71 lines
2.6 KiB
ReStructuredText
71 lines
2.6 KiB
ReStructuredText
.. _core:
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Core Modules
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=============
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The core modules provide the most important functionalities of the Flight Software Framework.
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Clock
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------
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- This is a class of static functions that can be used at anytime
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- Leap Seconds must be set if any time conversions from UTC to other times is used
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Object Manager
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---------------
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- Must be created during program startup
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- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
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component.
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- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
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framework objects.
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- A reference to an object can be retrieved by calling the ``get`` function of
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:cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
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A ``nullptr`` check of the returning pointer must be done. This function is based on
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run-time type information.
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.. code-block:: cpp
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template <typename T> T* ObjectManagerIF::get(object_id_t id);
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- A typical way to create all objects on startup is a handing a static produce function to the
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ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
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produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
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afterwards.
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Event Manager
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---------------
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- Component which allows routing of events
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- Other objects can subscribe to specific events, ranges of events or all events of an object.
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- Subscriptions can be done during runtime but should be done during initialization
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- Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
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Health Table
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---------------
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- A component which holds every health state
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- Provides a thread safe way to access all health states without the need of message exchanges
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Stores
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--------------
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- The message based communication can only exchange a few bytes of information inside the message
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itself. Therefore, additional information can be exchanged with Stores. With this, only the
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store address must be exchanged in the message.
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- Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
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Store is used. For outgoing TM a TM store is used.
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- All of them should use the Thread Safe Class storagemanager/PoolManager
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Tasks
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---------
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There are two different types of tasks:
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- The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
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insertion to the Tasks.
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- FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
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DeviceHandlers, where polling should be in a defined order. An example can be found in
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``defaultcfg/fsfwconfig/pollingSequence`` folder
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