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Merge pull request 'Apollo Sojus Test Project Version 1.0.0' (#408) from development into master

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Reviewed-on: #408
This commit is contained in:
Steffen Gaisser
2021-04-27 14:20:06 +02:00
parent da9658e2a1 9f83739771
commit 2f511523cb
589 changed files with 26176 additions and 13783 deletions
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98
CHANGELOG Normal file
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## Changes from ASTP 0.0.1 to 1.0.0
### Host OSAL
- Bugfix in MessageQueue, which caused the sender not to be set properly
### FreeRTOS OSAL
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
a C file without issues
### PUS Services
- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets
### EnhancedControllerBase
- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
### Local Pool
- 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
### Parameter Service
- The API of the parameter service has been changed to prevent inconsistencies
between documentation and actual code and to clarify usage.
- The parameter ID now consists of:
1. Domain ID (1 byte)
2. Unique Identifier (1 byte)
3. Linear Index (2 bytes)
The linear index can be used for arrays as well as matrices.
The parameter load command now explicitely expects the ECSS PTC and PFC
information as well as the rows and column number. Rows and column will
default to one, which is equivalent to one scalar parameter (the most
important use-case)
### File System Interface
- 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)
### Internal Error Reporter
- The new internal error reporter uses the local data pools. The pool IDs for
the exisiting three error values and the new error set will be hardcoded for
now, the the constructor for the internal error reporter just takes an object
ID for now.
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for
a clear distinction between operation and communication steps
- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
- getTransitionDelayMs is now an abstract method
### DeviceHandlerIF
- Typo for UNKNOWN_DEVICE_REPLY
### Events
- makeEvent function: Now takes three input parameters instead of two and
allows setting a unique ID. Event.cpp source file removed, functions now
defined in header directly. Namespaces renamed. Functions declared `constexpr`
now
### Commanding Service Base
- 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
### Service Interface
- Proper printf support contained in ServiceInterfacePrinter.h
- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration.
Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts.
For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h.
For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded.
If this is not the case, everything should work as usual.
### ActionHelper and ActionMessage
- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit
information whether to report a success or failure message instead of deriving it implicitely
from returnvalue
### PUS Parameter Service 20
Added PUS parameter service 20 (only custom subservices available).

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CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.13)
option(FSFW_GENERATE_SECTIONS
"Generate function and data sections. Required to remove unused code" ON
)
if(FSFW_GENERATE_SECTIONS)
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
endif()
option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
# Options to exclude parts of the FSFW from compilation.
option(FSFW_USE_RMAP "Compile with RMAP" ON)
option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
set(LIB_FSFW_NAME fsfw)
add_library(${LIB_FSFW_NAME})
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
if(NOT OS_FSFW)
message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW
if(UNIX)
set(OS_FSFW "linux"
CACHE STRING
"OS abstraction layer used in the FSFW"
)
elseif(WIN32)
set(OS_FSFW "host"
CACHE STRING "OS abstraction layer used in the FSFW"
)
endif()
endif()
set(FSFW_OSAL_DEFINITION FSFW_HOST)
if(${OS_FSFW} STREQUAL host)
set(OS_FSFW_NAME "Host")
elseif(${OS_FSFW} STREQUAL linux)
set(OS_FSFW_NAME "Linux")
set(FSFW_OSAL_DEFINITION FSFW_LINUX)
elseif(${OS_FSFW} STREQUAL freertos)
set(OS_FSFW_NAME "FreeRTOS")
set(FSFW_OSAL_DEFINITION FSFW_FREERTOS)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${LIB_OS_NAME}
)
elseif(${OS_FSFW} STREQUAL rtems)
set(OS_FSFW_NAME "RTEMS")
set(FSFW_OSAL_DEFINITION FSFW_RTEMS)
else()
message(WARNING
"Invalid operating system for FSFW specified! Setting to host.."
)
set(OS_FSFW_NAME "Host")
set(OS_FSFW "host")
endif()
target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
${FSFW_OSAL_DEFINITION}
)
target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
${FSFW_OSAL_DEFINITION}
)
message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
add_subdirectory(action)
add_subdirectory(container)
add_subdirectory(controller)
add_subdirectory(coordinates)
if(FSFW_USE_DATALINKLAYER)
add_subdirectory(datalinklayer)
endif()
add_subdirectory(datapool)
add_subdirectory(datapoollocal)
add_subdirectory(housekeeping)
add_subdirectory(devicehandlers)
add_subdirectory(events)
add_subdirectory(fdir)
add_subdirectory(globalfunctions)
add_subdirectory(health)
add_subdirectory(internalError)
add_subdirectory(ipc)
add_subdirectory(memory)
add_subdirectory(modes)
add_subdirectory(monitoring)
add_subdirectory(objectmanager)
add_subdirectory(osal)
add_subdirectory(parameters)
add_subdirectory(power)
add_subdirectory(pus)
if(FSFW_USE_RMAP)
add_subdirectory(rmap)
endif()
add_subdirectory(serialize)
add_subdirectory(serviceinterface)
add_subdirectory(storagemanager)
add_subdirectory(subsystem)
add_subdirectory(tasks)
add_subdirectory(tcdistribution)
add_subdirectory(thermal)
add_subdirectory(timemanager)
add_subdirectory(tmstorage)
add_subdirectory(tmtcpacket)
add_subdirectory(tmtcservices)
add_subdirectory(unittest)
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
# If this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH)
message(WARNING "Flight Software Framework configuration path not set!")
message(WARNING "Setting default configuration!")
add_subdirectory(defaultcfg/fsfwconfig)
endif()
# FSFW might be part of a possibly complicated folder structure, so we
# extract the absolute path of the fsfwconfig folder.
if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
else()
get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
)
endif()
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATH})
if(IS_ABSOLUTE ${INCLUDE_PATH})
set(CURR_ABS_INC_PATH "${FREERTOS_PATH}")
else()
get_filename_component(CURR_ABS_INC_PATH
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
endif()
if(CMAKE_VERBOSE)
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
endif()
list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
endforeach()
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
if(NOT DEFINED FSFW_WARNING_FLAGS)
set(FSFW_WARNING_FLAGS
-Wall
-Wextra
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
)
endif()
if(FSFW_GENERATE_SECTIONS)
target_compile_options(${LIB_FSFW_NAME} PRIVATE
"-ffunction-sections"
"-fdata-sections"
)
endif()
if(FSFW_REMOVE_UNUSED_CODE)
target_link_options(${LIB_FSFW_NAME} PRIVATE
"Wl,--gc-sections"
)
endif()
if(FSFW_WARNING_SHADOW_LOCAL_GCC)
list(APPEND WARNING_FLAGS "-Wshadow=local")
endif()
endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
set(COMPILER_FLAGS "/permissive-")
endif()
# Required include paths to compile the FSFW
target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_SOURCE_DIR}
${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_ADD_INC_PATHS_ABS}
)
# Includes path required to compile FSFW itself as well
# We assume that the fsfwconfig folder uses include relative to the project
# root here!
target_include_directories(${LIB_FSFW_NAME} PRIVATE
${CMAKE_SOURCE_DIR}
${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_ADD_INC_PATHS_ABS}
)
target_compile_options(${LIB_FSFW_NAME} PRIVATE
${FSFW_WARNING_FLAGS}
${COMPILER_FLAGS}
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${FSFW_ADDITIONAL_LINK_LIBS}
)

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FSFWVersion.h
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const char* const FSFW_VERSION_NAME = "ASTP";
#define FSFW_VERSION 0
#define FSFW_SUBVERSION 0
#define FSFW_REVISION 1
#define FSFW_VERSION 1
#define FSFW_SUBVERSION 0
#define FSFW_REVISION 0

177
README.md
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![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
# Flight Software Framework (FSFW)
The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
@ -8,152 +9,40 @@ The initial version of the Flight Software Framework was developed during
the Flying Laptop Project by the University of Stuttgart in cooperation
with Airbus Defence and Space GmbH.
## Intended Use
## Quick facts
The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
Therefore, a mode and health system provides control over the states of the software and the controlled devices.
In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well.
The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well.
The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory.
For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC.
The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface.
Currently, the FSFW provides the following OSALs:
- Linux
- Host
- FreeRTOS
- RTEMS
The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile Memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC. The `fsfw` was also successfully run on the STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active satellite mission Flying Laptop.
## Getting started
The [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example) provides a good starting point and a demo to see the FSFW capabilities and build it with the Make or the CMake build system. It is recommended to evaluate the FSFW by building and playing around with the demo application.
Generally, the FSFW is included in a project by compiling the FSFW sources and providing
a configuration folder and adding it to the include path. There are some functions like `printChar` which are different depending on the target architecture and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](doc/README-config.md#top) provides more specific information about the possible options.
## Index
[1. High-level overview](doc/README-highlevel.md#top) <br>
[2. Core components](doc/README-core.md#top) <br>
[3. OSAL overview](doc/README-osal.md#top) <br>
[4. PUS services](doc/README-pus.md#top) <br>
[5. Device Handler overview](doc/README-devicehandlers.md#top) <br>
[6. Controller overview](doc/README-controllers.md#top) <br>
[7. Local Data Pools](doc/README-localpools.md#top) <br>
## Structure
The general structure is driven by the usage of interfaces provided by objects. The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
The fsfw uses Run-time type information.
Exceptions are not allowed.
### Failure Handling
Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong.
Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
### OSAL
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well.
The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes.
### Core Components
Clock:
* This is a class of static functions that can be used at anytime
* Leap Seconds must be set if any time conversions from UTC to other times is used
ObjectManager (must be created):
* The component which handles all references. All SystemObjects register at this component.
* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
``` c++
template <typename T> T* ObjectManagerIF::get( object_id_t id )
```
* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
Event Manager:
* Component which allows routing of events
* Other objects can subscribe to specific events, ranges of events or all events of an object.
* Subscriptions can be done during runtime but should be done during initialization
* Amounts of allowed subscriptions must be configured by setting this parameters:
``` c++
namespace fsfwconfig {
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
```
Health Table:
* A component which holds every health state
* Provides a thread safe way to access all health states without the need of message exchanges
Stores
* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can be exchanged with Stores. With this, only the store address must be exchanged in the message.
* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
* All of them should use the Thread Safe Class storagemanager/PoolManager
Tasks
There are two different types of tasks:
* The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
* FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
### Static Ids in the framework
Some parts of the framework use a static routing address for communication.
An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()".
### Events
Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues.
Every object that needs own EventIds has to get a unique SUBSYSTEM_ID.
Every SystemObject can call triggerEvent from the parent class.
Therefore, event messages contain the specific EventId and the objectId of the object that has triggered.
### Internal Communication
Components communicate mostly over Message through Queues.
Those queues are created by calling the singleton QueueFactory::instance()->create().
### External Communication
The external communication with the mission control system is mostly up to the user implementation.
The FSFW provides PUS Services which can be used to but don't need to be used.
The services can be seen as a conversion from a TC to a message based communication and back.
#### CCSDS Frames, CCSDS Space Packets and PUS
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution.
If Space Packets are used, a timestamper must be created.
An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
#### DeviceHandling
DeviceHandlers are a core component of the FSFW.
The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
By separating the underlying Communication Interface with DeviceCommunicationIF, a DH can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction.
A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
#### Modes, Health
The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
On-board Mode Management is implement in hierarchy system.
DeviceHandlers and Controllers are the lowest part of the hierarchy.
The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers.
Assemblies share a common core with the next level which are the Subsystems.
Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes.
The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component.
The target table is used to describe the state that is checked continuously by the subsystem.
All of this allows System Modes to be generated as Subsystem object as well from the same database.
This System contains list of subsystem modes in the transition and target tables.
Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded.
The health state represents if the component is able to perform its tasks.
This can be used to signal the system to avoid using this component instead of a redundant one.
The on-board FDIR uses the health state for isolation and recovery.
## Example config
A example config can be found in defaultcfg/fsfwconfig.
## Unit Tests
Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself.
See README.md in the unittest Folder.

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action/ActionHelper.cpp
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#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../serviceinterface/ServiceInterface.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue) {
owner(setOwner), queueToUse(useThisQueue) {
}
ActionHelper::~ActionHelper() {
}
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
ActionId_t currentAction = ActionMessage::getActionId(command);
prepareExecution(command->getSender(), currentAction,
ActionMessage::getStoreId(command));
return HasReturnvaluesIF::RETURN_OK;
} else {
return CommandMessage::UNKNOWN_COMMAND;
}
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
ActionId_t currentAction = ActionMessage::getActionId(command);
prepareExecution(command->getSender(), currentAction,
ActionMessage::getStoreId(command));
return HasReturnvaluesIF::RETURN_OK;
} else {
return CommandMessage::UNKNOWN_COMMAND;
}
}
ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(queueToUse_ != nullptr) {
setQueueToUse(queueToUse_);
}
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(queueToUse_ != nullptr) {
setQueueToUse(queueToUse_);
}
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply);
CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, result);
queueToUse->sendMessage(reportTo, &reply);
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, success, result);
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue;
queueToUse = queue;
}
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, result);
queueToUse->sendMessage(commandedBy, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, true, result);
queueToUse->sendMessage(commandedBy, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, SerializeIF* data, bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
uint8_t *dataPtr;
size_t maxSize = data->getSerializedSize();
if (maxSize == 0) {
//No error, there's simply nothing to report.
return HasReturnvaluesIF::RETURN_OK;
}
size_t size = 0;
ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
&dataPtr);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
// We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message.
// True aperiodic replies need to be reported with
// another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress);
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
}
void ActionHelper::resetHelper() {
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, const uint8_t *data, size_t dataSize,
bool hideSender) {
ActionId_t replyId, SerializeIF* data, bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
uint8_t *dataPtr;
size_t maxSize = data->getSerializedSize();
if (maxSize == 0) {
/* No error, there's simply nothing to report. */
return HasReturnvaluesIF::RETURN_OK;
}
size_t size = 0;
ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
&dataPtr);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!" <<
std::endl;
#else
sif::printWarning("ActionHelper::reportData: Getting free element from IPC "
"store failed!\n");
#endif
return result;
}
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
// We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message.
// True aperiodic replies need to be reported with
// another dedicated message.
/* We don't need to report the objectId, as we receive REQUESTED data before the completion
success message. True aperiodic replies need to be reported with another dedicated message. */
ActionMessage::setDataReply(&reply, replyId, storeAddress);
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
/* If the sender needs to be hidden, for example to handle packet
as unrequested reply, this will be done here. */
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
@ -160,3 +128,40 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
}
return result;
}
void ActionHelper::resetHelper() {
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, const uint8_t *data, size_t dataSize,
bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
#else
sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
#endif
return result;
}
/* We don't need to report the objectId, as we receive REQUESTED data before the completion
success message. True aperiodic replies need to be reported with another dedicated message. */
ActionMessage::setDataReply(&reply, replyId, storeAddress);
/* If the sender needs to be hidden, for example to handle packet
as unrequested reply, this will be done here. */
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
}
return result;
}

177
action/ActionHelper.h
View File

@ -18,68 +18,68 @@ class HasActionsIF;
class ActionHelper {
public:
/**
* Constructor of the action helper
* @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during
* initialize function as well.
*/
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
/**
* Constructor of the action helper
* @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during
* initialize function as well.
*/
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~ActionHelper();
/**
* Function to be called from the owner with a new command message
*
* If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically.
*
* @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/
ReturnValue_t handleActionMessage(CommandMessage* command);
/**
* Helper initialize function. Must be called before use of any other
* helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor
* @return Returns RETURN_OK if successful
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/**
* Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value.
*
* @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner to send a action completion message
*
* @param reportTo MessageQueueId_t to report the action completion message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false);
virtual ~ActionHelper();
/**
* Function to be called from the owner with a new command message
*
* If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically.
*
* @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/
ReturnValue_t handleActionMessage(CommandMessage* command);
/**
* Helper initialize function. Must be called before use of any other
* helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor
* @return Returns RETURN_OK if successful
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/**
* Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value.
*
* @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner to send a action completion message
* @param success Specify whether action was completed successfully or not.
* @param reportTo MessageQueueId_t to report the action completion message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false);
/**
* Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store.
@ -91,35 +91,36 @@ public:
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender = false);
/**
* Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper
*/
void setQueueToUse(MessageQueueIF *queue);
/**
* Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper
*/
void setQueueToUse(MessageQueueIF *queue);
protected:
//!< Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;//!< Pointer to the owner
//! Queue to be used as response sender, has to be set in ctor or with
//! setQueueToUse
MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
//! Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
//! Pointer to the owner
HasActionsIF* owner;
//! Queue to be used as response sender, has to be set in ctor or with
//! setQueueToUse
MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
/**
* Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store
*/
virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress);
/**
* @brief Default implementation is empty.
*/
virtual void resetHelper();
/**
* Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store
*/
virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress);
/**
* @brief Default implementation is empty.
*/
virtual void resetHelper();
};
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */

89
action/ActionMessage.cpp
View File

@ -1,4 +1,6 @@
#include "ActionMessage.h"
#include "HasActionsIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../storagemanager/StorageManagerIF.h"
@ -9,71 +11,72 @@ ActionMessage::~ActionMessage() {
}
void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters) {
message->setCommand(EXECUTE_ACTION);
message->setParameter(fid);
message->setParameter2(parameters.raw);
store_address_t parameters) {
message->setCommand(EXECUTE_ACTION);
message->setParameter(fid);
message->setParameter2(parameters.raw);
}
ActionId_t ActionMessage::getActionId(const CommandMessage* message) {
return ActionId_t(message->getParameter());
return ActionId_t(message->getParameter());
}
store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
store_address_t temp;
temp.raw = message->getParameter2();
return temp;
store_address_t temp;
temp.raw = message->getParameter2();
return temp;
}
void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK) {
message->setCommand(STEP_SUCCESS);
} else {
message->setCommand(STEP_FAILED);
}
message->setParameter(fid);
message->setParameter2((step << 16) + result);
ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK) {
message->setCommand(STEP_SUCCESS);
} else {
message->setCommand(STEP_FAILED);
}
message->setParameter(fid);
message->setParameter2((step << 16) + result);
}
uint8_t ActionMessage::getStep(const CommandMessage* message) {
return uint8_t((message->getParameter2() >> 16) & 0xFF);
return uint8_t((message->getParameter2() >> 16) & 0xFF);
}
ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) {
return message->getParameter2() & 0xFFFF;
return message->getParameter2() & 0xFFFF;
}
void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data) {
message->setCommand(DATA_REPLY);
message->setParameter(actionId);
message->setParameter2(data.raw);
store_address_t data) {
message->setCommand(DATA_REPLY);
message->setParameter(actionId);
message->setParameter2(data.raw);
}
void ActionMessage::setCompletionReply(CommandMessage* message,
ActionId_t fid, ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK) {
message->setCommand(COMPLETION_SUCCESS);
} else {
message->setCommand(COMPLETION_FAILED);
}
message->setParameter(fid);
message->setParameter2(result);
ActionId_t fid, bool success, ReturnValue_t result) {
if (success) {
message->setCommand(COMPLETION_SUCCESS);
}
else {
message->setCommand(COMPLETION_FAILED);
}
message->setParameter(fid);
message->setParameter2(result);
}
void ActionMessage::clear(CommandMessage* message) {
switch(message->getCommand()) {
case EXECUTE_ACTION:
case DATA_REPLY: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message));
}
break;
}
default:
break;
}
switch(message->getCommand()) {
case EXECUTE_ACTION:
case DATA_REPLY: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message));
}
break;
}
default:
break;
}
}

57
action/ActionMessage.h
View File

@ -4,33 +4,44 @@
#include "../ipc/CommandMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../storagemanager/StorageManagerIF.h"
typedef uint32_t ActionId_t;
using ActionId_t = uint32_t;
/**
* @brief These messages are part of the action module of the FSFW.
* @details
* These messages are sent amongst objects implementing the HasActionsIF. Classes like the
* ActionHelper are able to process these messages.
*/
class ActionMessage {
private:
ActionMessage();
ActionMessage();
public:
static const uint8_t MESSAGE_ID = messagetypes::ACTION;
static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
virtual ~ActionMessage();
static void setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters);
static ActionId_t getActionId(const CommandMessage* message );
static store_address_t getStoreId(const CommandMessage* message );
static void setStepReply(CommandMessage* message, ActionId_t fid,
uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message );
static ReturnValue_t getReturnCode(const CommandMessage* message );
static void setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message);
static const uint8_t MESSAGE_ID = messagetypes::ACTION;
static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
virtual ~ActionMessage();
static void setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters);
static ActionId_t getActionId(const CommandMessage* message );
static store_address_t getStoreId(const CommandMessage* message);
static void setStepReply(CommandMessage* message, ActionId_t fid,
uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message );
static ReturnValue_t getReturnCode(const CommandMessage* message );
static void setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid,
bool success, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message);
};
#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */

7
action/CMakeLists.txt Normal file
View File

@ -0,0 +1,7 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
ActionHelper.cpp
ActionMessage.cpp
CommandActionHelper.cpp
SimpleActionHelper.cpp
)

188
action/CommandActionHelper.cpp
View File

@ -5,123 +5,123 @@
#include "../objectmanager/ObjectManagerIF.h"
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
owner(setOwner), queueToUse(NULL), ipcStore(
NULL), commandCount(0), lastTarget(0) {
owner(setOwner), queueToUse(NULL), ipcStore(
NULL), commandCount(0), lastTarget(0) {
}
CommandActionHelper::~CommandActionHelper() {
}
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
ActionId_t actionId, SerializeIF *data) {
HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
store_address_t storeId;
uint8_t *storePointer;
size_t maxSize = data->getSerializedSize();
ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
&storePointer);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t size = 0;
result = data->serialize(&storePointer, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
ActionId_t actionId, SerializeIF *data) {
HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
store_address_t storeId;
uint8_t *storePointer;
size_t maxSize = data->getSerializedSize();
ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
&storePointer);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t size = 0;
result = data->serialize(&storePointer, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
ActionId_t actionId, const uint8_t *data, uint32_t size) {
// if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING;
// }
HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
store_address_t storeId;
ReturnValue_t result = ipcStore->addData(&storeId, data, size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
ActionId_t actionId, const uint8_t *data, uint32_t size) {
// if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING;
// }
HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
store_address_t storeId;
ReturnValue_t result = ipcStore->addData(&storeId, data, size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}
ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
ActionId_t actionId, store_address_t storeId) {
CommandMessage command;
ActionMessage::setCommand(&command, actionId, storeId);
ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
}
lastTarget = queueId;
commandCount++;
return result;
ActionId_t actionId, store_address_t storeId) {
CommandMessage command;
ActionMessage::setCommand(&command, actionId, storeId);
ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
}
lastTarget = queueId;
commandCount++;
return result;
}
ReturnValue_t CommandActionHelper::initialize() {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
queueToUse = owner->getCommandQueuePtr();
if (queueToUse == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
queueToUse = owner->getCommandQueuePtr();
if (queueToUse == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
if (reply->getSender() != lastTarget) {
return HasReturnvaluesIF::RETURN_FAILED;
}
switch (reply->getCommand()) {
case ActionMessage::COMPLETION_SUCCESS:
commandCount--;
owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::COMPLETION_FAILED:
commandCount--;
owner->completionFailedReceived(ActionMessage::getActionId(reply),
ActionMessage::getReturnCode(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_SUCCESS:
owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
ActionMessage::getStep(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_FAILED:
commandCount--;
owner->stepFailedReceived(ActionMessage::getActionId(reply),
ActionMessage::getStep(reply),
ActionMessage::getReturnCode(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::DATA_REPLY:
extractDataForOwner(ActionMessage::getActionId(reply),
ActionMessage::getStoreId(reply));
return HasReturnvaluesIF::RETURN_OK;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
if (reply->getSender() != lastTarget) {
return HasReturnvaluesIF::RETURN_FAILED;
}
switch (reply->getCommand()) {
case ActionMessage::COMPLETION_SUCCESS:
commandCount--;
owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::COMPLETION_FAILED:
commandCount--;
owner->completionFailedReceived(ActionMessage::getActionId(reply),
ActionMessage::getReturnCode(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_SUCCESS:
owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
ActionMessage::getStep(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_FAILED:
commandCount--;
owner->stepFailedReceived(ActionMessage::getActionId(reply),
ActionMessage::getStep(reply),
ActionMessage::getReturnCode(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::DATA_REPLY:
extractDataForOwner(ActionMessage::getActionId(reply),
ActionMessage::getStoreId(reply));
return HasReturnvaluesIF::RETURN_OK;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CommandActionHelper::getCommandCount() const {
return commandCount;
return commandCount;
}
void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
const uint8_t * data = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return;
}
owner->dataReceived(actionId, data, size);
ipcStore->deleteData(storeId);
const uint8_t * data = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return;
}
owner->dataReceived(actionId, data, size);
ipcStore->deleteData(storeId);
}

36
action/CommandActionHelper.h
View File

@ -11,26 +11,26 @@
class CommandsActionsIF;
class CommandActionHelper {
friend class CommandsActionsIF;
friend class CommandsActionsIF;
public:
CommandActionHelper(CommandsActionsIF* owner);
virtual ~CommandActionHelper();
ReturnValue_t commandAction(object_id_t commandTo,
ActionId_t actionId, const uint8_t* data, uint32_t size);
ReturnValue_t commandAction(object_id_t commandTo,
ActionId_t actionId, SerializeIF* data);
ReturnValue_t initialize();
ReturnValue_t handleReply(CommandMessage* reply);
uint8_t getCommandCount() const;
CommandActionHelper(CommandsActionsIF* owner);
virtual ~CommandActionHelper();
ReturnValue_t commandAction(object_id_t commandTo,
ActionId_t actionId, const uint8_t* data, uint32_t size);
ReturnValue_t commandAction(object_id_t commandTo,
ActionId_t actionId, SerializeIF* data);
ReturnValue_t initialize();
ReturnValue_t handleReply(CommandMessage* reply);
uint8_t getCommandCount() const;
private:
CommandsActionsIF* owner;
MessageQueueIF* queueToUse;
StorageManagerIF* ipcStore;
uint8_t commandCount;
MessageQueueId_t lastTarget;
void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
store_address_t storeId);
CommandsActionsIF* owner;
MessageQueueIF* queueToUse;
StorageManagerIF* ipcStore;
uint8_t commandCount;
MessageQueueId_t lastTarget;
void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
store_address_t storeId);
};
#endif /* COMMANDACTIONHELPER_H_ */

28
action/CommandsActionsIF.h
View File

@ -15,22 +15,22 @@
* - replyReceived(id, step, cause) (if cause == OK, it's a success).
*/
class CommandsActionsIF {
friend class CommandActionHelper;
friend class CommandActionHelper;
public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
virtual ~CommandsActionsIF() {}
virtual MessageQueueIF* getCommandQueuePtr() = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
virtual ~CommandsActionsIF() {}
virtual MessageQueueIF* getCommandQueuePtr() = 0;
protected:
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) = 0;
virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
uint32_t size) = 0;
virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
virtual void completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) = 0;
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) = 0;
virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
uint32_t size) = 0;
virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
virtual void completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) = 0;
};

44
action/HasActionsIF.h
View File

@ -35,28 +35,28 @@
*/
class HasActionsIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
virtual ~HasActionsIF() { }
/**
* Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object
*/
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Execute or initialize the execution of a certain function.
* The ActionHelpers will execute this function and behave differently
* depending on the returnvalue.
*
* @return
* -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated
*/
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
virtual ~HasActionsIF() { }
/**
* Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object
*/
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Execute or initialize the execution of a certain function.
* The ActionHelpers will execute this function and behave differently
* depending on the returnvalue.
*
* @return
* -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated
*/
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
};

102
action/SimpleActionHelper.cpp
View File

@ -2,74 +2,74 @@
#include "SimpleActionHelper.h"
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false) {
MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false) {
}
SimpleActionHelper::~SimpleActionHelper() {
}
void SimpleActionHelper::step(ReturnValue_t result) {
// STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
result);
if (result != HasReturnvaluesIF::RETURN_OK) {
resetHelper();
}
// STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
result);
if (result != HasReturnvaluesIF::RETURN_OK) {
resetHelper();
}
}
void SimpleActionHelper::finish(ReturnValue_t result) {
ActionHelper::finish(lastCommander, lastAction, result);
resetHelper();
ActionHelper::finish(lastCommander, lastAction, result);
resetHelper();
}
ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) {
return ActionHelper::reportData(lastCommander, lastAction, data);
return ActionHelper::reportData(lastCommander, lastAction, data);
}
void SimpleActionHelper::resetHelper() {
stepCount = 0;
isExecuting = false;
lastAction = 0;
lastCommander = 0;
stepCount = 0;
isExecuting = false;
lastAction = 0;
lastCommander = 0;
}
void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
CommandMessage reply;
if (isExecuting) {
ipcStore->deleteData(dataAddress);
ActionMessage::setStepReply(&reply, actionId, 0,
HasActionsIF::IS_BUSY);
queueToUse->sendMessage(commandedBy, &reply);
}
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
lastCommander = commandedBy;
lastAction = actionId;
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
switch (result) {
case HasReturnvaluesIF::RETURN_OK:
isExecuting = true;
stepCount++;
break;
case HasActionsIF::EXECUTION_FINISHED:
ActionMessage::setCompletionReply(&reply, actionId,
HasReturnvaluesIF::RETURN_OK);
queueToUse->sendMessage(commandedBy, &reply);
break;
default:
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
break;
}
ActionId_t actionId, store_address_t dataAddress) {
CommandMessage reply;
if (isExecuting) {
ipcStore->deleteData(dataAddress);
ActionMessage::setStepReply(&reply, actionId, 0,
HasActionsIF::IS_BUSY);
queueToUse->sendMessage(commandedBy, &reply);
}
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
lastCommander = commandedBy;
lastAction = actionId;
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
switch (result) {
case HasReturnvaluesIF::RETURN_OK:
isExecuting = true;
stepCount++;
break;
case HasActionsIF::EXECUTION_FINISHED:
ActionMessage::setCompletionReply(&reply, actionId,
true, HasReturnvaluesIF::RETURN_OK);
queueToUse->sendMessage(commandedBy, &reply);
break;
default:
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
break;
}
}

30
action/SimpleActionHelper.h
View File

@ -4,27 +4,27 @@
#include "ActionHelper.h"
/**
* @brief This is an action helper which is only able to service one action
* at a time but remembers last commander and last action which
* simplifies usage
* @brief This is an action helper which is only able to service one action
* at a time but remembers last commander and last action which
* simplifies usage
*/
class SimpleActionHelper: public ActionHelper {
public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~SimpleActionHelper();
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
ReturnValue_t reportData(SerializeIF* data);
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~SimpleActionHelper();
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
ReturnValue_t reportData(SerializeIF* data);
protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
virtual void resetHelper();
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
virtual void resetHelper();
private:
bool isExecuting;
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
ActionId_t lastAction = 0;
uint8_t stepCount = 0;
bool isExecuting;
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
ActionId_t lastAction = 0;
uint8_t stepCount = 0;
};
#endif /* SIMPLEACTIONHELPER_H_ */

398
container/ArrayList.h
View File

@ -6,7 +6,7 @@
#include "../serialize/SerializeIF.h"
/**
* @brief A List that stores its values in an array.
* @brief A List that stores its values in an array.
* @details
* The underlying storage is an array that can be allocated by the class
* itself or supplied via ctor.
@ -15,237 +15,237 @@
*/
template<typename T, typename count_t = uint8_t>
class ArrayList {
template<typename U, typename count> friend class SerialArrayListAdapter;
template<typename U, typename count> friend class SerialArrayListAdapter;
public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
/**
* This is the allocating constructor.
* It allocates an array of the specified size.
* @param maxSize
*/
ArrayList(count_t maxSize) :
size(0), maxSize_(maxSize), allocated(true) {
entries = new T[maxSize];
}
/**
* This is the allocating constructor.
* It allocates an array of the specified size.
* @param maxSize
*/
ArrayList(count_t maxSize) :
size(0), maxSize_(maxSize), allocated(true) {
entries = new T[maxSize];
}
/**
* This is the non-allocating constructor
*
* It expects a pointer to an array of a certain size and initializes
* itself to it.
*
* @param storage the array to use as backend
* @param maxSize size of storage
* @param size size of data already present in storage
*/
ArrayList(T *storage, count_t maxSize, count_t size = 0) :
size(size), entries(storage), maxSize_(maxSize), allocated(false) {
}
/**
* This is the non-allocating constructor
*
* It expects a pointer to an array of a certain size and initializes
* itself to it.
*
* @param storage the array to use as backend
* @param maxSize size of storage
* @param size size of data already present in storage
*/
ArrayList(T *storage, count_t maxSize, count_t size = 0) :
size(size), entries(storage), maxSize_(maxSize), allocated(false) {
}
/**
* Copying is forbiden by declaring copy ctor and copy assignment deleted
* It is too ambigous in this case.
* (Allocate a new backend? Use the same? What to do in an modifying call?)
*/
ArrayList(const ArrayList& other) = delete;
const ArrayList& operator=(const ArrayList& other) = delete;
/**
* Copying is forbiden by declaring copy ctor and copy assignment deleted
* It is too ambigous in this case.
* (Allocate a new backend? Use the same? What to do in an modifying call?)
*/
ArrayList(const ArrayList& other) = delete;
const ArrayList& operator=(const ArrayList& other) = delete;
/**
* Number of Elements stored in this List
*/
count_t size;
/**
* Number of Elements stored in this List
*/
count_t size;
/**
* Destructor, if the allocating constructor was used, it deletes the array.
*/
virtual ~ArrayList() {
if (allocated) {
delete[] entries;
}
}
/**
* Destructor, if the allocating constructor was used, it deletes the array.
*/
virtual ~ArrayList() {
if (allocated) {
delete[] entries;
}
}
/**
* An Iterator to go trough an ArrayList
*
* It stores a pointer to an element and increments the
* pointer when incremented itself.
*/
class Iterator {
public:
/**
* Empty ctor, points to NULL
*/
Iterator(): value(0) {}
/**
* An Iterator to go trough an ArrayList
*
* It stores a pointer to an element and increments the
* pointer when incremented itself.
*/
class Iterator {
public:
/**
* Empty ctor, points to NULL
*/
Iterator(): value(0) {}
/**
* Initializes the Iterator to point to an element
*
* @param initialize
*/
Iterator(T *initialize) {
value = initialize;
}
/**
* Initializes the Iterator to point to an element
*
* @param initialize
*/
Iterator(T *initialize) {
value = initialize;
}
/**
* The current element the iterator points to
*/
T *value;
/**
* The current element the iterator points to
*/
T *value;
Iterator& operator++() {
value++;
return *this;
}
Iterator& operator++() {
value++;
return *this;
}
Iterator operator++(int) {
Iterator tmp(*this);
operator++();
return tmp;
}
Iterator operator++(int) {
Iterator tmp(*this);
operator++();
return tmp;
}
Iterator& operator--() {
value--;
return *this;
}
Iterator& operator--() {
value--;
return *this;
}
Iterator operator--(int) {
Iterator tmp(*this);
operator--();
return tmp;
}
Iterator operator--(int) {
Iterator tmp(*this);
operator--();
return tmp;
}
T& operator*() {
return *value;
}
T& operator*() {
return *value;
}
const T& operator*() const {
return *value;
}
const T& operator*() const {
return *value;
}
T *operator->() {
return value;
}
T *operator->() {
return value;
}
const T *operator->() const {
return value;
}
};
const T *operator->() const {
return value;
}
};
friend bool operator==(const ArrayList::Iterator& lhs,
const ArrayList::Iterator& rhs) {
return (lhs.value == rhs.value);
}
friend bool operator==(const ArrayList::Iterator& lhs,
const ArrayList::Iterator& rhs) {
return (lhs.value == rhs.value);
}
friend bool operator!=(const ArrayList::Iterator& lhs,
const ArrayList::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
friend bool operator!=(const ArrayList::Iterator& lhs,
const ArrayList::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
/**
* Iterator pointing to the first stored elmement
*
* @return Iterator to the first element
*/
Iterator begin() const {
return Iterator(&entries[0]);
}
/**
* Iterator pointing to the first stored elmement
*
* @return Iterator to the first element
*/
Iterator begin() const {
return Iterator(&entries[0]);
}
/**
* returns an Iterator pointing to the element after the last stored entry
*
* @return Iterator to the element after the last entry
*/
Iterator end() const {
return Iterator(&entries[size]);
}
/**
* returns an Iterator pointing to the element after the last stored entry
*
* @return Iterator to the element after the last entry
*/
Iterator end() const {
return Iterator(&entries[size]);
}
T & operator[](count_t i) const {
return entries[i];
}
T & operator[](count_t i) const {
return entries[i];
}
/**
* The first element
*
* @return pointer to the first stored element
*/
T *front() {
return entries;
}
/**
* The first element
*
* @return pointer to the first stored element
*/
T *front() {
return entries;
}
/**
* The last element
*
* does not return a valid pointer if called on an empty list.
*
* @return pointer to the last stored element
*/
T *back() {
return &entries[size - 1];
//Alternative solution
//return const_cast<T*>(static_cast<const T*>(*this).back());
}
/**
* The last element
*
* does not return a valid pointer if called on an empty list.
*
* @return pointer to the last stored element
*/
T *back() {
return &entries[size - 1];
//Alternative solution
//return const_cast<T*>(static_cast<const T*>(*this).back());
}
const T* back() const{
return &entries[size-1];
}
const T* back() const{
return &entries[size-1];
}
/**
* The maximum number of elements this List can contain
*
* @return maximum number of elements
*/
size_t maxSize() const {
return this->maxSize_;
}
/**
* The maximum number of elements this List can contain
*
* @return maximum number of elements
*/
size_t maxSize() const {
return this->maxSize_;
}
/**
* Insert a new element into the list.
*
* The new element is inserted after the last stored element.
*
* @param entry
* @return
* -@c FULL if the List is full
* -@c RETURN_OK else
*/
ReturnValue_t insert(T entry) {
if (size >= maxSize_) {
return FULL;
}
entries[size] = entry;
++size;
return HasReturnvaluesIF::RETURN_OK;
}
/**
* Insert a new element into the list.
*
* The new element is inserted after the last stored element.
*
* @param entry
* @return
* -@c FULL if the List is full
* -@c RETURN_OK else
*/
ReturnValue_t insert(T entry) {
if (size >= maxSize_) {
return FULL;
}
entries[size] = entry;
++size;
return HasReturnvaluesIF::RETURN_OK;
}
/**
* clear the List
*
* This does not actually clear all entries, it only sets the size to 0.
*/
void clear() {
size = 0;
}
/**
* clear the List
*
* This does not actually clear all entries, it only sets the size to 0.
*/
void clear() {
size = 0;
}
count_t remaining() {
return (maxSize_ - size);
}
count_t remaining() {
return (maxSize_ - size);
}
protected:
/**
* pointer to the array in which the entries are stored
*/
T *entries;
/**
* remembering the maximum size
*/
size_t maxSize_;
/**
* pointer to the array in which the entries are stored
*/
T *entries;
/**
* remembering the maximum size
*/
size_t maxSize_;
/**
* true if the array was allocated and needs to be deleted in the destructor.
*/
bool allocated;
/**
* true if the array was allocated and needs to be deleted in the destructor.
*/
bool allocated;
};

234
container/BinaryTree.h
View File

@ -7,65 +7,65 @@
template<typename Tp>
class BinaryNode {
public:
BinaryNode(Tp* setValue) :
value(setValue), left(NULL), right(NULL), parent(NULL) {
}
Tp *value;
BinaryNode* left;
BinaryNode* right;
BinaryNode* parent;
BinaryNode(Tp* setValue) :
value(setValue), left(NULL), right(NULL), parent(NULL) {
}
Tp *value;
BinaryNode* left;
BinaryNode* right;
BinaryNode* parent;
};
template<typename Tp>
class ExplicitNodeIterator {
public:
typedef ExplicitNodeIterator<Tp> _Self;
typedef BinaryNode<Tp> _Node;
typedef Tp value_type;
typedef Tp* pointer;
typedef Tp& reference;
ExplicitNodeIterator() :
element(NULL) {
}
ExplicitNodeIterator(_Node* node) :
element(node) {
}
BinaryNode<Tp>* element;
_Self up() {
return _Self(element->parent);
}
_Self left() {
if (element != NULL) {
return _Self(element->left);
} else {
return _Self(NULL);
}
typedef ExplicitNodeIterator<Tp> _Self;
typedef BinaryNode<Tp> _Node;
typedef Tp value_type;
typedef Tp* pointer;
typedef Tp& reference;
ExplicitNodeIterator() :
element(NULL) {
}
ExplicitNodeIterator(_Node* node) :
element(node) {
}
BinaryNode<Tp>* element;
_Self up() {
return _Self(element->parent);
}
_Self left() {
if (element != NULL) {
return _Self(element->left);
} else {
return _Self(NULL);
}
}
_Self right() {
if (element != NULL) {
return _Self(element->right);
} else {
return _Self(NULL);
}
}
_Self right() {
if (element != NULL) {
return _Self(element->right);
} else {
return _Self(NULL);
}
}
bool operator==(const _Self& __x) const {
return element == __x.element;
}
bool operator!=(const _Self& __x) const {
return element != __x.element;
}
}
bool operator==(const _Self& __x) const {
return element == __x.element;
}
bool operator!=(const _Self& __x) const {
return element != __x.element;
}
pointer
operator->() const {
if (element != NULL) {
return element->value;
} else {
return NULL;
}
if (element != NULL) {
return element->value;
} else {
return NULL;
}
}
pointer operator*() const {
return this->operator->();
return this->operator->();
}
};
@ -75,77 +75,77 @@ public:
template<typename Tp>
class BinaryTree {
public:
typedef ExplicitNodeIterator<Tp> iterator;
typedef BinaryNode<Tp> Node;
typedef std::pair<iterator, iterator> children;
BinaryTree() :
rootNode(NULL) {
}
BinaryTree(Node* rootNode) :
rootNode(rootNode) {
}
iterator begin() const {
return iterator(rootNode);
}
static iterator end() {
return iterator(NULL);
}
iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) {
newNode->parent = parentNode.element;
if (parentNode.element != NULL) {
if (insertLeft) {
parentNode.element->left = newNode;
} else {
parentNode.element->right = newNode;
}
} else {
//Insert first element.
rootNode = newNode;
}
return iterator(newNode);
}
//No recursion to children. Needs to be done externally.
children erase(iterator node) {
if (node.element == rootNode) {
//We're root node
rootNode = NULL;
} else {
//Delete parent's reference
if (node.up().left() == node) {
node.up().element->left = NULL;
} else {
node.up().element->right = NULL;
}
}
return children(node.element->left, node.element->right);
}
static uint32_t countLeft(iterator start) {
if (start == end()) {
return 0;
}
//We also count the start node itself.
uint32_t count = 1;
while (start.left() != end()) {
count++;
start = start.left();
}
return count;
}
static uint32_t countRight(iterator start) {
if (start == end()) {
return 0;
}
//We also count the start node itself.
uint32_t count = 1;
while (start.right() != end()) {
count++;
start = start.right();
}
return count;
}
typedef ExplicitNodeIterator<Tp> iterator;
typedef BinaryNode<Tp> Node;
typedef std::pair<iterator, iterator> children;
BinaryTree() :
rootNode(NULL) {
}
BinaryTree(Node* rootNode) :
rootNode(rootNode) {
}
iterator begin() const {
return iterator(rootNode);
}
static iterator end() {
return iterator(NULL);
}
iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) {
newNode->parent = parentNode.element;
if (parentNode.element != NULL) {
if (insertLeft) {
parentNode.element->left = newNode;
} else {
parentNode.element->right = newNode;
}
} else {
//Insert first element.
rootNode = newNode;
}
return iterator(newNode);
}
//No recursion to children. Needs to be done externally.
children erase(iterator node) {
if (node.element == rootNode) {
//We're root node
rootNode = NULL;
} else {
//Delete parent's reference
if (node.up().left() == node) {
node.up().element->left = NULL;
} else {
node.up().element->right = NULL;
}
}
return children(node.element->left, node.element->right);
}
static uint32_t countLeft(iterator start) {
if (start == end()) {
return 0;
}
//We also count the start node itself.
uint32_t count = 1;
while (start.left() != end()) {
count++;
start = start.left();
}
return count;
}
static uint32_t countRight(iterator start) {
if (start == end()) {
return 0;
}
//We also count the start node itself.
uint32_t count = 1;
while (start.right() != end()) {
count++;
start = start.right();
}
return count;
}
protected:
Node* rootNode;
Node* rootNode;
};

5
container/CMakeLists.txt Normal file
View File

@ -0,0 +1,5 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
SharedRingBuffer.cpp
SimpleRingBuffer.cpp
)

64
container/DynamicFIFO.h
View File

@ -5,8 +5,8 @@
#include <vector>
/**
* @brief Simple First-In-First-Out data structure. The maximum size
* can be set in the constructor.
* @brief Simple First-In-First-Out data structure. The maximum size
* can be set in the constructor.
* @details
* The maximum capacity can be determined at run-time, so this container
* performs dynamic memory allocation!
@ -17,39 +17,39 @@
template<typename T>
class DynamicFIFO: public FIFOBase<T> {
public:
DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
fifoVector(maxCapacity) {
// trying to pass the pointer of the uninitialized vector
// to the FIFOBase constructor directly lead to a super evil bug.
// So we do it like this now.
this->setContainer(fifoVector.data());
};
DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
fifoVector(maxCapacity) {
// trying to pass the pointer of the uninitialized vector
// to the FIFOBase constructor directly lead to a super evil bug.
// So we do it like this now.
this->setContainer(fifoVector.data());
};
/**
* @brief Custom copy constructor which prevents setting the
* underlying pointer wrong. This function allocates memory!
* @details This is a very heavy operation so try to avoid this!
*
*/
DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
fifoVector(other.maxCapacity) {
this->fifoVector = other.fifoVector;
this->setContainer(fifoVector.data());
}
/**
* @brief Custom copy constructor which prevents setting the
* underlying pointer wrong. This function allocates memory!
* @details This is a very heavy operation so try to avoid this!
*
*/
DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
fifoVector(other.maxCapacity) {
this->fifoVector = other.fifoVector;
this->setContainer(fifoVector.data());
}
/**
* @brief Custom assignment operator
* @details This is a very heavy operation so try to avoid this!
* @param other DyamicFIFO to copy from
*/
DynamicFIFO& operator=(const DynamicFIFO& other){
FIFOBase<T>::operator=(other);
this->fifoVector = other.fifoVector;
this->setContainer(fifoVector.data());
return *this;
}
/**
* @brief Custom assignment operator
* @details This is a very heavy operation so try to avoid this!
* @param other DyamicFIFO to copy from
*/
DynamicFIFO& operator=(const DynamicFIFO& other){
FIFOBase<T>::operator=(other);
this->fifoVector = other.fifoVector;
this->setContainer(fifoVector.data());
return *this;
}
private:
std::vector<T> fifoVector;
std::vector<T> fifoVector;
};
#endif /* FSFW_CONTAINER_DYNAMICFIFO_H_ */

48
container/FIFO.h
View File

@ -5,8 +5,8 @@
#include <array>
/**
* @brief Simple First-In-First-Out data structure with size fixed at
* compile time
* @brief Simple First-In-First-Out data structure with size fixed at
* compile time
* @details
* Performs no dynamic memory allocation.
* The public interface of FIFOBase exposes the user interface for the FIFO.
@ -16,32 +16,32 @@
template<typename T, size_t capacity>
class FIFO: public FIFOBase<T> {
public:
FIFO(): FIFOBase<T>(nullptr, capacity) {
this->setContainer(fifoArray.data());
};
FIFO(): FIFOBase<T>(nullptr, capacity) {
this->setContainer(fifoArray.data());
};
/**
* @brief Custom copy constructor to set pointer correctly.
* @param other
*/
FIFO(const FIFO& other): FIFOBase<T>(other) {
this->fifoArray = other.fifoArray;
this->setContainer(fifoArray.data());
}
/**
* @brief Custom copy constructor to set pointer correctly.
* @param other
*/
FIFO(const FIFO& other): FIFOBase<T>(other) {
this->fifoArray = other.fifoArray;
this->setContainer(fifoArray.data());
}
/**
* @brief Custom assignment operator
* @param other
*/
FIFO& operator=(const FIFO& other){
FIFOBase<T>::operator=(other);
this->fifoArray = other.fifoArray;
this->setContainer(fifoArray.data());
return *this;
}
/**
* @brief Custom assignment operator
* @param other
*/
FIFO& operator=(const FIFO& other){
FIFOBase<T>::operator=(other);
this->fifoArray = other.fifoArray;
this->setContainer(fifoArray.data());
return *this;
}
private:
std::array<T, capacity> fifoArray;
std::array<T, capacity> fifoArray;
};
#endif /* FSFW_CONTAINER_FIFO_H_ */

112
container/FIFOBase.h
View File

@ -8,70 +8,70 @@
template <typename T>
class FIFOBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
/** Default ctor, takes pointer to first entry of underlying container
* and maximum capacity */
FIFOBase(T* values, const size_t maxCapacity);
/** Default ctor, takes pointer to first entry of underlying container
* and maximum capacity */
FIFOBase(T* values, const size_t maxCapacity);
/**
* Insert value into FIFO
* @param value
* @return RETURN_OK on success, FULL if full
*/
ReturnValue_t insert(T value);
/**
* Retrieve item from FIFO. This removes the item from the FIFO.
* @param value Must point to a valid T
* @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
*/
ReturnValue_t retrieve(T *value);
/**
* Retrieve item from FIFO without removing it from FIFO.
* @param value Must point to a valid T
* @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
*/
ReturnValue_t peek(T * value);
/**
* Remove item from FIFO.
* @return RETURN_OK on success, EMPTY if empty
*/
ReturnValue_t pop();
/**
* Insert value into FIFO
* @param value
* @return RETURN_OK on success, FULL if full
*/
ReturnValue_t insert(T value);
/**
* Retrieve item from FIFO. This removes the item from the FIFO.
* @param value Must point to a valid T
* @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
*/
ReturnValue_t retrieve(T *value);
/**
* Retrieve item from FIFO without removing it from FIFO.
* @param value Must point to a valid T
* @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
*/
ReturnValue_t peek(T * value);
/**
* Remove item from FIFO.
* @return RETURN_OK on success, EMPTY if empty
*/
ReturnValue_t pop();
/***
* Check if FIFO is empty
* @return True if empty, False if not
*/
bool empty();
/***
* Check if FIFO is Full
* @return True if full, False if not
*/
bool full();
/***
* Current used size (elements) used
* @return size_t in elements
*/
size_t size();
/***
* Get maximal capacity of fifo
* @return size_t with max capacity of this fifo
*/
size_t getMaxCapacity() const;
/***
* Check if FIFO is empty
* @return True if empty, False if not
*/
bool empty();
/***
* Check if FIFO is Full
* @return True if full, False if not
*/
bool full();
/***
* Current used size (elements) used
* @return size_t in elements
*/
size_t size();
/***
* Get maximal capacity of fifo
* @return size_t with max capacity of this fifo
*/
size_t getMaxCapacity() const;
protected:
void setContainer(T* data);
size_t maxCapacity = 0;
void setContainer(T* data);
size_t maxCapacity = 0;
T* values;
T* values;
size_t readIndex = 0;
size_t writeIndex = 0;
size_t currentSize = 0;
size_t readIndex = 0;
size_t writeIndex = 0;
size_t currentSize = 0;
size_t next(size_t current);
size_t next(size_t current);
};
#include "FIFOBase.tpp"

82
container/FIFOBase.tpp
View File

@ -7,87 +7,87 @@
template<typename T>
inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
maxCapacity(maxCapacity), values(values){};
maxCapacity(maxCapacity), values(values){};
template<typename T>
inline ReturnValue_t FIFOBase<T>::insert(T value) {
if (full()) {
return FULL;
} else {
values[writeIndex] = value;
writeIndex = next(writeIndex);
++currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
if (full()) {
return FULL;
} else {
values[writeIndex] = value;
writeIndex = next(writeIndex);
++currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
if (empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
readIndex = next(readIndex);
--currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
if (empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
readIndex = next(readIndex);
--currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
inline ReturnValue_t FIFOBase<T>::peek(T* value) {
if(empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
return HasReturnvaluesIF::RETURN_OK;
}
if(empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
inline ReturnValue_t FIFOBase<T>::pop() {
T value;
return this->retrieve(&value);
T value;
return this->retrieve(&value);
};
template<typename T>
inline bool FIFOBase<T>::empty() {
return (currentSize == 0);
return (currentSize == 0);
};
template<typename T>
inline bool FIFOBase<T>::full() {
return (currentSize == maxCapacity);
return (currentSize == maxCapacity);
}
template<typename T>
inline size_t FIFOBase<T>::size() {
return currentSize;
return currentSize;
}
template<typename T>
inline size_t FIFOBase<T>::next(size_t current) {
++current;
if (current == maxCapacity) {
current = 0;
}
return current;
++current;
if (current == maxCapacity) {
current = 0;
}
return current;
}
template<typename T>
inline size_t FIFOBase<T>::getMaxCapacity() const {
return maxCapacity;
return maxCapacity;
}
template<typename T>
inline void FIFOBase<T>::setContainer(T *data) {
this->values = data;
this->values = data;
}
#endif

40
container/FixedArrayList.h
View File

@ -8,30 +8,32 @@
*/
template<typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList: public ArrayList<T, count_t> {
static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
#if !defined(_MSC_VER)
static_assert(MAX_SIZE <= (std::pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
#endif
private:
T data[MAX_SIZE];
T data[MAX_SIZE];
public:
FixedArrayList() :
ArrayList<T, count_t>(data, MAX_SIZE) {
}
FixedArrayList() :
ArrayList<T, count_t>(data, MAX_SIZE) {
}
FixedArrayList(const FixedArrayList& other) :
ArrayList<T, count_t>(data, MAX_SIZE) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data;
this->size = other.size;
}
FixedArrayList(const FixedArrayList& other) :
ArrayList<T, count_t>(data, MAX_SIZE) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data;
this->size = other.size;
}
FixedArrayList& operator=(FixedArrayList other) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data;
this->size = other.size;
return *this;
}
FixedArrayList& operator=(FixedArrayList other) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data;
this->size = other.size;
return *this;
}
virtual ~FixedArrayList() {
}
virtual ~FixedArrayList() {
}
};

354
container/FixedMap.h
View File

@ -18,212 +18,212 @@
*/
template<typename key_t, typename T>
class FixedMap: public SerializeIF {
static_assert (std::is_trivially_copyable<T>::value or
std::is_base_of<SerializeIF, T>::value,
"Types used in FixedMap must either be trivial copy-able or a "
"derived class from SerializeIF to be serialize-able");
static_assert (std::is_trivially_copyable<T>::value or
std::is_base_of<SerializeIF, T>::value,
"Types used in FixedMap must either be trivial copy-able or a "
"derived class from SerializeIF to be serialize-able");
public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
private:
static const key_t EMPTY_SLOT = -1;
ArrayList<std::pair<key_t, T>, uint32_t> theMap;
uint32_t _size;
static const key_t EMPTY_SLOT = -1;
ArrayList<std::pair<key_t, T>, uint32_t> theMap;
uint32_t _size;
uint32_t findIndex(key_t key) const {
if (_size == 0) {
return 1;
}
uint32_t i = 0;
for (i = 0; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
uint32_t findIndex(key_t key) const {
if (_size == 0) {
return 1;
}
uint32_t i = 0;
for (i = 0; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
public:
FixedMap(uint32_t maxSize) :
theMap(maxSize), _size(0) {
}
FixedMap(uint32_t maxSize) :
theMap(maxSize), _size(0) {
}
class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
public:
Iterator() :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
}
class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
public:
Iterator() :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
}
Iterator(std::pair<key_t, T> *pair) :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
}
};
Iterator(std::pair<key_t, T> *pair) :
ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
}
};
friend bool operator==(const typename FixedMap::Iterator& lhs,
const typename FixedMap::Iterator& rhs) {
return (lhs.value == rhs.value);
}
friend bool operator==(const typename FixedMap::Iterator& lhs,
const typename FixedMap::Iterator& rhs) {
return (lhs.value == rhs.value);
}
friend bool operator!=(const typename FixedMap::Iterator& lhs,
const typename FixedMap::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
friend bool operator!=(const typename FixedMap::Iterator& lhs,
const typename FixedMap::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
Iterator begin() const {
return Iterator(&theMap[0]);
}
Iterator begin() const {
return Iterator(&theMap[0]);
}
Iterator end() const {
return Iterator(&theMap[_size]);
}
Iterator end() const {
return Iterator(&theMap[_size]);
}
uint32_t size() const {
return _size;
}
uint32_t size() const {
return _size;
}
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
return KEY_ALREADY_EXISTS;
}
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
theMap[_size].first = key;
theMap[_size].second = value;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[_size]);
}
++_size;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
return KEY_ALREADY_EXISTS;
}
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
theMap[_size].first = key;
theMap[_size].second = value;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[_size]);
}
++_size;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t insert(std::pair<key_t, T> pair) {
return insert(pair.first, pair.second);
}
ReturnValue_t insert(std::pair<key_t, T> pair) {
return insert(pair.first, pair.second);
}
ReturnValue_t exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
ReturnValue_t exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
ReturnValue_t erase(Iterator *iter) {
uint32_t i;
if ((i = findIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
theMap[i] = theMap[_size - 1];
--_size;
--((*iter).value);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t erase(Iterator *iter) {
uint32_t i;
if ((i = findIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
theMap[i] = theMap[_size - 1];
--_size;
--((*iter).value);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t erase(key_t key) {
uint32_t i;
if ((i = findIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
theMap[i] = theMap[_size - 1];
--_size;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t erase(key_t key) {
uint32_t i;
if ((i = findIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
theMap[i] = theMap[_size - 1];
--_size;
return HasReturnvaluesIF::RETURN_OK;
}
T *findValue(key_t key) const {
return &theMap[findIndex(key)].second;
}
T *findValue(key_t key) const {
return &theMap[findIndex(key)].second;
}
Iterator find(key_t key) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return end();
}
return Iterator(&theMap[findIndex(key)]);
}
Iterator find(key_t key) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return end();
}
return Iterator(&theMap[findIndex(key)]);
}
ReturnValue_t find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
}
bool empty() {
if(_size == 0) {
return true;
}
else {
return false;
}
}
bool empty() {
if(_size == 0) {
return true;
}
else {
return false;
}
}
bool full() {
if(_size >= theMap.maxSize()) {
return true;
}
else {
return false;
}
}
bool full() {
if(_size >= theMap.maxSize()) {
return true;
}
else {
return false;
}
}
void clear() {
_size = 0;
}
void clear() {
_size = 0;
}
uint32_t maxSize() const {
return theMap.maxSize();
}
uint32_t maxSize() const {
return theMap.maxSize();
}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
buffer, size, maxSize, streamEndianness);
uint32_t i = 0;
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
result = SerializeAdapter::serialize(&theMap[i].first, buffer,
size, maxSize, streamEndianness);
result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
maxSize, streamEndianness);
++i;
}
return result;
}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
buffer, size, maxSize, streamEndianness);
uint32_t i = 0;
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
result = SerializeAdapter::serialize(&theMap[i].first, buffer,
size, maxSize, streamEndianness);
result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
maxSize, streamEndianness);
++i;
}
return result;
}
virtual size_t getSerializedSize() const {
uint32_t printSize = sizeof(_size);
uint32_t i = 0;
virtual size_t getSerializedSize() const {
uint32_t printSize = sizeof(_size);
uint32_t i = 0;
for (i = 0; i < _size; ++i) {
printSize += SerializeAdapter::getSerializedSize(
&theMap[i].first);
printSize += SerializeAdapter::getSerializedSize(&theMap[i].second);
}
for (i = 0; i < _size; ++i) {
printSize += SerializeAdapter::getSerializedSize(
&theMap[i].first);
printSize += SerializeAdapter::getSerializedSize(&theMap[i].second);
}
return printSize;
}
return printSize;
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
buffer, size, streamEndianness);
if (this->_size > theMap.maxSize()) {
return SerializeIF::TOO_MANY_ELEMENTS;
}
uint32_t i = 0;
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
size, streamEndianness);
result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
streamEndianness);
++i;
}
return result;
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
buffer, size, streamEndianness);
if (this->_size > theMap.maxSize()) {
return SerializeIF::TOO_MANY_ELEMENTS;
}
uint32_t i = 0;
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
size, streamEndianness);
result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
streamEndianness);
++i;
}
return result;
}
};

283
container/FixedOrderedMultimap.h
View File

@ -3,6 +3,7 @@
#include "ArrayList.h"
#include <cstring>
#include <functional>
/**
* @brief An associative container which allows multiple entries of the same key.
@ -33,172 +34,172 @@
template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
class FixedOrderedMultimap {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
/***
* Constructor which needs a size_t for the maximum allowed size
*
* Can not be resized during runtime
*
* Allocates memory at construction
* @param maxSize size_t of Maximum allowed size
*/
/***
* Constructor which needs a size_t for the maximum allowed size
*
* Can not be resized during runtime
*
* Allocates memory at construction
* @param maxSize size_t of Maximum allowed size
*/
FixedOrderedMultimap(size_t maxSize):theMap(maxSize), _size(0){
}
/***
* Virtual destructor frees Memory by deleting its member
*/
virtual ~FixedOrderedMultimap() {
}
/***
* Virtual destructor frees Memory by deleting its member
*/
virtual ~FixedOrderedMultimap() {
}
/***
* Special iterator for FixedOrderedMultimap
*/
class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
public:
Iterator() :
ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
}
/***
* Special iterator for FixedOrderedMultimap
*/
class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
public:
Iterator() :
ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
}
Iterator(std::pair<key_t, T> *pair) :
ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
}
};
Iterator(std::pair<key_t, T> *pair) :
ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
}
};
/***
* Returns an iterator pointing to the first element
* @return Iterator pointing to first element
*/
Iterator begin() const {
return Iterator(&theMap[0]);
}
/***
* Returns an iterator pointing to the first element
* @return Iterator pointing to first element
*/
Iterator begin() const {
return Iterator(&theMap[0]);
}
/**
* Returns an iterator pointing to one element past the end
* @return Iterator pointing to one element past the end
*/
Iterator end() const {
return Iterator(&theMap[_size]);
}
/**
* Returns an iterator pointing to one element past the end
* @return Iterator pointing to one element past the end
*/
Iterator end() const {
return Iterator(&theMap[_size]);
}
/***
* Returns the current size of the map (not maximum size!)
* @return Current size
*/
size_t size() const{
return _size;
}
/***
* Returns the current size of the map (not maximum size!)
* @return Current size
*/
size_t size() const{
return _size;
}
/**
* Clears the map, does not deallocate any memory
*/
void clear(){
_size = 0;
}
/**
* Clears the map, does not deallocate any memory
*/
void clear(){
_size = 0;
}
/**
* Returns the maximum size of the map
* @return Maximum size of the map
*/
size_t maxSize() const{
return theMap.maxSize();
}
/**
* Returns the maximum size of the map
* @return Maximum size of the map
*/
size_t maxSize() const{
return theMap.maxSize();
}
/***
* Used to insert a key and value separately.
*
* @param[in] key Key of the new element
* @param[in] value Value of the new element
* @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr
* @return RETURN_OK if insert was successful, MAP_FULL if no space is available
*/
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr);
/***
* Used to insert a key and value separately.
*
* @param[in] key Key of the new element
* @param[in] value Value of the new element
* @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr
* @return RETURN_OK if insert was successful, MAP_FULL if no space is available
*/
ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr);
/***
* Used to insert new pair instead of single values
*
* @param pair Pair to be inserted
* @return RETURN_OK if insert was successful, MAP_FULL if no space is available
*/
ReturnValue_t insert(std::pair<key_t, T> pair);
/***
* Used to insert new pair instead of single values
*
* @param pair Pair to be inserted
* @return RETURN_OK if insert was successful, MAP_FULL if no space is available
*/
ReturnValue_t insert(std::pair<key_t, T> pair);
/***
* Can be used to check if a certain key is in the map
* @param key Key to be checked
* @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
*/
ReturnValue_t exists(key_t key) const;
/***
* Can be used to check if a certain key is in the map
* @param key Key to be checked
* @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
*/
ReturnValue_t exists(key_t key) const;
/***
* Used to delete the element in the iterator
*
* The iterator will point to the element before or begin(),
* but never to one element in front of the map.
*
* @warning The iterator needs to be valid and dereferenceable
* @param[in/out] iter Pointer to iterator to the element that needs to be ereased
* @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
*/
ReturnValue_t erase(Iterator *iter);
/***
* Used to delete the element in the iterator
*
* The iterator will point to the element before or begin(),
* but never to one element in front of the map.
*
* @warning The iterator needs to be valid and dereferenceable
* @param[in/out] iter Pointer to iterator to the element that needs to be ereased
* @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
*/
ReturnValue_t erase(Iterator *iter);
/***
* Used to erase by key
* @param key Key to be erased
* @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
*/
ReturnValue_t erase(key_t key);
/***
* Used to erase by key
* @param key Key to be erased
* @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
*/
ReturnValue_t erase(key_t key);
/***
* Find returns the first appearance of the key
*
* If the key does not exist, it points to end()
*
* @param key Key to search for
* @return Iterator pointing to the first entry of key
*/
Iterator find(key_t key) const{
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return end();
}
return Iterator(&theMap[findFirstIndex(key)]);
};
/***
* Find returns the first appearance of the key
*
* If the key does not exist, it points to end()
*
* @param key Key to search for
* @return Iterator pointing to the first entry of key
*/
Iterator find(key_t key) const{
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return end();
}
return Iterator(&theMap[findFirstIndex(key)]);
};
/***
* Finds first entry of the given key and returns a
* pointer to the value
*
* @param key Key to search for
* @param value Found value
* @return RETURN_OK if it points to the value,
* KEY_DOES_NOT_EXIST if the key is not in the map
*/
ReturnValue_t find(key_t key, T **value) const;
/***
* Finds first entry of the given key and returns a
* pointer to the value
*
* @param key Key to search for
* @param value Found value
* @return RETURN_OK if it points to the value,
* KEY_DOES_NOT_EXIST if the key is not in the map
*/
ReturnValue_t find(key_t key, T **value) const;
friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
const typename FixedOrderedMultimap::Iterator& rhs) {
return (lhs.value == rhs.value);
}
friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
const typename FixedOrderedMultimap::Iterator& rhs) {
return (lhs.value == rhs.value);
}
friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
const typename FixedOrderedMultimap::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
const typename FixedOrderedMultimap::Iterator& rhs) {
return not (lhs.value == rhs.value);
}
private:
typedef KEY_COMPARE compare;
compare myComp;
ArrayList<std::pair<key_t, T>, size_t> theMap;
size_t _size;
typedef KEY_COMPARE compare;
compare myComp;
ArrayList<std::pair<key_t, T>, size_t> theMap;
size_t _size;
size_t findFirstIndex(key_t key, size_t startAt = 0) const;
size_t findFirstIndex(key_t key, size_t startAt = 0) const;
size_t findNicePlace(key_t key) const;
size_t findNicePlace(key_t key) const;
void removeFromPosition(size_t position);
void removeFromPosition(size_t position);
};
#include "FixedOrderedMultimap.tpp"

136
container/FixedOrderedMultimap.tpp
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@ -4,105 +4,105 @@
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
size_t position = findNicePlace(key);
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t,T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
size_t position = findNicePlace(key);
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t,T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
return insert(pair.first, pair.second);
return insert(pair.first, pair.second);
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
size_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
size_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
size_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
size_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
if (startAt >= _size) {
return startAt + 1;
}
size_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
if (startAt >= _size) {
return startAt + 1;
}
size_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
size_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
}
return i;
size_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
if (_size <= position) {
return;
}
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
if (_size <= position) {
return;
}
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
}

124
container/HybridIterator.h
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@ -6,85 +6,85 @@
template<typename T, typename count_t = uint8_t>
class HybridIterator: public LinkedElement<T>::Iterator,
public ArrayList<T, count_t>::Iterator {
public ArrayList<T, count_t>::Iterator {
public:
HybridIterator() {}
HybridIterator() {}
HybridIterator(typename LinkedElement<T>::Iterator *iter) :
LinkedElement<T>::Iterator(*iter), value(iter->value),
linked(true) {
HybridIterator(typename LinkedElement<T>::Iterator *iter) :
LinkedElement<T>::Iterator(*iter), value(iter->value),
linked(true) {
}
}
HybridIterator(LinkedElement<T> *start) :
LinkedElement<T>::Iterator(start), value(start->value),
linked(true) {
HybridIterator(LinkedElement<T> *start) :
LinkedElement<T>::Iterator(start), value(start->value),
linked(true) {
}
}
HybridIterator(typename ArrayList<T, count_t>::Iterator start,
typename ArrayList<T, count_t>::Iterator end) :
ArrayList<T, count_t>::Iterator(start), value(start.value),
linked(false), end(end.value) {
if (value == this->end) {
value = NULL;
}
}
HybridIterator(typename ArrayList<T, count_t>::Iterator start,
typename ArrayList<T, count_t>::Iterator end) :
ArrayList<T, count_t>::Iterator(start), value(start.value),
linked(false), end(end.value) {
if (value == this->end) {
value = NULL;
}
}
HybridIterator(T *firstElement, T *lastElement) :
ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
linked(false), end(++lastElement) {
if (value == end) {
value = NULL;
}
}
HybridIterator(T *firstElement, T *lastElement) :
ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
linked(false), end(++lastElement) {
if (value == end) {
value = NULL;
}
}
HybridIterator& operator++() {
if (linked) {
LinkedElement<T>::Iterator::operator++();
if (LinkedElement<T>::Iterator::value != nullptr) {
value = LinkedElement<T>::Iterator::value->value;
} else {
value = nullptr;
}
} else {
ArrayList<T, count_t>::Iterator::operator++();
value = ArrayList<T, count_t>::Iterator::value;
HybridIterator& operator++() {
if (linked) {
LinkedElement<T>::Iterator::operator++();
if (LinkedElement<T>::Iterator::value != nullptr) {
value = LinkedElement<T>::Iterator::value->value;
} else {
value = nullptr;
}
} else {
ArrayList<T, count_t>::Iterator::operator++();
value = ArrayList<T, count_t>::Iterator::value;
if (value == end) {
value = nullptr;
}
}
return *this;
}
if (value == end) {
value = nullptr;
}
}
return *this;
}
HybridIterator operator++(int) {
HybridIterator tmp(*this);
operator++();
return tmp;
}
HybridIterator operator++(int) {
HybridIterator tmp(*this);
operator++();
return tmp;
}
bool operator==(const HybridIterator& other) const {
return value == other.value;
}
bool operator==(const HybridIterator& other) const {
return value == other.value;
}
bool operator!=(const HybridIterator& other) const {
return !(*this == other);
}
bool operator!=(const HybridIterator& other) const {
return !(*this == other);
}
T operator*() {
return *value;
}
T operator*() {
return *value;
}
T *operator->() {
return value;
}
T *operator->() {
return value;
}
T* value = nullptr;
T* value = nullptr;
private:
bool linked = false;
T *end = nullptr;
bool linked = false;
T *end = nullptr;
};
#endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */

1178
container/IndexedRingMemoryArray.h
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84
container/PlacementFactory.h
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@ -22,50 +22,50 @@
*/
class PlacementFactory {
public:
PlacementFactory(StorageManagerIF* backend) :
dataBackend(backend) {
}
PlacementFactory(StorageManagerIF* backend) :
dataBackend(backend) {
}
/***
* Generates an object of type T in the backend storage.
*
* @warning Do not use with any Type that allocates memory internally!
*
* @tparam T Type of Object
* @param args Constructor Arguments to be passed
* @return A pointer to the new object or a nullptr in case of failure
*/
template<typename T, typename ... Args>
T* generate(Args&&... args) {
store_address_t tempId;
uint8_t* pData = nullptr;
ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T),
&pData);
if (result != HasReturnvaluesIF::RETURN_OK) {
return nullptr;
}
T* temp = new (pData) T(std::forward<Args>(args)...);
return temp;
}
/***
* Function to destroy the object allocated with generate and free space in backend.
* This must be called by the user.
*
* @param thisElement Element to be destroyed
* @return RETURN_OK if the element was destroyed, different errors on failure
*/
template<typename T>
ReturnValue_t destroy(T* thisElement) {
if (thisElement == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
//Need to call destructor first, in case something was allocated by the object (shouldn't do that, however).
thisElement->~T();
uint8_t* pointer = (uint8_t*) (thisElement);
return dataBackend->deleteData(pointer, sizeof(T));
}
/***
* Generates an object of type T in the backend storage.
*
* @warning Do not use with any Type that allocates memory internally!
*
* @tparam T Type of Object
* @param args Constructor Arguments to be passed
* @return A pointer to the new object or a nullptr in case of failure
*/
template<typename T, typename ... Args>
T* generate(Args&&... args) {
store_address_t tempId;
uint8_t* pData = nullptr;
ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T),
&pData);
if (result != HasReturnvaluesIF::RETURN_OK) {
return nullptr;
}
T* temp = new (pData) T(std::forward<Args>(args)...);
return temp;
}
/***
* Function to destroy the object allocated with generate and free space in backend.
* This must be called by the user.
*
* @param thisElement Element to be destroyed
* @return RETURN_OK if the element was destroyed, different errors on failure
*/
template<typename T>
ReturnValue_t destroy(T* thisElement) {
if (thisElement == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
//Need to call destructor first, in case something was allocated by the object (shouldn't do that, however).
thisElement->~T();
uint8_t* pointer = (uint8_t*) (thisElement);
return dataBackend->deleteData(pointer, sizeof(T));
}
private:
StorageManagerIF* dataBackend;
StorageManagerIF* dataBackend;
};
#endif /* FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_ */

166
container/RingBufferBase.h
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@ -7,107 +7,107 @@
template<uint8_t N_READ_PTRS = 1>
class RingBufferBase {
public:
RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
start(startAddress), write(startAddress), size(size),
overwriteOld(overwriteOld) {
for (uint8_t count = 0; count < N_READ_PTRS; count++) {
read[count] = startAddress;
}
}
RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
start(startAddress), write(startAddress), size(size),
overwriteOld(overwriteOld) {
for (uint8_t count = 0; count < N_READ_PTRS; count++) {
read[count] = startAddress;
}
}
virtual ~RingBufferBase() {}
virtual ~RingBufferBase() {}
bool isFull(uint8_t n = 0) {
return (availableWriteSpace(n) == 0);
}
bool isEmpty(uint8_t n = 0) {
return (getAvailableReadData(n) == 0);
}
bool isFull(uint8_t n = 0) {
return (availableWriteSpace(n) == 0);
}
bool isEmpty(uint8_t n = 0) {
return (getAvailableReadData(n) == 0);
}
size_t getAvailableReadData(uint8_t n = 0) const {
return ((write + size) - read[n]) % size;
}
size_t availableWriteSpace(uint8_t n = 0) const {
//One less to avoid ambiguous full/empty problem.
return (((read[n] + size) - write - 1) % size);
}
size_t getAvailableReadData(uint8_t n = 0) const {
return ((write + size) - read[n]) % size;
}
size_t availableWriteSpace(uint8_t n = 0) const {
//One less to avoid ambiguous full/empty problem.
return (((read[n] + size) - write - 1) % size);
}
bool overwritesOld() const {
return overwriteOld;
}
bool overwritesOld() const {
return overwriteOld;
}
size_t getMaxSize() const {
return size - 1;
}
size_t getMaxSize() const {
return size - 1;
}
void clear() {
write = start;
for (uint8_t count = 0; count < N_READ_PTRS; count++) {
read[count] = start;
}
}
void clear() {
write = start;
for (uint8_t count = 0; count < N_READ_PTRS; count++) {
read[count] = start;
}
}
size_t writeTillWrap() {
return (start + size) - write;
}
size_t writeTillWrap() {
return (start + size) - write;
}
size_t readTillWrap(uint8_t n = 0) {
return (start + size) - read[n];
}
size_t readTillWrap(uint8_t n = 0) {
return (start + size) - read[n];
}
size_t getStart() const {
return start;
}
size_t getStart() const {
return start;
}
protected:
const size_t start;
size_t write;
size_t read[N_READ_PTRS];
const size_t size;
const bool overwriteOld;
const size_t start;
size_t write;
size_t read[N_READ_PTRS];
const size_t size;
const bool overwriteOld;
void incrementWrite(uint32_t amount) {
write = ((write + amount - start) % size) + start;
}
void incrementRead(uint32_t amount, uint8_t n = 0) {
read[n] = ((read[n] + amount - start) % size) + start;
}
void incrementWrite(uint32_t amount) {
write = ((write + amount - start) % size) + start;
}
void incrementRead(uint32_t amount, uint8_t n = 0) {
read[n] = ((read[n] + amount - start) % size) + start;
}
ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
if (getAvailableReadData(n) >= amount) {
incrementRead(amount, n);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
if (getAvailableReadData(n) >= amount) {
incrementRead(amount, n);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t writeData(uint32_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t writeData(uint32_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
size_t getRead(uint8_t n = 0) const {
return read[n];
}
size_t getRead(uint8_t n = 0) const {
return read[n];
}
void setRead(uint32_t read, uint8_t n = 0) {
if (read >= start && read < (start+size)) {
this->read[n] = read;
}
}
void setRead(uint32_t read, uint8_t n = 0) {
if (read >= start && read < (start+size)) {
this->read[n] = read;
}
}
uint32_t getWrite() const {
return write;
}
uint32_t getWrite() const {
return write;
}
void setWrite(uint32_t write) {
this->write = write;
}
void setWrite(uint32_t write) {
this->write = write;
}
};
#endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */

47
container/SharedRingBuffer.cpp
View File

@ -1,25 +1,28 @@
#include "SharedRingBuffer.h"
#include "../ipc/MutexFactory.h"
#include "../ipc/MutexHelper.h"
#include "../ipc/MutexGuard.h"
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex();
bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex();
}
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex();
const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex();
}
SharedRingBuffer::~SharedRingBuffer() {
MutexFactory::instance()->deleteMutex(mutex);
}
void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
this->fifoDepth = fifoDepth;
this->fifoDepth = fifoDepth;
}
ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
@ -38,18 +41,20 @@ MutexIF* SharedRingBuffer::getMutexHandle() const {
}
ReturnValue_t SharedRingBuffer::initialize() {
if(fifoDepth > 0) {
receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
}
return SystemObject::initialize();
if(fifoDepth > 0) {
receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
}
return SystemObject::initialize();
}
DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
if(receiveSizesFIFO == nullptr) {
// Configuration error.
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl;
}
return receiveSizesFIFO;
if(receiveSizesFIFO == nullptr) {
// Configuration error.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl;
#endif
}
return receiveSizesFIFO;
}

125
container/SharedRingBuffer.h
View File

@ -15,76 +15,79 @@
* and unlock operations.
*/
class SharedRingBuffer: public SystemObject,
public SimpleRingBuffer {
public SimpleRingBuffer {
public:
/**
* This constructor allocates a new internal buffer with the supplied size.
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
*/
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* This constructor allocates a new internal buffer with the supplied size.
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
*/
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
*/
SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* @brief This function can be used to add an optional FIFO to the class
* @details
* This FIFO will be allocated in the initialize function (and will
* have a fixed maximum size after that). It can be used to store
* values like packet sizes, for example for a shared ring buffer
* used by producer/consumer tasks.
*/
void setToUseReceiveSizeFIFO(size_t fifoDepth);
virtual~ SharedRingBuffer();
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
*/
SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* @brief This function can be used to add an optional FIFO to the class
* @details
* This FIFO will be allocated in the initialize function (and will
* have a fixed maximum size after that). It can be used to store
* values like packet sizes, for example for a shared ring buffer
* used by producer/consumer tasks.
*/
void setToUseReceiveSizeFIFO(size_t fifoDepth);
/**
* Unless a read-only constant value is read, all operations on the
* shared ring buffer should be protected by calling this function.
* @param timeoutType
* @param timeout
* @return
*/
virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
dur_millis_t timeout);
/**
* Any locked mutex also has to be unlocked, otherwise, access to the
* shared ring buffer will be blocked.
* @return
*/
virtual ReturnValue_t unlockRingBufferMutex();
/**
* The mutex handle can be accessed directly, for example to perform
* the lock with the #MutexHelper for a RAII compliant lock operation.
* @return
*/
MutexIF* getMutexHandle() const;
ReturnValue_t initialize() override;
/**
* Unless a read-only constant value is read, all operations on the
* shared ring buffer should be protected by calling this function.
* @param timeoutType
* @param timeout
* @return
*/
virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
dur_millis_t timeout);
/**
* Any locked mutex also has to be unlocked, otherwise, access to the
* shared ring buffer will be blocked.
* @return
*/
virtual ReturnValue_t unlockRingBufferMutex();
/**
* If the shared ring buffer was configured to have a sizes FIFO, a handle
* to that FIFO can be retrieved with this function.
* Do not forget to protect access with a lock if required!
* @return
*/
DynamicFIFO<size_t>* getReceiveSizesFIFO();
/**
* The mutex handle can be accessed directly, for example to perform
* the lock with the #MutexGuard for a RAII compliant lock operation.
* @return
*/
MutexIF* getMutexHandle() const;
ReturnValue_t initialize() override;
/**
* If the shared ring buffer was configured to have a sizes FIFO, a handle
* to that FIFO can be retrieved with this function.
* Do not forget to protect access with a lock if required!
* @return
*/
DynamicFIFO<size_t>* getReceiveSizesFIFO();
private:
MutexIF* mutex = nullptr;
MutexIF* mutex = nullptr;
size_t fifoDepth = 0;
DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
size_t fifoDepth = 0;
DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
};

152
container/SimpleRingBuffer.cpp
View File

@ -2,31 +2,31 @@
#include <cstring>
SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
size_t maxExcessBytes) :
RingBufferBase<>(0, size, overwriteOld),
maxExcessBytes(maxExcessBytes) {
if(maxExcessBytes > size) {
this->maxExcessBytes = size;
}
else {
this->maxExcessBytes = maxExcessBytes;
}
buffer = new uint8_t[size + maxExcessBytes];
size_t maxExcessBytes) :
RingBufferBase<>(0, size, overwriteOld),
maxExcessBytes(maxExcessBytes) {
if(maxExcessBytes > size) {
this->maxExcessBytes = size;
}
else {
this->maxExcessBytes = maxExcessBytes;
}
buffer = new uint8_t[size + maxExcessBytes];
}
SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
bool overwriteOld, size_t maxExcessBytes):
bool overwriteOld, size_t maxExcessBytes):
RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
if(maxExcessBytes > size) {
this->maxExcessBytes = size;
}
else {
this->maxExcessBytes = maxExcessBytes;
}
if(maxExcessBytes > size) {
this->maxExcessBytes = size;
}
else {
this->maxExcessBytes = maxExcessBytes;
}
}
SimpleRingBuffer::~SimpleRingBuffer() {
delete[] buffer;
delete[] buffer;
}
ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
@ -48,58 +48,58 @@ ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
}
void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
if(getExcessBytes() > 0) {
moveExcessBytesToStart();
}
incrementWrite(amount);
if(getExcessBytes() > 0) {
moveExcessBytesToStart();
}
incrementWrite(amount);
}
ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
size_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
size_t amountTillWrap = writeTillWrap();
if (amountTillWrap >= amount) {
// remaining size in buffer is sufficient to fit full amount.
memcpy(&buffer[write], data, amount);
}
else {
memcpy(&buffer[write], data, amountTillWrap);
memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
}
incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) {
size_t amountTillWrap = writeTillWrap();
if (amountTillWrap >= amount) {
// remaining size in buffer is sufficient to fit full amount.
memcpy(&buffer[write], data, amount);
}
else {
memcpy(&buffer[write], data, amountTillWrap);
memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
}
incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR);
size_t amountTillWrap = readTillWrap(READ_PTR);
if (availableData < amount) {
if (readRemaining) {
// more data available than amount specified.
amount = availableData;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
if (trueAmount != nullptr) {
*trueAmount = amount;
}
if (amountTillWrap >= amount) {
memcpy(data, &buffer[read[READ_PTR]], amount);
} else {
memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
}
bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR);
size_t amountTillWrap = readTillWrap(READ_PTR);
if (availableData < amount) {
if (readRemaining) {
// more data available than amount specified.
amount = availableData;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
if (trueAmount != nullptr) {
*trueAmount = amount;
}
if (amountTillWrap >= amount) {
memcpy(data, &buffer[read[READ_PTR]], amount);
} else {
memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
}
if(incrementReadPtr) {
deleteData(amount, readRemaining);
}
return HasReturnvaluesIF::RETURN_OK;
if(incrementReadPtr) {
deleteData(amount, readRemaining);
}
return HasReturnvaluesIF::RETURN_OK;
}
size_t SimpleRingBuffer::getExcessBytes() const {
@ -114,18 +114,18 @@ void SimpleRingBuffer::moveExcessBytesToStart() {
}
ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
bool deleteRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR);
if (availableData < amount) {
if (deleteRemaining) {
amount = availableData;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
if (trueAmount != nullptr) {
*trueAmount = amount;
}
incrementRead(amount, READ_PTR);
return HasReturnvaluesIF::RETURN_OK;
bool deleteRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR);
if (availableData < amount) {
if (deleteRemaining) {
amount = availableData;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
if (trueAmount != nullptr) {
*trueAmount = amount;
}
incrementRead(amount, READ_PTR);
return HasReturnvaluesIF::RETURN_OK;
}

178
container/SimpleRingBuffer.h
View File

@ -5,7 +5,7 @@
#include <cstddef>
/**
* @brief Circular buffer implementation, useful for buffering
* @brief Circular buffer implementation, useful for buffering
* into data streams.
* @details
* Note that the deleteData() has to be called to increment the read pointer.
@ -25,104 +25,104 @@ public:
* with getFreeElement.
*
*/
SimpleRingBuffer(const size_t size, bool overwriteOld,
size_t maxExcessBytes = 0);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
SimpleRingBuffer(const size_t size, bool overwriteOld,
size_t maxExcessBytes = 0);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
* @param size
* @param overwriteOld
* If the ring buffer is overflowing at a write operartion, the oldest data
* will be overwritten.
* @param maxExcessBytes
* If the buffer can accomodate additional bytes for contigous write
* operations with getFreeElement, this is the maximum allowed additional
* size
*/
SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
size_t maxExcessBytes = 0);
* @param maxExcessBytes
* If the buffer can accomodate additional bytes for contigous write
* operations with getFreeElement, this is the maximum allowed additional
* size
*/
SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
size_t maxExcessBytes = 0);
virtual ~SimpleRingBuffer();
virtual ~SimpleRingBuffer();
/**
* Write to circular buffer and increment write pointer by amount.
* @param data
* @param amount
* @return -@c RETURN_OK if write operation was successfull
* -@c RETURN_FAILED if
*/
ReturnValue_t writeData(const uint8_t* data, size_t amount);
/**
* Write to circular buffer and increment write pointer by amount.
* @param data
* @param amount
* @return -@c RETURN_OK if write operation was successfull
* -@c RETURN_FAILED if
*/
ReturnValue_t writeData(const uint8_t* data, size_t amount);
/**
* Returns a pointer to a free element. If the remaining buffer is
* not large enough, the data will be written past the actual size
* and the amount of excess bytes will be cached. This function
* does not increment the write pointer!
* @param writePointer Pointer to a pointer which can be used to write
* contiguous blocks into the ring buffer
* @param amount
* @return
*/
ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
/**
* Returns a pointer to a free element. If the remaining buffer is
* not large enough, the data will be written past the actual size
* and the amount of excess bytes will be cached. This function
* does not increment the write pointer!
* @param writePointer Pointer to a pointer which can be used to write
* contiguous blocks into the ring buffer
* @param amount
* @return
*/
ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
/**
* This increments the write pointer and also copies the excess bytes
* to the beginning. It should be called if the write operation
* conducted after calling getFreeElement() was performed.
* @return
*/
void confirmBytesWritten(size_t amount);
/**
* This increments the write pointer and also copies the excess bytes
* to the beginning. It should be called if the write operation
* conducted after calling getFreeElement() was performed.
* @return
*/
void confirmBytesWritten(size_t amount);
virtual size_t getExcessBytes() const;
/**
* Helper functions which moves any excess bytes to the start
* of the ring buffer.
* @return
*/
virtual void moveExcessBytesToStart();
virtual size_t getExcessBytes() const;
/**
* Helper functions which moves any excess bytes to the start
* of the ring buffer.
* @return
*/
virtual void moveExcessBytesToStart();
/**
* Read from circular buffer at read pointer.
* @param data
* @param amount
* @param incrementReadPtr
* If this is set to true, the read pointer will be incremented.
* If readRemaining is set to true, the read pointer will be incremented
* accordingly.
* @param readRemaining
* If this is set to true, the data will be read even if the amount
* specified exceeds the read data available.
* @param trueAmount [out]
* If readRemaining was set to true, the true amount read will be assigned
* to the passed value.
* @return
* - @c RETURN_OK if data was read successfully
* - @c RETURN_FAILED if not enough data was available and readRemaining
* was set to false.
*/
ReturnValue_t readData(uint8_t* data, size_t amount,
bool incrementReadPtr = false, bool readRemaining = false,
size_t* trueAmount = nullptr);
/**
* Read from circular buffer at read pointer.
* @param data
* @param amount
* @param incrementReadPtr
* If this is set to true, the read pointer will be incremented.
* If readRemaining is set to true, the read pointer will be incremented
* accordingly.
* @param readRemaining
* If this is set to true, the data will be read even if the amount
* specified exceeds the read data available.
* @param trueAmount [out]
* If readRemaining was set to true, the true amount read will be assigned
* to the passed value.
* @return
* - @c RETURN_OK if data was read successfully
* - @c RETURN_FAILED if not enough data was available and readRemaining
* was set to false.
*/
ReturnValue_t readData(uint8_t* data, size_t amount,
bool incrementReadPtr = false, bool readRemaining = false,
size_t* trueAmount = nullptr);
/**
* Delete data by incrementing read pointer.
* @param amount
* @param deleteRemaining
* If the amount specified is larger than the remaing size to read and this
* is set to true, the remaining amount will be deleted as well
* @param trueAmount [out]
* If deleteRemaining was set to true, the amount deleted will be assigned
* to the passed value.
* @return
*/
ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
size_t* trueAmount = nullptr);
/**
* Delete data by incrementing read pointer.
* @param amount
* @param deleteRemaining
* If the amount specified is larger than the remaing size to read and this
* is set to true, the remaining amount will be deleted as well
* @param trueAmount [out]
* If deleteRemaining was set to true, the amount deleted will be assigned
* to the passed value.
* @return
*/
ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
size_t* trueAmount = nullptr);
private:
static const uint8_t READ_PTR = 0;
uint8_t* buffer = nullptr;
size_t maxExcessBytes;
size_t excessBytes = 0;
static const uint8_t READ_PTR = 0;
uint8_t* buffer = nullptr;
size_t maxExcessBytes;
size_t excessBytes = 0;
};
#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */

176
container/SinglyLinkedList.h
View File

@ -5,71 +5,71 @@
#include <cstdint>
/**
* @brief Linked list data structure,
* each entry has a pointer to the next entry (singly)
* @brief Linked list data structure,
* each entry has a pointer to the next entry (singly)
* @ingroup container
*/
template<typename T>
class LinkedElement {
public:
T *value;
class Iterator {
public:
LinkedElement<T> *value = nullptr;
Iterator() {}
T *value;
class Iterator {
public:
LinkedElement<T> *value = nullptr;
Iterator() {}
Iterator(LinkedElement<T> *element) :
value(element) {
}
Iterator(LinkedElement<T> *element) :
value(element) {
}
Iterator& operator++() {
value = value->getNext();
return *this;
}
Iterator& operator++() {
value = value->getNext();
return *this;
}
Iterator operator++(int) {
Iterator tmp(*this);
operator++();
return tmp;
}
Iterator operator++(int) {
Iterator tmp(*this);
operator++();
return tmp;
}
bool operator==(Iterator other) {
return value == other.value;
}
bool operator==(Iterator other) {
return value == other.value;
}
bool operator!=(Iterator other) {
return !(*this == other);
}
T *operator->() {
return value->value;
}
};
bool operator!=(Iterator other) {
return !(*this == other);
}
T *operator->() {
return value->value;
}
};
LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
value(setElement), next(setNext) {}
LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
value(setElement), next(setNext) {}
virtual ~LinkedElement(){}
virtual ~LinkedElement(){}
virtual LinkedElement* getNext() const {
return next;
}
virtual LinkedElement* getNext() const {
return next;
}
virtual void setNext(LinkedElement* next) {
this->next = next;
}
virtual void setNext(LinkedElement* next) {
this->next = next;
}
virtual void setEnd() {
this->next = nullptr;
}
virtual void setEnd() {
this->next = nullptr;
}
LinkedElement* begin() {
return this;
}
LinkedElement* end() {
return nullptr;
}
LinkedElement* begin() {
return this;
}
LinkedElement* end() {
return nullptr;
}
private:
LinkedElement *next;
LinkedElement *next;
};
template<typename T>
@ -77,52 +77,52 @@ class SinglyLinkedList {
public:
using ElementIterator = typename LinkedElement<T>::Iterator;
SinglyLinkedList() {}
SinglyLinkedList() {}
SinglyLinkedList(ElementIterator start) :
start(start.value) {}
SinglyLinkedList(ElementIterator start) :
start(start.value) {}
SinglyLinkedList(LinkedElement<T>* startElement) :
start(startElement) {}
SinglyLinkedList(LinkedElement<T>* startElement) :
start(startElement) {}
ElementIterator begin() const {
return ElementIterator::Iterator(start);
}
ElementIterator begin() const {
return ElementIterator::Iterator(start);
}
/** Returns iterator to nulltr */
ElementIterator end() const {
return ElementIterator::Iterator();
}
/** Returns iterator to nulltr */
ElementIterator end() const {
return ElementIterator::Iterator();
}
/**
* Returns last element in singly linked list.
* @return
*/
ElementIterator back() const {
LinkedElement<T> *element = start;
while (element->getNext() != nullptr) {
element = element->getNext();
}
return ElementIterator::Iterator(element);
}
/**
* Returns last element in singly linked list.
* @return
*/
ElementIterator back() const {
LinkedElement<T> *element = start;
while (element->getNext() != nullptr) {
element = element->getNext();
}
return ElementIterator::Iterator(element);
}
size_t getSize() const {
size_t size = 0;
LinkedElement<T> *element = start;
while (element != nullptr) {
size++;
element = element->getNext();
}
return size;
}
void setStart(LinkedElement<T>* firstElement) {
start = firstElement;
}
size_t getSize() const {
size_t size = 0;
LinkedElement<T> *element = start;
while (element != nullptr) {
size++;
element = element->getNext();
}
return size;
}
void setStart(LinkedElement<T>* firstElement) {
start = firstElement;
}
void setNext(LinkedElement<T>* currentElement,
LinkedElement<T>* nextElement) {
currentElement->setNext(nextElement);
}
void setNext(LinkedElement<T>* currentElement,
LinkedElement<T>* nextElement) {
currentElement->setNext(nextElement);
}
void setLast(LinkedElement<T>* lastElement) {
lastElement->setEnd();
@ -148,7 +148,7 @@ public:
}
protected:
LinkedElement<T> *start = nullptr;
LinkedElement<T> *start = nullptr;
};
#endif /* SINGLYLINKEDLIST_H_ */

4
controller/CMakeLists.txt Normal file
View File

@ -0,0 +1,4 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
ControllerBase.cpp
ExtendedControllerBase.cpp
)

164
controller/ControllerBase.cpp
View File

@ -1,137 +1,137 @@
#include "../subsystem/SubsystemBase.h"
#include "ControllerBase.h"
#include "../subsystem/SubsystemBase.h"
#include "../ipc/QueueFactory.h"
#include "../action/HasActionsIF.h"
ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
SUBMODE_NONE), commandQueue(NULL), modeHelper(
this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
submode(SUBMODE_NONE), modeHelper(this),
healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth);
}
ControllerBase::~ControllerBase() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
ReturnValue_t ControllerBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
MessageQueueId_t parentQueue = 0;
if (parentId != 0) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == NULL) {
return RETURN_FAILED;
}
parentQueue = parent->getCommandQueue();
MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == nullptr) {
return RETURN_FAILED;
}
parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId());
}
parent->registerChild(getObjectId());
}
result = healthHelper.initialize(parentQueue);
if (result != RETURN_OK) {
return result;
}
result = healthHelper.initialize(parentQueue);
if (result != RETURN_OK) {
return result;
}
result = modeHelper.initialize(parentQueue);
if (result != RETURN_OK) {
return result;
}
result = modeHelper.initialize(parentQueue);
if (result != RETURN_OK) {
return result;
}
result = hkSwitcher.initialize();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
return RETURN_OK;
}
MessageQueueId_t ControllerBase::getCommandQueue() const {
return commandQueue->getId();
return commandQueue->getId();
}
void ControllerBase::handleQueue() {
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&message);
if (result == RETURN_OK) {
continue;
}
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = healthHelper.handleHealthCommand(&message);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&message);
if (result == RETURN_OK) {
continue;
}
message.setToUnknownCommand();
commandQueue->reply(&message);
}
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&command);
if (result == RETURN_OK) {
continue;
}
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
changeHK(this->mode, this->submode, false);
triggerEvent(CHANGING_MODE, mode, submode);
this->mode = mode;
this->submode = submode;
modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode);
announceMode(false);
changeHK(this->mode, this->submode, true);
changeHK(this->mode, this->submode, false);
triggerEvent(CHANGING_MODE, mode, submode);
this->mode = mode;
this->submode = submode;
modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode);
announceMode(false);
changeHK(this->mode, this->submode, true);
}
void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode;
*submode = this->submode;
*mode = this->mode;
*submode = this->submode;
}
void ControllerBase::setToExternalControl() {
healthHelper.setHealth(EXTERNAL_CONTROL);
healthHelper.setHealth(EXTERNAL_CONTROL);
}
void ControllerBase::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
triggerEvent(MODE_INFO, mode, submode);
}
ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
handleQueue();
hkSwitcher.performOperation();
performControlOperation();
return RETURN_OK;
handleQueue();
performControlOperation();
return RETURN_OK;
}
void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) {
return;
return;
}
ReturnValue_t ControllerBase::setHealth(HealthState health) {
switch (health) {
case HEALTHY:
case EXTERNAL_CONTROL:
healthHelper.setHealth(health);
return RETURN_OK;
default:
return INVALID_HEALTH_STATE;
}
switch (health) {
case HEALTHY:
case EXTERNAL_CONTROL:
healthHelper.setHealth(health);
return RETURN_OK;
default:
return INVALID_HEALTH_STATE;
}
}
HasHealthIF::HealthState ControllerBase::getHealth() {
return healthHelper.getHealth();
return healthHelper.getHealth();
}
void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_;
executingTask = task_;
}
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}
ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
return HasReturnvaluesIF::RETURN_OK;
}

115
controller/ControllerBase.h
View File

@ -1,5 +1,5 @@
#ifndef CONTROLLERBASE_H_
#define CONTROLLERBASE_H_
#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
#define FSFW_CONTROLLER_CONTROLLERBASE_H_
#include "../health/HasHealthIF.h"
#include "../health/HealthHelper.h"
@ -7,73 +7,88 @@
#include "../modes/ModeHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../datapool/HkSwitchHelper.h"
/**
* @brief Generic base class for controller classes
* @details
* Implements common interfaces for controllers, which generally have
* a mode and a health state. This avoids boilerplate code.
*/
class ControllerBase: public HasModesIF,
public HasHealthIF,
public ExecutableObjectIF,
public SystemObject,
public HasReturnvaluesIF {
public HasHealthIF,
public ExecutableObjectIF,
public SystemObject,
public HasReturnvaluesIF {
public:
static const Mode_t MODE_NORMAL = 2;
static const Mode_t MODE_NORMAL = 2;
ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth = 3);
virtual ~ControllerBase();
ControllerBase(uint32_t setObjectId, uint32_t parentId,
size_t commandQueueDepth = 3);
virtual ~ControllerBase();
/** SystemObject override */
virtual ReturnValue_t initialize() override;
ReturnValue_t initialize();
virtual MessageQueueId_t getCommandQueue() const override;
virtual MessageQueueId_t getCommandQueue() const;
virtual ReturnValue_t performOperation(uint8_t opCode);
virtual ReturnValue_t setHealth(HealthState health);
virtual HasHealthIF::HealthState getHealth();
/**
* Implementation of ExecutableObjectIF function
*
* Used to setup the reference of the task, that executes this component
* @param task_ Pointer to the taskIF of this task
*/
virtual void setTaskIF(PeriodicTaskIF* task_);
/** HasHealthIF overrides */
virtual ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override;
/** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual void setTaskIF(PeriodicTaskIF* task) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
const uint32_t parentId;
Mode_t mode;
/**
* Implemented by child class. Handle command messages which are not
* mode or health messages.
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
Submode_t submode;
/**
* Periodic helper, implemented by child class.
*/
virtual void performControlOperation() = 0;
MessageQueueIF* commandQueue;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
ModeHelper modeHelper;
const object_id_t parentId;
HealthHelper healthHelper;
Mode_t mode;
HkSwitchHelper hkSwitcher;
Submode_t submode;
/**
* Pointer to the task which executes this component, is invalid before setTaskIF was called.
*/
PeriodicTaskIF* executingTask;
MessageQueueIF* commandQueue = nullptr;
void handleQueue();
ModeHelper modeHelper;
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
HealthHelper healthHelper;
/**
* Pointer to the task which executes this component,
* is invalid before setTaskIF was called.
*/
PeriodicTaskIF* executingTask = nullptr;
/** Handle mode and health messages */
virtual void handleQueue();
/** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
/** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
};
#endif /* CONTROLLERBASE_H_ */
#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

104
controller/ExtendedControllerBase.cpp Normal file
View File

@ -0,0 +1,104 @@
#include "ExtendedControllerBase.h"
ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
object_id_t parentId, size_t commandQueueDepth):
ControllerBase(objectId, parentId, commandQueueDepth),
poolManager(this, commandQueue),
actionHelper(this, commandQueue) {
}
ExtendedControllerBase::~ExtendedControllerBase() {
}
ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
/* Needs to be overriden and implemented by child class. */
return HasReturnvaluesIF::RETURN_OK;
}
object_id_t ExtendedControllerBase::getObjectId() const {
return SystemObject::getObjectId();
}
uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
return this->executingTask->getPeriodMs();
}
ReturnValue_t ExtendedControllerBase::handleCommandMessage(
CommandMessage *message) {
ReturnValue_t result = actionHelper.handleActionMessage(message);
if(result == HasReturnvaluesIF::RETURN_OK) {
return result;
}
return poolManager.handleHousekeepingMessage(message);
}
void ExtendedControllerBase::handleQueue() {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = actionHelper.handleActionMessage(&command);
if (result == RETURN_OK) {
continue;
}
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = poolManager.handleHousekeepingMessage(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&command);
if (result == RETURN_OK) {
continue;
}
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
ReturnValue_t ExtendedControllerBase::initialize() {
ReturnValue_t result = ControllerBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return poolManager.initialize(commandQueue);
}
ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
return poolManager.initializeAfterTaskCreation();
}
ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
handleQueue();
performControlOperation();
/* We do this after performing control operation because variables will be set changed
in this function. */
poolManager.performHkOperation();
return RETURN_OK;
}
MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
return commandQueue->getId();
}
LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
return &poolManager;
}

73
controller/ExtendedControllerBase.h Normal file
View File

@ -0,0 +1,73 @@
#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
#include "ControllerBase.h"
#include "../action/HasActionsIF.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
#include "../action/ActionHelper.h"
#include "../datapoollocal/LocalDataPoolManager.h"
/**
* @brief Extendes the basic ControllerBase with the common components
* HasActionsIF for commandability and HasLocalDataPoolIF to keep
* a pool of local data pool variables.
* @details
* Default implementations required for the interfaces will be empty and have
* to be implemented by child class.
*/
class ExtendedControllerBase: public ControllerBase,
public HasActionsIF,
public HasLocalDataPoolIF {
public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
size_t commandQueueDepth = 3);
virtual ~ExtendedControllerBase();
/* SystemObjectIF overrides */
virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override;
/* ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
LocalDataPoolManager poolManager;
ActionHelper actionHelper;
/**
* Implemented by child class. Handle all command messages which are
* not health, mode, action or housekeeping messages.
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/**
* Periodic helper from ControllerBase, implemented by child class.
*/
virtual void performControlOperation() = 0;
/* Handle the four messages mentioned above */
void handleQueue() override;
/* HasActionsIF overrides */
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data,
size_t size) override;
/* HasLocalDatapoolIF overrides */
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual object_id_t getObjectId() const override;
virtual uint32_t getPeriodicOperationFrequency() const override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override = 0;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
};
#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

5
coordinates/CMakeLists.txt Normal file
View File

@ -0,0 +1,5 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
CoordinateTransformations.cpp
Sgp4Propagator.cpp
)

2
coordinates/Sgp4Propagator.h
View File

@ -1,7 +1,9 @@
#ifndef SGP4PROPAGATOR_H_
#define SGP4PROPAGATOR_H_
#ifndef WIN32
#include <sys/time.h>
#endif
#include "../contrib/sgp4/sgp4unit.h"
#include "../returnvalues/HasReturnvaluesIF.h"

12
datalinklayer/CMakeLists.txt Normal file
View File

@ -0,0 +1,12 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
Clcw.cpp
DataLinkLayer.cpp
Farm1StateLockout.cpp
Farm1StateOpen.cpp
Farm1StateWait.cpp
MapPacketExtraction.cpp
TcTransferFrame.cpp
TcTransferFrameLocal.cpp
VirtualChannelReception.cpp
)

2
datalinklayer/Clcw.cpp
View File

@ -55,7 +55,9 @@ void Clcw::setBitLock(bool bitLock) {
}
void Clcw::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl;
#endif
}
void Clcw::setWhole(uint32_t rawClcw) {

4
datalinklayer/DataLinkLayer.cpp
View File

@ -98,8 +98,10 @@ ReturnValue_t DataLinkLayer::processFrame(uint16_t length) {
receivedDataLength = length;
ReturnValue_t status = allFramesReception();
if (status != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataLinkLayer::processFrame: frame reception failed. "
"Error code: " << std::hex << status << std::dec << std::endl;
#endif
// currentFrame.print();
return status;
} else {
@ -124,7 +126,9 @@ ReturnValue_t DataLinkLayer::initialize() {
if ( virtualChannels.begin() != virtualChannels.end() ) {
clcw->setVirtualChannel( virtualChannels.begin()->second->getChannelId() );
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl;
#endif
return RETURN_FAILED;
}

12
datalinklayer/DataLinkLayer.h
View File

@ -19,12 +19,12 @@ class VirtualChannelReception;
class DataLinkLayer : public CCSDSReturnValuesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
static const Event RF_AVAILABLE = MAKE_EVENT(0, SEVERITY::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
static const Event RF_LOST = MAKE_EVENT(1, SEVERITY::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
static const Event BIT_LOCK = MAKE_EVENT(2, SEVERITY::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, SEVERITY::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
// static const Event RF_CHAIN_LOST = MAKE_EVENT(4, SEVERITY::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< The CCSDS Board could not interpret a TC
static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
// static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW); //!< The CCSDS Board could not interpret a TC
/**
* The Constructor sets the passed parameters and nothing else.
* @param set_frame_buffer The buffer in which incoming frame candidates are stored.

29
datalinklayer/MapPacketExtraction.cpp
View File

@ -1,10 +1,3 @@
/**
* @file MapPacketExtraction.cpp
* @brief This file defines the MapPacketExtraction class.
* @date 26.03.2013
* @author baetz
*/
#include "MapPacketExtraction.h"
#include "../ipc/QueueFactory.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
@ -12,14 +5,14 @@
#include "../tmtcpacket/SpacePacketBase.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/TmTcMessage.h"
#include <string.h>
#include <cstring>
MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
object_id_t setPacketDestination) :
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
packetBuffer), packetDestination(setPacketDestination), packetStore(
NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
memset(packetBuffer, 0, sizeof(packetBuffer));
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
bufferPosition(packetBuffer), packetDestination(setPacketDestination),
tcQueueId(MessageQueueIF::NO_QUEUE) {
std::memset(packetBuffer, 0, sizeof(packetBuffer));
}
ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
@ -36,9 +29,11 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
bufferPosition = &packetBuffer[packetLength];
status = RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error
<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
<< packetLength << std::endl;
#endif
clearBuffers();
status = CONTENT_TOO_LARGE;
}
@ -58,24 +53,30 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
}
status = RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error
<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
<< packetLength << std::endl;
#endif
clearBuffers();
status = CONTENT_TOO_LARGE;
}
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error
<< "MapPacketExtraction::extractPackets. Illegal segment! Last flag: "
<< (int) lastSegmentationFlag << std::endl;
#endif
clearBuffers();
status = ILLEGAL_SEGMENTATION_FLAG;
}
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error
<< "MapPacketExtraction::extractPackets. Illegal segmentationFlag: "
<< (int) segmentationFlag << std::endl;
#endif
clearBuffers();
status = DATA_CORRUPTED;
break;
@ -142,10 +143,14 @@ ReturnValue_t MapPacketExtraction::initialize() {
}
void MapPacketExtraction::printPacketBuffer(void) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "DLL: packet_buffer contains: " << std::endl;
#endif
for (uint32_t i = 0; i < this->packetLength; ++i) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex
<< (uint16_t) this->packetBuffer[i] << std::endl;
#endif
}
}

19
datalinklayer/MapPacketExtraction.h
View File

@ -1,12 +1,5 @@
/**
* @file MapPacketExtraction.h
* @brief This file defines the MapPacketExtraction class.
* @date 26.03.2013
* @author baetz
*/
#ifndef MAPPACKETEXTRACTION_H_
#define MAPPACKETEXTRACTION_H_
#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
#include "MapPacketExtractionIF.h"
#include "../objectmanager/ObjectManagerIF.h"
@ -20,17 +13,19 @@ class StorageManagerIF;
* The class implements the full MAP Packet Extraction functionality as described in the CCSDS
* TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
* fully received. All found packets are forwarded to a single distribution entity.
* @author B. Baetz
*/
class MapPacketExtraction: public MapPacketExtractionIF {
private:
static const uint32_t MAX_PACKET_SIZE = 4096;
uint8_t lastSegmentationFlag; //!< The segmentation flag of the last received frame.
uint8_t mapId; //!< MAP ID of this MAP Channel.
uint32_t packetLength; //!< Complete length of the current Space Packet.
uint32_t packetLength = 0; //!< Complete length of the current Space Packet.
uint8_t* bufferPosition; //!< Position to write to in the internal Packet buffer.
uint8_t packetBuffer[MAX_PACKET_SIZE]; //!< The internal Space Packet Buffer.
object_id_t packetDestination;
StorageManagerIF* packetStore; //!< Pointer to the store where full TC packets are stored.
//!< Pointer to the store where full TC packets are stored.
StorageManagerIF* packetStore = nullptr;
MessageQueueId_t tcQueueId; //!< QueueId to send found packets to the distributor.
/**
* Debug method to print the packet Buffer's content.
@ -75,4 +70,4 @@ public:
uint8_t getMapId() const;
};
#endif /* MAPPACKETEXTRACTION_H_ */
#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */

23
datalinklayer/TcTransferFrame.cpp
View File

@ -87,16 +87,25 @@ uint8_t* TcTransferFrame::getFullDataField() {
}
void TcTransferFrame::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Raw Frame: " << std::hex << std::endl;
for (uint16_t count = 0; count < this->getFullSize(); count++ ) {
sif::debug << (uint16_t)this->getFullFrame()[count] << " ";
}
sif::debug << std::dec << std::endl;
// debug << "Frame Header:" << std::endl;
// debug << "Version Number: " << std::hex << (uint16_t)this->current_frame.getVersionNumber() << std::endl;
// debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " << (uint16_t)this->current_frame.bypassFlagSet() << " | " << (uint16_t)this->current_frame.controlCommandFlagSet() << std::endl;
// debug << "SCID : " << this->current_frame.getSpacecraftId() << std::endl;
// debug << "VCID : " << (uint16_t)this->current_frame.getVirtualChannelId() << std::endl;
// debug << "Frame length: " << std::dec << this->current_frame.getFrameLength() << std::endl;
// debug << "Sequence Number: " << (uint16_t)this->current_frame.getSequenceNumber() << std::endl;
sif::debug << "Frame Header:" << std::endl;
sif::debug << "Version Number: " << std::hex
<< (uint16_t)this->getVersionNumber() << std::endl;
sif::debug << "Bypass Flag set?| Ctrl Cmd Flag set?: "
<< (uint16_t)this->bypassFlagSet() << " | "
<< (uint16_t)this->controlCommandFlagSet() << std::endl;
sif::debug << "SCID : " << this->getSpacecraftId() << std::endl;
sif::debug << "VCID : " << (uint16_t)this->getVirtualChannelId()
<< std::endl;
sif::debug << "Frame length: " << std::dec << this->getFrameLength()
<< std::endl;
sif::debug << "Sequence Number: " << (uint16_t)this->getSequenceNumber()
<< std::endl;
#endif
}

2
datalinklayer/TcTransferFrameLocal.cpp
View File

@ -37,7 +37,9 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl;
#endif
}
} else {
//No data in frame

2
datalinklayer/VirtualChannelReception.cpp
View File

@ -102,8 +102,10 @@ uint8_t VirtualChannelReception::getChannelId() const {
ReturnValue_t VirtualChannelReception::initialize() {
ReturnValue_t returnValue = RETURN_FAILED;
if ((slidingWindowWidth > 254) || (slidingWindowWidth % 2 != 0)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "VirtualChannelReception::initialize: Illegal sliding window width: "
<< (int) slidingWindowWidth << std::endl;
#endif
return RETURN_FAILED;
}
for (mapChannelIterator iterator = mapChannels.begin(); iterator != mapChannels.end();

6
datapool/CMakeLists.txt Normal file
View File

@ -0,0 +1,6 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
HkSwitchHelper.cpp
PoolDataSetBase.cpp
PoolEntry.cpp
)

14
datapool/ControllerSet.cpp
View File

@ -1,14 +0,0 @@
#include "ControllerSet.h"
ControllerSet::ControllerSet() {
}
ControllerSet::~ControllerSet() {
}
void ControllerSet::setInvalid() {
read();
setToDefault();
commit(PoolVariableIF::INVALID);
}

15
datapool/ControllerSet.h
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@ -1,15 +0,0 @@
#ifndef CONTROLLERSET_H_
#define CONTROLLERSET_H_
#include "DataSet.h"
class ControllerSet :public DataSet {
public:
ControllerSet();
virtual ~ControllerSet();
virtual void setToDefault() = 0;
void setInvalid();
};
#endif /* CONTROLLERSET_H_ */

131
datapool/DataPool.cpp
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@ -1,131 +0,0 @@
#include "DataPool.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/MutexFactory.h"
DataPool::DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) ) {
mutex = MutexFactory::instance()->createMutex();
if (initFunction != NULL ) {
initFunction( &this->data_pool );
}
}
DataPool::~DataPool() {
MutexFactory::instance()->deleteMutex(mutex);
for ( std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.begin(); it != this->data_pool.end(); ++it ) {
delete it->second;
}
}
//The function checks PID, type and array length before returning a copy of the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
template <typename T> PoolEntry<T>* DataPool::getData( uint32_t data_pool_id, uint8_t sizeOrPosition ) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
if ( it != this->data_pool.end() ) {
PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
if (entry != NULL ) {
if ( sizeOrPosition <= entry->length ) {
return entry;
}
}
}
return NULL;
}
PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
if ( it != this->data_pool.end() ) {
return it->second;
} else {
return NULL;
}
}
//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t maxSize ) {
// std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
// if ( it != this->data_pool.end() ) {
// if ( it->second->getByteSize() <= maxSize ) {
// *size = it->second->getByteSize();
// memcpy( address, it->second->getRawData(), *size );
// return DP_SUCCESSFUL;
// }
// }
// *size = 0;
// return DP_FAILURE;
//}
ReturnValue_t DataPool::freeDataPoolLock() {
ReturnValue_t status = mutex->unlockMutex();
if ( status != RETURN_OK ) {
sif::error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl;
}
return status;
}
ReturnValue_t DataPool::lockDataPool() {
ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
if ( status != RETURN_OK ) {
sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
}
return status;
}
void DataPool::print() {
sif::debug << "DataPool contains: " << std::endl;
std::map<uint32_t, PoolEntryIF*>::iterator dataPoolIt;
dataPoolIt = this->data_pool.begin();
while( dataPoolIt != this->data_pool.end() ) {
sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
dataPoolIt->second->print();
dataPoolIt++;
}
}
template PoolEntry<uint8_t>* DataPool::getData<uint8_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint16_t>* DataPool::getData<uint16_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint32_t>* DataPool::getData<uint32_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint64_t>* DataPool::getData<uint64_t>(uint32_t data_pool_id,
uint8_t size);
template PoolEntry<int8_t>* DataPool::getData<int8_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<int16_t>* DataPool::getData<int16_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<int32_t>* DataPool::getData<int32_t>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<float>* DataPool::getData<float>( uint32_t data_pool_id, uint8_t size );
template PoolEntry<double>* DataPool::getData<double>(uint32_t data_pool_id,
uint8_t size);
uint32_t DataPool::PIDToDataPoolId(uint32_t parameter_id) {
return (parameter_id >> 8) & 0x00FFFFFF;
}
uint8_t DataPool::PIDToArrayIndex(uint32_t parameter_id) {
return (parameter_id & 0x000000FF);
}
uint32_t DataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
return (poolId << 8) + index;
}
//SHOULDDO: Do we need a mutex lock here... I don't think so, as we only check static const values of elements in a list that do not change.
//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
ReturnValue_t DataPool::getType(uint32_t parameter_id, Type* type) {
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( PIDToDataPoolId(parameter_id));
if ( it != this->data_pool.end() ) {
*type = it->second->getType();
return RETURN_OK;
} else {
*type = Type::UNKNOWN_TYPE;
return RETURN_FAILED;
}
}
bool DataPool::exists(uint32_t parameterId) {
uint32_t poolId = PIDToDataPoolId(parameterId);
uint32_t index = PIDToArrayIndex(parameterId);
std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( poolId );
if (it != data_pool.end()) {
if (it->second->getSize() >= index) {
return true;
}
}
return false;
}

135
datapool/DataPool.h
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@ -1,135 +0,0 @@
/**
* \file DataPool.h
*
* \date 10/17/2012
* \author Bastian Baetz
*
* \brief This file contains the definition of the DataPool class and (temporarily)
* the "extern" definition of the global dataPool instance.
*/
#ifndef DATAPOOL_H_
#define DATAPOOL_H_
#include "PoolEntry.h"
#include "../globalfunctions/Type.h"
#include "../ipc/MutexIF.h"
#include <map>
/**
* \defgroup data_pool Data Pool
* This is the group, where all classes associated with Data Pool Handling belong to.
* This includes classes to access Data Pool variables.
*/
#define DP_SUCCESSFUL 0
#define DP_FAILURE 1
/**
* \brief This class represents the OBSW global data-pool.
*
* \details All variables are registered and space is allocated in an initialization
* function, which is passed do the constructor.
* Space for the variables is allocated on the heap (with a new call).
* The data is found by a data pool id, which uniquely represents a variable.
* Data pool variables should be used with a blackboard logic in mind,
* which means read data is valid (if flagged so), but not necessarily up-to-date.
* Variables are either single values or arrays.
* \ingroup data_pool
*/
class DataPool : public HasReturnvaluesIF {
private:
/**
* \brief This is the actual data pool itself.
* \details It is represented by a map
* with the data pool id as index and a pointer to a single PoolEntry as value.
*/
std::map<uint32_t, PoolEntryIF*> data_pool;
public:
/**
* \brief The mutex is created in the constructor and makes access mutual exclusive.
* \details Locking and unlocking the pool is only done by the DataSet class.
*/
MutexIF* mutex;
/**
* \brief In the classes constructor, the passed initialization function is called.
* \details To enable filling the pool,
* a pointer to the map is passed, allowing direct access to the pool's content.
* On runtime, adding or removing variables is forbidden.
*/
DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) );
/**
* \brief The destructor iterates through the data_pool map and calls all Entries destructors to clean up the heap.
*/
~DataPool();
/**
* \brief This is the default call to access the pool.
* \details A pointer to the PoolEntry object is returned.
* The call checks data pool id, type and array size. Returns NULL in case of failure.
* \param data_pool_id The data pool id to search.
* \param sizeOrPosition The array size (not byte size!) of the pool entry, or the position the user wants to read.
* If smaller than the entry size, everything's ok.
*/
template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id, uint8_t sizeOrPosition );
/**
* \brief An alternative call to get a data pool entry in case the type is not implicitly known
* (i.e. in Housekeeping Telemetry).
* \details It returns a basic interface and does NOT perform
* a size check. The caller has to assure he does not copy too much data.
* Returns NULL in case the entry is not found.
* \param data_pool_id The data pool id to search.
*/
PoolEntryIF* getRawData( uint32_t data_pool_id );
/**
* \brief This is a small helper function to facilitate locking the global data pool.
* \details It fetches the pool's mutex id and tries to acquire the mutex.
*/
ReturnValue_t lockDataPool();
/**
* \brief This is a small helper function to facilitate unlocking the global data pool.
* \details It fetches the pool's mutex id and tries to free the mutex.
*/
ReturnValue_t freeDataPoolLock();
/**
* \brief The print call is a simple debug method.
* \details It prints the current content of the data pool.
* It iterates through the data_pool map and calls each entry's print() method.
*/
void print();
/**
* Extracts the data pool id from a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The data pool id as used within the OBSW.
*/
static uint32_t PIDToDataPoolId( uint32_t parameter_id );
/**
* Extracts an array index out of a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The index of the corresponding data pool entry.
*/
static uint8_t PIDToArrayIndex( uint32_t parameter_id );
/**
* Retransforms a data pool id and an array index to a SCOS 2000 PID.
*/
static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
/**
* Method to return the type of a pool variable.
* @param parameter_id A parameterID (not pool id) of a DP member.
* @param type Returns the type or TYPE::UNKNOWN_TYPE
* @return RETURN_OK if parameter exists, RETURN_FAILED else.
*/
ReturnValue_t getType( uint32_t parameter_id, Type* type );
/**
* Method to check if a PID exists.
* Does not lock, as there's no possibility to alter the list that is checked during run-time.
* @param parameterId The PID (not pool id!) of a parameter.
* @return true if exists, false else.
*/
bool exists(uint32_t parameterId);
};
//We assume someone globally instantiates a DataPool.
extern DataPool dataPool;
#endif /* DATAPOOL_H_ */

300
datapool/DataPoolAdmin.cpp
View File

@ -1,300 +0,0 @@
#include "DataPool.h"
#include "DataPoolAdmin.h"
#include "DataSet.h"
#include "PoolRawAccess.h"
#include "../ipc/CommandMessage.h"
#include "../ipc/QueueFactory.h"
#include "../parameters/ParameterMessage.h"
DataPoolAdmin::DataPoolAdmin(object_id_t objectId) :
SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper(
this, NULL), actionHelper(this, NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue();
}
DataPoolAdmin::~DataPoolAdmin() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
ReturnValue_t DataPoolAdmin::performOperation(uint8_t opCode) {
handleCommand();
return RETURN_OK;
}
MessageQueueId_t DataPoolAdmin::getCommandQueue() const {
return commandQueue->getId();
}
ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
if (actionId != SET_VALIDITY) {
return INVALID_ACTION_ID;
}
if (size != 5) {
return INVALID_PARAMETERS;
}
uint32_t address = (data[0] << 24) | (data[1] << 16) | (data[2] << 8)
| data[3];
uint8_t valid = data[4];
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
DataSet mySet;
PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE);
ReturnValue_t status = mySet.read();
if (status != RETURN_OK) {
return INVALID_ADDRESS;
}
if (valid != 0) {
variable.setValid(PoolVariableIF::VALID);
} else {
variable.setValid(PoolVariableIF::INVALID);
}
mySet.commit();
return EXECUTION_FINISHED;
}
ReturnValue_t DataPoolAdmin::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
return HasReturnvaluesIF::RETURN_FAILED;
}
void DataPoolAdmin::handleCommand() {
CommandMessage command;
ReturnValue_t result = commandQueue->receiveMessage(&command);
if (result != RETURN_OK) {
return;
}
result = actionHelper.handleActionMessage(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
return;
}
result = handleParameterCommand(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
return;
}
result = memoryHelper.handleMemoryCommand(&command);
if (result != RETURN_OK) {
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
const uint8_t* data, size_t size, uint8_t** dataPointer) {
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
DataSet testSet;
PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
PoolVariableIF::VAR_READ);
ReturnValue_t status = testSet.read();
if (status != RETURN_OK) {
return INVALID_ADDRESS;
}
uint8_t typeSize = varToGetSize.getSizeOfType();
if (size % typeSize != 0) {
return INVALID_SIZE;
}
if (size > varToGetSize.getSizeTillEnd()) {
return INVALID_SIZE;
}
const uint8_t* readPosition = data;
for (; size > 0; size -= typeSize) {
DataSet rawSet;
PoolRawAccess variable(poolId, arrayIndex, &rawSet,
PoolVariableIF::VAR_READ_WRITE);
status = rawSet.read();
if (status == RETURN_OK) {
status = variable.setEntryFromBigEndian(readPosition, typeSize);
if (status == RETURN_OK) {
status = rawSet.commit();
}
}
arrayIndex += 1;
readPosition += typeSize;
}
return ACTIVITY_COMPLETED;
}
ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
uint8_t** dataPointer, uint8_t* copyHere) {
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
DataSet testSet;
PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
PoolVariableIF::VAR_READ);
ReturnValue_t status = testSet.read();
if (status != RETURN_OK) {
return INVALID_ADDRESS;
}
uint8_t typeSize = varToGetSize.getSizeOfType();
if (size > varToGetSize.getSizeTillEnd()) {
return INVALID_SIZE;
}
uint8_t* ptrToCopy = copyHere;
for (; size > 0; size -= typeSize) {
DataSet rawSet;
PoolRawAccess variable(poolId, arrayIndex, &rawSet,
PoolVariableIF::VAR_READ);
status = rawSet.read();
if (status == RETURN_OK) {
size_t temp = 0;
status = variable.getEntryEndianSafe(ptrToCopy, &temp, size);
if (status != RETURN_OK) {
return RETURN_FAILED;
}
} else {
//Error reading parameter.
}
arrayIndex += 1;
ptrToCopy += typeSize;
}
return ACTIVITY_COMPLETED;
}
ReturnValue_t DataPoolAdmin::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = memoryHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (storage == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
result = actionHelper.initialize(commandQueue);
return result;
}
//mostly identical to ParameterHelper::handleParameterMessage()
ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
switch (command->getCommand()) {
case ParameterMessage::CMD_PARAMETER_DUMP: {
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(command));
uint16_t parameterId = HasParametersIF::getMatrixId(
ParameterMessage::getParameterId(command));
DataPoolParameterWrapper wrapper;
result = wrapper.set(domain, parameterId);
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(command->getSender(),
ParameterMessage::getParameterId(command), &wrapper);
}
}
break;
case ParameterMessage::CMD_PARAMETER_LOAD: {
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(command));
uint16_t parameterId = HasParametersIF::getMatrixId(
ParameterMessage::getParameterId(command));
uint8_t index = HasParametersIF::getIndex(
ParameterMessage::getParameterId(command));
const uint8_t *storedStream;
size_t storedStreamSize;
result = storage->getData(ParameterMessage::getStoreId(command),
&storedStream, &storedStreamSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
ParameterWrapper streamWrapper;
result = streamWrapper.set(storedStream, storedStreamSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(ParameterMessage::getStoreId(command));
break;
}
DataPoolParameterWrapper poolWrapper;
result = poolWrapper.set(domain, parameterId);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(ParameterMessage::getStoreId(command));
break;
}
result = poolWrapper.copyFrom(&streamWrapper, index);
storage->deleteData(ParameterMessage::getStoreId(command));
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(command->getSender(),
ParameterMessage::getParameterId(command), &poolWrapper);
}
}
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
if (result != HasReturnvaluesIF::RETURN_OK) {
rejectCommand(command->getSender(), result, command->getCommand());
}
return HasReturnvaluesIF::RETURN_OK;
}
//identical to ParameterHelper::sendParameter()
ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
const DataPoolParameterWrapper* wrapper) {
size_t serializedSize = wrapper->getSerializedSize();
uint8_t *storeElement;
store_address_t address;
ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
&storeElement);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t storeElementSize = 0;
result = wrapper->serialize(&storeElement, &storeElementSize,
serializedSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(address);
return result;
}
CommandMessage reply;
ParameterMessage::setParameterDumpReply(&reply, id, address);
commandQueue->sendMessage(to, &reply);
return HasReturnvaluesIF::RETURN_OK;
}
//identical to ParameterHelper::rejectCommand()
void DataPoolAdmin::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand) {
CommandMessage reply;
reply.setReplyRejected(reason, initialCommand);
commandQueue->sendMessage(to, &reply);
}

58
datapool/DataPoolAdmin.h
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@ -1,58 +0,0 @@
#ifndef DATAPOOLADMIN_H_
#define DATAPOOLADMIN_H_
#include "../memory/MemoryHelper.h"
#include "../action/HasActionsIF.h"
#include "../action/SimpleActionHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../parameters/ReceivesParameterMessagesIF.h"
#include "DataPoolParameterWrapper.h"
#include "../ipc/MessageQueueIF.h"
class DataPoolAdmin: public HasActionsIF,
public ExecutableObjectIF,
public AcceptsMemoryMessagesIF,
public HasReturnvaluesIF,
public ReceivesParameterMessagesIF,
public SystemObject {
public:
static const ActionId_t SET_VALIDITY = 1;
DataPoolAdmin(object_id_t objectId);
~DataPoolAdmin();
ReturnValue_t performOperation(uint8_t opCode);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
size_t size, uint8_t** dataPointer);
ReturnValue_t handleMemoryDump(uint32_t address, size_t size,
uint8_t** dataPointer, uint8_t* copyHere);
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
//not implemented as ParameterHelper is no used
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
ReturnValue_t initialize();
private:
StorageManagerIF *storage;
MessageQueueIF* commandQueue;
MemoryHelper memoryHelper;
SimpleActionHelper actionHelper;
void handleCommand();
ReturnValue_t handleParameterCommand(CommandMessage *command);
ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
const DataPoolParameterWrapper* wrapper);
void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand);
};
#endif /* DATAPOOLADMIN_H_ */

181
datapool/DataPoolParameterWrapper.cpp
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@ -1,181 +0,0 @@
#include "DataPoolParameterWrapper.h"
//for returncodes
#include "../parameters/HasParametersIF.h"
#include "DataSet.h"
#include "PoolRawAccess.h"
DataPoolParameterWrapper::DataPoolParameterWrapper() :
type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
PoolVariableIF::NO_PARAMETER) {
}
DataPoolParameterWrapper::~DataPoolParameterWrapper() {
}
ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
uint16_t parameterId) {
poolId = (domainId << 16) + parameterId;
DataSet mySet;
PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ);
ReturnValue_t status = mySet.read();
if (status != HasReturnvaluesIF::RETURN_OK) {
//should only fail for invalid pool id
return HasParametersIF::INVALID_MATRIX_ID;
}
type = raw.getType();
rows = raw.getArraySize();
columns = 1;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
size_t* size, size_t maxSize, Endianness streamEndianness) const {
ReturnValue_t result;
result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&columns, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
for (uint8_t index = 0; index < rows; index++){
DataSet mySet;
PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
mySet.read();
result = raw.serialize(buffer,size,maxSize,streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK){
return result;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
//same as ParameterWrapper
size_t DataPoolParameterWrapper::getSerializedSize() const {
size_t serializedSize = 0;
serializedSize += type.getSerializedSize();
serializedSize += sizeof(rows);
serializedSize += sizeof(columns);
serializedSize += rows * columns * type.getSize();
return serializedSize;
}
ReturnValue_t DataPoolParameterWrapper::deSerialize(const uint8_t** buffer,
size_t* size, Endianness streamEndianness) {
return HasReturnvaluesIF::RETURN_FAILED;
}
template<typename T>
ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow,
uint8_t startingColumn, const void* from, uint8_t fromRows) {
//treat from as a continuous Stream as we copy all of it
const uint8_t *fromAsStream = (const uint8_t *) from;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
DataSet mySet;
PoolRawAccess raw(poolId, startingRow + fromRow, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();
result = raw.setEntryFromBigEndian(fromAsStream, sizeof(T));
fromAsStream += sizeof(T);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
mySet.commit();
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t DataPoolParameterWrapper::copyFrom(const ParameterWrapper* from,
uint16_t startWritingAtIndex) {
if (poolId == PoolVariableIF::NO_PARAMETER) {
return ParameterWrapper::NOT_SET;
}
if (type != from->type) {
return ParameterWrapper::DATATYPE_MISSMATCH;
}
//check if from fits into this
uint8_t startingRow = startWritingAtIndex / columns;
uint8_t startingColumn = startWritingAtIndex % columns;
if ((from->rows > (rows - startingRow))
|| (from->columns > (columns - startingColumn))) {
return ParameterWrapper::TOO_BIG;
}
ReturnValue_t result;
//copy data
if (from->pointsToStream) {
switch (type) {
case Type::UINT8_T:
result = deSerializeData<uint8_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::INT8_T:
result = deSerializeData<int8_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::UINT16_T:
result = deSerializeData<uint16_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::INT16_T:
result = deSerializeData<int16_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::UINT32_T:
result = deSerializeData<uint32_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::INT32_T:
result = deSerializeData<int32_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::FLOAT:
result = deSerializeData<float>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::DOUBLE:
result = deSerializeData<double>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
default:
result = ParameterWrapper::UNKNOW_DATATYPE;
break;
}
} else {
//not supported
return HasReturnvaluesIF::RETURN_FAILED;
}
return result;
}

38
datapool/DataPoolParameterWrapper.h
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@ -1,38 +0,0 @@
#ifndef DATAPOOLPARAMETERWRAPPER_H_
#define DATAPOOLPARAMETERWRAPPER_H_
#include "../globalfunctions/Type.h"
#include "../parameters/ParameterWrapper.h"
class DataPoolParameterWrapper: public SerializeIF {
public:
DataPoolParameterWrapper();
virtual ~DataPoolParameterWrapper();
ReturnValue_t set(uint8_t domainId, uint16_t parameterId);
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
ReturnValue_t copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex);
private:
Type type;
uint8_t rows;
uint8_t columns;
uint32_t poolId;
template<typename T>
ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn,
const void *from, uint8_t fromRows);
};
#endif /* DATAPOOLPARAMETERWRAPPER_H_ */

150
datapool/DataSet.cpp
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@ -1,150 +0,0 @@
#include "DataSet.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
DataSet::DataSet() :
fill_count(0), state(DATA_SET_UNINITIALISED) {
for (unsigned count = 0; count < DATA_SET_MAX_SIZE; count++) {
registeredVariables[count] = NULL;
}
}
DataSet::~DataSet() {
//Don't do anything with your variables, they are dead already! (Destructor is already called)
}
ReturnValue_t DataSet::read() {
ReturnValue_t result = RETURN_OK;
if (state == DATA_SET_UNINITIALISED) {
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
ReturnValue_t status = registeredVariables[count]->read();
if (status != RETURN_OK) {
result = INVALID_PARAMETER_DEFINITION;
break;
}
}
}
state = DATA_SET_WAS_READ;
freeDataPoolLock();
} else {
sif::error << "DataSet::read(): Call made in wrong position." << std::endl;
result = SET_WAS_ALREADY_READ;
}
return result;
}
ReturnValue_t DataSet::commit(uint8_t valid) {
setValid(valid);
return commit();
}
ReturnValue_t DataSet::commit() {
if (state == DATA_SET_WAS_READ) {
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commit();
}
}
state = DATA_SET_UNINITIALISED;
freeDataPoolLock();
return RETURN_OK;
} else {
ReturnValue_t result = RETURN_OK;
lockDataPool();
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
== PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commit();
} else if (registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if (result != COMMITING_WITHOUT_READING) {
sif::error <<
"DataSet::commit(): commit-without-read "
"call made with non write-only variable." << std::endl;
result = COMMITING_WITHOUT_READING;
}
}
}
state = DATA_SET_UNINITIALISED;
freeDataPoolLock();
return result;
}
}
void DataSet::registerVariable(PoolVariableIF* variable) {
if (state == DATA_SET_UNINITIALISED) {
if (variable != NULL) {
if (fill_count < DATA_SET_MAX_SIZE) {
registeredVariables[fill_count] = variable;
fill_count++;
return;
}
}
}
sif::error
<< "DataSet::registerVariable: failed. Either NULL, or set is full, or call made in wrong position."
<< std::endl;
return;
}
uint8_t DataSet::freeDataPoolLock() {
return ::dataPool.freeDataPoolLock();
}
uint8_t DataSet::lockDataPool() {
return ::dataPool.lockDataPool();
}
ReturnValue_t DataSet::serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
ReturnValue_t result = RETURN_FAILED;
for (uint16_t count = 0; count < fill_count; count++) {
result = registeredVariables[count]->serialize(buffer, size, maxSize,
streamEndianness);
if (result != RETURN_OK) {
return result;
}
}
return result;
}
size_t DataSet::getSerializedSize() const {
size_t size = 0;
for (uint16_t count = 0; count < fill_count; count++) {
size += registeredVariables[count]->getSerializedSize();
}
return size;
}
void DataSet::setValid(uint8_t valid) {
for (uint16_t count = 0; count < fill_count; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ) {
registeredVariables[count]->setValid(valid);
}
}
}
ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
ReturnValue_t result = RETURN_FAILED;
for (uint16_t count = 0; count < fill_count; count++) {
result = registeredVariables[count]->deSerialize(buffer, size,
streamEndianness);
if (result != RETURN_OK) {
return result;
}
}
return result;
}

159
datapool/DataSet.h
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@ -1,159 +0,0 @@
/*
* \file DataSet.h
*
* \brief This file contains the DataSet class and a small structure called DataSetContent.
*
* \date 10/17/2012
*
* \author Bastian Baetz
*
*/
#ifndef DATASET_H_
#define DATASET_H_
#include "DataPool.h"
#include "DataSetIF.h"
#include "PoolRawAccess.h"
#include "PoolVariable.h"
#include "PoolVarList.h"
#include "PoolVector.h"
#include "../serialize/SerializeAdapter.h"
/**
* \brief The DataSet class manages a set of locally checked out variables.
*
* \details This class manages a list, where a set of local variables (or pool variables) are
* registered. They are checked-out (i.e. their values are looked up and copied)
* with the read call. After the user finishes working with the pool variables,
* he can write back all variable values to the pool with the commit call.
* The data set manages locking and freeing the data pool, to ensure that all values
* are read and written back at once.
* An internal state manages usage of this class. Variables may only be registered before
* the read call is made, and the commit call only after the read call.
* If pool variables are writable and not committed until destruction of the set, the
* DataSet class automatically sets the valid flag in the data pool to invalid (without)
* changing the variable's value.
*
* \ingroup data_pool
*/
class DataSet: public DataSetIF, public HasReturnvaluesIF, public SerializeIF {
private:
//SHOULDDO we could use a linked list of datapool variables
static const uint8_t DATA_SET_MAX_SIZE = 63; //!< This definition sets the maximum number of variables to register in one DataSet.
/**
* \brief This array represents all pool variables registered in this set.
* \details It has a maximum size of DATA_SET_MAX_SIZE.
*/
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;
/**
* \brief This is a small helper function to facilitate locking the global data pool.
* \details It makes use of the lockDataPool method offered by the DataPool class.
*/
uint8_t lockDataPool();
/**
* \brief This is a small helper function to facilitate unlocking the global data pool.
* \details It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
uint8_t freeDataPoolLock();
public:
static const uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
static const ReturnValue_t INVALID_PARAMETER_DEFINITION =
MAKE_RETURN_CODE( 0x01 );
static const ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
static const ReturnValue_t COMMITING_WITHOUT_READING =
MAKE_RETURN_CODE(0x03);
/**
* \brief The constructor simply sets the fill_count to zero and sets the state to "uninitialized".
*/
DataSet();
/**
* \brief The destructor automatically manages writing the valid information of variables.
* \details In case the data set was read out, but not committed (indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~DataSet();
/**
* \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(uint8_t valid);
/**
* \brief This operation is used to register the local variables in the set.
* \details It copies all required information to the currently
* free space in the registeredVariables list.
*/
void registerVariable(PoolVariableIF* variable);
/**
* Set the valid information of all variables contained in the set which are not readonly
*
* @param valid Validity information from PoolVariableIF.
*/
void setValid(uint8_t valid);
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
};
#endif /* DATASET_H_ */

54
datapool/DataSetIF.h
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@ -1,39 +1,45 @@
/**
* \file DataSetIF.h
*
* \brief This file contains the small interface to access the DataSet class.
*
* \date 10/23/2012
*
* \author Bastian Baetz
*
*/
#ifndef DATASETIF_H_
#define DATASETIF_H_
#ifndef FSFW_DATAPOOL_DATASETIF_H_
#define FSFW_DATAPOOL_DATASETIF_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../timemanager/Clock.h"
class PoolVariableIF;
/**
* \brief This class defines a small interface to register on a DataSet.
* @brief This class defines a small interface to register on a DataSet.
*
* \details Currently, the only purpose of this interface is to provide a method for locally
* checked-out variables to register on a data set. Still, it may become useful for
* other purposes as well.
*
* \ingroup data_pool
* @details
* Currently, the only purpose of this interface is to provide a
* method for locally checked-out variables to register on a data set.
* Still, it may become useful for other purposes as well.
* @author Bastian Baetz
* @ingroup data_pool
*/