Merge pull request 'Update Package' (#378) from KSat/fsfw:mueller/update-pack into development
Reviewed-on: fsfw/fsfw#378
This commit is contained in:
commit
dbda6fee82
21
CHANGELOG
21
CHANGELOG
@ -22,7 +22,9 @@ a C file without issues
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### Local Pool
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- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
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- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
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bucket number of the pools per page and the number of pages are passed to the ctor instead of
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two ctor arguments and a template parameter
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### Parameter Service
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@ -40,7 +42,8 @@ important use-case)
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### File System Interface
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- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
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- A new interfaces specifies the functions for a software object which exposes the file system of
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a given hardware to use message based file handling (e.g. PUS commanding)
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### Internal Error Reporter
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@ -52,7 +55,8 @@ ID for now.
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### Device Handler Base
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- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
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that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
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that DHB users adapt their polling sequence tables to perform this step. This steps allows for
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a clear distinction between operation and communication steps
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- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
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- getTransitionDelayMs is now an abstract method
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@ -69,7 +73,8 @@ now
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### Commanding Service Base
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- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file
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- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each
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CSB instance. This variable has to be set in the FSFWConfig.h file
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### Service Interface
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@ -82,6 +87,12 @@ now
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For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded.
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If this is not the case, everything should work as usual.
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### ActionHelper and ActionMessage
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- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit
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information whether to report a success or failure message instead of deriving it implicitely
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from returnvalue
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### PUS Parameter Service 20
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Added PUS parameter service 20 (only custom subservices available).
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Added PUS parameter service 20 (only custom subservices available).
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@ -43,10 +43,10 @@ void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
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queueToUse->sendMessage(reportTo, &reply);
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}
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void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
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void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
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ReturnValue_t result) {
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CommandMessage reply;
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ActionMessage::setCompletionReply(&reply, commandId, result);
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ActionMessage::setCompletionReply(success, &reply, commandId, result);
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queueToUse->sendMessage(reportTo, &reply);
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}
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@ -69,7 +69,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
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ipcStore->deleteData(dataAddress);
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if(result == HasActionsIF::EXECUTION_FINISHED) {
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CommandMessage reply;
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ActionMessage::setCompletionReply(&reply, actionId, result);
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ActionMessage::setCompletionReply(true, &reply, actionId, result);
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queueToUse->sendMessage(commandedBy, &reply);
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}
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if (result != HasReturnvaluesIF::RETURN_OK) {
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@ -62,12 +62,12 @@ public:
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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/**
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* Function to be called by the owner to send a action completion message
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*
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* @param success Specify whether action was completed successfully or not.
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* @param reportTo MessageQueueId_t to report the action completion message to
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* @param commandId ID of the executed command
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* @param result Result of the execution
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*/
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void finish(MessageQueueId_t reportTo, ActionId_t commandId,
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void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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/**
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* Function to be called by the owner if an action does report data.
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@ -53,11 +53,12 @@ void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
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message->setParameter2(data.raw);
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}
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void ActionMessage::setCompletionReply(CommandMessage* message,
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void ActionMessage::setCompletionReply(bool success, CommandMessage* message,
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ActionId_t fid, ReturnValue_t result) {
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if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) {
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if (success) {
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message->setCommand(COMPLETION_SUCCESS);
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} else {
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}
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else {
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message->setCommand(COMPLETION_FAILED);
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}
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message->setParameter(fid);
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@ -24,19 +24,23 @@ public:
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static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
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static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
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static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
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virtual ~ActionMessage();
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static void setCommand(CommandMessage* message, ActionId_t fid,
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store_address_t parameters);
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static ActionId_t getActionId(const CommandMessage* message );
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static store_address_t getStoreId(const CommandMessage* message );
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static store_address_t getStoreId(const CommandMessage* message);
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static void setStepReply(CommandMessage* message, ActionId_t fid,
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uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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static uint8_t getStep(const CommandMessage* message );
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static ReturnValue_t getReturnCode(const CommandMessage* message );
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static void setDataReply(CommandMessage* message, ActionId_t actionId,
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store_address_t data);
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static void setCompletionReply(CommandMessage* message, ActionId_t fid,
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static void setCompletionReply(bool success, CommandMessage* message, ActionId_t fid,
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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static void clear(CommandMessage* message);
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};
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@ -62,7 +62,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
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stepCount++;
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break;
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case HasActionsIF::EXECUTION_FINISHED:
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ActionMessage::setCompletionReply(&reply, actionId,
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ActionMessage::setCompletionReply(true, &reply, actionId,
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HasReturnvaluesIF::RETURN_OK);
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queueToUse->sendMessage(commandedBy, &reply);
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break;
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@ -13,7 +13,7 @@ ExtendedControllerBase::~ExtendedControllerBase() {
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ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
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// needs to be overriden and implemented by child class.
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/* Needs to be overriden and implemented by child class. */
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -21,7 +21,7 @@ ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
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ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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// needs to be overriden and implemented by child class.
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/* Needs to be overriden and implemented by child class. */
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -96,8 +96,10 @@ ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
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ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
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handleQueue();
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poolManager.performHkOperation();
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performControlOperation();
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/* We do this after performing control operation because variables will be set changed
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in this function. */
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poolManager.performHkOperation();
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return RETURN_OK;
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}
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@ -8,9 +8,9 @@
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/**
|
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* @brief Helper class to read data sets or pool variables
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*/
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class PoolReadHelper {
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class PoolReadGuard {
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public:
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PoolReadHelper(ReadCommitIF* readObject,
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PoolReadGuard(ReadCommitIF* readObject,
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MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
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uint32_t mutexTimeout = 20):
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readObject(readObject), mutexTimeout(mutexTimeout) {
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@ -42,7 +42,7 @@ public:
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/**
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* @brief Default destructor which will take care of commiting changed values.
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*/
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~PoolReadHelper() {
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~PoolReadGuard() {
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if(readObject != nullptr and not noCommit) {
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readObject->commit(timeoutType, mutexTimeout);
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}
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@ -46,6 +46,8 @@ public:
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* read-write or read-only.
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*/
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virtual ReadWriteMode_t getReadWriteMode() const = 0;
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virtual void setReadWriteMode(ReadWriteMode_t newMode) = 0;
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/**
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* @brief This operation shall return the data pool id of the variable.
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*/
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@ -59,7 +61,6 @@ public:
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* @brief With this call, the valid information of the variable is set.
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*/
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virtual void setValid(bool validity) = 0;
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};
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using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
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@ -162,8 +162,8 @@ protected:
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*/
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virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
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<< ". Returning nullptr!" << std::endl;
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sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden. "
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"Returning nullptr!" << std::endl;
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#else
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sif::printWarning("HasLocalDataPoolIF::getPoolObjectHandle: "
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"Not overriden. Returning nullptr!\n");
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@ -42,15 +42,15 @@ LocalDataPoolManager::~LocalDataPoolManager() {}
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ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
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if(queueToUse == nullptr) {
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// error, all destinations invalid
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printWarningOrError(sif::OutputTypes::OUT_ERROR,
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"initialize", QUEUE_OR_DESTINATION_INVALID);
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/* Error, all destinations invalid */
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printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
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QUEUE_OR_DESTINATION_INVALID);
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}
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hkQueue = queueToUse;
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ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
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if(ipcStore == nullptr) {
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// error, all destinations invalid
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/* Error, all destinations invalid */
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printWarningOrError(sif::OutputTypes::OUT_ERROR,
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"initialize", HasReturnvaluesIF::RETURN_FAILED,
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"Could not set IPC store.");
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@ -42,8 +42,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
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}
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}
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LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
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PoolVariableIF** registeredVariablesArray,
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LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
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const size_t maxNumberOfVariables):
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PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
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HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
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@ -289,7 +288,7 @@ bool LocalPoolDataSetBase::isValid() const {
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void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
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if(setEntriesRecursively) {
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for(size_t idx = 0; idx < this->getFillCount(); idx++) {
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registeredVariables[idx] -> setValid(valid);
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registeredVariables[idx]->setValid(valid);
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}
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}
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this->valid = valid;
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@ -302,3 +301,8 @@ object_id_t LocalPoolDataSetBase::getCreatorObjectId() {
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return objects::NO_OBJECT;
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}
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void LocalPoolDataSetBase::setAllVariablesReadOnly() {
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for(size_t idx = 0; idx < this->getFillCount(); idx++) {
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registeredVariables[idx]->setReadWriteMode(pool_rwm_t::VAR_READ);
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}
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}
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@ -59,7 +59,7 @@ public:
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/**
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* @brief Constructor for users of the local pool data, which need
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* to access data created by one (!) HK manager.
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* to access data created by one HK manager.
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* @details
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* Unlike the first constructor, no component for periodic handling
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* will be initiated.
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@ -109,6 +109,12 @@ public:
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LocalPoolDataSetBase(const LocalPoolDataSetBase& otherSet) = delete;
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const LocalPoolDataSetBase& operator=(const LocalPoolDataSetBase& otherSet) = delete;
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/**
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* Helper functions used to set all currently contained variables to read-only.
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* It is recommended to call this in set constructors intended to be used
|
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* by data consumers to prevent accidentally changing pool data.
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*/
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void setAllVariablesReadOnly();
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void setValidityBufferGeneration(bool withValidityBuffer);
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sid_t getSid() const;
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|
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@ -37,15 +37,20 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
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if(poolId == PoolVariableIF::NO_PARAMETER) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
|
||||
<< "which is the NO_PARAMETER value!" << std::endl;
|
||||
"which is the NO_PARAMETER value!" << std::endl;
|
||||
#else
|
||||
sif::printWarning("LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
|
||||
"which is the NO_PARAMETER value!\n");
|
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#endif
|
||||
}
|
||||
HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(poolOwner);
|
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if(hkOwner == nullptr) {
|
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#if FSFW_CPP_OSTREAM_ENABLED == 1
|
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sif::error << "LocalPoolVariable: The supplied pool owner did not "
|
||||
<< "implement the correct interface"
|
||||
<< " HasLocalDataPoolIF!" << std::endl;
|
||||
sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
|
||||
"interface HasLocalDataPoolIF!" << std::endl;
|
||||
#else
|
||||
sif::printError( "LocalPoolVariable: The supplied pool owner did not implement the correct "
|
||||
"interface HasLocalDataPoolIF!\n");
|
||||
#endif
|
||||
return;
|
||||
}
|
||||
|
||||
@ -26,8 +26,17 @@ inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
|
||||
template<typename T>
|
||||
inline ReturnValue_t LocalPoolVariable<T>::read(
|
||||
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
|
||||
MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
|
||||
return readWithoutLock();
|
||||
if(hkManager == nullptr) {
|
||||
return readWithoutLock();
|
||||
}
|
||||
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
|
||||
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
result = readWithoutLock();
|
||||
mutex->unlockMutex();
|
||||
return result;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
@ -43,7 +52,6 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
|
||||
PoolEntry<T>* poolEntry = nullptr;
|
||||
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
|
||||
&poolEntry);
|
||||
//ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
|
||||
if(result != RETURN_OK) {
|
||||
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
|
||||
reportReadCommitError("LocalPoolVariable", result,
|
||||
@ -51,15 +59,6 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
|
||||
return result;
|
||||
}
|
||||
|
||||
// Actually this should never happen..
|
||||
// if(poolEntry->address == nullptr) {
|
||||
// result = PoolVariableIF::INVALID_POOL_ENTRY;
|
||||
// object_id_t ownerObjectId = hkManager->getOwner()->getObjectId();
|
||||
// reportReadCommitError("LocalPoolVariable", result,
|
||||
// false, ownerObjectId, localPoolId);
|
||||
// return result;
|
||||
// }
|
||||
|
||||
this->value = *(poolEntry->getDataPtr());
|
||||
this->valid = poolEntry->getValid();
|
||||
return RETURN_OK;
|
||||
@ -75,8 +74,17 @@ inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
|
||||
template<typename T>
|
||||
inline ReturnValue_t LocalPoolVariable<T>::commit(
|
||||
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
|
||||
MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
|
||||
return commitWithoutLock();
|
||||
if(hkManager == nullptr) {
|
||||
return commitWithoutLock();
|
||||
}
|
||||
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
|
||||
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
result = commitWithoutLock();
|
||||
mutex->unlockMutex();
|
||||
return result;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
|
||||
@ -558,7 +558,7 @@ void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
|
||||
if (cookieInfo.pendingCommand->second.sendReplyTo != NO_COMMANDER) {
|
||||
MessageQueueId_t queueId = cookieInfo.pendingCommand->second.sendReplyTo;
|
||||
if (status == NO_REPLY_EXPECTED) {
|
||||
actionHelper.finish(queueId, cookieInfo.pendingCommand->first,
|
||||
actionHelper.finish(true, queueId, cookieInfo.pendingCommand->first,
|
||||
RETURN_OK);
|
||||
} else {
|
||||
actionHelper.step(1, queueId, cookieInfo.pendingCommand->first,
|
||||
@ -581,7 +581,11 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
|
||||
// Check if it was transition or internal command.
|
||||
// Don't send any replies in that case.
|
||||
if (info->sendReplyTo != NO_COMMANDER) {
|
||||
actionHelper.finish(info->sendReplyTo, iter->first, status);
|
||||
bool success = false;
|
||||
if(status == HasReturnvaluesIF::RETURN_OK) {
|
||||
success = true;
|
||||
}
|
||||
actionHelper.finish(success, info->sendReplyTo, iter->first, status);
|
||||
}
|
||||
info->isExecuting = false;
|
||||
}
|
||||
|
||||
@ -1,3 +1,172 @@
|
||||
## Local Data Pools
|
||||
## Local Data Pools Developer Information
|
||||
|
||||
The following text is targeted towards mission software developers which would like
|
||||
to use the local data pools provided by the FSFW to store data like sensor values so they can be
|
||||
used by other software objects like controllers as well. If a custom class should have a local
|
||||
pool which can be used by other software objects as well, following steps have to be performed:
|
||||
|
||||
1. Create a `LocalDataPoolManager` member object in the custom class
|
||||
2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
|
||||
and the class owning the local pool.
|
||||
|
||||
The local data pool manager is also able to process housekeeping service requests in form
|
||||
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
|
||||
variables and datasets and process notifications and snapshots coming from other objects.
|
||||
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
|
||||
while the later two are related to data consumers like controllers only acting on data change
|
||||
detected by the data creator instead of checking the data manually each cycle. Two important
|
||||
framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps
|
||||
shown above so the steps required are altered slightly.
|
||||
|
||||
### Storing and Accessing pool data
|
||||
|
||||
The pool manager is responsible for thread-safe access of the pool data, but the actual
|
||||
access to the pool data from the point of view of a mission software developer happens via proxy
|
||||
classes like pool variable classes. These classes store a copy
|
||||
of the pool variable with the matching datatype and copy the actual data from the local pool
|
||||
on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
|
||||
The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
|
||||
and data consumers. Generally, a user will create a dataset class which in turn groups all
|
||||
cohesive pool variables. These sets simply iterator over the list of variables and call the
|
||||
`read` and `commit` functions of each variable. The following diagram shows the
|
||||
high-level architecture of the local data pools.
|
||||
|
||||
<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
|
||||
|
||||
An example is shown for using the local data pools with a Gyroscope.
|
||||
For example, the following code shows an implementation to access data from a Gyroscope taken
|
||||
from the SOURCE CubeSat project:
|
||||
|
||||
```cpp
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
/**
|
||||
* Constructor for data users
|
||||
* @param gyroId
|
||||
*/
|
||||
GyroPrimaryDataset(object_id_t gyroId):
|
||||
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
|
||||
gyrodefs::ANGULAR_VELOCITY_X, this);
|
||||
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
|
||||
gyrodefs::ANGULAR_VELOCITY_Y, this);
|
||||
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
|
||||
gyrodefs::ANGULAR_VELOCITY_Z, this);
|
||||
private:
|
||||
|
||||
friend class GyroHandler;
|
||||
/**
|
||||
* Constructor for data creator
|
||||
* @param hkOwner
|
||||
*/
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
|
||||
};
|
||||
```
|
||||
|
||||
There is a public constructor for users which sets all variables to read-only and there is a
|
||||
constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
|
||||
as a friend class. Both the atittude controller and the `GyroHandler` can now
|
||||
use the same class definition to access the pool variables with `read` and `commit` semantics
|
||||
in a thread-safe way. Generally, each class requiring access will have the set class as a member
|
||||
class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
|
||||
steps are necessary to expose the set for housekeeping purposes.
|
||||
|
||||
### Using the local data pools in a `DeviceHandlerBase` subclass
|
||||
|
||||
It is very common to store data generated by devices like a sensor into a pool which can
|
||||
then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
|
||||
local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
|
||||
as a member:
|
||||
|
||||
```cpp
|
||||
class GyroHandler: ... {
|
||||
|
||||
public:
|
||||
...
|
||||
private:
|
||||
...
|
||||
GyroPrimaryDataset gyroData;
|
||||
...
|
||||
};
|
||||
```
|
||||
|
||||
The constructor used for the creators expects the owner class as a parameter, so we initialize
|
||||
the object in the `GyroHandler` constructor like this:
|
||||
|
||||
```cpp
|
||||
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
|
||||
CookieIF *comCookie, uint8_t switchId):
|
||||
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
|
||||
gyroData(this) {}
|
||||
```
|
||||
|
||||
We need to assign the set to a reply ID used in the `DeviceHandlerBase`.
|
||||
The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
|
||||
`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
|
||||
generating update messages. We need to assign our custom set class in some way so that the local
|
||||
pool manager can access the custom data sets as well.
|
||||
By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
|
||||
`DeviceHandlerBase` subclass will use the internal command map to retrieve
|
||||
a handle to a dataset from a given reply ID. Therefore,
|
||||
we assign the set in the `fillCommandAndReplyMap` function:
|
||||
|
||||
```cpp
|
||||
void GyroHandler::fillCommandAndReplyMap() {
|
||||
...
|
||||
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool`
|
||||
function. Here, we also immediately subscribe for periodic housekeeping packets
|
||||
with an interval of 4 seconds. They are still disabled in this example and can be enabled
|
||||
with a housekeeping service command.
|
||||
|
||||
```cpp
|
||||
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
|
||||
new PoolEntry<uint8_t>({0}));
|
||||
localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
|
||||
new PoolEntry<uint8_t>({0}));
|
||||
|
||||
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
```
|
||||
|
||||
Now, if we receive some sensor data and converted them into the right format,
|
||||
we can write it into the pool like this, using a guard class to ensure the set is commited back
|
||||
in any case:
|
||||
|
||||
```cpp
|
||||
PoolReadGuard readHelper(&gyroData);
|
||||
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if(not gyroData.isValid()) {
|
||||
gyroData.setValidity(true, true);
|
||||
}
|
||||
|
||||
gyroData.angVelocityX = angularVelocityX;
|
||||
gyroData.angVelocityY = angularVelocityY;
|
||||
gyroData.angVelocityZ = angularVelocityZ;
|
||||
}
|
||||
```
|
||||
|
||||
The guard class will commit the changed data on destruction automatically.
|
||||
|
||||
### Using the local data pools in a `ExtendedControllerBase` subclass
|
||||
|
||||
Coming soon
|
||||
|
||||
|
||||
|
||||
BIN
doc/images/PoolArchitecture.png
Normal file
BIN
doc/images/PoolArchitecture.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 52 KiB |
@ -16,56 +16,56 @@ uint16_t Clock::leapSeconds = 0;
|
||||
MutexIF* Clock::timeMutex = nullptr;
|
||||
|
||||
uint32_t Clock::getTicksPerSecond(void) {
|
||||
return 1000;
|
||||
return 1000;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
|
||||
|
||||
timeval time_timeval;
|
||||
timeval time_timeval;
|
||||
|
||||
ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
|
||||
return setClock(&time_timeval);
|
||||
return setClock(&time_timeval);
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::setClock(const timeval* time) {
|
||||
timeval uptime = getUptime();
|
||||
timeval uptime = getUptime();
|
||||
|
||||
timeval offset = *time - uptime;
|
||||
timeval offset = *time - uptime;
|
||||
|
||||
Timekeeper::instance()->setOffset(offset);
|
||||
Timekeeper::instance()->setOffset(offset);
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getClock_timeval(timeval* time) {
|
||||
timeval uptime = getUptime();
|
||||
timeval uptime = getUptime();
|
||||
|
||||
timeval offset = Timekeeper::instance()->getOffset();
|
||||
timeval offset = Timekeeper::instance()->getOffset();
|
||||
|
||||
*time = offset + uptime;
|
||||
*time = offset + uptime;
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getUptime(timeval* uptime) {
|
||||
*uptime = getUptime();
|
||||
*uptime = getUptime();
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
timeval Clock::getUptime() {
|
||||
TickType_t ticksSinceStart = xTaskGetTickCount();
|
||||
return Timekeeper::ticksToTimeval(ticksSinceStart);
|
||||
TickType_t ticksSinceStart = xTaskGetTickCount();
|
||||
return Timekeeper::ticksToTimeval(ticksSinceStart);
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
|
||||
timeval uptime = getUptime();
|
||||
*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
timeval uptime = getUptime();
|
||||
*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
||||
@ -76,129 +76,129 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
|
||||
|
||||
|
||||
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
|
||||
timeval time_timeval;
|
||||
ReturnValue_t result = getClock_timeval(&time_timeval);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
*time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
timeval time_timeval;
|
||||
ReturnValue_t result = getClock_timeval(&time_timeval);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
*time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
|
||||
timeval time_timeval;
|
||||
ReturnValue_t result = getClock_timeval(&time_timeval);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
struct tm time_tm;
|
||||
timeval time_timeval;
|
||||
ReturnValue_t result = getClock_timeval(&time_timeval);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
struct tm time_tm;
|
||||
|
||||
gmtime_r(&time_timeval.tv_sec,&time_tm);
|
||||
gmtime_r(&time_timeval.tv_sec,&time_tm);
|
||||
|
||||
time->year = time_tm.tm_year + 1900;
|
||||
time->month = time_tm.tm_mon + 1;
|
||||
time->day = time_tm.tm_mday;
|
||||
time->year = time_tm.tm_year + 1900;
|
||||
time->month = time_tm.tm_mon + 1;
|
||||
time->day = time_tm.tm_mday;
|
||||
|
||||
time->hour = time_tm.tm_hour;
|
||||
time->minute = time_tm.tm_min;
|
||||
time->second = time_tm.tm_sec;
|
||||
time->hour = time_tm.tm_hour;
|
||||
time->minute = time_tm.tm_min;
|
||||
time->second = time_tm.tm_sec;
|
||||
|
||||
time->usecond = time_timeval.tv_usec;
|
||||
time->usecond = time_timeval.tv_usec;
|
||||
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
|
||||
timeval* to) {
|
||||
struct tm time_tm;
|
||||
timeval* to) {
|
||||
struct tm time_tm;
|
||||
|
||||
time_tm.tm_year = from->year - 1900;
|
||||
time_tm.tm_mon = from->month - 1;
|
||||
time_tm.tm_mday = from->day;
|
||||
time_tm.tm_year = from->year - 1900;
|
||||
time_tm.tm_mon = from->month - 1;
|
||||
time_tm.tm_mday = from->day;
|
||||
|
||||
time_tm.tm_hour = from->hour;
|
||||
time_tm.tm_min = from->minute;
|
||||
time_tm.tm_sec = from->second;
|
||||
time_tm.tm_hour = from->hour;
|
||||
time_tm.tm_min = from->minute;
|
||||
time_tm.tm_sec = from->second;
|
||||
|
||||
time_t seconds = mktime(&time_tm);
|
||||
time_t seconds = mktime(&time_tm);
|
||||
|
||||
to->tv_sec = seconds;
|
||||
to->tv_usec = from->usecond;
|
||||
//Fails in 2038..
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
to->tv_sec = seconds;
|
||||
to->tv_usec = from->usecond;
|
||||
//Fails in 2038..
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
|
||||
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
|
||||
/ 3600.;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
|
||||
/ 3600.;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
|
||||
//SHOULDDO: works not for dates in the past (might have less leap seconds)
|
||||
if (timeMutex == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
//SHOULDDO: works not for dates in the past (might have less leap seconds)
|
||||
if (timeMutex == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint16_t leapSeconds;
|
||||
ReturnValue_t result = getLeapSeconds(&leapSeconds);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
timeval leapSeconds_timeval = { 0, 0 };
|
||||
leapSeconds_timeval.tv_sec = leapSeconds;
|
||||
uint16_t leapSeconds;
|
||||
ReturnValue_t result = getLeapSeconds(&leapSeconds);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
timeval leapSeconds_timeval = { 0, 0 };
|
||||
leapSeconds_timeval.tv_sec = leapSeconds;
|
||||
|
||||
//initial offset between UTC and TAI
|
||||
timeval UTCtoTAI1972 = { 10, 0 };
|
||||
//initial offset between UTC and TAI
|
||||
timeval UTCtoTAI1972 = { 10, 0 };
|
||||
|
||||
timeval TAItoTT = { 32, 184000 };
|
||||
timeval TAItoTT = { 32, 184000 };
|
||||
|
||||
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
|
||||
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
|
||||
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
leapSeconds = leapSeconds_;
|
||||
leapSeconds = leapSeconds_;
|
||||
|
||||
result = timeMutex->unlockMutex();
|
||||
return result;
|
||||
result = timeMutex->unlockMutex();
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
|
||||
if (timeMutex == NULL) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
if (timeMutex == NULL) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
*leapSeconds_ = leapSeconds;
|
||||
*leapSeconds_ = leapSeconds;
|
||||
|
||||
result = timeMutex->unlockMutex();
|
||||
return result;
|
||||
result = timeMutex->unlockMutex();
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t Clock::checkOrCreateClockMutex() {
|
||||
if (timeMutex == NULL) {
|
||||
MutexFactory* mutexFactory = MutexFactory::instance();
|
||||
if (mutexFactory == NULL) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
timeMutex = mutexFactory->createMutex();
|
||||
if (timeMutex == NULL) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
if (timeMutex == NULL) {
|
||||
MutexFactory* mutexFactory = MutexFactory::instance();
|
||||
if (mutexFactory == NULL) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
timeMutex = mutexFactory->createMutex();
|
||||
if (timeMutex == NULL) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -21,215 +21,215 @@ bool operator==(const timeval& lhs, const timeval& rhs);
|
||||
*/
|
||||
class CCSDSTime: public HasReturnvaluesIF {
|
||||
public:
|
||||
/**
|
||||
* The Time code identifications, bits 4-6 in the P-Field
|
||||
*/
|
||||
enum TimeCodeIdentification {
|
||||
CCS = 0b101,
|
||||
CUC_LEVEL1 = 0b001,
|
||||
CUC_LEVEL2 = 0b010,
|
||||
CDS = 0b100,
|
||||
AGENCY_DEFINED = 0b110
|
||||
};
|
||||
static const uint8_t P_FIELD_CUC_6B_CCSDS = (CUC_LEVEL1 << 4) + (3 << 2)
|
||||
+ 2;
|
||||
static const uint8_t P_FIELD_CUC_6B_AGENCY = (CUC_LEVEL2 << 4) + (3 << 2)
|
||||
+ 2;
|
||||
static const uint8_t P_FIELD_CDS_SHORT = (CDS << 4);
|
||||
/**
|
||||
* Struct for CDS day-segmented format.
|
||||
*/
|
||||
struct CDS_short {
|
||||
uint8_t pField;
|
||||
uint8_t dayMSB;
|
||||
uint8_t dayLSB;
|
||||
uint8_t msDay_hh;
|
||||
uint8_t msDay_h;
|
||||
uint8_t msDay_l;
|
||||
uint8_t msDay_ll;
|
||||
};
|
||||
/**
|
||||
* Struct for the CCS fromat in day of month variation with max resolution
|
||||
*/
|
||||
struct Ccs_seconds {
|
||||
uint8_t pField;
|
||||
uint8_t yearMSB;
|
||||
uint8_t yearLSB;
|
||||
uint8_t month;
|
||||
uint8_t day;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
uint8_t second;
|
||||
};
|
||||
/**
|
||||
* The Time code identifications, bits 4-6 in the P-Field
|
||||
*/
|
||||
enum TimeCodeIdentification {
|
||||
CCS = 0b101,
|
||||
CUC_LEVEL1 = 0b001,
|
||||
CUC_LEVEL2 = 0b010,
|
||||
CDS = 0b100,
|
||||
AGENCY_DEFINED = 0b110
|
||||
};
|
||||
static const uint8_t P_FIELD_CUC_6B_CCSDS = (CUC_LEVEL1 << 4) + (3 << 2)
|
||||
+ 2;
|
||||
static const uint8_t P_FIELD_CUC_6B_AGENCY = (CUC_LEVEL2 << 4) + (3 << 2)
|
||||
+ 2;
|
||||
static const uint8_t P_FIELD_CDS_SHORT = (CDS << 4);
|
||||
/**
|
||||
* Struct for CDS day-segmented format.
|
||||
*/
|
||||
struct CDS_short {
|
||||
uint8_t pField;
|
||||
uint8_t dayMSB;
|
||||
uint8_t dayLSB;
|
||||
uint8_t msDay_hh;
|
||||
uint8_t msDay_h;
|
||||
uint8_t msDay_l;
|
||||
uint8_t msDay_ll;
|
||||
};
|
||||
/**
|
||||
* Struct for the CCS fromat in day of month variation with max resolution
|
||||
*/
|
||||
struct Ccs_seconds {
|
||||
uint8_t pField;
|
||||
uint8_t yearMSB;
|
||||
uint8_t yearLSB;
|
||||
uint8_t month;
|
||||
uint8_t day;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
uint8_t second;
|
||||
};
|
||||
|
||||
/**
|
||||
* Struct for the CCS fromat in day of month variation with 10E-4 seconds resolution
|
||||
*/
|
||||
struct Ccs_mseconds {
|
||||
uint8_t pField;
|
||||
uint8_t yearMSB;
|
||||
uint8_t yearLSB;
|
||||
uint8_t month;
|
||||
uint8_t day;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
uint8_t second;
|
||||
uint8_t secondEminus2;
|
||||
uint8_t secondEminus4;
|
||||
};
|
||||
/**
|
||||
* Struct for the CCS fromat in day of month variation with 10E-4 seconds resolution
|
||||
*/
|
||||
struct Ccs_mseconds {
|
||||
uint8_t pField;
|
||||
uint8_t yearMSB;
|
||||
uint8_t yearLSB;
|
||||
uint8_t month;
|
||||
uint8_t day;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
uint8_t second;
|
||||
uint8_t secondEminus2;
|
||||
uint8_t secondEminus4;
|
||||
};
|
||||
|
||||
struct OBT_FLP {
|
||||
uint8_t pFiled;
|
||||
uint8_t seconds_hh;
|
||||
uint8_t seconds_h;
|
||||
uint8_t seconds_l;
|
||||
uint8_t seconds_ll;
|
||||
uint8_t subsecondsMSB;
|
||||
uint8_t subsecondsLSB;
|
||||
};
|
||||
struct OBT_FLP {
|
||||
uint8_t pFiled;
|
||||
uint8_t seconds_hh;
|
||||
uint8_t seconds_h;
|
||||
uint8_t seconds_l;
|
||||
uint8_t seconds_ll;
|
||||
uint8_t subsecondsMSB;
|
||||
uint8_t subsecondsLSB;
|
||||
};
|
||||
|
||||
struct TimevalLess {
|
||||
bool operator()(const timeval& lhs, const timeval& rhs) const {
|
||||
return (lhs < rhs);
|
||||
}
|
||||
};
|
||||
struct TimevalLess {
|
||||
bool operator()(const timeval& lhs, const timeval& rhs) const {
|
||||
return (lhs < rhs);
|
||||
}
|
||||
};
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_TIME_HELPER_CLASS;
|
||||
static const ReturnValue_t UNSUPPORTED_TIME_FORMAT = MAKE_RETURN_CODE(0);
|
||||
static const ReturnValue_t NOT_ENOUGH_INFORMATION_FOR_TARGET_FORMAT =
|
||||
MAKE_RETURN_CODE(1);
|
||||
static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(2);
|
||||
static const ReturnValue_t INVALID_TIME_FORMAT = MAKE_RETURN_CODE(3);
|
||||
static const ReturnValue_t INVALID_DAY_OF_YEAR = MAKE_RETURN_CODE(4);
|
||||
static const ReturnValue_t TIME_DOES_NOT_FIT_FORMAT = MAKE_RETURN_CODE(5);
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_TIME_HELPER_CLASS;
|
||||
static const ReturnValue_t UNSUPPORTED_TIME_FORMAT = MAKE_RETURN_CODE(0);
|
||||
static const ReturnValue_t NOT_ENOUGH_INFORMATION_FOR_TARGET_FORMAT =
|
||||
MAKE_RETURN_CODE(1);
|
||||
static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(2);
|
||||
static const ReturnValue_t INVALID_TIME_FORMAT = MAKE_RETURN_CODE(3);
|
||||
static const ReturnValue_t INVALID_DAY_OF_YEAR = MAKE_RETURN_CODE(4);
|
||||
static const ReturnValue_t TIME_DOES_NOT_FIT_FORMAT = MAKE_RETURN_CODE(5);
|
||||
|
||||
/**
|
||||
* convert a TimeofDay struct to ccs with seconds resolution
|
||||
*
|
||||
* @param to pointer to a CCS struct
|
||||
* @param from pointer to a TimeOfDay Struct
|
||||
* @return
|
||||
* - @c RETURN_OK if OK
|
||||
* - @c INVALID_TIMECODE if not OK
|
||||
*/
|
||||
static ReturnValue_t convertToCcsds(Ccs_seconds *to,
|
||||
Clock::TimeOfDay_t const *from);
|
||||
/**
|
||||
* convert a TimeofDay struct to ccs with seconds resolution
|
||||
*
|
||||
* @param to pointer to a CCS struct
|
||||
* @param from pointer to a TimeOfDay Struct
|
||||
* @return
|
||||
* - @c RETURN_OK if OK
|
||||
* - @c INVALID_TIMECODE if not OK
|
||||
*/
|
||||
static ReturnValue_t convertToCcsds(Ccs_seconds *to,
|
||||
Clock::TimeOfDay_t const *from);
|
||||
|
||||
/**
|
||||
* Converts to CDS format from timeval.
|
||||
* @param to pointer to the CDS struct to generate
|
||||
* @param from pointer to a timeval struct which comprises a time of day since UNIX epoch.
|
||||
* @return
|
||||
* - @c RETURN_OK as it assumes a valid timeval.
|
||||
*/
|
||||
static ReturnValue_t convertToCcsds(CDS_short* to, timeval const *from);
|
||||
/**
|
||||
* Converts to CDS format from timeval.
|
||||
* @param to pointer to the CDS struct to generate
|
||||
* @param from pointer to a timeval struct which comprises a time of day since UNIX epoch.
|
||||
* @return
|
||||
* - @c RETURN_OK as it assumes a valid timeval.
|
||||
*/
|
||||
static ReturnValue_t convertToCcsds(CDS_short* to, timeval const *from);
|
||||
|
||||
static ReturnValue_t convertToCcsds(OBT_FLP* to, timeval const *from);
|
||||
static ReturnValue_t convertToCcsds(OBT_FLP* to, timeval const *from);
|
||||
|
||||
/**
|
||||
* convert a TimeofDay struct to ccs with 10E-3 seconds resolution
|
||||
*
|
||||
* The 10E-4 seconds in the CCS Struct are 0 as the TimeOfDay only has ms resolution
|
||||
*
|
||||
* @param to pointer to a CCS struct
|
||||
* @param from pointer to a TimeOfDay Struct
|
||||
* @return
|
||||
* - @c RETURN_OK if OK
|
||||
* - @c INVALID_TIMECODE if not OK
|
||||
*/
|
||||
static ReturnValue_t convertToCcsds(Ccs_mseconds *to,
|
||||
Clock::TimeOfDay_t const *from);
|
||||
/**
|
||||
* convert a TimeofDay struct to ccs with 10E-3 seconds resolution
|
||||
*
|
||||
* The 10E-4 seconds in the CCS Struct are 0 as the TimeOfDay only has ms resolution
|
||||
*
|
||||
* @param to pointer to a CCS struct
|
||||
* @param from pointer to a TimeOfDay Struct
|
||||
* @return
|
||||
* - @c RETURN_OK if OK
|
||||
* - @c INVALID_TIMECODE if not OK
|
||||
*/
|
||||
static ReturnValue_t convertToCcsds(Ccs_mseconds *to,
|
||||
Clock::TimeOfDay_t const *from);
|
||||
|
||||
/**
|
||||
* SHOULDDO: can this be modified to recognize padding?
|
||||
* Tries to interpret a Level 1 CCSDS time code
|
||||
*
|
||||
* It assumes binary formats contain a valid P Field and recognizes the ASCII format
|
||||
* by the lack of one.
|
||||
*
|
||||
* @param to an empty TimeOfDay struct
|
||||
* @param from pointer to an CCSDS Time code
|
||||
* @param length length of the Time code
|
||||
* @return
|
||||
* - @c RETURN_OK if successful
|
||||
* - @c UNSUPPORTED_TIME_FORMAT if a (possibly valid) time code is not supported
|
||||
* - @c LENGTH_MISMATCH if the length does not match the P Field
|
||||
* - @c INVALID_TIME_FORMAT if the format or a value is invalid
|
||||
*/
|
||||
static ReturnValue_t convertFromCcsds(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, size_t length);
|
||||
/**
|
||||
* SHOULDDO: can this be modified to recognize padding?
|
||||
* Tries to interpret a Level 1 CCSDS time code
|
||||
*
|
||||
* It assumes binary formats contain a valid P Field and recognizes the ASCII format
|
||||
* by the lack of one.
|
||||
*
|
||||
* @param to an empty TimeOfDay struct
|
||||
* @param from pointer to an CCSDS Time code
|
||||
* @param length length of the Time code
|
||||
* @return
|
||||
* - @c RETURN_OK if successful
|
||||
* - @c UNSUPPORTED_TIME_FORMAT if a (possibly valid) time code is not supported
|
||||
* - @c LENGTH_MISMATCH if the length does not match the P Field
|
||||
* - @c INVALID_TIME_FORMAT if the format or a value is invalid
|
||||
*/
|
||||
static ReturnValue_t convertFromCcsds(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, size_t length);
|
||||
|
||||
/**
|
||||
* not implemented yet
|
||||
*
|
||||
* @param to
|
||||
* @param from
|
||||
* @return
|
||||
*/
|
||||
static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from,
|
||||
size_t* foundLength, size_t maxLength);
|
||||
/**
|
||||
* not implemented yet
|
||||
*
|
||||
* @param to
|
||||
* @param from
|
||||
* @return
|
||||
*/
|
||||
static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from,
|
||||
size_t* foundLength, size_t maxLength);
|
||||
|
||||
static ReturnValue_t convertFromCUC(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, uint8_t length);
|
||||
static ReturnValue_t convertFromCUC(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, uint8_t length);
|
||||
|
||||
static ReturnValue_t convertFromCUC(timeval *to, uint8_t const *from,
|
||||
size_t* foundLength, size_t maxLength);
|
||||
static ReturnValue_t convertFromCUC(timeval *to, uint8_t const *from,
|
||||
size_t* foundLength, size_t maxLength);
|
||||
|
||||
static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField,
|
||||
uint8_t const *from, size_t* foundLength, size_t maxLength);
|
||||
static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField,
|
||||
uint8_t const *from, size_t* foundLength, size_t maxLength);
|
||||
|
||||
static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from,
|
||||
size_t* foundLength, size_t maxLength);
|
||||
static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from,
|
||||
size_t* foundLength, size_t maxLength);
|
||||
|
||||
static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField,
|
||||
uint8_t const *from, size_t* foundLength, size_t maxLength);
|
||||
static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField,
|
||||
uint8_t const *from, size_t* foundLength, size_t maxLength);
|
||||
|
||||
static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, uint8_t length);
|
||||
static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, uint8_t length);
|
||||
|
||||
static ReturnValue_t convertFromCDS(timeval *to, uint8_t const *from,
|
||||
size_t* foundLength, size_t maxLength);
|
||||
static ReturnValue_t convertFromCDS(timeval *to, uint8_t const *from,
|
||||
size_t* foundLength, size_t maxLength);
|
||||
|
||||
static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, size_t* foundLength, size_t maxLength);
|
||||
static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, size_t* foundLength, size_t maxLength);
|
||||
|
||||
static ReturnValue_t convertFromASCII(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, uint8_t length);
|
||||
static ReturnValue_t convertFromASCII(Clock::TimeOfDay_t *to,
|
||||
uint8_t const *from, uint8_t length);
|
||||
|
||||
static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
|
||||
static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
|
||||
private:
|
||||
CCSDSTime();
|
||||
virtual ~CCSDSTime();
|
||||
/**
|
||||
* checks a ccs time stream for validity
|
||||
*
|
||||
* Stream may be longer than the actual timecode
|
||||
*
|
||||
* @param time pointer to an Ccs stream
|
||||
* @param length length of stream
|
||||
* @return
|
||||
*/
|
||||
static ReturnValue_t checkCcs(const uint8_t* time, uint8_t length);
|
||||
CCSDSTime();
|
||||
virtual ~CCSDSTime();
|
||||
/**
|
||||
* checks a ccs time stream for validity
|
||||
*
|
||||
* Stream may be longer than the actual timecode
|
||||
*
|
||||
* @param time pointer to an Ccs stream
|
||||
* @param length length of stream
|
||||
* @return
|
||||
*/
|
||||
static ReturnValue_t checkCcs(const uint8_t* time, uint8_t length);
|
||||
|
||||
static ReturnValue_t checkTimeOfDay(const Clock::TimeOfDay_t *time);
|
||||
static ReturnValue_t checkTimeOfDay(const Clock::TimeOfDay_t *time);
|
||||
|
||||
static const uint32_t SECONDS_PER_DAY = 24 * 60 * 60;
|
||||
static const uint32_t SECONDS_PER_NON_LEAP_YEAR = SECONDS_PER_DAY * 365;
|
||||
static const uint32_t DAYS_CCSDS_TO_UNIX_EPOCH = 4383; //!< Time difference between CCSDS and POSIX epoch. This is exact, because leap-seconds where not introduced before 1972.
|
||||
static const uint32_t SECONDS_CCSDS_TO_UNIX_EPOCH = DAYS_CCSDS_TO_UNIX_EPOCH
|
||||
* SECONDS_PER_DAY;
|
||||
/**
|
||||
* @param dayofYear
|
||||
* @param year
|
||||
* @param month
|
||||
* @param day
|
||||
*/
|
||||
static ReturnValue_t convertDaysOfYear(uint16_t dayofYear, uint16_t year,
|
||||
uint8_t *month, uint8_t *day);
|
||||
static const uint32_t SECONDS_PER_DAY = 24 * 60 * 60;
|
||||
static const uint32_t SECONDS_PER_NON_LEAP_YEAR = SECONDS_PER_DAY * 365;
|
||||
static const uint32_t DAYS_CCSDS_TO_UNIX_EPOCH = 4383; //!< Time difference between CCSDS and POSIX epoch. This is exact, because leap-seconds where not introduced before 1972.
|
||||
static const uint32_t SECONDS_CCSDS_TO_UNIX_EPOCH = DAYS_CCSDS_TO_UNIX_EPOCH
|
||||
* SECONDS_PER_DAY;
|
||||
/**
|
||||
* @param dayofYear
|
||||
* @param year
|
||||
* @param month
|
||||
* @param day
|
||||
*/
|
||||
static ReturnValue_t convertDaysOfYear(uint16_t dayofYear, uint16_t year,
|
||||
uint8_t *month, uint8_t *day);
|
||||
|
||||
static bool isLeapYear(uint32_t year);
|
||||
static ReturnValue_t convertTimevalToTimeOfDay(Clock::TimeOfDay_t* to,
|
||||
timeval* from);
|
||||
static bool isLeapYear(uint32_t year);
|
||||
static ReturnValue_t convertTimevalToTimeOfDay(Clock::TimeOfDay_t* to,
|
||||
timeval* from);
|
||||
};
|
||||
|
||||
#endif /* FSFW_TIMEMANAGER_CCSDSTIME_H_ */
|
||||
|
||||
@ -70,7 +70,7 @@ TEST_CASE( "Action Helper" , "[ActionHelper]") {
|
||||
SECTION("Handle finish"){
|
||||
CHECK(not testMqMock.wasMessageSent());
|
||||
ReturnValue_t status = 0x9876;
|
||||
actionHelper.finish(testMqMock.getId(), testActionId, status);
|
||||
actionHelper.finish(true, testMqMock.getId(), testActionId, status);
|
||||
CHECK(testMqMock.wasMessageSent());
|
||||
CommandMessage testMessage;
|
||||
REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
|
||||
|
||||
@ -192,7 +192,7 @@ public:
|
||||
resetSubscriptionList();
|
||||
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
||||
{
|
||||
PoolReadHelper readHelper(&dataset);
|
||||
PoolReadGuard readHelper(&dataset);
|
||||
if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = readHelper.getReadResult();
|
||||
}
|
||||
@ -205,7 +205,7 @@ public:
|
||||
}
|
||||
|
||||
{
|
||||
PoolReadHelper readHelper(&testUint32);
|
||||
PoolReadGuard readHelper(&testUint32);
|
||||
if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = readHelper.getReadResult();
|
||||
}
|
||||
@ -214,7 +214,7 @@ public:
|
||||
}
|
||||
|
||||
{
|
||||
PoolReadHelper readHelper(&testInt64Vec);
|
||||
PoolReadGuard readHelper(&testInt64Vec);
|
||||
if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = readHelper.getReadResult();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user