diff --git a/parameters/HasParametersIF.h b/parameters/HasParametersIF.h index 71212b576..005403fa5 100644 --- a/parameters/HasParametersIF.h +++ b/parameters/HasParametersIF.h @@ -1,12 +1,27 @@ -#ifndef HASPARAMETERSIF_H_ -#define HASPARAMETERSIF_H_ +#ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_ +#define FSFW_PARAMETERS_HASPARAMETERSIF_H_ -#include "ParameterWrapper.h" +#include "../parameters/ParameterWrapper.h" #include "../returnvalues/HasReturnvaluesIF.h" #include +/** Each parameter is identified with a unique parameter ID */ typedef uint32_t ParameterId_t; +/** + * @brief This interface is used by components which have modifiable + * parameters, e.g. atittude controllers + * @details + * Each parameter has a unique parameter ID. The first byte of the parameter + * ID is the domain ID which can be used to identify unqiue spacecraft domains + * (e.g. control and sensor domain in the AOCS controller). + * + * The second and third byte represent the matrix ID, which can represent + * a 8-bit row and column number and the last byte... + * + * Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number + * of a 8 bit number now? + */ class HasParametersIF { public: static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF; @@ -32,13 +47,11 @@ public: return (domainId << 24) + (parameterId << 8) + index; } - virtual ~HasParametersIF() { - } + virtual ~HasParametersIF() {} /** * Always set parameter before checking newValues! * - * * @param domainId * @param parameterId * @param parameterWrapper @@ -51,4 +64,4 @@ public: const ParameterWrapper *newValues, uint16_t startAtIndex) = 0; }; -#endif /* HASPARAMETERSIF_H_ */ +#endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */ diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp index 8543515fa..659b00def 100644 --- a/parameters/ParameterHelper.cpp +++ b/parameters/ParameterHelper.cpp @@ -1,11 +1,9 @@ -#include "../objectmanager/ObjectManagerIF.h" #include "ParameterHelper.h" #include "ParameterMessage.h" +#include "../objectmanager/ObjectManagerIF.h" ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) : - owner(owner), storage(NULL) { - -} + owner(owner) {} ParameterHelper::~ParameterHelper() { } @@ -28,7 +26,6 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) { } break; case ParameterMessage::CMD_PARAMETER_LOAD: { - uint8_t domain = HasParametersIF::getDomain( ParameterMessage::getParameterId(message)); uint16_t parameterId = HasParametersIF::getMatrixId( @@ -36,12 +33,14 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) { uint8_t index = HasParametersIF::getIndex( ParameterMessage::getParameterId(message)); - const uint8_t *storedStream; - size_t storedStreamSize; + const uint8_t *storedStream = nullptr; + size_t storedStreamSize = 0; result = storage->getData( ParameterMessage::getStoreId(message), &storedStream, &storedStreamSize); if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "ParameterHelper::handleParameterMessage: Getting" + " store data failed for load command." << std::endl; break; } @@ -125,7 +124,8 @@ ReturnValue_t ParameterHelper::initialize() { } } -void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand) { +void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason, + Command_t initialCommand) { CommandMessage reply; reply.setReplyRejected(reason, initialCommand); MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId); diff --git a/parameters/ParameterHelper.h b/parameters/ParameterHelper.h index d887bf1d1..595b4bc50 100644 --- a/parameters/ParameterHelper.h +++ b/parameters/ParameterHelper.h @@ -1,9 +1,16 @@ -#ifndef PARAMETERHELPER_H_ -#define PARAMETERHELPER_H_ +#ifndef FSFW_PARAMETERS_PARAMETERHELPER_H_ +#define FSFW_PARAMETERS_PARAMETERHELPER_H_ #include "ParameterMessage.h" #include "ReceivesParameterMessagesIF.h" +#include "../ipc/MessageQueueIF.h" +/** + * @brief Helper class to handle parameter messages. + * @details + * This class simplfies handling of parameter messages, which are sent + * to a class which implements ReceivesParameterMessagesIF. + */ class ParameterHelper { public: ParameterHelper(ReceivesParameterMessagesIF *owner); @@ -15,13 +22,15 @@ public: private: ReceivesParameterMessagesIF *owner; - MessageQueueId_t ownerQueueId; + MessageQueueId_t ownerQueueId = MessageQueueIF::NO_QUEUE; - StorageManagerIF *storage; + StorageManagerIF *storage = nullptr; - ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, const ParameterWrapper *description); + ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, + const ParameterWrapper *description); - void rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand); + void rejectCommand(MessageQueueId_t to, ReturnValue_t reason, + Command_t initialCommand); }; -#endif /* PARAMETERHELPER_H_ */ +#endif /* FSFW_PARAMETERS_PARAMETERHELPER_H_ */ diff --git a/parameters/ParameterMessage.cpp b/parameters/ParameterMessage.cpp index 7e0ed1140..e9f3191fc 100644 --- a/parameters/ParameterMessage.cpp +++ b/parameters/ParameterMessage.cpp @@ -1,4 +1,4 @@ -#include "ParameterMessage.h" +#include "../parameters/ParameterMessage.h" #include "../objectmanager/ObjectManagerIF.h" ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) { diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h index f59af5136..31d7fe0bc 100644 --- a/parameters/ParameterMessage.h +++ b/parameters/ParameterMessage.h @@ -1,8 +1,8 @@ -#ifndef PARAMETERMESSAGE_H_ -#define PARAMETERMESSAGE_H_ +#ifndef FSFW_PARAMETERS_PARAMETERMESSAGE_H_ +#define FSFW_PARAMETERS_PARAMETERMESSAGE_H_ -#include "../ipc/CommandMessage.h" #include "HasParametersIF.h" +#include "../ipc/CommandMessage.h" #include "../storagemanager/StorageManagerIF.h" class ParameterMessage { @@ -26,4 +26,4 @@ public: }; -#endif /* PARAMETERMESSAGE_H_ */ +#endif /* FSFW_PARAMETERS_PARAMETERMESSAGE_H_ */ diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp index 56f564267..d020da331 100644 --- a/parameters/ParameterWrapper.cpp +++ b/parameters/ParameterWrapper.cpp @@ -1,20 +1,19 @@ #include "ParameterWrapper.h" ParameterWrapper::ParameterWrapper() : - pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data( - NULL), readonlyData(NULL) { + pointsToStream(false), type(Type::UNKNOWN_TYPE) { } ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data) : - pointsToStream(false), type(type), rows(rows), columns(columns), data( - data), readonlyData(data) { + pointsToStream(false), type(type), rows(rows), columns(columns), + data(data), readonlyData(data) { } ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns, const void *data) : - pointsToStream(false), type(type), rows(rows), columns(columns), data( - NULL), readonlyData(data) { + pointsToStream(false), type(type), rows(rows), columns(columns), + data(nullptr), readonlyData(data) { } ParameterWrapper::~ParameterWrapper() { @@ -141,6 +140,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow, } + ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer, size_t *size, Endianness streamEndianness) { return deSerialize(buffer, size, streamEndianness, 0); @@ -184,16 +184,16 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize, return SerializeIF::STREAM_TOO_SHORT; } - data = NULL; + data = nullptr; readonlyData = stream; pointsToStream = true; stream += dataSize; - if (remainingStream != NULL) { + if (remainingStream != nullptr) { *remainingStream = stream; } streamSize -= dataSize; - if (remainingSize != NULL) { + if (remainingSize != nullptr) { *remainingSize = streamSize; } @@ -265,15 +265,14 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from, result = UNKNOW_DATATYPE; break; } - } else { + } + else { //need a type to do arithmetic - uint8_t *toDataWithType = (uint8_t*) data; + uint8_t* typedData = static_cast(data); for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) { - memcpy( - toDataWithType - + (((startingRow + fromRow) * columns) - + startingColumn) * typeSize, - from->readonlyData, typeSize * from->columns); + uint8_t offset = (((startingRow + fromRow) * columns) + startingColumn) * typeSize; + std::memcpy(typedData + offset, from->readonlyData, + typeSize * from->columns); } } diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h index b18fe2b92..f07205d4b 100644 --- a/parameters/ParameterWrapper.h +++ b/parameters/ParameterWrapper.h @@ -1,12 +1,16 @@ -#ifndef PARAMETERWRAPPER_H_ -#define PARAMETERWRAPPER_H_ +#ifndef FSFW_PARAMETERS_PARAMETERWRAPPER_H_ +#define FSFW_PARAMETERS_PARAMETERWRAPPER_H_ #include "../returnvalues/HasReturnvaluesIF.h" #include "../serialize/SerializeAdapter.h" #include "../serialize/SerializeIF.h" -#include #include "../globalfunctions/Type.h" +#include +/** + * @brief + * @details + */ class ParameterWrapper: public SerializeIF { friend class DataPoolParameterWrapper; public: @@ -36,32 +40,21 @@ public: virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, Endianness streamEndianness, uint16_t startWritingAtIndex = 0); + /** + * Get a specific parameter value by supplying the row and the column. + * @tparam T Type of target data + * @param value [out] Pointer to storage location + * @param row + * @param column + * @return + * -@c RETURN_OK if element was retrieved successfully + * -@c NOT_SET data has not been set yet + * -@c DATATYPE_MISSMATCH Invalid supplied type + * -@c OUT_OF_BOUNDS Invalid row and/or column. + */ template - ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const { - if (readonlyData == NULL){ - return NOT_SET; - } - - if (PodTypeConversion::type != type) { - return DATATYPE_MISSMATCH; - } - - if ((row >= rows) || (column >= columns)) { - return OUT_OF_BOUNDS; - } - - if (pointsToStream) { - const uint8_t *streamWithtype = (const uint8_t *) readonlyData; - streamWithtype += (row * columns + column) * type.getSize(); - int32_t size = type.getSize(); - return SerializeAdapter::deSerialize(value, &streamWithtype, - &size, true); - } else { - const T *dataWithType = (const T *) readonlyData; - *value = dataWithType[row * columns + column]; - return HasReturnvaluesIF::RETURN_OK; - } - } + ReturnValue_t getElement(T *value, uint8_t row = 0, + uint8_t column = 0) const; template void set(T *data, uint8_t rows, uint8_t columns) { @@ -111,21 +104,22 @@ public: void setMatrix(const T& member) { this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0])); } + ReturnValue_t set(const uint8_t *stream, size_t streamSize, - const uint8_t **remainingStream = NULL, size_t *remainingSize = - NULL); + const uint8_t **remainingStream = nullptr, + size_t *remainingSize = nullptr); ReturnValue_t copyFrom(const ParameterWrapper *from, uint16_t startWritingAtIndex); private: - bool pointsToStream; + bool pointsToStream = false; Type type; - uint8_t rows; - uint8_t columns; - void *data; - const void *readonlyData; + uint8_t rows = 0; + uint8_t columns = 0; + void *data = nullptr; + const void *readonlyData = nullptr; template ReturnValue_t serializeData(uint8_t** buffer, size_t* size, @@ -136,4 +130,33 @@ private: const void *from, uint8_t fromRows, uint8_t fromColumns); }; -#endif /* PARAMETERWRAPPER_H_ */ +template +inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row, + uint8_t column) const { + if (readonlyData == nullptr){ + return NOT_SET; + } + + if (PodTypeConversion::type != type) { + return DATATYPE_MISSMATCH; + } + + if ((row >= rows) or (column >= columns)) { + return OUT_OF_BOUNDS; + } + + if (pointsToStream) { + const uint8_t *streamWithType = static_cast(readonlyData); + streamWithType += (row * columns + column) * type.getSize(); + int32_t size = type.getSize(); + return SerializeAdapter::deSerialize(value, &streamWithType, + &size, true); + } + else { + const T *dataWithType = static_cast(readonlyData); + *value = dataWithType[row * columns + column]; + return HasReturnvaluesIF::RETURN_OK; + } +} + +#endif /* FSFW_PARAMETERS_PARAMETERWRAPPER_H_ */ diff --git a/parameters/ReceivesParameterMessagesIF.h b/parameters/ReceivesParameterMessagesIF.h index 1fcbd4b39..e8c7fa692 100644 --- a/parameters/ReceivesParameterMessagesIF.h +++ b/parameters/ReceivesParameterMessagesIF.h @@ -1,5 +1,5 @@ -#ifndef RECEIVESPARAMETERMESSAGESIF_H_ -#define RECEIVESPARAMETERMESSAGESIF_H_ +#ifndef FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_ +#define FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_ #include "HasParametersIF.h" @@ -16,4 +16,4 @@ public: }; -#endif /* RECEIVESPARAMETERMESSAGESIF_H_ */ +#endif /* FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_ */