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Merge branch 'master' into mueller_FIFO_static_normal

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This commit is contained in:
Robin Müller 2020-09-01 12:45:25 +02:00
commit 02cfa8bcd5
10 changed files with 168 additions and 110 deletions
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59
events/EventManager.cpp
View File

@ -8,13 +8,16 @@
const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
sizeof(ReporterRangeMatcher) };
//If one checks registerListener calls, there are around 40 (to max 50) objects registering for certain events.
//Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. So a good guess is 75 to a max of 100 pools required for each, which fits well.
// If one checks registerListener calls, there are around 40 (to max 50)
// objects registering for certain events.
// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
// So a good guess is 75 to a max of 100 pools required for each, which fits well.
// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
EventManager::EventManager(object_id_t setObjectId) :
SystemObject(setObjectId), eventReportQueue(NULL), mutex(NULL), factoryBackend(
0, POOL_SIZES, N_ELEMENTS, false, true) {
SystemObject(setObjectId),
factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
mutex = MutexFactory::instance()->createMutex();
eventReportQueue = QueueFactory::instance()->createMessageQueue(
MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
@ -108,41 +111,45 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
#ifdef DEBUG
//forward declaration, should be implemented by mission
const char* translateObject(object_id_t object);
const char * translateEvents(Event event);
void EventManager::printEvent(EventMessage* message) {
const char *string = 0;
switch (message->getSeverity()) {
case SEVERITY::INFO:
// string = translateObject(message->getReporter());
// sif::info << "EVENT: ";
// if (string != 0) {
// sif::info << string;
// } else {
// sif::info << "0x" << std::hex << message->getReporter() << std::dec;
// }
// sif::info << " reported " << translateEvents(message->getEvent()) << " ("
// << std::dec << message->getEventId() << std::hex << ") P1: 0x"
// << message->getParameter1() << " P2: 0x"
// << message->getParameter2() << std::dec << std::endl;
break;
default:
#ifdef DEBUG_INFO_EVENT
string = translateObject(message->getReporter());
sif::error << "EVENT: ";
sif::info << "EVENT: ";
if (string != 0) {
sif::error << string;
sif::info << string;
} else {
sif::error << "0x" << std::hex << message->getReporter() << std::dec;
sif::info << "0x" << std::hex << message->getReporter() << std::dec;
}
sif::error << " reported " << translateEvents(message->getEvent()) << " ("
sif::info << " reported " << translateEvents(message->getEvent()) << " ("
<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
<< message->getParameter1() << " P2: 0x"
<< message->getParameter2() << std::dec << std::endl;
#endif
break;
default:
string = translateObject(message->getReporter());
sif::debug << "EventManager: ";
if (string != 0) {
sif::debug << string;
}
else {
sif::debug << "0x" << std::hex << message->getReporter() << std::dec;
}
sif::debug << " reported " << translateEvents(message->getEvent())
<< " (" << std::dec << message->getEventId() << ") "
<< std::endl;
sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
<< ", P1 Dec: " << std::dec << message->getParameter1()
<< std::endl;
sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
<< ", P2 Dec: " << std::dec << message->getParameter2()
<< std::endl;
break;
}
}
#endif

10
events/EventManager.h
View File

@ -10,6 +10,12 @@
#include "../ipc/MutexIF.h"
#include <map>
#ifdef DEBUG
// forward declaration, should be implemented by mission
extern const char* translateObject(object_id_t object);
extern const char* translateEvents(Event event);
#endif
class EventManager: public EventManagerIF,
public ExecutableObjectIF,
public SystemObject {
@ -36,11 +42,11 @@ public:
ReturnValue_t performOperation(uint8_t opCode);
protected:
MessageQueueIF* eventReportQueue;
MessageQueueIF* eventReportQueue = nullptr;
std::map<MessageQueueId_t, EventMatchTree> listenerList;
MutexIF* mutex;
MutexIF* mutex = nullptr;
static const uint8_t N_POOLS = 3;
LocalPool<N_POOLS> factoryBackend;

27
parameters/HasParametersIF.h
View File

@ -1,12 +1,27 @@
#ifndef HASPARAMETERSIF_H_
#define HASPARAMETERSIF_H_
#ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
#define FSFW_PARAMETERS_HASPARAMETERSIF_H_
#include "ParameterWrapper.h"
#include "../parameters/ParameterWrapper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <stdint.h>
/** Each parameter is identified with a unique parameter ID */
typedef uint32_t ParameterId_t;
/**
* @brief This interface is used by components which have modifiable
* parameters, e.g. atittude controllers
* @details
* Each parameter has a unique parameter ID. The first byte of the parameter
* ID is the domain ID which can be used to identify unqiue spacecraft domains
* (e.g. control and sensor domain in the AOCS controller).
*
* The second and third byte represent the matrix ID, which can represent
* a 8-bit row and column number and the last byte...
*
* Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
* of a 8 bit number now?
*/
class HasParametersIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
@ -32,13 +47,11 @@ public:
return (domainId << 24) + (parameterId << 8) + index;
}
virtual ~HasParametersIF() {
}
virtual ~HasParametersIF() {}
/**
* Always set parameter before checking newValues!
*
*
* @param domainId
* @param parameterId
* @param parameterWrapper
@ -51,4 +64,4 @@ public:
const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
};
#endif /* HASPARAMETERSIF_H_ */
#endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */

16
parameters/ParameterHelper.cpp
View File

@ -1,11 +1,9 @@
#include "../objectmanager/ObjectManagerIF.h"
#include "ParameterHelper.h"
#include "ParameterMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
owner(owner), storage(NULL) {
}
owner(owner) {}
ParameterHelper::~ParameterHelper() {
}
@ -28,7 +26,6 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
}
break;
case ParameterMessage::CMD_PARAMETER_LOAD: {
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(message));
uint16_t parameterId = HasParametersIF::getMatrixId(
@ -36,12 +33,14 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
uint8_t index = HasParametersIF::getIndex(
ParameterMessage::getParameterId(message));
const uint8_t *storedStream;
size_t storedStreamSize;
const uint8_t *storedStream = nullptr;
size_t storedStreamSize = 0;
result = storage->getData(
ParameterMessage::getStoreId(message), &storedStream,
&storedStreamSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "ParameterHelper::handleParameterMessage: Getting"
" store data failed for load command." << std::endl;
break;
}
@ -125,7 +124,8 @@ ReturnValue_t ParameterHelper::initialize() {
}
}
void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand) {
void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand) {
CommandMessage reply;
reply.setReplyRejected(reason, initialCommand);
MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);

23
parameters/ParameterHelper.h
View File

@ -1,9 +1,16 @@
#ifndef PARAMETERHELPER_H_
#define PARAMETERHELPER_H_
#ifndef FSFW_PARAMETERS_PARAMETERHELPER_H_
#define FSFW_PARAMETERS_PARAMETERHELPER_H_
#include "ParameterMessage.h"
#include "ReceivesParameterMessagesIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* @brief Helper class to handle parameter messages.
* @details
* This class simplfies handling of parameter messages, which are sent
* to a class which implements ReceivesParameterMessagesIF.
*/
class ParameterHelper {
public:
ParameterHelper(ReceivesParameterMessagesIF *owner);
@ -15,13 +22,15 @@ public:
private:
ReceivesParameterMessagesIF *owner;
MessageQueueId_t ownerQueueId;
MessageQueueId_t ownerQueueId = MessageQueueIF::NO_QUEUE;
StorageManagerIF *storage;
StorageManagerIF *storage = nullptr;
ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, const ParameterWrapper *description);
ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
const ParameterWrapper *description);
void rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand);
void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand);
};
#endif /* PARAMETERHELPER_H_ */
#endif /* FSFW_PARAMETERS_PARAMETERHELPER_H_ */

2
parameters/ParameterMessage.cpp
View File

@ -1,4 +1,4 @@
#include "ParameterMessage.h"
#include "../parameters/ParameterMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {

8
parameters/ParameterMessage.h
View File

@ -1,8 +1,8 @@
#ifndef PARAMETERMESSAGE_H_
#define PARAMETERMESSAGE_H_
#ifndef FSFW_PARAMETERS_PARAMETERMESSAGE_H_
#define FSFW_PARAMETERS_PARAMETERMESSAGE_H_
#include "../ipc/CommandMessage.h"
#include "HasParametersIF.h"
#include "../ipc/CommandMessage.h"
#include "../storagemanager/StorageManagerIF.h"
class ParameterMessage {
@ -26,4 +26,4 @@ public:
};
#endif /* PARAMETERMESSAGE_H_ */
#endif /* FSFW_PARAMETERS_PARAMETERMESSAGE_H_ */

32
parameters/ParameterWrapper.cpp
View File

@ -1,20 +1,19 @@
#include "ParameterWrapper.h"
ParameterWrapper::ParameterWrapper() :
pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
NULL), readonlyData(NULL) {
pointsToStream(false), type(Type::UNKNOWN_TYPE) {
}
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
void *data) :
pointsToStream(false), type(type), rows(rows), columns(columns), data(
data), readonlyData(data) {
pointsToStream(false), type(type), rows(rows), columns(columns),
data(data), readonlyData(data) {
}
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
const void *data) :
pointsToStream(false), type(type), rows(rows), columns(columns), data(
NULL), readonlyData(data) {
pointsToStream(false), type(type), rows(rows), columns(columns),
data(nullptr), readonlyData(data) {
}
ParameterWrapper::~ParameterWrapper() {
@ -141,6 +140,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
}
ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
size_t *size, Endianness streamEndianness) {
return deSerialize(buffer, size, streamEndianness, 0);
@ -184,16 +184,16 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
return SerializeIF::STREAM_TOO_SHORT;
}
data = NULL;
data = nullptr;
readonlyData = stream;
pointsToStream = true;
stream += dataSize;
if (remainingStream != NULL) {
if (remainingStream != nullptr) {
*remainingStream = stream;
}
streamSize -= dataSize;
if (remainingSize != NULL) {
if (remainingSize != nullptr) {
*remainingSize = streamSize;
}
@ -265,15 +265,15 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
result = UNKNOW_DATATYPE;
break;
}
} else {
}
else {
//need a type to do arithmetic
uint8_t *toDataWithType = (uint8_t*) data;
uint8_t* typedData = static_cast<uint8_t*>(data);
for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
memcpy(
toDataWithType
+ (((startingRow + fromRow) * columns)
+ startingColumn) * typeSize,
from->readonlyData, typeSize * from->columns);
size_t offset = (((startingRow + fromRow) * columns) +
startingColumn) * typeSize;
std::memcpy(typedData + offset, from->readonlyData,
typeSize * from->columns);
}
}

95
parameters/ParameterWrapper.h
View File

@ -1,12 +1,16 @@
#ifndef PARAMETERWRAPPER_H_
#define PARAMETERWRAPPER_H_
#ifndef FSFW_PARAMETERS_PARAMETERWRAPPER_H_
#define FSFW_PARAMETERS_PARAMETERWRAPPER_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serialize/SerializeIF.h"
#include <stddef.h>
#include "../globalfunctions/Type.h"
#include <cstddef>
/**
* @brief
* @details
*/
class ParameterWrapper: public SerializeIF {
friend class DataPoolParameterWrapper;
public:
@ -36,32 +40,21 @@ public:
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
/**
* Get a specific parameter value by supplying the row and the column.
* @tparam T Type of target data
* @param value [out] Pointer to storage location
* @param row
* @param column
* @return
* -@c RETURN_OK if element was retrieved successfully
* -@c NOT_SET data has not been set yet
* -@c DATATYPE_MISSMATCH Invalid supplied type
* -@c OUT_OF_BOUNDS Invalid row and/or column.
*/
template<typename T>
ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
if (readonlyData == NULL){
return NOT_SET;
}
if (PodTypeConversion<T>::type != type) {
return DATATYPE_MISSMATCH;
}
if ((row >= rows) || (column >= columns)) {
return OUT_OF_BOUNDS;
}
if (pointsToStream) {
const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
streamWithtype += (row * columns + column) * type.getSize();
int32_t size = type.getSize();
return SerializeAdapter::deSerialize(value, &streamWithtype,
&size, true);
} else {
const T *dataWithType = (const T *) readonlyData;
*value = dataWithType[row * columns + column];
return HasReturnvaluesIF::RETURN_OK;
}
}
ReturnValue_t getElement(T *value, uint8_t row = 0,
uint8_t column = 0) const;
template<typename T>
void set(T *data, uint8_t rows, uint8_t columns) {
@ -111,21 +104,22 @@ public:
void setMatrix(const T& member) {
this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
}
ReturnValue_t set(const uint8_t *stream, size_t streamSize,
const uint8_t **remainingStream = NULL, size_t *remainingSize =
NULL);
const uint8_t **remainingStream = nullptr,
size_t *remainingSize = nullptr);
ReturnValue_t copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex);
private:
bool pointsToStream;
bool pointsToStream = false;
Type type;
uint8_t rows;
uint8_t columns;
void *data;
const void *readonlyData;
uint8_t rows = 0;
uint8_t columns = 0;
void *data = nullptr;
const void *readonlyData = nullptr;
template<typename T>
ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
@ -136,4 +130,33 @@ private:
const void *from, uint8_t fromRows, uint8_t fromColumns);
};
#endif /* PARAMETERWRAPPER_H_ */
template <typename T>
inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
uint8_t column) const {
if (readonlyData == nullptr){
return NOT_SET;
}
if (PodTypeConversion<T>::type != type) {
return DATATYPE_MISSMATCH;
}
if ((row >= rows) or (column >= columns)) {
return OUT_OF_BOUNDS;
}
if (pointsToStream) {
const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
streamWithType += (row * columns + column) * type.getSize();
int32_t size = type.getSize();
return SerializeAdapter::deSerialize(value, &streamWithType,
&size, true);
}
else {
const T *dataWithType = static_cast<const T*>(readonlyData);
*value = dataWithType[row * columns + column];
return HasReturnvaluesIF::RETURN_OK;
}
}
#endif /* FSFW_PARAMETERS_PARAMETERWRAPPER_H_ */

6
parameters/ReceivesParameterMessagesIF.h
View File

@ -1,5 +1,5 @@
#ifndef RECEIVESPARAMETERMESSAGESIF_H_
#define RECEIVESPARAMETERMESSAGESIF_H_
#ifndef FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
#define FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
#include "HasParametersIF.h"
@ -16,4 +16,4 @@ public:
};
#endif /* RECEIVESPARAMETERMESSAGESIF_H_ */
#endif /* FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_ */