fsfw/datapoollocal/LocalPoolVector.h

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#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#include <framework/datapool/DataSetIF.h>
#include <framework/datapool/PoolEntry.h>
#include <framework/datapool/PoolVariableIF.h>
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#include <framework/datapoollocal/LocalDataPoolManager.h>
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#include <framework/serialize/SerializeAdapter.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
/**
* @brief This is the access class for array-type data pool entries.
* @details
* To ensure safe usage of the data pool, operation is not done directly on the
* data pool entries, but on local copies. This class provides simple type-
* and length-safe access to vector-style data pool entries (i.e. entries with
* length > 1). The class can be instantiated as read-write and read only.
*
* It provides a commit-and-roll-back semantic, which means that no array
* entry in the data pool is changed until the commit call is executed.
* There are two template parameters:
* @tparam T
* This template parameter specifies the data type of an array entry. Currently,
* all plain data types are supported, but in principle any type is possible.
* @tparam vector_size
* This template parameter specifies the vector size of this entry. Using a
* template parameter for this is not perfect, but avoids
* dynamic memory allocation.
* @ingroup data_pool
*/
template<typename T, uint16_t vectorSize>
class LocalPoolVector: public PoolVariableIF, public HasReturnvaluesIF {
public:
LocalPoolVector() = delete;
/**
* This constructor is used by the data creators to have pool variable
* instances which can also be stored in datasets.
* It does not fetch the current value from the data pool. This is performed
* by the read() operation (which is not thread-safe).
* Datasets can be used to access local pool entires in a thread-safe way.
* @param poolId ID of the local pool entry.
* @param hkOwner Pointer of the owner. This will generally be the calling
* class itself which passes "this".
* @param setReadWriteMode Specify the read-write mode of the pool variable.
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
*/
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LocalPoolVector(lp_id_t poolId, OwnsLocalDataPoolIF* hkOwner,
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pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
DataSetIF* dataSet = nullptr);
/**
* This constructor is used by data users like controllers to have
* access to the local pool variables of data creators by supplying
* the respective creator object ID.
* It does not fetch the current value from the data pool. This is performed
* by the read() operation (which is not thread-safe).
* Datasets can be used to access local pool entires in a thread-safe way.
* @param poolId ID of the local pool entry.
* @param hkOwner Pointer of the owner. This will generally be the calling
* class itself which passes "this".
* @param setReadWriteMode Specify the read-write mode of the pool variable.
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
*/
LocalPoolVector(lp_id_t poolId, object_id_t poolOwner,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
DataSetIF* dataSet = nullptr);
/**
* @brief This is the local copy of the data pool entry.
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* @details
* The user can work on this attribute just like he would on a local
* array of this type.
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*/
T value[vectorSize];
/**
* @brief The classes destructor is empty.
* @details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~LocalPoolVector() {};
/**
* @brief The operation returns the number of array entries
* in this variable.
*/
uint8_t getSize() {
return vectorSize;
}
uint32_t getDataPoolId() const override;
/**
* @brief This operation sets the data pool ID of the variable.
* @details
* The method is necessary to set id's of data pool member variables
* with bad initialization.
*/
void setDataPoolId(uint32_t poolId);
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
pool_rwm_t getReadWriteMode() const;
/**
* @brief With this call, the valid information of the variable is returned.
*/
bool isValid() const override;
void setValid(bool valid) override;
uint8_t getValid() const;
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T& operator [](int i);
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const T &operator [](int i) const;
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
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const size_t maxSize,
SerializeIF::Endianness streamEndiannes) const override;
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virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
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SerializeIF::Endianness streamEndianness) override;
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/**
* @brief This is a call to read the array's values
* from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the data pool and copies all array values and the valid
* information to its local attributes.
* In case of a failure (wrong type, size or pool id not found), the
* variable is set to zero and invalid.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the local valid flag is written back as well.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
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protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
private:
/**
* @brief To access the correct data pool entry on read and commit calls,
* the data pool id is stored.
*/
uint32_t localPoolId;
/**
* @brief The valid information as it was stored in the data pool
* is copied to this attribute.
*/
bool valid;
/**
* @brief The information whether the class is read-write or
* read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
//! @brief Pointer to the class which manages the HK pool.
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LocalDataPoolManager* hkManager;
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// std::ostream is the type for object std::cout
template <typename U, uint16_t otherSize>
friend std::ostream& operator<< (std::ostream &out,
const LocalPoolVector<U, otherSize> &var);
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};
#include <framework/datapoollocal/LocalPoolVector.tpp>
template<typename T, uint16_t vectorSize>
using lp_vec_t = LocalPoolVector<T, vectorSize>;
#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */