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Merge pull request 'TMTC Stack Refactoring' (#106) from mueller/tmtc-stack-refactoring into develop
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Reviewed-on: eive/fsfw#106
This commit is contained in:
Robin Müller 2022-08-16 17:30:16 +02:00
commit 42c5881c50
287 changed files with 7165 additions and 4659 deletions
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9
CHANGELOG.md
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@ -8,10 +8,19 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v6.0.0]
## Added
- Add new `UnsignedByteField` class
## Changes
- Overhaul of the TMTC stack, including various changes and improvements
for other modules
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
which also includes a migration guide
# [v5.0.0] 25.07.2022
## Changes

2
automation/Jenkinsfile vendored
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@ -1,6 +1,6 @@
pipeline {
environment {
BUILDDIR = 'build-tests'
BUILDDIR = 'cmake-build-tests'
}
agent {
docker { image 'fsfw-ci:d3'}

2
misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
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@ -36,7 +36,7 @@ void Factory::produceFsfwObjects(void) {
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::NO_OBJECT;
PusServiceBase::packetDestination = objects::NO_OBJECT;
PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;
CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;

2
scripts/helper.py
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@ -13,7 +13,7 @@ from shutil import which
from typing import List
UNITTEST_FOLDER_NAME = "build-tests"
UNITTEST_FOLDER_NAME = "cmake-build-tests"
DOCS_FOLDER_NAME = "build-docs"

17
src/fsfw/cfdp/CFDPMessage.cpp
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@ -1,17 +0,0 @@
#include "CFDPMessage.h"
CFDPMessage::CFDPMessage() {}
CFDPMessage::~CFDPMessage() {}
void CFDPMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
message->setParameter(cfdpPacket.raw);
}
store_address_t CFDPMessage::getStoreId(const CommandMessage *message) {
store_address_t storeAddressCFDPPacket;
storeAddressCFDPPacket = message->getParameter();
return storeAddressCFDPPacket;
}
void CFDPMessage::clear(CommandMessage *message) {}

2
src/fsfw/cfdp/CMakeLists.txt
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@ -1,4 +1,4 @@
target_sources(${LIB_FSFW_NAME} PRIVATE CFDPHandler.cpp CFDPMessage.cpp)
target_sources(${LIB_FSFW_NAME} PRIVATE CfdpHandler.cpp CfdpMessage.cpp)
add_subdirectory(pdu)
add_subdirectory(tlv)

24
src/fsfw/cfdp/CFDPHandler.cpp → src/fsfw/cfdp/CfdpHandler.cpp
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@ -1,16 +1,16 @@
#include "fsfw/cfdp/CFDPHandler.h"
#include "fsfw/cfdp/CfdpHandler.h"
#include "fsfw/cfdp/CFDPMessage.h"
#include "fsfw/cfdp/CfdpMessage.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/storeAddress.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
object_id_t CFDPHandler::packetSource = 0;
object_id_t CFDPHandler::packetDestination = 0;
object_id_t CfdpHandler::packetSource = 0;
object_id_t CfdpHandler::packetDestination = 0;
CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
CfdpHandler::CfdpHandler(object_id_t setObjectId, CFDPDistributor* dist)
: SystemObject(setObjectId) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(
@ -18,9 +18,9 @@ CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
distributor = dist;
}
CFDPHandler::~CFDPHandler() {}
CfdpHandler::~CfdpHandler() = default;
ReturnValue_t CFDPHandler::initialize() {
ReturnValue_t CfdpHandler::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
@ -29,7 +29,7 @@ ReturnValue_t CFDPHandler::initialize() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
ReturnValue_t CfdpHandler::handleRequest(store_address_t storeId) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CFDPHandler::handleRequest" << std::endl;
@ -43,17 +43,17 @@ ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
return RETURN_OK;
}
ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
ReturnValue_t CfdpHandler::performOperation(uint8_t opCode) {
ReturnValue_t status = RETURN_OK;
CommandMessage currentMessage;
for (status = this->requestQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = this->requestQueue->receiveMessage(&currentMessage)) {
store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
store_address_t storeId = CfdpMessage::getStoreId(&currentMessage);
this->handleRequest(storeId);
}
return RETURN_OK;
}
uint16_t CFDPHandler::getIdentifier() { return 0; }
uint16_t CfdpHandler::getIdentifier() { return 0; }
MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }
MessageQueueId_t CfdpHandler::getRequestQueue() { return this->requestQueue->getId(); }

8
src/fsfw/cfdp/CFDPHandler.h → src/fsfw/cfdp/CfdpHandler.h
View File

@ -12,18 +12,18 @@ namespace Factory {
void setStaticFrameworkObjectIds();
}
class CFDPHandler : public ExecutableObjectIF,
class CfdpHandler : public ExecutableObjectIF,
public AcceptsTelecommandsIF,
public SystemObject,
public HasReturnvaluesIF {
friend void(Factory::setStaticFrameworkObjectIds)();
public:
CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
CfdpHandler(object_id_t setObjectId, CFDPDistributor* distributor);
/**
* The destructor is empty.
*/
virtual ~CFDPHandler();
virtual ~CfdpHandler();
virtual ReturnValue_t handleRequest(store_address_t storeId);
@ -45,7 +45,7 @@ class CFDPHandler : public ExecutableObjectIF,
* The current CFDP packet to be processed.
* It is deleted after handleRequest was executed.
*/
CFDPPacketStored currentPacket;
CfdpPacketStored currentPacket;
static object_id_t packetSource;

17
src/fsfw/cfdp/CfdpMessage.cpp Normal file
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@ -0,0 +1,17 @@
#include "CfdpMessage.h"
CfdpMessage::CfdpMessage() = default;
CfdpMessage::~CfdpMessage() = default;
void CfdpMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
message->setParameter(cfdpPacket.raw);
}
store_address_t CfdpMessage::getStoreId(const CommandMessage *message) {
store_address_t storeId;
storeId = static_cast<store_address_t>(message->getParameter());
return storeId;
}
void CfdpMessage::clear(CommandMessage *message) {}

6
src/fsfw/cfdp/CFDPMessage.h → src/fsfw/cfdp/CfdpMessage.h
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@ -5,14 +5,14 @@
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
class CFDPMessage {
class CfdpMessage {
private:
CFDPMessage();
CfdpMessage();
public:
static const uint8_t MESSAGE_ID = messagetypes::CFDP;
virtual ~CFDPMessage();
virtual ~CfdpMessage();
static void setCommand(CommandMessage* message, store_address_t cfdpPacket);
static store_address_t getStoreId(const CommandMessage* message);

25
src/fsfw/cfdp/definitions.h
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@ -15,28 +15,21 @@ static constexpr uint8_t VERSION_BITS = 0b00100000;
static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
static constexpr ReturnValue_t INVALID_TLV_TYPE =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 1);
static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 2);
static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 3);
static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 4);
static constexpr ReturnValue_t INVALID_TLV_TYPE = result::makeCode(CFDP_CLASS_ID, 1);
static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS = result::makeCode(CFDP_CLASS_ID, 2);
static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN = result::makeCode(CFDP_CLASS_ID, 3);
static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS = result::makeCode(CFDP_CLASS_ID, 4);
//! Can not parse options. This can also occur because there are options
//! available but the user did not pass a valid options array
static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 5);
static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS = result::makeCode(CFDP_CLASS_ID, 5);
static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS = result::makeCode(CFDP_CLASS_ID, 6);
static constexpr ReturnValue_t FINISHED_CANT_PARSE_FS_RESPONSES =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 8);
result::makeCode(CFDP_CLASS_ID, 6);
static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE = result::makeCode(CFDP_CLASS_ID, 8);
//! Can not parse filestore response because user did not pass a valid instance
//! or remaining size is invalid
static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 9);
result::makeCode(CFDP_CLASS_ID, 9);
//! Checksum types according to the SANA Checksum Types registry
//! https://sanaregistry.org/r/checksum_identifiers/

2
src/fsfw/datalinklayer/MapPacketExtraction.cpp
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@ -6,7 +6,7 @@
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/tmtcpacket/SpacePacketBase.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/tmtcservices/TmTcMessage.h"

5
src/fsfw/datapoollocal/HasLocalDataPoolIF.h
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@ -79,8 +79,7 @@ class HasLocalDataPoolIF {
* @param clearMessage If this is set to true, the pool manager will take care of
* clearing the store automatically
*/
virtual void handleChangedDataset(sid_t sid,
store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
virtual void handleChangedDataset(sid_t sid, store_address_t storeId = store_address_t::invalid(),
bool* clearMessage = nullptr) {
if (clearMessage != nullptr) {
*clearMessage = true;
@ -100,7 +99,7 @@ class HasLocalDataPoolIF {
* after the callback.
*/
virtual void handleChangedPoolVariable(gp_id_t gpid,
store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
store_address_t storeId = store_address_t::invalid(),
bool* clearMessage = nullptr) {
if (clearMessage != nullptr) {
*clearMessage = true;

110
src/fsfw/datapoollocal/LocalDataPoolManager.cpp
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@ -1,6 +1,5 @@
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include <array>
#include <cmath>
#include "fsfw/datapoollocal.h"
@ -15,6 +14,7 @@
#include "internal/HasLocalDpIFManagerAttorney.h"
#include "internal/LocalPoolDataSetAttorney.h"
// TODO: Get rid of this. This should be a constructor argument, not something hardcoded in any way
object_id_t LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
@ -57,7 +57,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
}
if (defaultHkDestination != objects::NO_OBJECT) {
AcceptsHkPacketsIF* hkPacketReceiver =
auto* hkPacketReceiver =
ObjectManager::instance()->get<AcceptsHkPacketsIF>(defaultHkDestination);
if (hkPacketReceiver != nullptr) {
hkDestinationId = hkPacketReceiver->getHkQueue();
@ -209,9 +209,9 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
}
/* Prepare and send update snapshot */
timeval now;
timeval now{};
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::CDS_short cds{};
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingSnapshot updatePacket(
reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
@ -245,9 +245,9 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
}
/* Prepare and send update snapshot */
timeval now;
timeval now{};
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::CDS_short cds{};
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingSnapshot updatePacket(
reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
@ -291,12 +291,7 @@ ReturnValue_t LocalDataPoolManager::addUpdateToStore(HousekeepingSnapshot& updat
void LocalDataPoolManager::handleChangeResetLogic(DataType type, DataId dataId,
MarkChangedIF* toReset) {
if (hkUpdateResetList == nullptr) {
/* Config error */
return;
}
HkUpdateResetList& listRef = *hkUpdateResetList;
for (auto& changeInfo : listRef) {
for (auto& changeInfo : hkUpdateResetList) {
if (changeInfo.dataType != type) {
continue;
}
@ -326,38 +321,37 @@ void LocalDataPoolManager::handleChangeResetLogic(DataType type, DataId dataId,
}
void LocalDataPoolManager::resetHkUpdateResetHelper() {
if (hkUpdateResetList == nullptr) {
return;
}
for (auto& changeInfo : *hkUpdateResetList) {
for (auto& changeInfo : hkUpdateResetList) {
changeInfo.currentUpdateCounter = changeInfo.updateCounter;
}
}
ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
float collectionInterval,
bool isDiagnostics,
object_id_t packetDestination) {
AcceptsHkPacketsIF* hkReceiverObject =
ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
if (hkReceiverObject == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
QUEUE_OR_DESTINATION_INVALID);
return QUEUE_OR_DESTINATION_INVALID;
}
ReturnValue_t LocalDataPoolManager::subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams params) {
return subscribeForPeriodicPacket(params);
}
ReturnValue_t LocalDataPoolManager::subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams params) {
return subscribeForPeriodicPacket(params);
}
ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase& params) {
struct HkReceiver hkReceiver;
hkReceiver.dataId.sid = sid;
hkReceiver.dataId.sid = params.sid;
hkReceiver.reportingType = ReportingType::PERIODIC;
hkReceiver.dataType = DataType::DATA_SET;
hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
if (params.receiver == MessageQueueIF::NO_QUEUE) {
hkReceiver.destinationQueue = hkDestinationId;
} else {
hkReceiver.destinationQueue = params.receiver;
}
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
if (dataSet != nullptr) {
LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting);
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, collectionInterval,
LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, params.enableReporting);
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, params.collectionInterval,
owner->getPeriodicOperationFrequency());
}
@ -365,27 +359,30 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool e
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool isDiagnostics,
bool reportingEnabled,
object_id_t packetDestination) {
AcceptsHkPacketsIF* hkReceiverObject =
ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
if (hkReceiverObject == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
QUEUE_OR_DESTINATION_INVALID);
return QUEUE_OR_DESTINATION_INVALID;
}
ReturnValue_t LocalDataPoolManager::subscribeForRegularUpdatePacket(
subdp::RegularHkUpdateParams params) {
return subscribeForUpdatePacket(params);
}
ReturnValue_t LocalDataPoolManager::subscribeForDiagUpdatePacket(
subdp::DiagnosticsHkUpdateParams params) {
return subscribeForUpdatePacket(params);
}
ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(subdp::ParamsBase& params) {
struct HkReceiver hkReceiver;
hkReceiver.dataId.sid = sid;
hkReceiver.dataId.sid = params.sid;
hkReceiver.reportingType = ReportingType::UPDATE_HK;
hkReceiver.dataType = DataType::DATA_SET;
hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
if (params.receiver == MessageQueueIF::NO_QUEUE) {
hkReceiver.destinationQueue = hkDestinationId;
} else {
hkReceiver.destinationQueue = params.receiver;
}
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
if (dataSet != nullptr) {
LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, true);
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
}
hkReceivers.push_back(hkReceiver);
@ -436,11 +433,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessage(
}
void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType, DataId dataId) {
if (hkUpdateResetList == nullptr) {
hkUpdateResetList = new std::vector<struct HkUpdateResetHelper>();
}
for (auto& updateResetStruct : *hkUpdateResetList) {
for (auto& updateResetStruct : hkUpdateResetList) {
if (dataType == DataType::DATA_SET) {
if (updateResetStruct.dataId.sid == dataId.sid) {
updateResetStruct.updateCounter++;
@ -464,7 +457,7 @@ void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType, D
} else {
hkUpdateResetHelper.dataId.localPoolId = dataId.localPoolId;
}
hkUpdateResetList->push_back(hkUpdateResetHelper);
hkUpdateResetList.push_back(hkUpdateResetHelper);
}
ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* message) {
@ -643,6 +636,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
/* Error, all destinations invalid */
printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
QUEUE_OR_DESTINATION_INVALID);
return QUEUE_OR_DESTINATION_INVALID;
}
destination = hkDestinationId;
}
@ -821,9 +815,7 @@ void LocalDataPoolManager::clearReceiversList() {
/* Clear the vector completely and releases allocated memory. */
HkReceivers().swap(hkReceivers);
/* Also clear the reset helper if it exists */
if (hkUpdateResetList != nullptr) {
HkUpdateResetList().swap(*hkUpdateResetList);
}
HkUpdateResetList().swap(hkUpdateResetList);
}
MutexIF* LocalDataPoolManager::getLocalPoolMutex() { return this->mutex; }
@ -885,3 +877,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
}
LocalDataPoolManager* LocalDataPoolManager::getPoolManagerHandle() { return this; }
void LocalDataPoolManager::setHkDestinationId(MessageQueueId_t hkDestId) {
hkDestinationId = hkDestId;
}

50
src/fsfw/datapoollocal/LocalDataPoolManager.h
View File

@ -8,6 +8,7 @@
#include "ProvidesDataPoolSubscriptionIF.h"
#include "fsfw/datapool/DataSetIF.h"
#include "fsfw/datapool/PoolEntry.h"
#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
#include "fsfw/housekeeping/HousekeepingMessage.h"
#include "fsfw/housekeeping/HousekeepingPacketDownlink.h"
#include "fsfw/housekeeping/PeriodicHousekeepingHelper.h"
@ -80,7 +81,9 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
*/
LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
bool appendValidityBuffer = true);
virtual ~LocalDataPoolManager();
~LocalDataPoolManager() override;
void setHkDestinationId(MessageQueueId_t hkDestId);
/**
* Assigns the queue to use. Make sure to call this in the #initialize
@ -112,31 +115,6 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
*/
virtual ReturnValue_t performHkOperation();
/**
* @brief Subscribe for the generation of periodic packets.
* @details
* This subscription mechanism will generally be used by the data creator
* to generate housekeeping packets which are downlinked directly.
* @return
*/
ReturnValue_t subscribeForPeriodicPacket(
sid_t sid, bool enableReporting, float collectionInterval, bool isDiagnostics,
object_id_t packetDestination = defaultHkDestination) override;
/**
* @brief Subscribe for the generation of packets if the dataset
* is marked as changed.
* @details
* This subscription mechanism will generally be used by the data creator.
* @param sid
* @param isDiagnostics
* @param packetDestination
* @return
*/
ReturnValue_t subscribeForUpdatePacket(
sid_t sid, bool reportingEnabled, bool isDiagnostics,
object_id_t packetDestination = defaultHkDestination) override;
/**
* @brief Subscribe for a notification message which will be sent
* if a dataset has changed.
@ -151,7 +129,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
* Otherwise, only an notification message is sent.
* @return
*/
ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId, object_id_t destinationObject,
ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot) override;
@ -169,7 +147,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
* Otherwise, only an notification message is sent.
* @return
*/
ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot) override;
@ -252,7 +230,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
*/
void clearReceiversList();
object_id_t getCreatorObjectId() const;
[[nodiscard]] object_id_t getCreatorObjectId() const;
/**
* Get the pointer to the mutex. Can be used to lock the data pool
@ -262,9 +240,17 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
*/
MutexIF* getMutexHandle();
virtual LocalDataPoolManager* getPoolManagerHandle() override;
LocalDataPoolManager* getPoolManagerHandle() override;
ReturnValue_t subscribeForRegularPeriodicPacket(subdp::RegularHkPeriodicParams params) override;
ReturnValue_t subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams params) override;
ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) override;
ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) override;
protected:
ReturnValue_t subscribeForPeriodicPacket(subdp::ParamsBase& params);
ReturnValue_t subscribeForUpdatePacket(subdp::ParamsBase& params);
/** Core data structure for the actual pool data */
localpool::DataPool localPoolMap;
/** Every housekeeping data manager has a mutex to protect access
@ -312,8 +298,8 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
/** This list is used to manage creating multiple update packets and only resetting
the update flag if all of them were created. Will only be created when needed. */
HkUpdateResetList* hkUpdateResetList = nullptr;
the update flag if all of them were created. */
HkUpdateResetList hkUpdateResetList = HkUpdateResetList();
/** This is the map holding the actual data. Should only be initialized
* once ! */

112
src/fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h
View File

@ -1,24 +1,90 @@
#ifndef FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
#define FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
#include "../ipc/messageQueueDefinitions.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "localPoolDefinitions.h"
namespace subdp {
struct ParamsBase {
ParamsBase(sid_t sid, bool enableReporting, float collectionInterval, bool diagnostics)
: sid(sid),
enableReporting(enableReporting),
collectionInterval(collectionInterval),
diagnostics(diagnostics) {}
[[nodiscard]] bool isDiagnostics() const { return diagnostics; }
sid_t sid;
bool enableReporting;
float collectionInterval;
MessageQueueId_t receiver = MessageQueueIF::NO_QUEUE;
protected:
bool diagnostics;
};
struct RegularHkPeriodicParams : public ParamsBase {
RegularHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
: ParamsBase(sid, enableReporting, collectionInterval, false) {}
};
struct DiagnosticsHkPeriodicParams : public ParamsBase {
DiagnosticsHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
: ParamsBase(sid, enableReporting, collectionInterval, true) {}
};
struct RegularHkUpdateParams : public ParamsBase {
RegularHkUpdateParams(sid_t sid, bool enableReporting)
: ParamsBase(sid, enableReporting, 0.0, false) {}
};
struct DiagnosticsHkUpdateParams : public ParamsBase {
DiagnosticsHkUpdateParams(sid_t sid, bool enableReporting)
: ParamsBase(sid, enableReporting, 0.0, true) {}
};
} // namespace subdp
class ProvidesDataPoolSubscriptionIF {
public:
virtual ~ProvidesDataPoolSubscriptionIF(){};
virtual ~ProvidesDataPoolSubscriptionIF() = default;
/**
* @brief Subscribe for the generation of periodic packets.
* @brief Subscribe for the generation of periodic packets. Used for regular HK packets
* @details
* This subscription mechanism will generally be used by the data creator
* to generate housekeeping packets which are downlinked directly.
* @return
*/
virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
float collectionInterval, bool isDiagnostics,
object_id_t packetDestination) = 0;
virtual ReturnValue_t subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams params) = 0;
/**
* @brief Subscribe for the generation of periodic packets. Used for diagnostic packets
* @details
* This subscription mechanism will generally be used by the data creator
* to generate housekeeping packets which are downlinked directly.
* @return
*/
virtual ReturnValue_t subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams params) = 0;
[[deprecated(
"Please use the new API which takes all arguments as one wrapper "
"struct")]] virtual ReturnValue_t
subscribeForPeriodicPacket(sid_t sid, bool enableReporting, float collectionInterval,
bool isDiagnostics,
object_id_t packetDestination = objects::NO_OBJECT) {
if (isDiagnostics) {
subdp::DiagnosticsHkPeriodicParams params(sid, enableReporting, collectionInterval);
return subscribeForDiagPeriodicPacket(params);
} else {
subdp::RegularHkPeriodicParams params(sid, enableReporting, collectionInterval);
return subscribeForRegularPeriodicPacket(params);
}
}
/**
* @brief Subscribe for the generation of packets if the dataset
* is marked as changed.
@ -29,9 +95,28 @@ class ProvidesDataPoolSubscriptionIF {
* @param packetDestination
* @return
*/
virtual ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
bool isDiagnostics,
object_id_t packetDestination) = 0;
virtual ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) = 0;
virtual ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) = 0;
// virtual ReturnValue_t
// subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
// return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
// }
[[deprecated(
"Please use the new API which takes all arguments as one wrapper "
"struct")]] virtual ReturnValue_t
subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics,
object_id_t packetDestination = objects::NO_OBJECT) {
if (isDiagnostics) {
subdp::DiagnosticsHkUpdateParams params(sid, reportingEnabled);
return subscribeForDiagUpdatePacket(params);
} else {
subdp::RegularHkUpdateParams params(sid, reportingEnabled);
return subscribeForRegularUpdatePacket(params);
}
}
/**
* @brief Subscribe for a notification message which will be sent
* if a dataset has changed.
@ -46,8 +131,7 @@ class ProvidesDataPoolSubscriptionIF {
* Otherwise, only an notification message is sent.
* @return
*/
virtual ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
object_id_t destinationObject,
virtual ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot) = 0;
/**
@ -64,7 +148,7 @@ class ProvidesDataPoolSubscriptionIF {
* only an notification message is sent.
* @return
*/
virtual ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
virtual ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot) = 0;

4
src/fsfw/health/HealthTable.h
View File

@ -9,8 +9,8 @@
class HealthTable : public HealthTableIF, public SystemObject {
public:
HealthTable(object_id_t objectid);
virtual ~HealthTable();
explicit HealthTable(object_id_t objectid);
~HealthTable() override;
void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);

6
src/fsfw/housekeeping/AcceptsHkPacketsIF.h
View File

@ -1,12 +1,12 @@
#ifndef FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
#define FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
#include "../ipc/MessageQueueMessageIF.h"
#include "fsfw/ipc/MessageQueueMessageIF.h"
class AcceptsHkPacketsIF {
public:
virtual ~AcceptsHkPacketsIF(){};
virtual MessageQueueId_t getHkQueue() const = 0;
virtual ~AcceptsHkPacketsIF() = default;
[[nodiscard]] virtual MessageQueueId_t getHkQueue() const = 0;
};
#endif /* FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_ */

11
src/fsfw/internalerror/InternalErrorReporter.cpp
View File

@ -127,11 +127,12 @@ MessageQueueId_t InternalErrorReporter::getCommandQueue() const {
ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(errorPoolIds::TM_HITS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(errorPoolIds::STORE_HITS, new PoolEntry<uint32_t>());
poolManager.subscribeForPeriodicPacket(internalErrorSid, false, getPeriodicOperationFrequency(),
true);
localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
internalErrorSid, false,
static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
internalErrorDataset.setValidity(true, true);
return HasReturnvaluesIF::RETURN_OK;
}

3
src/fsfw/internalerror/InternalErrorReporter.h
View File

@ -72,6 +72,9 @@ class InternalErrorReporter : public SystemObject,
uint32_t queueHits = 0;
uint32_t tmHits = 0;
uint32_t storeHits = 0;
PoolEntry<uint32_t> tmHitsEntry = PoolEntry<uint32_t>();
PoolEntry<uint32_t> storeHitsEntry = PoolEntry<uint32_t>();
PoolEntry<uint32_t> queueHitsEntry = PoolEntry<uint32_t>();
uint32_t getAndResetQueueHits();
void incrementQueueHits();

2
src/fsfw/internalerror/InternalErrorReporterIF.h
View File

@ -12,7 +12,7 @@
*/
class InternalErrorReporterIF {
public:
virtual ~InternalErrorReporterIF() {}
virtual ~InternalErrorReporterIF() = default;
/**
* @brief Function to be called if a message queue could not be sent.
* @details OSAL Implementations should call this function to indicate that

2
src/fsfw/ipc/MessageQueueBase.cpp
View File

@ -8,7 +8,7 @@ MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t default
}
}
MessageQueueBase::~MessageQueueBase() {}
MessageQueueBase::~MessageQueueBase() = default;
ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId(), false);

36
src/fsfw/ipc/MessageQueueBase.h
View File

@ -7,28 +7,28 @@
class MessageQueueBase : public MessageQueueIF {
public:
MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
virtual ~MessageQueueBase();
~MessageQueueBase() override;
// Default implementations for MessageQueueIF where possible
virtual MessageQueueId_t getLastPartner() const override;
virtual MessageQueueId_t getId() const override;
virtual MqArgs& getMqArgs() override;
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
virtual MessageQueueId_t getDefaultDestination() const override;
virtual bool isDefaultDestinationSet() const override;
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) override;
virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false) override;
[[nodiscard]] MessageQueueId_t getLastPartner() const override;
[[nodiscard]] MessageQueueId_t getId() const override;
MqArgs& getMqArgs() override;
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
[[nodiscard]] MessageQueueId_t getDefaultDestination() const override;
[[nodiscard]] bool isDefaultDestinationSet() const override;
ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) override;
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
ReturnValue_t reply(MessageQueueMessageIF* message) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false) override;
// OSAL specific, forward the abstract function
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override = 0;
ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) override = 0;
protected:
MessageQueueId_t id = MessageQueueIF::NO_QUEUE;

10
src/fsfw/ipc/MessageQueueIF.h
View File

@ -30,7 +30,7 @@ class MessageQueueIF {
//! [EXPORT] : [COMMENT] Returned if the target destination is invalid.
static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4);
virtual ~MessageQueueIF() {}
virtual ~MessageQueueIF() = default;
/**
* @brief This operation sends a message to the last communication partner.
* @details
@ -82,11 +82,11 @@ class MessageQueueIF {
/**
* @brief This method returns the message queue ID of the last communication partner.
*/
virtual MessageQueueId_t getLastPartner() const = 0;
[[nodiscard]] virtual MessageQueueId_t getLastPartner() const = 0;
/**
* @brief This method returns the message queue ID of this class's message queue.
*/
virtual MessageQueueId_t getId() const = 0;
[[nodiscard]] virtual MessageQueueId_t getId() const = 0;
/**
* @brief With the sendMessage call, a queue message is sent to a receiving queue.
@ -159,9 +159,9 @@ class MessageQueueIF {
/**
* @brief This method is a simple getter for the default destination.
*/
virtual MessageQueueId_t getDefaultDestination() const = 0;
[[nodiscard]] virtual MessageQueueId_t getDefaultDestination() const = 0;
virtual bool isDefaultDestinationSet() const = 0;
[[nodiscard]] virtual bool isDefaultDestinationSet() const = 0;
virtual MqArgs& getMqArgs() = 0;
};

36
src/fsfw/ipc/MessageQueueMessage.cpp
View File

@ -10,10 +10,10 @@ MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()
}
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;
: messageSize(MessageQueueMessage::HEADER_SIZE + size) {
if (size <= MessageQueueMessage::MAX_DATA_SIZE) {
std::memcpy(internalBuffer + MessageQueueMessage::HEADER_SIZE, data, size);
this->messageSize = MessageQueueMessage::HEADER_SIZE + size;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MessageQueueMessage: Passed size larger than maximum"
@ -21,21 +21,23 @@ MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
<< std::endl;
#endif
memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
this->messageSize = this->HEADER_SIZE;
this->messageSize = MessageQueueMessage::HEADER_SIZE;
}
}
MessageQueueMessage::~MessageQueueMessage() {}
MessageQueueMessage::~MessageQueueMessage() = default;
const uint8_t* MessageQueueMessage::getBuffer() const { return this->internalBuffer; }
uint8_t* MessageQueueMessage::getBuffer() { return this->internalBuffer; }
const uint8_t* MessageQueueMessage::getData() const {
return this->internalBuffer + this->HEADER_SIZE;
return this->internalBuffer + MessageQueueMessage::HEADER_SIZE;
}
uint8_t* MessageQueueMessage::getData() { return this->internalBuffer + this->HEADER_SIZE; }
uint8_t* MessageQueueMessage::getData() {
return this->internalBuffer + MessageQueueMessage::HEADER_SIZE;
}
MessageQueueId_t MessageQueueMessage::getSender() const {
MessageQueueId_t temp_id;
@ -58,14 +60,22 @@ void MessageQueueMessage::print(bool printWholeMessage) {
}
}
void MessageQueueMessage::clear() { memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE); }
void MessageQueueMessage::clear() {
memset(this->getBuffer(), 0, MessageQueueMessage::MAX_MESSAGE_SIZE);
}
size_t MessageQueueMessage::getMessageSize() const { return this->messageSize; }
void MessageQueueMessage::setMessageSize(size_t messageSize) { this->messageSize = messageSize; }
void MessageQueueMessage::setMessageSize(size_t messageSize_) { this->messageSize = messageSize_; }
size_t MessageQueueMessage::getMinimumMessageSize() const { return this->MIN_MESSAGE_SIZE; }
size_t MessageQueueMessage::getMinimumMessageSize() const {
return MessageQueueMessage::MIN_MESSAGE_SIZE;
}
size_t MessageQueueMessage::getMaximumMessageSize() const { return this->MAX_MESSAGE_SIZE; }
size_t MessageQueueMessage::getMaximumMessageSize() const {
return MessageQueueMessage::MAX_MESSAGE_SIZE;
}
size_t MessageQueueMessage::getMaximumDataSize() const { return this->MAX_DATA_SIZE; }
size_t MessageQueueMessage::getMaximumDataSize() const {
return MessageQueueMessage::MAX_DATA_SIZE;
}

113
src/fsfw/ipc/MessageQueueMessage.h
View File

@ -25,6 +25,30 @@
*/
class MessageQueueMessage : public MessageQueueMessageIF {
public:
/**
* @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;
/**
* @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 constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/**
* @brief Defines the minimum size of a message where only the
* header is included
*/
static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
/**
* @brief The class is initialized empty with this constructor.
* @details
@ -50,59 +74,12 @@ class MessageQueueMessage : public MessageQueueMessageIF {
* @brief As no memory is allocated in this class,
* the destructor is empty.
*/
virtual ~MessageQueueMessage();
~MessageQueueMessage() override;
/**
* @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;
/**
* @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 constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
/**
* @brief Defines the minimum size of a message where only the
* header is included
*/
static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
private:
/**
* @brief This is the internal buffer that contains the
* actual message data.
*/
uint8_t internalBuffer[MAX_MESSAGE_SIZE];
public:
/**
* @brief This method is used to get the complete data of the message.
*/
const uint8_t* getBuffer() const override;
[[nodiscard]] const uint8_t* getBuffer() const override;
/**
* @brief This method is used to get the complete data of the message.
*/
@ -112,7 +89,7 @@ class MessageQueueMessage : public MessageQueueMessageIF {
* @details
* It shall be used by child classes to add data at the right position.
*/
const uint8_t* getData() const override;
[[nodiscard]] const uint8_t* getData() const override;
/**
* @brief This method is used to fetch the data content of the message.
* @details
@ -123,7 +100,7 @@ class MessageQueueMessage : public MessageQueueMessageIF {
* @brief This method is used to extract the sender's message
* queue id information from a received message.
*/
MessageQueueId_t getSender() const override;
[[nodiscard]] MessageQueueId_t getSender() const override;
/**
* @brief With this method, the whole content
* and the message size is set to zero.
@ -138,16 +115,40 @@ class MessageQueueMessage : public MessageQueueMessageIF {
*/
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;
virtual size_t getMaximumDataSize() const override;
[[nodiscard]] size_t getMessageSize() const override;
void setMessageSize(size_t messageSize) override;
[[nodiscard]] size_t getMinimumMessageSize() const override;
[[nodiscard]] size_t getMaximumMessageSize() const override;
[[nodiscard]] size_t getMaximumDataSize() const override;
/**
* @brief This is a debug method that prints the content.
*/
void print(bool printWholeMessage);
/**
* TODO: This really should not be public. If it should be possible to pass size address as a
* pointer, add a getter function returning a const reference to the size
* @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;
private:
/**
* @brief This is the internal buffer that contains the
* actual message data.
*/
uint8_t internalBuffer[MAX_MESSAGE_SIZE] = {};
};
#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

32
src/fsfw/ipc/MessageQueueMessageIF.h
View File

@ -14,7 +14,7 @@ class MessageQueueMessageIF {
*/
static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
virtual ~MessageQueueMessageIF(){};
virtual ~MessageQueueMessageIF() = default;
/**
* @brief With this method, the whole content and the message
@ -29,7 +29,7 @@ class MessageQueueMessageIF {
* @brief Get read-only pointer to the complete data of the message.
* @return
*/
virtual const uint8_t* getBuffer() const = 0;
[[nodiscard]] virtual const uint8_t* getBuffer() const = 0;
/**
* @brief This method is used to get the complete data of the message.
@ -48,14 +48,14 @@ class MessageQueueMessageIF {
* @brief This method is used to extract the sender's message queue id
* information from a received message.
*/
virtual MessageQueueId_t getSender() const = 0;
[[nodiscard]] 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;
[[nodiscard]] virtual const uint8_t* getData() const = 0;
/**
* @brief This method is used to fetch the data content of the message.
* @details
@ -67,12 +67,28 @@ class MessageQueueMessageIF {
* Get constant message size of current message implementation.
* @return
*/
virtual size_t getMessageSize() const = 0;
[[no