esbo_ds/fsfw
3
0
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests Releases Wiki Activity

datapoollocal update

Browse Source
This commit is contained in:
Robin Müller 2020-06-05 20:34:34 +02:00
parent e04e6a6f15
commit 319fa9ddb6
6 changed files with 582 additions and 228 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

69
datapoollocal/LocalDataSet.cpp
View File

@ -1,66 +1,35 @@
#include <framework/datapoollocal/LocalDataSet.h>
#include <framework/housekeeping/HousekeepingManager.h>
LocalDataSet::LocalDataSet():
fill_count(0), state(DATA_SET_UNINITIALISED)
{
for (unsigned count = 0; count < DATA_SET_MAX_SIZE; count++) {
registeredVariables[count] = nullptr;
LocalDataSet::LocalDataSet(HasHkPoolParametersIF *hkOwner): DataSetBase() {
if(hkOwner != nullptr) {
hkManager = hkOwner->getHkManagerHandle();
}
else {
// config error, error output here.
}
}
// who has the responsibility to lock the mutex? the local pool variable
// has access to the HK manager and could call its mutex lock function.
ReturnValue_t LocalDataSet::registerVariable(
PoolVariableIF *variable) {
return RETURN_OK;
LocalDataSet::LocalDataSet(object_id_t ownerId): DataSetBase() {
HasHkPoolParametersIF* hkOwner = objectManager->get<HasHkPoolParametersIF>(
ownerId);
if(hkOwner == nullptr) {
// config error, error output here.
}
hkManager = hkOwner->getHkManagerHandle();
}
LocalDataSet::~LocalDataSet() {
}
ReturnValue_t LocalDataSet::read() {
return RETURN_OK;
}
ReturnValue_t LocalDataSet::commit(void) {
return RETURN_OK;
}
ReturnValue_t LocalDataSet::commit(bool valid) {
return RETURN_OK;
}
void LocalDataSet::setSetValid(bool valid) {
}
void LocalDataSet::setEntriesValid(bool valid) {
}
ReturnValue_t LocalDataSet::serialize(uint8_t **buffer,
size_t *size, const size_t max_size, bool bigEndian) const {
return RETURN_OK;
}
size_t LocalDataSet::getSerializedSize() const {
return 0;
}
ReturnValue_t LocalDataSet::deSerialize(const uint8_t **buffer,
size_t *size, bool bigEndian) {
return RETURN_OK;
}
ReturnValue_t LocalDataSet::lockDataPool() {
return RETURN_OK;
ReturnValue_t LocalDataSet::lockDataPool(uint32_t timeoutMs) {
MutexIF* mutex = hkManager->getMutexHandle();
return mutex->lockMutex(timeoutMs);
}
ReturnValue_t LocalDataSet::unlockDataPool() {
return RETURN_OK;
MutexIF* mutex = hkManager->getMutexHandle();
return mutex->unlockMutex();
}
void LocalDataSet::handleAlreadyReadDatasetCommit() {
}
ReturnValue_t LocalDataSet::handleUnreadDatasetCommit() {
return RETURN_OK;
}

141
datapoollocal/LocalDataSet.h
View File

@ -1,8 +1,12 @@
#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
#define FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
#include <framework/datapool/DataSetBase.h>
#include <framework/datapool/DataSetIF.h>
#include <framework/housekeeping/HasHkPoolParametersIF.h>
#include <framework/serialize/SerializeIF.h>
class HousekeepingManager;
/**
* @brief The LocalDataSet class manages a set of locally checked out variables
* for local data pools
@ -24,32 +28,22 @@
*
* @ingroup data_pool
*/
class LocalDataSet:
public DataSetIF,
public HasReturnvaluesIF,
public SerializeIF {
class LocalDataSet: public DataSetBase {
public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
MAKE_RETURN_CODE( 0x01 );
static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
MAKE_RETURN_CODE(0x03);
static constexpr ReturnValue_t DATA_SET_UNINITIALIZED = MAKE_RETURN_CODE( 0x04 );
static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
/**
* @brief The constructor simply sets the fill_count to zero and sets
* @brief Constructor for the creator of local pool data.
* The constructor simply sets the fill_count to zero and sets
* the state to "uninitialized".
*/
LocalDataSet();
LocalDataSet(HasHkPoolParametersIF* hkOwner);
/**
* @brief This operation is used to register the local variables in the set.
* @details It stores the pool variable pointer in a variable list.
* @brief Constructor for users of local pool data. The passed pool
* owner should implement the HasHkPoolParametersIF.
* The constructor simply sets the fill_count to zero and sets
* the state to "uninitialized".
*/
ReturnValue_t registerVariable(PoolVariableIF* variable) override;
LocalDataSet(object_id_t ownerId);
/**
* @brief The destructor automatically manages writing the valid
@ -61,127 +55,30 @@ public:
*/
~LocalDataSet();
/**
* @brief The read call initializes reading out all registered variables.
* @details
* It iterates through the list of registered variables and calls all read()
* functions of the registered pool variables (which read out their values
* from the data pool) which are not write-only.
* In case of an error (e.g. a wrong data type, or an invalid data pool id),
* the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
*
* The data pool is locked during the whole read operation and
* freed afterwards.The state changes to "was written" after this operation.
* @return - @c RETURN_OK if all variables were read successfully.
* - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the
* requested variable is invalid.
* - @c SET_WAS_ALREADY_READ if read() is called twice without
* calling commit() in between
*/
ReturnValue_t read();
/**
* @brief The commit call initializes writing back the registered variables.
* @details
* It iterates through the list of registered variables and calls the
* commit() method of the remaining registered variables (which write back
* their values to the pool).
*
* The data pool is locked during the whole commit operation and
* freed afterwards. The state changes to "was committed" after this operation.
*
* If the set does contain at least one variable which is not write-only commit()
* can only be called after read(). If the set only contains variables which are
* write only, commit() can be called without a preceding read() call.
* @return - @c RETURN_OK if all variables were read successfully.
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
ReturnValue_t commit(void);
/**
* Variant of method above which sets validity of all elements of the set.
* @param valid Validity information from PoolVariableIF.
* @return - @c RETURN_OK if all variables were read successfully.
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
ReturnValue_t commit(bool valid);
/**
* Set all entries
* @param valid
*/
void setSetValid(bool valid);
/**
* Set the valid information of all variables contained in the set which
* are not read-only
*
* @param valid Validity information from PoolVariableIF.
*/
void setEntriesValid(bool valid);
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t max_size, bool bigEndian) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
bool bigEndian) override;
protected:
private:
// SHOULDDO we could use a linked list of datapool variables
//! This definition sets the maximum number of variables
//! to register in one DataSet.
static const uint8_t DATA_SET_MAX_SIZE = 63;
/**
* @brief This array represents all pool variables registered in this set.
*/
PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
/**
* @brief The fill_count attribute ensures that the variables register in
* the correct array position and that the maximum number of
* variables is not exceeded.
*/
uint16_t fill_count;
/**
* States of the seet.
*/
enum States {
DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
DATA_SET_WAS_READ //!< DATA_SET_WAS_READ
};
/**
* @brief state manages the internal state of the data set,
* which is important e.g. for the behavior on destruction.
*/
States state;
/**
* If the valid state of a dataset is always relevant to the whole
* data set we can use this flag.
*/
bool valid = false;
/**
* @brief This is a small helper function to facilitate locking
* the underlying data data pool structure
* the global data pool.
* @details
* It makes use of the lockDataPool method offered by the DataPool class.
*/
ReturnValue_t lockDataPool() override;
ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
/**
* @brief This is a small helper function to facilitate
* unlocking the underlying data data pool structure
* unlocking the global data pool
* @details
* It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
ReturnValue_t unlockDataPool() override;
void handleAlreadyReadDatasetCommit();
ReturnValue_t handleUnreadDatasetCommit();
HousekeepingManager* hkManager;
};
#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */

143
datapoollocal/LocalPoolVariable.h
View File

@ -3,56 +3,63 @@
#include <framework/datapool/PoolVariableIF.h>
#include <framework/datapool/DataSetIF.h>
#include <framework/housekeeping/HasHkPoolParametersIF.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/serialize/SerializeAdapter.h>
#include <framework/housekeeping/HousekeepingManager.h>
#include <map>
/**
* @brief This is the access class for non-array local data pool entries.
*
* @details
*
* @tparam T The template parameter sets the type of the variable.
* Currently, all plain data types are supported, but in principle
* any type is possible.
* @ingroup data_pool
*/
/**
* @brief Local Pool Variable class which is used to access the local pools.
* @details This class is not stored in the map. Instead, it is used to access
* the pool entries by using a pointer to the map storing the pool
* entries. It can also be used to organize these pool entries
* into data sets.
* @tparam T
* @details
* This class is not stored in the map. Instead, it is used to access
* the pool entries by using a pointer to the map storing the pool
* entries. It can also be used to organize these pool entries into data sets.
*
* @tparam T The template parameter sets the type of the variable. Currently,
* all plain data types are supported, but in principle any type is possible.
* @ingroup data_pool
*/
template<typename T>
class LocalPoolVar: public PoolVariableIF, HasReturnvaluesIF {
public:
static constexpr lp_id_t INVALID_POOL_ID = 0xFFFFFFFF;
//! Default ctor is forbidden.
LocalPoolVar() = delete;
/**
* This constructor is used by the data creators to have pool variable
* instances which can also be stored in datasets.
* @param set_id
* @param setReadWriteMode
* @param localPoolMap
* @param dataSet
* 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.
*/
LocalPoolVar(lp_id_t poolId, HasHkPoolParametersIF* hkOwner,
pool_rwm_t setReadWriteMode, DataSetIF* dataSet = nullptr);
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.
* @param poolId
* @param poolOwner
* @param setReadWriteMode
* @param dataSet
* 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.
*/
LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
pool_rwm_t setReadWriteMode, DataSetIF* dataSet = nullptr);
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
DataSetIF* dataSet = nullptr);
virtual~ LocalPoolVar() {};
@ -63,33 +70,91 @@ public:
*/
T value = 0;
ReturnValue_t commit() override;
ReturnValue_t read() override;
pool_rwm_t getReadWriteMode() const override;
uint32_t getDataPoolId() const override;
lp_id_t getDataPoolId() const override;
void setDataPoolId(lp_id_t poolId);
bool isValid() const override;
void setValid(uint8_t validity) override;
void setValid(bool validity) override;
uint8_t getValid() const;
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t max_size, bool bigEndian) const override;
const size_t max_size, bool bigEndian) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
bool bigEndian) override;
bool bigEndian) override;
/**
* @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;
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;
// std::ostream is the type for object std::cout
// friend std::ostream& operator<< (std::ostream &out,
// const LocalPoolVar &var) {
// out << static_cast<int>(value);
// return out;
// }
private:
lp_id_t localPoolId = INVALID_POOL_ID;
//! @brief Pool ID of pool entry inside the used local pool.
lp_id_t localPoolId = PoolVariableIF::NO_PARAMETER;
//! @brief Read-write mode of the pool variable
pool_rwm_t readWriteMode = pool_rwm_t::VAR_READ_WRITE;
//! @brief Specifies whether the entry is valid or invalid.
bool valid = false;
bool objectValid = true;
//! Pointer to the class which manages the HK pool.
HousekeepingManager* hkManager;
};
#include <framework/datapoollocal/LocalPoolVariable.tpp>
template<class T>
using lp_variable = LocalPoolVar<T>;
using lp_bool_t = LocalPoolVar<bool>;
template<class T>
using lp_var_t = LocalPoolVar<T>;
using lp_bool_t = LocalPoolVar<uint8_t>;
using lp_uint8_t = LocalPoolVar<uint8_t>;
using lp_uint16_t = LocalPoolVar<uint16_t>;
using lp_uint32_t = LocalPoolVar<uint32_t>;

83
datapoollocal/LocalPoolVariable.tpp
View File

@ -1,16 +1,24 @@
#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
#include <framework/housekeeping/HasHkPoolParametersIF.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/serialize/SerializeAdapter.h>
#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
#error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
#endif
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId,
HasHkPoolParametersIF* hkOwner, pool_rwm_t setReadWriteMode,
DataSetIF* dataSet):
localPoolId(poolId),readWriteMode(setReadWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
"NO_PARAMETER value!" << std::endl;
}
if(hkOwner == nullptr) {
sif::error << "LocalPoolVariable: The supplied pool owner is a nullptr!"
<< std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
if(dataSet != nullptr) {
dataSet->registerVariable(this);
@ -21,12 +29,15 @@ template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
pool_rwm_t setReadWriteMode, DataSetIF *dataSet):
readWriteMode(readWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
"NO_PARAMETER value!" << std::endl;
}
HasHkPoolParametersIF* hkOwner =
objectManager->get<HasHkPoolParametersIF>(poolOwner);
if(hkOwner == nullptr) {
sif::error << "LocalPoolVariable: The supplied pool owner did not implement"
"the correct interface HasHkPoolParametersIF!" << std::endl;
objectValid = false;
return;
}
hkManager = hkOwner->getHkManagerHandle();
@ -36,38 +47,59 @@ inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::read() {
inline ReturnValue_t LocalPoolVar<T>::read(millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), lockTimeout);
return readWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
// TODO: special return value
return HasReturnvaluesIF::RETURN_FAILED;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
MutexHelper(hkManager->getMutexHandle(), MutexIF::NO_TIMEOUT);
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, poolEntry);
if(result != RETURN_OK) {
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK and poolEntry != nullptr) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
this->value = *(poolEntry->address);
this->valid = poolEntry->valid;
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::commit() {
inline ReturnValue_t LocalPoolVar<T>::commit(millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), lockTimeout);
return commitWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for commit() call." << std::endl;
// TODO: special return value
return HasReturnvaluesIF::RETURN_FAILED;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
MutexHelper(hkManager->getMutexHandle(), MutexIF::NO_TIMEOUT);
// Wait maximum of 50 milliseconds.
MutexHelper(hkManager->getMutexHandle(), 50);
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, poolEntry);
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
*(poolEntry->address) = this->value;
poolEntry->valid = this->valid;
return RETURN_OK;
}
@ -81,16 +113,26 @@ inline lp_id_t LocalPoolVar<T>::getDataPoolId() const {
return localPoolId;
}
template<typename T>
inline void LocalPoolVar<T>::setDataPoolId(lp_id_t poolId) {
this->localPoolId = poolId;
}
template<typename T>
inline bool LocalPoolVar<T>::isValid() const {
return valid;
}
template<typename T>
inline void LocalPoolVar<T>::setValid(uint8_t validity) {
inline void LocalPoolVar<T>::setValid(bool validity) {
this->valid = validity;
}
template<typename T>
inline uint8_t LocalPoolVar<T>::getValid() const {
return valid;
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
const size_t max_size, bool bigEndian) const {
@ -109,4 +151,11 @@ inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
return AutoSerializeAdapter::deSerialize(&value, buffer, size, bigEndian);
}
//template<typename T>
//inline friend std::ostream& LocalPoolVar<T>::operator<< (std::ostream &out,
// const LocalPoolVar &var) {
// out << static_cast<int>(out);
//}
#endif

189
datapoollocal/LocalPoolVector.h Normal file
View File

@ -0,0 +1,189 @@
#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>
#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.
*/
LocalPoolVector(lp_id_t poolId, HasHkPoolParametersIF* hkOwner,
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.
* @details The user can work on this attribute
* just like he would on a local array of this type.
*/
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;
T &operator [](int i);
const T &operator [](int i) const;
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t max_size, bool bigEndian) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
bool bigEndian) override;
/**
* @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;
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.
HousekeepingManager* hkManager;
};
#include <framework/datapoollocal/LocalPoolVector.tpp>
template<typename T, uint16_t vectorSize>
using lp_vec_t = LocalPoolVector<T, vectorSize>;
#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */

185
datapoollocal/LocalPoolVector.tpp Normal file
View File

@ -0,0 +1,185 @@
#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#error Include LocalPoolVector.h before LocalPoolVector.tpp!
#endif
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
HasHkPoolParametersIF* hkOwner, pool_rwm_t setReadWriteMode,
DataSetIF* dataSet) :
localPoolId(poolId), valid(false), readWriteMode(setReadWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
"NO_PARAMETER value!" << std::endl;
}
memset(this->value, 0, vectorSize * sizeof(T));
if (dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
object_id_t poolOwner, pool_rwm_t setReadWriteMode, DataSetIF *dataSet):
readWriteMode(readWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
"NO_PARAMETER value!" << std::endl;
}
HasHkPoolParametersIF* hkOwner =
objectManager->get<HasHkPoolParametersIF>(poolOwner);
if(hkOwner == nullptr) {
sif::error << "LocalPoolVariable: The supplied pool owner did not implement"
"the correct interface HasHkPoolParametersIF!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
if(dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), lockTimeout);
return readWithoutLock();
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
memset(this->value, 0, vectorSize * sizeof(T));
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << "and lp ID 0x" << localPoolId <<
std::dec << " failed." << std::endl;
return result;
}
memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
this->valid = poolEntry->valid;
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
uint32_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), lockTimeout);
return commitWithoutLock();
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for commit() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
// Wait maximum of 50 milliseconds.
MutexHelper(hkManager->getMutexHandle(), 50);
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
poolEntry->valid = this->valid;
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
inline T& LocalPoolVector<T, vectorSize>::operator [](int i) {
if(i <= vectorSize) {
return value[i];
}
sif::warning << "LocalPoolVector: Invalid index" << std::endl;
return 0;
}
template<typename T, uint16_t vectorSize>
inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
if(i <= vectorSize) {
return value[i];
}
sif::warning << "LocalPoolVector: Invalid index" << std::endl;
return 0;
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
size_t* size, const size_t max_size, bool bigEndian) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter<T>::serialize(&(value[i]), buffer, size,
max_size, bigEndian);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
template<typename T, uint16_t vectorSize>
inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
return vectorSize * SerializeAdapter<T>::getSerializedSize(value);
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
const uint8_t** buffer, size_t* size, bool bigEndian) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter<T>::deSerialize(&(value[i]), buffer, size,
bigEndian);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
template<typename T, uint16_t vectorSize>
inline pool_rwm_t LocalPoolVector<T, vectorSize>::getReadWriteMode() const {
return this->readWriteMode;
}
template<typename T, uint16_t vectorSize>
inline uint32_t LocalPoolVector<T, vectorSize>::getDataPoolId() const {
return localPoolId;
}
template<typename T, uint16_t vectorSize>
inline void LocalPoolVector<T, vectorSize>::setDataPoolId(uint32_t poolId) {
this->localPoolId = poolId;
}
template<typename T, uint16_t vectorSize>
inline void LocalPoolVector<T, vectorSize>::setValid(bool valid) {
this->valid = valid;
}
template<typename T, uint16_t vectorSize>
inline uint8_t LocalPoolVector<T, vectorSize>::getValid() const {
return valid;
}
template<typename T, uint16_t vectorSize>
inline bool LocalPoolVector<T, vectorSize>::isValid() const {
return valid;
}
#endif