Merge remote-tracking branch 'upstream/master' into mueller/modes-memory

This commit is contained in:
Robin Müller 2020-09-29 15:04:42 +02:00
commit 392d0299a9
42 changed files with 1383 additions and 591 deletions

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@ -1,5 +1,6 @@
#include "ActionHelper.h" #include "ActionHelper.h"
#include "HasActionsIF.h" #include "HasActionsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :

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@ -97,8 +97,7 @@ public:
bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const { bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
return !(*this == other); return !(*this == other);
} }
} };
;
/** /**
* Number of Elements stored in this List * Number of Elements stored in this List

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@ -10,10 +10,9 @@
template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>> template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
class FixedOrderedMultimap { class FixedOrderedMultimap {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP; static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01); static const ReturnValue_t MAP_FULL = 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(0x02);
static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
private: private:
typedef KEY_COMPARE compare; typedef KEY_COMPARE compare;

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@ -18,7 +18,7 @@ MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
object_id_t setPacketDestination) : object_id_t setPacketDestination) :
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition( lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
packetBuffer), packetDestination(setPacketDestination), packetStore( packetBuffer), packetDestination(setPacketDestination), packetStore(
NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) { NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
memset(packetBuffer, 0, sizeof(packetBuffer)); memset(packetBuffer, 0, sizeof(packetBuffer));
} }

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@ -1,20 +0,0 @@
/**
* @file PollingSlot.cpp
* @brief This file defines the PollingSlot class.
* @date 19.12.2012
* @author baetz
*/
#include "FixedSequenceSlot.h"
#include "../objectmanager/SystemObjectIF.h"
#include <cstddef>
FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
int8_t setSequenceId, PeriodicTaskIF* executingTask) :
handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
handler = objectManager->get<ExecutableObjectIF>(handlerId);
handler->setTaskIF(executingTask);
}
FixedSequenceSlot::~FixedSequenceSlot() {}

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@ -5,7 +5,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId,
MessageQueueId_t parentQueue) : MessageQueueId_t parentQueue) :
SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue( SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue(
parentQueue), commandQueue(), healthHelper(this, setObjectId) { parentQueue), commandQueue(), healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(3, CommandMessage::COMMAND_MESSAGE_SIZE); commandQueue = QueueFactory::instance()->createMessageQueue(3);
} }
HealthDevice::~HealthDevice() { HealthDevice::~HealthDevice() {

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@ -1,124 +1,96 @@
/**
* @file CommandMessage.cpp
* @brief This file defines the CommandMessage class.
* @date 20.06.2013
* @author baetz
*/
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
#include "CommandMessage.h" #include "CommandMessage.h"
#include "../memory/MemoryMessage.h" #include "CommandMessageCleaner.h"
#include "../modes/ModeMessage.h" #include <cstring>
#include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h"
namespace messagetypes {
void clearMissionMessage(CommandMessage* message);
}
CommandMessage::CommandMessage() { CommandMessage::CommandMessage() {
this->messageSize = COMMAND_MESSAGE_SIZE; MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
setCommand(CMD_NONE); setCommand(CMD_NONE);
} }
CommandMessage::CommandMessage(Command_t command, uint32_t parameter1, CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
uint32_t parameter2) { uint32_t parameter2) {
this->messageSize = COMMAND_MESSAGE_SIZE; MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
setCommand(command); setCommand(command);
setParameter(parameter1); setParameter(parameter1);
setParameter2(parameter2); setParameter2(parameter2);
} }
Command_t CommandMessage::getCommand() const { Command_t CommandMessage::getCommand() const {
Command_t command; Command_t command;
memcpy(&command, getData(), sizeof(Command_t)); std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
return command; return command;
} }
void CommandMessage::setCommand(Command_t command) { void CommandMessage::setCommand(Command_t command) {
memcpy(getData(), &command, sizeof(command)); std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
}
uint8_t CommandMessage::getMessageType() const {
// first byte of command ID.
return getCommand() >> 8 & 0xff;
} }
uint32_t CommandMessage::getParameter() const { uint32_t CommandMessage::getParameter() const {
uint32_t parameter1; uint32_t parameter1;
memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1)); std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
return parameter1; return parameter1;
} }
void CommandMessage::setParameter(uint32_t parameter1) { void CommandMessage::setParameter(uint32_t parameter1) {
memcpy(getData() + sizeof(Command_t), &parameter1, sizeof(parameter1)); std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
} }
uint32_t CommandMessage::getParameter2() const { uint32_t CommandMessage::getParameter2() const {
uint32_t parameter2; uint32_t parameter2;
memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t), std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
sizeof(parameter2)); sizeof(parameter2));
return parameter2; return parameter2;
} }
void CommandMessage::setParameter2(uint32_t parameter2) { void CommandMessage::setParameter2(uint32_t parameter2) {
memcpy(getData() + sizeof(Command_t) + sizeof(uint32_t), &parameter2, std::memcpy(this->getData() + sizeof(uint32_t), &parameter2,
sizeof(parameter2)); sizeof(parameter2));
} }
void CommandMessage::clearCommandMessage() { uint32_t CommandMessage::getParameter3() const {
switch((getCommand()>>8) & 0xff){ uint32_t parameter3;
case messagetypes::MODE_COMMAND: std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
ModeMessage::clear(this); sizeof(parameter3));
break; return parameter3;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(this);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(this);
break;
case messagetypes::ACTION:
ActionMessage::clear(this);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(this);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(this);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(this);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(this);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(this);
break;
default:
messagetypes::clearMissionMessage(this);
break;
}
} }
bool CommandMessage::isClearedCommandMessage() { void CommandMessage::setParameter3(uint32_t parameter3) {
return getCommand() == CMD_NONE; std::memcpy(this->getData() + 2 * sizeof(uint32_t), &parameter3,
sizeof(parameter3));
} }
size_t CommandMessage::getMinimumMessageSize() const { size_t CommandMessage::getMinimumMessageSize() const {
return COMMAND_MESSAGE_SIZE; return MINIMUM_COMMAND_MESSAGE_SIZE;
}
void CommandMessage::clearCommandMessage() {
clear();
}
void CommandMessage::clear() {
CommandMessageCleaner::clearCommandMessage(this);
}
bool CommandMessage::isClearedCommandMessage() {
return getCommand() == CMD_NONE;
} }
void CommandMessage::setToUnknownCommand() { void CommandMessage::setToUnknownCommand() {
Command_t initialCommand = getCommand(); Command_t initialCommand = getCommand();
clearCommandMessage(); this->clear();
setReplyRejected(UNKNOWN_COMMAND, initialCommand); setReplyRejected(UNKNOWN_COMMAND, initialCommand);
} }
void CommandMessage::setReplyRejected(ReturnValue_t reason, void CommandMessage::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) { Command_t initialCommand) {
setCommand(REPLY_REJECTED); setCommand(REPLY_REJECTED);
setParameter(reason); setParameter(reason);
setParameter2(initialCommand); setParameter2(initialCommand);
} }
ReturnValue_t CommandMessage::getReplyRejectedReason( ReturnValue_t CommandMessage::getReplyRejectedReason(
@ -129,3 +101,11 @@ ReturnValue_t CommandMessage::getReplyRejectedReason(
} }
return reason; return reason;
} }
uint8_t* CommandMessage::getData() {
return MessageQueueMessage::getData() + sizeof(Command_t);
}
const uint8_t* CommandMessage::getData() const {
return MessageQueueMessage::getData() + sizeof(Command_t);
}

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@ -1,114 +1,88 @@
/** #ifndef FSFW_IPC_COMMANDMESSAGE_H_
* @file CommandMessage.h #define FSFW_IPC_COMMANDMESSAGE_H_
* @brief This file defines the CommandMessage class.
* @date 20.06.2013
* @author baetz
*/
#ifndef COMMANDMESSAGE_H_ #include "CommandMessageIF.h"
#define COMMANDMESSAGE_H_
#include "FwMessageTypes.h"
#include <config/ipc/MissionMessageTypes.h>
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "FwMessageTypes.h"
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number)) /**
typedef ReturnValue_t Command_t; * @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
class CommandMessage : public MessageQueueMessage { * field, and 3 4-byte parameter
* @details
* It operates on an external memory which is contained inside a
* class implementing MessageQueueMessageIF by taking its address.
* This allows for a more flexible designs of message implementations.
* The pointer can be passed to different message implementations without
* the need of unnecessary copying.
*
* The command message is based of the generic MessageQueueMessage which
* currently has an internal message size of 28 bytes.
* @author Bastian Baetz
*/
class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE; /**
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01); * Default size can accomodate 3 4-byte parameters.
*/
static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
static const uint8_t MESSAGE_ID = messagetypes::COMMAND; CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored 3 * sizeof(uint32_t);
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
/** /**
* This is the size of a message as it is seen by the MessageQueue * @brief Default Constructor, does not initialize anything.
*/ * @details
static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE * This constructor should be used when receiving a Message, as the
+ sizeof(Command_t) + 2 * sizeof(uint32_t); * content is filled by the MessageQueue.
/**
* Default Constructor, does not initialize anything.
*
* This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
*/ */
CommandMessage(); CommandMessage();
/** /**
* This constructor creates a new message with all message content initialized * This constructor creates a new message with all message content
* initialized
* *
* @param command The DeviceHandlerCommand_t that will be sent * @param command The DeviceHandlerCommand_t that will be sent
* @param parameter1 The first parameter * @param parameter1 The first parameter
* @param parameter2 The second parameter * @param parameter2 The second parameter
*/ */
CommandMessage(Command_t command, CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
uint32_t parameter1, uint32_t parameter2);
/** /**
* Default Destructor * @brief Default Destructor
*/ */
virtual ~CommandMessage() { virtual ~CommandMessage() {}
}
/** /**
* Read the DeviceHandlerCommand_t that is stored in the message, usually used after receiving * Read the DeviceHandlerCommand_t that is stored in the message,
* * usually used after receiving.
* @return the Command stored in the Message *
*/ * @return the Command stored in the Message
Command_t getCommand() const; */
virtual Command_t getCommand() const override;
/**
* Set the command type of the message. Default implementation also
* sets the message type, which will be the first byte of the command ID.
* @param the Command to be sent
*/
virtual void setCommand(Command_t command);
/** virtual uint8_t* getData() override;
* Set the DeviceHandlerCOmmand_t of the message virtual const uint8_t* getData() const override;
*
* @param the Command to be sent
*/
void setCommand(Command_t command);
/** /**
* Get the first parameter of the message * Get the first parameter of the message
*
* @return the first Parameter of the message * @return the first Parameter of the message
*/ */
uint32_t getParameter() const; uint32_t getParameter() const;
/** /**
* Set the first parameter of the message * Set the first parameter of the message
*
* @param the first parameter of the message * @param the first parameter of the message
*/ */
void setParameter(uint32_t parameter1); void setParameter(uint32_t parameter1);
/**
* Get the second parameter of the message
*
* @return the second Parameter of the message
*/
uint32_t getParameter2() const; uint32_t getParameter2() const;
/**
* Set the second parameter of the message
*
* @param the second parameter of the message
*/
void setParameter2(uint32_t parameter2); void setParameter2(uint32_t parameter2);
uint32_t getParameter3() const;
/** void setParameter3(uint32_t parameter3);
* Set the command to CMD_NONE and try to find
* the correct class to handle a more detailed
* clear.
* Also, calls a mission-specific clearMissionMessage
* function to separate between framework and mission
* messages. Not optimal, may be replaced by totally
* different auto-delete solution (e.g. smart pointers).
*
*/
void clearCommandMessage();
/** /**
* check if a message was cleared * check if a message was cleared
@ -117,18 +91,41 @@ public:
*/ */
bool isClearedCommandMessage(); bool isClearedCommandMessage();
/** /**
* Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND. * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
* Is needed quite often, so we better code it once only. * Is needed quite often, so we better code it once only.
*/ */
void setToUnknownCommand(); void setToUnknownCommand() override;
void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
ReturnValue_t getReplyRejectedReason(
Command_t *initialCommand = nullptr) const;
size_t getMinimumMessageSize() const; /**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) override;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const override;
virtual void clear() override;
void clearCommandMessage();
/**
* Extract message ID, which is the first byte of the command ID for the
* default implementation.
* @return
*/
virtual uint8_t getMessageType() const override;
/** MessageQueueMessageIF functions used for minimum size check. */
size_t getMinimumMessageSize() const override;
}; };
#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */
#endif /* COMMANDMESSAGE_H_ */

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@ -0,0 +1,45 @@
#include "../ipc/CommandMessageCleaner.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
#include "../memory/MemoryMessage.h"
#include "../modes/ModeMessage.h"
#include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h"
void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
switch(message->getMessageType()){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(message);
break;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(message);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(message);
break;
case messagetypes::ACTION:
ActionMessage::clear(message);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(message);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(message);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(message);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(message);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(message);
break;
default:
messagetypes::clearMissionMessage(message);
break;
}
}

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@ -0,0 +1,16 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#include "../ipc/CommandMessage.h"
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessage* message);
}
class CommandMessageCleaner {
public:
static void clearCommandMessage(CommandMessage* message);
};
#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */

73
ipc/CommandMessageIF.h Normal file
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@ -0,0 +1,73 @@
#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
#define FSFW_IPC_COMMANDMESSAGEIF_H_
#include "MessageQueueMessageIF.h"
#include "FwMessageTypes.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t;
class CommandMessageIF {
public:
/**
* Header consists of sender ID and command ID.
*/
static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
sizeof(Command_t);
/**
* This minimum size is derived from the interface requirement to be able
* to set a rejected reply, which contains a returnvalue and the initial
* command.
*/
static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
sizeof(Command_t);
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, shall be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
//! Reply indicating that the current command was rejected,
//! par1 should contain the error code
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
virtual ~CommandMessageIF() {};
/**
* A command message shall have a uint16_t command ID field.
* @return
*/
virtual Command_t getCommand() const = 0;
/**
* A command message shall have a uint8_t message type ID field.
* @return
*/
virtual uint8_t getMessageType() const = 0;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
virtual void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) = 0;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
virtual ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const = 0;
virtual void setToUnknownCommand() = 0;
virtual void clear() = 0;
};
#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */

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@ -1,15 +1,15 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_
// COULDDO: We could support blocking calls // COULDDO: We could support blocking calls
#include "messageQueueDefinitions.h"
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "MessageQueueSenderIF.h"
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
class MessageQueueIF { class MessageQueueIF {
public: public:
static const MessageQueueId_t NO_QUEUE = 0;
static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF; static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
/** /**

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@ -1,13 +1,27 @@
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
#include <string.h> #include <cstring>
MessageQueueMessage::MessageQueueMessage() : MessageQueueMessage::MessageQueueMessage() :
messageSize(this->HEADER_SIZE) { messageSize(getMinimumMessageSize()) {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer)); memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
} }
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
messageSize(this->HEADER_SIZE + size) {
if (size <= this->MAX_DATA_SIZE) {
memcpy(this->getData(), data, size);
this->messageSize = this->HEADER_SIZE + size;
}
else {
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
"allowed size! Setting content to 0" << std::endl;
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
}
}
MessageQueueMessage::~MessageQueueMessage() { MessageQueueMessage::~MessageQueueMessage() {
} }
@ -37,29 +51,34 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t)); memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
} }
MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) : void MessageQueueMessage::print(bool printWholeMessage) {
messageSize(this->HEADER_SIZE + size) { sif::debug << "MessageQueueMessage content: " << std::endl;
if (size <= this->MAX_DATA_SIZE) { if(printWholeMessage) {
memcpy(this->getData(), data, size); arrayprinter::print(getData(), getMaximumMessageSize());
} else {
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
} }
} else {
arrayprinter::print(getData(), getMessageSize());
size_t MessageQueueMessage::getMinimumMessageSize() {
return this->HEADER_SIZE;
}
void MessageQueueMessage::print() {
sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
<< std::endl;
for (uint8_t count = 0; count < this->messageSize; count++) {
sif::debug << (uint32_t) this->internalBuffer[count] << ":";
} }
sif::debug << std::dec << std::endl;
} }
void MessageQueueMessage::clear() { void MessageQueueMessage::clear() {
memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE); memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
} }
size_t MessageQueueMessage::getMessageSize() const {
return this->messageSize;
}
void MessageQueueMessage::setMessageSize(size_t messageSize) {
this->messageSize = messageSize;
}
size_t MessageQueueMessage::getMinimumMessageSize() const {
return this->MIN_MESSAGE_SIZE;
}
size_t MessageQueueMessage::getMaximumMessageSize() const {
return this->MAX_MESSAGE_SIZE;
}

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@ -1,118 +1,149 @@
#ifndef MESSAGEQUEUEMESSAGE_H_ #ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#define MESSAGEQUEUEMESSAGE_H_ #define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
#include "MessageQueueSenderIF.h" #include "../ipc/MessageQueueMessageIF.h"
#include <stddef.h> #include <cstddef>
/** /**
* \brief This class is the representation and data organizer for interprocess messages. * @brief This class is the representation and data organizer
* for interprocess messages.
* @details
* To facilitate and standardize interprocess communication, this class was
* created to handle a lightweight "interprocess message protocol".
* *
* \details To facilitate and standardize interprocess communication, this class was created * It adds a header with the sender's queue id to every sent message and
* to handle a lightweight "interprocess message protocol". It adds a header with the * defines the maximum total message size. Specialized messages, such as
* sender's queue id to every sent message and defines the maximum total message size. * device commanding messages, can be created by inheriting from this class
* Specialized messages, such as device commanding messages, can be created by inheriting * and filling the buffer provided by getData with additional content.
* from this class and filling the buffer provided by getData with additional content. *
* If larger amounts of data must be sent between processes, the data shall be stored in * If larger amounts of data must be sent between processes, the data shall
* the IPC Store object and only the storage id is passed in a queue message. * be stored in the IPC Store object and only the storage id is passed in a
* The class is used both to generate and send messages and to receive messages from * queue message.The class is used both to generate and send messages and to
* other tasks. * receive messages from other tasks.
* \ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueueMessage { class MessageQueueMessage: public MessageQueueMessageIF {
public: public:
/** /**
* \brief This constant defines the maximum size of the data content, excluding the header. * @brief The class is initialized empty with this constructor.
* \details It may be changed if necessary, but in general should be kept as small as possible. * @details
* The messageSize attribute is set to the header's size and the whole
* content is set to zero.
*/
MessageQueueMessage();
/**
* @brief With this constructor the class is initialized with
* the given content.
* @details
* If the passed message size fits into the buffer, the passed data is
* copied to the internal buffer and the messageSize information is set.
* Otherwise, messageSize is set to the header's size and the whole
* content is set to zero.
* @param data The data to be put in the message.
* @param size Size of the data to be copied. Must be smaller than
* MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
*/
MessageQueueMessage(uint8_t* data, size_t size);
/**
* @brief As no memory is allocated in this class,
* the destructor is empty.
*/
virtual ~MessageQueueMessage();
/**
* @brief The size information of each message is stored in
* this attribute.
* @details
* It is public to simplify usage and to allow for passing the size
* address as a pointer. Care must be taken when inheriting from this class,
* as every child class is responsible for managing the size information by
* itself. When using the class to receive a message, the size information
* is updated automatically.
*
* Please note that the minimum size is limited by the size of the header
* while the maximum size is limited by the maximum allowed message size.
*/
size_t messageSize;
/**
* @brief This constant defines the maximum size of the data content,
* excluding the header.
* @details
* It may be changed if necessary, but in general should be kept
* as small as possible.
*/ */
static const size_t MAX_DATA_SIZE = 24; static const size_t MAX_DATA_SIZE = 24;
/** /**
* \brief This constants defines the size of the header, which is added to every message. * @brief This constant defines the maximum total size in bytes
* of a sent message.
* @details
* It is the sum of the maximum data and the header size. Be aware that
* this constant is used to define the buffer sizes for every message
* queue in the system. So, a change here may have significant impact on
* the required resources.
*/ */
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t); static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/** /**
* \brief This constant defines the maximum total size in bytes of a sent message. * @brief Defines the minimum size of a message where only the
* \details It is the sum of the maximum data and the header size. Be aware that this constant * header is included
* is used to define the buffer sizes for every message queue in the system. So, a change
* here may have significant impact on the required resources.
*/ */
static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE; static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private: private:
/** /**
* \brief This is the internal buffer that contains the actual message data. * @brief This is the internal buffer that contains the
* actual message data.
*/ */
uint8_t internalBuffer[MAX_MESSAGE_SIZE]; uint8_t internalBuffer[MAX_MESSAGE_SIZE];
public: public:
/** /**
* \brief The size information of each message is stored in this attribute. * @brief This method is used to get the complete data of the message.
* \details It is public to simplify usage and to allow for passing the variable's address as a
* pointer. Care must be taken when inheriting from this class, as every child class is
* responsible for managing the size information by itself. When using the class to
* receive a message, the size information is updated automatically.
*/ */
size_t messageSize; const uint8_t* getBuffer() const override;
/** /**
* \brief The class is initialized empty with this constructor. * @brief This method is used to get the complete data of the message.
* \details The messageSize attribute is set to the header's size and the whole content is set to
* zero.
*/ */
MessageQueueMessage(); uint8_t* getBuffer() override;
/** /**
* \brief With this constructor the class is initialized with the given content. * @brief This method is used to fetch the data content of the message.
* \details If the passed message size fits into the buffer, the passed data is copied to the * @details
* internal buffer and the messageSize information is set. Otherwise, messageSize * It shall be used by child classes to add data at the right position.
* is set to the header's size and the whole content is set to zero.
* \param data The data to be put in the message.
* \param size Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
*/ */
MessageQueueMessage(uint8_t* data, uint32_t size); const uint8_t* getData() const override;
/** /**
* \brief As no memory is allocated in this class, the destructor is empty. * @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/ */
virtual ~MessageQueueMessage(); uint8_t* getData() override;
/** /**
* \brief This method is used to get the complete data of the message. * @brief This method is used to extract the sender's message
* queue id information from a received message.
*/ */
const uint8_t* getBuffer() const; MessageQueueId_t getSender() const override;
/** /**
* \brief This method is used to get the complete data of the message. * @brief With this method, the whole content
* and the message size is set to zero.
*/ */
uint8_t* getBuffer(); void clear() override;
/** /**
* \brief This method is used to fetch the data content of the message. * @brief This method is used to set the sender's message queue id
* \details It shall be used by child classes to add data at the right position. * information prior to ing the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/ */
const uint8_t* getData() const; void setSender(MessageQueueId_t setId) override;
virtual size_t getMessageSize() const override;
virtual void setMessageSize(size_t messageSize) override;
virtual size_t getMinimumMessageSize() const override;
virtual size_t getMaximumMessageSize() const override;
/** /**
* \brief This method is used to fetch the data content of the message. * @brief This is a debug method that prints the content.
* \details It shall be used by child classes to add data at the right position.
*/ */
uint8_t* getData(); void print(bool printWholeMessage);
/**
* \brief This method is used to extract the sender's message queue id information from a
* received message.
*/
MessageQueueId_t getSender() const;
/**
* \brief With this method, the whole content and the message size is set to zero.
*/
void clear();
/**
* \brief This is a debug method that prints the content (till messageSize) to the debug output.
*/
void print();
/**
* \brief This method is used to set the sender's message queue id information prior to
* sending the message.
* \param setId The message queue id that identifies the sending message queue.
*/
void setSender(MessageQueueId_t setId);
/**
* \brief This helper function is used by the MessageQueue class to check the size of an
* incoming message.
* \details The method must be overwritten by child classes if size checks shall be more strict.
* @return The default implementation returns HEADER_SIZE.
*/
virtual size_t getMinimumMessageSize();
}; };
#endif /* MESSAGEQUEUEMESSAGE_H_ */ #endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

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@ -0,0 +1,80 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
#include <cstddef>
#include <cstdint>
class MessageQueueMessageIF {
public:
/**
* @brief This constants defines the size of the header,
* which is added to every message.
*/
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
virtual ~MessageQueueMessageIF() {};
/**
* @brief With this method, the whole content and the message
* size is set to zero.
* @details
* Implementations should also take care to clear data which is stored
* indirectly (e.g. storage data).
*/
virtual void clear() = 0;
/**
* @brief Get read-only pointer to the complete data of the message.
* @return
*/
virtual const uint8_t* getBuffer() const = 0;
/**
* @brief This method is used to get the complete data of the message.
*/
virtual uint8_t* getBuffer() = 0;
/**
* @brief This method is used to set the sender's message queue id
* information prior to sending the message.
* @param setId
* The message queue id that identifies the sending message queue.
*/
virtual void setSender(MessageQueueId_t setId) = 0;
/**
* @brief This method is used to extract the sender's message queue id
* information from a received message.
*/
virtual MessageQueueId_t getSender() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual const uint8_t* getData() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
* It shall be used by child classes to add data at the right position.
*/
virtual uint8_t* getData() = 0;
/**
* Get constant message size of current message implementation.
* @return
*/
virtual size_t getMessageSize() const = 0;
virtual void setMessageSize(size_t messageSize) = 0;
virtual size_t getMinimumMessageSize() const = 0;
virtual size_t getMaximumMessageSize() const = 0;
};
#endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

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@ -1,37 +1,26 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../ipc/MessageQueueMessageIF.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
class MessageQueueMessage;
//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
//MessageQueueMessage.
//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
//call does not sound ideal.
//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
//This also influences Interface design (getCommandQueue) and some other issues..
typedef uint32_t MessageQueueId_t;
class MessageQueueSenderIF { class MessageQueueSenderIF {
public: public:
static const MessageQueueId_t NO_QUEUE = 0;
virtual ~MessageQueueSenderIF() {} virtual ~MessageQueueSenderIF() {}
/** /**
* Allows sending messages without actually "owing" a message queue. * Allows sending messages without actually "owning" a message queue.
* Not sure whether this is actually a good idea. * Not sure whether this is actually a good idea.
* Must be implemented by a subclass.
*/ */
static ReturnValue_t sendMessage(MessageQueueId_t sendTo, static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom = MessageQueueMessage* message,
MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false); MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
bool ignoreFault = false);
private: private:
MessageQueueSenderIF() {} MessageQueueSenderIF() {}
}; };
#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */
#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */

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@ -0,0 +1,18 @@
#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
#include <cstdint>
/*
* TODO: Actually, the definition of this ID to be a uint32_t is not ideal and
* breaks layering. However, it is difficult to keep layering, as the ID is
* stored in many places and sent around in MessageQueueMessage.
* Ideally, one would use the (current) object_id_t only, however, doing a
* lookup of queueIDs for every call does not sound ideal.
* In a first step, I'll circumvent the issue by not touching it,
* maybe in a second step. This also influences Interface design
* (getCommandQueue) and some other issues..
*/
using MessageQueueId_t = uint32_t;
#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

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@ -4,13 +4,13 @@
namespace objects { namespace objects {
enum framework_objects { enum framework_objects {
// Default verification reporter. // Default verification reporter.
PUS_SERVICE_1 = 0x53000001, PUS_SERVICE_1_VERIFICATION = 0x53000001,
PUS_SERVICE_2 = 0x53000002, PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
PUS_SERVICE_5 = 0x53000005, PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
PUS_SERVICE_8 = 0x53000008, PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
PUS_SERVICE_9 = 0x53000009, PUS_SERVICE_9_TIME_MGMT = 0x53000009,
PUS_SERVICE_17 = 0x53000017, PUS_SERVICE_17_TEST = 0x53000017,
PUS_SERVICE_200 = 0x53000200, PUS_SERVICE_200_MODE_MGMT = 0x53000200,
//Generic IDs for IPC, modes, health, events //Generic IDs for IPC, modes, health, events
HEALTH_TABLE = 0x53010000, HEALTH_TABLE = 0x53010000,

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@ -8,7 +8,7 @@ const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority, FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod, TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)()) : void (*setDeadlineMissedFunc)()) :
started(false), handle(NULL), pst(overallPeriod * 1000) { started(false), handle(nullptr), pst(overallPeriod * 1000) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
// All additional attributes are applied to the object. // All additional attributes are applied to the object.
@ -62,8 +62,10 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) { ExecutableObjectIF* handler =
pst.addSlot(componentId, slotTimeMs, executionStep, this); objectManager->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -85,6 +87,8 @@ void FixedTimeslotTask::taskFunctionality() {
// start time for the first entry. // start time for the first entry.
auto slotListIter = pst.current; auto slotListIter = pst.current;
pst.intializeSequenceAfterTaskCreation();
//The start time for the first entry is read. //The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs; uint32_t intervalMs = slotListIter->pollingTimeMs;
TickType_t interval = pdMS_TO_TICKS(intervalMs); TickType_t interval = pdMS_TO_TICKS(intervalMs);
@ -143,10 +147,6 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
} }
void FixedTimeslotTask::handleMissedDeadline() { void FixedTimeslotTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) { if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc(); this->deadlineMissedFunc();
} }

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@ -1,12 +1,11 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ #ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ #define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include "FreeRTOSTaskIF.h" #include "FreeRTOSTaskIF.h"
#include "../../devicehandlers/FixedSlotSequence.h" #include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h" #include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/Typedef.h" #include "../../tasks/Typedef.h"
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
@ -99,4 +98,4 @@ protected:
void handleMissedDeadline(); void handleMissedDeadline();
}; };
#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */ #endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */

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@ -1,5 +1,6 @@
#include "MessageQueue.h" #include "MessageQueue.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterfaceStream.h"
// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls // TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
@ -101,7 +102,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
reinterpret_cast<const void*>(message->getBuffer()), 0); reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) { if (result != pdPASS) {
if (!ignoreFault) { if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>( InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER); objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) { if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent(); internalErrorReporter->queueMessageNotSent();

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@ -133,10 +133,6 @@ TaskHandle_t PeriodicTask::getTaskHandle() {
} }
void PeriodicTask::handleMissedDeadline() { void PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) { if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc(); this->deadlineMissedFunc();
} }

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@ -1,18 +1,21 @@
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/QueueFactory.h" #include "../../ipc/QueueFactory.h"
#include "MessageQueue.h" #include "MessageQueue.h"
QueueFactory* QueueFactory::factoryInstance = NULL; QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) { MessageQueueMessage* message, MessageQueueId_t sentFrom,
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault); bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);
} }
QueueFactory* QueueFactory::instance() { QueueFactory* QueueFactory::instance() {
if (factoryInstance == NULL) { if (factoryInstance == nullptr) {
factoryInstance = new QueueFactory; factoryInstance = new QueueFactory;
} }
return factoryInstance; return factoryInstance;
@ -24,9 +27,9 @@ QueueFactory::QueueFactory() {
QueueFactory::~QueueFactory() { QueueFactory::~QueueFactory() {
} }
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth, MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
size_t maxMessageSize) { size_t maxMessageSize) {
return new MessageQueue(message_depth, maxMessageSize); return new MessageQueue(messageDepth, maxMessageSize);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

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@ -1,5 +1,5 @@
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "FixedTimeslotTask.h" #include "FixedTimeslotTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <limits.h> #include <limits.h>
@ -39,13 +39,16 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) { ExecutableObjectIF* executableObject =
pst.addSlot(componentId, slotTimeMs, executionStep, this); objectManager->get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep,
executableObject,this);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
sif::error << "Component " << std::hex << componentId << sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl; " not found, not adding it to pst" << std::dec << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -58,6 +61,9 @@ void FixedTimeslotTask::taskFunctionality() {
if (!started) { if (!started) {
suspend(); suspend();
} }
pst.intializeSequenceAfterTaskCreation();
//The start time for the first entry is read. //The start time for the first entry is read.
uint64_t lastWakeTime = getCurrentMonotonicTimeMs(); uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t interval = pst.getIntervalToNextSlotMs(); uint64_t interval = pst.getIntervalToNextSlotMs();

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@ -1,9 +1,9 @@
#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ #ifndef FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ #define FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../devicehandlers/FixedSlotSequence.h"
#include "PosixThread.h" #include "PosixThread.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/FixedSlotSequence.h"
#include <pthread.h> #include <pthread.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread { class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
@ -74,4 +74,4 @@ private:
bool started; bool started;
}; };
#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */ #endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

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@ -1,8 +1,14 @@
#include "../../ipc/QueueFactory.h" #include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
#include "../../ipc/messageQueueDefinitions.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <mqueue.h> #include <mqueue.h>
#include <errno.h> #include <errno.h>
#include "MessageQueue.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring> #include <cstring>
QueueFactory* QueueFactory::factoryInstance = nullptr; QueueFactory* QueueFactory::factoryInstance = nullptr;

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@ -0,0 +1,88 @@
#include "ConstStorageAccessor.h"
#include "StorageManagerIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
storeId(storeId) {}
ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
StorageManagerIF* store):
storeId(storeId), store(store) {
internalState = AccessState::ASSIGNED;
}
ConstStorageAccessor::~ConstStorageAccessor() {
if(deleteData and store != nullptr) {
store->deleteData(storeId);
}
}
ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
constDataPointer(other.constDataPointer), storeId(other.storeId),
size_(other.size_), store(other.store), deleteData(other.deleteData),
internalState(other.internalState) {
// This prevent premature deletion
other.store = nullptr;
}
ConstStorageAccessor& ConstStorageAccessor::operator=(
ConstStorageAccessor&& other) {
constDataPointer = other.constDataPointer;
storeId = other.storeId;
store = other.store;
size_ = other.size_;
deleteData = other.deleteData;
this->store = other.store;
// This prevents premature deletion
other.store = nullptr;
return *this;
}
const uint8_t* ConstStorageAccessor::data() const {
return constDataPointer;
}
size_t ConstStorageAccessor::size() const {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
}
return size_;
}
ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
size_t maxSize) {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(size_ > maxSize) {
sif::error << "StorageAccessor: Supplied buffer not large enough"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
std::copy(constDataPointer, constDataPointer + size_, pointer);
return HasReturnvaluesIF::RETURN_OK;
}
void ConstStorageAccessor::release() {
deleteData = false;
}
store_address_t ConstStorageAccessor::getId() const {
return storeId;
}
void ConstStorageAccessor::print() const {
if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
return;
}
arrayprinter::print(constDataPointer, size_);
}
void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
internalState = AccessState::ASSIGNED;
this->store = store;
}

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@ -0,0 +1,116 @@
#ifndef FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
#define FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
#include "storeAddress.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstddef>
class StorageManagerIF;
/**
* @brief Helper classes to facilitate safe access to storages which is also
* conforming to RAII principles
* @details
* Accessor class which can be returned by pool manager or passed and set by
* pool managers to have safe access to the pool resources.
*
* These helper can be used together with the StorageManager classes to manage
* access to a storage. It can take care of thread-safety while also providing
* mechanisms to automatically clear storage data.
*/
class ConstStorageAccessor {
//! StorageManager classes have exclusive access to private variables.
template<uint8_t NUMBER_OF_POOLS>
friend class PoolManager;
template<uint8_t NUMBER_OF_POOLS>
friend class LocalPool;
public:
/**
* @brief Simple constructor which takes the store ID of the storage
* entry to access.
* @param storeId
*/
ConstStorageAccessor(store_address_t storeId);
ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
/**
* @brief The destructor in default configuration takes care of
* deleting the accessed pool entry and unlocking the mutex
*/
virtual ~ConstStorageAccessor();
/**
* @brief Returns a pointer to the read-only data
* @return
*/
const uint8_t* data() const;
/**
* @brief Copies the read-only data to the supplied pointer
* @param pointer
*/
virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
/**
* @brief Calling this will prevent the Accessor from deleting the data
* when the destructor is called.
*/
void release();
/**
* Get the size of the data
* @return
*/
size_t size() const;
/**
* Get the storage ID.
* @return
*/
store_address_t getId() const;
void print() const;
/**
* @brief Move ctor and move assignment allow returning accessors as
* a returnvalue. They prevent resource being free prematurely.
* Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
* move-constructors-and-move-assignment-operators-cpp.md
* @param
* @return
*/
ConstStorageAccessor& operator= (ConstStorageAccessor&&);
ConstStorageAccessor(ConstStorageAccessor&&);
//! The copy ctor and copy assignemnt should be deleted implicitely
//! according to https://foonathan.net/2019/02/special-member-functions/
//! but I still deleted them to make it more explicit. (remember rule of 5).
ConstStorageAccessor& operator=(const ConstStorageAccessor&) = delete;
ConstStorageAccessor(const ConstStorageAccessor&) = delete;
protected:
const uint8_t* constDataPointer = nullptr;
store_address_t storeId;
size_t size_ = 0;
//! Managing pool, has to assign itself.
StorageManagerIF* store = nullptr;
bool deleteData = true;
enum class AccessState {
UNINIT,
ASSIGNED
};
//! Internal state for safety reasons.
AccessState internalState = AccessState::UNINIT;
/**
* Used by the pool manager instances to assign themselves to the
* accessor. This is necessary to delete the data when the acessor
* exits the scope ! The internal state will be considered read
* when this function is called, so take care all data is set properly as
* well.
* @param
*/
void assignStore(StorageManagerIF*);
};
#endif /* FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */

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@ -1,18 +1,14 @@
/** #ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
* @file LocalPool #define FSFW_STORAGEMANAGER_LOCALPOOL_H_
* @date 02.02.2012
* @author Bastian Baetz
* @brief This file contains the definition of the LocalPool class.
*/
#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
#include "../objectmanager/SystemObject.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "StorageManagerIF.h" #include "StorageManagerIF.h"
#include "../objectmanager/SystemObject.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../internalError/InternalErrorReporterIF.h" #include "../internalError/InternalErrorReporterIF.h"
#include <string.h> #include "../storagemanager/StorageAccessor.h"
#include <cstring>
/** /**
* @brief The LocalPool class provides an intermediate data storage with * @brief The LocalPool class provides an intermediate data storage with
@ -27,6 +23,7 @@
* 0xFFFF-1 bytes. * 0xFFFF-1 bytes.
* It is possible to store empty packets in the pool. * It is possible to store empty packets in the pool.
* The local pool is NOT thread-safe. * The local pool is NOT thread-safe.
* @author Bastian Baetz
*/ */
template<uint8_t NUMBER_OF_POOLS = 5> template<uint8_t NUMBER_OF_POOLS = 5>
class LocalPool: public SystemObject, public StorageManagerIF { class LocalPool: public SystemObject, public StorageManagerIF {
@ -39,7 +36,7 @@ public:
/** /**
* @brief This is the default constructor for a pool manager instance. * @brief This is the default constructor for a pool manager instance.
* @details By passing two arrays of size NUMBER_OF_POOLS, the constructor * @details By passing two arrays of size NUMBER_OF_POOLS, the constructor
* allocates memory (with \c new) for store and size_list. These * allocates memory (with @c new) for store and size_list. These
* regions are all set to zero on start up. * regions are all set to zero on start up.
* @param setObjectId The object identifier to be set. This allows for * @param setObjectId The object identifier to be set. This allows for
* multiple instances of LocalPool in the system. * multiple instances of LocalPool in the system.
@ -73,10 +70,17 @@ public:
size_t size, bool ignoreFault = false) override; size_t size, bool ignoreFault = false) override;
ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size, ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size,
uint8_t** p_data, bool ignoreFault = false) override; uint8_t** p_data, bool ignoreFault = false) override;
ConstAccessorPair getData(store_address_t packet_id) override;
ReturnValue_t getData(store_address_t packet_id, ConstStorageAccessor&) override;
ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr, ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
size_t * size) override; size_t * size) override;
AccessorPair modifyData(store_address_t packet_id) override;
ReturnValue_t modifyData(store_address_t packet_id, StorageAccessor&) override;
ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr, ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
size_t * size) override; size_t * size) override;
virtual ReturnValue_t deleteData(store_address_t) override; virtual ReturnValue_t deleteData(store_address_t) override;
virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size, virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size,
store_address_t* storeId = NULL) override; store_address_t* storeId = NULL) override;
@ -84,7 +88,7 @@ public:
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
protected: protected:
/** /**
* With this helper method, a free element of \c size is reserved. * With this helper method, a free element of @c size is reserved.
* @param size The minimum packet size that shall be reserved. * @param size The minimum packet size that shall be reserved.
* @param[out] address Storage ID of the reserved data. * @param[out] address Storage ID of the reserved data.
* @return - #RETURN_OK on success, * @return - #RETURN_OK on success,
@ -97,7 +101,8 @@ protected:
private: private:
/** /**
* Indicates that this element is free. * Indicates that this element is free.
* This value limits the maximum size of a pool. Change to larger data type if increase is required. * This value limits the maximum size of a pool. Change to larger data type
* if increase is required.
*/ */
static const uint32_t STORAGE_FREE = 0xFFFFFFFF; static const uint32_t STORAGE_FREE = 0xFFFFFFFF;
/** /**
@ -123,7 +128,9 @@ private:
* is also dynamically allocated there. * is also dynamically allocated there.
*/ */
uint32_t* size_list[NUMBER_OF_POOLS]; uint32_t* size_list[NUMBER_OF_POOLS];
bool spillsToHigherPools; //!< A variable to determine whether higher n pools are used if the store is full. //! A variable to determine whether higher n pools are used if
//! the store is full.
bool spillsToHigherPools;
/** /**
* @brief This method safely stores the given data in the given packet_id. * @brief This method safely stores the given data in the given packet_id.
* @details It also sets the size in size_list. The method does not perform * @details It also sets the size in size_list. The method does not perform
@ -180,4 +187,4 @@ private:
#include "LocalPool.tpp" #include "LocalPool.tpp"
#endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */ #endif /* FSFW_STORAGEMANAGER_LOCALPOOL_H_ */

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@ -1,5 +1,9 @@
#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_ #ifndef FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_ #define FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
#error Include LocalPool.h before LocalPool.tpp!
#endif
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId, inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
@ -122,8 +126,9 @@ inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
} }
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(store_address_t* storageId, inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
const uint8_t* data, size_t size, bool ignoreFault) { store_address_t* storageId, const uint8_t* data, size_t size,
bool ignoreFault) {
ReturnValue_t status = reserveSpace(size, storageId, ignoreFault); ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
if (status == RETURN_OK) { if (status == RETURN_OK) {
write(*storageId, data, size); write(*storageId, data, size);
@ -144,15 +149,55 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
return status; return status;
} }
template<uint8_t NUMBER_OF_POOLS>
inline ConstAccessorPair LocalPool<NUMBER_OF_POOLS>::getData(
store_address_t storeId) {
uint8_t* tempData = nullptr;
ConstStorageAccessor constAccessor(storeId, this);
ReturnValue_t status = modifyData(storeId, &tempData, &constAccessor.size_);
constAccessor.constDataPointer = tempData;
return ConstAccessorPair(status, std::move(constAccessor));
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(store_address_t storeId,
ConstStorageAccessor& storeAccessor) {
uint8_t* tempData = nullptr;
ReturnValue_t status = modifyData(storeId, &tempData, &storeAccessor.size_);
storeAccessor.assignStore(this);
storeAccessor.constDataPointer = tempData;
return status;
}
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData( inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) { store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
uint8_t* tempData = NULL; uint8_t* tempData = nullptr;
ReturnValue_t status = modifyData(packet_id, &tempData, size); ReturnValue_t status = modifyData(packet_id, &tempData, size);
*packet_ptr = tempData; *packet_ptr = tempData;
return status; return status;
} }
template<uint8_t NUMBER_OF_POOLS>
inline AccessorPair LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t storeId) {
StorageAccessor accessor(storeId, this);
ReturnValue_t status = modifyData(storeId, &accessor.dataPointer,
&accessor.size_);
accessor.assignConstPointer();
return AccessorPair(status, std::move(accessor));
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t storeId, StorageAccessor& storeAccessor) {
storeAccessor.assignStore(this);
ReturnValue_t status = modifyData(storeId, &storeAccessor.dataPointer,
&storeAccessor.size_);
storeAccessor.assignConstPointer();
return status;
}
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData( inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t packet_id, uint8_t** packet_ptr, size_t* size) { store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
@ -242,8 +287,8 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
} }
internalErrorReporter = objectManager->get<InternalErrorReporterIF>( internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER); objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter == NULL){ if (internalErrorReporter == nullptr){
return RETURN_FAILED; return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;
} }
//Check if any pool size is large than the maximum allowed. //Check if any pool size is large than the maximum allowed.
@ -251,10 +296,10 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
if (element_sizes[count] >= STORAGE_FREE) { if (element_sizes[count] >= STORAGE_FREE) {
sif::error << "LocalPool::initialize: Pool is too large! " sif::error << "LocalPool::initialize: Pool is too large! "
"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl; "Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
return RETURN_FAILED; return StorageManagerIF::POOL_TOO_LARGE;
} }
} }
return RETURN_OK; return RETURN_OK;
} }
#endif #endif /* FSFW_STORAGEMANAGER_LOCALPOOL_TPP_ */

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@ -1,17 +1,18 @@
#ifndef POOLMANAGER_H_ #ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
#define POOLMANAGER_H_ #define FSFW_STORAGEMANAGER_POOLMANAGER_H_
#include "LocalPool.h" #include "LocalPool.h"
#include "StorageAccessor.h"
#include "../ipc/MutexHelper.h" #include "../ipc/MutexHelper.h"
/** /**
* @brief The PoolManager class provides an intermediate data storage with * @brief The PoolManager class provides an intermediate data storage with
* a fixed pool size policy for inter-process communication. * a fixed pool size policy for inter-process communication.
* @details Uses local pool calls but is thread safe by protecting the call * @details Uses local pool calls but is thread safe by protecting the call
* with a lock. * with a lock.
* @author Bastian Baetz
*/ */
template <uint8_t NUMBER_OF_POOLS = 5> template <uint8_t NUMBER_OF_POOLS = 5>
class PoolManager : public LocalPool<NUMBER_OF_POOLS> { class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
public: public:
@ -19,16 +20,25 @@ public:
const uint16_t element_sizes[NUMBER_OF_POOLS], const uint16_t element_sizes[NUMBER_OF_POOLS],
const uint16_t n_elements[NUMBER_OF_POOLS]); const uint16_t n_elements[NUMBER_OF_POOLS]);
//! @brief In the PoolManager's destructor all allocated memory is freed. /**
* @brief In the PoolManager's destructor all allocated memory
* is freed.
*/
virtual ~PoolManager(); virtual ~PoolManager();
//! @brief LocalPool overrides for thread-safety. /**
* @brief LocalPool overrides for thread-safety. Decorator function
* which wraps LocalPool calls with a mutex protection.
*/
ReturnValue_t deleteData(store_address_t) override; ReturnValue_t deleteData(store_address_t) override;
ReturnValue_t deleteData(uint8_t* buffer, size_t size, ReturnValue_t deleteData(uint8_t* buffer, size_t size,
store_address_t* storeId = NULL) override; store_address_t* storeId = nullptr) override;
ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
size_t* size) override; void setMutexTimeout(uint32_t mutexTimeoutMs);
protected: protected:
//! Default mutex timeout value to prevent permanent blocking.
uint32_t mutexTimeoutMs = 20;
ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address, ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
bool ignoreFault) override; bool ignoreFault) override;
@ -43,4 +53,4 @@ protected:
#include "PoolManager.tpp" #include "PoolManager.tpp"
#endif /* POOLMANAGER_H_ */ #endif /* FSFW_STORAGEMANAGER_POOLMANAGER_H_ */

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@ -1,6 +1,10 @@
#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ #ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ #define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
#error Include PoolManager.h before PoolManager.tpp!
#endif
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId, inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
const uint16_t element_sizes[NUMBER_OF_POOLS], const uint16_t element_sizes[NUMBER_OF_POOLS],
@ -17,7 +21,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace( inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
const uint32_t size, store_address_t* address, bool ignoreFault) { const uint32_t size, store_address_t* address, bool ignoreFault) {
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING); MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size, ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
address,ignoreFault); address,ignoreFault);
return status; return status;
@ -29,7 +33,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
// debug << "PoolManager( " << translateObject(getObjectId()) << // debug << "PoolManager( " << translateObject(getObjectId()) <<
// " )::deleteData from store " << packet_id.pool_index << // " )::deleteData from store " << packet_id.pool_index <<
// ". id is "<< packet_id.packet_index << std::endl; // ". id is "<< packet_id.packet_index << std::endl;
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING); MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id); ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
return status; return status;
} }
@ -37,19 +41,16 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer, inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
size_t size, store_address_t* storeId) { size_t size, store_address_t* storeId) {
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING); MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
size, storeId); size, storeId);
return status; return status;
} }
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData( inline void PoolManager<NUMBER_OF_POOLS>::setMutexTimeout(
store_address_t packet_id, uint8_t** packet_ptr, size_t* size) { uint32_t mutexTimeoutMs) {
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING); this->mutexTimeout = mutexTimeoutMs;
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id,
packet_ptr, size);
return status;
} }
#endif #endif /* FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ */

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@ -0,0 +1,67 @@
#include "StorageAccessor.h"
#include "StorageManagerIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
StorageAccessor::StorageAccessor(store_address_t storeId):
ConstStorageAccessor(storeId) {
}
StorageAccessor::StorageAccessor(store_address_t storeId,
StorageManagerIF* store):
ConstStorageAccessor(storeId, store) {
}
StorageAccessor& StorageAccessor::operator =(
StorageAccessor&& other) {
// Call the parent move assignment and also assign own member.
dataPointer = other.dataPointer;
StorageAccessor::operator=(std::move(other));
return * this;
}
// Call the parent move ctor and also transfer own member.
StorageAccessor::StorageAccessor(StorageAccessor&& other):
ConstStorageAccessor(std::move(other)), dataPointer(other.dataPointer) {
}
ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(size_ > maxSize) {
sif::error << "StorageAccessor: Supplied buffer not large "
"enough" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
std::copy(dataPointer, dataPointer + size_, pointer);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t* StorageAccessor::data() {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
}
return dataPointer;
}
ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
uint16_t offset) {
if(internalState == AccessState::UNINIT) {
sif::warning << "StorageAccessor: Not initialized!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(offset + size > size_) {
sif::error << "StorageAccessor: Data too large for pool "
"entry!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
std::copy(data, data + size, dataPointer + offset);
return HasReturnvaluesIF::RETURN_OK;
}
void StorageAccessor::assignConstPointer() {
constDataPointer = dataPointer;
}

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@ -0,0 +1,45 @@
#ifndef FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_
#define FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_
#include "ConstStorageAccessor.h"
class StorageManagerIF;
/**
* @brief Child class for modifyable data. Also has a normal pointer member.
*/
class StorageAccessor: public ConstStorageAccessor {
//! StorageManager classes have exclusive access to private variables.
template<uint8_t NUMBER_OF_POOLS>
friend class PoolManager;
template<uint8_t NUMBER_OF_POOLS>
friend class LocalPool;
public:
StorageAccessor(store_address_t storeId);
StorageAccessor(store_address_t storeId, StorageManagerIF* store);
/**
* @brief Move ctor and move assignment allow returning accessors as
* a returnvalue. They prevent resource being freed prematurely.
* See: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
* move-constructors-and-move-assignment-operators-cpp.md
* @param
* @return
*/
StorageAccessor& operator=(StorageAccessor&&);
StorageAccessor(StorageAccessor&&);
ReturnValue_t write(uint8_t *data, size_t size,
uint16_t offset = 0);
uint8_t* data();
ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize) override;
private:
//! Non-const pointer for modifyable data.
uint8_t* dataPointer = nullptr;
//! For modifyable data, the const pointer is assigned to the normal
//! pointer by the pool manager so both access functions can be used safely
void assignConstPointer();
};
#endif /* FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_ */

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@ -1,60 +1,17 @@
#ifndef STORAGEMANAGERIF_H_H #ifndef FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_
#define STORAGEMANAGERIF_H_H #define FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_
#include "StorageAccessor.h"
#include "storeAddress.h"
#include "../events/Event.h" #include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
#include <stddef.h>
/** #include <utility>
* @brief This union defines the type that identifies where a data packet is #include <cstddef>
* stored in the store.
* It consists of a raw part to read it as raw value and
* a structured part to use it in pool-like stores.
*/
union store_address_t {
/**
* Default Constructor, initializing to INVALID_ADDRESS
*/
store_address_t():raw(0xFFFFFFFF){}
/** using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
* Constructor to create an address object using the raw address using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
* @param rawAddress
*/
store_address_t(uint32_t rawAddress):raw(rawAddress){}
/**
* Constructor to create an address object using pool
* and packet indices
*
* @param poolIndex
* @param packetIndex
*/
store_address_t(uint16_t poolIndex, uint16_t packetIndex):
pool_index(poolIndex),packet_index(packetIndex) {}
/**
* A structure with two elements to access the store address pool-like.
*/
struct {
/**
* The index in which pool the packet lies.
*/
uint16_t pool_index;
/**
* The position in the chosen pool.
*/
uint16_t packet_index;
};
/**
* Alternative access to the raw value.
*/
uint32_t raw;
bool operator==(const store_address_t& other) const {
return raw == other.raw;
}
};
/** /**
* @brief This class provides an interface for intermediate data storage. * @brief This class provides an interface for intermediate data storage.
@ -77,6 +34,7 @@ public:
static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID. static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID.
static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there. static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there.
static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5); static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5);
static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW); static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
@ -122,6 +80,29 @@ public:
*/ */
virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size, virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
store_address_t* storeId = nullptr) = 0; store_address_t* storeId = nullptr) = 0;
/**
* @brief Access the data by supplying a store ID.
* @details
* A pair consisting of the retrieval result and an instance of a
* ConstStorageAccessor class is returned
* @param storeId
* @return Pair of return value and a ConstStorageAccessor instance
*/
virtual ConstAccessorPair getData(store_address_t storeId) = 0;
/**
* @brief Access the data by supplying a store ID and a helper
* instance
* @param storeId
* @param constAccessor Wrapper function to access store data.
* @return
*/
virtual ReturnValue_t getData(store_address_t storeId,
ConstStorageAccessor& constAccessor) = 0;
/** /**
* @brief getData returns an address to data and the size of the data * @brief getData returns an address to data and the size of the data
* for a given packet_id. * for a given packet_id.
@ -135,8 +116,30 @@ public:
*/ */
virtual ReturnValue_t getData(store_address_t packet_id, virtual ReturnValue_t getData(store_address_t packet_id,
const uint8_t** packet_ptr, size_t* size) = 0; const uint8_t** packet_ptr, size_t* size) = 0;
/** /**
* Same as above, but not const and therefore modifiable. * Modify data by supplying a store ID
* @param storeId
* @return Pair of return value and StorageAccessor helper
*/
virtual AccessorPair modifyData(store_address_t storeId) = 0;
/**
* Modify data by supplying a store ID and a StorageAccessor helper instance.
* @param storeId
* @param accessor Helper class to access the modifiable data.
* @return
*/
virtual ReturnValue_t modifyData(store_address_t storeId,
StorageAccessor& accessor) = 0;
/**
* Get pointer and size of modifiable data by supplying the storeId
* @param packet_id
* @param packet_ptr [out] Pointer to pointer of data to set
* @param size [out] Pointer to size to set
* @return
*/ */
virtual ReturnValue_t modifyData(store_address_t packet_id, virtual ReturnValue_t modifyData(store_address_t packet_id,
uint8_t** packet_ptr, size_t* size) = 0; uint8_t** packet_ptr, size_t* size) = 0;
@ -155,6 +158,7 @@ public:
*/ */
virtual ReturnValue_t getFreeElement(store_address_t* storageId, virtual ReturnValue_t getFreeElement(store_address_t* storageId,
const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0; const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
/** /**
* Clears the whole store. * Clears the whole store.
* Use with care! * Use with care!
@ -162,4 +166,4 @@ public:
virtual void clearStore() = 0; virtual void clearStore() = 0;
}; };
#endif /* STORAGEMANAGERIF_H_ */ #endif /* FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_ */

View File

@ -0,0 +1,55 @@
#ifndef FSFW_STORAGEMANAGER_STOREADDRESS_H_
#define FSFW_STORAGEMANAGER_STOREADDRESS_H_
#include <cstdint>
/**
* This union defines the type that identifies where a data packet is
* stored in the store. It comprises of a raw part to read it as raw value and
* a structured part to use it in pool-like stores.
*/
union store_address_t {
/**
* Default Constructor, initializing to INVALID_ADDRESS
*/
store_address_t():raw(0xFFFFFFFF){}
/**
* Constructor to create an address object using the raw address
*
* @param rawAddress
*/
store_address_t(uint32_t rawAddress):raw(rawAddress){}
/**
* Constructor to create an address object using pool
* and packet indices
*
* @param poolIndex
* @param packetIndex
*/
store_address_t(uint16_t poolIndex, uint16_t packetIndex):
pool_index(poolIndex),packet_index(packetIndex){}
/**
* A structure with two elements to access the store address pool-like.
*/
struct {
/**
* The index in which pool the packet lies.
*/
uint16_t pool_index;
/**
* The position in the chosen pool.
*/
uint16_t packet_index;
};
/**
* Alternative access to the raw value.
*/
uint32_t raw;
bool operator==(const store_address_t& other) const {
return raw == other.raw;
}
};
#endif /* FSFW_STORAGEMANAGER_STOREADDRESS_H_ */

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@ -0,0 +1,17 @@
#include "FixedSequenceSlot.h"
#include "PeriodicTaskIF.h"
#include <cstddef>
FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
int8_t setSequenceId, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask) : handlerId(handlerId),
pollingTimeMs(setTime), opcode(setSequenceId) {
if(executableObject == nullptr) {
return;
}
this->executableObject = executableObject;
this->executableObject->setTaskIF(executingTask);
}
FixedSequenceSlot::~FixedSequenceSlot() {}

View File

@ -1,41 +1,41 @@
/** #ifndef FSFW_TASKS_FIXEDSEQUENCESLOT_H_
* @file FixedSequenceSlot.h #define FSFW_TASKS_FIXEDSEQUENCESLOT_H_
* @brief This file defines the PollingSlot class.
* @date 19.12.2012
* @author baetz
*/
#ifndef FIXEDSEQUENCESLOT_H_
#define FIXEDSEQUENCESLOT_H_
#include "ExecutableObjectIF.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
#include "../tasks/ExecutableObjectIF.h"
class PeriodicTaskIF; class PeriodicTaskIF;
/** /**
* @brief This class is the representation of a single polling sequence table entry. * @brief This class is the representation of a single polling sequence
* * table entry.
* @details The PollingSlot class is the representation of a single polling * @details
* sequence table entry. * The PollingSlot class is the representation of a single polling
* sequence table entry.
* @author baetz
*/ */
class FixedSequenceSlot { class FixedSequenceSlot {
public: public:
FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
int8_t setSequenceId, PeriodicTaskIF* executingTask ); int8_t setSequenceId, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask);
virtual ~FixedSequenceSlot(); virtual ~FixedSequenceSlot();
object_id_t handlerId;
/** /**
* @brief Handler identifies which device handler object is executed in this slot. * @brief Handler identifies which object is executed in this slot.
*/ */
ExecutableObjectIF* handler; ExecutableObjectIF* executableObject = nullptr;
/** /**
* @brief This attribute defines when a device handler object is executed. * @brief This attribute defines when a device handler object is executed.
* * @details
* @details The pollingTime attribute identifies the time the handler is executed in ms. * The pollingTime attribute identifies the time the handler is
* It must be smaller than the period length of the polling sequence. * executed in ms. It must be smaller than the period length of the
* polling sequence.
*/ */
uint32_t pollingTimeMs; uint32_t pollingTimeMs;
/** /**
* @brief This value defines the type of device communication. * @brief This value defines the type of device communication.
@ -43,7 +43,7 @@ public:
* @details The state of this value decides what communication routine is * @details The state of this value decides what communication routine is
* called in the PST executable or the device handler object. * called in the PST executable or the device handler object.
*/ */
uint8_t opcode; uint8_t opcode;
/** /**
* @brief Operator overload for the comparison operator to * @brief Operator overload for the comparison operator to
@ -57,4 +57,4 @@ public:
}; };
#endif /* FIXEDSEQUENCESLOT_H_ */ #endif /* FSFW_TASKS_FIXEDSEQUENCESLOT_H_ */

View File

@ -1,5 +1,6 @@
#include "FixedSlotSequence.h" #include "FixedSlotSequence.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstdlib>
FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) : FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
lengthMs(setLengthMs) { lengthMs(setLengthMs) {
@ -12,7 +13,7 @@ FixedSlotSequence::~FixedSlotSequence() {
} }
void FixedSlotSequence::executeAndAdvance() { void FixedSlotSequence::executeAndAdvance() {
current->handler->performOperation(current->opcode); current->executableObject->performOperation(current->opcode);
// if (returnValue != RETURN_OK) { // if (returnValue != RETURN_OK) {
// this->sendErrorMessage( returnValue ); // this->sendErrorMessage( returnValue );
// } // }
@ -80,44 +81,82 @@ uint32_t FixedSlotSequence::getLengthMs() const {
return this->lengthMs; return this->lengthMs;
} }
void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask) {
this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
executionStep, executableObject, executingTask));
this->current = slotList.begin();
}
ReturnValue_t FixedSlotSequence::checkSequence() const { ReturnValue_t FixedSlotSequence::checkSequence() const {
if(slotList.empty()) { if(slotList.empty()) {
sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; sif::error << "FixedSlotSequence::checkSequence:"
<< " Slot list is empty!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
auto slotIt = slotList.begin(); if(customCheckFunction != nullptr) {
uint32_t count = 0; ReturnValue_t result = customCheckFunction(slotList);
uint32_t time = 0; if(result != HasReturnvaluesIF::RETURN_OK) {
while (slotIt != slotList.end()) { // Continue for now but print error output.
if (slotIt->handler == nullptr) { sif::error << "FixedSlotSequence::checkSequence:"
sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!" << " Custom check failed!" << std::endl;
<< std::endl;
count++;
} else if (slotIt->pollingTimeMs < time) {
sif::error << "FixedSlotSequence::initialize: Time: "
<< slotIt->pollingTimeMs
<< " is smaller than previous with " << time << std::endl;
count++;
} else {
// All ok, print slot.
//info << "Current slot polling time: " << std::endl;
//info << std::dec << slotIt->pollingTimeMs << std::endl;
} }
time = slotIt->pollingTimeMs;
slotIt++;
} }
//info << "Number of elements in slot list: "
uint32_t errorCount = 0;
uint32_t time = 0;
for(const auto& slot: slotList) {
if (slot.executableObject == nullptr) {
errorCount++;
}
else if (slot.pollingTimeMs < time) {
sif::error << "FixedSlotSequence::checkSequence: Time: "
<< slot.pollingTimeMs << " is smaller than previous with "
<< time << std::endl;
errorCount++;
}
else {
// All ok, print slot.
//sif::info << "Current slot polling time: " << std::endl;
//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
}
time = slot.pollingTimeMs;
}
//sif::info << "Number of elements in slot list: "
// << slotList.size() << std::endl; // << slotList.size() << std::endl;
if (count > 0) { if (errorCount > 0) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep, PeriodicTaskIF* executingTask) { ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep, std::set<ExecutableObjectIF*> uniqueObjects;
executingTask)); uint32_t count = 0;
this->current = slotList.begin(); for(const auto& slot: slotList) {
// Ensure that each unique object is initialized once.
if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
ReturnValue_t result =
slot.executableObject->initializeAfterTaskCreation();
if(result != HasReturnvaluesIF::RETURN_OK) {
count++;
}
uniqueObjects.emplace(slot.executableObject);
}
}
if (count > 0) {
sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
"Counted " << count << " failed initializations!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
void FixedSlotSequence::addCustomCheck(ReturnValue_t
(*customCheckFunction)(const SlotList&)) {
this->customCheckFunction = customCheckFunction;
} }

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@ -1,26 +1,30 @@
#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_ #ifndef FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_ #define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
#include "FixedSequenceSlot.h" #include "FixedSequenceSlot.h"
#include "../objectmanager/SystemObject.h" #include "../objectmanager/SystemObject.h"
#include <set> #include <set>
/** /**
* @brief This class is the representation of a Polling Sequence Table in software. * @brief This class is the representation of a
* * Polling Sequence Table in software.
* @details * @details
* The FixedSlotSequence object maintains the dynamic execution of * The FixedSlotSequence object maintains the dynamic execution of
* device handler objects. * objects with stricter timing requirements for the FixedTimeslotTask.
* *
* The main idea is to create a list of device handlers, to announce all * The main idea is to create a list of executable objects (for example
* handlers to thepolling sequence and to maintain a list of * device handlers), to announce all handlers to the polling sequence and to
* polling slot objects. This slot list represents the Polling Sequence Table * maintain a list of polling slot objects.
* in software. * This slot list represents the Polling Sequence Table in software.
* *
* Each polling slot contains information to indicate when and * Each polling slot contains information to indicate when and
* which device handler shall be executed within a given polling period. * which executable object shall be executed within a given polling period.
* The sequence is then executed by iterating through this slot list. * When adding a slot, a pointer to the executing task, a pointer to the
* Handlers are invoking by calling a certain function stored in the handler list. * executable object and a step number can be passed. The step number will be
* passed to the periodic handler.
* The sequence is executed by iterating through the slot sequence and
* executing the executable object in the correct timeslot.
*/ */
class FixedSlotSequence { class FixedSlotSequence {
public: public:
@ -29,41 +33,44 @@ public:
/** /**
* @brief The constructor of the FixedSlotSequence object. * @brief The constructor of the FixedSlotSequence object.
*
* @details The constructor takes two arguments, the period length and the init function.
*
* @param setLength The period length, expressed in ms. * @param setLength The period length, expressed in ms.
*/ */
FixedSlotSequence(uint32_t setLengthMs); FixedSlotSequence(uint32_t setLengthMs);
/** /**
* @brief The destructor of the FixedSlotSequence object. * @brief The destructor of the FixedSlotSequence object.
* * @details
* @details The destructor frees all allocated memory by iterating through the slotList * The destructor frees all allocated memory by iterating through the
* and deleting all allocated resources. * slotList and deleting all allocated resources.
*/ */
virtual ~FixedSlotSequence(); virtual ~FixedSlotSequence();
/** /**
* @brief This is a method to add an PollingSlot object to slotList. * @brief This is a method to add an PollingSlot object to slotList.
* *
* @details Here, a polling slot object is added to the slot list. It is appended * @details
* to the end of the list. The list is currently NOT reordered. * Here, a polling slot object is added to the slot list. It is appended
* Afterwards, the iterator current is set to the beginning of the list. * to the end of the list. The list is currently NOT reordered.
* @param Object ID of the object to add * Afterwards, the iterator current is set to the beginning of the list.
* @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask * @param handlerId ID of the object to add
* will be called inside the slot period. * @param setTime
* @param setSequenceId ID which can be used to distinguish * Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
* different task operations * will be called inside the slot period.
* @param setSequenceId
* ID which can be used to distinguish different task operations. This
* value will be passed to the executable function.
* @param * @param
* @param * @param
*/ */
void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId, void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask); PeriodicTaskIF* executingTask);
/** /**
* Checks if the current slot shall be executed immediately after the one before. * @brief Checks if the current slot shall be executed immediately
* This allows to distinguish between grouped and not grouped handlers. * after the one before.
* @details
* This allows to distinguish between grouped and separated handlers.
* @return - @c true if the slot has the same polling time as the previous * @return - @c true if the slot has the same polling time as the previous
* - @c false else * - @c false else
*/ */
@ -125,12 +132,32 @@ public:
SlotListIter current; SlotListIter current;
/** /**
* Iterate through slotList and check successful creation. * @brief Check and initialize slot list.
* @details
* Checks if timing is ok (must be ascending) and if all handlers were found. * Checks if timing is ok (must be ascending) and if all handlers were found.
* @return * @return
*/ */
ReturnValue_t checkSequence() const; ReturnValue_t checkSequence() const;
/**
* @brief A custom check can be injected for the respective slot list.
* @details
* This can be used by the developer to check the validity of a certain
* sequence. The function will be run in the #checkSequence function.
* The general check will be continued for now if the custom check function
* fails but a diagnostic debug output will be given.
* @param customCheckFunction
*/
void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
/**
* @brief Perform any initialization steps required after the executing
* task has been created. This function should be called from the
* executing task!
* @return
*/
ReturnValue_t intializeSequenceAfterTaskCreation() const;
protected: protected:
/** /**
@ -146,7 +173,9 @@ protected:
*/ */
SlotList slotList; SlotList slotList;
ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
uint32_t lengthMs; uint32_t lengthMs;
}; };
#endif /* FIXEDSLOTSEQUENCE_H_ */ #endif /* FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ */

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@ -1,55 +1,59 @@
#include "../serviceinterface/ServiceInterfaceStream.h" #include "VerificationReporter.h"
#include "AcceptsVerifyMessageIF.h" #include "AcceptsVerifyMessageIF.h"
#include "PusVerificationReport.h" #include "PusVerificationReport.h"
#include "VerificationReporter.h"
object_id_t VerificationReporter::messageReceiver = 0; #include "../ipc/MessageQueueIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../objectmanager/frameworkObjects.h"
object_id_t VerificationReporter::messageReceiver =
objects::PUS_SERVICE_1_VERIFICATION;
VerificationReporter::VerificationReporter() : VerificationReporter::VerificationReporter() :
acknowledgeQueue() { acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
} }
VerificationReporter::~VerificationReporter() { VerificationReporter::~VerificationReporter() {}
//Default, empty
}
void VerificationReporter::sendSuccessReport(uint8_t set_report_id, void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
TcPacketBase* current_packet, uint8_t set_step) { TcPacketBase* current_packet, uint8_t set_step) {
if (this->acknowledgeQueue == 0) { if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize(); this->initialize();
} }
PusVerificationMessage message(set_report_id, PusVerificationMessage message(set_report_id,
current_packet->getAcknowledgeFlags(), current_packet->getAcknowledgeFlags(),
current_packet->getPacketId(), current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), 0, set_step); current_packet->getPacketSequenceControl(), 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error sif::error << "VerificationReporter::sendSuccessReport: Error writing "
<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: " << "to queue. Code: " << std::hex << status << std::dec
<< (uint16_t) status << std::endl; << std::endl;
} }
} }
void VerificationReporter::sendSuccessReport(uint8_t set_report_id, void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
uint8_t set_step) { uint8_t set_step) {
if (this->acknowledgeQueue == 0) { if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize(); this->initialize();
} }
PusVerificationMessage message(set_report_id, ackFlags, tcPacketId, PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
tcSequenceControl, 0, set_step); tcSequenceControl, 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error sif::error << "VerificationReporter::sendSuccessReport: Error writing "
<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: " << "to queue. Code: " << std::hex << status << std::dec
<< (uint16_t) status << std::endl; << std::endl;
} }
} }
void VerificationReporter::sendFailureReport(uint8_t report_id, void VerificationReporter::sendFailureReport(uint8_t report_id,
TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step, TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
uint32_t parameter1, uint32_t parameter2) { uint32_t parameter1, uint32_t parameter2) {
if (this->acknowledgeQueue == 0) { if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize(); this->initialize();
} }
PusVerificationMessage message(report_id, PusVerificationMessage message(report_id,
@ -57,11 +61,12 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
current_packet->getPacketId(), current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), error_code, step, current_packet->getPacketSequenceControl(), error_code, step,
parameter1, parameter2); parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error sif::error << "VerificationReporter::sendFailureReport: Error writing "
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: " << "to queue. Code: " << std::hex << "0x" << status << std::dec
<< (uint16_t) status << std::endl; << std::endl;
} }
} }
@ -69,27 +74,33 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t error_code, uint8_t step, uint32_t parameter1, ReturnValue_t error_code, uint8_t step, uint32_t parameter1,
uint32_t parameter2) { uint32_t parameter2) {
if (this->acknowledgeQueue == 0) { if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize(); this->initialize();
} }
PusVerificationMessage message(report_id, ackFlags, tcPacketId, PusVerificationMessage message(report_id, ackFlags, tcPacketId,
tcSequenceControl, error_code, step, parameter1, parameter2); tcSequenceControl, error_code, step, parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error sif::error << "VerificationReporter::sendFailureReport: Error writing "
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: " << "to queue. Code: " << std::hex << "0x" << status << std::dec
<< (uint16_t) status << std::endl; << std::endl;
} }
} }
void VerificationReporter::initialize() { void VerificationReporter::initialize() {
if(messageReceiver == objects::NO_OBJECT) {
sif::warning << "VerificationReporter::initialize: Verification message"
" receiver object ID not set yet in Factory!" << std::endl;
return;
}
AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>( AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
messageReceiver); messageReceiver);
if (temp != NULL) { if (temp == nullptr) {
this->acknowledgeQueue = temp->getVerificationQueue(); sif::error << "VerificationReporter::initialize: Message "
} else { << "receiver invalid. Make sure it is set up properly and "
sif::error << "implementsAcceptsVerifyMessageIF" << std::endl;
<< "VerificationReporter::VerificationReporter: Configuration error." return;
<< std::endl;
} }
this->acknowledgeQueue = temp->getVerificationQueue();
} }

View File

@ -1,31 +1,50 @@
#ifndef VERIFICATIONREPORTER_H_ #ifndef FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
#define VERIFICATIONREPORTER_H_ #define FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "PusVerificationReport.h" #include "PusVerificationReport.h"
#include "../objectmanager/ObjectManagerIF.h"
namespace Factory{ namespace Factory{
void setStaticFrameworkObjectIds(); void setStaticFrameworkObjectIds();
} }
/**
* @brief This helper object is used to forward verification messages
* which are generated by the Flight Software Framework.
* @details
* The messages can be relayed to an arbitrary object, for example a dedicated
* Verification Reporter. The destination is set by setting the static framework
* Id VerificationReporter::messageReceiver. The default verification reporter
* will be the PUS service 1, which sends verification messages according
* to the PUS standard.
*
*/
class VerificationReporter { class VerificationReporter {
friend void (Factory::setStaticFrameworkObjectIds)(); friend void (Factory::setStaticFrameworkObjectIds)();
public: public:
VerificationReporter(); VerificationReporter();
virtual ~VerificationReporter(); virtual ~VerificationReporter();
void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet, uint8_t set_step = 0 );
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t set_step = 0); void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0, uint8_t set_step = 0 );
uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 ); void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
uint16_t tcPacketId, uint16_t tcSequenceControl,
uint8_t set_step = 0);
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
ReturnValue_t error_code = 0,
uint8_t step = 0, uint32_t parameter1 = 0,
uint32_t parameter2 = 0 );
void sendFailureReport(uint8_t report_id, void sendFailureReport(uint8_t report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, ReturnValue_t error_code = 0, uint8_t step = 0, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t error_code = 0, uint8_t step = 0,
uint32_t parameter1 = 0, uint32_t parameter2 = 0); uint32_t parameter1 = 0, uint32_t parameter2 = 0);
void initialize(); void initialize();
private: private:
static object_id_t messageReceiver; static object_id_t messageReceiver;
MessageQueueId_t acknowledgeQueue; MessageQueueId_t acknowledgeQueue;
}; };
#endif /* VERIFICATIONREPORTER_H_ */ #endif /* FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_ */