
result = buffer.readData(readBuffer, 60, true, &writtenData);
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "readData failed." << endl;
} else {
cout << "Read data: " << writtenData << endl;
for (uint32_t count = 0; count < writtenData; count++) {
cout << hex << (uint16_t)readBuffer[count] << " ";
}
cout << dec << endl;
}
result = buffer.writeData(data, sizeof(data));
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "writeData failed." << endl;
}
result = buffer.readData(readBuffer, 60, true, &writtenData);
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "readData failed." << endl;
} else {
cout << "Read data: " << writtenData << endl;
for (uint32_t count = 0; count < writtenData; count++) {
cout << hex << (uint16_t)readBuffer[count] << " ";
}
cout << dec << endl;
}
result = buffer.writeData(readBuffer, sizeof(readBuffer));
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "writeData failed." << endl;
}
result = buffer.writeData(readBuffer, sizeof(readBuffer)-1);
if (result != HasReturnvaluesIF::RETURN_OK) {
cout << "writeData failed." << endl;
} else {
cout << "write done." << endl;
}
}

25
container/SharedRingBuffer.cpp
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@ -9,6 +9,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
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,
@ -16,6 +17,11 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
mutex = MutexFactory::instance()->createMutex();
}
void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
this->fifoDepth = fifoDepth;
}
ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
return mutex->lockMutex(timeoutType, timeout);
@ -25,6 +31,25 @@ ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
return mutex->unlockMutex();
}
MutexIF* SharedRingBuffer::getMutexHandle() const {
return mutex;
}
ReturnValue_t SharedRingBuffer::initialize() {
if(fifoDepth > 0) {
receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
}
return SystemObject::initialize();
}
DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
if(receiveSizesFIFO == nullptr) {
// Configuration error.
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl;
}
return receiveSizesFIFO;
}

24
container/SharedRingBuffer.h
View File

@ -2,6 +2,7 @@
#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#include "SimpleRingBuffer.h"
#include "DynamicFIFO.h"
#include "../ipc/MutexIF.h"
#include "../objectmanager/SystemObject.h"
#include "../timemanager/Clock.h"
@ -26,6 +27,16 @@ public:
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* @brief This function can be used to add an optional FIFO to the class
* @details
* This FIFO will be allocated in the initialize function (and will
* have a fixed maximum size after that). It can be used to store
* values like packet sizes, for example for a shared ring buffer
* used by producer/consumer tasks.
*/
void setToUseReceiveSizeFIFO(size_t fifoDepth);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
@ -59,8 +70,21 @@ public:
* @return
*/
MutexIF* getMutexHandle() const;
ReturnValue_t initialize() override;
/**
* If the shared ring buffer was configured to have a sizes FIFO, a handle
* to that FIFO can be retrieved with this function.
* Do not forget to protect access with a lock if required!
* @return
*/
DynamicFIFO<size_t>* getReceiveSizesFIFO();
private:
MutexIF* mutex = nullptr;
size_t fifoDepth = 0;
DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
};

365
container/listTest.cpp.ignore
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@ -1,365 +0,0 @@
#include "FixedArrayList.h"
#include "SinglyLinkedList.h"
#include "HybridIterator.h"
#include "FixedMap.h"
#include <stdio.h>
/*
class Packet: public SinglyLinkedList {
public:
SinglyLinkedList::Element<uint32_t> element1;
SinglyLinkedList::Element<uint32_t> element2;
Packet() {
this->start = &element1;
element1.next = &element2;
}
};
class Packet2: public SinglyLinkedList {
public:
SinglyLinkedList::Element<uint32_t> element1;
SinglyLinkedList::Element<FixedArrayList<FixedArrayList<uint8_t, 5>, 2>> element2;
SinglyLinkedList::Element<uint32_t> element3;
Packet2() {
this->start = &element1;
element1.next = &element2;
element2.next = &element3;
}
};
class Packet3: public SinglyLinkedList {
public:
SinglyLinkedList::TypedElement<uint32_t> element1;
SinglyLinkedList::TypedElement<uint32_t> element2;
Packet3() {
this->start = &element1;
element1.next = &element2;
}
};
void arrayList() {
puts("** Array List **");
FixedArrayList<uint32_t, 10, uint32_t> list;
FixedArrayList<uint32_t, 10, uint32_t> list2;
list.size = 2;
list[0] = 0xcafecafe;
list[1] = 0x12345678;
uint8_t buffer[100];
uint8_t *pointer = buffer;
uint32_t size = 0;
uint32_t maxSize = 100;
uint32_t i;
int32_t size2;
printf("printsize: %i\n", list.getPrintSize());
list.print(&pointer, &size, 100, true);
printf("buffer(%i):", size);
for (i = 0; i < size; ++i) {
printf("%02x", buffer[i]);
}
printf("\n");
pointer = buffer;
size2 = size;
printf("list2 read: %x\n", list2.read(&pointer, &size2, true));
printf("list2(%i):", list2.size);
for (ArrayList<uint32_t, uint32_t>::Iterator iter = list2.begin();
iter != list2.end(); iter++) {
printf("0x%04x ", *iter);
}
printf("\n");
HybridIterator<uint32_t, uint32_t> hiter(list.begin(),list.end());
printf("hybrid1: 0x%04x\n", *(hiter++));
printf("hybrid2: 0x%04x\n", *hiter);
}
void allocatingList() {
puts("** Allocating List **");
ArrayList<uint8_t> myList(3), myList2(2);
myList[0] = 0xab;
myList[1] = 0xcd;
myList.size = 2;
uint8_t buffer[100];
uint8_t *pointer = buffer;
uint32_t size = 0;
uint32_t maxSize = 100;
uint32_t i;
int32_t size2;
myList.print(&pointer, &size, 100, true);
pointer = buffer;
size2 = size;
printf("Read %x\n", myList2.read(&pointer, &size2, true));
printf("%x,%x\n", myList2[0], myList2[1]);
}
void linkedList() {
puts("** Linked List **");
uint8_t buffer[100];
uint8_t *pointer = buffer;
uint32_t size = 0;
uint32_t maxSize = 100;
uint32_t i;
int32_t size2;
Packet myPacket;
myPacket.element1.entry = 0x12345678;
myPacket.element2.entry = 0x9abcdef0;
pointer = buffer;
size = 0;
ReturnValue_t result = myPacket.print(&pointer, &size, 100, true);
printf("result %02x\n", result);
printf("printsize: %i\n", myPacket.getPrintSize());
printf("buffer(%i):", size);
for (i = 0; i < size; ++i) {
printf("%02x", buffer[i]);
}
printf("\n");
Packet3 myPacket3;
myPacket3.element1.entry = 0x12345678;
myPacket3.element2.entry = 0xabcdeff;
SinglyLinkedList::TypedIterator<uint32_t> titer(&myPacket3.element1);
printf("0x%04x\n", *titer);
HybridIterator<uint32_t, uint32_t> hiter(&myPacket3.element1);
printf("hybrid1: 0x%04x\n", *hiter);
hiter++;
printf("hybrid2: 0x%04x\n", *hiter);
}
void complex() {
puts("** complex **");
uint8_t buffer[100];
uint8_t *pointer = buffer;
uint32_t size = 0;
uint32_t maxSize = 100;
uint32_t i;
int32_t size2 = size;
Packet myPacket2;
size2 = size;
pointer = buffer;
myPacket2.read(&pointer, &size2, true);
printf("packet: 0x%04x, 0x%04x\n", myPacket2.element1.entry,
myPacket2.element2.entry);
buffer[0] = 0x12;
buffer[1] = 0x34;
buffer[2] = 0x56;
buffer[3] = 0x78;
buffer[4] = 0x2;
buffer[5] = 0x3;
buffer[6] = 0xab;
buffer[7] = 0xcd;
buffer[8] = 0xef;
buffer[9] = 0x2;
buffer[10] = 0x11;
buffer[11] = 0x22;
buffer[12] = 0xca;
buffer[13] = 0xfe;
buffer[14] = 0x5a;
buffer[15] = 0xfe;
pointer = buffer;
size2 = 23;
Packet2 p2;
ReturnValue_t result = p2.read(&pointer, &size2, true);
printf("result is %02x\n", result);
printf("%04x; %i: %i: %x %x %x; %i: %x %x;; %04x\n", p2.element1.entry,
p2.element2.entry.size, p2.element2.entry[0].size,
p2.element2.entry[0][0], p2.element2.entry[0][1],
p2.element2.entry[0][2], p2.element2.entry[1].size,
p2.element2.entry[1][0], p2.element2.entry[1][1],
p2.element3.entry);
}
*/
struct Test {
uint32_t a;
uint32_t b;
};
template<typename key_t, typename T>
void printMap(FixedMap<key_t, T> *map) {
typename FixedMap<key_t, T>::Iterator iter;
printf("Map (%i): ", map->getSize());
for (iter = map->begin(); iter != map->end(); ++iter) {
printf("%x:%08x,%08x ", iter.value->first, (*iter).a, (*iter).b);
}
printf("\n");
}
template<typename T>
void map() {
puts("** Map **");
typename FixedMap<T, Test>::Iterator iter;
ReturnValue_t result;
FixedMap<T, Test> myMap(5);
printMap<T, Test>(&myMap);
Test a;
a.a = 0x01234567;
a.b = 0xabcdef89;
myMap.insert(1, a);
printMap<T, Test>(&myMap);
a.a = 0;
myMap.insert(2, a);
printMap<T, Test>(&myMap);
printf("2 exists: %x\n", myMap.exists(0x02));
printf("ff exists: %x\n", myMap.exists(0xff));
a.a = 1;
printf("insert 0x2: %x\n", myMap.insert(2, a));
result = myMap.insert(0xff, a);
a.a = 0x44;
result = myMap.insert(0xab, a);
result = myMap.insert(0xa, a);
printMap<T, Test>(&myMap);
printf("insert 0x5: %x\n", myMap.insert(5, a));
printf("erase 0xfe: %x\n", myMap.erase(0xfe));
printf("erase 0x2: %x\n", myMap.erase(0x2));
printMap<T, Test>(&myMap);
printf("erase 0xab: %x\n", myMap.erase(0xab));
printMap<T, Test>(&myMap);
printf("insert 0x5: %x\n", myMap.insert(5, a));
printMap<T, Test>(&myMap);
iter = myMap.begin();
++iter;
++iter;
++iter;
printf("iter: %i: %x,%x\n",iter.value->first, iter->a, iter->b);
myMap.erase(&iter);
printf("iter: %i: %x,%x\n",iter.value->first, iter->a, iter->b);
printMap<T, Test>(&myMap);
}
/*
void mapPrint() {
puts("** Map Print **");
FixedMap<uint16_t, Packet2> myMap(5);
Packet2 myPacket;
myPacket.element1.entry = 0x12345678;
myPacket.element2.entry[0][0] = 0xab;
myPacket.element2.entry[0][1] = 0xcd;
myPacket.element2.entry[0].size = 2;
myPacket.element2.entry.size = 1;
myPacket.element3.entry = 0xabcdef90;
myMap.insert(0x1234, myPacket);
uint8_t buffer[100];
uint32_t size = 0, i;
uint8_t *pointer = buffer;
printf("printsize: %i\n", myMap.getPrintSize());
SerializeAdapter<FixedMap<uint16_t, Packet2>>::print(&myMap, &pointer,
&size, 100, false);
printf("buffer(%i):", size);
for (i = 0; i < size; ++i) {
printf("%02x", buffer[i]);
}
printf("\n");
int32_t size2 = size;
pointer = buffer;
FixedMap<uint16_t, Packet2> myMap2(5);
ReturnValue_t result = SerializeAdapter<FixedMap<uint16_t, Packet2>>::read(
&myMap2, &pointer, &size2, false);
Packet2 *myPacket2 = myMap2.find(0x1234);
printf("Map (%i): Packet2: %x, Array (%i): Array (%i): %x, %x; %x\n",
myMap2.getSize(), myPacket2->element1.entry,
myPacket2->element2.entry.size, myPacket2->element2.entry[0].size,
myPacket2->element2.entry[0][0], myPacket2->element2.entry[0][1],
myPacket2->element3.entry);
}
void empty() {
puts("** Empty **");
ArrayList<uint32_t> list(0);
printf("%p %p\n", list.front(), list.back());
}
*/
int main(void) {
// arrayList();
// linkedList();
// allocatingList();
// complex();
map<uint32_t>();
//
// mapPrint();
// empty();
return 0;
}

2
datalinklayer/MapPacketExtraction.cpp
View File

@ -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));
}

2
devicehandlers/DeviceHandlerBase.cpp
View File

@ -1224,7 +1224,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (result == BUSY) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Busy" << std::endl;
<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
result = NOTHING_TO_SEND; //no need to report this
}
}

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() {

2
events/Event.h
View File

@ -4,7 +4,7 @@
#include <stdint.h>
#include "fwSubsystemIdRanges.h"
//could be move to more suitable location
#include <config/tmtc/subsystemIdRanges.h>
#include <subsystemIdRanges.h>
typedef uint16_t EventId_t;
typedef uint8_t EventSeverity_t;

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();
/**
* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
* Is needed quite often, so we better code it once only.
*/
void setToUnknownCommand();
void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
ReturnValue_t getReplyRejectedReason(
Command_t *initialCommand = nullptr) const;
void setToUnknownCommand() override;
size_t getMinimumMessageSize() const;
/**
* 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 void clear() override;
void clearCommandMessage();
/**
* 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 used for minimum size check. */
size_t getMinimumMessageSize() const override;
};
#endif /* COMMANDMESSAGE_H_ */
#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */

45
ipc/CommandMessageCleaner.cpp Normal file
View File

@ -0,0 +1,45 @@
#include "../ipc/CommandMessageCleaner.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.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"
void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
switch(message->getMessageType()){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(message);
break;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(message);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(message);
break;
case messagetypes::ACTION:
ActionMessage::clear(message);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(message);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(message);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(message);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(message);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(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 "../ipc/CommandMessage.h"
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessage* message);
}
class CommandMessageCleaner {
public:
static void clearCommandMessage(CommandMessage* message);
};
#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */

73
ipc/CommandMessageIF.h Normal file
View File

@ -0,0 +1,73 @@
#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
#define FSFW_IPC_COMMANDMESSAGEIF_H_
#include "MessageQueueMessageIF.h"
#include "FwMessageTypes.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t;
class CommandMessageIF {
public:
/**
* Header consists of sender ID and command ID.
*/
static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
sizeof(Command_t);
/**
* This minimum size is derived from the interface requirement to be able
* to set a rejected reply, which contains a returnvalue and the initial
* command.
*/
static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_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;
virtual void setToUnknownCommand() = 0;
virtual void clear() = 0;
};
#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */

184
ipc/MessageQueueIF.h
View File

@ -1,61 +1,77 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FSFW_IPC_MESSAGEQUEUEIF_H_
#include "messageQueueDefinitions.h"
#include "MessageQueueMessageIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
// COULDDO: We could support blocking calls
// semaphores are being implemented, which makes this idea even more iteresting.
#include "MessageQueueMessage.h"
#include "MessageQueueSenderIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
/**
* @defgroup message_queue Message Queue
* @brief Message Queue related software components
*/
class MessageQueueIF {
public:
static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
static const MessageQueueId_t NO_QUEUE = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
/**
* No new messages on the queue
*/
//! No new messages on the queue
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
/**
* No space left for more messages
*/
//! No space left for more messages
static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
/**
* Returned if a reply method was called without partner
*/
//! Returned if a reply method was called without partner
static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
//! Returned if the target destination is invalid.
static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
virtual ~MessageQueueIF() {}
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
* \return RETURN_OK if ok
* \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
* @details
* This operation simplifies answering an incoming message by using the
* stored lastParnter information as destination. If there was no message
* received yet (i.e. lastPartner is zero), an error code is returned.
* @param message
* A pointer to a previously created message, which is sent.
* @return
* -@c RETURN_OK if ok
* -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found.
*/
virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
* @brief This function reads available messages from the message queue
* and returns the sender.
* @details
* It works identically to the other receiveMessage call, but in addition
* returns the sender's queue id.
* @param message
* A pointer to a message in which the received data is stored.
* @param receivedFrom
* A pointer to a queue id in which the sender's id is stored.
*/
virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) = 0;
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in the
* lastPartner attribute. Else, the lastPartner information remains untouched, the
* message's content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
* @details
* If data is available it is stored in the passed message pointer.
* The message's original content is overwritten and the sendFrom
* information is stored in theblastPartner attribute. Else, the lastPartner
* information remains untouched, the message's content is cleared and the
* function returns immediately.
* @param message
* A pointer to a message in which the received data is stored.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::EMPTY if queue is empty
*/
virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0;
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
@ -63,57 +79,89 @@ public:
*/
virtual ReturnValue_t flush(uint32_t* count) = 0;
/**
* @brief This method returns the message queue id of the last communication partner.
* @brief This method returns the message queue
* id of the last communication partner.
*/
virtual MessageQueueId_t getLastPartner() const = 0;
/**
* @brief This method returns the message queue id of this class's message queue.
* @brief This method returns the message queue
* id of this class's message queue.
*/
virtual MessageQueueId_t getId() const = 0;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* 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 (if implemented).
* @brief With the sendMessage call, a queue message
* is sent to a receiving queue.
* @details
* This method takes the message provided, adds the sentFrom information
* and passes it on to the destination provided with an operating system
* call. The OS's returnvalue is returned.
* @param sendTo
* This parameter specifies the message queue id to send the message to.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id
* into the message. 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 (if implemented).
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
* queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false ) = 0;
/**
* \brief The sendToDefaultFrom method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* @brief This operation sends a message to the given destination.
* @details
* It directly uses the sendMessage call of the MessageQueueSender parent,
* but passes its queue id as "sentFrom" parameter.
* @param sendTo
* This parameter specifies the message queue id of the destination
* message queue.
* @param message
* A pointer to a previously created message, which is sent.
* @param ignoreFault
* If set to true, the internal software fault counter is not incremented
* if queue is full.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault = false ) = 0;
/**
* @brief The sendToDefaultFrom method sends a queue message
* to the default destination.
* @details
* In all other aspects, it works identical to the sendMessage method.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id
* into the message. This variable is set to zero by default.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* Implementation class and adds its queue id as "sentFrom" information.
* @details
* As in the sendMessage method, this function uses the sendToDefault
* call of the Implementation class and adds its queue id as
* "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) = 0;
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) = 0;
/**
* \brief This method is a simple setter for the default destination.
* @brief This method is a simple setter for the default destination.
*/
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0;
/**
* \brief This method is a simple getter for the default destination.
* @brief This method is a simple getter for the default destination.
*/
virtual MessageQueueId_t getDefaultDestination() const = 0;
@ -122,4 +170,4 @@ public:
#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */
#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

63
ipc/MessageQueueMessage.cpp
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@ -1,13 +1,27 @@
#include "MessageQueueMessage.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <string.h>
#include "../globalfunctions/arrayprinter.h"
#include <cstring>
MessageQueueMessage::MessageQueueMessage() :
messageSize(this->HEADER_SIZE) {
messageSize(getMinimumMessageSize()) {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
}
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size);
this->messageSize = this->HEADER_SIZE + size;
}
else {
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
"allowed size! Setting content to 0" << std::endl;
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
}
}
MessageQueueMessage::~MessageQueueMessage() {
}
@ -37,29 +51,34 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
}
MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) :
messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size);
} else {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
void MessageQueueMessage::print(bool printWholeMessage) {
sif::debug << "MessageQueueMessage content: " << std::endl;
if(printWholeMessage) {
arrayprinter::print(getData(), getMaximumMessageSize());
}
}
size_t MessageQueueMessage::getMinimumMessageSize() {
return this->HEADER_SIZE;
}
void MessageQueueMessage::print() {
sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
<< std::endl;
for (uint8_t count = 0; count < this->messageSize; count++) {
sif::debug << (uint32_t) this->internalBuffer[count] << ":";
else {
arrayprinter::print(getData(), getMessageSize());
}
sif::debug << std::dec << std::endl;
}
void MessageQueueMessage::clear() {
memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
}
size_t MessageQueueMessage::getMessageSize() const {
return this->messageSize;
}
void MessageQueueMessage::setMessageSize(size_t messageSize) {
this->messageSize = messageSize;
}
size_t MessageQueueMessage::getMinimumMessageSize() const {
return this->MIN_MESSAGE_SIZE;
}
size_t MessageQueueMessage::getMaximumMessageSize() const {
return this->MAX_MESSAGE_SIZE;
}

195
ipc/MessageQueueMessage.h
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@ -1,118 +1,149 @@
#ifndef MESSAGEQUEUEMESSAGE_H_
#define MESSAGEQUEUEMESSAGE_H_
#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#include "MessageQueueSenderIF.h"
#include <stddef.h>
#include "../ipc/MessageQueueMessageIF.h"
#include <cstddef>
/**
* \brief This class is the representation and data organizer for interprocess messages.
* @brief This class is the representation and data organizer
* for interprocess messages.
* @details
* To facilitate and standardize interprocess communication, this class was
* created to handle a lightweight "interprocess message protocol".
*
* \details To facilitate and standardize interprocess communication, this class was created
* to handle a lightweight "interprocess message protocol". It adds a header with the
* sender's queue id to every sent message and defines the maximum total message size.
* Specialized messages, such as device commanding messages, can be created by inheriting
* from this class and filling the buffer provided by getData with additional content.
* If larger amounts of data must be sent between processes, the data shall be stored in
* the IPC Store object and only the storage id is passed in a queue message.
* The class is used both to generate and send messages and to receive messages from
* other tasks.
* \ingroup message_queue
* It adds a header with the sender's queue id to every sent message and
* defines the maximum total message size. Specialized messages, such as
* device commanding messages, can be created by inheriting from this class
* and filling the buffer provided by getData with additional content.
*
* If larger amounts of data must be sent between processes, the data shall
* be stored in the IPC Store object and only the storage id is passed in a
* queue message.The class is used both to generate and send messages and to
* receive messages from other tasks.
* @ingroup message_queue
*/
class MessageQueueMessage {
class MessageQueueMessage: public MessageQueueMessageIF {
public:
/**
* \brief This constant defines the maximum size of the data content, excluding the header.
* \details It may be changed if necessary, but in general should be kept as small as possible.
* @brief The class is initialized empty with this constructor.
* @details
* The messageSize attribute is set to the header's size and the whole
* content is set to zero.
*/
MessageQueueMessage();
/**
* @brief With this constructor the class is initialized with
* the given content.
* @details
* If the passed message size fits into the buffer, the passed data is
* copied to the internal buffer and the messageSize information is set.
* Otherwise, messageSize is set to the header's size and the whole
* content is set to zero.
* @param data The data to be put in the message.
* @param size Size of the data to be copied. Must be smaller than
* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
*/
MessageQueueMessage(uint8_t* data, size_t size);
/**
* @brief As no memory is allocated in this class,
* the destructor is empty.
*/
virtual ~MessageQueueMessage();
/**
* @brief The size information of each message is stored in
* this attribute.
* @details
* It is public to simplify usage and to allow for passing the size
* address as a pointer. Care must be taken when inheriting from this class,
* as every child class is responsible for managing the size information by
* itself. When using the class to receive a message, the size information
* is updated automatically.
*
* Please note that the minimum size is limited by the size of the header
* while the maximum size is limited by the maximum allowed message size.
*/
size_t messageSize;
/**
* @brief This constant defines the maximum size of the data content,
* excluding the header.
* @details
* It may be changed if necessary, but in general should be kept
* as small as possible.
*/
static const size_t MAX_DATA_SIZE = 24;
/**
* \brief This constants defines the size of the header, which is added to every message.
* @brief This constant defines the maximum total size in bytes
* of a sent message.
* @details
* It is the sum of the maximum data and the header size. Be aware that
* this constant is used to define the buffer sizes for every message
* queue in the system. So, a change here may have significant impact on
* the required resources.
*/
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/**
* \brief This constant defines the maximum total size in bytes of a sent message.
* \details It is the sum of the maximum data and the header size. Be aware that this constant
* is used to define the buffer sizes for every message queue in the system. So, a change
* here may have significant impact on the required resources.
* @brief Defines the minimum size of a message where only the
* header is included
*/
static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private:
/**
* \brief This is the internal buffer that contains the actual message data.
* @brief This is the internal buffer that contains the
* actual message data.
*/
uint8_t internalBuffer[MAX_MESSAGE_SIZE];
public:
/**
* \brief The size information of each message is stored in this attribute.
* \details It is public to simplify usage and to allow for passing the variable's address as a
* pointer. Care must be taken when inheriting from this class, as every child class is
* responsible for managing the size information by itself. When using the class to
* receive a message, the size information is updated automatically.
* @brief This method is used to get the complete data of the message.
*/
size_t messageSize;
const uint8_t* getBuffer() const override;
/**
* \brief The class is initialized empty with this constructor.
* \details The messageSize attribute is set to the header's size and the whole content is set to
* zero.
* @brief This method is used to get the complete data of the message.
*/
MessageQueueMessage();
uint8_t* getBuffer() override;
/**
* \brief With this constructor the class is initialized with the given content.
* \details If the passed message size fits into the buffer, the passed data is copied to the
* internal buffer and the messageSize information is set. Otherwise, messageSize
* is set to the header's size and the whole content is set to zero.
* \param data The data to be put in the message.
* \param size Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
MessageQueueMessage(uint8_t* data, uint32_t size);
const uint8_t* getData() const override;
/**
* \brief As no memory is allocated in this class, the destructor is empty.
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual ~MessageQueueMessage();
uint8_t* getData() override;
/**
* \brief This method is used to get the complete data of the message.
* @brief This method is used to extract the sender's message
* queue id information from a received message.
*/
const uint8_t* getBuffer() const;
MessageQueueId_t getSender() const override;
/**
* \brief This method is used to get the complete data of the message.
* @brief With this method, the whole content
* and the message size is set to zero.
*/
uint8_t* getBuffer();
void clear() override;
/**
* \brief This method is used to fetch the data content of the message.
* \details It shall be used by child classes to add data at the right position.
* @brief This method is used to set the sender's message queue id
* information prior to ing the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/
const uint8_t* getData() const;
void setSender(MessageQueueId_t setId) override;
virtual size_t getMessageSize() const override;
virtual void setMessageSize(size_t messageSize) override;
virtual size_t getMinimumMessageSize() const override;
virtual size_t getMaximumMessageSize() const override;
/**
* \brief This method is used to fetch the data content of the message.
* \details It shall be used by child classes to add data at the right position.
* @brief This is a debug method that prints the content.
*/
uint8_t* getData();
/**
* \brief This method is used to extract the sender's message queue id information from a
* received message.
*/
MessageQueueId_t getSender() const;
/**
* \brief With this method, the whole content and the message size is set to zero.
*/
void clear();
/**
* \brief This is a debug method that prints the content (till messageSize) to the debug output.
*/
void print();
/**
* \brief This method is used to set the sender's message queue id information prior to
* sending the message.
* \param setId The message queue id that identifies the sending message queue.
*/
void setSender(MessageQueueId_t setId);
/**
* \brief This helper function is used by the MessageQueue class to check the size of an
* incoming message.
* \details The method must be overwritten by child classes if size checks shall be more strict.
* @return The default implementation returns HEADER_SIZE.
*/
virtual size_t getMinimumMessageSize();
void print(bool printWholeMessage);
};
#endif /* MESSAGEQUEUEMESSAGE_H_ */
#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

80
ipc/MessageQueueMessageIF.h Normal file
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@ -0,0 +1,80 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
#include <cstddef>
#include <cstdint>
class MessageQueueMessageIF {
public:
/**
* @brief This constants defines the size of the header,
* which is added to every message.
*/
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
virtual ~MessageQueueMessageIF() {};
/**
* @brief With this method, the whole content and the message
* size is set to zero.
* @details
* Implementations should also take care to clear data which is stored
* indirectly (e.g. storage data).
*/
virtual void clear() = 0;
/**
* @brief Get read-only pointer to the complete data of the message.
* @return
*/
virtual const uint8_t* getBuffer() const = 0;
/**
* @brief This method is used to get the complete data of the message.
*/
virtual uint8_t* getBuffer() = 0;
/**
* @brief This method is used to set the sender's message queue id
* information prior to sending the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/
virtual void setSender(MessageQueueId_t setId) = 0;
/**
* @brief This method is used to extract the sender's message queue id
* information from a received message.
*/
virtual MessageQueueId_t getSender() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual const uint8_t* getData() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual uint8_t* getData() = 0;
/**
* Get constant message size of current message implementation.
* @return
*/
virtual size_t getMessageSize() const = 0;
virtual void setMessageSize(size_t messageSize) = 0;
virtual size_t getMinimumMessageSize() const = 0;
virtual size_t getMaximumMessageSize() const = 0;
};
#endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

29
ipc/MessageQueueSenderIF.h
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@ -1,37 +1,26 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#include "MessageQueueIF.h"
#include "MessageQueueMessageIF.h"
#include "../objectmanager/ObjectManagerIF.h"
class MessageQueueMessage;
//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
//MessageQueueMessage.
//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
//call does not sound ideal.
//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
//This also influences Interface design (getCommandQueue) and some other issues..
typedef uint32_t MessageQueueId_t;
class MessageQueueSenderIF {
public:
static const MessageQueueId_t NO_QUEUE = 0;
virtual ~MessageQueueSenderIF() {}
/**
* Allows sending messages without actually "owing" a message queue.
* Allows sending messages without actually "owning" a message queue.
* Not sure whether this is actually a good idea.
* Must be implemented by a subclass.
*/
static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom =
MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false);
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
bool ignoreFault = false);
private:
MessageQueueSenderIF() {}
};
#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */
#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */

10
ipc/QueueFactory.h
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@ -1,8 +1,10 @@
#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
#define FRAMEWORK_IPC_QUEUEFACTORY_H_
#ifndef FSFW_IPC_QUEUEFACTORY_H_
#define FSFW_IPC_QUEUEFACTORY_H_
#include "MessageQueueIF.h"
#include <stdint.h>
#include "MessageQueueMessage.h"
#include <cstdint>
/**
* Creates message queues.
* This class is a "singleton" interface, i.e. it provides an
@ -30,4 +32,4 @@ private:
static QueueFactory* factoryInstance;
};
#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */
#endif /* FSFW_IPC_QUEUEFACTORY_H_ */

18
ipc/messageQueueDefinitions.h Normal file
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@ -0,0 +1,18 @@
#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#include <cstdint>
/*
* TODO: Actually, the definition of this ID to be a uint32_t is not ideal and
* breaks layering. However, it is difficult to keep layering, as the ID is
* stored in many places and sent around in MessageQueueMessage.
* Ideally, one would use the (current) object_id_t only, however, doing a
* lookup of queueIDs for every call does not sound ideal.
* In a first step, I'll circumvent the issue by not touching it,
* maybe in a second step. This also influences Interface design
* (getCommandQueue) and some other issues..
*/
using MessageQueueId_t = uint32_t;
#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

13
memory/AcceptsMemoryMessagesIF.h
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@ -1,12 +1,5 @@
/**
* @file AcceptsMemoryMessagesIF.h
* @brief This file defines the AcceptsMemoryMessagesIF class.
* @date 11.07.2013
* @author baetz
*/
#ifndef ACCEPTSMEMORYMESSAGESIF_H_
#define ACCEPTSMEMORYMESSAGESIF_H_
#ifndef FSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_
#define FSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_
#include "HasMemoryIF.h"
#include "MemoryMessage.h"
@ -18,4 +11,4 @@ public:
};
#endif /* ACCEPTSMEMORYMESSAGESIF_H_ */
#endif /* FSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_ */

47
memory/MemoryHelper.cpp
View File

@ -1,14 +1,15 @@
#include "../globalfunctions/CRC.h"
#include "MemoryHelper.h"
#include "MemoryMessage.h"
#include "../globalfunctions/CRC.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../serialize/EndianConverter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) :
workOnThis(workOnThis), queueToUse(useThisQueue), ipcStore(NULL), ipcAddress(), lastCommand(
CommandMessage::CMD_NONE), lastSender(0), reservedSpaceInIPC(
NULL), busy(false) {
MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis,
MessageQueueIF* useThisQueue):
workOnThis(workOnThis), queueToUse(useThisQueue), ipcAddress(),
lastCommand(CommandMessage::CMD_NONE), busy(false) {
}
ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
@ -33,17 +34,8 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
}
}
ReturnValue_t MemoryHelper::initialize() {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore != NULL) {
return RETURN_OK;
} else {
return RETURN_FAILED;
}
}
void MemoryHelper::completeLoad(ReturnValue_t errorCode,
const uint8_t* dataToCopy, const uint32_t size, uint8_t* copyHere) {
const uint8_t* dataToCopy, const size_t size, uint8_t* copyHere) {
busy = false;
switch (errorCode) {
case HasMemoryIF::DO_IT_MYSELF:
@ -67,13 +59,13 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
return;
}
//Only reached on success
CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, 0);
CommandMessage reply( CommandMessage::REPLY_COMMAND_OK, 0, 0);
queueToUse->sendMessage(lastSender, &reply);
ipcStore->deleteData(ipcAddress);
}
void MemoryHelper::completeDump(ReturnValue_t errorCode,
const uint8_t* dataToCopy, const uint32_t size) {
const uint8_t* dataToCopy, const size_t size) {
busy = false;
CommandMessage reply;
MemoryMessage::setMemoryReplyFailed(&reply, errorCode, lastCommand);
@ -125,12 +117,12 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
break;
}
if (queueToUse->sendMessage(lastSender, &reply) != RETURN_OK) {
reply.clearCommandMessage();
reply.clear();
}
}
void MemoryHelper::swapMatrixCopy(uint8_t* out, const uint8_t *in,
uint32_t totalSize, uint8_t datatypeSize) {
size_t totalSize, uint8_t datatypeSize) {
if (totalSize % datatypeSize != 0){
return;
}
@ -185,11 +177,18 @@ void MemoryHelper::handleMemoryCheckOrDump(CommandMessage* message) {
}
ReturnValue_t MemoryHelper::initialize(MessageQueueIF* queueToUse_) {
if(queueToUse_!=NULL){
this->queueToUse = queueToUse_;
}else{
return MessageQueueIF::NO_QUEUE;
if(queueToUse_ == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
this->queueToUse = queueToUse_;
return initialize();
}
ReturnValue_t MemoryHelper::initialize() {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore != nullptr) {
return RETURN_OK;
} else {
return RETURN_FAILED;
}
}

42
memory/MemoryHelper.h
View File

@ -1,11 +1,16 @@
#ifndef MEMORYHELPER_H_
#define MEMORYHELPER_H_
#include "../ipc/CommandMessage.h"
#ifndef FSFW_MEMORY_MEMORYHELPER_H_
#define FSFW_MEMORY_MEMORYHELPER_H_
#include "AcceptsMemoryMessagesIF.h"
#include "../ipc/CommandMessage.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* @brief TODO: documentation.
*/
class MemoryHelper : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MEMORY_HELPER;
@ -13,25 +18,32 @@ public:
static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0xE1);
static const ReturnValue_t INVALID_SIZE = MAKE_RETURN_CODE(0xE2);
static const ReturnValue_t STATE_MISMATCH = MAKE_RETURN_CODE(0xE3);
MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue);
~MemoryHelper();
ReturnValue_t handleMemoryCommand(CommandMessage* message);
void completeLoad(ReturnValue_t errorCode,
const uint8_t* dataToCopy = nullptr, const size_t size = 0,
uint8_t* copyHere = nullptr);
void completeDump(ReturnValue_t errorCode,
const uint8_t* dataToCopy = nullptr, const size_t size = 0);
void swapMatrixCopy(uint8_t *out, const uint8_t *in, size_t totalSize,
uint8_t datatypeSize);
ReturnValue_t initialize(MessageQueueIF* queueToUse_);
private:
HasMemoryIF* workOnThis;
MessageQueueIF* queueToUse;
StorageManagerIF* ipcStore;
StorageManagerIF* ipcStore = nullptr;
store_address_t ipcAddress;
Command_t lastCommand;
MessageQueueId_t lastSender;
uint8_t* reservedSpaceInIPC;
MessageQueueId_t lastSender = MessageQueueIF::NO_QUEUE;
uint8_t* reservedSpaceInIPC = nullptr;
bool busy;
void handleMemoryLoad(CommandMessage* message);
void handleMemoryCheckOrDump(CommandMessage* message);
ReturnValue_t initialize();
public:
ReturnValue_t handleMemoryCommand(CommandMessage* message);
void completeLoad( ReturnValue_t errorCode, const uint8_t* dataToCopy = NULL, const uint32_t size = 0, uint8_t* copyHere = NULL );
void completeDump( ReturnValue_t errorCode, const uint8_t* dataToCopy = NULL, const uint32_t size = 0);
void swapMatrixCopy( uint8_t *out, const uint8_t *in, uint32_t totalSize, uint8_t datatypeSize);
ReturnValue_t initialize(MessageQueueIF* queueToUse_);
MemoryHelper( HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue );
~MemoryHelper();
};
#endif /* MEMORYHELPER_H_ */
#endif /* FSFW_MEMORY_MEMORYHELPER_H_ */

28
memory/MemoryMessage.cpp
View File

@ -1,7 +1,6 @@
#include "MemoryMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
MemoryMessage::MemoryMessage() {
}
uint32_t MemoryMessage::getAddress(const CommandMessage* message) {
return message->getParameter();
@ -17,26 +16,24 @@ uint32_t MemoryMessage::getLength(const CommandMessage* message) {
return message->getParameter2();
}
ReturnValue_t MemoryMessage::setMemoryDumpCommand(CommandMessage* message,
void MemoryMessage::setMemoryDumpCommand(CommandMessage* message,
uint32_t address, uint32_t length) {
message->setCommand(CMD_MEMORY_DUMP);
message->setParameter( address );
message->setParameter2( length );
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MemoryMessage::setMemoryDumpReply(CommandMessage* message, store_address_t storageID) {
void MemoryMessage::setMemoryDumpReply(CommandMessage* message,
store_address_t storageID) {
message->setCommand(REPLY_MEMORY_DUMP);
message->setParameter2( storageID.raw );
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MemoryMessage::setMemoryLoadCommand(CommandMessage* message,
void MemoryMessage::setMemoryLoadCommand(CommandMessage* message,
uint32_t address, store_address_t storageID) {
message->setCommand(CMD_MEMORY_LOAD);
message->setParameter( address );
message->setParameter2( storageID.raw );
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MemoryMessage::getErrorCode(const CommandMessage* message) {
@ -65,22 +62,21 @@ void MemoryMessage::clear(CommandMessage* message) {
}
}
ReturnValue_t MemoryMessage::setMemoryCheckCommand(CommandMessage* message,
void MemoryMessage::setMemoryCheckCommand(CommandMessage* message,
uint32_t address, uint32_t length) {
message->setCommand(CMD_MEMORY_CHECK);
message->setParameter( address );
message->setParameter2( length );
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MemoryMessage::setMemoryCheckReply(CommandMessage* message,
void MemoryMessage::setMemoryCheckReply(CommandMessage* message,
uint16_t crc) {
message->setCommand(REPLY_MEMORY_CHECK);
message->setParameter( crc );
return HasReturnvaluesIF::RETURN_OK;
}
void MemoryMessage::setCrcReturnValue(CommandMessage* message, ReturnValue_t returnValue){
void MemoryMessage::setCrcReturnValue(CommandMessage* message,
ReturnValue_t returnValue){
message->setParameter(returnValue<<16);
};
@ -96,18 +92,16 @@ Command_t MemoryMessage::getInitialCommand(const CommandMessage* message) {
return message->getParameter2();
}
ReturnValue_t MemoryMessage::setMemoryReplyFailed(CommandMessage* message,
void MemoryMessage::setMemoryReplyFailed(CommandMessage* message,
ReturnValue_t errorCode, Command_t initialCommand) {
message->setCommand(REPLY_MEMORY_FAILED);
message->setParameter(errorCode);
message->setParameter2(initialCommand);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MemoryMessage::setMemoryCopyEnd(CommandMessage* message) {
void MemoryMessage::setMemoryCopyEnd(CommandMessage* message) {
message->setCommand(END_OF_MEMORY_COPY);
message->setParameter(0);
message->setParameter2(0);
return HasReturnvaluesIF::RETURN_OK;
}

43
memory/MemoryMessage.h
View File

@ -1,14 +1,15 @@
#ifndef MEMORYMESSAGE_H_
#define MEMORYMESSAGE_H_
#ifndef FSFW_MEMORY_MEMORYMESSAGE_H_
#define FSFW_MEMORY_MEMORYMESSAGE_H_
#include "../ipc/CommandMessage.h"
#include "../storagemanager/StorageManagerIF.h"
class MemoryMessage {
private:
MemoryMessage(); //A private ctor inhibits instantiation
public:
// Instantiation forbidden.
MemoryMessage() = delete;
static const uint8_t MESSAGE_ID = messagetypes::MEMORY;
static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 );
static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 );
@ -19,21 +20,29 @@ public:
static const Command_t END_OF_MEMORY_COPY = MAKE_COMMAND_ID(0xF0);
static uint32_t getAddress( const CommandMessage* message );
static store_address_t getStoreID( const CommandMessage* message );
static store_address_t getStoreID(const CommandMessage* message);
static uint32_t getLength( const CommandMessage* message );
static ReturnValue_t getErrorCode( const CommandMessage* message );
static ReturnValue_t setMemoryDumpCommand( CommandMessage* message, uint32_t address, uint32_t length );
static ReturnValue_t setMemoryDumpReply( CommandMessage* message, store_address_t storageID );
static ReturnValue_t setMemoryLoadCommand( CommandMessage* message, uint32_t address, store_address_t storageID );
static ReturnValue_t setMemoryCheckCommand( CommandMessage* message, uint32_t address, uint32_t length );
static ReturnValue_t setMemoryCheckReply( CommandMessage* message, uint16_t crc );
static ReturnValue_t setMemoryReplyFailed( CommandMessage* message, ReturnValue_t errorCode, Command_t initialCommand );
static ReturnValue_t setMemoryCopyEnd( CommandMessage* message);
static ReturnValue_t getErrorCode(const CommandMessage* message);
static uint16_t getCrc(const CommandMessage* message );
static ReturnValue_t getCrcReturnValue(const CommandMessage* message);
static Command_t getInitialCommand(const CommandMessage* message);
static void setMemoryDumpCommand(CommandMessage* message,
uint32_t address, uint32_t length );
static void setMemoryDumpReply(CommandMessage* message,
store_address_t storageID);
static void setMemoryLoadCommand(CommandMessage* message,
uint32_t address, store_address_t storageID );
static void setMemoryCheckCommand(CommandMessage* message,
uint32_t address, uint32_t length);
static void setMemoryCheckReply(CommandMessage* message,
uint16_t crc);
static void setMemoryReplyFailed(CommandMessage* message,
ReturnValue_t errorCode, Command_t initialCommand);
static void setMemoryCopyEnd(CommandMessage* message);
static void setCrcReturnValue(CommandMessage*, ReturnValue_t returnValue);
static uint16_t getCrc( const CommandMessage* message );
static ReturnValue_t getCrcReturnValue(const CommandMessage* message);
static Command_t getInitialCommand( const CommandMessage* message );
static void clear(CommandMessage* message);
};
#endif /* MEMORYMESSAGE_H_ */
#endif /* FSFW_MEMORY_MEMORYMESSAGE_H_ */

22
memory/MemoryProxyIF.h
View File

@ -1,22 +0,0 @@
#ifndef FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
#define FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
#include "AcceptsMemoryMessagesIF.h"
/**
* This was a nice idea to transparently forward incoming messages to another object.
* But it doesn't work like that.
*/
class MemoryProxyIF : public AcceptsMemoryMessagesIF {
public:
virtual MessageQueueId_t getProxyQueue() const = 0;
MessageQueueId_t getCommandQueue() const {
return getProxyQueue();
}
virtual ~MemoryProxyIF() {}
};
#endif /* FRAMEWORK_MEMORY_MEMORYPROXYIF_H_ */

34
modes/HasModesIF.h
View File

@ -1,18 +1,11 @@
/**
* @file HasModesIF.h
* @brief This file defines the HasModesIF class.
* @date 20.06.2013
* @author baetz
*/
#ifndef FSFW_MODES_HASMODESIF_H_
#define FSFW_MODES_HASMODESIF_H_
#ifndef HASMODESIF_H_
#define HASMODESIF_H_
#include "../events/Event.h"
#include "ModeHelper.h"
#include "ModeMessage.h"
#include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <stdint.h>
#include <cstdint>
class HasModesIF {
@ -37,21 +30,22 @@ public:
static const Mode_t MODE_ON = 1; //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
static const Mode_t MODE_OFF = 0; //!< The device is powered off. The only command accepted in this mode is a mode change to on.
static const Submode_t SUBMODE_NONE = 0; //!< To avoid checks against magic number "0".
virtual ~HasModesIF() {
}
virtual ~HasModesIF() {}
virtual MessageQueueId_t getCommandQueue() const = 0;
virtual void getMode(Mode_t *mode, Submode_t *submode) = 0;
protected:
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_FAILED;
}
virtual void startTransition(Mode_t mode, Submode_t submode) {
}
virtual void setToExternalControl() {
}
virtual void announceMode(bool recursive) {
}
virtual void startTransition(Mode_t mode, Submode_t submode) {}
virtual void setToExternalControl() {}
virtual void announceMode(bool recursive) {}
};
#endif /* HASMODESIF_H_ */
#endif /*FSFW_MODES_HASMODESIF_H_ */

74
modes/ModeHelper.cpp
View File

@ -1,48 +1,48 @@
#include "HasModesIF.h"
#include "ModeHelper.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
ModeHelper::ModeHelper(HasModesIF *owner) :
theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode(
HasModesIF::SUBMODE_NONE), owner(owner), parentQueueId(0), forced(
false) {
}
commandedMode(HasModesIF::MODE_OFF),
commandedSubmode(HasModesIF::SUBMODE_NONE),
owner(owner), forced(false) {}
ModeHelper::~ModeHelper() {
}
ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
CommandMessage reply;
Mode_t mode;
Submode_t submode;
switch (message->getCommand()) {
switch (command->getCommand()) {
case ModeMessage::CMD_MODE_COMMAND_FORCED:
forced = true;
/* NO BREAK falls through*/
case ModeMessage::CMD_MODE_COMMAND: {
mode = ModeMessage::getMode(message);
submode = ModeMessage::getSubmode(message);
mode = ModeMessage::getMode(command);
submode = ModeMessage::getSubmode(command);
uint32_t timeout;
ReturnValue_t result = owner->checkModeCommand(mode, submode, &timeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
ModeMessage::cantReachMode(&reply, result);
MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
owner->getCommandQueue());
ModeMessage::setCantReachMode(&reply, result);
MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
owner->getCommandQueue());
break;
}
//Free to start transition
theOneWhoCommandedAMode = message->getSender();
theOneWhoCommandedAMode = command->getSender();
commandedMode = mode;
commandedSubmode = submode;
if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
if ((parentQueueId != MessageQueueIF::NO_QUEUE)
&& (theOneWhoCommandedAMode != parentQueueId)) {
owner->setToExternalControl();
}
countdown.setTimeout(timeout);
owner->startTransition(mode, submode);
}
break;
@ -50,8 +50,8 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
owner->getMode(&mode, &submode);
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode,
submode);
MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
owner->getCommandQueue());
MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
owner->getCommandQueue());
}
break;
case ModeMessage::CMD_MODE_ANNOUNCE:
@ -71,27 +71,45 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
return initialize();
}
void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
void ModeHelper::modeChanged(Mode_t ownerMode, Submode_t ownerSubmode) {
forced = false;
sendModeReplyMessage(ownerMode, ownerSubmode);
sendModeInfoMessage(ownerMode, ownerSubmode);
theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
}
void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
Submode_t ownerSubmode) {
CommandMessage reply;
if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
if ((mode != commandedMode) || (submode != commandedSubmode)) {
if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE)
{
if (ownerMode != commandedMode or ownerSubmode != commandedSubmode)
{
ModeMessage::setModeMessage(&reply,
ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
} else {
ModeMessage::REPLY_WRONG_MODE_REPLY, ownerMode,
ownerSubmode);
}
else
{
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY,
mode, submode);
ownerMode, ownerSubmode);
}
MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
owner->getCommandQueue());
owner->getCommandQueue());
}
}
void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
Submode_t ownerSubmode) {
CommandMessage reply;
if (theOneWhoCommandedAMode != parentQueueId
&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
submode);
MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
and parentQueueId != MessageQueueIF::NO_QUEUE)
{
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
ownerMode, ownerSubmode);
MessageQueueSenderIF::sendMessage(parentQueueId, &reply,
owner->getCommandQueue());
}
theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
}
void ModeHelper::startTimer(uint32_t timeoutMs) {

20
modes/ModeHelper.h
View File

@ -1,7 +1,8 @@
#ifndef MODEHELPER_H_
#define MODEHELPER_H_
#ifndef FSFW_MODES_MODEHELPER_H_
#define FSFW_MODES_MODEHELPER_H_
#include "ModeMessage.h"
#include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../timemanager/Countdown.h"
@ -9,7 +10,7 @@ class HasModesIF;
class ModeHelper {
public:
MessageQueueId_t theOneWhoCommandedAMode;
MessageQueueId_t theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
Mode_t commandedMode;
Submode_t commandedSubmode;
@ -19,14 +20,14 @@ public:
ReturnValue_t handleModeCommand(CommandMessage *message);
/**
*
* @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
* @param parentQueue the Queue id of the parent object.
* Set to 0 if no parent present
*/
void setParentQueue(MessageQueueId_t parentQueueId);
ReturnValue_t initialize(MessageQueueId_t parentQueueId);
ReturnValue_t initialize(void); //void is there to stop eclipse CODAN from falsely reporting an error
ReturnValue_t initialize(void);
void modeChanged(Mode_t mode, Submode_t submode);
@ -39,11 +40,14 @@ public:
void setForced(bool forced);
protected:
HasModesIF *owner;
MessageQueueId_t parentQueueId;
MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
Countdown countdown;
bool forced;
private:
void sendModeReplyMessage(Mode_t ownerMode, Submode_t ownerSubmode);
void sendModeInfoMessage(Mode_t ownerMode, Submode_t ownerSubmode);
};
#endif /* MODEHELPER_H_ */
#endif /* FSFW_MODES_MODEHELPER_H_ */

8
modes/ModeMessage.cpp
View File

@ -8,12 +8,11 @@ Submode_t ModeMessage::getSubmode(const CommandMessage* message) {
return message->getParameter2();
}
ReturnValue_t ModeMessage::setModeMessage(CommandMessage* message, Command_t command,
Mode_t mode, Submode_t submode) {
void ModeMessage::setModeMessage(CommandMessage* message,
Command_t command, Mode_t mode, Submode_t submode) {
message->setCommand( command );
message->setParameter( mode );
message->setParameter2( submode );
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ModeMessage::getCantReachModeReason(const CommandMessage* message) {
@ -24,7 +23,8 @@ void ModeMessage::clear(CommandMessage* message) {
message->setCommand(CommandMessage::CMD_NONE);
}
void ModeMessage::cantReachMode(CommandMessage* message, ReturnValue_t reason) {
void ModeMessage::setCantReachMode(CommandMessage* message,
ReturnValue_t reason) {
message->setCommand(REPLY_CANT_REACH_MODE);
message->setParameter(reason);
message->setParameter2(0);

20
modes/ModeMessage.h
View File

@ -1,12 +1,5 @@
/**
* @file ModeMessage.h
* @brief This file defines the ModeMessage class.
* @date 17.07.2013
* @author baetz
*/
#ifndef MODEMESSAGE_H_
#define MODEMESSAGE_H_
#ifndef FSFW_MODES_MODEMESSAGE_H_
#define FSFW_MODES_MODEMESSAGE_H_
#include "../ipc/CommandMessage.h"
@ -30,11 +23,12 @@ public:
static Mode_t getMode(const CommandMessage* message);
static Submode_t getSubmode(const CommandMessage* message);
static ReturnValue_t setModeMessage(CommandMessage* message,
static ReturnValue_t getCantReachModeReason(const CommandMessage* message);
static void setModeMessage(CommandMessage* message,
Command_t command, Mode_t mode, Submode_t submode);
static void cantReachMode(CommandMessage* message, ReturnValue_t reason);
static ReturnValue_t getCantReachModeReason(const CommandMessage* message);
static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
static void clear(CommandMessage* message);
};
#endif /* MODEMESSAGE_H_ */
#endif /* FSFW_MODES_MODEMESSAGE_H_ */

14
objectmanager/frameworkObjects.h
View File

@ -4,13 +4,13 @@
namespace objects {
enum framework_objects {
// Default verification reporter.
PUS_SERVICE_1 = 0x53000001,
PUS_SERVICE_2 = 0x53000002,
PUS_SERVICE_5 = 0x53000005,
PUS_SERVICE_8 = 0x53000008,
PUS_SERVICE_9 = 0x53000009,
PUS_SERVICE_17 = 0x53000017,
PUS_SERVICE_200 = 0x53000200,
PUS_SERVICE_1_VERIFICATION = 0x53000001,
PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
PUS_SERVICE_9_TIME_MGMT = 0x53000009,
PUS_SERVICE_17_TEST = 0x53000017,
PUS_SERVICE_200_MODE_MGMT = 0x53000200,
//Generic IDs for IPC, modes, health, events
HEALTH_TABLE = 0x53010000,

14
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -8,7 +8,7 @@ const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)()) :
started(false), handle(NULL), pst(overallPeriod * 1000) {
started(false), handle(nullptr), pst(overallPeriod * 1000) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
// All additional attributes are applied to the object.
@ -62,8 +62,10 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, this);
ExecutableObjectIF* handler =
objectManager->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK;
}
@ -85,6 +87,8 @@ void FixedTimeslotTask::taskFunctionality() {
// start time for the first entry.
auto slotListIter = pst.current;
pst.intializeSequenceAfterTaskCreation();
//The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;
TickType_t interval = pdMS_TO_TICKS(intervalMs);
@ -143,10 +147,6 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
}
void FixedTimeslotTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}

9
osal/FreeRTOS/FixedTimeslotTask.h
View File

@ -1,12 +1,11 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include "FreeRTOSTaskIF.h"
#include "../../devicehandlers/FixedSlotSequence.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/Typedef.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
@ -99,4 +98,4 @@ protected:
void handleMissedDeadline();
};
#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
#endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */

131
osal/FreeRTOS/MessageQueue.cpp
View File

@ -1,41 +1,76 @@
#include "MessageQueue.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
defaultDestination(0),lastPartner(0) {
handle = xQueueCreate(message_depth, max_message_size);
if (handle == NULL) {
sif::error << "MessageQueue creation failed" << std::endl;
// TODO I guess we should have a way of checking if we are in an ISR and then
// use the "fromISR" versions of all calls
// As a first step towards this, introduces system context variable which needs
// to be switched manually
// Haven't found function to find system context.
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) {
sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
}
}
MessageQueue::~MessageQueue() {
if (handle != NULL) {
if (handle != nullptr) {
vQueueDelete(handle);
}
}
void MessageQueue::switchSystemContext(CallContext callContext) {
this->callContext = callContext;
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
if (this->lastPartner != 0) {
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
callContext);
}
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
if (result != pdPASS) {
if (not ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->
get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if(status == HasReturnvaluesIF::RETURN_OK) {
@ -44,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
message->getBuffer()), 0);
if (result == pdPASS){
this->lastPartner = message->getSender();
return HasReturnvaluesIF::RETURN_OK;
@ -66,50 +102,55 @@ 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) {
defaultDestinationSet = true;
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return defaultDestination;
}
bool MessageQueue::isDefaultDestinationSet() const {
return 0;
return defaultDestinationSet;
}
// static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
message->setSender(sentFrom);
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault, CallContext callContext) {
BaseType_t result = pdFALSE;
QueueHandle_t destination = nullptr;
BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
return MessageQueueIF::DESTINVATION_INVALID;
}
else {
destination = reinterpret_cast<QueueHandle_t>(sendTo);
}
return HasReturnvaluesIF::RETURN_OK;
message->setSender(sentFrom);
if(callContext == CallContext::TASK) {
result = xQueueSendToBack(destination,
static_cast<const void*>(message->getBuffer()), 0);
}
else {
/* If the call context is from an interrupt,
* request a context switch if a higher priority task
* was blocked by the interrupt. */
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
static_cast<const void*>(message->getBuffer()),
&xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken == pdTRUE) {
TaskManagement::requestContextSwitch(callContext);
}
}
return handleSendResult(result, ignoreFault);
}

243
osal/FreeRTOS/MessageQueue.h
View File

@ -1,159 +1,150 @@
#ifndef MESSAGEQUEUE_H_
#define MESSAGEQUEUE_H_
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
#include "../../ipc/MessageQueueMessage.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <FreeRTOS.h>
#include <queue.h>
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>
#include <fsfw/ipc/MessageQueueMessage.h>
//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
// TODO: this class assumes that MessageQueueId_t is the same size as void*
// (the FreeRTOS handle type), compiler will catch this but it might be nice
// to have something checking or even an always working solution
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
/**
* @brief This class manages sending and receiving of message queue messages.
* @brief This class manages sending and receiving of
* message queue messages.
* @details
* Message queues are used to pass asynchronous messages between processes.
* They work like post boxes, where all incoming messages are stored in FIFO
* order. This class creates a new receiving queue and provides methods to fetch
* received messages. Being a child of MessageQueueSender, this class also
* provides methods to send a message to a user-defined or a default destination.
* In addition it also provides a reply method to answer to the queue it
* received its last message from.
*
* @details Message queues are used to pass asynchronous messages between processes.
* They work like post boxes, where all incoming messages are stored in FIFO
* order. This class creates a new receiving queue and provides methods to fetch
* received messages. Being a child of MessageQueueSender, this class also provides
* methods to send a message to a user-defined or a default destination. In addition
* it also provides a reply method to answer to the queue it received its last message
* from.
* The MessageQueue should be used as "post box" for a single owning object. So all
* message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class makes
* use of the operating system calls provided.
* \ingroup message_queue
* The MessageQueue should be used as "post box" for a single owning object.
* So all message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class
* makes use of the operating system calls provided.
*
* Please keep in mind that FreeRTOS offers different calls for message queue
* operations if called from an ISR.
* For now, the system context needs to be switched manually.
* @ingroup osal
* @ingroup message_queue
*/
class MessageQueue : public MessageQueueIF {
friend class MessageQueueSenderIF;
public:
/**
* @brief The constructor initializes and configures the message queue.
* @details By making use of the according operating system call, a message queue is created
* and initialized. The message depth - the maximum number of messages to be
* buffered - may be set with the help of a parameter, whereas the message size is
* automatically set to the maximum message queue message size. The operating system
* sets the message queue id, or i case of failure, it is set to zero.
* @param message_depth The number of messages to be buffered before passing an error to the
* sender. Default is three.
* @param max_message_size With this parameter, the maximum message size can be adjusted.
* This should be left default.
* @details
* By making use of the according operating system call, a message queue
* is created and initialized. The message depth - the maximum number of
* messages to be buffered - may be set with the help of a parameter,
* whereas the message size is automatically set to the maximum message
* queue message size. The operating system sets the message queue id, or
* in case of failure, it is set to zero.
* @param message_depth
* The number of messages to be buffered before passing an error to the
* sender. Default is three.
* @param max_message_size
* With this parameter, the maximum message size can be adjusted.
* This should be left default.
*/
MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
MessageQueue( size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/**
* @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system.
* @details This is accomplished by using the delete call provided
* by the operating system.
*/
virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
* queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
* This function is used to switch the call context. This has to be called
* if a message is sent or received from an ISR!
* @param callContext
*/
void switchSystemContext(CallContext callContext);
/** MessageQueueIF implementation */
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault = false );
/**
* @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( MessageQueueMessage* message );
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (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( MessageQueueMessage* message );
MessageQueueMessageIF* message, bool ignoreFault = false) override;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message,
MessageQueueId_t *receivedFrom);
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in the
* lastPartner attribute. Else, the lastPartner information remains untouched, the
* 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(MessageQueueMessage* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
* @return RETURN_OK on success.
*/
ReturnValue_t flush(uint32_t* count);
/**
* @brief This method returns the message queue id of the last communication partner.
*/
MessageQueueId_t getLastPartner() const;
/**
* @brief This method returns the message queue id of this class's message queue.
*/
MessageQueueId_t getId() const;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* 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, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination);
/**
* \brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const;
ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
MessageQueueId_t getLastPartner() const override;
MessageQueueId_t getId() const override;
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
bool isDefaultDestinationSet() const;
protected:
/**
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* 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.
* @brief Implementation to be called from any send Call within
* MessageQueue and MessageQueueSenderIF.
* @details
* This method takes the message provided, adds the sentFrom information and
* passes it on to the destination provided with an operating system call.
* The OS's return value is returned.
* @param sendTo
* This parameter specifies the message queue id to send the message to.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id into
* the message. 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.
* @param context Specify whether call is made from task or from an ISR.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private:
bool defaultDestinationSet = false;
QueueHandle_t handle;
MessageQueueId_t defaultDestination;
MessageQueueId_t lastPartner;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
const size_t maxMessageSize;
//! Stores the current system context
CallContext callContext = CallContext::TASK;
};
#endif /* MESSAGEQUEUE_H_ */
#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */

4
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -133,10 +133,6 @@ TaskHandle_t PeriodicTask::getTaskHandle() {
}
void PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}

19
osal/FreeRTOS/QueueFactory.cpp
View File

@ -1,18 +1,21 @@
#include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/QueueFactory.h"
QueueFactory* QueueFactory::factoryInstance = NULL;
QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);
}
QueueFactory* QueueFactory::instance() {
if (factoryInstance == NULL) {
if (factoryInstance == nullptr) {
factoryInstance = new QueueFactory;
}
return factoryInstance;
@ -24,9 +27,9 @@ QueueFactory::QueueFactory() {
QueueFactory::~QueueFactory() {
}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
size_t maxMessageSize) {
return new MessageQueue(message_depth, maxMessageSize);
return new MessageQueue(messageDepth, maxMessageSize);
}
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

14
osal/linux/FixedTimeslotTask.cpp
View File

@ -1,5 +1,5 @@
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "FixedTimeslotTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <limits.h>
@ -39,13 +39,16 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, this);
ExecutableObjectIF* executableObject =
objectManager->get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep,
executableObject,this);
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
" not found, not adding it to pst" << std::dec << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -58,6 +61,9 @@ void FixedTimeslotTask::taskFunctionality() {
if (!started) {
suspend();
}
pst.intializeSequenceAfterTaskCreation();
//The start time for the first entry is read.
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t interval = pst.getIntervalToNextSlotMs();

10
osal/linux/FixedTimeslotTask.h
View File

@ -1,9 +1,9 @@
#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#ifndef FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../devicehandlers/FixedSlotSequence.h"
#include "PosixThread.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/FixedSlotSequence.h"
#include <pthread.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
@ -74,4 +74,4 @@ private:
bool started;
};
#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

107
osal/linux/MessageQueue.cpp
View File

@ -1,17 +1,19 @@
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "MessageQueue.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include <fstream>
#include <fcntl.h> /* For O_* constants */
#include <sys/stat.h> /* For mode constants */
#include <cstring>
#include <errno.h>
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE) {
defaultDestination(MessageQueueIF::NO_QUEUE),
maxMessageSize(maxMessageSize) {
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
mq_attr attributes;
this->id = 0;
@ -46,7 +48,7 @@ MessageQueue::~MessageQueue() {
status = mq_unlink(name);
if(status != 0){
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
<< strerror(errno) <<std::endl;
<< strerror(errno) << std::endl;
}
}
@ -61,22 +63,27 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
// This happens if the msg_max value is not large enough
// It is ignored if the executable is run in privileged mode.
// Run the unlockRealtime script or grant the mode manually by using:
// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
// Persistent solution for session:
// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
// Permanent solution:
// sudo nano /etc/sysctl.conf
// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
// Apply changes with: sudo sysctl -p
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
sif::error << "MessageQueue::MessageQueue: Default MQ size "
<< defaultMqMaxMsg << " is too small for requested size "
<< messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" << std::endl;
}
break;
}
@ -118,15 +125,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
@ -134,21 +141,34 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if(message == nullptr) {
sif::error << "MessageQueue::receiveMessage: Message is "
"nullptr!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(message->getMaximumMessageSize() < maxMessageSize) {
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
unsigned int messagePriority = 0;
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
message->MAX_MESSAGE_SIZE,&messagePriority);
message->getMaximumMessageSize(),&messagePriority);
if (status > 0) {
this->lastPartner = message->getSender();
//Check size of incoming message.
if (message->messageSize < message->getMinimumMessageSize()) {
if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
@ -158,7 +178,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
} else {
//No message was received. Keep lastPartner anyway, I might send
//something later. But still, delete packet content.
memset(message->getData(), 0, message->MAX_DATA_SIZE);
memset(message->getData(), 0, message->getMaximumMessageSize());
switch(errno){
case EAGAIN:
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@ -258,18 +278,19 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return this->defaultDestination;
}
@ -281,11 +302,18 @@ bool MessageQueue::isDefaultDestinationSet() const {
uint16_t MessageQueue::queueCounter = 0;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
if(message == nullptr) {
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
"nullptr!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
message->setSender(sentFrom);
int result = mq_send(sendTo,
reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
reinterpret_cast<const char*>(message->getBuffer()),
message->getMessageSize(),0);
//TODO: Check if we're in ISR.
if (result != 0) {
@ -303,13 +331,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
//MQ_NONBLOCK flag was set in its attributes, and the
//specified queue is full.
return MessageQueueIF::FULL;
case EBADF:
case EBADF: {
//mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
<< " sent from " << sentFrom << std::endl;
/*NO BREAK*/
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
<< " destination invalid." << std::endl;
sif::error << strerror(errno) << " in "
<<"mq_send to: " << sendTo << " sent from "
<< sentFrom << std::endl;
return DESTINVATION_INVALID;
}
case EINTR:
//The call was interrupted by a signal.
case EINVAL:

30
osal/linux/MessageQueue.h
View File

@ -1,5 +1,5 @@
#ifndef MESSAGEQUEUE_H_
#define MESSAGEQUEUE_H_
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
@ -56,14 +56,14 @@ public:
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault = false );
MessageQueueMessageIF* message, bool ignoreFault = false );
/**
* @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.
*/
virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
@ -71,7 +71,7 @@ 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( MessageQueueMessage* message );
ReturnValue_t reply( MessageQueueMessageIF* message );
/**
* @brief This function reads available messages from the message queue and returns the sender.
@ -80,7 +80,7 @@ public:
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message,
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom);
/**
@ -91,7 +91,7 @@ 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(MessageQueueMessage* message);
ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
@ -114,7 +114,9 @@ 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, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false );
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false );
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
@ -122,7 +124,8 @@ public:
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief This method is a simple setter for the default destination.
*/
@ -145,7 +148,9 @@ protected:
* 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.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false);
private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this attribute.
@ -171,11 +176,12 @@ private:
/**
* The name of the message queue, stored for unlinking
*/
char name[5];
char name[16];
static uint16_t queueCounter;
const size_t maxMessageSize;
ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
};
#endif /* MESSAGEQUEUE_H_ */
#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */

12
osal/linux/QueueFactory.cpp
View File

@ -1,15 +1,21 @@
#include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
#include "../../ipc/messageQueueDefinitions.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <mqueue.h>
#include <errno.h>
#include "MessageQueue.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);

14
pus/CService200ModeCommanding.cpp
View File

@ -107,13 +107,23 @@ ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
const CommandMessage *reply, object_id_t objectId) {
ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
ModeMessage::getSubmode(reply));
return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
ReturnValue_t result = sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
if(result == RETURN_OK){
// We want to produce an error here in any case because the mode was not correct
return RETURN_FAILED;
}
return result;
}
ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
const CommandMessage *reply, object_id_t objectId) {
CantReachModePacket cantReachModePacket(objectId,
ModeMessage::getCantReachModeReason(reply));
return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
ReturnValue_t result = sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
&cantReachModePacket);
if(result == RETURN_OK){
// We want to produce an error here in any case because the mode was not reached
return RETURN_FAILED;
}
return result;
}

2
returnvalues/HasReturnvaluesIF.h
View File

@ -2,7 +2,7 @@
#define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
#include "FwClassIds.h"
#include <config/returnvalues/classIds.h>
#include <returnvalues/classIds.h>
#include <cstdint>
#define MAKE_RETURN_CODE( number ) ((INTERFACE_ID << 8) + (number))

88
storagemanager/ConstStorageAccessor.cpp Normal file
View File

@ -0,0 +1,88 @@
#include "ConstStorageAccessor.h"
#include "StorageManagerIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
storeId(storeId) {}
ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
StorageManagerIF* store):
storeId(storeId), store(store) {
internalState = AccessState::ASSIGNED;
}
ConstStorageAccessor::~ConstStorageAccessor() {
if(deleteData and store != nullptr) {
store->deleteData(storeId);
}
}
ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
constDataPointer(other.constDataPointer), storeId(other.storeId),
size_(other.size_), store(other.store), deleteData(other.deleteData),
internalState(other.internalState) {
// This prevent premature deletion
other.store = nullptr;
}
ConstStorageAccessor& ConstStorageAccessor::operator=(
ConstStorageAccessor&& other) {
constDataPointer = other.constDataPointer;
storeId = other.storeId;
store = other.store;
size_ = other.size_;
deleteData = other.deleteData;
this->store = other.store;
// This prevents premature deletion
other.store = nullptr;
return *this;
}
const uint8_t* ConstStorageAccessor::data() const {
return constDataPointer;
}
size_t ConstStorageAccessor::size() const {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
}
return size_;
}
ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
size_t maxSize) {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(size_ > maxSize) {
sif::error << "StorageAccessor: Supplied buffer not large enough"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
std::copy(constDataPointer, constDataPointer + size_, pointer);
return HasReturnvaluesIF::RETURN_OK;
}
void ConstStorageAccessor::release() {
deleteData = false;
}
store_address_t ConstStorageAccessor::getId() const {
return storeId;
}
void ConstStorageAccessor::print() const {
if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
return;
}
arrayprinter::print(constDataPointer, size_);
}
void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
internalState = AccessState::ASSIGNED;
this->store = store;
}

116
storagemanager/ConstStorageAccessor.h Normal file
View File

@ -0,0 +1,116 @@
#ifndef FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
#define FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
#include "storeAddress.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstddef>
class StorageManagerIF;
/**
* @brief Helper classes to facilitate safe access to storages which is also
* conforming to RAII principles
* @details
* Accessor class which can be returned by pool manager or passed and set by
* pool managers to have safe access to the pool resources.
*
* These helper can be used together with the StorageManager classes to manage
* access to a storage. It can take care of thread-safety while also providing
* mechanisms to automatically clear storage data.
*/
class ConstStorageAccessor {
//! StorageManager classes have exclusive access to private variables.
template<uint8_t NUMBER_OF_POOLS>
friend class PoolManager;
template<uint8_t NUMBER_OF_POOLS>
friend class LocalPool;
public:
/**
* @brief Simple constructor which takes the store ID of the storage
* entry to access.
* @param storeId
*/
ConstStorageAccessor(store_address_t storeId);
ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
/**
* @brief The destructor in default configuration takes care of
* deleting the accessed pool entry and unlocking the mutex
*/
virtual ~ConstStorageAccessor();
/**
* @brief Returns a pointer to the read-only data
* @return
*/
const uint8_t* data() const;
/**
* @brief Copies the read-only data to the supplied pointer
* @param pointer
*/
virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
/**
* @brief Calling this will prevent the Accessor from deleting the data
* when the destructor is called.
*/
void release();
/**
* Get the size of the data
* @return
*/
size_t size() const;
/**
* Get the storage ID.
* @return
*/
store_address_t getId() const;
void print() const;
/**
* @brief Move ctor and move assignment allow returning accessors as
* a returnvalue. They prevent resource being free prematurely.
* Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
* move-constructors-and-move-assignment-operators-cpp.md
* @param
* @return
*/
ConstStorageAccessor& operator= (ConstStorageAccessor&&);
ConstStorageAccessor(ConstStorageAccessor&&);
//! The copy ctor and copy assignemnt should be deleted implicitely
//! according to https://foonathan.net/2019/02/special-member-functions/
//! but I still deleted them to make it more explicit. (remember rule of 5).
ConstStorageAccessor& operator=(const ConstStorageAccessor&) = delete;
ConstStorageAccessor(const ConstStorageAccessor&) = delete;
protected:
const uint8_t* constDataPointer = nullptr;
store_address_t storeId;
size_t size_ = 0;
//! Managing pool, has to assign itself.
StorageManagerIF* store = nullptr;
bool deleteData = true;
enum class AccessState {
UNINIT,
ASSIGNED
};
//! Internal state for safety reasons.
AccessState internalState = AccessState::UNINIT;
/**
* Used by the pool manager instances to assign themselves to the
* accessor. This is necessary to delete the data when the acessor
* exits the scope ! The internal state will be considered read
* when this function is called, so take care all data is set properly as
* well.
* @param
*/
void assignStore(StorageManagerIF*);
};
#endif /* FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */

39
storagemanager/LocalPool.h
View File

@ -1,18 +1,14 @@
/**
* @file LocalPool
* @date 02.02.2012
* @author Bastian Baetz
* @brief This file contains the definition of the LocalPool class.
*/
#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
#define FSFW_STORAGEMANAGER_LOCALPOOL_H_
#include "../objectmanager/SystemObject.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "StorageManagerIF.h"
#include "../objectmanager/SystemObject.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../internalError/InternalErrorReporterIF.h"
#include <string.h>
#include "../storagemanager/StorageAccessor.h"
#include <cstring>
/**
* @brief The LocalPool class provides an intermediate data storage with
@ -27,6 +23,7 @@
* 0xFFFF-1 bytes.
* It is possible to store empty packets in the pool.
* The local pool is NOT thread-safe.
* @author Bastian Baetz
*/
template<uint8_t NUMBER_OF_POOLS = 5>
class LocalPool: public SystemObject, public StorageManagerIF {
@ -39,7 +36,7 @@ public:
/**
* @brief This is the default constructor for a pool manager instance.
* @details By passing two arrays of size NUMBER_OF_POOLS, the constructor
* allocates memory (with \c new) for store and size_list. These
* allocates memory (with @c new) for store and size_list. These
* regions are all set to zero on start up.
* @param setObjectId The object identifier to be set. This allows for
* multiple instances of LocalPool in the system.
@ -73,10 +70,17 @@ public:
size_t size, bool ignoreFault = false) override;
ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size,
uint8_t** p_data, bool ignoreFault = false) override;
ConstAccessorPair getData(store_address_t packet_id) override;
ReturnValue_t getData(store_address_t packet_id, ConstStorageAccessor&) override;
ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
size_t * size) override;
AccessorPair modifyData(store_address_t packet_id) override;
ReturnValue_t modifyData(store_address_t packet_id, StorageAccessor&) override;
ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
size_t * size) override;
virtual ReturnValue_t deleteData(store_address_t) override;
virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size,
store_address_t* storeId = NULL) override;
@ -84,7 +88,7 @@ public:
ReturnValue_t initialize() override;
protected:
/**
* With this helper method, a free element of \c size is reserved.
* With this helper method, a free element of @c size is reserved.
* @param size The minimum packet size that shall be reserved.
* @param[out] address Storage ID of the reserved data.
* @return - #RETURN_OK on success,
@ -97,7 +101,8 @@ protected:
private:
/**
* Indicates that this element is free.
* This value limits the maximum size of a pool. Change to larger data type if increase is required.
* This value limits the maximum size of a pool. Change to larger data type
* if increase is required.
*/
static const uint32_t STORAGE_FREE = 0xFFFFFFFF;
/**
@ -123,7 +128,9 @@ private:
* is also dynamically allocated there.
*/
uint32_t* size_list[NUMBER_OF_POOLS];
bool spillsToHigherPools; //!< A variable to determine whether higher n pools are used if the store is full.
//! A variable to determine whether higher n pools are used if
//! the store is full.
bool spillsToHigherPools;
/**
* @brief This method safely stores the given data in the given packet_id.
* @details It also sets the size in size_list. The method does not perform
@ -180,4 +187,4 @@ private:
#include "LocalPool.tpp"
#endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */
#endif /* FSFW_STORAGEMANAGER_LOCALPOOL_H_ */

63
storagemanager/LocalPool.tpp
View File

@ -1,5 +1,9 @@
#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
#define FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
#error Include LocalPool.h before LocalPool.tpp!
#endif
template<uint8_t NUMBER_OF_POOLS>
inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
@ -122,8 +126,9 @@ inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(store_address_t* storageId,
const uint8_t* data, size_t size, bool ignoreFault) {
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
store_address_t* storageId, const uint8_t* data, size_t size,
bool ignoreFault) {
ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
if (status == RETURN_OK) {
write(*storageId, data, size);
@ -144,15 +149,55 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ConstAccessorPair LocalPool<NUMBER_OF_POOLS>::getData(
store_address_t storeId) {
uint8_t* tempData = nullptr;
ConstStorageAccessor constAccessor(storeId, this);
ReturnValue_t status = modifyData(storeId, &tempData, &constAccessor.size_);
constAccessor.constDataPointer = tempData;
return ConstAccessorPair(status, std::move(constAccessor));
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(store_address_t storeId,
ConstStorageAccessor& storeAccessor) {
uint8_t* tempData = nullptr;
ReturnValue_t status = modifyData(storeId, &tempData, &storeAccessor.size_);
storeAccessor.assignStore(this);
storeAccessor.constDataPointer = tempData;
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
uint8_t* tempData = NULL;
uint8_t* tempData = nullptr;
ReturnValue_t status = modifyData(packet_id, &tempData, size);
*packet_ptr = tempData;
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline AccessorPair LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t storeId) {
StorageAccessor accessor(storeId, this);
ReturnValue_t status = modifyData(storeId, &accessor.dataPointer,
&accessor.size_);
accessor.assignConstPointer();
return AccessorPair(status, std::move(accessor));
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t storeId, StorageAccessor& storeAccessor) {
storeAccessor.assignStore(this);
ReturnValue_t status = modifyData(storeId, &storeAccessor.dataPointer,
&storeAccessor.size_);
storeAccessor.assignConstPointer();
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
@ -242,8 +287,8 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
}
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter == NULL){
return RETURN_FAILED;
if (internalErrorReporter == nullptr){
return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;
}
//Check if any pool size is large than the maximum allowed.
@ -251,10 +296,10 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
if (element_sizes[count] >= STORAGE_FREE) {
sif::error << "LocalPool::initialize: Pool is too large! "
"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
return RETURN_FAILED;
return StorageManagerIF::POOL_TOO_LARGE;
}
}
return RETURN_OK;
}
#endif
#endif /* FSFW_STORAGEMANAGER_LOCALPOOL_TPP_ */

30
storagemanager/PoolManager.h
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@ -1,17 +1,18 @@
#ifndef POOLMANAGER_H_
#define POOLMANAGER_H_
#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
#define FSFW_STORAGEMANAGER_POOLMANAGER_H_
#include "LocalPool.h"
#include "StorageAccessor.h"
#include "../ipc/MutexHelper.h"
/**
* @brief The PoolManager class provides an intermediate data storage with
* a fixed pool size policy for inter-process communication.
* @details Uses local pool calls but is thread safe by protecting the call
* with a lock.
* @author Bastian Baetz
*/
template <uint8_t NUMBER_OF_POOLS = 5>
class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
public:
@ -19,16 +20,25 @@ public:
const uint16_t element_sizes[NUMBER_OF_POOLS],
const uint16_t n_elements[NUMBER_OF_POOLS]);
//! @brief In the PoolManager's destructor all allocated memory is freed.
/**
* @brief In the PoolManager's destructor all allocated memory
* is freed.
*/
virtual ~PoolManager();
//! @brief LocalPool overrides for thread-safety.
/**
* @brief LocalPool overrides for thread-safety. Decorator function
* which wraps LocalPool calls with a mutex protection.
*/
ReturnValue_t deleteData(store_address_t) override;
ReturnValue_t deleteData(uint8_t* buffer, size_t size,
store_address_t* storeId = NULL) override;
ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
size_t* size) override;
store_address_t* storeId = nullptr) override;
void setMutexTimeout(uint32_t mutexTimeoutMs);
protected:
//! Default mutex timeout value to prevent permanent blocking.
uint32_t mutexTimeoutMs = 20;
ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
bool ignoreFault) override;
@ -43,4 +53,4 @@ protected:
#include "PoolManager.tpp"
#endif /* POOLMANAGER_H_ */
#endif /* FSFW_STORAGEMANAGER_POOLMANAGER_H_ */

21
storagemanager/PoolManager.tpp
View File

@ -1,6 +1,10 @@
#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
#error Include PoolManager.h before PoolManager.tpp!
#endif
template<uint8_t NUMBER_OF_POOLS>
inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
const uint16_t element_sizes[NUMBER_OF_POOLS],
@ -17,7 +21,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
const uint32_t size, store_address_t* address, bool ignoreFault) {
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
address,ignoreFault);
return status;
@ -29,7 +33,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
// debug << "PoolManager( " << translateObject(getObjectId()) <<
// " )::deleteData from store " << packet_id.pool_index <<
// ". id is "<< packet_id.packet_index << std::endl;
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
return status;
}
@ -37,19 +41,16 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
size_t size, store_address_t* storeId) {
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
size, storeId);
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id,
packet_ptr, size);
return status;
inline void PoolManager<NUMBER_OF_POOLS>::setMutexTimeout(
uint32_t mutexTimeoutMs) {
this->mutexTimeout = mutexTimeoutMs;
}
#endif
#endif /* FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ */

67
storagemanager/StorageAccessor.cpp Normal file
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@ -0,0 +1,67 @@
#include "StorageAccessor.h"
#include "StorageManagerIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
StorageAccessor::StorageAccessor(store_address_t storeId):
ConstStorageAccessor(storeId) {
}
StorageAccessor::StorageAccessor(store_address_t storeId,
StorageManagerIF* store):
ConstStorageAccessor(storeId, store) {
}
StorageAccessor& StorageAccessor::operator =(
StorageAccessor&& other) {
// Call the parent move assignment and also assign own member.
dataPointer = other.dataPointer;
StorageAccessor::operator=(std::move(other));
return * this;
}
// Call the parent move ctor and also transfer own member.
StorageAccessor::StorageAccessor(StorageAccessor&& other):
ConstStorageAccessor(std::move(other)), dataPointer(other.dataPointer) {
}
ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(size_ > maxSize) {
sif::error << "StorageAccessor: Supplied buffer not large "
"enough" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
std::copy(dataPointer, dataPointer + size_, pointer);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t* StorageAccessor::data() {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
}
return dataPointer;
}
ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
uint16_t offset) {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(offset + size > size_) {
sif::error << "StorageAccessor: Data too large for pool "
"entry!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
std::copy(data, data + size, dataPointer + offset);
return HasReturnvaluesIF::RETURN_OK;
}
void StorageAccessor::assignConstPointer() {
constDataPointer = dataPointer;
}

45
storagemanager/StorageAccessor.h Normal file
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@ -0,0 +1,45 @@
#ifndef FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_
#define FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_
#include "ConstStorageAccessor.h"
class StorageManagerIF;
/**
* @brief Child class for modifyable data. Also has a normal pointer member.
*/
class StorageAccessor: public ConstStorageAccessor {
//! StorageManager classes have exclusive access to private variables.
template<uint8_t NUMBER_OF_POOLS>
friend class PoolManager;
template<uint8_t NUMBER_OF_POOLS>
friend class LocalPool;
public:
StorageAccessor(store_address_t storeId);
StorageAccessor(store_address_t storeId, StorageManagerIF* store);
/**
* @brief Move ctor and move assignment allow returning accessors as
* a returnvalue. They prevent resource being freed prematurely.
* See: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
* move-constructors-and-move-assignment-operators-cpp.md
* @param
* @return
*/
StorageAccessor& operator=(StorageAccessor&&);
StorageAccessor(StorageAccessor&&);
ReturnValue_t write(uint8_t *data, size_t size,
uint16_t offset = 0);
uint8_t* data();
ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize) override;
private:
//! Non-const pointer for modifyable data.
uint8_t* dataPointer = nullptr;
//! For modifyable data, the const pointer is assigned to the normal
//! pointer by the pool manager so both access functions can be used safely
void assignConstPointer();
};
#endif /* FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_ */

112
storagemanager/StorageManagerIF.h
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@ -1,60 +1,17 @@
#ifndef STORAGEMANAGERIF_H_H
#define STORAGEMANAGERIF_H_H
#ifndef FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_
#define FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_
#include "StorageAccessor.h"
#include "storeAddress.h"
#include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <stddef.h>
/**
* @brief This union defines the type that identifies where a data packet is
* stored in the store.
* It consists of a raw part to read it as raw value and
* a structured part to use it in pool-like stores.
*/
union store_address_t {
/**
* Default Constructor, initializing to INVALID_ADDRESS
*/
store_address_t():raw(0xFFFFFFFF){}
#include <utility>
#include <cstddef>
/**
* Constructor to create an address object using the raw address
* @param rawAddress
*/
store_address_t(uint32_t rawAddress):raw(rawAddress){}
/**
* Constructor to create an address object using pool
* and packet indices
*
* @param poolIndex
* @param packetIndex
*/
store_address_t(uint16_t poolIndex, uint16_t packetIndex):
pool_index(poolIndex),packet_index(packetIndex) {}
/**
* A structure with two elements to access the store address pool-like.
*/
struct {
/**
* The index in which pool the packet lies.
*/
uint16_t pool_index;
/**
* The position in the chosen pool.
*/
uint16_t packet_index;
};
/**
* Alternative access to the raw value.
*/
uint32_t raw;
bool operator==(const store_address_t& other) const {
return raw == other.raw;
}
};
using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
/**
* @brief This class provides an interface for intermediate data storage.
@ -77,6 +34,7 @@ public:
static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID.
static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there.
static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5);
static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
@ -122,6 +80,29 @@ public:
*/
virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
store_address_t* storeId = nullptr) = 0;
/**
* @brief Access the data by supplying a store ID.
* @details
* A pair consisting of the retrieval result and an instance of a
* ConstStorageAccessor class is returned
* @param storeId
* @return Pair of return value and a ConstStorageAccessor instance
*/
virtual ConstAccessorPair getData(store_address_t storeId) = 0;
/**
* @brief Access the data by supplying a store ID and a helper
* instance
* @param storeId
* @param constAccessor Wrapper function to access store data.
* @return
*/
virtual ReturnValue_t getData(store_address_t storeId,
ConstStorageAccessor& constAccessor) = 0;
/**
* @brief getData returns an address to data and the size of the data
* for a given packet_id.
@ -135,8 +116,30 @@ public:
*/
virtual ReturnValue_t getData(store_address_t packet_id,
const uint8_t** packet_ptr, size_t* size) = 0;
/**
* Same as above, but not const and therefore modifiable.
* Modify data by supplying a store ID
* @param storeId
* @return Pair of return value and StorageAccessor helper
*/
virtual AccessorPair modifyData(store_address_t storeId) = 0;
/**
* Modify data by supplying a store ID and a StorageAccessor helper instance.
* @param storeId
* @param accessor Helper class to access the modifiable data.
* @return
*/
virtual ReturnValue_t modifyData(store_address_t storeId,
StorageAccessor& accessor) = 0;
/**
* Get pointer and size of modifiable data by supplying the storeId
* @param packet_id
* @param packet_ptr [out] Pointer to pointer of data to set
* @param size [out] Pointer to size to set
* @return
*/
virtual ReturnValue_t modifyData(store_address_t packet_id,
uint8_t** packet_ptr, size_t* size) = 0;
@ -155,6 +158,7 @@ public:
*/
virtual ReturnValue_t getFreeElement(store_address_t* storageId,
const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
/**
* Clears the whole store.
* Use with care!
@ -162,4 +166,4 @@ public:
virtual void clearStore() = 0;
};
#endif /* STORAGEMANAGERIF_H_ */
#endif /* FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_ */

55
storagemanager/storeAddress.h Normal file
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@ -0,0 +1,55 @@
#ifndef FSFW_STORAGEMANAGER_STOREADDRESS_H_
#define FSFW_STORAGEMANAGER_STOREADDRESS_H_
#include <cstdint>
/**
* This union defines the type that identifies where a data packet is
* stored in the store. It comprises of a raw part to read it as raw value and
* a structured part to use it in pool-like stores.
*/
union store_address_t {
/**
* Default Constructor, initializing to INVALID_ADDRESS
*/
store_address_t():raw(0xFFFFFFFF){}
/**
* Constructor to create an address object using the raw address
*
* @param rawAddress
*/
store_address_t(uint32_t rawAddress):raw(rawAddress){}
/**
* Constructor to create an address object using pool
* and packet indices
*
* @param poolIndex
* @param packetIndex
*/
store_address_t(uint16_t poolIndex, uint16_t packetIndex):
pool_index(poolIndex),packet_index(packetIndex){}
/**
* A structure with two elements to access the store address pool-like.
*/
struct {
/**
* The index in which pool the packet lies.
*/
uint16_t pool_index;
/**
* The position in the chosen pool.
*/
uint16_t packet_index;
};
/**
* Alternative access to the raw value.
*/
uint32_t raw;
bool operator==(const store_address_t& other) const {
return raw == other.raw;
}
};
#endif /* FSFW_STORAGEMANAGER_STOREADDRESS_H_ */

17
tasks/FixedSequenceSlot.cpp Normal file
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@ -0,0 +1,17 @@
#include "FixedSequenceSlot.h"
#include "PeriodicTaskIF.h"
#include <cstddef>
FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
int8_t setSequenceId, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask) : handlerId(handlerId),
pollingTimeMs(setTime), opcode(setSequenceId) {
if(executableObject == nullptr) {
return;
}
this->executableObject = executableObject;
this->executableObject->setTaskIF(executingTask);
}
FixedSequenceSlot::~FixedSequenceSlot() {}

46
devicehandlers/FixedSequenceSlot.h → tasks/FixedSequenceSlot.h
View File

@ -1,41 +1,41 @@
/**
* @file FixedSequenceSlot.h
* @brief This file defines the PollingSlot class.
* @date 19.12.2012
* @author baetz
*/
#ifndef FIXEDSEQUENCESLOT_H_
#define FIXEDSEQUENCESLOT_H_
#ifndef FSFW_TASKS_FIXEDSEQUENCESLOT_H_
#define FSFW_TASKS_FIXEDSEQUENCESLOT_H_
#include "ExecutableObjectIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../tasks/ExecutableObjectIF.h"
class PeriodicTaskIF;
/**
* @brief This class is the representation of a single polling sequence table entry.
*
* @details The PollingSlot class is the representation of a single polling
* sequence table entry.
* @brief This class is the representation of a single polling sequence
* table entry.
* @details
* The PollingSlot class is the representation of a single polling
* sequence table entry.
* @author baetz
*/
class FixedSequenceSlot {
public:
FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
int8_t setSequenceId, PeriodicTaskIF* executingTask );
int8_t setSequenceId, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask);
virtual ~FixedSequenceSlot();
object_id_t handlerId;
/**
* @brief Handler identifies which device handler object is executed in this slot.
* @brief Handler identifies which object is executed in this slot.
*/
ExecutableObjectIF* handler;
ExecutableObjectIF* executableObject = nullptr;
/**
* @brief This attribute defines when a device handler object is executed.
*
* @details The pollingTime attribute identifies the time the handler is executed in ms.
* It must be smaller than the period length of the polling sequence.
* @details
* The pollingTime attribute identifies the time the handler is
* executed in ms. It must be smaller than the period length of the
* polling sequence.
*/
uint32_t pollingTimeMs;
uint32_t pollingTimeMs;
/**
* @brief This value defines the type of device communication.
@ -43,7 +43,7 @@ public:
* @details The state of this value decides what communication routine is
* called in the PST executable or the device handler object.
*/
uint8_t opcode;
uint8_t opcode;
/**
* @brief Operator overload for the comparison operator to
@ -57,4 +57,4 @@ public:
};
#endif /* FIXEDSEQUENCESLOT_H_ */
#endif /* FSFW_TASKS_FIXEDSEQUENCESLOT_H_ */

95
devicehandlers/FixedSlotSequence.cpp → tasks/FixedSlotSequence.cpp
View File

@ -1,5 +1,6 @@
#include "FixedSlotSequence.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstdlib>
FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
lengthMs(setLengthMs) {
@ -12,7 +13,7 @@ FixedSlotSequence::~FixedSlotSequence() {
}
void FixedSlotSequence::executeAndAdvance() {
current->handler->performOperation(current->opcode);
current->executableObject->performOperation(current->opcode);
// if (returnValue != RETURN_OK) {
// this->sendErrorMessage( returnValue );
// }
@ -80,44 +81,82 @@ uint32_t FixedSlotSequence::getLengthMs() const {
return this->lengthMs;
}
void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask) {
this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
executionStep, executableObject, executingTask));
this->current = slotList.begin();
}
ReturnValue_t FixedSlotSequence::checkSequence() const {
if(slotList.empty()) {
sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
sif::error << "FixedSlotSequence::checkSequence:"
<< " Slot list is empty!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
auto slotIt = slotList.begin();
uint32_t count = 0;
uint32_t time = 0;
while (slotIt != slotList.end()) {
if (slotIt->handler == nullptr) {
sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
<< std::endl;
count++;
} else if (slotIt->pollingTimeMs < time) {
sif::error << "FixedSlotSequence::initialize: Time: "
<< slotIt->pollingTimeMs
<< " is smaller than previous with " << time << std::endl;
count++;
} else {
// All ok, print slot.
//info << "Current slot polling time: " << std::endl;
//info << std::dec << slotIt->pollingTimeMs << std::endl;
if(customCheckFunction != nullptr) {
ReturnValue_t result = customCheckFunction(slotList);
if(result != HasReturnvaluesIF::RETURN_OK) {
// Continue for now but print error output.
sif::error << "FixedSlotSequence::checkSequence:"
<< " Custom check failed!" << std::endl;
}
time = slotIt->pollingTimeMs;
slotIt++;
}
//info << "Number of elements in slot list: "
uint32_t errorCount = 0;
uint32_t time = 0;
for(const auto& slot: slotList) {
if (slot.executableObject == nullptr) {
errorCount++;
}
else if (slot.pollingTimeMs < time) {
sif::error << "FixedSlotSequence::checkSequence: Time: "
<< slot.pollingTimeMs << " is smaller than previous with "
<< time << std::endl;
errorCount++;
}
else {
// All ok, print slot.
//sif::info << "Current slot polling time: " << std::endl;
//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
}
time = slot.pollingTimeMs;
}
//sif::info << "Number of elements in slot list: "
// << slotList.size() << std::endl;
if (count > 0) {
if (errorCount > 0) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep, PeriodicTaskIF* executingTask) {
this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
executingTask));
this->current = slotList.begin();
ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
std::set<ExecutableObjectIF*> uniqueObjects;
uint32_t count = 0;
for(const auto& slot: slotList) {
// Ensure that each unique object is initialized once.
if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
ReturnValue_t result =
slot.executableObject->initializeAfterTaskCreation();
if(result != HasReturnvaluesIF::RETURN_OK) {
count++;
}
uniqueObjects.emplace(slot.executableObject);
}
}
if (count > 0) {
sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
"Counted " << count << " failed initializations!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
void FixedSlotSequence::addCustomCheck(ReturnValue_t
(*customCheckFunction)(const SlotList&)) {
this->customCheckFunction = customCheckFunction;
}

89
devicehandlers/FixedSlotSequence.h → tasks/FixedSlotSequence.h
View File

@ -1,26 +1,30 @@
#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
#ifndef FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
#define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
#include "FixedSequenceSlot.h"
#include "../objectmanager/SystemObject.h"
#include <set>
/**
* @brief This class is the representation of a Polling Sequence Table in software.
*
* @brief This class is the representation of a
* Polling Sequence Table in software.
* @details
* The FixedSlotSequence object maintains the dynamic execution of
* device handler objects.
* objects with stricter timing requirements for the FixedTimeslotTask.
*
* The main idea is to create a list of device handlers, to announce all
* handlers to thepolling sequence and to maintain a list of
* polling slot objects. This slot list represents the Polling Sequence Table
* in software.
* The main idea is to create a list of executable objects (for example
* device handlers), to announce all handlers to the polling sequence and to
* maintain a list of polling slot objects.
* This slot list represents the Polling Sequence Table in software.
*
* Each polling slot contains information to indicate when and
* which device handler shall be executed within a given polling period.
* The sequence is then executed by iterating through this slot list.
* Handlers are invoking by calling a certain function stored in the handler list.
* which executable object shall be executed within a given polling period.
* When adding a slot, a pointer to the executing task, a pointer to the
* executable object and a step number can be passed. The step number will be
* passed to the periodic handler.
* The sequence is executed by iterating through the slot sequence and
* executing the executable object in the correct timeslot.
*/
class FixedSlotSequence {
public:
@ -29,41 +33,44 @@ public:
/**
* @brief The constructor of the FixedSlotSequence object.
*
* @details The constructor takes two arguments, the period length and the init function.
*
* @param setLength The period length, expressed in ms.
*/
FixedSlotSequence(uint32_t setLengthMs);
/**
* @brief The destructor of the FixedSlotSequence object.
*
* @details The destructor frees all allocated memory by iterating through the slotList
* and deleting all allocated resources.
* @details
* The destructor frees all allocated memory by iterating through the
* slotList and deleting all allocated resources.
*/
virtual ~FixedSlotSequence();
/**
* @brief This is a method to add an PollingSlot object to slotList.
*
* @details Here, a polling slot object is added to the slot list. It is appended
* to the end of the list. The list is currently NOT reordered.
* Afterwards, the iterator current is set to the beginning of the list.
* @param Object ID of the object to add
* @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
* will be called inside the slot period.
* @param setSequenceId ID which can be used to distinguish
* different task operations
* @details
* Here, a polling slot object is added to the slot list. It is appended
* to the end of the list. The list is currently NOT reordered.
* Afterwards, the iterator current is set to the beginning of the list.
* @param handlerId ID of the object to add
* @param setTime
* Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
* will be called inside the slot period.
* @param setSequenceId
* ID which can be used to distinguish different task operations. This
* value will be passed to the executable function.
* @param
* @param
*/
void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask);
/**
* Checks if the current slot shall be executed immediately after the one before.
* This allows to distinguish between grouped and not grouped handlers.
* @brief Checks if the current slot shall be executed immediately
* after the one before.
* @details
* This allows to distinguish between grouped and separated handlers.
* @return - @c true if the slot has the same polling time as the previous
* - @c false else
*/
@ -125,12 +132,32 @@ public:
SlotListIter current;
/**
* Iterate through slotList and check successful creation.
* @brief Check and initialize slot list.
* @details
* Checks if timing is ok (must be ascending) and if all handlers were found.
* @return
*/
ReturnValue_t checkSequence() const;
/**
* @brief A custom check can be injected for the respective slot list.
* @details
* This can be used by the developer to check the validity of a certain
* sequence. The function will be run in the #checkSequence function.
* The general check will be continued for now if the custom check function
* fails but a diagnostic debug output will be given.
* @param customCheckFunction
*/
void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
/**
* @brief Perform any initialization steps required after the executing
* task has been created. This function should be called from the
* executing task!
* @return
*/
ReturnValue_t intializeSequenceAfterTaskCreation() const;
protected:
/**
@ -146,7 +173,9 @@ protected:
*/
SlotList slotList;
ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
uint32_t lengthMs;
};
#endif /* FIXEDSLOTSEQUENCE_H_ */
#endif /* FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ */

59
tcdistribution/CCSDSDistributor.cpp
View File

@ -1,31 +1,39 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "CCSDSDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/SpacePacketBase.h"
CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
object_id_t setObjectId):
TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
}
CCSDSDistributor::~CCSDSDistributor() {
CCSDSDistributor::~CCSDSDistributor() {}
}
iterator_t CCSDSDistributor::selectDestination() {
// debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* p_packet = NULL;
TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
// sif::debug << "CCSDSDistributor::selectDestination received: " <<
// this->currentMessage.getStorageId().pool_index << ", " <<
// this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* packet = nullptr;
size_t size = 0;
//TODO check returncode?
this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
SpacePacketBase current_packet( p_packet );
// info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl;
iterator_t position = this->queueMap.find( current_packet.getAPID() );
ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
&packet, &size );
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CCSDSDistributor::selectDestination: Getting data from"
" store failed!" << std::endl;
}
SpacePacketBase currentPacket(packet);
// sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
// << std::hex << currentPacket.getAPID() << std::dec << std::endl;
TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
if ( position != this->queueMap.end() ) {
return position;
} else {
//The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report.
return this->queueMap.find( this->default_apid );
//The APID was not found. Forward packet to main SW-APID anyway to
// create acceptance failure report.
return this->queueMap.find( this->defaultApid );
}
}
MessageQueueId_t CCSDSDistributor::getRequestQueue() {
@ -35,9 +43,9 @@ MessageQueueId_t CCSDSDistributor::getRequestQueue() {
ReturnValue_t CCSDSDistributor::registerApplication(
AcceptsTelecommandsIF* application) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( application->getIdentifier(), application->getRequestQueue() ) ).second;
if( errorCode == false ) {
auto insertPair = this->queueMap.emplace(application->getIdentifier(),
application->getRequestQueue());
if(not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
@ -46,9 +54,8 @@ ReturnValue_t CCSDSDistributor::registerApplication(
ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid,
MessageQueueId_t id) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( apid, id ) ).second;
if( errorCode == false ) {
auto insertPair = this->queueMap.emplace(apid, id);
if(not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
@ -62,7 +69,11 @@ uint16_t CCSDSDistributor::getIdentifier() {
ReturnValue_t CCSDSDistributor::initialize() {
ReturnValue_t status = this->TcDistributor::initialize();
this->tcStore = objectManager->get<StorageManagerIF>( objects::TC_STORE );
if (this->tcStore == NULL) status = RETURN_FAILED;
if (this->tcStore == nullptr) {
sif::error << "CCSDSDistributor::initialize: Could not initialize"
" TC store!" << std::endl;
status = RETURN_FAILED;
}
return status;
}

99
tcdistribution/CCSDSDistributor.h
View File

@ -1,58 +1,71 @@
#ifndef CCSDSDISTRIBUTOR_H_
#define CCSDSDISTRIBUTOR_H_
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../storagemanager/StorageManagerIF.h"
#include "CCSDSDistributorIF.h"
#include "TcDistributor.h"
#include "../tcdistribution/CCSDSDistributorIF.h"
#include "../tcdistribution/TcDistributor.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
/**
* An instantiation of the CCSDSDistributorIF.
* It receives Space Packets, and selects a destination depending on the APID of the telecommands.
* @brief An instantiation of the CCSDSDistributorIF.
* @details
* It receives Space Packets, and selects a destination depending on the
* APID of the telecommands.
* The Secondary Header (with Service/Subservice) is ignored.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF {
protected:
/**
* This implementation checks if an Application with fitting APID has registered and forwards the
* packet to the according message queue.
* If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure
* message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
iterator_t selectDestination();
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t default_apid;
/**
* A reference to the TC storage must be maintained, as this class handles pure Space Packets and there
* exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore;
/**
* The callback here handles the generation of acceptance success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class CCSDSDistributor : public TcDistributor,
public CCSDSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The constructor sets the default APID and calls the TcDistributor ctor with a certain object id.
* \c tcStore is set in the \c initialize method.
* @param set_default_apid The default APID, where packets with unknown destination are sent to.
* @brief The constructor sets the default APID and calls the
* TcDistributor ctor with a certain object id.
* @details
* @c tcStore is set in the @c initialize method.
* @param setDefaultApid The default APID, where packets with unknown
* destination are sent to.
*/
CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
/**
* The destructor is empty.
*/
~CCSDSDistributor();
MessageQueueId_t getRequestQueue();
ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id );
ReturnValue_t registerApplication( AcceptsTelecommandsIF* application );
uint16_t getIdentifier();
ReturnValue_t initialize();
virtual ~CCSDSDistributor();
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) override;
ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) override;
uint16_t getIdentifier() override;
ReturnValue_t initialize() override;
protected:
/**
* This implementation checks if an application with fitting APID has
* registered and forwards the packet to the according message queue.
* If the packet is not found, it returns the queue to @c defaultApid,
* where a Acceptance Failure message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ) override;
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t defaultApid;
/**
* A reference to the TC storage must be maintained, as this class handles
* pure Space Packets and there exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore = nullptr;
};
#endif /* CCSDSDISTRIBUTOR_H_ */
#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */

36
tcdistribution/CCSDSDistributorIF.h
View File

@ -1,34 +1,38 @@
#ifndef CCSDSDISTRIBUTORIF_H_
#define CCSDSDISTRIBUTORIF_H_
#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This is the Interface to a CCSDS Distributor.
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves,
* either by passing a pointer to themselves (and implementing the CCSDSApplicationIF,
* or by explicitly passing an APID and a MessageQueueId to route the TC's to.
* \ingroup tc_distribution
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register
* themselves, either by passing a pointer to themselves (and implementing the
* CCSDSApplicationIF), or by explicitly passing an APID and a MessageQueueId
* to route the TC's to.
* @ingroup tc_distribution
*/
class CCSDSDistributorIF {
public:
/**
* With this call, a class implementing the CCSDSApplicationIF can register at the
* distributor.
* With this call, a class implementing the CCSDSApplicationIF can register
* at the distributor.
* @param application A pointer to the Application to register.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication( AcceptsTelecommandsIF* application ) = 0;
virtual ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) = 0;
/**
* With this call, other Applications can register to the CCSDS distributor.
* This is done by passing an APID and a MessageQueueId to the method.
* @param apid The APID to register.
* @param id The MessageQueueId of the message queue to send the TC Packets to.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @param id The MessageQueueId of the message queue to send the
* TC Packets to.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id ) = 0;
virtual ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) = 0;
/**
* The empty virtual destructor.
*/
@ -37,4 +41,4 @@ public:
};
#endif /* CCSDSDISTRIBUTORIF_H_ */
#endif /* FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ */

125
tcdistribution/PUSDistributor.cpp
View File

@ -1,61 +1,71 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "CCSDSDistributorIF.h"
#include "PUSDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
RETURN_FAILED), packetSource(setPacketSource) {
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource) :
TcDistributor(setObjectId), checker(setApid), verifyChannel(),
tcStatus(RETURN_FAILED), packetSource(setPacketSource) {}
PUSDistributor::~PUSDistributor() {}
PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
// sif:: debug << "PUSDistributor::handlePacket received: "
// << this->current_packet_id.store_index << ", "
// << this->current_packet_id.packet_index << std::endl;
TcMqMapIter queueMapIt = this->queueMap.end();
if(this->currentPacket == nullptr) {
return queueMapIt;
}
this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket->getWholeData() != nullptr) {
tcStatus = checker.checkPacket(currentPacket);
#ifdef DEBUG
if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: Packet format "
<< "invalid, code "<< static_cast<int>(tcStatus)
<< std::endl;
}
#endif
uint32_t queue_id = currentPacket->getService();
queueMapIt = this->queueMap.find(queue_id);
}
else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#ifdef DEBUG
sif::debug << "PUSDistributor::handlePacket: Destination not found, "
<< "code "<< static_cast<int>(tcStatus) << std::endl;
#endif
}
if (tcStatus != RETURN_OK) {
return this->queueMap.end();
}
else {
return queueMapIt;
}
}
PUSDistributor::~PUSDistributor() {
}
iterator_t PUSDistributor::selectDestination() {
// debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
iterator_t queueMapIt = this->queueMap.end();
this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket.getWholeData() != NULL) {
tcStatus = checker.checkPacket(&currentPacket);
// info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl;
uint32_t queue_id = currentPacket.getService();
queueMapIt = this->queueMap.find(queue_id);
} else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
}
if (tcStatus != RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
<< std::endl;
return this->queueMap.end();
} else {
return queueMapIt;
}
}
//uint16_t PUSDistributor::createDestination( uint8_t service_id, uint8_t subservice_id ) {
// return ( service_id << 8 ) + subservice_id;
//}
ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
uint16_t serviceId = service->getIdentifier();
// sif::info << "Service ID: " << (int)serviceId << std::endl;
MessageQueueId_t queue = service->getRequestQueue();
errorCode = this->queueMap.insert(
std::pair<uint32_t, MessageQueueId_t>(serviceId, queue)).second;
if (errorCode == false) {
//TODO Return Code
returnValue = MessageQueueIF::NO_QUEUE;
auto returnPair = queueMap.emplace(serviceId, queue);
if (not returnPair.second) {
sif::error << "PUSDistributor::registerService: Service ID already"
" exists in map." << std::endl;
return SERVICE_ID_ALREADY_EXISTS;
}
return returnValue;
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t PUSDistributor::getRequestQueue() {
@ -68,13 +78,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
}
if (tcStatus != RETURN_OK) {
this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE,
&currentPacket, tcStatus);
//A failed packet is deleted immediately after reporting, otherwise it will block memory.
currentPacket.deletePacket();
currentPacket, tcStatus);
// A failed packet is deleted immediately after reporting,
// otherwise it will block memory.
currentPacket->deletePacket();
return RETURN_FAILED;
} else {
this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS,
&currentPacket);
currentPacket);
return RETURN_OK;
}
}
@ -84,11 +95,19 @@ uint16_t PUSDistributor::getIdentifier() {
}
ReturnValue_t PUSDistributor::initialize() {
currentPacket = new TcPacketStored();
if(currentPacket == nullptr) {
// Should not happen, memory allocation failed!
return ObjectManagerIF::CHILD_INIT_FAILED;
}
CCSDSDistributorIF* ccsdsDistributor =
objectManager->get<CCSDSDistributorIF>(packetSource);
if (ccsdsDistributor == NULL) {
return RETURN_FAILED;
} else {
return ccsdsDistributor->registerApplication(this);
if (ccsdsDistributor == nullptr) {
sif::error << "PUSDistributor::initialize: Packet source invalid."
<< " Make sure it exists and implements CCSDSDistributorIF!"
<< std::endl;
return RETURN_FAILED;
}
return ccsdsDistributor->registerApplication(this);
}

60
tcdistribution/PUSDistributor.h
View File

@ -1,67 +1,79 @@
#ifndef PUSDISTRIBUTOR_H_
#define PUSDISTRIBUTOR_H_
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "PUSDistributorIF.h"
#include "TcDistributor.h"
#include "TcPacketCheck.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/VerificationReporter.h"
/**
* This class accepts PUS Telecommands and forwards them to Application services.
* In addition, the class performs a formal packet check and sends acceptance success
* or failure messages.
* \ingroup tc_distribution
* This class accepts PUS Telecommands and forwards them to Application
* services. In addition, the class performs a formal packet check and
* sends acceptance success or failure messages.
* @ingroup tc_distribution
*/
class PUSDistributor: public TcDistributor,
public PUSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id.
* The ctor passes @c set_apid to the checker class and calls the
* TcDistribution ctor with a certain object id.
* @param setApid The APID of this receiving Application.
* @param setObjectId Object ID of the distributor itself
* @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF.
* @param setPacketSource Object ID of the source of TC packets.
* Must implement CCSDSDistributorIF.
*/
PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource);
/**
* The destructor is empty.
*/
virtual ~PUSDistributor();
ReturnValue_t registerService(AcceptsTelecommandsIF* service);
MessageQueueId_t getRequestQueue();
uint16_t getIdentifier();
ReturnValue_t initialize();
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t initialize() override;
uint16_t getIdentifier() override;
protected:
/**
* This attribute contains the class, that performs a formal packet check.
*/
TcPacketCheck checker;
/**
* With this class, verification messages are sent to the TC Verification service.
* With this class, verification messages are sent to the
* TC Verification service.
*/
VerificationReporter verifyChannel;
/**
* The currently handled packet is stored here.
*/
TcPacketStored currentPacket;
TcPacketStored* currentPacket = nullptr;
/**
* With this variable, the current check status is stored to generate acceptance messages later.
* With this variable, the current check status is stored to generate
* acceptance messages later.
*/
ReturnValue_t tcStatus;
const object_id_t packetSource;
/**
* This method reads the packet service, checks if such a service is registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification messages.
* @return Iterator to map entry of found service id or iterator to \c map.end().
* This method reads the packet service, checks if such a service is
* registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification
* messages.
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
iterator_t selectDestination();
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance success/failure messages.
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus);
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
};
#endif /* PUSDISTRIBUTOR_H_ */
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */

13
tcdistribution/PUSDistributorIF.h
View File

@ -1,11 +1,12 @@
#ifndef PUSDISTRIBUTORIF_H_
#define PUSDISTRIBUTORIF_H_
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This interface allows PUS Services to register themselves at a PUS Distributor.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class PUSDistributorIF {
public:
@ -17,10 +18,10 @@ public:
/**
* With this method, Services can register themselves at the PUS Distributor.
* @param service A pointer to the registering Service.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerService( AcceptsTelecommandsIF* service ) = 0;
};
#endif /* PUSDISTRIBUTORIF_H_ */
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */

28
tcdistribution/TcDistributor.cpp
View File

@ -1,12 +1,13 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "TcDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcservices/TmTcMessage.h"
#include "../ipc/QueueFactory.h"
TcDistributor::TcDistributor(object_id_t set_object_id) :
SystemObject(set_object_id), tcQueue(NULL) {
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
TcDistributor::TcDistributor(object_id_t objectId) :
SystemObject(objectId) {
tcQueue = QueueFactory::instance()->
createMessageQueue(DISTRIBUTER_MAX_PACKETS);
}
TcDistributor::~TcDistributor() {
@ -15,7 +16,6 @@ TcDistributor::~TcDistributor() {
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t status = RETURN_OK;
// debug << "TcDistributor: performing Operation." << std::endl;
for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = tcQueue->receiveMessage(&currentMessage)) {
status = handlePacket();
@ -29,7 +29,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t TcDistributor::handlePacket() {
iterator_t queueMapIt = this->selectDestination();
TcMqMapIter queueMapIt = this->selectDestination();
ReturnValue_t returnValue = RETURN_FAILED;
if (queueMapIt != this->queueMap.end()) {
returnValue = this->tcQueue->sendMessage(queueMapIt->second,
@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() {
}
void TcDistributor::print() {
sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
<< std::endl;
for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
it++) {
sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
<< std::endl;
sif::debug << "Distributor content is: " << std::endl
<< "ID\t| Message Queue ID" << std::endl;
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
for (const auto& queueMapIter: queueMap) {
sif::debug << queueMapIter.first << "\t| 0x" << queueMapIter.second
<< std::endl;
}
sif::debug << std::dec;
sif::debug << std::setfill(' ') << std::dec;
}

136
tcdistribution/TcDistributor.h
View File

@ -1,5 +1,6 @@
#ifndef TCDISTRIBUTOR_H_
#define TCDISTRIBUTOR_H_
#ifndef FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
#define FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
@ -9,16 +10,12 @@
#include "../ipc/MessageQueueIF.h"
#include <map>
/**
* \defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands belong to this group.
* @defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands
* belong to this group.
*/
/**
* This typedef simplifies writing down the \c map iterator.
*/
typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
/**
* This is the base class to implement distributors for Space Packets.
@ -28,62 +25,19 @@ typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
* message queue ids to some identifier. The process of unpacking the
* destination information from the packet is handled by the child class
* implementations.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
std::map<uint32_t, MessageQueueId_t> queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual iterator_t selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or \c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of operation
* after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns \c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt to send the TC.
* @return - \c RETURN_OK on success
* - \c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class TcDistributor : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
static constexpr ReturnValue_t SERVICE_ID_ALREADY_EXISTS = MAKE_RETURN_CODE(3);
/**
* Within the default constructor, the SystemObject id is set and the
* message queue is initialized.
@ -91,7 +45,7 @@ public:
* @param set_object_id This id is assigned to the distributor
* implementation.
*/
TcDistributor( object_id_t set_object_id );
TcDistributor(object_id_t objectId);
/**
* The destructor is empty, the message queues are not in the vicinity of
* this class.
@ -110,7 +64,59 @@ public:
* queueMap.
*/
void print();
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue = nullptr;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
TcMessageQueueMap queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual TcMqMapIter selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or @c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of
* operation after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns @c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt
* to send the TC.
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static constexpr uint8_t DISTRIBUTER_MAX_PACKETS = 128;
};
#endif /* TCDISTRIBUTOR_H_ */
#endif /* FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ */

24
tcdistribution/TcPacketCheck.cpp
View File

@ -1,31 +1,33 @@
#include "TcPacketCheck.h"
#include "../globalfunctions/CRC.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../storagemanager/StorageManagerIF.h"
#include "TcPacketCheck.h"
#include "../tmtcservices/VerificationCodes.h"
TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
TcPacketCheck::TcPacketCheck( uint16_t setApid ) : apid(setApid) {
}
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) {
uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(),
currentPacket->getFullSize() );
if ( calculated_crc != 0 ) {
return INCORRECT_CHECKSUM;
}
bool condition = !(current_packet->hasSecondaryHeader()) ||
current_packet->getPacketVersionNumber() != CCSDS_VERSION_NUMBER ||
!(current_packet->isTelecommand());
bool condition = (not currentPacket->hasSecondaryHeader()) or
(currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
(not currentPacket->isTelecommand());
if ( condition ) {
return INCORRECT_PRIMARY_HEADER;
}
if ( current_packet->getAPID() != this->apid )
if ( currentPacket->getAPID() != this->apid )
return ILLEGAL_APID;
if ( !current_packet->isSizeCorrect() ) {
if ( not currentPacket->isSizeCorrect() ) {
return INCOMPLETE_PACKET;
}
condition = (current_packet->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(current_packet->getPusVersionNumber() != PUS_VERSION_NUMBER);
condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER);
if ( condition ) {
return INCORRECT_SECONDARY_HEADER;
}

25
tcdistribution/TcPacketCheck.h
View File

@ -1,28 +1,29 @@
#ifndef TCPACKETCHECK_H_
#define TCPACKETCHECK_H_
#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
/**
* This class performs a formal packet check for incoming PUS Telecommand Packets.
* Currently, it only checks if the APID and CRC are correct.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcPacketCheck : public HasReturnvaluesIF {
protected:
/**
* Describes the version number a packet must have to pass.
*/
static const uint8_t CCSDS_VERSION_NUMBER = 0;
static constexpr uint8_t CCSDS_VERSION_NUMBER = 0;
/**
* Describes the secondary header a packet must have to pass.
*/
static const uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
/**
* Describes the TC Packet PUS Version Number a packet must have to pass.
*/
static const uint8_t PUS_VERSION_NUMBER = 1;
static constexpr uint8_t PUS_VERSION_NUMBER = 1;
/**
* The packet id each correct packet should have.
* It is composed of the APID and some static fields.
@ -41,19 +42,19 @@ public:
* The constructor only sets the APID attribute.
* @param set_apid The APID to set.
*/
TcPacketCheck( uint16_t set_apid );
TcPacketCheck( uint16_t setApid );
/**
* This is the actual method to formally check a certain Telecommand Packet.
* The packet's Application Data can not be checked here.
* @param current_packet The packt to check
* @return - \c RETURN_OK on success.
* - \c INCORRECT_CHECKSUM if checksum is invalid.
* - \c ILLEGAL_APID if APID does not match.
* @return - @c RETURN_OK on success.
* - @c INCORRECT_CHECKSUM if checksum is invalid.
* - @c ILLEGAL_APID if APID does not match.
*/
ReturnValue_t checkPacket( TcPacketStored* current_packet );
ReturnValue_t checkPacket( TcPacketStored* currentPacket );
uint16_t getApid() const;
};
#endif /* TCPACKETCHECK_H_ */
#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */

8
timemanager/TimeStamperIF.h
View File

@ -14,8 +14,12 @@ public:
static const uint8_t INTERFACE_ID = CLASS_ID::TIME_STAMPER_IF;
static const ReturnValue_t BAD_TIMESTAMP = MAKE_RETURN_CODE(1);
static const uint8_t MISSION_TIMESTAMP_SIZE = 8; //!< This is a mission-specific constant and determines the total size reserved for timestamps.
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize) = 0;
//! This is a mission-specific constant and determines the total
//! size reserved for timestamps.
//! TODO: Default define in FSFWConfig ?
static const uint8_t MISSION_TIMESTAMP_SIZE = 8;
virtual ReturnValue_t addTimeStamp(uint8_t* buffer,
const uint8_t maxSize) = 0;
virtual ~TimeStamperIF() {}
};

9
tmtcpacket/SpacePacketBase.cpp
View File

@ -1,6 +1,6 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "SpacePacketBase.h"
#include <string.h>
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
this->data = (SpacePacketPointer*) set_address;
@ -14,7 +14,8 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
return (this->data->header.packet_id_h & 0b11100000) >> 5;
}
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
//reset header to zero:
memset(data,0, sizeof(this->data->header) );
//Set TC/TM bit.
@ -81,7 +82,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
this->data->header.packet_length_l = ( new_length & 0x00FF );
}
uint32_t SpacePacketBase::getFullSize() {
size_t SpacePacketBase::getFullSize() {
//+1 is done because size in packet data length field is: size of data field -1
return this->getPacketDataLength() + sizeof(this->data->header) + 1;
}

14
tmtcpacket/SpacePacketBase.h
View File

@ -1,10 +1,11 @@
#ifndef SPACEPACKETBASE_H_
#define SPACEPACKETBASE_H_
#ifndef FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#include "ccsds_header.h"
#include <cstddef>
/**
* \defgroup tmtcpackets Space Packets
* @defgroup tmtcpackets Space Packets
* This is the group, where all classes associated with Telecommand and
* Telemetry packets belong to.
* The class hierarchy resembles the dependency between the different standards
@ -81,7 +82,8 @@ public:
*/
bool isTelecommand( void );
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount = 0);
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
uint16_t apid, uint16_t sequenceCount = 0);
/**
* The CCSDS header provides a secondary header flag (the fifth-highest bit),
* which is checked with this method.
@ -167,10 +169,10 @@ public:
* This method returns the full raw packet size.
* @return The full size of the packet in bytes.
*/
uint32_t getFullSize();
size_t getFullSize();
uint32_t getApidAndSequenceCount() const;
};
#endif /* SPACEPACKETBASE_H_ */
#endif /* FSFW_TMTCPACKET_SPACEPACKETBASE_H_ */

3
tmtcpacket/pus/PacketTimestampInterpreterIF.h
View File

@ -7,7 +7,8 @@ class TmPacketMinimal;
class PacketTimestampInterpreterIF {
public:
virtual ~PacketTimestampInterpreterIF() {}
virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet, timeval* timestamp) const = 0;
virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet,
timeval* timestamp) const = 0;
virtual ReturnValue_t getPacketTimeRaw(TmPacketMinimal* packet, const uint8_t** timePtr, uint32_t* size) const = 0;
};

70
tmtcpacket/pus/TcPacketBase.cpp
View File

@ -1,11 +1,14 @@
#include "../../globalfunctions/CRC.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TcPacketBase.h"
#include <string.h>
TcPacketBase::TcPacketBase(const uint8_t* set_data) :
SpacePacketBase(set_data) {
tcData = (TcPacketPointer*) set_data;
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
TcPacketBase::TcPacketBase(const uint8_t* setData) :
SpacePacketBase(setData) {
tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
}
TcPacketBase::~TcPacketBase() {
@ -13,28 +16,28 @@ TcPacketBase::~TcPacketBase() {
}
uint8_t TcPacketBase::getService() {
return tcData->data_field.service_type;
return tcData->dataField.service_type;
}
uint8_t TcPacketBase::getSubService() {
return tcData->data_field.service_subtype;
return tcData->dataField.service_subtype;
}
uint8_t TcPacketBase::getAcknowledgeFlags() {
return tcData->data_field.version_type_ack & 0b00001111;
return tcData->dataField.version_type_ack & 0b00001111;
}
const uint8_t* TcPacketBase::getApplicationData() const {
return &tcData->data;
return &tcData->appData;
}
uint16_t TcPacketBase::getApplicationDataSize() {
return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1;
return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
}
uint16_t TcPacketBase::getErrorControl() {
uint16_t size = getApplicationDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tcData->data;
uint8_t* p_to_buffer = &tcData->appData;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
@ -42,41 +45,42 @@ void TcPacketBase::setErrorControl() {
uint32_t full_size = getFullSize();
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getApplicationDataSize();
(&tcData->data)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL
(&tcData->appData)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->appData)[size + 1] = (crc) & 0X00FF; // CRCL
}
void TcPacketBase::setData(const uint8_t* p_Data) {
SpacePacketBase::setData(p_Data);
tcData = (TcPacketPointer*) p_Data;
void TcPacketBase::setData(const uint8_t* pData) {
SpacePacketBase::setData(pData);
tcData = (TcPacketPointer*) pData;
}
uint8_t TcPacketBase::getSecondaryHeaderFlag() {
return (tcData->data_field.version_type_ack & 0b10000000) >> 7;
return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
}
uint8_t TcPacketBase::getPusVersionNumber() {
return (tcData->data_field.version_type_ack & 0b01110000) >> 4;
return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
}
void TcPacketBase::print() {
uint8_t * wholeData = getWholeData();
sif::debug << "TcPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count) {
sif::debug << std::hex << (uint16_t) wholeData[count] << " ";
}
sif::debug << std::dec << std::endl;
sif::debug << "TcPacketBase::print: " << std::endl;
arrayprinter::print(getWholeData(), getFullSize());
}
void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
uint8_t ack, uint8_t service, uint8_t subservice) {
uint8_t ack, uint8_t service, uint8_t subservice) {
initSpacePacketHeader(true, true, apid, sequenceCount);
memset(&tcData->data_field, 0, sizeof(tcData->data_field));
setPacketDataLength(sizeof(tcData->data_field) + CRC_SIZE);
std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
//Data Field Header:
//Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000
tcData->data_field.version_type_ack = 0b00010000;
tcData->data_field.version_type_ack |= (ack & 0x0F);
tcData->data_field.service_type = service;
tcData->data_field.service_subtype = subservice;
//Set CCSDS_secondary_header_flag to 0 and version number to 001
tcData->dataField.version_type_ack = 0b00010000;
tcData->dataField.version_type_ack |= (ack & 0x0F);
tcData->dataField.service_type = service;
tcData->dataField.service_subtype = subservice;
}
size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
appDataLen + TcPacketBase::CRC_SIZE;
}

134
tmtcpacket/pus/TcPacketBase.h
View File

@ -1,7 +1,9 @@
#ifndef TCPACKETBASE_H_
#define TCPACKETBASE_H_
#ifndef TMTCPACKET_PUS_TCPACKETBASE_H_
#define TMTCPACKET_PUS_TCPACKETBASE_H_
#include "../../tmtcpacket/SpacePacketBase.h"
#include <cstddef>
/**
* This struct defines a byte-wise structured PUS TC Data Field Header.
@ -23,14 +25,14 @@ struct PUSTcDataFieldHeader {
*/
struct TcPacketPointer {
CCSDSPrimaryHeader primary;
PUSTcDataFieldHeader data_field;
uint8_t data;
PUSTcDataFieldHeader dataField;
uint8_t appData;
};
/**
* This class is the basic data handler for any ECSS PUS Telecommand packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* In addition to #SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TC Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
@ -39,67 +41,38 @@ struct TcPacketPointer {
* @ingroup tmtcpackets
*/
class TcPacketBase : public SpacePacketBase {
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
public:
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) + 2);
/**
* With this constant for the acknowledge field responses on all levels are expected.
*/
static const uint8_t ACK_ALL = 0b1111;
/**
* With this constant for the acknowledge field a response on acceptance is expected.
*/
static const uint8_t ACK_ACCEPTANCE = 0b0001;
/**
* With this constant for the acknowledge field a response on start of execution is expected.
*/
static const uint8_t ACK_START = 0b0010;
/**
* With this constant for the acknowledge field responses on execution steps are expected.
*/
static const uint8_t ACK_STEP = 0b0100;
/**
* With this constant for the acknowledge field a response on completion is expected.
*/
static const uint8_t ACK_COMPLETION = 0b1000;
/**
* With this constant for the acknowledge field no responses are expected.
*/
static const uint8_t ACK_NONE = 0b000;
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTcDataFieldHeader) + 2);
enum AckField {
//! No acknowledgements are expected.
ACK_NONE = 0b0000,
//! Acknowledgements on acceptance are expected.
ACK_ACCEPTANCE = 0b0001,
//! Acknowledgements on start are expected.
ACK_START = 0b0010,
//! Acknowledgements on step are expected.
ACK_STEP = 0b0100,
//! Acknowledfgement on completion are expected.
ACK_COMPLETION = 0b1000
};
static constexpr uint8_t ACK_ALL = ACK_ACCEPTANCE | ACK_START | ACK_STEP |
ACK_COMPLETION;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
* @param setData The position where the packet data lies.
*/
TcPacketBase( const uint8_t* set_data );
TcPacketBase( const uint8_t* setData );
/**
* This is the empty default destructor.
*/
virtual ~TcPacketBase();
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice);
/**
* This command returns the CCSDS Secondary Header Flag.
* It shall always be zero for PUS Packets. This is the
@ -166,22 +139,49 @@ public:
* current content of the packet.
*/
void setErrorControl();
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* p_data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Calculate full packet length from application data length.
* @param appDataLen
* @return
*/
static size_t calculateFullPacketLength(size_t appDataLen);
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
uint8_t service, uint8_t subservice);
/**
* With this method, the packet data pointer can be redirected to another
* location.
* This call overwrites the parent's setData method to set both its
* @c tc_data pointer and the parent's @c data pointer.
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* pData );
};
#endif /* TCPACKETBASE_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETBASE_H_ */

65
tmtcpacket/pus/TcPacketStored.cpp
View File

@ -1,37 +1,50 @@
#include "TcPacketStored.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TcPacketStored.h"
#include <string.h>
#include <cstring>
StorageManagerIF* TcPacketStored::store = nullptr;
TcPacketStored::TcPacketStored(store_address_t setAddress) :
TcPacketBase(NULL), storeAddress(setAddress) {
this->setStoreAddress(this->storeAddress);
TcPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t ack, uint8_t service,
uint8_t subservice, uint8_t sequence_count, const uint8_t* data,
uint32_t size) :
TcPacketBase(NULL) {
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
size_t size, uint8_t ack) :
TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!this->checkAndSetStore()) {
if (not this->checkAndSetStore()) {
return;
}
uint8_t* p_data = NULL;
uint8_t* pData = nullptr;
ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
(TC_PACKET_MIN_SIZE + size), &p_data);
(TC_PACKET_MIN_SIZE + size), &pData);
if (returnValue != this->store->RETURN_OK) {
sif::warning << "TcPacketStored: Could not get free element from store!"
<< std::endl;
return;
}
this->setData(p_data);
initializeTcPacket(apid, sequence_count, ack, service, subservice);
memcpy(&tcData->data, data, size);
this->setData(pData);
initializeTcPacket(apid, sequenceCount, ack, service, subservice);
memcpy(&tcData->appData, data, size);
this->setPacketDataLength(
size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
this->setErrorControl();
}
TcPacketStored::TcPacketStored() :
TcPacketBase(NULL) {
ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
size_t* dataSize) {
auto result = this->store->getData(storeAddress, dataPtr, dataSize);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "TcPacketStored: Could not get data!" << std::endl;
}
return result;
}
TcPacketStored::TcPacketStored(): TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->checkAndSetStore();
@ -40,14 +53,14 @@ TcPacketStored::TcPacketStored() :
ReturnValue_t TcPacketStored::deletePacket() {
ReturnValue_t result = this->store->deleteData(this->storeAddress);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->setData( NULL);
this->setData(nullptr);
return result;
}
bool TcPacketStored::checkAndSetStore() {
if (this->store == NULL) {
if (this->store == nullptr) {
this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (this->store == NULL) {
if (this->store == nullptr) {
sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
<< std::endl;
return false;
@ -58,17 +71,17 @@ bool TcPacketStored::checkAndSetStore() {
void TcPacketStored::setStoreAddress(store_address_t setAddress) {
this->storeAddress = setAddress;
const uint8_t* temp_data = NULL;
const uint8_t* tempData = nullptr;
size_t temp_size;
ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
if (this->checkAndSetStore()) {
status = this->store->getData(this->storeAddress, &temp_data,
status = this->store->getData(this->storeAddress, &tempData,
&temp_size);
}
if (status == StorageManagerIF::RETURN_OK) {
this->setData(temp_data);
this->setData(tempData);
} else {
this->setData(NULL);
this->setData(nullptr);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
@ -78,7 +91,7 @@ store_address_t TcPacketStored::getStoreAddress() {
}
bool TcPacketStored::isSizeCorrect() {
const uint8_t* temp_data = NULL;
const uint8_t* temp_data = nullptr;
size_t temp_size;
ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
&temp_size);
@ -90,8 +103,6 @@ bool TcPacketStored::isSizeCorrect() {
return false;
}
StorageManagerIF* TcPacketStored::store = NULL;
TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
TcPacketBase(data) {
if (getFullSize() != size) {
@ -100,7 +111,7 @@ TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
if (this->checkAndSetStore()) {
ReturnValue_t status = store->addData(&storeAddress, data, size);
if (status != HasReturnvaluesIF::RETURN_OK) {
this->setData(NULL);
this->setData(nullptr);
}
}
}

78
tmtcpacket/pus/TcPacketStored.h
View File

@ -1,8 +1,8 @@
#ifndef TCPACKETSTORED_H_
#define TCPACKETSTORED_H_
#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
#define TMTCPACKET_PUS_TCPACKETSTORED_H_
#include "../../storagemanager/StorageManagerIF.h"
#include "TcPacketBase.h"
#include "../../storagemanager/StorageManagerIF.h"
/**
* This class generates a ECSS PUS Telecommand packet within a given
@ -15,26 +15,6 @@
* @ingroup tmtcpackets
*/
class TcPacketStored : public TcPacketBase {
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. \c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li \c true if the store is linked or could be created.
* @li \c false otherwise.
*/
bool checkAndSetStore();
public:
/**
* This is a default constructor which does not set the data pointer.
@ -53,18 +33,20 @@ public:
* a new PUS Telecommand Packet is created there.
* Packet Application Data passed in data is copied into the packet.
* @param apid Sets the packet's APID field.
* @param ack Set's the packet's Ack field,
* which specifies number and size of verification packets returned
* for this command.
* @param service Sets the packet's Service ID field.
* This specifies the destination service.
* This specifies the destination service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the destination sub-service.
* @param sequence_count Sets the packet's Source Sequence Count field.
* This specifies the destination sub-service.
* @param sequence_count Sets the packet's Source Sequence Count field.
* @param data The data to be copied to the Application Data Field.
* @param size The amount of data to be copied.
* @param ack Set's the packet's Ack field, which specifies
* number of verification packets returned
* for this command.
*/
TcPacketStored( uint16_t apid, uint8_t ack, uint8_t service, uint8_t subservice, uint8_t sequence_count = 0, const uint8_t* data = NULL, uint32_t size = 0 );
TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t sequence_count = 0, const uint8_t* data = nullptr,
size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
/**
* Another constructor to create a TcPacket from a raw packet stream.
* Takes the data and adds it unchecked to the TcStore.
@ -72,10 +54,19 @@ public:
* @param Size size of the packet.
*/
TcPacketStored( const uint8_t* data, uint32_t size);
/**
* Getter function for the raw data.
* @param dataPtr [out] Pointer to the data pointer to set
* @param dataSize [out] Address of size to set.
* @return -@c RETURN_OK if data was retrieved successfully.
*/
ReturnValue_t getData(const uint8_t ** dataPtr,
size_t* dataSize);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
* the packet is not linked.
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if the packet is not linked.
*/
store_address_t getStoreAddress();
/**
@ -99,7 +90,28 @@ public:
* store or size is incorrect.
*/
bool isSizeCorrect();
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
};
#endif /* TCPACKETSTORED_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */

73
tmtcpacket/pus/TmPacketBase.cpp
View File

@ -1,13 +1,19 @@
#include "TmPacketBase.h"
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TmPacketBase.h"
#include "../../timemanager/CCSDSTime.h"
#include <string.h>
TmPacketBase::TmPacketBase(uint8_t* set_data) :
SpacePacketBase(set_data) {
tm_data = (TmPacketPointer*) set_data;
#include <cstring>
TimeStamperIF* TmPacketBase::timeStamper = nullptr;
object_id_t TmPacketBase::timeStamperId = 0;
TmPacketBase::TmPacketBase(uint8_t* setData) :
SpacePacketBase(setData) {
tmData = reinterpret_cast<TmPacketPointer*>(setData);
}
TmPacketBase::~TmPacketBase() {
@ -15,25 +21,25 @@ TmPacketBase::~TmPacketBase() {
}
uint8_t TmPacketBase::getService() {
return tm_data->data_field.service_type;
return tmData->data_field.service_type;
}
uint8_t TmPacketBase::getSubService() {
return tm_data->data_field.service_subtype;
return tmData->data_field.service_subtype;
}
uint8_t* TmPacketBase::getSourceData() {
return &tm_data->data;
return &tmData->data;
}
uint16_t TmPacketBase::getSourceDataSize() {
return getPacketDataLength() - sizeof(tm_data->data_field)
return getPacketDataLength() - sizeof(tmData->data_field)
- CRC_SIZE + 1;
}
uint16_t TmPacketBase::getErrorControl() {
uint32_t size = getSourceDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tm_data->data;
uint8_t* p_to_buffer = &tmData->data;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
@ -47,16 +53,12 @@ void TmPacketBase::setErrorControl() {
void TmPacketBase::setData(const uint8_t* p_Data) {
SpacePacketBase::setData(p_Data);
tm_data = (TmPacketPointer*) p_Data;
tmData = (TmPacketPointer*) p_Data;
}
void TmPacketBase::print() {
/*uint8_t * wholeData = getWholeData();
debug << "TmPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count ) {
debug << std::hex << (uint16_t)wholeData[count] << " ";
}
debug << std::dec << std::endl;*/
sif::debug << "TmPacketBase::print: " << std::endl;
arrayprinter::print(getWholeData(), getFullSize());
}
bool TmPacketBase::checkAndSetStamper() {
@ -73,32 +75,36 @@ bool TmPacketBase::checkAndSetStamper() {
ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
uint32_t tempSize = 0;
return CCSDSTime::convertFromCcsds(timestamp, tm_data->data_field.time,
&tempSize, sizeof(tm_data->data_field.time));
return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time,
&tempSize, sizeof(tmData->data_field.time));
}
uint8_t* TmPacketBase::getPacketTimeRaw() const{
return tm_data->data_field.time;
return tmData->data_field.time;
}
void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter) {
void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t packetSubcounter) {
//Set primary header:
initSpacePacketHeader(false, true, apid);
//Set data Field Header:
//First, set to zero.
memset(&tm_data->data_field, 0, sizeof(tm_data->data_field));
//Set CCSDS_secondary header flag to 0, version number to 001 and ack to 0000
memset(&tmData->data_field, 0, sizeof(tmData->data_field));
// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
// The other 4 bits of the first byte are the spacecraft time reference status
// To change to PUS-C, set 0b00100000
tm_data->data_field.version_type_ack = 0b00010000;
tm_data->data_field.service_type = service;
tm_data->data_field.service_subtype = subservice;
tm_data->data_field.subcounter = packetSubcounter;
// The other 4 bits of the first byte are the spacecraft time reference
// status. To change to PUS-C, set 0b00100000.
// Set CCSDS_secondary header flag to 0, version number to 001 and ack
// to 0000
tmData->data_field.version_type_ack = 0b00010000;
tmData->data_field.service_type = service;
tmData->data_field.service_subtype = subservice;
tmData->data_field.subcounter = packetSubcounter;
//Timestamp packet
if (checkAndSetStamper()) {
timeStamper->addTimeStamp(tm_data->data_field.time, sizeof(tm_data->data_field.time));
timeStamper->addTimeStamp(tmData->data_field.time,
sizeof(tmData->data_field.time));
}
}
@ -106,9 +112,6 @@ void TmPacketBase::setSourceDataSize(uint16_t size) {
setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
}
uint32_t TmPacketBase::getTimestampSize() const {
return sizeof(tm_data->data_field.time);
size_t TmPacketBase::getTimestampSize() const {
return sizeof(tmData->data_field.time);
}
TimeStamperIF* TmPacketBase::timeStamper = NULL;
object_id_t TmPacketBase::timeStamperId = 0;

113
tmtcpacket/pus/TmPacketBase.h
View File

@ -1,8 +1,8 @@
#ifndef TMPACKETBASE_H_
#define TMPACKETBASE_H_
#ifndef TMTCPACKET_PUS_TMPACKETBASE_H_
#define TMTCPACKET_PUS_TMPACKETBASE_H_
#include "../SpacePacketBase.h"
#include "../../timemanager/TimeStamperIF.h"
#include "../../tmtcpacket/SpacePacketBase.h"
#include "../../timemanager/Clock.h"
#include "../../objectmanager/SystemObjectIF.h"
@ -14,7 +14,7 @@ void setStaticFrameworkObjectIds();
* This struct defines a byte-wise structured PUS TM Data Field Header.
* Any optional fields in the header must be added or removed here.
* Currently, no Destination field is present, but an eigth-byte representation
* for a time tag [TBD].
* for a time tag.
* @ingroup tmtcpackets
*/
struct PUSTmDataFieldHeader {
@ -40,7 +40,7 @@ struct TmPacketPointer {
/**
* This class is the basic data handler for any ECSS PUS Telemetry packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* In addition to #SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TM Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
@ -54,29 +54,27 @@ public:
/**
* This constant defines the minimum size of a valid PUS Telemetry Packet.
*/
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTmDataFieldHeader) + 2); //!< Minimum size of a valid PUS Telemetry Packet.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; //!< Maximum size of a TM Packet in this mission.
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000; //!< First byte of secondary header for PUS-A packets.
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTmDataFieldHeader) + 2);
//! Maximum size of a TM Packet in this mission.
//! TODO: Make this dependant on a config variable.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
//! First byte of secondary header for PUS-A packets.
//! TODO: Maybe also support PUS-C via config?
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
*/
TmPacketBase( uint8_t* set_data );
TmPacketBase( uint8_t* setData );
/**
* This is the empty default destructor.
*/
virtual ~TmPacketBase();
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter);
/**
* This is a getter for the packet's PUS Service ID, which is the second
* byte of the Data Field Header.
@ -106,11 +104,14 @@ public:
*/
uint16_t getSourceDataSize();
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
*/
void setSourceDataSize(uint16_t size);
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet. This method is not protected because
* a recalculation by the user might be necessary when manipulating fields
* like the sequence count.
*/
void setErrorControl();
/**
* This getter returns the Error Control Field of the packet.
*
@ -120,28 +121,15 @@ public:
* @return The PUS Error Control
*/
uint16_t getErrorControl();
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet.
*/
void setErrorControl();
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* p_Data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Interprets the "time"-field in the secondary header and returns it in timeval format.
* Interprets the "time"-field in the secondary header and returns it in
* timeval format.
* @return Converted timestamp of packet.
*/
ReturnValue_t getPacketTime(timeval* timestamp) const;
@ -151,7 +139,7 @@ public:
*/
uint8_t* getPacketTimeRaw() const;
uint32_t getTimestampSize() const;
size_t getTimestampSize() const;
protected:
/**
@ -160,20 +148,49 @@ protected:
*
* To be hardware-safe, all elements are of byte size.
*/
TmPacketPointer* tm_data;
TmPacketPointer* tmData;
/**
* The timeStamper is responsible for adding a timestamp to the packet.
* It is initialized lazy.
*/
static TimeStamperIF* timeStamper;
//! The ID to use when looking for a time stamper.
static object_id_t timeStamperId;
static object_id_t timeStamperId; //!< The ID to use when looking for a time stamper.
/**
* Checks if a time stamper is available and tries to set it if not.
* @return Returns false if setting failed.
*/
bool checkAndSetStamper();
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packetSubcounter);
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* @c tc_data pointer and the parent's @c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* pData );
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
*/
void setSourceDataSize(uint16_t size);
/**
* Checks if a time stamper is available and tries to set it if not.
* @return Returns false if setting failed.
*/
bool checkAndSetStamper();
};
#endif /* TMPACKETBASE_H_ */
#endif /* TMTCPACKET_PUS_TMPACKETBASE_H_ */

44
tmtcpacket/pus/TmPacketStored.cpp
View File

@ -1,11 +1,16 @@
#include "TmPacketStored.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TmPacketStored.h"
#include "../../tmtcservices/TmTcMessage.h"
#include <string.h>
#include <cstring>
StorageManagerIF *TmPacketStored::store = nullptr;
InternalErrorReporterIF *TmPacketStored::internalErrorReporter = nullptr;
TmPacketStored::TmPacketStored(store_address_t setAddress) :
TmPacketBase(NULL), storeAddress(setAddress) {
TmPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
@ -14,10 +19,10 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
TmPacketBase(NULL) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!checkAndSetStore()) {
if (not checkAndSetStore()) {
return;
}
uint8_t *pData = NULL;
uint8_t *pData = nullptr;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
@ -38,7 +43,7 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
SerializeIF *header) :
TmPacketBase(NULL) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!checkAndSetStore()) {
if (not checkAndSetStore()) {
return;
}
size_t sourceDataSize = 0;
@ -77,29 +82,29 @@ store_address_t TmPacketStored::getStoreAddress() {
void TmPacketStored::deletePacket() {
store->deleteData(storeAddress);
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
setData(NULL);
setData(nullptr);
}
void TmPacketStored::setStoreAddress(store_address_t setAddress) {
storeAddress = setAddress;
const uint8_t* temp_data = NULL;
size_t temp_size;
if (!checkAndSetStore()) {
const uint8_t* tempData = nullptr;
size_t tempSize;
if (not checkAndSetStore()) {
return;
}
ReturnValue_t status = store->getData(storeAddress, &temp_data, &temp_size);
ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize);
if (status == StorageManagerIF::RETURN_OK) {
setData(temp_data);
setData(tempData);
} else {
setData(NULL);
setData(nullptr);
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
bool TmPacketStored::checkAndSetStore() {
if (store == NULL) {
if (store == nullptr) {
store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if (store == NULL) {
if (store == nullptr) {
sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
<< std::endl;
return false;
@ -108,12 +113,9 @@ bool TmPacketStored::checkAndSetStore() {
return true;
}
StorageManagerIF *TmPacketStored::store = NULL;
InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
MessageQueueId_t sentFrom, bool doErrorReporting) {
if (getWholeData() == NULL) {
if (getWholeData() == nullptr) {
//SHOULDDO: More decent code.
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -133,11 +135,11 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
}
void TmPacketStored::checkAndReportLostTm() {
if (internalErrorReporter == NULL) {
if (internalErrorReporter == nullptr) {
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
}
if (internalErrorReporter != NULL) {
if (internalErrorReporter != nullptr) {
internalErrorReporter->lostTm();
}
}

90
tmtcpacket/pus/TmPacketStored.h
View File

@ -1,9 +1,10 @@
#ifndef TMPACKETSTORED_H_
#define TMPACKETSTORED_H_
#ifndef TMTCPACKET_PUS_TMPACKETSTORED_H_
#define TMTCPACKET_PUS_TMPACKETSTORED_H_
#include "TmPacketBase.h"
#include "../../serialize/SerializeIF.h"
#include "../../storagemanager/StorageManagerIF.h"
#include "TmPacketBase.h"
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueSenderIF.h"
@ -18,31 +19,6 @@
* @ingroup tmtcpackets
*/
class TmPacketStored : public TmPacketBase {
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. \c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TM_STORE.
*/
static StorageManagerIF* store;
static InternalErrorReporterIF *internalErrorReporter;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li \c true if the store is linked or could be created.
* @li \c false otherwise.
*/
bool checkAndSetStore();
void checkAndReportLostTm();
public:
/**
* This is a default constructor which does not set the data pointer.
@ -52,28 +28,38 @@ public:
/**
* With this constructor, new space is allocated in the packet store and
* a new PUS Telemetry Packet is created there.
* Packet Application Data passed in data is copied into the packet. The Application data is
* passed in two parts, first a header, then a data field. This allows building a Telemetry
* Packet from two separate data sources.
* Packet Application Data passed in data is copied into the packet.
* The Application data is passed in two parts, first a header, then a
* data field. This allows building a Telemetry Packet from two separate
* data sources.
* @param apid Sets the packet's APID field.
* @param service Sets the packet's Service ID field.
* This specifies the source service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the source sub-service.
* @param packet_counter Sets the Packet counter field of this packet
* @param data The payload data to be copied to the Application Data Field
* @param data The payload data to be copied to the
* Application Data Field
* @param size The amount of data to be copied.
* @param headerData The header Data of the Application field; will be copied in front of data
* @param headerData The header Data of the Application field,
* will be copied in front of data
* @param headerSize The size of the headerDataF
*/
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packet_counter = 0, const uint8_t* data = NULL, uint32_t size = 0, const uint8_t* headerData = NULL, uint32_t headerSize = 0);
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packet_counter = 0, const uint8_t* data = nullptr,
uint32_t size = 0, const uint8_t* headerData = nullptr,
uint32_t headerSize = 0);
/**
* Another ctor to directly pass structured content and header data to the packet to avoid additional buffers.
* Another ctor to directly pass structured content and header data to the
* packet to avoid additional buffers.
*/
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packet_counter, SerializeIF* content, SerializeIF* header = NULL);
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packet_counter, SerializeIF* content,
SerializeIF* header = nullptr);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if
* the packet is not linked.
*/
store_address_t getStoreAddress();
@ -89,8 +75,34 @@ public:
*/
void setStoreAddress( store_address_t setAddress );
ReturnValue_t sendPacket( MessageQueueId_t destination, MessageQueueId_t sentFrom, bool doErrorReporting = true );
ReturnValue_t sendPacket( MessageQueueId_t destination,
MessageQueueId_t sentFrom, bool doErrorReporting = true );
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TM_STORE.
*/
static StorageManagerIF* store;
static InternalErrorReporterIF *internalErrorReporter;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
void checkAndReportLostTm();
};
#endif /* TMPACKETSTORED_H_ */
#endif /* TMTCPACKET_PUS_TMPACKETSTORED_H_ */

25
tmtcservices/PusVerificationReport.cpp
View File

@ -4,31 +4,6 @@
PusVerificationMessage::PusVerificationMessage() {
}
//PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
// TcPacketBase* current_packet, ReturnValue_t set_error_code,
// uint8_t set_step, uint32_t parameter1, uint32_t parameter2) {
// uint8_t ackFlags = current_packet->getAcknowledgeFlags();
// uint16_t tcPacketId = current_packet->getPacketId();
// uint16_t tcSequenceControl = current_packet->getPacketSequenceControl();
// uint8_t* data = this->getBuffer();
// data[messageSize] = set_report_id;
// messageSize += sizeof(set_report_id);
// data[messageSize] = ackFlags;
// messageSize += sizeof(ackFlags);
// memcpy(&data[messageSize], &tcPacketId, sizeof(tcPacketId));
// messageSize += sizeof(tcPacketId);
// memcpy(&data[messageSize], &tcSequenceControl, sizeof(tcSequenceControl));
// messageSize += sizeof(tcSequenceControl);
// data[messageSize] = set_step;
// messageSize += sizeof(set_step);
// memcpy(&data[messageSize], &set_error_code, sizeof(set_error_code));
// messageSize += sizeof(set_error_code);
// memcpy(&data[messageSize], &parameter1, sizeof(parameter1));
// messageSize += sizeof(parameter1);
// memcpy(&data[messageSize], &parameter2, sizeof(parameter2));
// messageSize += sizeof(parameter2);
//}
PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t set_error_code, uint8_t set_step, uint32_t parameter1,

14
tmtcservices/PusVerificationReport.h
View File

@ -1,9 +1,13 @@
#ifndef PUSVERIFICATIONREPORT_H_
#define PUSVERIFICATIONREPORT_H_
#ifndef FSFW_TMTCSERVICES_PUSVERIFICATIONREPORT_H_
#define FSFW_TMTCSERVICES_PUSVERIFICATIONREPORT_H_
#include "VerificationCodes.h"
#include "../ipc/MessageQueueMessage.h"
#include "../tmtcpacket/pus/TcPacketBase.h"
#include "VerificationCodes.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
class PusVerificationMessage: public MessageQueueMessage {
private:
@ -30,7 +34,7 @@ private:
public:
static const uint8_t VERIFICATION_MIN_SIZE = 6;
PusVerificationMessage();
// PusVerificationMessage( uint8_t set_report_id, TcPacketBase* current_packet, ReturnValue_t set_error_code = 0, uint8_t set_step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
PusVerificationMessage(uint8_t set_report_id, uint8_t ackFlags,
uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t set_error_code = 0, uint8_t set_step = 0,
@ -74,4 +78,4 @@ public:
uint8_t* getReport();
};
#endif /* PUSVERIFICATIONREPORT_H_ */
#endif /* FSFW_TMTCSERVICES_PUSVERIFICATIONREPORT_H_ */

77
tmtcservices/VerificationReporter.cpp
View File

@ -1,55 +1,59 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "VerificationReporter.h"
#include "AcceptsVerifyMessageIF.h"
#include "PusVerificationReport.h"
#include "VerificationReporter.h"
object_id_t VerificationReporter::messageReceiver = 0;
#include "../ipc/MessageQueueIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../objectmanager/frameworkObjects.h"
object_id_t VerificationReporter::messageReceiver =
objects::PUS_SERVICE_1_VERIFICATION;
VerificationReporter::VerificationReporter() :
acknowledgeQueue() {
acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
}
VerificationReporter::~VerificationReporter() {
//Default, empty
}
VerificationReporter::~VerificationReporter() {}
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
TcPacketBase* current_packet, uint8_t set_step) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(set_report_id,
current_packet->getAcknowledgeFlags(),
current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
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 << status << std::dec
<< std::endl;
}
}
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
uint8_t set_step) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
tcSequenceControl, 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
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 << status << std::dec
<< std::endl;
}
}
void VerificationReporter::sendFailureReport(uint8_t report_id,
TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
uint32_t parameter1, uint32_t parameter2) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(report_id,
@ -57,11 +61,12 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), error_code, step,
parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendFailureReport: Error writing "
<< "to queue. Code: " << std::hex << "0x" << status << std::dec
<< std::endl;
}
}
@ -69,27 +74,33 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t error_code, uint8_t step, uint32_t parameter1,
uint32_t parameter2) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(report_id, ackFlags, tcPacketId,
tcSequenceControl, error_code, step, parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendFailureReport: Error writing "
<< "to queue. Code: " << std::hex << "0x" << status << std::dec
<< std::endl;
}
}
void VerificationReporter::initialize() {
if(messageReceiver == objects::NO_OBJECT) {
sif::warning << "VerificationReporter::initialize: Verification message"
" receiver object ID not set yet in Factory!" << std::endl;
return;
}
AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
messageReceiver);
if (temp != NULL) {
this->acknowledgeQueue = temp->getVerificationQueue();
} else {
sif::error
<< "VerificationReporter::VerificationReporter: Configuration error."
<< std::endl;
if (temp == nullptr) {
sif::error << "VerificationReporter::initialize: Message "
<< "receiver invalid. Make sure it is set up properly and "
<< "implementsAcceptsVerifyMessageIF" << std::endl;
return;
}
this->acknowledgeQueue = temp->getVerificationQueue();
}

41
tmtcservices/VerificationReporter.h
View File

@ -1,31 +1,50 @@
#ifndef VERIFICATIONREPORTER_H_
#define VERIFICATIONREPORTER_H_
#ifndef FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
#define FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "PusVerificationReport.h"
#include "../objectmanager/ObjectManagerIF.h"
namespace Factory{
void setStaticFrameworkObjectIds();
}
/**
* @brief This helper object is used to forward verification messages
* which are generated by the Flight Software Framework.
* @details
* The messages can be relayed to an arbitrary object, for example a dedicated
* Verification Reporter. The destination is set by setting the static framework
* Id VerificationReporter::messageReceiver. The default verification reporter
* will be the PUS service 1, which sends verification messages according
* to the PUS standard.
*
*/
class VerificationReporter {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
VerificationReporter();
virtual ~VerificationReporter();
void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet, uint8_t set_step = 0 );
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t set_step = 0);
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0,
uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
uint8_t set_step = 0 );
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
uint16_t tcPacketId, uint16_t tcSequenceControl,
uint8_t set_step = 0);
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
ReturnValue_t error_code = 0,
uint8_t step = 0, uint32_t parameter1 = 0,
uint32_t parameter2 = 0 );
void sendFailureReport(uint8_t report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, ReturnValue_t error_code = 0, uint8_t step = 0,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t error_code = 0, uint8_t step = 0,
uint32_t parameter1 = 0, uint32_t parameter2 = 0);
void initialize();
private:
static object_id_t messageReceiver;
MessageQueueId_t acknowledgeQueue;
};
#endif /* VERIFICATIONREPORTER_H_ */
#endif /* FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_ */

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