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Merge remote-tracking branch 'origin/development' into mueller/new-object-id-class

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This commit is contained in:
Robin Müller 2022-08-15 15:15:00 +02:00
commit 4a10f76784
8 changed files with 29 additions and 123 deletions
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26
src/fsfw/serialize/SerializeIF.h
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@ -68,13 +68,6 @@ class SerializeIF {
size_t maxSize) const { size_t maxSize) const {
return serialize(buffer, size, maxSize, SerializeIF::Endianness::NETWORK); return serialize(buffer, size, maxSize, SerializeIF::Endianness::NETWORK);
} }
/**
* If endianness is not explicitly specified, use machine endianness
*/
[[nodiscard]] virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
size_t maxSize) const {
return serialize(buffer, size, maxSize, SerializeIF::Endianness::MACHINE);
}
/** /**
* Gets the size of a object if it would be serialized in a buffer * Gets the size of a object if it would be serialized in a buffer
@ -110,12 +103,6 @@ class SerializeIF {
virtual ReturnValue_t deSerializeBe(const uint8_t **buffer, size_t *size) { virtual ReturnValue_t deSerializeBe(const uint8_t **buffer, size_t *size) {
return deSerialize(buffer, size, SerializeIF::Endianness::NETWORK); return deSerialize(buffer, size, SerializeIF::Endianness::NETWORK);
} }
/**
* If endianness is not explicitly specified, use machine endianness
*/
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size) {
return deSerialize(buffer, size, SerializeIF::Endianness::MACHINE);
}
/** /**
* Helper method which can be used if serialization should be performed without any additional * Helper method which can be used if serialization should be performed without any additional
@ -139,13 +126,6 @@ class SerializeIF {
size_t maxSize) const { size_t maxSize) const {
return serialize(buffer, serLen, maxSize, SerializeIF::Endianness::NETWORK); return serialize(buffer, serLen, maxSize, SerializeIF::Endianness::NETWORK);
} }
/**
* If endianness is not explicitly specified, use machine endianness
*/
[[nodiscard]] virtual ReturnValue_t serialize(uint8_t *buffer, size_t &serLen,
size_t maxSize) const {
return serialize(buffer, serLen, maxSize, SerializeIF::Endianness::MACHINE);
}
/** /**
* Helper methods which can be used if deserialization should be performed without any additional * Helper methods which can be used if deserialization should be performed without any additional
@ -168,12 +148,6 @@ class SerializeIF {
virtual ReturnValue_t deSerializeBe(const uint8_t *buffer, size_t &deserSize, size_t maxSize) { virtual ReturnValue_t deSerializeBe(const uint8_t *buffer, size_t &deserSize, size_t maxSize) {
return deSerialize(buffer, deserSize, maxSize, SerializeIF::Endianness::NETWORK); return deSerialize(buffer, deserSize, maxSize, SerializeIF::Endianness::NETWORK);
} }
/**
* If endianness is not explicitly specified, use machine endianness
*/
virtual ReturnValue_t deSerialize(const uint8_t *buffer, size_t &deserSize, size_t maxSize) {
return deSerialize(buffer, deserSize, maxSize, SerializeIF::Endianness::MACHINE);
}
}; };
#endif /* FSFW_SERIALIZE_SERIALIZEIF_H_ */ #endif /* FSFW_SERIALIZE_SERIALIZEIF_H_ */

27
src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
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@ -286,26 +286,22 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
PoolReadGuard readHelper(&dataset); PoolReadGuard readHelper(&dataset);
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
std::abs(mgmZ) > absLimitZ) {
dataset.fieldStrengths.setValid(false);
}
if (std::abs(mgmX) < absLimitX) { if (std::abs(mgmX) < absLimitX) {
dataset.fieldStrengthX = mgmX; dataset.fieldStrengths[0] = mgmX;
dataset.fieldStrengthX.setValid(true);
} else {
dataset.fieldStrengthX.setValid(false);
} }
if (std::abs(mgmY) < absLimitY) { if (std::abs(mgmY) < absLimitY) {
dataset.fieldStrengthY = mgmY; dataset.fieldStrengths[1] = mgmY;
dataset.fieldStrengthY.setValid(true);
} else {
dataset.fieldStrengthY.setValid(false);
} }
if (std::abs(mgmZ) < absLimitZ) { if (std::abs(mgmZ) < absLimitZ) {
dataset.fieldStrengthZ = mgmZ; dataset.fieldStrengths[2] = mgmZ;
dataset.fieldStrengthZ.setValid(true);
} else {
dataset.fieldStrengthZ.setValid(false);
} }
dataset.fieldStrengths.setValid(true);
} }
break; break;
} }
@ -468,10 +464,9 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0})); poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

2
src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
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@ -103,6 +103,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
CommunicationStep communicationStep = CommunicationStep::DATA; CommunicationStep communicationStep = CommunicationStep::DATA;
bool commandExecuted = false; bool commandExecuted = false;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
PoolEntry<float> temperature = PoolEntry<float>();
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Device specific commands and variables */ /* Device specific commands and variables */
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/

11
src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
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@ -309,9 +309,8 @@ void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE;
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0})); poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -354,9 +353,9 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
// TODO: Sanity check on values? // TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset); PoolReadGuard readGuard(&primaryDataset);
if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX; primaryDataset.fieldStrengths[0] = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY; primaryDataset.fieldStrengths[1] = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ; primaryDataset.fieldStrengths[2] = fieldStrengthZ;
primaryDataset.setValidity(true, true); primaryDataset.setValidity(true, true);
} }
return RETURN_OK; return RETURN_OK;

1
src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
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@ -85,6 +85,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
bool goToNormalModeAtStartup = false; bool goToNormalModeAtStartup = false;
uint32_t transitionDelay; uint32_t transitionDelay;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen); const uint8_t *commandData, size_t commandDataLen);

14
src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
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@ -139,12 +139,7 @@ static const uint8_t CTRL_REG5_DEFAULT = 0;
static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA; static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
enum MgmPoolIds : lp_id_t { enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
FIELD_STRENGTH_X,
FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z,
TEMPERATURE_CELCIUS
};
class MgmPrimaryDataset : public StaticLocalDataSet<4> { class MgmPrimaryDataset : public StaticLocalDataSet<4> {
public: public:
@ -152,9 +147,10 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {
MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {} MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this); /**
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this); * Field strenghts in uT
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this); */
lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this); lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
}; };

14
src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
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@ -101,11 +101,7 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
static constexpr uint32_t MGM_DATASET_ID = READ_DATA; static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
enum MgmPoolIds : lp_id_t { enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
FIELD_STRENGTH_X,
FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z,
};
class Rm3100PrimaryDataset : public StaticLocalDataSet<3> { class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
public: public:
@ -113,10 +109,10 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {} Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
// Field strengths in micro Tesla. /**
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this); * Field strenghts in uT
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this); */
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this); lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
}; };
} // namespace RM3100 } // namespace RM3100

57
unittests/serialize/testSerializeIF.cpp
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@ -76,37 +76,6 @@ TEST_CASE("Serialize IF Serialize", "[serialize-if-ser]") {
CHECK(buf[2] == 3); CHECK(buf[2] == 3);
CHECK(serLen == 3); CHECK(serLen == 3);
} }
SECTION("Machine Endian Implicit") {
REQUIRE(simpleSer.SerializeIF::serialize(&ptr, &len, buf.size()) ==
HasReturnvaluesIF::RETURN_OK);
CHECK(buf[0] == 1);
#if BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
CHECK(buf[1] == 3);
CHECK(buf[2] == 2);
#else
CHECK(buf[1] == 2);
CHECK(buf[2] == 3);
#endif
// Verify pointer arithmetic and size increment
CHECK(ptr == buf.data() + 3);
CHECK(len == 3);
}
SECTION("Machine Endian Simple Implicit") {
size_t serLen = 0xff;
REQUIRE(simpleSer.SerializeIF::serialize(buf.data(), serLen, buf.size()) ==
HasReturnvaluesIF::RETURN_OK);
CHECK(buf[0] == 1);
#if BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
CHECK(buf[1] == 3);
CHECK(buf[2] == 2);
#else
CHECK(buf[1] == 2);
CHECK(buf[2] == 3);
#endif
CHECK(serLen == 3);
}
} }
TEST_CASE("SerializeIF Deserialize", "[serialize-if-de]") { TEST_CASE("SerializeIF Deserialize", "[serialize-if-de]") {
@ -172,30 +141,4 @@ TEST_CASE("SerializeIF Deserialize", "[serialize-if-de]") {
CHECK(simpleSer.getU16() == 1); CHECK(simpleSer.getU16() == 1);
CHECK(deserLen == 3); CHECK(deserLen == 3);
} }
SECTION("Machine Endian Implicit") {
REQUIRE(simpleSer.SerializeIF::deSerialize(&ptr, &len) == HasReturnvaluesIF::RETURN_OK);
CHECK(simpleSer.getU8() == 5);
#if BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
CHECK(simpleSer.getU16() == 0x0100);
#else
CHECK(simpleSer.getU16() == 1);
#endif
// Verify pointer arithmetic and size increment
CHECK(ptr == buf.data() + 3);
CHECK(len == 0);
}
SECTION("Machine Endian Simple Implicit") {
size_t deserLen = 0xff;
REQUIRE(simpleSer.SerializeIF::deSerialize(buf.data(), deserLen, buf.size()) ==
HasReturnvaluesIF::RETURN_OK);
CHECK(simpleSer.getU8() == 5);
#if BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
CHECK(simpleSer.getU16() == 0x0100);
#else
CHECK(simpleSer.getU16() == 1);
#endif
CHECK(deserLen == 3);
}
} }