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Merge pull request 'Local Data Pool Init' (#280) from KSat/fsfw:mueller/newLocalDataPools into development 

Reviewed-on: #280
This commit is contained in:
Steffen Gaisser 2020-12-08 15:34:30 +01:00
parent 5e132de712 bd1137d089
commit 7ff772d9d6
80 changed files with 5914 additions and 1797 deletions
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15
datapool/ControllerSet.h
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@ -1,15 +0,0 @@
#ifndef CONTROLLERSET_H_
#define CONTROLLERSET_H_
#include "DataSet.h"
class ControllerSet :public DataSet {
public:
ControllerSet();
virtual ~ControllerSet();
virtual void setToDefault() = 0;
void setInvalid();
};
#endif /* CONTROLLERSET_H_ */

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

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

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

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datapool/DataSet.h
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@ -1,159 +0,0 @@
/*
* \file DataSet.h
*
* \brief This file contains the DataSet class and a small structure called DataSetContent.
*
* \date 10/17/2012
*
* \author Bastian Baetz
*
*/
#ifndef DATASET_H_
#define DATASET_H_
#include "DataPool.h"
#include "DataSetIF.h"
#include "PoolRawAccess.h"
#include "PoolVariable.h"
#include "PoolVarList.h"
#include "PoolVector.h"
#include "../serialize/SerializeAdapter.h"
/**
* \brief The DataSet class manages a set of locally checked out variables.
*
* \details This class manages a list, where a set of local variables (or pool variables) are
* registered. They are checked-out (i.e. their values are looked up and copied)
* with the read call. After the user finishes working with the pool variables,
* he can write back all variable values to the pool with the commit call.
* The data set manages locking and freeing the data pool, to ensure that all values
* are read and written back at once.
* An internal state manages usage of this class. Variables may only be registered before
* the read call is made, and the commit call only after the read call.
* If pool variables are writable and not committed until destruction of the set, the
* DataSet class automatically sets the valid flag in the data pool to invalid (without)
* changing the variable's value.
*
* \ingroup data_pool
*/
class DataSet: public DataSetIF, public HasReturnvaluesIF, public SerializeIF {
private:
//SHOULDDO we could use a linked list of datapool variables
static const uint8_t DATA_SET_MAX_SIZE = 63; //!< This definition sets the maximum number of variables to register in one DataSet.
/**
* \brief This array represents all pool variables registered in this set.
* \details It has a maximum size of DATA_SET_MAX_SIZE.
*/
PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
/**
* \brief The fill_count attribute ensures that the variables register in the correct array
* position and that the maximum number of variables is not exceeded.
*/
uint16_t fill_count;
/**
* States of the seet.
*/
enum States {
DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
DATA_SET_WAS_READ //!< DATA_SET_WAS_READ
};
/**
* \brief state manages the internal state of the data set, which is important e.g. for the
* behavior on destruction.
*/
States state;
/**
* \brief This is a small helper function to facilitate locking the global data pool.
* \details It makes use of the lockDataPool method offered by the DataPool class.
*/
uint8_t lockDataPool();
/**
* \brief This is a small helper function to facilitate unlocking the global data pool.
* \details It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
uint8_t freeDataPoolLock();
public:
static const uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
static const ReturnValue_t INVALID_PARAMETER_DEFINITION =
MAKE_RETURN_CODE( 0x01 );
static const ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
static const ReturnValue_t COMMITING_WITHOUT_READING =
MAKE_RETURN_CODE(0x03);
/**
* \brief The constructor simply sets the fill_count to zero and sets the state to "uninitialized".
*/
DataSet();
/**
* \brief The destructor automatically manages writing the valid information of variables.
* \details In case the data set was read out, but not committed (indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~DataSet();
/**
* \brief The read call initializes reading out all registered variables.
* \details It iterates through the list of registered variables and calls all read()
* functions of the registered pool variables (which read out their values from the
* data pool) which are not write-only. In case of an error (e.g. a wrong data type,
* or an invalid data pool id), the operation is aborted and
* \c INVALID_PARAMETER_DEFINITION returned.
* The data pool is locked during the whole read operation and freed afterwards.
* The state changes to "was written" after this operation.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c INVALID_PARAMETER_DEFINITION if PID, size or type of the
* requested variable is invalid.
* - \c SET_WAS_ALREADY_READ if read() is called twice without calling
* commit() in between
*/
ReturnValue_t read();
/**
* \brief The commit call initializes writing back the registered variables.
* \details It iterates through the list of registered variables and calls
* the commit() method of the remaining registered variables (which write back
* their values to the pool).
* The data pool is locked during the whole commit operation and freed afterwards.
* The state changes to "was committed" after this operation.
* If the set does contain at least one variable which is not write-only commit()
* can only be called after read(). If the set only contains variables which are
* write only, commit() can be called without a preceding read() call.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
* variables
*/
ReturnValue_t commit(void);
/**
* Variant of method above which sets validity of all elements of the set.
* @param valid Validity information from PoolVariableIF.
* \return - \c RETURN_OK if all variables were read successfully.
* - \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
* variables
*/
ReturnValue_t commit(uint8_t valid);
/**
* \brief This operation is used to register the local variables in the set.
* \details It copies all required information to the currently
* free space in the registeredVariables list.
*/
void registerVariable(PoolVariableIF* variable);
/**
* Set the valid information of all variables contained in the set which are not readonly
*
* @param valid Validity information from PoolVariableIF.
*/
void setValid(uint8_t valid);
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
};
#endif /* DATASET_H_ */

56
datapool/DataSetIF.h
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@ -1,39 +1,47 @@
/**
* \file DataSetIF.h
*
* \brief This file contains the small interface to access the DataSet class.
*
* \date 10/23/2012
*
* \author Bastian Baetz
*
*/
#ifndef DATASETIF_H_
#define DATASETIF_H_
#ifndef FSFW_DATAPOOL_DATASETIF_H_
#define FSFW_DATAPOOL_DATASETIF_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../timemanager/Clock.h"
class PoolVariableIF;
/**
* \brief This class defines a small interface to register on a DataSet.
* @brief This class defines a small interface to register on a DataSet.
*
* \details Currently, the only purpose of this interface is to provide a method for locally
* checked-out variables to register on a data set. Still, it may become useful for
* other purposes as well.
*
* \ingroup data_pool
* @details
* Currently, the only purpose of this interface is to provide a
* method for locally checked-out variables to register on a data set.
* Still, it may become useful for other purposes as well.
* @author Bastian Baetz
* @ingroup data_pool
*/
class DataSetIF {
public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
MAKE_RETURN_CODE( 0x01 );
static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
MAKE_RETURN_CODE(0x03);
static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE( 0x04 );
static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
/**
* \brief This is an empty virtual destructor, as it is proposed for C++ interfaces.
* @brief This is an empty virtual destructor,
* as it is proposed for C++ interfaces.
*/
virtual ~DataSetIF() {}
/**
* \brief This operation provides a method to register local data pool variables
* to register in a data set by passing itself to this DataSet operation.
* @brief This operation provides a method to register local data pool
* variables to register in a data set by passing itself
* to this DataSet operation.
*/
virtual void registerVariable( PoolVariableIF* variable ) = 0;
virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
virtual uint16_t getFillCount() const = 0;
};
#endif /* DATASETIF_H_ */
#endif /* FSFW_DATAPOOL_DATASETIF_H_ */

13
datapool/HkSwitchHelper.cpp
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@ -1,5 +1,4 @@
#include "HkSwitchHelper.h"
//#include <mission/tmtcservices/HKService_03.h>
#include "../datapool/HkSwitchHelper.h"
#include "../ipc/QueueFactory.h"
HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
@ -22,14 +21,14 @@ ReturnValue_t HkSwitchHelper::initialize() {
}
ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
CommandMessage message;
while (actionQueue->receiveMessage(&message) == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = commandActionHelper.handleReply(&message);
CommandMessage command;
while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result = commandActionHelper.handleReply(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
message.setToUnknownCommand();
actionQueue->reply(&message);
command.setToUnknownCommand();
actionQueue->reply(&command);
}
return HasReturnvaluesIF::RETURN_OK;

169
datapool/PoolDataSetBase.cpp Normal file
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@ -0,0 +1,169 @@
#include "PoolDataSetBase.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxFillCount):
registeredVariables(registeredVariablesArray),
maxFillCount(maxFillCount) {
}
PoolDataSetBase::~PoolDataSetBase() {}
ReturnValue_t PoolDataSetBase::registerVariable(
PoolVariableIF *variable) {
if (state != States::DATA_SET_UNINITIALISED) {
sif::error << "DataSet::registerVariable: "
"Call made in wrong position." << std::endl;
return DataSetIF::DATA_SET_UNINITIALISED;
}
if (variable == nullptr) {
sif::error << "DataSet::registerVariable: "
"Pool variable is nullptr." << std::endl;
return DataSetIF::POOL_VAR_NULL;
}
if (fillCount >= maxFillCount) {
sif::error << "DataSet::registerVariable: "
"DataSet is full." << std::endl;
return DataSetIF::DATA_SET_FULL;
}
registeredVariables[fillCount] = variable;
fillCount++;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (state == States::DATA_SET_UNINITIALISED) {
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
result = readVariable(count);
if(result != RETURN_OK) {
break;
}
}
state = States::DATA_SET_WAS_READ;
unlockDataPool();
}
else {
sif::error << "DataSet::read(): "
"Call made in wrong position. Don't forget to commit"
" member datasets!" << std::endl;
result = SET_WAS_ALREADY_READ;
}
return result;
}
uint16_t PoolDataSetBase::getFillCount() const {
return fillCount;
}
ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// These checks are often performed by the respective
// variable implementation too, but I guess a double check does not hurt.
if (registeredVariables[count]->getReadWriteMode() !=
PoolVariableIF::VAR_WRITE and
registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER)
{
result = registeredVariables[count]->readWithoutLock();
if(result != HasReturnvaluesIF::RETURN_OK) {
result = INVALID_PARAMETER_DEFINITION;
}
}
return result;
}
ReturnValue_t PoolDataSetBase::commit(uint32_t lockTimeout) {
if (state == States::DATA_SET_WAS_READ) {
handleAlreadyReadDatasetCommit(lockTimeout);
return HasReturnvaluesIF::RETURN_OK;
}
else {
return handleUnreadDatasetCommit(lockTimeout);
}
}
void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commitWithoutLock();
}
}
state = States::DATA_SET_UNINITIALISED;
unlockDataPool();
}
ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
lockDataPool(lockTimeout);
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
== PoolVariableIF::VAR_WRITE
&& registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
registeredVariables[count]->commitWithoutLock();
} else if (registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) {
if (result != COMMITING_WITHOUT_READING) {
sif::error << "DataSet::commit(): commit-without-read call made "
"with non write-only variable." << std::endl;
result = COMMITING_WITHOUT_READING;
}
}
}
state = States::DATA_SET_UNINITIALISED;
unlockDataPool();
return result;
}
ReturnValue_t PoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::unlockDataPool() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size,
const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t count = 0; count < fillCount; count++) {
result = registeredVariables[count]->serialize(buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
ReturnValue_t PoolDataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t count = 0; count < fillCount; count++) {
result = registeredVariables[count]->deSerialize(buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
size_t PoolDataSetBase::getSerializedSize() const {
uint32_t size = 0;
for (uint16_t count = 0; count < fillCount; count++) {
size += registeredVariables[count]->getSerializedSize();
}
return size;
}
void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
this->registeredVariables = variablesContainer;
}

152
datapool/PoolDataSetBase.h Normal file
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@ -0,0 +1,152 @@
#ifndef FSFW_DATAPOOL_POOLDATASETBASE_H_
#define FSFW_DATAPOOL_POOLDATASETBASE_H_
#include "PoolDataSetIF.h"
#include "PoolVariableIF.h"
#include "../ipc/MutexIF.h"
/**
* @brief The DataSetBase class manages a set of locally checked out variables.
* @details
* This class manages a list, where a set of local variables (or pool variables)
* are registered. They are checked-out (i.e. their values are looked
* up and copied) with the read call. After the user finishes working with the
* pool variables, he can write back all variable values to the pool with
* the commit call. The data set manages locking and freeing the data pool,
* to ensure that all values are read and written back at once.
*
* An internal state manages usage of this class. Variables may only be
* registered before the read call is made, and the commit call only
* after the read call.
*
* If pool variables are writable and not committed until destruction
* of the set, the DataSet class automatically sets the valid flag in the
* data pool to invalid (without) changing the variable's value.
*
* The base class lockDataPool und unlockDataPool implementation are empty
* and should be implemented to protect the underlying pool type.
* @author Bastian Baetz
* @ingroup data_pool
*/
class PoolDataSetBase: public PoolDataSetIF,
public SerializeIF,
public HasReturnvaluesIF {
public:
/**
* @brief Creates an empty dataset. Use registerVariable or
* supply a pointer to this dataset to PoolVariable
* initializations to register pool variables.
*/
PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxFillCount);
virtual~ PoolDataSetBase();
/**
* @brief The read call initializes reading out all registered variables.
* @details
* It iterates through the list of registered variables and calls all read()
* functions of the registered pool variables (which read out their values
* from the data pool) which are not write-only.
* In case of an error (e.g. a wrong data type, or an invalid data pool id),
* the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
*
* The data pool is locked during the whole read operation and
* freed afterwards.The state changes to "was written" after this operation.
* @return
* - @c RETURN_OK if all variables were read successfully.
* - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the
* requested variable is invalid.
* - @c SET_WAS_ALREADY_READ if read() is called twice without calling
* commit() in between
*/
virtual ReturnValue_t read(uint32_t lockTimeout =
MutexIF::BLOCKING) override;
/**
* @brief The commit call initializes writing back the registered variables.
* @details
* It iterates through the list of registered variables and calls the
* commit() method of the remaining registered variables (which write back
* their values to the pool).
*
* The data pool is locked during the whole commit operation and
* freed afterwards. The state changes to "was committed" after this operation.
*
* If the set does contain at least one variable which is not write-only
* commit() can only be called after read(). If the set only contains
* variables which are write only, commit() can be called without a
* preceding read() call.
* @return - @c RETURN_OK if all variables were read successfully.
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
virtual ReturnValue_t commit(uint32_t lockTimeout =
MutexIF::BLOCKING) override;
/**
* Register the passed pool variable instance into the data set.
* @param variable
* @return
*/
virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
/**
* Provides the means to lock the underlying data structure to ensure
* thread-safety. Default implementation is empty
* @return Always returns -@c RETURN_OK
*/
virtual ReturnValue_t lockDataPool(uint32_t timeoutMs =
MutexIF::BLOCKING) override;
/**
* Provides the means to unlock the underlying data structure to ensure
* thread-safety. Default implementation is empty
* @return Always returns -@c RETURN_OK
*/
virtual ReturnValue_t unlockDataPool() override;
virtual uint16_t getFillCount() const;
/* SerializeIF implementations */
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override;
protected:
/**
* @brief The fill_count attribute ensures that the variables
* register in the correct array position and that the maximum
* number of variables is not exceeded.
*/
uint16_t fillCount = 0;
/**
* States of the seet.
*/
enum class States {
DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
DATA_SET_WAS_READ //!< DATA_SET_WAS_READ
};
/**
* @brief state manages the internal state of the data set,
* which is important e.g. for the behavior on destruction.
*/
States state = States::DATA_SET_UNINITIALISED;
/**
* @brief This array represents all pool variables registered in this set.
* Child classes can use a static or dynamic container to create
* an array of registered variables and assign the first entry here.
*/
PoolVariableIF** registeredVariables = nullptr;
const size_t maxFillCount = 0;
void setContainer(PoolVariableIF** variablesContainer);
private:
ReturnValue_t readVariable(uint16_t count);
void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
};
#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */

33
datapool/PoolDataSetIF.h Normal file
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@ -0,0 +1,33 @@
#ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
#define FSFW_DATAPOOL_POOLDATASETIF_H_
#include "DataSetIF.h"
/**
* @brief Extendes the DataSetIF by adding abstract functions to lock
* and unlock a data pool and read/commit semantics.
*/
class PoolDataSetIF: public DataSetIF {
public:
virtual~ PoolDataSetIF() {};
virtual ReturnValue_t read(dur_millis_t lockTimeout) = 0;
virtual ReturnValue_t commit(dur_millis_t lockTimeout) = 0;
/**
* @brief Most underlying data structures will have a pool like structure
* and will require a lock and unlock mechanism to ensure
* thread-safety
* @return Lock operation result
*/
virtual ReturnValue_t lockDataPool(dur_millis_t timeoutMs) = 0;
/**
* @brief Unlock call corresponding to the lock call.
* @return Unlock operation result
*/
virtual ReturnValue_t unlockDataPool() = 0;
virtual bool isValid() const = 0;
};
#endif /* FSFW_DATAPOOL_POOLDATASETIF_H_ */

1
datapool/PoolEntry.cpp
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@ -1,4 +1,5 @@
#include "PoolEntry.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../globalfunctions/arrayprinter.h"
#include <cstring>

6
datapool/PoolEntry.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
#ifndef FSFW_DATAPOOL_POOLENTRY_H_
#define FSFW_DATAPOOL_POOLENTRY_H_
#include "PoolEntryIF.h"
@ -127,4 +127,4 @@ public:
Type getType();
};
#endif /* POOLENTRY_H_ */
#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */

6
datapool/PoolEntryIF.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
#define FSFW_DATAPOOL_POOLENTRYIF_H_
#include "../globalfunctions/Type.h"
#include <cstdint>
@ -60,4 +60,4 @@ public:
virtual Type getType() = 0;
};
#endif /* POOLENTRYIF_H_ */
#endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */

187
datapool/PoolRawAccess.cpp
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@ -1,187 +0,0 @@
#include "DataPool.h"
#include "PoolEntryIF.h"
#include "PoolRawAccess.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serialize/EndianConverter.h"
#include <cstring>
PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
DataSetIF *data_set, ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(
Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), readWriteMode(
setReadWriteMode) {
memset(value, 0, sizeof(value));
if (data_set != NULL) {
data_set->registerVariable(this);
}
}
PoolRawAccess::~PoolRawAccess() {
}
ReturnValue_t PoolRawAccess::read() {
PoolEntryIF *read_out = ::dataPool.getRawData(dataPoolId);
if (read_out != NULL) {
valid = read_out->getValid();
if (read_out->getSize() > arrayEntry) {
arraySize = read_out->getSize();
typeSize = read_out->getByteSize() / read_out->getSize();
type = read_out->getType();
if (typeSize <= sizeof(value)) {
uint16_t arrayPosition = arrayEntry * typeSize;
sizeTillEnd = read_out->getByteSize() - arrayPosition;
uint8_t *ptr =
&((uint8_t*) read_out->getRawData())[arrayPosition];
memcpy(value, ptr, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
//Error value type too large.
}
} else {
//Error index requested too large
}
} else {
//Error entry does not exist.
}
sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
valid = INVALID;
typeSize = 0;
sizeTillEnd = 0;
memset(value, 0, sizeof(value));
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t PoolRawAccess::commit() {
PoolEntryIF *write_back = ::dataPool.getRawData(dataPoolId);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->setValid(valid);
uint8_t array_position = arrayEntry * typeSize;
uint8_t *ptr = &((uint8_t*) write_back->getRawData())[array_position];
memcpy(ptr, value, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t* PoolRawAccess::getEntry() {
return value;
}
ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t *buffer,
size_t *writtenBytes, size_t maxSize) {
uint8_t *data_ptr = getEntry();
// debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
if (typeSize == 0) {
return DATA_POOL_ACCESS_FAILED;
}
if (typeSize > maxSize) {
return INCORRECT_SIZE;
}
EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
*writtenBytes = typeSize;
return HasReturnvaluesIF::RETURN_OK;
}
Type PoolRawAccess::getType() {
return type;
}
size_t PoolRawAccess::getSizeOfType() {
return typeSize;
}
size_t PoolRawAccess::getArraySize() {
return arraySize;
}
uint32_t PoolRawAccess::getDataPoolId() const {
return dataPoolId;
}
PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
return readWriteMode;
}
ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
size_t setSize) {
if (typeSize == setSize) {
EndianConverter::convertBigEndian(value, buffer, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
sif::error
<< "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
<< (uint32_t) typeSize << ", Requested: " << setSize
<< std::endl;
return INCORRECT_SIZE;
}
}
bool PoolRawAccess::isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void PoolRawAccess::setValid(uint8_t valid) {
this->valid = valid;
}
size_t PoolRawAccess::getSizeTillEnd() const {
return sizeTillEnd;
}
ReturnValue_t PoolRawAccess::serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const {
if (typeSize + *size <= maxSize) {
switch (streamEndianness) {
case (Endianness::BIG):
EndianConverter::convertBigEndian(*buffer, value, typeSize);
break;
case (Endianness::LITTLE):
EndianConverter::convertLittleEndian(*buffer, value, typeSize);
break;
default:
case (Endianness::MACHINE):
memcpy(*buffer, value, typeSize);
break;
}
*size += typeSize;
(*buffer) += typeSize;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SerializeIF::BUFFER_TOO_SHORT;
}
}
size_t PoolRawAccess::getSerializedSize() const {
return typeSize;
}
ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) {
if (*size >= typeSize) {
switch (streamEndianness) {
case (Endianness::BIG):
EndianConverter::convertBigEndian(value, *buffer, typeSize);
break;
case (Endianness::LITTLE):
EndianConverter::convertLittleEndian(value, *buffer, typeSize);
break;
default:
case (Endianness::MACHINE):
memcpy(value, *buffer, typeSize);
break;
}
*size -= typeSize;
*buffer += typeSize;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SerializeIF::STREAM_TOO_SHORT;
}
}

152
datapool/PoolRawAccess.h
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@ -1,152 +0,0 @@
#ifndef POOLRAWACCESS_H_
#define POOLRAWACCESS_H_
#include "DataSetIF.h"
#include "PoolVariableIF.h"
/**
* This class allows accessing Data Pool variables as raw bytes.
* This is necessary to have an access method for HK data, as the PID's alone do not
* provide a type information.
* \ingroup data_pool
*/
class PoolRawAccess: public PoolVariableIF {
private:
/**
* \brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* \brief The array entry that is fetched from the data pool.
*/
uint8_t arrayEntry;
/**
* \brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* \brief This value contains the type of the data pool entry.
*/
Type type;
/**
* \brief This value contains the size of the data pool entry in bytes.
*/
size_t typeSize;
/**
* The size of the DP array (single values return 1)
*/
size_t arraySize;
/**
* The size (in bytes) from the selected entry till the end of this DataPool variable.
*/
size_t sizeTillEnd;
/**
* \brief The information whether the class is read-write or read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
static const uint8_t RAW_MAX_SIZE = sizeof(double);
protected:
/**
* \brief This is a call to read the value from the global data pool.
* \details When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies the value and the valid
* information to its local attributes. In case of a failure (wrong type or
* pool id not found), the variable is set to zero and invalid.
* The operation does NOT provide any mutual exclusive protection by itself.
*/
ReturnValue_t read();
/**
* \brief The commit call writes back the variable's value to the data pool.
* \details It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The operation does NOT provide any mutual exclusive protection by itself.
*
*/
ReturnValue_t commit();
public:
static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
uint8_t value[RAW_MAX_SIZE];
PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
DataSetIF *data_set, ReadWriteMode_t setReadWriteMode =
PoolVariableIF::VAR_READ);
/**
* \brief The classes destructor is empty. If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~PoolRawAccess();
/**
* \brief This operation returns a pointer to the entry fetched.
* \details This means, it does not return a pointer to byte "index", but to the start byte of
* array entry "index". Example: If the original data pool array consists of an double
* array of size four, getEntry(1) returns &(this->value[8]).
*/
uint8_t* getEntry();
/**
* \brief This operation returns the fetched entry from the data pool and
* flips the bytes, if necessary.
* \details It makes use of the getEntry call of this function, but additionally flips the
* bytes to big endian, which is the default for external communication (as House-
* keeping telemetry). To achieve this, the data is copied directly to the passed
* buffer, if it fits in the given maxSize.
* \param buffer A pointer to a buffer to write to
* \param writtenBytes The number of bytes written is returned with this value.
* \param maxSize The maximum size that the function may write to buffer.
* \return - \c RETURN_OK if entry could be acquired
* - \c RETURN_FAILED else.
*/
ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
size_t maxSize);
/**
* With this method, the content can be set from a big endian buffer safely.
* @param buffer Pointer to the data to set
* @param size Size of the data to write. Must fit this->size.
* @return - \c RETURN_OK on success
* - \c RETURN_FAILED on failure
*/
ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
size_t setSize);
/**
* \brief This operation returns the type of the entry currently stored.
*/
Type getType();
/**
* \brief This operation returns the size of the entry currently stored.
*/
size_t getSizeOfType();
/**
*
* @return the size of the datapool array
*/
size_t getArraySize();
/**
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const;
/**
* This method returns if the variable is read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const;
/**
* \brief With this call, the valid information of the variable is returned.
*/
bool isValid() const;
void setValid(uint8_t valid);
/**
* Getter for the remaining size.
*/
size_t getSizeTillEnd() const;
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override;
};
#endif /* POOLRAWACCESS_H_ */

17
datapool/PoolVarList.h
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@ -1,14 +1,15 @@
#ifndef POOLVARLIST_H_
#define POOLVARLIST_H_
#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
#define FSFW_DATAPOOL_POOLVARLIST_H_
#include "PoolVariable.h"
#include "PoolVariableIF.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapoolglob/GlobalPoolVariable.h"
template <class T, uint8_t n_var>
class PoolVarList {
private:
PoolVariable<T> variables[n_var];
GlobPoolVar<T> variables[n_var];
public:
PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet, PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet,
PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
//I really should have a look at the new init list c++ syntax.
if (dataSet == NULL) {
return;
@ -20,9 +21,9 @@ public:
}
}
PoolVariable<T> &operator [](int i) { return variables[i]; }
GlobPoolVar<T> &operator [](int i) { return variables[i]; }
};
#endif /* POOLVARLIST_H_ */
#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */

295
datapool/PoolVariable.h
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@ -1,295 +0,0 @@
/*
* \file PoolVariable.h
*
* \brief This file contains the PoolVariable class, which locally represents a non-array data pool variable.
*
* \date 10/17/2012
*
* \author Bastian Baetz
*/
#ifndef POOLVARIABLE_H_
#define POOLVARIABLE_H_
#include "DataSetIF.h"
#include "PoolEntry.h"
#include "PoolVariableIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
template<typename T, uint8_t n_var> class PoolVarList;
/**
* \brief This is the access class for non-array data pool entries.
*
* \details To ensure safe usage of the data pool, operation is not done directly on the data pool
* entries, but on local copies. This class provides simple type-safe access to single
* data pool entries (i.e. entries with length = 1).
* The class can be instantiated as read-write and read only.
* It provides a commit-and-roll-back semantic, which means that the variable's value in
* the data pool is not changed until the commit call is executed.
* \tparam T The template parameter sets the type of the variable. Currently, all plain data types
* are supported, but in principle any type is possible.
* \ingroup data_pool
*/
template<typename T>
class PoolVariable: public PoolVariableIF {
template<typename U, uint8_t n_var> friend class PoolVarList;
protected:
/**
* \brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* \brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* \brief The information whether the class is read-write or read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
/**
* \brief This is a call to read the value from the global data pool.
* \details When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies the value and the valid
* information to its local attributes. In case of a failure (wrong type or
* pool id not found), the variable is set to zero and invalid.
* The operation does NOT provide any mutual exclusive protection by itself.
*/
ReturnValue_t read() {
PoolEntry<T> *read_out = ::dataPool.getData < T > (dataPoolId, 1);
if (read_out != NULL) {
valid = read_out->valid;
value = *(read_out->address);
return HasReturnvaluesIF::RETURN_OK;
} else {
value = 0;
valid = false;
sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
/**
* \brief The commit call writes back the variable's value to the data pool.
* \details It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The operation does NOT provide any mutual exclusive protection by itself.
*
*/
ReturnValue_t commit() {
PoolEntry<T> *write_back = ::dataPool.getData < T > (dataPoolId, 1);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->valid = valid;
*(write_back->address) = value;
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
/**
* Empty ctor for List initialization
*/
PoolVariable() :
dataPoolId(PoolVariableIF::NO_PARAMETER), valid(
PoolVariableIF::INVALID), readWriteMode(VAR_READ), value(0) {
}
public:
/**
* \brief This is the local copy of the data pool entry.
* \details The user can work on this attribute
* just like he would on a simple local variable.
*/
T value;
/**
* \brief In the constructor, the variable can register itself in a DataSet (if not NULL is
* passed).
* \details It DOES NOT fetch the current value from the data pool, but sets the value
* attribute to default (0). The value is fetched within the read() operation.
* \param set_id This is the id in the global data pool this instance of the access class
* corresponds to.
* \param dataSet The data set in which the variable shall register itself. If NULL,
* the variable is not registered.
* \param setWritable If this flag is set to true, changes in the value attribute can be
* written back to the data pool, otherwise not.
*/
PoolVariable(uint32_t set_id, DataSetIF *dataSet,
ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), valid(PoolVariableIF::INVALID), readWriteMode(
setReadWriteMode), value(0) {
if (dataSet != NULL) {
dataSet->registerVariable(this);
}
}
/**
* Copy ctor to copy classes containing Pool Variables.
*/
PoolVariable(const PoolVariable &rhs) :
dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
rhs.readWriteMode), value(rhs.value) {
}
/**
* \brief The classes destructor is empty.
* \details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~PoolVariable() {
}
/**
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const {
return dataPoolId;
}
/**
* This operation sets the data pool id of the variable.
* The method is necessary to set id's of data pool member variables with bad initialization.
*/
void setDataPoolId(uint32_t poolId) {
dataPoolId = poolId;
}
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const {
return readWriteMode;
}
/**
* \brief With this call, the valid information of the variable is returned.
*/
bool isValid() const {
if (valid)
return true;
else
return false;
}
uint8_t getValid() {
return valid;
}
void setValid(uint8_t valid) {
this->valid = valid;
}
operator T() {
return value;
}
operator T() const {
return value;
}
PoolVariable<T>& operator=(T newValue) {
value = newValue;
return *this;
}
PoolVariable<T>& operator=(PoolVariable<T> newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const override {
return SerializeAdapter::serialize<T>(&value, buffer, size, maxSize,
streamEndianness);
}
virtual size_t getSerializedSize() const override {
return SerializeAdapter::getSerializedSize(&value);
}
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
}
};
typedef PoolVariable<uint8_t> db_uint8_t;
typedef PoolVariable<uint16_t> db_uint16_t;
typedef PoolVariable<uint32_t> db_uint32_t;
typedef PoolVariable<int8_t> db_int8_t;
typedef PoolVariable<int16_t> db_int16_t;
typedef PoolVariable<int32_t> db_int32_t;
typedef PoolVariable<uint8_t> db_bool_t;
typedef PoolVariable<float> db_float_t;
typedef PoolVariable<double> db_double_t;
//Alternative (but I thing this is not as useful: code duplication, differences too small):
//template <typename T>
//class PoolReader : public PoolVariableIF {
//private:
// uint32_t parameter_id;
// uint8_t valid;
//public:
// T value;
// PoolReader( uint32_t set_id, DataSetIF* set ) : parameter_id(set_id), valid(false), value(0) {
// set->registerVariable( this );
// }
//
// ~PoolReader() {};
//
// uint8_t commit() {
// return HasReturnvaluesIF::RETURN_OK;
// }
//
// uint8_t read() {
// PoolEntry<T>* read_out = ::dataPool.getData<T>( parameter_id, 1 );
// if ( read_out != NULL ) {
// valid = read_out->valid;
// value = *(read_out->address);
// return HasReturnvaluesIF::RETURN_OK;
// } else {
// value = 0;
// valid = false;
// return CHECKOUT_FAILED;
// }
// }
// uint32_t getParameterId() { return parameter_id; }
// bool isWritable() { return false; };
// bool isValid() { if (valid) return true; else return false; }
//};
//
//template <typename T>
//class PoolWriter : public PoolVariableIF {
//private:
// uint32_t parameter_id;
//public:
// T value;
// PoolWriter( uint32_t set_id, DataSetIF* set ) : parameter_id(set_id), value(0) {
// set->registerVariable( this );
// }
//
// ~PoolWriter() {};
//
// uint8_t commit() {
// PoolEntry<T>* write_back = ::dataPool.getData<T>( parameter_id, 1 );
// if ( write_back != NULL ) {
// write_back->valid = true;
// *(write_back->address) = value;
// return HasReturnvaluesIF::RETURN_OK;
// } else {
// return CHECKOUT_FAILED;
// }
// }
// uint8_t read() {
// PoolEntry<T>* read_out = ::dataPool.getData<T>( parameter_id, 1 );
// if ( read_out != NULL ) {
// value = *(read_out->address);
// return HasReturnvaluesIF::RETURN_OK;
// } else {
// value = 0;
// return CHECKOUT_FAILED;
// }
// }
// uint32_t getParameterId() { return parameter_id; }
// bool isWritable() { return true; };
// bool isValid() { return false; }
//};
#endif /* POOLVARIABLE_H_ */

114
datapool/PoolVariableIF.h
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@ -1,71 +1,99 @@
/*
* \file PoolVariableIF.h
*
* \brief This file contains the interface definition for pool variables.
*
* \date 10/17/2012
*
* \author Bastian Baetz
*/
#ifndef POOLVARIABLEIF_H_
#define POOLVARIABLEIF_H_
#ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
#define FSFW_DATAPOOL_POOLVARIABLEIF_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../serialize/SerializeIF.h"
/**
* \brief This interface is used to control local data pool variable representations.
*
* \details To securely handle data pool variables, all pool entries are locally managed by
* data pool variable access classes, which are called pool variables. To ensure a
* common state of a set of variables needed in a function, these local pool variables
* again are managed by other classes, e.g. the DataSet. This interface provides unified
* access to local pool variables for such manager classes.
* \ingroup data_pool
* @brief This interface is used to control data pool
* variable representations.
* @details
* To securely handle data pool variables, all pool entries are locally
* managed by data pool variable access classes, which are called pool
* variables. To ensure a common state of a set of variables needed in a
* function, these local pool variables again are managed by other classes,
* like the DataSet classes. This interface provides unified access to
* local pool variables for such manager classes.
* @author Bastian Baetz
* @ingroup data_pool
*/
class PoolVariableIF : public SerializeIF {
friend class DataSet;
protected:
/**
* \brief The commit call shall write back a newly calculated local value to the data pool.
*/
virtual ReturnValue_t commit() = 0;
/**
* \brief The read call shall read the value of this parameter from the data pool and store
* the content locally.
*/
virtual ReturnValue_t read() = 0;
friend class PoolDataSetBase;
friend class GlobDataSet;
friend class LocalPoolDataSetBase;
public:
static const uint8_t VALID = 1;
static const uint8_t INVALID = 0;
static const uint32_t NO_PARAMETER = 0;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
static constexpr bool VALID = 1;
static constexpr bool INVALID = 0;
static constexpr uint32_t NO_PARAMETER = 0xffffffff;
enum ReadWriteMode_t {
VAR_READ, VAR_WRITE, VAR_READ_WRITE
};
/**
* \brief This is an empty virtual destructor, as it is proposed for C++ interfaces.
* @brief This is an empty virtual destructor,
* as it is proposed for C++ interfaces.
*/
virtual ~PoolVariableIF() {
}
virtual ~PoolVariableIF() {}
/**
* \brief This method returns if the variable is write-only, read-write or read-only.
* @brief This method returns if the variable is write-only,
* read-write or read-only.
*/
virtual ReadWriteMode_t getReadWriteMode() const = 0;
/**
* \brief This operation shall return the data pool id of the variable.
* @brief This operation shall return the data pool id of the variable.
*/
virtual uint32_t getDataPoolId() const = 0;
/**
* \brief With this call, the valid information of the variable is returned.
* @brief With this call, the valid information of the
* variable is returned.
*/
virtual bool isValid() const = 0;
/**
* \brief With this call, the valid information of the variable is set.
* @brief With this call, the valid information of the variable is set.
*/
virtual void setValid(uint8_t validity) = 0;
virtual void setValid(bool validity) = 0;
/**
* @brief The commit call shall write back a newly calculated local
* value to the data pool.
* @details
* It is assumed that these calls are implemented in a thread-safe manner!
*/
virtual ReturnValue_t commit(uint32_t lockTimeout) = 0;
/**
* @brief The read call shall read the value of this parameter from
* the data pool and store the content locally.
* @details
* It is assumbed that these calls are implemented in a thread-safe manner!
*/
virtual ReturnValue_t read(uint32_t lockTimeout) = 0;
protected:
/**
* @brief Same as commit with the difference that comitting will be
* performed without a lock
* @return
* This can be used if the lock protection is handled externally
* to avoid the overhead of locking and unlocking consecutively.
* Declared protected to avoid free public usage.
*/
virtual ReturnValue_t readWithoutLock() = 0;
/**
* @brief Same as commit with the difference that comitting will be
* performed without a lock
* @return
* This can be used if the lock protection is handled externally
* to avoid the overhead of locking and unlocking consecutively.
* Declared protected to avoid free public usage.
*/
virtual ReturnValue_t commitWithoutLock() = 0;
};
#endif /* POOLVARIABLEIF_H_ */
using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
#endif /* FSFW_DATAPOOL_POOLVARIABLEIF_H_ */

233
datapool/PoolVector.h
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@ -1,233 +0,0 @@
/*
* \file PoolVector.h
*
* \brief This file contains the PoolVector class, the header only class to handle data pool vectors.
*
* \date 10/23/2012
*
* \author Bastian Baetz
*/
#ifndef POOLVECTOR_H_
#define POOLVECTOR_H_
#include "DataSetIF.h"
#include "PoolEntry.h"
#include "PoolVariableIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
/**
* \brief This is the access class for array-type data pool entries.
*
* \details To ensure safe usage of the data pool, operation is not done directly on the data pool
* entries, but on local copies. This class provides simple type- and length-safe access
* to vector-style data pool entries (i.e. entries with length > 1).
* The class can be instantiated as read-write and read only.
* It provides a commit-and-roll-back semantic, which means that no array entry in
* the data pool is changed until the commit call is executed.
* There are two template parameters:
* \tparam T This template parameter specifies the data type of an array entry. Currently, all
* plain data types are supported, but in principle any type is possible.
* \tparam vector_size This template parameter specifies the vector size of this entry.
* Using a template parameter for this is not perfect, but avoids dynamic memory allocation.
* \ingroup data_pool
*/
template<typename T, uint16_t vector_size>
class PoolVector: public PoolVariableIF {
private:
/**
* \brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* \brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* \brief The information whether the class is read-write or read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
protected:
/**
* \brief This is a call to read the array's values from the global data pool.
* \details When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies all array values and the valid
* information to its local attributes. In case of a failure (wrong type, size or
* pool id not found), the variable is set to zero and invalid.
* The operation does NOT provide any mutual exclusive protection by itself.
*/
ReturnValue_t read() {
PoolEntry<T>* read_out = ::dataPool.getData<T>(this->dataPoolId,
vector_size);
if (read_out != NULL) {
this->valid = read_out->valid;
memcpy(this->value, read_out->address, read_out->getByteSize());
return HasReturnvaluesIF::RETURN_OK;
} else {
memset(this->value, 0, vector_size * sizeof(T));
sif::error << "PoolVector: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
this->valid = INVALID;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
/**
* \brief The commit call copies the array values back to the data pool.
* \details It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The operation does NOT provide any mutual exclusive protection by itself.
*
*/
ReturnValue_t commit() {
PoolEntry<T>* write_back = ::dataPool.getData<T>(this->dataPoolId,
vector_size);
if ((write_back != NULL) && (this->readWriteMode != VAR_READ)) {
write_back->valid = valid;
memcpy(write_back->address, this->value, write_back->getByteSize());
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
public:
/**
* \brief This is the local copy of the data pool entry.
* \detials The user can work on this attribute
* just like he would on a local array of this type.
*/
T value[vector_size];
/**
* \brief In the constructor, the variable can register itself in a DataSet (if not NULL is
* passed).
* \details It DOES NOT fetch the current value from the data pool, but sets the value
* attribute to default (0). The value is fetched within the read() operation.
* \param set_id This is the id in the global data pool this instance of the access class
* corresponds to.
* \param dataSet The data set in which the variable shall register itself. If NULL,
* the variable is not registered.
* \param setWritable If this flag is set to true, changes in the value attribute can be
* written back to the data pool, otherwise not.
*/
PoolVector(uint32_t set_id, DataSetIF* set,
ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
memset(this->value, 0, vector_size * sizeof(T));
if (set != NULL) {
set->registerVariable(this);
}
}
/**
* Copy ctor to copy classes containing Pool Variables.
*/
// PoolVector(const PoolVector& rhs) {
// PoolVector<T, vector_size> temp(rhs.dataPoolId, rhs.)
// memcpy(value, rhs.value, sizeof(T)*vector_size);
// }
/**
* \brief The classes destructor is empty.
* \details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~PoolVector() {
}
;
/**
* \brief The operation returns the number of array entries in this variable.
*/
uint8_t getSize() {
return vector_size;
}
/**
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const {
return dataPoolId;
}
/**
* This operation sets the data pool id of the variable.
* The method is necessary to set id's of data pool member variables with bad initialization.
*/
void setDataPoolId(uint32_t poolId) {
dataPoolId = poolId;
}
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const {
return readWriteMode;
}
;
/**
* \brief With this call, the valid information of the variable is returned.
*/
bool isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void setValid(uint8_t valid) {
this->valid = valid;
}
uint8_t getValid() {
return valid;
}
T &operator [](int i) {
return value[i];
}
const T &operator [](int i) const {
return value[i];
}
PoolVector<T, vector_size> &operator=(
PoolVector<T, vector_size> newPoolVector) {
for (uint16_t i = 0; i < vector_size; i++) {
this->value[i] = newPoolVector.value[i];
}
return *this;
}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
uint16_t i;
ReturnValue_t result;
for (i = 0; i < vector_size; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
virtual size_t getSerializedSize() const {
return vector_size * SerializeAdapter::getSerializedSize(value);
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
uint16_t i;
ReturnValue_t result;
for (i = 0; i < vector_size; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
};
#endif /* POOLVECTOR_H_ */

14
datapool/SharedDataSetIF.h Normal file
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@ -0,0 +1,14 @@
#ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
#define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
#include "PoolDataSetIF.h"
class SharedDataSetIF: public PoolDataSetIF {
public:
virtual ~SharedDataSetIF() {};
private:
virtual ReturnValue_t lockDataset(dur_millis_t mutexTimeout) = 0;
virtual ReturnValue_t unlockDataset() = 0;
};
#endif /* FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_ */

2
datapool/ControllerSet.cpp → datapoolglob/ControllerSet.cpp
View File

@ -1,4 +1,4 @@
#include "ControllerSet.h"
#include <fsfw/datapoolglob/ControllerSet.h>
ControllerSet::ControllerSet() {

15
datapoolglob/ControllerSet.h Normal file
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@ -0,0 +1,15 @@
#ifndef FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
#define FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
#include "../datapoolglob/GlobalDataSet.h"
class ControllerSet :public GlobDataSet {
public:
ControllerSet();
virtual ~ControllerSet();
virtual void setToDefault() = 0;
void setInvalid();
};
#endif /* FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ */

25
datapool/DataPoolAdmin.cpp → datapoolglob/DataPoolAdmin.cpp
View File

@ -1,7 +1,8 @@
#include "DataPool.h"
#include "DataPoolAdmin.h"
#include "DataSet.h"
#include "GlobalDataSet.h"
#include "GlobalDataPool.h"
#include "PoolRawAccess.h"
#include "../ipc/CommandMessage.h"
#include "../ipc/QueueFactory.h"
#include "../parameters/ParameterMessage.h"
@ -40,9 +41,9 @@ ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
uint8_t valid = data[4];
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
DataSet mySet;
GlobDataSet mySet;
PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE);
ReturnValue_t status = mySet.read();
if (status != RETURN_OK) {
@ -92,9 +93,9 @@ void DataPoolAdmin::handleCommand() {
ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
const uint8_t* data, size_t size, uint8_t** dataPointer) {
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
DataSet testSet;
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
GlobDataSet testSet;
PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
PoolVariableIF::VAR_READ);
ReturnValue_t status = testSet.read();
@ -113,7 +114,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
const uint8_t* readPosition = data;
for (; size > 0; size -= typeSize) {
DataSet rawSet;
GlobDataSet rawSet;
PoolRawAccess variable(poolId, arrayIndex, &rawSet,
PoolVariableIF::VAR_READ_WRITE);
status = rawSet.read();
@ -131,9 +132,9 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
uint8_t** dataPointer, uint8_t* copyHere) {
uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
DataSet testSet;
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
GlobDataSet testSet;
PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
PoolVariableIF::VAR_READ);
ReturnValue_t status = testSet.read();
@ -146,7 +147,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
}
uint8_t* ptrToCopy = copyHere;
for (; size > 0; size -= typeSize) {
DataSet rawSet;
GlobDataSet rawSet;
PoolRawAccess variable(poolId, arrayIndex, &rawSet,
PoolVariableIF::VAR_READ);
status = rawSet.read();

18
datapool/DataPoolAdmin.h → datapoolglob/DataPoolAdmin.h
View File

@ -1,15 +1,17 @@
#ifndef DATAPOOLADMIN_H_
#define DATAPOOLADMIN_H_
#ifndef FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
#define FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
#include "DataPoolParameterWrapper.h"
#include "../memory/MemoryHelper.h"
#include "../action/HasActionsIF.h"
#include "../action/SimpleActionHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../parameters/ReceivesParameterMessagesIF.h"
#include "DataPoolParameterWrapper.h"
#include "../action/HasActionsIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../parameters/ReceivesParameterMessagesIF.h"
#include "../action/SimpleActionHelper.h"
#include "../memory/MemoryHelper.h"
class DataPoolAdmin: public HasActionsIF,
public ExecutableObjectIF,
@ -55,4 +57,4 @@ private:
Command_t initialCommand);
};
#endif /* DATAPOOLADMIN_H_ */
#endif /* FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ */

14
datapool/DataPoolParameterWrapper.cpp → datapoolglob/DataPoolParameterWrapper.cpp
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@ -1,10 +1,8 @@
#include "DataPoolParameterWrapper.h"
//for returncodes
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/DataPoolParameterWrapper.h"
#include "../datapoolglob/PoolRawAccess.h"
#include "../parameters/HasParametersIF.h"
#include "DataSet.h"
#include "PoolRawAccess.h"
DataPoolParameterWrapper::DataPoolParameterWrapper() :
type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
@ -20,7 +18,7 @@ ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
uint16_t parameterId) {
poolId = (domainId << 16) + parameterId;
DataSet mySet;
GlobDataSet mySet;
PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ);
ReturnValue_t status = mySet.read();
if (status != HasReturnvaluesIF::RETURN_OK) {
@ -57,7 +55,7 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
}
for (uint8_t index = 0; index < rows; index++){
DataSet mySet;
GlobDataSet mySet;
PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
mySet.read();
result = raw.serialize(buffer,size,maxSize,streamEndianness);
@ -94,7 +92,7 @@ ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow,
for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
DataSet mySet;
GlobDataSet mySet;
PoolRawAccess raw(poolId, startingRow + fromRow, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();

0
datapool/DataPoolParameterWrapper.h → datapoolglob/DataPoolParameterWrapper.h
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133
datapoolglob/GlobalDataPool.cpp Normal file
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@ -0,0 +1,133 @@
#include "../datapoolglob/GlobalDataPool.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/MutexFactory.h"
GlobalDataPool::GlobalDataPool(
void(*initFunction)(GlobPoolMap* pool_map)) {
mutex = MutexFactory::instance()->createMutex();
if (initFunction != NULL ) {
initFunction( &this->globDataPool );
}
}
GlobalDataPool::~GlobalDataPool() {
MutexFactory::instance()->deleteMutex(mutex);
for(GlobPoolMapIter it = this->globDataPool.begin();
it != this->globDataPool.end(); ++it )
{
delete it->second;
}
}
// The function checks PID, type and array length before returning a copy of
// the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
template <typename T> PoolEntry<T>* GlobalDataPool::getData( uint32_t data_pool_id,
uint8_t sizeOrPosition ) {
GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
if ( it != this->globDataPool.end() ) {
PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
if (entry != nullptr ) {
if ( sizeOrPosition <= entry->length ) {
return entry;
}
}
}
return nullptr;
}
PoolEntryIF* GlobalDataPool::getRawData( uint32_t data_pool_id ) {
GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
if ( it != this->globDataPool.end() ) {
return it->second;
} else {
return nullptr;
}
}
ReturnValue_t GlobalDataPool::unlockDataPool() {
ReturnValue_t status = mutex->unlockMutex();
if(status != RETURN_OK) {
sif::error << "DataPool::DataPool: unlock of mutex failed with"
" error code: " << status << std::endl;
}
return status;
}
ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) {
ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
timeoutMs);
if(status != RETURN_OK) {
sif::error << "DataPool::DataPool: lock of mutex failed "
"with error code: " << status << std::endl;
}
return status;
}
void GlobalDataPool::print() {
sif::debug << "DataPool contains: " << std::endl;
std::map<uint32_t, PoolEntryIF*>::iterator dataPoolIt;
dataPoolIt = this->globDataPool.begin();
while( dataPoolIt != this->globDataPool.end() ) {
sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
dataPoolIt->second->print();
dataPoolIt++;
}
}
uint32_t GlobalDataPool::PIDToDataPoolId(uint32_t parameter_id) {
return (parameter_id >> 8) & 0x00FFFFFF;
}
uint8_t GlobalDataPool::PIDToArrayIndex(uint32_t parameter_id) {
return (parameter_id & 0x000000FF);
}
uint32_t GlobalDataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
return (poolId << 8) + index;
}
//SHOULDDO: Do we need a mutex lock here... I don't think so,
//as we only check static const values of elements in a list that do not change.
//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
ReturnValue_t GlobalDataPool::getType(uint32_t parameter_id, Type* type) {
GlobPoolMapIter it = this->globDataPool.find( PIDToDataPoolId(parameter_id));
if ( it != this->globDataPool.end() ) {
*type = it->second->getType();
return RETURN_OK;
} else {
*type = Type::UNKNOWN_TYPE;
return RETURN_FAILED;
}
}
bool GlobalDataPool::exists(uint32_t parameterId) {
uint32_t poolId = PIDToDataPoolId(parameterId);
uint32_t index = PIDToArrayIndex(parameterId);
GlobPoolMapIter it = this->globDataPool.find( poolId );
if (it != globDataPool.end()) {
if (it->second->getSize() >= index) {
return true;
}
}
return false;
}
template PoolEntry<uint8_t>* GlobalDataPool::getData<uint8_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint16_t>* GlobalDataPool::getData<uint16_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint32_t>* GlobalDataPool::getData<uint32_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<uint64_t>* GlobalDataPool::getData<uint64_t>(
uint32_t data_pool_id, uint8_t size);
template PoolEntry<int8_t>* GlobalDataPool::getData<int8_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<int16_t>* GlobalDataPool::getData<int16_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<int32_t>* GlobalDataPool::getData<int32_t>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<float>* GlobalDataPool::getData<float>(
uint32_t data_pool_id, uint8_t size );
template PoolEntry<double>* GlobalDataPool::getData<double>(
uint32_t data_pool_id, uint8_t size);

149
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@ -0,0 +1,149 @@
#ifndef GLOBALDATAPOOL_H_
#define GLOBALDATAPOOL_H_
#include "../datapool/PoolEntry.h"
#include "../globalfunctions/Type.h"
#include "../ipc/MutexIF.h"
#include <map>
/**
* @defgroup data_pool Global data pool
* This is the group, where all classes associated with global
* data pool handling belong to.
* This includes classes to access Data Pool variables.
*/
/**
* Typedefs for the global pool representations
*/
using GlobPoolMap = std::map<uint32_t, PoolEntryIF*>;
using GlobPoolMapIter = GlobPoolMap::iterator;
/**
* @brief This class represents the OBSW global data-pool.
*
* @details
* All variables are registered and space is allocated in an initialization
* function, which is passed do the constructor. Space for the variables is
* allocated on the heap (with a new call).
*
* The data is found by a data pool id, which uniquely represents a variable.
* Data pool variables should be used with a blackboard logic in mind,
* which means read data is valid (if flagged so),
* but not necessarily up-to-date.
*
* Variables are either single values or arrays.
* @author Bastian Baetz
* @ingroup data_pool
*/
class GlobalDataPool : public HasReturnvaluesIF {
private:
/**
* @brief This is the actual data pool itself.
* @details It is represented by a map with the data pool id as index
* and a pointer to a single PoolEntry as value.
*/
GlobPoolMap globDataPool;
/**
* @brief The mutex is created in the constructor and makes
* access mutual exclusive.
* @details Locking and unlocking the pool is only done by the DataSet class.
*/
MutexIF* mutex;
public:
/**
* @brief In the classes constructor,
* the passed initialization function is called.
* @details
* To enable filling the pool, a pointer to the map is passed,
* allowing direct access to the pool's content.
* On runtime, adding or removing variables is forbidden.
*/
GlobalDataPool( void ( *initFunction )( GlobPoolMap* pool_map ) );
/**
* @brief The destructor iterates through the data_pool map and
* calls all entries destructors to clean up the heap.
*/
~GlobalDataPool();
/**
* @brief This is the default call to access the pool.
* @details
* A pointer to the PoolEntry object is returned.
* The call checks data pool id, type and array size.
* Returns NULL in case of failure.
* @param data_pool_id The data pool id to search.
* @param sizeOrPosition The array size (not byte size!) of the pool entry,
* or the position the user wants to read.
* If smaller than the entry size, everything's ok.
*/
template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id,
uint8_t sizeOrPosition );
/**
* @brief An alternative call to get a data pool entry in case the type is not implicitly known
* (i.e. in Housekeeping Telemetry).
* @details It returns a basic interface and does NOT perform
* a size check. The caller has to assure he does not copy too much data.
* Returns NULL in case the entry is not found.
* @param data_pool_id The data pool id to search.
*/
PoolEntryIF* getRawData( uint32_t data_pool_id );
/**
* @brief This is a small helper function to facilitate locking the global data pool.
* @details It fetches the pool's mutex id and tries to acquire the mutex.
*/
ReturnValue_t lockDataPool(uint32_t timeoutMs = MutexIF::BLOCKING);
/**
* @brief This is a small helper function to facilitate unlocking the global data pool.
* @details It fetches the pool's mutex id and tries to free the mutex.
*/
ReturnValue_t unlockDataPool();
/**
* @brief The print call is a simple debug method.
* @details It prints the current content of the data pool.
* It iterates through the data_pool map and calls each entry's print() method.
*/
void print();
/**
* Extracts the data pool id from a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The data pool id as used within the OBSW.
*/
static uint32_t PIDToDataPoolId( uint32_t parameter_id );
/**
* Extracts an array index out of a SCOS 2000 PID.
* @param parameter_id The passed Parameter ID.
* @return The index of the corresponding data pool entry.
*/
static uint8_t PIDToArrayIndex( uint32_t parameter_id );
/**
* Retransforms a data pool id and an array index to a SCOS 2000 PID.
*/
static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
/**
* Method to return the type of a pool variable.
* @param parameter_id A parameterID (not pool id) of a DP member.
* @param type Returns the type or TYPE::UNKNOWN_TYPE
* @return RETURN_OK if parameter exists, RETURN_FAILED else.
*/
ReturnValue_t getType( uint32_t parameter_id, Type* type );
/**
* Method to check if a PID exists. Does not lock, as there's no
* possibility to alter the list that is checked during run-time.
* @param parameterId The PID (not pool id!) of a parameter.
* @return true if exists, false else.
*/
bool exists(uint32_t parameterId);
};
//We assume someone globally instantiates a DataPool.
namespace glob {
extern GlobalDataPool dataPool;
}
#endif /* DATAPOOL_H_ */

48
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@ -0,0 +1,48 @@
#include "../datapoolglob/GlobalDataPool.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
GlobDataSet::GlobDataSet(): PoolDataSetBase(
reinterpret_cast<PoolVariableIF**>(&registeredVariables),
DATA_SET_MAX_SIZE) {}
// Don't do anything with your variables, they are dead already!
// (Destructor is already called)
GlobDataSet::~GlobDataSet() {}
ReturnValue_t GlobDataSet::commit(bool valid, uint32_t lockTimeout) {
setEntriesValid(valid);
setSetValid(valid);
return commit(lockTimeout);
}
ReturnValue_t GlobDataSet::commit(uint32_t lockTimeout) {
return PoolDataSetBase::commit(lockTimeout);
}
bool GlobDataSet::isValid() const {
return this->valid;
}
ReturnValue_t GlobDataSet::unlockDataPool() {
return glob::dataPool.unlockDataPool();
}
ReturnValue_t GlobDataSet::lockDataPool(uint32_t timeoutMs) {
return glob::dataPool.lockDataPool(timeoutMs);
}
void GlobDataSet::setEntriesValid(bool valid) {
for (uint16_t count = 0; count < fillCount; count++) {
if (registeredVariables[count]->getReadWriteMode()
!= PoolVariableIF::VAR_READ) {
registeredVariables[count]->setValid(valid);
}
}
}
void GlobDataSet::setSetValid(bool valid) {
this->valid = valid;
}

98
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@ -0,0 +1,98 @@
#ifndef FRAMEWORK_DATAPOOLGLOB_DATASET_H_
#define FRAMEWORK_DATAPOOLGLOB_DATASET_H_
#include "../datapool/PoolDataSetBase.h"
/**
* @brief The DataSet class manages a set of locally checked out variables
* for the global data pool.
* @details
* This class uses the read-commit() semantic provided by the DataSetBase class.
* It extends the base class by using the global data pool,
* having a valid state and implementing lock und unlock calls for the global
* datapool.
*
* For more information on how this class works, see the DataSetBase
* documentation.
* @author Bastian Baetz
* @ingroup data_pool
*/
class GlobDataSet: public PoolDataSetBase {
public:
/**
* @brief Creates an empty GlobDataSet. Use registerVariable or
* supply a pointer to this dataset to PoolVariable
* initializations to register pool variables.
*/
GlobDataSet();
/**
* @brief The destructor automatically manages writing the valid
* information of variables.
* @details
* In case the data set was read out, but not committed(indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~GlobDataSet();
/**
* Variant of method above which sets validity of all elements of the set.
* @param valid Validity information from PoolVariableIF.
* @return - @c RETURN_OK if all variables were read successfully.
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
ReturnValue_t commit(bool valid, uint32_t lockTimeout = MutexIF::BLOCKING);
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* Set all entries
* @param valid
*/
void setSetValid(bool valid);
bool isValid() const override;
/**
* Set the valid information of all variables contained in the set which
* are not read-only
*
* @param valid Validity information from PoolVariableIF.
*/
void setEntriesValid(bool valid);
//!< This definition sets the maximum number of variables to
//! register in one DataSet.
static const uint8_t DATA_SET_MAX_SIZE = 63;
private:
/**
* If the valid state of a dataset is always relevant to the whole
* data set we can use this flag.
*/
bool valid = false;
/**
* @brief This is a small helper function to facilitate locking
* the global data pool.
* @details
* It makes use of the lockDataPool method offered by the DataPool class.
*/
ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
/**
* @brief This is a small helper function to facilitate
* unlocking the global data pool
* @details
* It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
ReturnValue_t unlockDataPool() override;
void handleAlreadyReadDatasetCommit();
ReturnValue_t handleUnreadDatasetCommit();
PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
};
#endif /* FRAMEWORK_DATAPOOLGLOB_DATASET_H_ */

213
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#ifndef GLOBALPOOLVARIABLE_H_
#define GLOBALPOOLVARIABLE_H_
#include "../datapool/DataSetIF.h"
#include "../datapoolglob/GlobalDataPool.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapool/PoolEntry.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
template<typename T, uint8_t n_var> class PoolVarList;
/**
* @brief This is the access class for non-array data pool entries.
*
* @details
* To ensure safe usage of the data pool, operation is not done directly
* on the data pool entries, but on local copies. This class provides simple
* type-safe access to single data pool entries (i.e. entries with length = 1).
* The class can be instantiated as read-write and read only.
* It provides a commit-and-roll-back semantic, which means that the
* variable's value in the data pool is not changed until the
* commit call is executed.
* @tparam T The template parameter sets the type of the variable.
* Currently, all plain data types are supported, but in principle
* any type is possible.
* @ingroup data_pool
*/
template<typename T>
class GlobPoolVar: public PoolVariableIF {
template<typename U, uint8_t n_var> friend class PoolVarList;
static_assert(not std::is_same<T, bool>::value,
"Do not use boolean for the PoolEntry type, use uint8_t instead!"
"There is no boolean type in CCSDS.");
public:
/**
* @brief In the constructor, the variable can register itself in a
* DataSet (if nullptr is not passed).
* @details
* It DOES NOT fetch the current value from the data pool, but
* sets the value attribute to default (0).
* The value is fetched within the read() operation.
* @param set_id This is the id in the global data pool
* this instance of the access class corresponds to.
* @param dataSet The data set in which the variable shall register
* itself. If NULL, the variable is not registered.
* @param setWritable If this flag is set to true, changes in the value
* attribute can be written back to the data pool, otherwise not.
*/
GlobPoolVar(uint32_t set_id, DataSetIF* dataSet,
ReadWriteMode_t setReadWriteMode);
/**
* @brief This is the local copy of the data pool entry.
* @details The user can work on this attribute
* just like he would on a simple local variable.
*/
T value = 0;
/**
* @brief Copy ctor to copy classes containing Pool Variables.
* (Robin): This only copies member variables, which is done
* by the default copy ctor. maybe we can ommit this ctor?
*/
GlobPoolVar(const GlobPoolVar& rhs);
/**
* @brief The classes destructor is empty.
* @details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~GlobPoolVar() {}
/**
* @brief This is a call to read the value from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies the value and the valid
* information to its local attributes. In case of a failure (wrong type or
* pool id not found), the variable is set to zero and invalid.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t read(uint32_t lockTimeout) override;
/**
* @brief The commit call writes back the variable's value to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The operation does NOT provide any mutual exclusive protection by itself.
* The commit call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(uint32_t lockTimeout) override;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
/**
* @brief To access the correct data pool entry on read and commit calls,
* the data pool is stored.
*/
uint32_t dataPoolId;
/**
* @brief The valid information as it was stored in the data pool is
* copied to this attribute.
*/
uint8_t valid;
/**
* @brief The information whether the class is read-write or read-only
* is stored here.
*/
pool_rwm_t readWriteMode;
/**
* Empty ctor for List initialization
*/
GlobPoolVar();
public:
/**
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const override;
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const override;
/**
* This operation sets the data pool id of the variable.
* The method is necessary to set id's of data pool member variables with bad initialization.
*/
void setDataPoolId(uint32_t poolId);
/**
* \brief With this call, the valid information of the variable is returned.
*/
bool isValid() const override;
uint8_t getValid();
void setValid(bool valid) override;
operator T() {
return value;
}
operator T() const {
return value;
}
GlobPoolVar<T> &operator=(T newValue) {
value = newValue;
return *this;
}
GlobPoolVar<T> &operator=(GlobPoolVar<T> newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t max_size,
SerializeIF::Endianness streamEndianness) const override {
return SerializeAdapter::serialize(&value, buffer, size, max_size,
streamEndianness);
}
virtual size_t getSerializedSize() const {
return SerializeAdapter::getSerializedSize(&value);
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size,
streamEndianness);
}
};
#include "../datapoolglob/GlobalPoolVariable.tpp"
typedef GlobPoolVar<uint8_t> gp_bool_t;
typedef GlobPoolVar<uint8_t> gp_uint8_t;
typedef GlobPoolVar<uint16_t> gp_uint16_t;
typedef GlobPoolVar<uint32_t> gp_uint32_t;
typedef GlobPoolVar<int8_t> gp_int8_t;
typedef GlobPoolVar<int16_t> gp_int16_t;
typedef GlobPoolVar<int32_t> gp_int32_t;
typedef GlobPoolVar<float> gp_float_t;
typedef GlobPoolVar<double> gp_double_t;
#endif /* POOLVARIABLE_H_ */

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#ifndef GLOBALPOOLVARIABLE_TPP_
#define GLOBALPOOLVARIABLE_TPP_
template <class T>
inline GlobPoolVar<T>::GlobPoolVar(uint32_t set_id,
DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode):
dataPoolId(set_id), valid(PoolVariableIF::INVALID),
readWriteMode(setReadWriteMode)
{
if (dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
template<typename T>
inline ReturnValue_t GlobPoolVar<T>::read(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
template<typename T>
inline ReturnValue_t GlobPoolVar<T>::commit(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
template <class T>
inline ReturnValue_t GlobPoolVar<T>::readWithoutLock() {
PoolEntry<T>* read_out = glob::dataPool.getData<T>(dataPoolId, 1);
if (read_out != NULL) {
valid = read_out->valid;
value = *(read_out->address);
return HasReturnvaluesIF::RETURN_OK;
} else {
value = 0;
valid = false;
sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
template <class T>
inline ReturnValue_t GlobPoolVar<T>::commitWithoutLock() {
PoolEntry<T>* write_back = glob::dataPool.getData<T>(dataPoolId, 1);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->valid = valid;
*(write_back->address) = value;
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
template <class T>
inline GlobPoolVar<T>::GlobPoolVar():
dataPoolId(PoolVariableIF::NO_PARAMETER),
valid(PoolVariableIF::INVALID),
readWriteMode(VAR_READ), value(0) {}
template <class T>
inline GlobPoolVar<T>::GlobPoolVar(const GlobPoolVar& rhs) :
dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
rhs.readWriteMode), value(rhs.value) {}
template <class T>
inline pool_rwm_t GlobPoolVar<T>::getReadWriteMode() const {
return readWriteMode;
}
template <class T>
inline uint32_t GlobPoolVar<T>::getDataPoolId() const {
return dataPoolId;
}
template <class T>
inline void GlobPoolVar<T>::setDataPoolId(uint32_t poolId) {
dataPoolId = poolId;
}
template <class T>
inline bool GlobPoolVar<T>::isValid() const {
if (valid)
return true;
else
return false;
}
template <class T>
inline uint8_t GlobPoolVar<T>::getValid() {
return valid;
}
template <class T>
inline void GlobPoolVar<T>::setValid(bool valid) {
this->valid = valid;
}
#endif

185
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@ -0,0 +1,185 @@
#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolEntry.h"
#include "../datapool/PoolVariableIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
/**
* @brief This is the access class for array-type data pool entries.
*
* @details
* To ensure safe usage of the data pool, operation is not done directly on the
* data pool entries, but on local copies. This class provides simple type-
* and length-safe access to vector-style data pool entries (i.e. entries with
* length > 1). The class can be instantiated as read-write and read only.
*
* It provides a commit-and-roll-back semantic, which means that no array
* entry in the data pool is changed until the commit call is executed.
* There are two template parameters:
* @tparam T
* This template parameter specifies the data type of an array entry. Currently,
* all plain data types are supported, but in principle any type is possible.
* @tparam vector_size
* This template parameter specifies the vector size of this entry. Using a
* template parameter for this is not perfect, but avoids
* dynamic memory allocation.
* @ingroup data_pool
*/
template<typename T, uint16_t vectorSize>
class GlobPoolVector: public PoolVariableIF {
public:
/**
* @brief In the constructor, the variable can register itself in a
* DataSet (if no nullptr is passed).
* @details
* It DOES NOT fetch the current value from the data pool, but sets the
* value attribute to default (0). The value is fetched within the
* read() operation.
* @param set_id
* This is the id in the global data pool this instance of the access
* class corresponds to.
* @param dataSet
* The data set in which the variable shall register itself. If nullptr,
* the variable is not registered.
* @param setWritable
* If this flag is set to true, changes in the value attribute can be
* written back to the data pool, otherwise not.
*/
GlobPoolVector(uint32_t set_id, DataSetIF* set,
ReadWriteMode_t setReadWriteMode);
/**
* @brief This is the local copy of the data pool entry.
* @details The user can work on this attribute
* just like he would on a local array of this type.
*/
T value[vectorSize];
/**
* @brief The classes destructor is empty.
* @details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~GlobPoolVector() {};
/**
* @brief The operation returns the number of array entries
* in this variable.
*/
uint8_t getSize() {
return vectorSize;
}
/**
* @brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const {
return dataPoolId;
}
/**
* @brief This operation sets the data pool id of the variable.
* @details
* The method is necessary to set id's of data pool member variables
* with bad initialization.
*/
void setDataPoolId(uint32_t poolId) {
dataPoolId = poolId;
}
/**
* This method returns if the variable is write-only, read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const {
return readWriteMode;
}
/**
* @brief With this call, the valid information of the variable is returned.
*/
bool isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void setValid(bool valid) {this->valid = valid;}
uint8_t getValid() {return valid;}
T &operator [](int i) {return value[i];}
const T &operator [](int i) const {return value[i];}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t max_size, Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
/**
* @brief This is a call to read the array's values
* from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies all array values
* and the valid information to its local attributes.
* In case of a failure (wrong type, size or pool id not found), the
* variable is set to zero and invalid.
* The read call is protected by a lock of the global data pool.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The commit call is protected by a lock of the global data pool.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
private:
/**
* @brief To access the correct data pool entry on read and commit calls,
* the data pool id is stored.
*/
uint32_t dataPoolId;
/**
* @brief The valid information as it was stored in the data pool
* is copied to this attribute.
*/
uint8_t valid;
/**
* @brief The information whether the class is read-write or
* read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
};
#include "../datapoolglob/GlobalPoolVector.tpp"
template<typename T, uint16_t vectorSize>
using gp_vec_t = GlobPoolVector<T, vectorSize>;
#endif /* FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ */

117
datapoolglob/GlobalPoolVector.tpp Normal file
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@ -0,0 +1,117 @@
#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
template<typename T, uint16_t vectorSize>
inline GlobPoolVector<T, vectorSize>::GlobPoolVector(uint32_t set_id,
DataSetIF* set, ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
memset(this->value, 0, vectorSize * sizeof(T));
if (set != nullptr) {
set->registerVariable(this);
}
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::commit(
uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::readWithoutLock() {
PoolEntry<T>* read_out = glob::dataPool.getData<T>(this->dataPoolId,
vectorSize);
if (read_out != nullptr) {
this->valid = read_out->valid;
memcpy(this->value, read_out->address, read_out->getByteSize());
return HasReturnvaluesIF::RETURN_OK;
} else {
memset(this->value, 0, vectorSize * sizeof(T));
sif::error << "PoolVector: Read of DP Variable 0x" << std::hex
<< std::setw(8) << std::setfill('0') << dataPoolId <<
std::dec << " failed." << std::endl;
this->valid = INVALID;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::commitWithoutLock() {
PoolEntry<T>* writeBack = glob::dataPool.getData<T>(this->dataPoolId,
vectorSize);
if ((writeBack != nullptr) && (this->readWriteMode != VAR_READ)) {
writeBack->valid = valid;
memcpy(writeBack->address, this->value, writeBack->getByteSize());
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
size_t* size, size_t max_size,
SerializeIF::Endianness streamEndianness) const {
uint16_t i;
ReturnValue_t result;
for (i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size,
max_size, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
template<typename T, uint16_t vectorSize>
inline size_t GlobPoolVector<T, vectorSize>::getSerializedSize() const {
return vectorSize * SerializeAdapter::getSerializedSize(value);
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t GlobPoolVector<T, vectorSize>::deSerialize(
const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
uint16_t i;
ReturnValue_t result;
for (i = 0; i < vectorSize; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
#endif

39
datapool/PIDReader.h → datapoolglob/PIDReader.h
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@ -1,9 +1,9 @@
#ifndef PIDREADER_H_
#define PIDREADER_H_
#include "DataPool.h"
#include "DataSetIF.h"
#include "PoolEntry.h"
#include "PoolVariableIF.h"
#include "../datapool/DataSetIF.h"
#include "../datapoolglob/GlobalDataPool.h"
#include "../datapool/PoolEntry.h"
#include "../datapool/PoolVariableIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
@ -15,10 +15,10 @@ class PIDReader: public PoolVariableIF {
protected:
uint32_t parameterId;
uint8_t valid;
ReturnValue_t read() {
uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
PoolEntry<T> *read_out = ::dataPool.getData<T>(
DataPool::PIDToDataPoolId(parameterId), arrayIndex);
ReturnValue_t readWithoutLock() {
uint8_t arrayIndex = GlobalDataPool::PIDToArrayIndex(parameterId);
PoolEntry<T> *read_out = glob::dataPool.getData<T>(
GlobalDataPool::PIDToDataPoolId(parameterId), arrayIndex);
if (read_out != NULL) {
valid = read_out->valid;
value = read_out->address[arrayIndex];
@ -36,9 +36,13 @@ protected:
* Reason is the possibility to access a single DP vector element, but if we commit,
* we set validity of the whole vector.
*/
ReturnValue_t commit() {
ReturnValue_t commit(uint32_t lockTimeout) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t commitWithoutLock() override {
return HasReturnvaluesIF::RETURN_FAILED;
}
/**
* Empty ctor for List initialization
*/
@ -72,6 +76,19 @@ public:
}
}
ReturnValue_t read(uint32_t lockTimeout) override {
ReturnValue_t result = glob::dataPool.lockDataPool();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "PIDReader::read: Could not unlock data pool!"
<< std::endl;
}
return result;
}
/**
* Copy ctor to copy classes containing Pool Variables.
*/
@ -89,7 +106,7 @@ public:
* \brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const {
return DataPool::PIDToDataPoolId(parameterId);
return GlobalDataPool::PIDToDataPoolId(parameterId);
}
uint32_t getParameterId() const {
return parameterId;
@ -114,7 +131,7 @@ public:
return valid;
}
void setValid(uint8_t valid) {
void setValid(bool valid) {
this->valid = valid;
}

10
datapool/PIDReaderList.h → datapoolglob/PIDReaderList.h
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@ -1,8 +1,8 @@
#ifndef FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
#define FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
#ifndef FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
#define FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
#include "PIDReader.h"
#include "PoolVariableIF.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapoolglob/PIDReader.h"
template <class T, uint8_t n_var>
class PIDReaderList {
private:
@ -24,4 +24,4 @@ public:
#endif /* FRAMEWORK_DATAPOOL_PIDREADERLIST_H_ */
#endif /* FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_ */

239
datapoolglob/PoolRawAccess.cpp Normal file
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@ -0,0 +1,239 @@
#include "../datapoolglob/GlobalDataPool.h"
#include "../datapoolglob/PoolRawAccess.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serialize/EndianConverter.h"
#include <cstring>
PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode) :
dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false),
type(Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0),
readWriteMode(setReadWriteMode) {
memset(value, 0, sizeof(value));
if (dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
PoolRawAccess::~PoolRawAccess() {}
ReturnValue_t PoolRawAccess::read(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
ReturnValue_t PoolRawAccess::readWithoutLock() {
ReturnValue_t result = RETURN_FAILED;
PoolEntryIF* readOut = glob::dataPool.getRawData(dataPoolId);
if (readOut != nullptr) {
result = handleReadOut(readOut);
if(result == RETURN_OK) {
return result;
}
} else {
result = READ_ENTRY_NON_EXISTENT;
}
handleReadError(result);
return result;
}
ReturnValue_t PoolRawAccess::handleReadOut(PoolEntryIF* readOut) {
ReturnValue_t result = RETURN_FAILED;
valid = readOut->getValid();
if (readOut->getSize() > arrayEntry) {
arraySize = readOut->getSize();
typeSize = readOut->getByteSize() / readOut->getSize();
type = readOut->getType();
if (typeSize <= sizeof(value)) {
uint16_t arrayPosition = arrayEntry * typeSize;
sizeTillEnd = readOut->getByteSize() - arrayPosition;
uint8_t* ptr = &((uint8_t*) readOut->getRawData())[arrayPosition];
memcpy(value, ptr, typeSize);
return RETURN_OK;
} else {
result = READ_TYPE_TOO_LARGE;
}
} else {
//debug << "PoolRawAccess: Size: " << (int)read_out->getSize() << std::endl;
result = READ_INDEX_TOO_LARGE;
}
return result;
}
void PoolRawAccess::handleReadError(ReturnValue_t result) {
sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
<< std::dec << " failed, ";
if(result == READ_TYPE_TOO_LARGE) {
sif::error << "type too large." << std::endl;
}
else if(result == READ_INDEX_TOO_LARGE) {
sif::error << "index too large." << std::endl;
}
else if(result == READ_ENTRY_NON_EXISTENT) {
sif::error << "entry does not exist." << std::endl;
}
valid = INVALID;
typeSize = 0;
sizeTillEnd = 0;
memset(value, 0, sizeof(value));
}
ReturnValue_t PoolRawAccess::commit(uint32_t lockTimeout) {
ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GlobPoolVar::read: Could not unlock global data pool"
<< std::endl;
}
return result;
}
ReturnValue_t PoolRawAccess::commitWithoutLock() {
PoolEntryIF* write_back = glob::dataPool.getRawData(dataPoolId);
if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
write_back->setValid(valid);
uint8_t array_position = arrayEntry * typeSize;
uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position];
memcpy(ptr, value, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t* PoolRawAccess::getEntry() {
return value;
}
ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
size_t* writtenBytes, size_t max_size) {
uint8_t* data_ptr = getEntry();
// debug << "PoolRawAccess::getEntry: Array position: " <<
// index * size_of_type << " Size of T: " << (int)size_of_type <<
// " ByteSize: " << byte_size << " Position: " << *size << std::endl;
if (typeSize == 0)
return DATA_POOL_ACCESS_FAILED;
if (typeSize > max_size)
return INCORRECT_SIZE;
EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
*writtenBytes = typeSize;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const {
if (typeSize + *size <= maxSize) {
switch(streamEndianness) {
case(Endianness::BIG):
EndianConverter::convertBigEndian(*buffer, value, typeSize);
break;
case(Endianness::LITTLE):
EndianConverter::convertLittleEndian(*buffer, value, typeSize);
break;
case(Endianness::MACHINE):
default:
memcpy(*buffer, value, typeSize);
break;
}
*size += typeSize;
(*buffer) += typeSize;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SerializeIF::BUFFER_TOO_SHORT;
}
}
Type PoolRawAccess::getType() {
return type;
}
size_t PoolRawAccess::getSizeOfType() {
return typeSize;
}
size_t PoolRawAccess::getArraySize(){
return arraySize;
}
uint32_t PoolRawAccess::getDataPoolId() const {
return dataPoolId;
}
PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
return readWriteMode;
}
ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
size_t setSize) {
if (typeSize == setSize) {
EndianConverter::convertBigEndian(value, buffer, typeSize);
return HasReturnvaluesIF::RETURN_OK;
} else {
sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: "
"Internal" << (uint32_t) typeSize << ", Requested: " << setSize
<< std::endl;
return INCORRECT_SIZE;
}
}
bool PoolRawAccess::isValid() const {
if (valid != INVALID)
return true;
else
return false;
}
void PoolRawAccess::setValid(bool valid) {
this->valid = valid;
}
size_t PoolRawAccess::getSizeTillEnd() const {
return sizeTillEnd;
}
size_t PoolRawAccess::getSerializedSize() const {
return typeSize;
}
ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) {
if (*size >= typeSize) {
switch(streamEndianness) {
case(Endianness::BIG):
EndianConverter::convertBigEndian(value, *buffer, typeSize);
break;
case(Endianness::LITTLE):
EndianConverter::convertLittleEndian(value, *buffer, typeSize);
break;
case(Endianness::MACHINE):
default:
memcpy(value, *buffer, typeSize);
break;
}
*size -= typeSize;
*buffer += typeSize;
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SerializeIF::STREAM_TOO_SHORT;
}
}

220
datapoolglob/PoolRawAccess.h Normal file
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@ -0,0 +1,220 @@
#ifndef POOLRAWACCESS_H_
#define POOLRAWACCESS_H_
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolEntryIF.h"
#include "../datapool/PoolVariableIF.h"
#include "../globalfunctions/Type.h"
/**
* @brief This class allows accessing Data Pool variables as raw bytes.
* @details
* This is necessary to have an access method for HK data, as the PID's alone
* do not provide type information. Please note that the the raw pool access
* read() and commit() calls are not thread-safe.
*
* Please supply a data set and use the data set read(), commit() calls for
* thread-safe data pool access.
* @ingroup data_pool
*/
class PoolRawAccess: public PoolVariableIF, HasReturnvaluesIF {
public:
/**
* This constructor is used to access a data pool entry with a
* given ID if the target type is not known. A DataSet object is supplied
* and the data pool entry with the given ID is registered to that data set.
* Please note that a pool raw access buffer only has a buffer
* with a size of double. As such, for vector entries which have
* @param data_pool_id Target data pool entry ID
* @param arrayEntry
* @param data_set Dataset to register data pool entry to
* @param setReadWriteMode
* @param registerVectors If set to true, the constructor checks if
* there are multiple vector entries to registers
* and registers all of them recursively into the data_set
*
*/
PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
DataSetIF* data_set, ReadWriteMode_t setReadWriteMode =
PoolVariableIF::VAR_READ);
/**
* @brief This operation returns a pointer to the entry fetched.
* @details Return pointer to the buffer containing the raw data
* Size and number of data can be retrieved by other means.
*/
uint8_t* getEntry();
/**
* @brief This operation returns the fetched entry from the data pool and
* flips the bytes, if necessary.
* @details It makes use of the getEntry call of this function, but additionally flips the
* bytes to big endian, which is the default for external communication (as House-
* keeping telemetry). To achieve this, the data is copied directly to the passed
* buffer, if it fits in the given max_size.
* @param buffer A pointer to a buffer to write to
* @param writtenBytes The number of bytes written is returned with this value.
* @param max_size The maximum size that the function may write to buffer.
* @return - @c RETURN_OK if entry could be acquired
* - @c RETURN_FAILED else.
*/
ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
size_t maxSize);
/**
* @brief Serialize raw pool entry into provided buffer directly
* @param buffer Provided buffer. Raw pool data will be copied here
* @param size [out] Increment provided size value by serialized size
* @param max_size Maximum allowed serialization size
* @param bigEndian Specify endianess
* @return - @c RETURN_OK if serialization was successfull
* - @c SerializeIF::BUFFER_TOO_SHORT if range check failed
*/
ReturnValue_t serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override;
/**
* With this method, the content can be set from a big endian buffer safely.
* @param buffer Pointer to the data to set
* @param size Size of the data to write. Must fit this->size.
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
size_t setSize);
/**
* @brief This operation returns the type of the entry currently stored.
*/
Type getType();
/**
* @brief This operation returns the size of the entry currently stored.
*/
size_t getSizeOfType();
/**
*
* @return the size of the datapool array
*/
size_t getArraySize();
/**
* @brief This operation returns the data pool id of the variable.
*/
uint32_t getDataPoolId() const;
static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t READ_TYPE_TOO_LARGE = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t READ_INDEX_TOO_LARGE = MAKE_RETURN_CODE(0x04);
static const ReturnValue_t READ_ENTRY_NON_EXISTENT = MAKE_RETURN_CODE(0x05);
static const uint8_t RAW_MAX_SIZE = sizeof(double);
uint8_t value[RAW_MAX_SIZE];
/**
* @brief The classes destructor is empty. If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~PoolRawAccess();
/**
* This method returns if the variable is read-write or read-only.
*/
ReadWriteMode_t getReadWriteMode() const;
/**
* @brief With this call, the valid information of the variable is returned.
*/
bool isValid() const;
void setValid(bool valid);
/**
* Getter for the remaining size.
*/
size_t getSizeTillEnd() const;
/**
* @brief This is a call to read the value from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the global data pool and copies the value and the valid
* information to its local attributes. In case of a failure (wrong type or
* pool id not found), the variable is set to zero and invalid.
* The call is protected by a lock of the global data pool.
* @return -@c RETURN_OK Read successfull
* -@c READ_TYPE_TOO_LARGE
* -@c READ_INDEX_TOO_LARGE
* -@c READ_ENTRY_NON_EXISTENT
*/
ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call writes back the variable's value to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the valid flag is automatically set to "valid".
* The call is protected by a lock of the global data pool.
*
*/
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
ReturnValue_t handleReadOut(PoolEntryIF* read_out);
void handleReadError(ReturnValue_t result);
private:
/**
* @brief To access the correct data pool entry on read and commit calls, the data pool id
* is stored.
*/
uint32_t dataPoolId;
/**
* @brief The array entry that is fetched from the data pool.
*/
uint8_t arrayEntry;
/**
* @brief The valid information as it was stored in the data pool is copied to this attribute.
*/
uint8_t valid;
/**
* @brief This value contains the type of the data pool entry.
*/
Type type;
/**
* @brief This value contains the size of the data pool entry type in bytes.
*/
size_t typeSize;
/**
* The size of the DP array (single values return 1)
*/
size_t arraySize;
/**
* The size (in bytes) from the selected entry till the end of this DataPool variable.
*/
size_t sizeTillEnd;
/**
* @brief The information whether the class is read-write or read-only is stored here.
*/
ReadWriteMode_t readWriteMode;
};
#endif /* POOLRAWACCESS_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
#define FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
#include "locPoolDefinitions.h"
#include "../datapool/PoolEntryIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../housekeeping/HousekeepingMessage.h"
#include <map>
class LocalDataPoolManager;
class LocalPoolDataSetBase;
class LocalPoolObjectBase;
using LocalDataPool = std::map<lp_id_t, PoolEntryIF*>;
using LocalDataPoolMapIter = LocalDataPool::iterator;
/**
* @brief This interface is implemented by classes which posses a local
* data pool (not the managing class). It defines the relationship
* between the local data pool owner and the LocalDataPoolManager.
* @details
* Any class implementing this interface shall also have a LocalDataPoolManager
* member class which contains the actual pool data structure
* and exposes the public interface for it.
* This is required because the pool entries are templates, which makes
* specifying an interface rather difficult. The local data pool can be
* accessed by using the LocalPoolVariable, LocalPoolVector or LocalDataSet
* classes.
*
* Architectural Note:
* This could be circumvented by using a wrapper/accessor function or
* implementing the templated function in this interface..
* The first solution sounds better than the second but
* the LocalPoolVariable classes are templates as well, so this just shifts
* the problem somewhere else. Interfaces are nice, but the most
* pragmatic solution I found was to offer the client the full interface
* of the LocalDataPoolManager.
*/
class HasLocalDataPoolIF {
public:
virtual~ HasLocalDataPoolIF() {};
static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
virtual object_id_t getObjectId() const = 0;
/** Command queue for housekeeping messages. */
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Is used by pool owner to initialize the pool map once
* The manager instance shall also be passed to this function.
* It can be used to subscribe for periodic packets for for updates.
*/
virtual ReturnValue_t initializeLocalDataPool(
LocalDataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) = 0;
/** Can be used to get a handle to the local data pool manager. */
virtual LocalDataPoolManager* getHkManagerHandle() = 0;
/**
* Returns the minimum sampling frequency in milliseconds, which will
* usually be the period the pool owner performs its periodic operation.
* @return
*/
virtual uint32_t getPeriodicOperationFrequency() const = 0;
/**
* This function is used by the pool manager to get a valid dataset
* from a SID
* @param sid Corresponding structure ID
* @return
*/
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) = 0;
/**
* Similar to the function above, but used to get a local pool variable
* handle. This is only needed for update notifications, so it is not
* defined as abstract.
* @param localPoolId
* @return
*/
virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
<< ". Returning nullptr!" << std::endl;
return nullptr;
}
/**
* @brief This function will be called by the manager if an update
* notification is received.
* @details
* Can be overriden by the child class to handle changed datasets.
* @param sid
* @param storeId If a snapshot was requested, data will be located inside
* the IPC store with this store ID.
*/
virtual void handleChangedDataset(sid_t sid,
store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
return;
}
/**
* @brief This function will be called by the manager if an update
* notification is received.
* @details
* Can be overriden by the child class to handle changed pool IDs.
* @param sid
* @param storeId If a snapshot was requested, data will be located inside
* the IPC store with this store ID.
*/
virtual void handleChangedPoolVariable(lp_id_t poolId,
store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
return;
}
/* These function can be implemented by pool owner, as they are required
* by the housekeeping message interface */
virtual ReturnValue_t addDataSet(sid_t sid) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t removeDataSet(sid_t sid) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t changeCollectionInterval(sid_t sid,
float newIntervalSeconds) {
return HasReturnvaluesIF::RETURN_FAILED;
};
};
#endif /* FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_ */

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#include "LocalDataPoolManager.h"
#include "LocalPoolObjectBase.h"
#include "LocalPoolDataSetBase.h"
#include "../housekeeping/HousekeepingPacketUpdate.h"
#include "../housekeeping/HousekeepingSetPacket.h"
#include "../housekeeping/AcceptsHkPacketsIF.h"
#include "../timemanager/CCSDSTime.h"
#include "../ipc/MutexFactory.h"
#include "../ipc/MutexHelper.h"
#include "../ipc/QueueFactory.h"
#include <array>
#include <cmath>
object_id_t LocalDataPoolManager::defaultHkDestination =
objects::PUS_SERVICE_3_HOUSEKEEPING;
LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
MessageQueueIF* queueToUse, bool appendValidityBuffer):
appendValidityBuffer(appendValidityBuffer) {
if(owner == nullptr) {
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Invalid supplied owner!" << std::endl;
return;
}
this->owner = owner;
mutex = MutexFactory::instance()->createMutex();
if(mutex == nullptr) {
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Could not create mutex." << std::endl;
}
hkQueue = queueToUse;
}
LocalDataPoolManager::~LocalDataPoolManager() {}
ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
if(queueToUse == nullptr) {
sif::error << "LocalDataPoolManager::initialize: "
<< std::hex << "0x" << owner->getObjectId() << ". Supplied "
<< "queue invalid!" << std::dec << std::endl;
}
hkQueue = queueToUse;
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if(ipcStore == nullptr) {
sif::error << "LocalDataPoolManager::initialize: "
<< std::hex << "0x" << owner->getObjectId() << ": Could not "
<< "set IPC store." <<std::dec << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(defaultHkDestination != objects::NO_OBJECT) {
AcceptsHkPacketsIF* hkPacketReceiver =
objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
if(hkPacketReceiver != nullptr) {
hkDestinationId = hkPacketReceiver->getHkQueue();
}
else {
sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
<< "Default HK destination object is invalid!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(
uint8_t nonDiagInvlFactor) {
setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
return initializeHousekeepingPoolEntriesOnce();
}
ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
if(not mapInitialized) {
ReturnValue_t result = owner->initializeLocalDataPool(localPoolMap,
*this);
if(result == HasReturnvaluesIF::RETURN_OK) {
mapInitialized = true;
}
return result;
}
sif::warning << "HousekeepingManager: The map should only be initialized "
<< "once!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::performHkOperation() {
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
for(auto& receiver: hkReceiversMap) {
switch(receiver.reportingType) {
case(ReportingType::PERIODIC): {
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
// Periodic packets shall only be generated from datasets.
continue;
}
performPeriodicHkGeneration(receiver);
break;
}
case(ReportingType::UPDATE_HK): {
handleHkUpdate(receiver, status);
break;
}
case(ReportingType::UPDATE_NOTIFICATION): {
handleNotificationUpdate(receiver, status);
break;
}
case(ReportingType::UPDATE_SNAPSHOT): {
handleNotificationSnapshot(receiver, status);
break;
}
default:
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
resetHkUpdateResetHelper();
return status;
}
ReturnValue_t LocalDataPoolManager::handleHkUpdate(HkReceiver& receiver,
ReturnValue_t& status) {
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
// Update packets shall only be generated from datasets.
return HasReturnvaluesIF::RETURN_FAILED;
}
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
receiver.dataId.sid);
if(dataSet->hasChanged()) {
// prepare and send update notification
ReturnValue_t result = generateHousekeepingPacket(
receiver.dataId.sid, dataSet, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
}
handleChangeResetLogic(receiver.dataType, receiver.dataId,
dataSet);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(
HkReceiver& receiver, ReturnValue_t& status) {
MarkChangedIF* toReset = nullptr;
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(
receiver.dataId.localPoolId);
if(poolObj == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(poolObj->hasChanged()) {
// prepare and send update notification.
CommandMessage notification;
HousekeepingMessage::setUpdateNotificationVariableCommand(
&notification, receiver.dataId.localPoolId);
ReturnValue_t result = hkQueue->sendMessage(
receiver.destinationQueue, &notification);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
toReset = poolObj;
}
}
else {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
receiver.dataId.sid);
if(dataSet == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(dataSet->hasChanged()) {
// prepare and send update notification
CommandMessage notification;
HousekeepingMessage::setUpdateNotificationSetCommand(
&notification, receiver.dataId.sid);
ReturnValue_t result = hkQueue->sendMessage(
receiver.destinationQueue, &notification);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
toReset = dataSet;
}
}
if(toReset != nullptr) {
handleChangeResetLogic(receiver.dataType,
receiver.dataId, toReset);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
HkReceiver& receiver, ReturnValue_t& status) {
MarkChangedIF* toReset = nullptr;
// check whether data has changed and send messages in case it has.
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(
receiver.dataId.localPoolId);
if(poolObj == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if (not poolObj->hasChanged()) {
return HasReturnvaluesIF::RETURN_OK;
}
// prepare and send update snapshot.
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), owner->getPoolObjectHandle(
receiver.dataId.localPoolId));
store_address_t storeId;
ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
CommandMessage notification;
HousekeepingMessage::setUpdateSnapshotVariableCommand(&notification,
receiver.dataId.localPoolId, storeId);
result = hkQueue->sendMessage(receiver.destinationQueue,
&notification);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
toReset = poolObj;
}
else {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
receiver.dataId.sid);
if(dataSet == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(not dataSet->hasChanged()) {
return HasReturnvaluesIF::RETURN_OK;
}
// prepare and send update snapshot.
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), owner->getDataSetHandle(receiver.dataId.sid));
store_address_t storeId;
ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
CommandMessage notification;
HousekeepingMessage::setUpdateSnapshotSetCommand(
&notification, receiver.dataId.sid, storeId);
result = hkQueue->sendMessage(receiver.destinationQueue, &notification);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
toReset = dataSet;
}
if(toReset != nullptr) {
handleChangeResetLogic(receiver.dataType,
receiver.dataId, toReset);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::addUpdateToStore(
HousekeepingPacketUpdate& updatePacket, store_address_t& storeId) {
size_t updatePacketSize = updatePacket.getSerializedSize();
uint8_t *storePtr = nullptr;
ReturnValue_t result = ipcStore->getFreeElement(&storeId,
updatePacket.getSerializedSize(), &storePtr);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t serializedSize = 0;
result = updatePacket.serialize(&storePtr, &serializedSize,
updatePacketSize, SerializeIF::Endianness::MACHINE);
return result;;
}
void LocalDataPoolManager::handleChangeResetLogic(
DataType type, DataId dataId, MarkChangedIF* toReset) {
if(hkUpdateResetList == nullptr) {
// config error!
return;
}
for(auto& changeInfo: *hkUpdateResetList) {
if(changeInfo.dataType != type) {
continue;
}
if((changeInfo.dataType == DataType::DATA_SET) and
(changeInfo.dataId.sid != dataId.sid)) {
continue;
}
if((changeInfo.dataType == DataType::LOCAL_POOL_VARIABLE) and
(changeInfo.dataId.localPoolId != dataId.localPoolId)) {
continue;
}
if(changeInfo.updateCounter <= 1) {
toReset->setChanged(false);
}
if(changeInfo.currentUpdateCounter == 0) {
toReset->setChanged(false);
}
else {
changeInfo.currentUpdateCounter--;
}
return;
}
}
void LocalDataPoolManager::resetHkUpdateResetHelper() {
if(hkUpdateResetList == nullptr) {
return;
}
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->get<AcceptsHkPacketsIF>(packetDestination);
if(hkReceiverObject == nullptr) {
sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
<< " Invalid receiver!"<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
struct HkReceiver hkReceiver;
hkReceiver.dataId.sid = sid;
hkReceiver.reportingType = ReportingType::PERIODIC;
hkReceiver.dataType = DataType::DATA_SET;
hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(dataSet != nullptr) {
dataSet->setReportingEnabled(enableReporting);
dataSet->setDiagnostic(isDiagnostics);
dataSet->initializePeriodicHelper(collectionInterval,
owner->getPeriodicOperationFrequency(), isDiagnostics);
}
hkReceiversMap.push_back(hkReceiver);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid,
bool isDiagnostics, bool reportingEnabled,
object_id_t packetDestination) {
AcceptsHkPacketsIF* hkReceiverObject =
objectManager->get<AcceptsHkPacketsIF>(packetDestination);
if(hkReceiverObject == nullptr) {
sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
<< " Invalid receiver!"<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
struct HkReceiver hkReceiver;
hkReceiver.dataId.sid = sid;
hkReceiver.reportingType = ReportingType::UPDATE_HK;
hkReceiver.dataType = DataType::DATA_SET;
hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(dataSet != nullptr) {
dataSet->setReportingEnabled(true);
dataSet->setDiagnostic(isDiagnostics);
}
hkReceiversMap.push_back(hkReceiver);
handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::subscribeForSetUpdateMessages(
const uint32_t setId, object_id_t destinationObject,
MessageQueueId_t targetQueueId, bool generateSnapshot) {
struct HkReceiver hkReceiver;
hkReceiver.dataType = DataType::DATA_SET;
hkReceiver.dataId.sid = sid_t(this->getOwner()->getObjectId(), setId);
hkReceiver.destinationQueue = targetQueueId;
hkReceiver.objectId = destinationObject;
if(generateSnapshot) {
hkReceiver.reportingType = ReportingType::UPDATE_SNAPSHOT;
}
else {
hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
}
hkReceiversMap.push_back(hkReceiver);
handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessages(
const lp_id_t localPoolId, object_id_t destinationObject,
MessageQueueId_t targetQueueId, bool generateSnapshot) {
struct HkReceiver hkReceiver;
hkReceiver.dataType = DataType::LOCAL_POOL_VARIABLE;
hkReceiver.dataId.localPoolId = localPoolId;
hkReceiver.destinationQueue = targetQueueId;
hkReceiver.objectId = destinationObject;
if(generateSnapshot) {
hkReceiver.reportingType = ReportingType::UPDATE_SNAPSHOT;
}
else {
hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
}
hkReceiversMap.push_back(hkReceiver);
handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
return HasReturnvaluesIF::RETURN_OK;
}
void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType,
DataId dataId) {
if(hkUpdateResetList == nullptr) {
hkUpdateResetList = new std::vector<struct HkUpdateResetHelper>();
}
for(auto& updateResetStruct: *hkUpdateResetList) {
if(dataType == DataType::DATA_SET) {
if(updateResetStruct.dataId.sid == dataId.sid) {
updateResetStruct.updateCounter++;
updateResetStruct.currentUpdateCounter++;
return;
}
}
else {
if(updateResetStruct.dataId.localPoolId == dataId.localPoolId) {
updateResetStruct.updateCounter++;
updateResetStruct.currentUpdateCounter++;
return;
}
}
}
HkUpdateResetHelper hkUpdateResetHelper;
hkUpdateResetHelper.currentUpdateCounter = 1;
hkUpdateResetHelper.updateCounter = 1;
hkUpdateResetHelper.dataType = dataType;
if(dataType == DataType::DATA_SET) {
hkUpdateResetHelper.dataId.sid = dataId.sid;
}
else {
hkUpdateResetHelper.dataId.localPoolId = dataId.localPoolId;
}
hkUpdateResetList->push_back(hkUpdateResetHelper);
}
ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
CommandMessage* message) {
Command_t command = message->getCommand();
sid_t sid = HousekeepingMessage::getSid(message);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(command) {
// Houskeeping interface handling.
case(HousekeepingMessage::ENABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
result = togglePeriodicGeneration(sid, true, true);
break;
}
case(HousekeepingMessage::DISABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
result = togglePeriodicGeneration(sid, false, true);
break;
}
case(HousekeepingMessage::ENABLE_PERIODIC_HK_REPORT_GENERATION): {
result = togglePeriodicGeneration(sid, true, false);
break;
}
case(HousekeepingMessage::DISABLE_PERIODIC_HK_REPORT_GENERATION): {
result = togglePeriodicGeneration(sid, false, false);
break;
}
case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
return generateSetStructurePacket(sid, true);
case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
return generateSetStructurePacket(sid, false);
case(HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL):
case(HousekeepingMessage::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL): {
float newCollIntvl = 0;
HousekeepingMessage::getCollectionIntervalModificationCommand(message,
&newCollIntvl);
if(command == HousekeepingMessage::
MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL) {
result = changeCollectionInterval(sid, newCollIntvl, true);
}
else {
result = changeCollectionInterval(sid, newCollIntvl, false);
}
break;
}
case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT
and dataSet->isDiagnostics()) {
return WRONG_HK_PACKET_TYPE;
}
else if(command == HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT
and not dataSet->isDiagnostics()) {
return WRONG_HK_PACKET_TYPE;
}
return generateHousekeepingPacket(HousekeepingMessage::getSid(message),
dataSet, true);
}
// Notification handling.
case(HousekeepingMessage::UPDATE_NOTIFICATION_SET): {
owner->handleChangedDataset(sid);
return HasReturnvaluesIF::RETURN_OK;
}
case(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE): {
lp_id_t locPoolId = HousekeepingMessage::
getUpdateNotificationVariableCommand(message);
owner->handleChangedPoolVariable(locPoolId);
return HasReturnvaluesIF::RETURN_OK;
}
case(HousekeepingMessage::UPDATE_SNAPSHOT_SET): {
store_address_t storeId;
HousekeepingMessage::getUpdateSnapshotSetCommand(message, &storeId);
owner->handleChangedDataset(sid, storeId);
return HasReturnvaluesIF::RETURN_OK;
}
case(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE): {
store_address_t storeId;
lp_id_t localPoolId = HousekeepingMessage::
getUpdateSnapshotVariableCommand(message, &storeId);
owner->handleChangedPoolVariable(localPoolId, storeId);
return HasReturnvaluesIF::RETURN_OK;
}
default:
return CommandMessageIF::UNKNOWN_COMMAND;
}
CommandMessage reply;
if(result != HasReturnvaluesIF::RETURN_OK) {
HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
}
else {
HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
}
hkQueue->sendMessage(hkDestinationId, &reply);
return result;
}
ReturnValue_t LocalDataPoolManager::printPoolEntry(
lp_id_t localPoolId) {
auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) {
sif::debug << "HousekeepingManager::fechPoolEntry:"
<< " Pool entry not found." << std::endl;
return POOL_ENTRY_NOT_FOUND;
}
poolIter->second->print();
return HasReturnvaluesIF::RETURN_OK;
}
MutexIF* LocalDataPoolManager::getMutexHandle() {
return mutex;
}
HasLocalDataPoolIF* LocalDataPoolManager::getOwner() {
return owner;
}
ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
LocalPoolDataSetBase* dataSet, bool forDownlink,
MessageQueueId_t destination) {
if(dataSet == nullptr) {
// Configuration error.
sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
<< " Set ID not found or dataset not assigned!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
store_address_t storeId;
HousekeepingPacketDownlink hkPacket(sid, dataSet);
size_t serializedSize = 0;
ReturnValue_t result = serializeHkPacketIntoStore(hkPacket, storeId,
forDownlink, &serializedSize);
if(result != HasReturnvaluesIF::RETURN_OK or serializedSize == 0) {
return result;
}
// and now we set a HK message and send it the HK packet destination.
CommandMessage hkMessage;
if(dataSet->isDiagnostics()) {
HousekeepingMessage::setHkDiagnosticsReply(&hkMessage, sid, storeId);
}
else {
HousekeepingMessage::setHkReportReply(&hkMessage, sid, storeId);
}
if(hkQueue == nullptr) {
return QUEUE_OR_DESTINATION_NOT_SET;
}
if(destination == MessageQueueIF::NO_QUEUE) {
if(hkDestinationId == MessageQueueIF::NO_QUEUE) {
// error, all destinations invalid
return HasReturnvaluesIF::RETURN_FAILED;
}
destination = hkDestinationId;
}
return hkQueue->sendMessage(destination, &hkMessage);
}
ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
HousekeepingPacketDownlink& hkPacket,
store_address_t& storeId, bool forDownlink,
size_t* serializedSize) {
uint8_t* dataPtr = nullptr;
const size_t maxSize = hkPacket.getSerializedSize();
ReturnValue_t result = ipcStore->getFreeElement(&storeId,
maxSize, &dataPtr);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(forDownlink) {
return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
SerializeIF::Endianness::BIG);
}
return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
SerializeIF::Endianness::MACHINE);
}
void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
uint8_t nonDiagInvlFactor) {
this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
}
void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
sid_t sid = receiver.dataId.sid;
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(not dataSet->getReportingEnabled()) {
return;
}
if(dataSet->periodicHelper == nullptr) {
// Configuration error.
return;
}
if(not dataSet->periodicHelper->checkOpNecessary()) {
return;
}
ReturnValue_t result = generateHousekeepingPacket(
sid, dataSet, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
// configuration error
sif::debug << "LocalDataPoolManager::performHkOperation:"
<< "0x" << std::hex << std::setfill('0') << std::setw(8)
<< owner->getObjectId() << " Error generating "
<< "HK packet" << std::setfill(' ') << std::dec << std::endl;
}
}
ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
bool enable, bool isDiagnostics) {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if((dataSet->isDiagnostics() and not isDiagnostics) or
(not dataSet->isDiagnostics() and isDiagnostics)) {
return WRONG_HK_PACKET_TYPE;
}
if((dataSet->getReportingEnabled() and enable) or
(not dataSet->getReportingEnabled() and not enable)) {
return REPORTING_STATUS_UNCHANGED;
}
dataSet->setReportingEnabled(enable);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
float newCollectionInterval, bool isDiagnostics) {
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
bool targetIsDiagnostics = dataSet->isDiagnostics();
if((targetIsDiagnostics and not isDiagnostics) or
(not targetIsDiagnostics and isDiagnostics)) {
return WRONG_HK_PACKET_TYPE;
}
if(dataSet->periodicHelper == nullptr) {
// config error
return PERIODIC_HELPER_INVALID;
}
dataSet->periodicHelper->changeCollectionInterval(newCollectionInterval);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
bool isDiagnostics) {
// Get and check dataset first.
LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(dataSet == nullptr) {
sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
<< " Set ID not found" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
bool targetIsDiagnostics = dataSet->isDiagnostics();
if((targetIsDiagnostics and not isDiagnostics) or
(not targetIsDiagnostics and isDiagnostics)) {
return WRONG_HK_PACKET_TYPE;
}
bool valid = dataSet->isValid();
bool reportingEnabled = dataSet->getReportingEnabled();
float collectionInterval =
dataSet->periodicHelper->getCollectionIntervalInSeconds();
// Generate set packet which can be serialized.
HousekeepingSetPacket setPacket(sid,
reportingEnabled, valid, collectionInterval, dataSet);
size_t expectedSize = setPacket.getSerializedSize();
uint8_t* storePtr = nullptr;
store_address_t storeId;
ReturnValue_t result = ipcStore->getFreeElement(&storeId,
expectedSize,&storePtr);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "HousekeepingManager::generateHousekeepingPacket: "
<< "Could not get free element from IPC store." << std::endl;
return result;
}
// Serialize set packet into store.
size_t size = 0;
result = setPacket.serialize(&storePtr, &size, expectedSize,
SerializeIF::Endianness::BIG);
if(expectedSize != size) {
sif::error << "HousekeepingManager::generateSetStructurePacket: "
<< "Expected size is not equal to serialized size" << std::endl;
}
// Send structure reporting reply.
CommandMessage reply;
if(isDiagnostics) {
HousekeepingMessage::setDiagnosticsStuctureReportReply(&reply,
sid, storeId);
}
else {
HousekeepingMessage::setHkStuctureReportReply(&reply,
sid, storeId);
}
hkQueue->reply(&reply);
return result;
}

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#ifndef FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
#define FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
#include "HasLocalDataPoolIF.h"
#include "../housekeeping/HousekeepingPacketDownlink.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../housekeeping/PeriodicHousekeepingHelper.h"
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolEntry.h"
#include "../objectmanager/SystemObjectIF.h"
#include "../ipc/MutexIF.h"
#include "../ipc/CommandMessage.h"
#include "../ipc/MessageQueueIF.h"
#include "../ipc/MutexHelper.h"
#include <map>
namespace Factory {
void setStaticFrameworkObjectIds();
}
class LocalPoolDataSetBase;
class HousekeepingPacketUpdate;
/**
* @brief This class is the managing instance for the local data pool.
* @details
* The actual data pool structure is a member of this class. Any class which
* has a local data pool shall have this manager class as a member and implement
* the HasLocalDataPoolIF.
*
* The manager offers some adaption points and functions which can be used
* by the owning class to simplify data handling significantly.
*
* Please ensure that both initialize and initializeAfterTaskCreation are
* called at some point by the owning class in the respective functions of the
* same name!
*
* Users of the data pool use the helper classes LocalDataSet,
* LocalPoolVariable and LocalPoolVector to access pool entries in
* a thread-safe and efficient way.
*
* The local data pools employ a blackboard logic: Only the most recent
* value is stored. The helper classes offer a read() and commit() interface
* through the PoolVariableIF which is used to read and update values.
* Each pool entry has a valid state too.
* @author R. Mueller
*/
class LocalDataPoolManager {
template<typename T> friend class LocalPoolVar;
template<typename T, uint16_t vecSize> friend class LocalPoolVector;
friend class LocalPoolDataSetBase;
friend void (Factory::setStaticFrameworkObjectIds)();
public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x02);
static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(0x03);
static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(0x04);
static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(0x05);
/**
* This constructor is used by a class which wants to implement
* a personal local data pool. The queueToUse can be supplied if it
* is already known.
*
* initialize() has to be called in any case before using the object!
* @param owner
* @param queueToUse
* @param appendValidityBuffer Specify whether a buffer containing the
* validity state is generated when serializing or deserializing packets.
*/
LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
bool appendValidityBuffer = true);
virtual~ LocalDataPoolManager();
/**
* Assigns the queue to use. Make sure to call this in the #initialize
* function of the owner.
* @param queueToUse
* @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
* @return
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse);
/**
* Initializes the map by calling the map initialization function and
* setting the periodic factor for non-diagnostic packets.
* Don't forget to call this in the #initializeAfterTaskCreation call of
* the owner, otherwise the map will be invalid!
* @param nonDiagInvlFactor
* @return
*/
ReturnValue_t initializeAfterTaskCreation(
uint8_t nonDiagInvlFactor = 5);
/**
* @brief This should be called in the periodic handler of the owner.
* @details
* This in generally called in the #performOperation function of the owner.
* It performs all the periodic functionalities of the data pool manager,
* for example generating periodic HK packets.
* Marked virtual as an adaption point for custom data pool managers.
* @return
*/
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);
/**
* @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 subscribeForUpdatePackets(sid_t sid, bool reportingEnabled,
bool isDiagnostics,
object_id_t packetDestination = defaultHkDestination);
/**
* @brief Subscribe for a notification message which will be sent
* if a dataset has changed.
* @details
* This subscription mechanism will generally be used internally by
* other software components.
* @param setId Set ID of the set to receive update messages from.
* @param destinationObject
* @param targetQueueId
* @param generateSnapshot If this is set to true, a copy of the current
* data with a timestamp will be generated and sent via message.
* Otherwise, only an notification message is sent.
* @return
*/
ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot);
/**
* @brief Subscribe for an notification message which will be sent if a
* pool variable has changed.
* @details
* This subscription mechanism will generally be used internally by
* other software components.
* @param localPoolId Pool ID of the pool variable
* @param destinationObject
* @param targetQueueId
* @param generateSnapshot If this is set to true, a copy of the current
* data with a timestamp will be generated and sent via message.
* Otherwise, only an notification message is sent.
* @return
*/
ReturnValue_t subscribeForVariableUpdateMessages(const lp_id_t localPoolId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot);
/**
* Non-Diagnostics packets usually have a lower minimum sampling frequency
* than diagnostic packets.
* A factor can be specified to determine the minimum sampling frequency
* for non-diagnostic packets. The minimum sampling frequency of the
* diagnostics packets,which is usually jusst the period of the
* performOperation calls, is multiplied with that factor.
* @param factor
*/
void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
/**
* @brief The manager is also able to handle housekeeping messages.
* @details
* This most commonly is used to handle messages for the housekeeping
* interface, but the manager is also able to handle update notifications
* and calls a special function which can be overriden by a child class
* to handle data set or pool variable updates. This is relevant
* for classes like controllers which have their own local datapool
* but pull their data from other local datapools.
* @param message
* @return
*/
virtual ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
/**
* Generate a housekeeping packet with a given SID.
* @param sid
* @return
*/
ReturnValue_t generateHousekeepingPacket(sid_t sid,
LocalPoolDataSetBase* dataSet, bool forDownlink,
MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
HasLocalDataPoolIF* getOwner();
ReturnValue_t printPoolEntry(lp_id_t localPoolId);
/**
* Different types of housekeeping reporting are possible.
* 1. PERIODIC:
* HK packets are generated in fixed intervals and sent to
* destination. Fromat will be raw.
* 2. UPDATE_NOTIFICATION:
* Notification will be sent out if HK data has changed.
* 3. UPDATE_SNAPSHOT:
* HK packets are only generated if explicitely requested.
* Propably not necessary, just use multiple local data sets or
* shared datasets.
*/
enum class ReportingType: uint8_t {
//! Periodic generation of HK packets.
PERIODIC,
//! Housekeeping packet will be generated if values have changed.
UPDATE_HK,
//! Update notification will be sent out as message.
UPDATE_NOTIFICATION,
//! Notification will be sent out as message and a snapshot of the
//! current data will be generated.
UPDATE_SNAPSHOT,
};
/**
* Different data types are possible in the HK receiver map.
* For example, updates can be requested for full datasets or
* for single pool variables. Periodic reporting is only possible for
* data sets.
*/
enum class DataType: uint8_t {
LOCAL_POOL_VARIABLE,
DATA_SET
};
/* Copying forbidden */
LocalDataPoolManager(const LocalDataPoolManager &) = delete;
LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
private:
LocalDataPool localPoolMap;
//! Every housekeeping data manager has a mutex to protect access
//! to it's data pool.
MutexIF* mutex = nullptr;
/** The class which actually owns the manager (and its datapool). */
HasLocalDataPoolIF* owner = nullptr;
uint8_t nonDiagnosticIntervalFactor = 0;
/** Default receiver for periodic HK packets */
static object_id_t defaultHkDestination;
MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
union DataId {
DataId(): sid() {};
sid_t sid;
lp_id_t localPoolId;
};
/** The data pool manager will keep an internal map of HK receivers. */
struct HkReceiver {
/** Object ID of receiver */
object_id_t objectId = objects::NO_OBJECT;
DataType dataType = DataType::DATA_SET;
DataId dataId;
ReportingType reportingType = ReportingType::PERIODIC;
MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
};
/** This vector will contain the list of HK receivers. */
using HkReceivers = std::vector<struct HkReceiver>;
HkReceivers hkReceiversMap;
struct HkUpdateResetHelper {
DataType dataType = DataType::DATA_SET;
DataId dataId;
uint8_t updateCounter;
uint8_t currentUpdateCounter;
};
using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
// Will only be created when needed.
HkUpdateResetList* hkUpdateResetList = nullptr;
/** This is the map holding the actual data. Should only be initialized
* once ! */
bool mapInitialized = false;
/** This specifies whether a validity buffer is appended at the end
* of generated housekeeping packets. */
bool appendValidityBuffer = true;
/**
* @brief Queue used for communication, for example commands.
* Is also used to send messages. Can be set either in the constructor
* or in the initialize() function.
*/
MessageQueueIF* hkQueue = nullptr;
/** Global IPC store is used to store all packets. */
StorageManagerIF* ipcStore = nullptr;
/**
* Get the pointer to the mutex. Can be used to lock the data pool
* externally. Use with care and don't forget to unlock locked mutexes!
* For now, only friend classes can accss this function.
* @return
*/
MutexIF* getMutexHandle();
/**
* Read a variable by supplying its local pool ID and assign the pool
* entry to the supplied PoolEntry pointer. The type of the pool entry
* is deduced automatically. This call is not thread-safe!
* For now, only friend classes like LocalPoolVar may access this
* function.
* @tparam T Type of the pool entry
* @param localPoolId Pool ID of the variable to read
* @param poolVar [out] Corresponding pool entry will be assigned to the
* supplied pointer.
* @return
*/
template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry);
/**
* This function is used to fill the local data pool map with pool
* entries. It should only be called once by the pool owner.
* @param localDataPoolMap
* @return
*/
ReturnValue_t initializeHousekeepingPoolEntriesOnce();
ReturnValue_t serializeHkPacketIntoStore(
HousekeepingPacketDownlink& hkPacket,
store_address_t& storeId, bool forDownlink, size_t* serializedSize);
void performPeriodicHkGeneration(HkReceiver& hkReceiver);
ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
bool isDiagnostics);
ReturnValue_t changeCollectionInterval(sid_t sid,
float newCollectionInterval, bool isDiagnostics);
ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
void handleChangeResetLogic(DataType type,
DataId dataId, MarkChangedIF* toReset);
void resetHkUpdateResetHelper();
ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver,
ReturnValue_t& status);
ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver,
ReturnValue_t& status);
ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
ReturnValue_t& status);
ReturnValue_t addUpdateToStore(HousekeepingPacketUpdate& updatePacket,
store_address_t& storeId);
};
template<class T> inline
ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry) {
auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) {
sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry "
"not found." << std::endl;
return POOL_ENTRY_NOT_FOUND;
}
*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
if(*poolEntry == nullptr) {
sif::debug << "HousekeepingManager::fetchPoolEntry:"
" Pool entry not found." << std::endl;
return POOL_ENTRY_TYPE_CONFLICT;
}
return HasReturnvaluesIF::RETURN_OK;
}
#endif /* FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */

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#include "LocalDataSet.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../serialize/SerializeAdapter.h"
#include <cmath>
#include <cstring>
LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner, uint32_t setId,
const size_t maxNumberOfVariables):
LocalPoolDataSetBase(hkOwner, setId, nullptr, maxNumberOfVariables),
poolVarList(maxNumberOfVariables) {
this->setContainer(poolVarList.data());
}
LocalDataSet::LocalDataSet(sid_t sid, const size_t maxNumberOfVariables):
LocalPoolDataSetBase(sid, nullptr, maxNumberOfVariables),
poolVarList(maxNumberOfVariables) {
this->setContainer(poolVarList.data());
}
LocalDataSet::~LocalDataSet() {}

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#ifndef FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
#define FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
#include "LocalPoolDataSetBase.h"
#include <vector>
class LocalDataSet: public LocalPoolDataSetBase {
public:
LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId,
const size_t maxSize);
LocalDataSet(sid_t sid, const size_t maxSize);
virtual~ LocalDataSet();
//! Copying forbidden for now.
LocalDataSet(const LocalDataSet&) = delete;
LocalDataSet& operator=(const LocalDataSet&) = delete;
private:
std::vector<PoolVariableIF*> poolVarList;
};
#endif /* FSFW_DATAPOOLLOCAL_LOCALDATASET_H_ */

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#include "LocalPoolDataSetBase.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../housekeeping/PeriodicHousekeepingHelper.h"
#include "../serialize/SerializeAdapter.h"
#include <cmath>
#include <cstring>
LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
uint32_t setId, PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables, bool noPeriodicHandling):
PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
if(hkOwner == nullptr) {
// Configuration error.
sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
<< "invalid!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
this->sid.objectId = hkOwner->getObjectId();
this->sid.ownerSetId = setId;
mutex = MutexFactory::instance()->createMutex();
// Data creators get a periodic helper for periodic HK data generation.
if(not noPeriodicHandling) {
periodicHelper = new PeriodicHousekeepingHelper(this);
}
}
LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables):
PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
sid.objectId);
if(hkOwner == nullptr) {
// Configuration error.
sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
<< "invalid!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
this->sid = sid;
mutex = MutexFactory::instance()->createMutex();
}
LocalPoolDataSetBase::~LocalPoolDataSetBase() {
}
ReturnValue_t LocalPoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
MutexIF* mutex = hkManager->getMutexHandle();
return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
}
ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer,
size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
uint8_t validityMask[validityMaskSize];
uint8_t validBufferIndex = 0;
uint8_t validBufferIndexBit = 0;
for (uint16_t count = 0; count < fillCount; count++) {
if(registeredVariables[count]->isValid()) {
// set validity buffer here.
this->bitSetter(validityMask + validBufferIndex,
validBufferIndexBit);
if(validBufferIndexBit == 7) {
validBufferIndex ++;
validBufferIndexBit = 0;
}
else {
validBufferIndexBit ++;
}
}
result = registeredVariables[count]->serialize(buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
if(*size + validityMaskSize > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
// copy validity buffer to end
std::memcpy(*buffer, validityMask, validityMaskSize);
*size += validityMaskSize;
return result;
}
ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
const uint8_t **buffer, size_t *size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t count = 0; count < fillCount; count++) {
result = registeredVariables[count]->deSerialize(buffer, size,
streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
if(*size < std::ceil(static_cast<float>(fillCount) / 8.0)) {
return SerializeIF::STREAM_TOO_SHORT;
}
uint8_t validBufferIndex = 0;
uint8_t validBufferIndexBit = 0;
for (uint16_t count = 0; count < fillCount; count++) {
// set validity buffer here.
bool nextVarValid = this->bitGetter(*buffer +
validBufferIndex, validBufferIndexBit);
registeredVariables[count]->setValid(nextVarValid);
if(validBufferIndexBit == 7) {
validBufferIndex ++;
validBufferIndexBit = 0;
}
else {
validBufferIndexBit ++;
}
}
return result;
}
ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
MutexIF* mutex = hkManager->getMutexHandle();
return mutex->unlockMutex();
}
ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
size_t* size, size_t maxSize,SerializeIF::Endianness streamEndianness,
bool serializeFillCount) const {
// Serialize as uint8_t
uint8_t fillCount = this->fillCount;
if(serializeFillCount) {
SerializeAdapter::serialize(&fillCount, buffer, size, maxSize,
streamEndianness);
}
for (uint16_t count = 0; count < fillCount; count++) {
lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
auto result = SerializeAdapter::serialize(&currentPoolId, buffer,
size, maxSize, streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
" error!" << std::endl;
return result;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t LocalPoolDataSetBase::getLocalPoolIdsSerializedSize(
bool serializeFillCount) const {
if(serializeFillCount) {
return fillCount * sizeof(lp_id_t) + sizeof(uint8_t);
}
else {
return fillCount * sizeof(lp_id_t);
}
}
size_t LocalPoolDataSetBase::getSerializedSize() const {
if(withValidityBuffer) {
uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
return validityMaskSize + PoolDataSetBase::getSerializedSize();
}
else {
return PoolDataSetBase::getSerializedSize();
}
}
void LocalPoolDataSetBase::setValidityBufferGeneration(
bool withValidityBuffer) {
this->withValidityBuffer = withValidityBuffer;
}
ReturnValue_t LocalPoolDataSetBase::deSerialize(const uint8_t **buffer,
size_t *size, SerializeIF::Endianness streamEndianness) {
if(withValidityBuffer) {
return this->deSerializeWithValidityBuffer(buffer, size,
streamEndianness);
}
else {
return PoolDataSetBase::deSerialize(buffer, size, streamEndianness);
}
}
ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
size_t maxSize, SerializeIF::Endianness streamEndianness) const {
if(withValidityBuffer) {
return this->serializeWithValidityBuffer(buffer, size,
maxSize, streamEndianness);
}
else {
return PoolDataSetBase::serialize(buffer, size, maxSize,
streamEndianness);
}
}
void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
if(position > 7) {
sif::debug << "Pool Raw Access: Bit setting invalid position"
<< std::endl;
return;
}
uint8_t shiftNumber = position + (7 - 2 * position);
*byte |= 1 << shiftNumber;
}
void LocalPoolDataSetBase::setDiagnostic(bool isDiagnostics) {
this->diagnostic = isDiagnostics;
}
bool LocalPoolDataSetBase::isDiagnostics() const {
return diagnostic;
}
void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
this->reportingEnabled = reportingEnabled;
}
bool LocalPoolDataSetBase::getReportingEnabled() const {
return reportingEnabled;
}
void LocalPoolDataSetBase::initializePeriodicHelper(
float collectionInterval, dur_millis_t minimumPeriodicInterval,
bool isDiagnostics, uint8_t nonDiagIntervalFactor) {
periodicHelper->initialize(collectionInterval, minimumPeriodicInterval,
isDiagnostics, nonDiagIntervalFactor);
}
void LocalPoolDataSetBase::setChanged(bool changed) {
// TODO: Make this configurable?
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
this->changed = changed;
}
bool LocalPoolDataSetBase::hasChanged() const {
// TODO: Make this configurable?
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
return changed;
}
sid_t LocalPoolDataSetBase::getSid() const {
return sid;
}
bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
uint8_t position) const {
if(position > 7) {
sif::debug << "Pool Raw Access: Bit setting invalid position"
<< std::endl;
return false;
}
uint8_t shiftNumber = position + (7 - 2 * position);
return *byte & (1 << shiftNumber);
}
bool LocalPoolDataSetBase::isValid() const {
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
return this->valid;
}
void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
if(setEntriesRecursively) {
for(size_t idx = 0; idx < this->getFillCount(); idx++) {
registeredVariables[idx] -> setValid(valid);
}
}
this->valid = valid;
}

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
#include "HasLocalDataPoolIF.h"
#include "MarkChangedIF.h"
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolDataSetBase.h"
#include "../serialize/SerializeIF.h"
#include <vector>
class LocalDataPoolManager;
class PeriodicHousekeepingHelper;
/**
* @brief The LocalDataSet class manages a set of locally checked out
* variables for local data pools
* @details
* Extends the PoolDataSetBase class for local data pools by introducing
* a validity state, a flag to mark the set as changed, and various other
* functions to make it usable by the LocalDataPoolManager class.
*
* This class manages a list, where a set of local variables (or pool variables)
* are registered. They are checked-out (i.e. their values are looked
* up and copied) with the read call. After the user finishes working with the
* pool variables, he can write back all variable values to the pool with
* the commit call. The data set manages locking and freeing the local data
* pools, to ensure thread-safety.
*
* Pool variables can be added to the dataset by using the constructor
* argument of the pool variable or using the #registerVariable member function.
*
* An internal state manages usage of this class. Variables may only be
* registered before any read call is made, and the commit call can only happen
* after the read call.
*
* If pool variables are writable and not committed until destruction
* of the set, the DataSet class automatically sets the valid flag in the
* data pool to invalid (without) changing the variable's value.
*
* @ingroup data_pool
*/
class LocalPoolDataSetBase: public PoolDataSetBase,
public MarkChangedIF {
friend class LocalDataPoolManager;
friend class PeriodicHousekeepingHelper;
public:
/**
* @brief Constructor for the creator of local pool data.
* @details
* This constructor also initializes the components required for
* periodic handling.
*/
LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
uint32_t setId, PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables, bool noPeriodicHandling = false);
/**
* @brief Constructor for users of local pool data.
* @details
* @param sid Unique identifier of dataset consisting of object ID and
* set ID.
* @param registeredVariablesArray
* @param maxNumberOfVariables
*/
LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables);
/**
* @brief The destructor automatically manages writing the valid
* information of variables.
* @details
* In case the data set was read out, but not committed(indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~LocalPoolDataSetBase();
void setValidityBufferGeneration(bool withValidityBuffer);
sid_t getSid() const;
/** SerializeIF overrides */
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;
ReturnValue_t deSerialize(const uint8_t** buffer, size_t *size,
SerializeIF::Endianness streamEndianness) override;
size_t getSerializedSize() const override;
/**
* Special version of the serilization function which appends a
* validity buffer at the end. Each bit of this validity buffer
* denotes whether the container data set entries are valid from left
* to right, MSB first. (length = ceil(N/8), N = number of pool variables)
* @param buffer
* @param size
* @param maxSize
* @param bigEndian
* @param withValidityBuffer
* @return
*/
ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const;
ReturnValue_t deSerializeWithValidityBuffer(const uint8_t** buffer,
size_t *size, SerializeIF::Endianness streamEndianness);
ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness,
bool serializeFillCount = true) const;
uint8_t getLocalPoolIdsSerializedSize(bool serializeFillCount = true) const;
/**
* Set the dataset valid or invalid. These calls are mutex protected.
* @param setEntriesRecursively
* If this is true, all contained datasets will also be set recursively.
*/
void setValidity(bool valid, bool setEntriesRecursively);
bool isValid() const override;
/**
* These calls are mutex protected.
* @param changed
*/
void setChanged(bool changed) override;
bool hasChanged() const override;
protected:
sid_t sid;
MutexIF* mutex = nullptr;
bool diagnostic = false;
void setDiagnostic(bool diagnostics);
bool isDiagnostics() const;
/**
* Used for periodic generation.
*/
bool reportingEnabled = false;
void setReportingEnabled(bool enabled);
bool getReportingEnabled() const;
void initializePeriodicHelper(float collectionInterval,
dur_millis_t minimumPeriodicInterval,
bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5);
/**
* If the valid state of a dataset is always relevant to the whole
* data set we can use this flag.
*/
bool valid = false;
/**
* Can be used to mark the dataset as changed, which is used
* by the LocalDataPoolManager to send out update messages.
*/
bool changed = false;
/**
* Specify whether the validity buffer is serialized too when serializing
* or deserializing the packet. Each bit of the validity buffer will
* contain the validity state of the pool variables from left to right.
* The size of validity buffer thus will be ceil(N / 8) with N = number of
* pool variables.
*/
bool withValidityBuffer = true;
/**
* @brief This is a small helper function to facilitate locking
* the global data pool.
* @details
* It makes use of the lockDataPool method offered by the DataPool class.
*/
ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
/**
* @brief This is a small helper function to facilitate
* unlocking the global data pool
* @details
* It makes use of the freeDataPoolLock method offered by the DataPool class.
*/
ReturnValue_t unlockDataPool() override;
LocalDataPoolManager* hkManager;
/**
* Set n-th bit of a byte, with n being the position from 0
* (most significant bit) to 7 (least significant bit)
*/
void bitSetter(uint8_t* byte, uint8_t position) const;
bool bitGetter(const uint8_t* byte, uint8_t position) const;
PeriodicHousekeepingHelper* periodicHelper = nullptr;
};
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_ */

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#include "LocalPoolObjectBase.h"
LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId,
HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode): localPoolId(poolId),
readWriteMode(setReadWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
<< "which is the NO_PARAMETER value!" << std::endl;
}
if(hkOwner == nullptr) {
sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
<< "owner is a invalid!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
if (dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode): localPoolId(poolId),
readWriteMode(setReadWriteMode) {
if(poolId == PoolVariableIF::NO_PARAMETER) {
sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
<< "which is the NO_PARAMETER value!" << std::endl;
}
HasLocalDataPoolIF* hkOwner =
objectManager->get<HasLocalDataPoolIF>(poolOwner);
if(hkOwner == nullptr) {
sif::error << "LocalPoolVariable: The supplied pool owner did not "
<< "implement the correct interface"
<< " HasLocalDataPoolIF!" << std::endl;
return;
}
hkManager = hkOwner->getHkManagerHandle();
if(dataSet != nullptr) {
dataSet->registerVariable(this);
}
}
pool_rwm_t LocalPoolObjectBase::getReadWriteMode() const {
return readWriteMode;
}
bool LocalPoolObjectBase::isValid() const {
return valid;
}
void LocalPoolObjectBase::setValid(bool valid) {
this->valid = valid;
}
lp_id_t LocalPoolObjectBase::getDataPoolId() const {
return localPoolId;
}
void LocalPoolObjectBase::setDataPoolId(lp_id_t poolId) {
this->localPoolId = poolId;
}
void LocalPoolObjectBase::setChanged(bool changed) {
this->changed = changed;
}
bool LocalPoolObjectBase::hasChanged() const {
return changed;
}
void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
this->readWriteMode = newReadWriteMode;
}

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_
#include "MarkChangedIF.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../datapool/PoolVariableIF.h"
class LocalPoolObjectBase: public PoolVariableIF,
public HasReturnvaluesIF,
public MarkChangedIF {
public:
LocalPoolObjectBase(lp_id_t poolId,
HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode);
LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
void setReadWriteMode(pool_rwm_t newReadWriteMode);
pool_rwm_t getReadWriteMode() const;
bool isValid() const override;
void setValid(bool valid) override;
void setChanged(bool changed) override;
bool hasChanged() const override;
lp_id_t getDataPoolId() const override;
void setDataPoolId(lp_id_t poolId);
protected:
/**
* @brief To access the correct data pool entry on read and commit calls,
* the data pool id is stored.
*/
uint32_t localPoolId = PoolVariableIF::NO_PARAMETER;
/**
* @brief The valid information as it was stored in the data pool
* is copied to this attribute.
*/
bool valid = false;
/**
* @brief A local pool variable can be marked as changed.
*/
bool changed = false;
/**
* @brief The information whether the class is read-write or
* read-only is stored here.
*/
ReadWriteMode_t readWriteMode = pool_rwm_t::VAR_READ_WRITE;
//! @brief Pointer to the class which manages the HK pool.
LocalDataPoolManager* hkManager;
};
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
#include "LocalPoolObjectBase.h"
#include "HasLocalDataPoolIF.h"
#include "LocalDataPoolManager.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapool/DataSetIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../serialize/SerializeAdapter.h"
/**
* @brief Local Pool Variable class which is used to access the local pools.
* @details
* This class is not stored in the map. Instead, it is used to access
* the pool entries by using a pointer to the map storing the pool
* entries. It can also be used to organize these pool entries into data sets.
*
* @tparam T The template parameter sets the type of the variable. Currently,
* all plain data types are supported, but in principle any type is possible.
* @ingroup data_pool
*/
template<typename T>
class LocalPoolVar: public LocalPoolObjectBase {
public:
//! Default ctor is forbidden.
LocalPoolVar() = delete;
/**
* This constructor is used by the data creators to have pool variable
* instances which can also be stored in datasets.
*
* It does not fetch the current value from the data pool, which
* has to be done by calling the read() operation.
* Datasets can be used to access multiple local pool entries in an
* efficient way. A pointer to a dataset can be passed to register
* the pool variable in that dataset directly.
* @param poolId ID of the local pool entry.
* @param hkOwner Pointer of the owner. This will generally be the calling
* class itself which passes "this".
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
* @param setReadWriteMode Specify the read-write mode of the pool variable.
*/
LocalPoolVar(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* This constructor is used by data users like controllers to have
* access to the local pool variables of data creators by supplying
* the respective creator object ID.
*
* It does not fetch the current value from the data pool, which
* has to be done by calling the read() operation.
* Datasets can be used to access multiple local pool entries in an
* efficient way. A pointer to a dataset can be passed to register
* the pool variable in that dataset directly.
* @param poolId ID of the local pool entry.
* @param hkOwner object ID of the pool owner.
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
* @param setReadWriteMode Specify the read-write mode of the pool variable.
*
*/
LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* Variation which takes the global unique identifier of a pool variable.
* @param globalPoolId
* @param dataSet
* @param setReadWriteMode
*/
LocalPoolVar(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
virtual~ LocalPoolVar() {};
/**
* @brief This is the local copy of the data pool entry.
* @details The user can work on this attribute
* just like he would on a simple local variable.
*/
T value = 0;
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override;
/**
* @brief This is a call to read the array's values
* from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the data pool and copies all array values and the valid
* information to its local attributes.
* In case of a failure (wrong type, size or pool id not found), the
* variable is set to zero and invalid.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*
*/
ReturnValue_t read(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the local valid flag is written back as well.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
LocalPoolVar<T> &operator=(const T& newValue);
LocalPoolVar<T> &operator=(const LocalPoolVar<T>& newPoolVariable);
//! Explicit type conversion operator. Allows casting the class to
//! its template type to perform operations on value.
explicit operator T() const;
bool operator==(const LocalPoolVar<T>& other) const;
bool operator==(const T& other) const;
bool operator!=(const LocalPoolVar<T>& other) const;
bool operator!=(const T& other) const;
bool operator<(const LocalPoolVar<T>& other) const;
bool operator<(const T& other) const;
bool operator>(const LocalPoolVar<T>& other) const;
bool operator>(const T& other) const;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
// std::ostream is the type for object std::cout
template <typename U>
friend std::ostream& operator<< (std::ostream &out,
const LocalPoolVar<U> &var);
private:
};
#include "LocalPoolVariable.tpp"
template<class T>
using lp_var_t = LocalPoolVar<T>;
using lp_bool_t = LocalPoolVar<uint8_t>;
using lp_uint8_t = LocalPoolVar<uint8_t>;
using lp_uint16_t = LocalPoolVar<uint16_t>;
using lp_uint32_t = LocalPoolVar<uint32_t>;
using lp_uint64_t = LocalPoolVar<uint64_t>;
using lp_int8_t = LocalPoolVar<int8_t>;
using lp_int16_t = LocalPoolVar<int16_t>;
using lp_int32_t = LocalPoolVar<int32_t>;
using lp_int64_t = LocalPoolVar<int64_t>;
using lp_float_t = LocalPoolVar<float>;
using lp_double_t = LocalPoolVar<double>;
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
#error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
#endif
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(HasLocalDataPoolIF* hkOwner,
lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(gp_id_t globalPoolId, DataSetIF *dataSet,
pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode){}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return readWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK and poolEntry != nullptr) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
this->value = *(poolEntry->address);
this->valid = poolEntry->valid;
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return commitWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for commit() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
*(poolEntry->address) = this->value;
poolEntry->valid = this->valid;
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
const size_t max_size, SerializeIF::Endianness streamEndianness) const {
return SerializeAdapter::serialize(&value,
buffer, size ,max_size, streamEndianness);
}
template<typename T>
inline size_t LocalPoolVar<T>::getSerializedSize() const {
return SerializeAdapter::getSerializedSize(&value);
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
size_t* size, SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
}
template<typename T>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVar<T> &var) {
out << var.value;
return out;
}
template<typename T>
inline LocalPoolVar<T>::operator T() const {
return value;
}
template<typename T>
inline LocalPoolVar<T> & LocalPoolVar<T>::operator=(const T& newValue) {
value = newValue;
return *this;
}
template<typename T>
inline LocalPoolVar<T>& LocalPoolVar<T>::operator =(
const LocalPoolVar<T>& newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
template<typename T>
inline bool LocalPoolVar<T>::operator ==(const LocalPoolVar<T> &other) const {
return this->value == other.value;
}
template<typename T>
inline bool LocalPoolVar<T>::operator ==(const T &other) const {
return this->value == other;
}
template<typename T>
inline bool LocalPoolVar<T>::operator !=(const LocalPoolVar<T> &other) const {
return not (*this == other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator !=(const T &other) const {
return not (*this == other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator <(const LocalPoolVar<T> &other) const {
return this->value < other.value;
}
template<typename T>
inline bool LocalPoolVar<T>::operator <(const T &other) const {
return this->value < other;
}
template<typename T>
inline bool LocalPoolVar<T>::operator >(const LocalPoolVar<T> &other) const {
return not (*this < other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator >(const T &other) const {
return not (*this < other);
}
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#include "LocalPoolObjectBase.h"
#include "../datapool/DataSetIF.h"
#include "../datapool/PoolEntry.h"
#include "../datapool/PoolVariableIF.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
/**
* @brief This is the access class for array-type data pool entries.
* @details
* To ensure safe usage of the data pool, operation is not done directly on the
* data pool entries, but on local copies. This class provides simple type-
* and length-safe access to vector-style data pool entries (i.e. entries with
* length > 1). The class can be instantiated as read-write and read only.
*
* It provides a commit-and-roll-back semantic, which means that no array
* entry in the data pool is changed until the commit call is executed.
* There are two template parameters:
* @tparam T
* This template parameter specifies the data type of an array entry. Currently,
* all plain data types are supported, but in principle any type is possible.
* @tparam vector_size
* This template parameter specifies the vector size of this entry. Using a
* template parameter for this is not perfect, but avoids
* dynamic memory allocation.
* @ingroup data_pool
*/
template<typename T, uint16_t vectorSize>
class LocalPoolVector: public LocalPoolObjectBase {
public:
LocalPoolVector() = delete;
/**
* This constructor is used by the data creators to have pool variable
* instances which can also be stored in datasets.
* It does not fetch the current value from the data pool. This is performed
* by the read() operation (which is not thread-safe).
* Datasets can be used to access local pool entires in a thread-safe way.
* @param poolId ID of the local pool entry.
* @param hkOwner Pointer of the owner. This will generally be the calling
* class itself which passes "this".
* @param setReadWriteMode Specify the read-write mode of the pool variable.
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
*/
LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* This constructor is used by data users like controllers to have
* access to the local pool variables of data creators by supplying
* the respective creator object ID.
* It does not fetch the current value from the data pool. This is performed
* by the read() operation (which is not thread-safe).
* Datasets can be used to access local pool entires in a thread-safe way.
* @param poolId ID of the local pool entry.
* @param hkOwner Pointer of the owner. This will generally be the calling
* class itself which passes "this".
* @param setReadWriteMode Specify the read-write mode of the pool variable.
* @param dataSet The data set in which the variable shall register itself.
* If nullptr, the variable is not registered.
*/
LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* Variation which takes the unique global identifier of a local pool
* vector.
* @param globalPoolId
* @param dataSet
* @param setReadWriteMode
*/
LocalPoolVector(gp_id_t globalPoolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
* @brief This is the local copy of the data pool entry.
* @details
* The user can work on this attribute just like he would on a local
* array of this type.
*/
T value[vectorSize];
/**
* @brief The classes destructor is empty.
* @details If commit() was not called, the local value is
* discarded and not written back to the data pool.
*/
~LocalPoolVector() {};
/**
* @brief The operation returns the number of array entries
* in this variable.
*/
uint8_t getSize() {
return vectorSize;
}
T& operator [](int i);
const T &operator [](int i) const;
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
const size_t maxSize,
SerializeIF::Endianness streamEndiannes) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override;
/**
* @brief This is a call to read the array's values
* from the global data pool.
* @details
* When executed, this operation tries to fetch the pool entry with matching
* data pool id from the data pool and copies all array values and the valid
* information to its local attributes.
* In case of a failure (wrong type, size or pool id not found), the
* variable is set to zero and invalid.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
/**
* @brief The commit call copies the array values back to the data pool.
* @details
* It checks type and size, as well as if the variable is writable. If so,
* the value is copied and the local valid flag is written back as well.
* The read call is protected with a lock.
* It is recommended to use DataSets to read and commit multiple variables
* at once to avoid the overhead of unnecessary lock und unlock operations.
*/
ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
protected:
/**
* @brief Like #read, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t readWithoutLock() override;
/**
* @brief Like #commit, but without a lock protection of the global pool.
* @details
* The operation does NOT provide any mutual exclusive protection by itself.
* This can be used if the lock is handled externally to avoid the overhead
* of consecutive lock und unlock operations.
* Declared protected to discourage free public usage.
*/
ReturnValue_t commitWithoutLock() override;
private:
// std::ostream is the type for object std::cout
template <typename U, uint16_t otherSize>
friend std::ostream& operator<< (std::ostream &out,
const LocalPoolVector<U, otherSize> &var);
};
#include "LocalPoolVector.tpp"
template<typename T, uint16_t vectorSize>
using lp_vec_t = LocalPoolVector<T, vectorSize>;
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */

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#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
#define FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
#error Include LocalPoolVector.h before LocalPoolVector.tpp!
#endif
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return readWithoutLock();
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
memset(this->value, 0, vectorSize * sizeof(T));
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << "and lp ID 0x" << localPoolId <<
std::dec << " failed." << std::endl;
return result;
}
std::memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
this->valid = poolEntry->valid;
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
uint32_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return commitWithoutLock();
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for commit() call." << std::endl;
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
if(result != RETURN_OK) {
sif::error << "PoolVector: Read of local pool variable of object "
"0x" << std::hex << std::setw(8) << std::setfill('0') <<
hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
std::dec << " failed.\n" << std::flush;
return result;
}
std::memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
poolEntry->valid = this->valid;
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
inline T& LocalPoolVector<T, vectorSize>::operator [](int i) {
if(i <= vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
sif::error << "LocalPoolVector: Invalid index. Setting or returning"
" last value!" << std::endl;
return value[i];
}
template<typename T, uint16_t vectorSize>
inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
if(i <= vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
sif::error << "LocalPoolVector: Invalid index. Setting or returning"
" last value!" << std::endl;
return value[i];
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
template<typename T, uint16_t vectorSize>
inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
return vectorSize * SerializeAdapter::getSerializedSize(value);
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
template<typename T, uint16_t vectorSize>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVector<T, vectorSize> &var) {
out << "Vector: [";
for(int i = 0;i < vectorSize; i++) {
out << var.value[i];
if(i < vectorSize - 1) {
out << ", ";
}
}
out << "]";
return out;
}
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_ */

17
datapoollocal/MarkChangedIF.h Normal file
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@ -0,0 +1,17 @@
#ifndef FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_
#define FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_
/**
* Common interface for local pool entities which can be marked as changed.
*/
class MarkChangedIF {
public:
virtual~ MarkChangedIF() {};
virtual bool hasChanged() const = 0;
virtual void setChanged(bool changed) = 0;
};
#endif /* FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_ */

16
datapoollocal/SharedLocalDataSet.cpp Normal file
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@ -0,0 +1,16 @@
#include "SharedLocalDataSet.h"
SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, sid_t sid,
const size_t maxSize): SystemObject(objectId),
LocalPoolDataSetBase(sid, nullptr, maxSize) {
this->setContainer(poolVarVector.data());
datasetLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t SharedLocalDataSet::lockDataset(dur_millis_t mutexTimeout) {
return datasetLock->lockMutex(MutexIF::TimeoutType::WAITING, mutexTimeout);
}
ReturnValue_t SharedLocalDataSet::unlockDataset() {
return datasetLock->unlockMutex();
}

24
datapoollocal/SharedLocalDataSet.h Normal file
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@ -0,0 +1,24 @@
#ifndef FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
#define FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
#include "LocalPoolDataSetBase.h"
#include "../datapool/SharedDataSetIF.h"
#include "../objectmanager/SystemObject.h"
#include <vector>
class SharedLocalDataSet: public SystemObject,
public LocalPoolDataSetBase,
public SharedDataSetIF {
public:
SharedLocalDataSet(object_id_t objectId, sid_t sid,
const size_t maxSize);
ReturnValue_t lockDataset(dur_millis_t mutexTimeout) override;
ReturnValue_t unlockDataset() override;
private:
MutexIF* datasetLock = nullptr;
std::vector<PoolVariableIF*> poolVarVector;
};
#endif /* FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_ */

50
datapoollocal/StaticLocalDataSet.h Normal file
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@ -0,0 +1,50 @@
#ifndef FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
#define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
#include "LocalPoolDataSetBase.h"
#include "../objectmanager/SystemObjectIF.h"
#include <array>
/**
* @brief This local dataset type is created on the stack.
* @details
* This will is the primary data structure to organize pool variables into
* sets which can be accessed via the housekeeping service interface or
* which can be sent to other software objects.
*
* It is recommended to read the documentation of the LocalPoolDataSetBase
* class for more information on how this class works and how to use it.
* @tparam capacity Capacity of the static dataset, which is usually known
* beforehand.
*/
template <uint8_t NUM_VARIABLES>
class StaticLocalDataSet: public LocalPoolDataSetBase {
public:
/**
* Constructor used by data owner and creator like device handlers.
* This constructor also initialized the components required for
* periodic handling.
* @param hkOwner
* @param setId
*/
StaticLocalDataSet(HasLocalDataPoolIF* hkOwner,
uint32_t setId): LocalPoolDataSetBase(hkOwner, setId, nullptr,
NUM_VARIABLES) {
this->setContainer(poolVarList.data());
}
/**
* Constructor used by data users like controllers.
* @param hkOwner
* @param setId
*/
StaticLocalDataSet(sid_t sid): LocalPoolDataSetBase(sid, nullptr,
NUM_VARIABLES) {
this->setContainer(poolVarList.data());
}
private:
std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList;
};
#endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */

93
datapoollocal/locPoolDefinitions.h Normal file
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@ -0,0 +1,93 @@
#ifndef FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_
#define FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_
#include <cstdint>
#include "../objectmanager/SystemObjectIF.h"
#include "../objectmanager/frameworkObjects.h"
/**
* @brief Type definition for local pool entries.
*/
using lp_id_t = uint32_t;
namespace localpool {
static constexpr uint32_t INVALID_LPID = -1;
}
/**
* Used as a unique identifier for data sets.
*/
union sid_t {
static constexpr uint64_t INVALID_SID = -1;
static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
static constexpr uint32_t INVALID_SET_ID = -1;
sid_t(): raw(INVALID_SID) {}
sid_t(object_id_t objectId, uint32_t setId):
objectId(objectId),
ownerSetId(setId) {}
struct {
object_id_t objectId ;
/**
* A generic 32 bit ID to identify unique HK packets for a single
* object. For example, the DeviceCommandId_t is used for
* DeviceHandlers
*/
uint32_t ownerSetId;
};
/**
* Alternative access to the raw value. This is also the size of the type.
*/
uint64_t raw;
bool notSet() const {
return raw == INVALID_SID;
}
bool operator==(const sid_t& other) const {
return raw == other.raw;
}
bool operator!=(const sid_t& other) const {
return not (raw == other.raw);
}
};
/**
* Used as a global unique identifier for local pool variables.
*/
union gp_id_t {
static constexpr uint64_t INVALID_GPID = -1;
static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
gp_id_t(): raw(INVALID_GPID) {}
gp_id_t(object_id_t objectId, lp_id_t localPoolId):
objectId(objectId),
localPoolId(localPoolId) {}
struct {
object_id_t objectId;
lp_id_t localPoolId;
};
uint64_t raw;
bool notSet() const {
return raw == INVALID_GPID;
}
bool operator==(const sid_t& other) const {
return raw == other.raw;
}
bool operator!=(const sid_t& other) const {
return not (raw == other.raw);
}
};
#endif /* FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_ */

183
devicehandlers/DeviceHandlerBase.cpp
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@ -2,15 +2,17 @@
#include "AcceptsDeviceResponsesIF.h"
#include "DeviceTmReportingWrapper.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../thermal/ThermalComponentIF.h"
#include "../datapool/DataSet.h"
#include "../datapool/PoolVariable.h"
#include "../globalfunctions/CRC.h"
#include "../subsystem/SubsystemBase.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../ipc/MessageQueueMessage.h"
#include "../ipc/QueueFactory.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../subsystem/SubsystemBase.h"
#include <iomanip>
@ -25,10 +27,11 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication), comCookie(comCookie),
healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
actionHelper(this, nullptr), childTransitionFailure(RETURN_OK),
fdirInstance(fdirInstance), hkSwitcher(this),
defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
actionHelper(this, nullptr), hkManager(this, nullptr),
childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false), childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) {
commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
MessageQueueMessage::MAX_MESSAGE_SIZE);
@ -48,6 +51,10 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
}
}
void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
this->hkDestination = hkDestination;
}
void DeviceHandlerBase::setThermalStateRequestPoolIds(
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
this->deviceThermalRequestPoolId = thermalStatePoolId;
@ -74,6 +81,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
decrementDeviceReplyMap();
fdirInstance->checkForFailures();
hkSwitcher.performOperation();
hkManager.performHkOperation();
performOperationHook();
}
if (mode == MODE_OFF) {
@ -120,7 +128,9 @@ ReturnValue_t DeviceHandlerBase::initialize() {
result = communicationInterface->initializeInterface(comCookie);
if (result != RETURN_OK) {
return result;
sif::error << "DeviceHandlerBase::initialize: Initializing "
"communication interface failed!" << std::endl;
return result;
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
@ -183,11 +193,16 @@ ReturnValue_t DeviceHandlerBase::initialize() {
return result;
}
result = hkManager.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
fillCommandAndReplyMap();
//Set temperature target state to NON_OP.
DataSet mySet;
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
GlobDataSet mySet;
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_WRITE);
mySet.read();
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@ -245,10 +260,10 @@ void DeviceHandlerBase::readCommandQueue() {
return;
}
// result = hkManager.handleHousekeepingMessage(&command);
// if (result == RETURN_OK) {
// return;
// }
result = hkManager.handleHousekeepingMessage(&command);
if (result == RETURN_OK) {
return;
}
result = handleDeviceHandlerMessage(&command);
if (result == RETURN_OK) {
@ -376,24 +391,28 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
size_t replyLen, bool periodic, bool hasDifferentReplyId,
DeviceCommandId_t replyId) {
LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic,
bool hasDifferentReplyId, DeviceCommandId_t replyId) {
//No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand);
if (hasDifferentReplyId) {
return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
return insertInReplyMap(replyId, maxDelayCycles,
replyDataSet, replyLen, periodic);
} else {
return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
return insertInReplyMap(deviceCommand, maxDelayCycles,
replyDataSet, replyLen, periodic);
}
}
ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
size_t replyLen, bool periodic) {
DeviceReplyInfo info;
info.maxDelayCycles = maxDelayCycles;
info.periodic = periodic;
info.delayCycles = 0;
info.replyLen = replyLen;
info.dataSet = dataSet;
info.command = deviceCommandMap.end();
auto resultPair = deviceReplyMap.emplace(replyId, info);
if (resultPair.second) {
@ -419,13 +438,12 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
deviceReplyMap.find(deviceReply);
if (iter == deviceReplyMap.end()) {
auto replyIter = deviceReplyMap.find(deviceReply);
if (replyIter == deviceReplyMap.end()) {
triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
return RETURN_FAILED;
} else {
DeviceReplyInfo *info = &(iter->second);
DeviceReplyInfo *info = &(replyIter->second);
if (maxDelayCycles != 0) {
info->maxDelayCycles = maxDelayCycles;
}
@ -435,6 +453,17 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
}
}
ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
LocalPoolDataSetBase *dataSet) {
auto replyIter = deviceReplyMap.find(replyId);
if(replyIter == deviceReplyMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
replyIter->second.dataSet = dataSet;
return HasReturnvaluesIF::RETURN_OK;
}
void DeviceHandlerBase::callChildStatemachine() {
if (mode == _MODE_START_UP) {
doStartUp();
@ -469,8 +498,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
Clock::getUptime(&timeoutStart);
if (mode == MODE_OFF) {
DataSet mySet;
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
GlobDataSet mySet;
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@ -649,7 +678,7 @@ void DeviceHandlerBase::doGetRead() {
void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
size_t receivedDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
DeviceCommandId_t foundId = 0xFFFFFFFF;
DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND;
size_t foundLen = 0;
// The loop may not execute more often than the number of received bytes
// (worst case). This approach avoids infinite loops due to buggy
@ -661,18 +690,26 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
switch (result) {
case RETURN_OK:
handleReply(receivedData, foundId, foundLen);
if(foundLen == 0) {
sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
" Packet parsing will be stuck." << std::endl;
}
break;
case APERIODIC_REPLY: {
result = interpretDeviceReply(foundId, receivedData);
if (result != RETURN_OK) {
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
foundId);
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
foundId);
}
if(foundLen == 0) {
sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
" Packet parsing will be stuck." << std::endl;
}
}
break;
case IGNORE_REPLY_DATA:
break;
}
case IGNORE_REPLY_DATA:
continue;
case IGNORE_FULL_PACKET:
return;
default:
@ -704,16 +741,19 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
DeviceReplyInfo *info = &(iter->second);
if (info->delayCycles != 0) {
result = interpretDeviceReply(foundId, receivedData);
if (info->periodic != false) {
if(result == IGNORE_REPLY_DATA) {
return;
}
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
}
else {
info->delayCycles = 0;
}
result = interpretDeviceReply(foundId, receivedData);
if (result != RETURN_OK) {
// Report failed interpretation to FDIR.
replyRawReplyIfnotWiretapped(receivedData, foundLen);
@ -926,10 +966,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
DataSet mySet;
db_int8_t thermalState(deviceThermalStatePoolId, &mySet,
GlobDataSet mySet;
gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
PoolVariableIF::VAR_READ);
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_READ);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@ -956,8 +996,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
MODE_ON);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
DataSet mySet;
db_int8_t thermalRequest(deviceThermalRequestPoolId,
GlobDataSet mySet;
gp_int8_t thermalRequest(deviceThermalRequestPoolId,
&mySet, PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@ -1089,19 +1129,6 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
}
replyReturnvalueToCommand(RETURN_OK);
return RETURN_OK;
// case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
// if (mode != MODE_OFF) {
// replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
// } else {
// result = switchCookieChannel(
// DeviceHandlerMessage::getIoBoardObjectId(message));
// if (result == RETURN_OK) {
// replyReturnvalueToCommand(RETURN_OK);
// } else {
// replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
// }
// }
// return RETURN_OK;
case DeviceHandlerMessage::CMD_RAW:
if ((mode != MODE_RAW)) {
DeviceHandlerMessage::clear(message);
@ -1185,7 +1212,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
}
//Try to cast to GlobDataSet and commit data.
if (!neverInDataPool) {
DataSet* dataSet = dynamic_cast<DataSet*>(data);
GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
if (dataSet != NULL) {
dataSet->commit(PoolVariableIF::VALID);
}
@ -1248,10 +1275,14 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (iter == deviceCommandMap.end()) {
result = COMMAND_NOT_SUPPORTED;
} else if (iter->second.isExecuting) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Command "
<< deviceCommandId << " isExecuting" << std::endl; //so we can track misconfigurations
return; //this is an internal command, no need to report a failure here, missed reply will track if a reply is too late, otherwise, it's ok
<< deviceCommandId << " isExecuting" << std::dec
<< std::endl;
// this is an internal command, no need to report a failure here,
// missed reply will track if a reply is too late, otherwise, it's ok
return;
} else {
iter->second.sendReplyTo = NO_COMMANDER;
iter->second.isExecuting = true;
@ -1340,12 +1371,50 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
void DeviceHandlerBase::performOperationHook() {
}
ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
LocalDataPool &localDataPoolMap,
LocalDataPoolManager& poolManager) {
return RETURN_OK;
}
LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
return &hkManager;
}
ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
// In this function, the task handle should be valid if the task
// was implemented correctly. We still check to be 1000 % sure :-)
if(executingTask != nullptr) {
pstIntervalMs = executingTask->getPeriodMs();
}
this->hkManager.initializeAfterTaskCreation();
if(setStartupImmediately) {
startTransition(MODE_ON, SUBMODE_NONE);
}
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
auto iter = deviceReplyMap.find(sid.ownerSetId);
if(iter != deviceReplyMap.end()) {
return iter->second.dataSet;
}
else {
return nullptr;
}
}
object_id_t DeviceHandlerBase::getObjectId() const {
return SystemObject::getObjectId();
}
void DeviceHandlerBase::setStartUpImmediately() {
this->setStartupImmediately = true;
}
dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
return pstIntervalMs;
}

170
devicehandlers/DeviceHandlerBase.h
View File

@ -1,12 +1,11 @@
#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#include "DeviceHandlerIF.h"
#include "DeviceCommunicationIF.h"
#include "DeviceHandlerFailureIsolation.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../action/HasActionsIF.h"
@ -14,10 +13,13 @@
#include "../modes/HasModesIF.h"
#include "../power/PowerSwitchIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../action/ActionHelper.h"
#include "../health/HealthHelper.h"
#include "../parameters/ParameterHelper.h"
#include "../datapool/HkSwitchHelper.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include <map>
@ -38,17 +40,16 @@ class StorageManagerIF;
* Documentation: Dissertation Baetz p.138,139, p.141-149
*
* It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
* communication with physical devices, using the @link DeviceCommunicationIF @endlink,
* and communication with commanding objects.
* It inherits SystemObject and thus can be created by the ObjectManagerIF.
* communication with physical devices, using the
* @link DeviceCommunicationIF @endlink, and communication with commanding
* objects. It inherits SystemObject and thus can be created by the
* ObjectManagerIF.
*
* This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
* For each step an RMAP action is selected and executed.
* If data has been received (GET_READ), the data will be interpreted.
* The action for each step can be defined by the child class but as most
* device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
* a default implementation is provided.
* NOTE: RMAP is a standard which is used for FLP.
* This class uses the opcode of ExecutableObjectIF to perform a
* step-wise execution. For each step a different action is selected and
* executed. Currently, the device handler base performs a 4-step
* execution related to 4 communication steps (based on RMAP).
* NOTE: RMAP is a standard which is used for Flying Laptop.
* RMAP communication is not mandatory for projects implementing the FSFW.
* However, the communication principles are similar to RMAP as there are
* two write and two send calls involved.
@ -69,9 +70,6 @@ class StorageManagerIF;
*
* Other important virtual methods with a default implementation
* are the getTransitionDelayMs() function and the getSwitches() function.
* Please ensure that getSwitches() returns DeviceHandlerIF::NO_SWITCHES if
* power switches are not implemented yet. Otherwise, the device handler will
* not transition to MODE_ON, even if setMode(MODE_ON) is called.
* If a transition to MODE_ON is desired without commanding, override the
* intialize() function and call setMode(_MODE_START_UP) before calling
* DeviceHandlerBase::initialize().
@ -85,20 +83,18 @@ class DeviceHandlerBase: public DeviceHandlerIF,
public HasModesIF,
public HasHealthIF,
public HasActionsIF,
public ReceivesParameterMessagesIF {
public ReceivesParameterMessagesIF,
public HasLocalDataPoolIF {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
/**
* The constructor passes the objectId to the SystemObject().
*
* @param setObjectId the ObjectId to pass to the SystemObject() Constructor
* @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
* @param setDeviceSwitch the switch the device is connected to,
* for devices using two switches, overwrite getSwitches()
* @param deviceCommuncation Communcation Interface object which is used
* to implement communication functions
* @param thermalStatePoolId
* @param thermalRequestPoolId
* @param comCookie This object will be passed to the communication inter-
* face and can contain user-defined information about the communication.
* @param fdirInstance
* @param cmdQueueSize
*/
@ -106,8 +102,21 @@ public:
CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
size_t cmdQueueSize = 20);
void setHkDestination(object_id_t hkDestination);
void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId);
/**
* @brief Helper function to ease device handler development.
* This will instruct the transition to MODE_ON immediately
* (leading to doStartUp() being called for the transition to the ON mode),
* so external mode commanding is not necessary anymore.
*
* This has to be called before the task is started!
* (e.g. in the task factory). This is only a helper function for
* development. Regular mode commanding should be performed by commanding
* the AssemblyBase or Subsystem objects resposible for the device handler.
*/
void setStartUpImmediately();
/**
* @brief This function is the device handler base core component and is
@ -153,6 +162,14 @@ public:
* @return
*/
virtual ReturnValue_t initialize();
/**
* @brief Intialization steps performed after all tasks have been created.
* This function will be called by the executing task.
* @return
*/
virtual ReturnValue_t initializeAfterTaskCreation() override;
/** Destructor. */
virtual ~DeviceHandlerBase();
@ -320,6 +337,8 @@ protected:
* @param packet
* @return
* - @c RETURN_OK when the reply was interpreted.
* - @c IGNORE_REPLY_DATA Ignore the reply and don't reset reply cycle
* counter.
* - @c RETURN_FAILED when the reply could not be interpreted,
* e.g. logical errors or range violations occurred
*/
@ -347,22 +366,10 @@ protected:
* set to the maximum expected number of PST cycles between two replies
* (also a tolerance should be added, as an FDIR message will be
* generated if it is missed).
*
* (Robin) This part confuses me. "must do as soon as" implies that
* the developer must do something somewhere else in the code. Is
* that really the case? If I understood correctly, DHB performs
* almost everything (e.g. in erirm function) as long as the commands
* are inserted correctly.
*
* As soon as the replies are enabled, DeviceCommandInfo.periodic must
* be set to true, DeviceCommandInfo.delayCycles to
* DeviceCommandInfo.maxDelayCycles.
* From then on, the base class handles the reception.
* Then, scanForReply returns the id of the reply or the placeholder id
* and the base class will take care of checking that all replies are
* received and the interval is correct.
* When the replies are disabled, DeviceCommandInfo.periodic must be set
* to 0, DeviceCommandInfo.delayCycles to 0;
*
* - Aperiodic, unrequested replies. These are replies that are sent
* by the device without any preceding command and not in a defined
@ -376,13 +383,17 @@ protected:
* @param deviceCommand Identifier of the command to add.
* @param maxDelayCycles The maximum number of delay cycles the command
* waits until it times out.
* @param replyLen Will be supplied to the requestReceiveMessage call of
* the communication interface.
* @param periodic Indicates if the command is periodic (i.e. it is sent
* by the device repeatedly without request) or not. Default is aperiodic (0)
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false,
uint16_t maxDelayCycles,
LocalPoolDataSetBase* replyDataSet = nullptr,
size_t replyLen = 0, bool periodic = false,
bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
/**
@ -396,7 +407,8 @@ protected:
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false);
uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
size_t replyLen = 0, bool periodic = false);
/**
* @brief A simple command to add a command to the commandList.
@ -424,6 +436,9 @@ protected:
uint16_t delayCycles, uint16_t maxDelayCycles,
bool periodic = false);
ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
LocalPoolDataSetBase* dataset);
/**
* @brief Can be implemented by child handler to
* perform debugging
@ -477,18 +492,22 @@ protected:
* @param localDataPoolMap
* @return
*/
//virtual ReturnValue_t initializePoolEntries(
// LocalDataPool& localDataPoolMap) override;
virtual ReturnValue_t initializeLocalDataPool(LocalDataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
/** Get the HK manager object handle */
//virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual LocalDataPoolManager* getHkManagerHandle() override;
/**
* @brief Hook function for child handlers which is called once per
* performOperation(). Default implementation is empty.
*/
virtual void performOperationHook();
public:
/** Explicit interface implementation of getObjectId */
virtual object_id_t getObjectId() const override;
/**
* @param parentQueueId
*/
@ -608,7 +627,7 @@ protected:
/** Action helper for HasActionsIF */
ActionHelper actionHelper;
/** Housekeeping Manager */
//LocalDataPoolManager hkManager;
LocalDataPoolManager hkManager;
/**
* @brief Information about commands
@ -647,7 +666,7 @@ protected:
//! The dataset used to access housekeeping data related to the
//! respective device reply. Will point to a dataset held by
//! the child handler (if one is specified)
// DataSetIF* dataSet = nullptr;
LocalPoolDataSetBase* dataSet;
//! The command that expects this reply.
DeviceCommandMap::iterator command;
};
@ -689,14 +708,18 @@ protected:
uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
/**
* Optional Error code
* Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
* Optional Error code. Can be set in doStartUp(), doShutDown() and
* doTransition() to signal cause for Transition failure.
*/
ReturnValue_t childTransitionFailure;
uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
/** Counts if communication channel lost a reply, so some missed
* replys can be ignored. */
uint32_t ignoreMissedRepliesCount = 0;
FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
/** Pointer to the used FDIR instance. If not provided by child,
* default class is instantiated. */
FailureIsolationBase* fdirInstance;
HkSwitchHelper hkSwitcher;
@ -944,14 +967,17 @@ protected:
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
/* HasModesIF overrides */
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive) override;
virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
/**
* Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper" faster about executed events.
* Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper"
* faster about executed events.
* This is a bit sneaky, but improves responsiveness of the device FDIR.
* @param event The event to be thrown
* @param parameter1 Optional parameter 1
@ -1034,12 +1060,17 @@ private:
/** the object used to set power switches */
PowerSwitchIF *powerSwitcher = nullptr;
/** HK destination can also be set individually */
object_id_t hkDestination = objects::NO_OBJECT;
/**
* @brief Used for timing out mode transitions.
* Set when setMode() is called.
*/
uint32_t timeoutStart = 0;
bool setStartupImmediately = false;
/**
* Delay for the current mode transition, used for time out
*/
@ -1080,11 +1111,6 @@ private:
void buildRawDeviceCommand(CommandMessage* message);
void buildInternalCommand(void);
// /**
// * Send a reply with the current mode and submode.
// */
// void announceMode(void);
/**
* Decrement the counter for the timout of replies.
*
@ -1111,10 +1137,14 @@ private:
/**
* Build and send a command to the device.
*
* This routine checks whether a raw or direct command has been received, checks the content of the received command and
* calls buildCommandFromCommand() for direct commands or sets #rawpacket to the received raw packet.
* If no external command is received or the received command is invalid and the current mode is @c MODE_NORMAL or a transitional mode,
* it asks the child class to build a command (via getNormalDeviceCommand() or getTransitionalDeviceCommand() and buildCommand()) and
* This routine checks whether a raw or direct command has been received,
* checks the content of the received command and calls
* buildCommandFromCommand() for direct commands or sets #rawpacket
* to the received raw packet.
* If no external command is received or the received command is invalid and
* the current mode is @c MODE_NORMAL or a transitional mode, it asks the
* child class to build a command (via getNormalDeviceCommand() or
* getTransitionalDeviceCommand() and buildCommand()) and
* sends the command via RMAP.
*/
void doSendWrite(void);
@ -1159,7 +1189,6 @@ private:
ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
uint32_t *len);
/**
* @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
*/
@ -1170,25 +1199,14 @@ private:
*/
void callChildStatemachine();
/**
* Switches the channel of the cookie used for the communication
*
*
* @param newChannel the object Id of the channel to switch to
* @return
* - @c RETURN_OK when cookie was changed
* - @c RETURN_FAILED when cookies could not be changed, eg because the newChannel is not enabled
* - @c returnvalues of RMAPChannelIF::isActive()
*/
ReturnValue_t switchCookieChannel(object_id_t newChannelId);
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
virtual ReturnValue_t initializeAfterTaskCreation() override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
void parseReply(const uint8_t* receivedData,
size_t receivedDataLen);
virtual dur_millis_t getPeriodicOperationFrequency() const override;
void parseReply(const uint8_t* receivedData,
size_t receivedDataLen);
};
#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

3
fsfw.mk
View File

@ -9,6 +9,9 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)

12
housekeeping/AcceptsHkPacketsIF.h Normal file
View File

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

215
housekeeping/HousekeepingMessage.cpp Normal file
View File

@ -0,0 +1,215 @@
#include "HousekeepingMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include <cstring>
HousekeepingMessage::~HousekeepingMessage() {}
void HousekeepingMessage::setHkReportReply(CommandMessage* message, sid_t sid,
store_address_t storeId) {
message->setCommand(HK_REPORT);
message->setMessageSize(HK_MESSAGE_SIZE);
setSid(message, sid);
message->setParameter3(storeId.raw);
}
void HousekeepingMessage::setHkDiagnosticsReply(CommandMessage* message,
sid_t sid, store_address_t storeId) {
message->setCommand(DIAGNOSTICS_REPORT);
message->setMessageSize(HK_MESSAGE_SIZE);
setSid(message, sid);
message->setParameter3(storeId.raw);
}
sid_t HousekeepingMessage::getHkDataReply(const CommandMessage *message,
store_address_t *storeIdToSet) {
if(storeIdToSet != nullptr) {
*storeIdToSet = message->getParameter3();
}
return getSid(message);
}
void HousekeepingMessage::setToggleReportingCommand(CommandMessage *message,
sid_t sid, bool enableReporting, bool isDiagnostics) {
if(isDiagnostics) {
if(enableReporting) {
message->setCommand(ENABLE_PERIODIC_DIAGNOSTICS_GENERATION);
}
else {
message->setCommand(DISABLE_PERIODIC_DIAGNOSTICS_GENERATION);
}
}
else {
if(enableReporting) {
message->setCommand(ENABLE_PERIODIC_HK_REPORT_GENERATION);
}
else {
message->setCommand(DISABLE_PERIODIC_HK_REPORT_GENERATION);
}
}
setSid(message, sid);
}
void HousekeepingMessage::setStructureReportingCommand(CommandMessage *command,
sid_t sid, bool isDiagnostics) {
if(isDiagnostics) {
command->setCommand(REPORT_DIAGNOSTICS_REPORT_STRUCTURES);
}
else {
command->setCommand(REPORT_HK_REPORT_STRUCTURES);
}
setSid(command, sid);
}
void HousekeepingMessage::setOneShotReportCommand(CommandMessage *command,
sid_t sid, bool isDiagnostics) {
if(isDiagnostics) {
command->setCommand(GENERATE_ONE_DIAGNOSTICS_REPORT);
}
else {
command->setCommand(GENERATE_ONE_PARAMETER_REPORT);
}
setSid(command, sid);
}
void HousekeepingMessage::setCollectionIntervalModificationCommand(
CommandMessage *command, sid_t sid, float collectionInterval,
bool isDiagnostics) {
if(isDiagnostics) {
command->setCommand(MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL);
}
else {
command->setCommand(MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL);
}
command->setParameter3(collectionInterval);
setSid(command, sid);
}
sid_t HousekeepingMessage::getCollectionIntervalModificationCommand(
const CommandMessage* command, float* newCollectionInterval) {
if(newCollectionInterval != nullptr) {
*newCollectionInterval = command->getParameter3();
}
return getSid(command);
}
void HousekeepingMessage::setHkRequestSuccessReply(CommandMessage *reply,
sid_t sid) {
setSid(reply, sid);
reply->setCommand(HK_REQUEST_SUCCESS);
}
void HousekeepingMessage::setHkRequestFailureReply(CommandMessage *reply,
sid_t sid, ReturnValue_t error) {
setSid(reply, sid);
reply->setCommand(HK_REQUEST_FAILURE);
reply->setParameter3(error);
}
sid_t HousekeepingMessage::getHkRequestFailureReply(const CommandMessage *reply,
ReturnValue_t *error) {
if(error != nullptr) {
*error = reply->getParameter3();
}
return getSid(reply);
}
sid_t HousekeepingMessage::getSid(const CommandMessage* message) {
sid_t sid;
std::memcpy(&sid.raw, message->getData(), sizeof(sid.raw));
return sid;
}
void HousekeepingMessage::setSid(CommandMessage *message, sid_t sid) {
std::memcpy(message->getData(), &sid.raw, sizeof(sid.raw));
}
void HousekeepingMessage::setHkStuctureReportReply(CommandMessage *reply,
sid_t sid, store_address_t storeId) {
reply->setCommand(HK_DEFINITIONS_REPORT);
setSid(reply, sid);
reply->setParameter3(storeId.raw);
}
void HousekeepingMessage::setDiagnosticsStuctureReportReply(
CommandMessage *reply, sid_t sid, store_address_t storeId) {
reply->setCommand(DIAGNOSTICS_DEFINITION_REPORT);
setSid(reply, sid);
reply->setParameter3(storeId.raw);
}
void HousekeepingMessage::clear(CommandMessage* message) {
switch(message->getCommand()) {
case(HK_REPORT):
case(DIAGNOSTICS_REPORT):
case(HK_DEFINITIONS_REPORT):
case(DIAGNOSTICS_DEFINITION_REPORT):
case(UPDATE_SNAPSHOT_SET): {
store_address_t storeId;
getHkDataReply(message, &storeId);
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != nullptr) {
ipcStore->deleteData(storeId);
}
}
}
message->setCommand(CommandMessage::CMD_NONE);
}
void HousekeepingMessage::setUpdateNotificationSetCommand(
CommandMessage *command, sid_t sid) {
command->setCommand(UPDATE_NOTIFICATION_SET);
setSid(command, sid);
}
void HousekeepingMessage::setUpdateNotificationVariableCommand(
CommandMessage *command, lp_id_t localPoolId) {
command->setCommand(UPDATE_NOTIFICATION_VARIABLE);
command->setParameter(localPoolId);
}
void HousekeepingMessage::setUpdateSnapshotSetCommand(CommandMessage *command,
sid_t sid, store_address_t storeId) {
command->setCommand(UPDATE_SNAPSHOT_VARIABLE);
setSid(command, sid);
command->setParameter3(storeId.raw);
}
void HousekeepingMessage::setUpdateSnapshotVariableCommand(
CommandMessage *command, lp_id_t localPoolId, store_address_t storeId) {
command->setCommand(UPDATE_SNAPSHOT_VARIABLE);
command->setParameter(localPoolId);
command->setParameter3(storeId.raw);
}
sid_t HousekeepingMessage::getUpdateNotificationSetCommand(
const CommandMessage *command) {
return getSid(command);
}
lp_id_t HousekeepingMessage::getUpdateNotificationVariableCommand(
const CommandMessage *command) {
return command->getParameter();
}
sid_t HousekeepingMessage::getUpdateSnapshotSetCommand(
const CommandMessage *command, store_address_t *storeId) {
if(storeId != nullptr) {
*storeId = command->getParameter3();
}
return getSid(command);
}
lp_id_t HousekeepingMessage::getUpdateSnapshotVariableCommand(
const CommandMessage *command, store_address_t *storeId) {
if(storeId != nullptr) {
*storeId = command->getParameter3();
}
return command->getParameter();
}

149
housekeeping/HousekeepingMessage.h Normal file
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@ -0,0 +1,149 @@
#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_
#define FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_
#include "../datapoollocal/locPoolDefinitions.h"
#include "../ipc/CommandMessage.h"
#include "../ipc/FwMessageTypes.h"
#include "../objectmanager/frameworkObjects.h"
#include "../storagemanager/StorageManagerIF.h"
/**
* @brief Special command message type for housekeeping messages
* @details
* This message is slightly larger than regular command messages to accomodate
* the uint64_t structure ID (SID).
*/
class HousekeepingMessage {
public:
static constexpr size_t HK_MESSAGE_SIZE = CommandMessageIF::HEADER_SIZE +
sizeof(sid_t) + sizeof(uint32_t);
/**
* Concrete instance is not used, instead this class operates on
* command message instances.
*/
HousekeepingMessage() = delete;
virtual ~HousekeepingMessage();
static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
static constexpr Command_t ENABLE_PERIODIC_HK_REPORT_GENERATION =
MAKE_COMMAND_ID(5);
static constexpr Command_t DISABLE_PERIODIC_HK_REPORT_GENERATION =
MAKE_COMMAND_ID(6);
static constexpr Command_t ENABLE_PERIODIC_DIAGNOSTICS_GENERATION =
MAKE_COMMAND_ID(7);
static constexpr Command_t DISABLE_PERIODIC_DIAGNOSTICS_GENERATION =
MAKE_COMMAND_ID(8);
static constexpr Command_t REPORT_HK_REPORT_STRUCTURES = MAKE_COMMAND_ID(9);
static constexpr Command_t REPORT_DIAGNOSTICS_REPORT_STRUCTURES =
MAKE_COMMAND_ID(11);
static constexpr Command_t HK_DEFINITIONS_REPORT = MAKE_COMMAND_ID(10);
static constexpr Command_t DIAGNOSTICS_DEFINITION_REPORT = MAKE_COMMAND_ID(12);
static constexpr Command_t HK_REPORT = MAKE_COMMAND_ID(25);
static constexpr Command_t DIAGNOSTICS_REPORT = MAKE_COMMAND_ID(26);
static constexpr Command_t GENERATE_ONE_PARAMETER_REPORT =
MAKE_COMMAND_ID(27);
static constexpr Command_t GENERATE_ONE_DIAGNOSTICS_REPORT =
MAKE_COMMAND_ID(28);
static constexpr Command_t MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL =
MAKE_COMMAND_ID(31);
static constexpr Command_t MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL =
MAKE_COMMAND_ID(32);
static constexpr Command_t HK_REQUEST_SUCCESS =
MAKE_COMMAND_ID(128);
static constexpr Command_t HK_REQUEST_FAILURE =
MAKE_COMMAND_ID(129);
static constexpr Command_t UPDATE_NOTIFICATION_SET =
MAKE_COMMAND_ID(130);
static constexpr Command_t UPDATE_NOTIFICATION_VARIABLE =
MAKE_COMMAND_ID(131);
static constexpr Command_t UPDATE_SNAPSHOT_SET = MAKE_COMMAND_ID(132);
static constexpr Command_t UPDATE_SNAPSHOT_VARIABLE = MAKE_COMMAND_ID(133);
//static constexpr Command_t UPDATE_HK_REPORT = MAKE_COMMAND_ID(134);
static sid_t getSid(const CommandMessage* message);
/* Housekeeping Interface Messages */
static void setToggleReportingCommand(CommandMessage* command, sid_t sid,
bool enableReporting, bool isDiagnostics);
static void setStructureReportingCommand(CommandMessage* command, sid_t sid,
bool isDiagnostics);
static void setOneShotReportCommand(CommandMessage* command, sid_t sid,
bool isDiagnostics);
static void setCollectionIntervalModificationCommand(
CommandMessage* command, sid_t sid, float collectionInterval,
bool isDiagnostics);
static void setHkReportReply(CommandMessage* reply, sid_t sid,
store_address_t storeId);
static void setHkDiagnosticsReply(CommandMessage* reply, sid_t sid,
store_address_t storeId);
static void setHkRequestSuccessReply(CommandMessage* reply, sid_t sid);
static void setHkRequestFailureReply(CommandMessage* reply, sid_t sid,
ReturnValue_t error);
static void setHkStuctureReportReply(CommandMessage* reply,
sid_t sid, store_address_t storeId);
static void setDiagnosticsStuctureReportReply(CommandMessage* reply,
sid_t sid, store_address_t storeId);
static sid_t getHkRequestFailureReply(const CommandMessage* reply,
ReturnValue_t* error);
/**
* @brief Generic getter function for housekeeping data replies
* @details
* Command ID can be used beforehand to distinguish between diagnostics and
* regular HK packets. This getter function should be used for the
* command IDs 10, 12, 25 and 26.
*/
static sid_t getHkDataReply(const CommandMessage* message,
store_address_t * storeIdToSet);
static sid_t getCollectionIntervalModificationCommand(
const CommandMessage* command, float* newCollectionInterval);
/* Update Notification Messages */
static void setUpdateNotificationSetCommand(CommandMessage* command,
sid_t sid);
static void setUpdateNotificationVariableCommand(CommandMessage* command,
lp_id_t localPoolId);
static void setUpdateSnapshotSetCommand(CommandMessage* command, sid_t sid,
store_address_t storeId);
static void setUpdateSnapshotVariableCommand(CommandMessage* command,
lp_id_t localPoolId, store_address_t storeId);
static sid_t getUpdateNotificationSetCommand(const CommandMessage* command);
static lp_id_t getUpdateNotificationVariableCommand(
const CommandMessage* command);
static sid_t getUpdateSnapshotSetCommand(const CommandMessage* command,
store_address_t* storeId);
static lp_id_t getUpdateSnapshotVariableCommand(const CommandMessage* command,
store_address_t* storeId);
/** Utility */
static void clear(CommandMessage* message);
private:
static void setSid(CommandMessage* message, sid_t sid);
};
#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_ */

34
housekeeping/HousekeepingPacketDownlink.h Normal file
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@ -0,0 +1,34 @@
#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_
#define FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_
#include "../datapoollocal/LocalPoolDataSetBase.h"
#include "../serialize/SerialLinkedListAdapter.h"
#include "../storagemanager/StorageManagerIF.h"
/**
* @brief This class will be used to serialize general housekeeping packets
* which are destined to be downlinked into the store.
* @details
* The housekeeping packets are stored into the IPC store and forwarded
* to the designated housekeeping handler.
*/
class HousekeepingPacketDownlink: public SerialLinkedListAdapter<SerializeIF> {
public:
HousekeepingPacketDownlink(sid_t sid, LocalPoolDataSetBase* dataSetPtr):
sourceId(sid.objectId), setId(sid.ownerSetId), hkData(dataSetPtr) {
setLinks();
}
private:
void setLinks() {
setStart(&sourceId);
sourceId.setNext(&setId);
setId.setNext(&hkData);
}
SerializeElement<object_id_t> sourceId;
SerializeElement<uint32_t> setId;
LinkedElement<SerializeIF> hkData;
};
#endif /* FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_ */

92
housekeeping/HousekeepingPacketUpdate.h Normal file
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@ -0,0 +1,92 @@
#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
#define FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
#include "../serialize/SerialBufferAdapter.h"
#include "../serialize/SerialLinkedListAdapter.h"
#include "../datapoollocal/LocalPoolDataSetBase.h"
/**
* @brief This helper class will be used to serialize and deserialize
* update housekeeping packets into the store.
*/
class HousekeepingPacketUpdate: public SerializeIF {
public:
/**
* Update packet constructor for datasets
* @param timeStamp
* @param timeStampSize
* @param hkData
* @param hkDataSize
*/
HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize,
LocalPoolDataSetBase* dataSetPtr):
timeStamp(timeStamp), timeStampSize(timeStampSize),
updateData(dataSetPtr) {};
/**
* Update packet constructor for pool variables.
* @param timeStamp
* @param timeStampSize
* @param dataSetPtr
*/
HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize,
LocalPoolObjectBase* dataSetPtr):
timeStamp(timeStamp), timeStampSize(timeStampSize),
updateData(dataSetPtr) {};
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
size_t maxSize, Endianness streamEndianness) const {
if(timeStamp != nullptr) {
/* Endianness will always be MACHINE, so we can simply use memcpy
here. */
std::memcpy(*buffer, timeStamp, timeStampSize);
*size += timeStampSize;
*buffer += timeStampSize;
}
if(updateData == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return updateData->serialize(buffer, size, maxSize, streamEndianness);
}
virtual size_t getSerializedSize() const {
if(updateData == nullptr) {
return 0;
}
return timeStampSize + updateData->getSerializedSize();
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override {
if(*size < timeStampSize) {
return SerializeIF::STREAM_TOO_SHORT;
}
if(timeStamp != nullptr) {
/* Endianness will always be MACHINE, so we can simply use memcpy
here. */
std::memcpy(timeStamp, *buffer, timeStampSize);
*size -= timeStampSize;
*buffer += timeStampSize;
}
if(updateData == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(*size < updateData->getSerializedSize()) {
return SerializeIF::STREAM_TOO_SHORT;
}
return updateData->deSerialize(buffer, size, streamEndianness);
}
private:
uint8_t* timeStamp = nullptr;
size_t timeStampSize = 0;
SerializeIF* updateData = nullptr;
};
#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_ */

59
housekeeping/HousekeepingSetPacket.h Normal file
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@ -0,0 +1,59 @@
#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGSETPACKET_H_
#define FSFW_HOUSEKEEPING_HOUSEKEEPINGSETPACKET_H_
#include "../housekeeping/HousekeepingMessage.h"
#include "../serialize/SerialLinkedListAdapter.h"
#include "../datapoollocal/LocalPoolDataSetBase.h"
class HousekeepingSetPacket: public SerialLinkedListAdapter<SerializeIF> {
public:
HousekeepingSetPacket(sid_t sid, bool reportingEnabled, bool valid,
float collectionInterval, LocalPoolDataSetBase* dataSetPtr):
objectId(sid.objectId), setId(sid.ownerSetId),
reportingEnabled(reportingEnabled), valid(valid),
collectionIntervalSeconds(collectionInterval), dataSet(dataSetPtr) {
setLinks();
}
ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override {
ReturnValue_t result = SerialLinkedListAdapter::serialize(buffer, size,
maxSize, streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return dataSet->serializeLocalPoolIds(buffer, size ,maxSize,
streamEndianness);
}
size_t getSerializedSize() const override {
size_t linkedSize = SerialLinkedListAdapter::getSerializedSize();
linkedSize += dataSet->getLocalPoolIdsSerializedSize();
return linkedSize;
}
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override {
return HasReturnvaluesIF::RETURN_OK;
}
private:
void setLinks() {
setStart(&objectId);
objectId.setNext(&setId);
setId.setNext(&reportingEnabled);
reportingEnabled.setNext(&valid);
valid.setNext(&collectionIntervalSeconds);
collectionIntervalSeconds.setEnd();
}
SerializeElement<object_id_t> objectId;
SerializeElement<uint32_t> setId;
SerializeElement<bool> reportingEnabled;
SerializeElement<bool> valid;
SerializeElement<float> collectionIntervalSeconds;
LocalPoolDataSetBase* dataSet;
};
#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGSETPACKET_H_ */

49
housekeeping/PeriodicHousekeepingHelper.cpp Normal file
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@ -0,0 +1,49 @@
#include "PeriodicHousekeepingHelper.h"
#include "../datapoollocal/LocalPoolDataSetBase.h"
#include <cmath>
PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(
LocalPoolDataSetBase* owner): owner(owner) {}
void PeriodicHousekeepingHelper::initialize(float collectionInterval,
dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
uint8_t nonDiagIntervalFactor) {
this->minimumPeriodicInterval = minimumPeriodicInterval;
if(not isDiagnostics) {
this->minimumPeriodicInterval = this->minimumPeriodicInterval *
nonDiagIntervalFactor;
}
collectionIntervalTicks = intervalSecondsToInterval(collectionInterval);
}
float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() {
return intervalToIntervalSeconds(collectionIntervalTicks);
}
bool PeriodicHousekeepingHelper::checkOpNecessary() {
if(internalTickCounter >= collectionIntervalTicks) {
internalTickCounter = 1;
return true;
}
internalTickCounter++;
return false;
}
uint32_t PeriodicHousekeepingHelper::intervalSecondsToInterval(
float collectionIntervalSeconds) {
return std::ceil(collectionIntervalSeconds * 1000
/ minimumPeriodicInterval);
}
float PeriodicHousekeepingHelper::intervalToIntervalSeconds(
uint32_t collectionInterval) {
return static_cast<float>(collectionInterval *
minimumPeriodicInterval);
}
void PeriodicHousekeepingHelper::changeCollectionInterval(
float newIntervalSeconds) {
collectionIntervalTicks = intervalSecondsToInterval(newIntervalSeconds);
}

32
housekeeping/PeriodicHousekeepingHelper.h Normal file
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@ -0,0 +1,32 @@
#ifndef FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_
#define FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_
#include "../timemanager/Clock.h"
#include <cstdint>
class LocalPoolDataSetBase;
class PeriodicHousekeepingHelper {
public:
PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
void initialize(float collectionInterval,
dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
uint8_t nonDiagIntervalFactor);
void changeCollectionInterval(float newInterval);
float getCollectionIntervalInSeconds();
bool checkOpNecessary();
private:
LocalPoolDataSetBase* owner = nullptr;
uint32_t intervalSecondsToInterval(float collectionIntervalSeconds);
float intervalToIntervalSeconds(uint32_t collectionInterval);
dur_millis_t minimumPeriodicInterval = 0;
uint32_t internalTickCounter = 1;
uint32_t collectionIntervalTicks = 0;
};
#endif /* FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_ */

19
internalError/InternalErrorReporter.cpp
View File

@ -1,17 +1,16 @@
#include "../datapoolglob/GlobalDataSet.h"
#include "InternalErrorReporter.h"
#include "../datapool/DataSet.h"
#include "../datapool/PoolVariable.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../ipc/MutexFactory.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) :
SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId), tmPoolId(
tmPoolId), storePoolId(
storePoolId), queueHits(0), tmHits(0), storeHits(
0) {
SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId),
tmPoolId(tmPoolId),storePoolId(storePoolId), queueHits(0), tmHits(0),
storeHits(0) {
mutex = MutexFactory::instance()->createMutex();
}
@ -21,13 +20,13 @@ InternalErrorReporter::~InternalErrorReporter() {
ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
DataSet mySet;
PoolVariable<uint32_t> queueHitsInPool(queuePoolId, &mySet,
GlobDataSet mySet;
gp_uint32_t queueHitsInPool(queuePoolId, &mySet,
PoolVariableIF::VAR_READ_WRITE);
PoolVariable<uint32_t> tmHitsInPool(tmPoolId, &mySet,
gp_uint32_t tmHitsInPool(tmPoolId, &mySet,
PoolVariableIF::VAR_READ_WRITE);
PoolVariable<uint32_t> storeHitsInPool(storePoolId, &mySet,
gp_uint32_t storeHitsInPool(storePoolId, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();

7
ipc/FwMessageTypes.h
View File

@ -3,7 +3,7 @@
namespace messagetypes {
//Remember to add new Message Types to the clearCommandMessage function!
enum FW_MESSAGE_TYPE {
enum FsfwMessageTypes {
COMMAND = 0,
MODE_COMMAND,
HEALTH_COMMAND,
@ -14,7 +14,10 @@ enum FW_MESSAGE_TYPE {
MONITORING,
MEMORY,
PARAMETER,
FW_MESSAGES_COUNT
FILE_SYSTEM_MESSAGE,
HOUSEKEEPING,
FW_MESSAGES_COUNT,
};
}

14
monitoring/MonitorBase.h
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@ -1,12 +1,12 @@
#ifndef MONITORBASE_H_
#define MONITORBASE_H_
#include "../datapool/DataSet.h"
#include "../datapool/PIDReader.h"
#include "LimitViolationReporter.h"
#include "MonitoringIF.h"
#include "MonitoringMessageContent.h"
#include "MonitorReporter.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/PIDReader.h"
#include "../monitoring/LimitViolationReporter.h"
#include "../monitoring/MonitoringIF.h"
#include "../monitoring/MonitoringMessageContent.h"
#include "../monitoring/MonitorReporter.h"
/**
* Base class for monitoring of parameters.
@ -48,7 +48,7 @@ public:
protected:
virtual ReturnValue_t fetchSample(T* sample) {
DataSet mySet;
GlobDataSet mySet;
PIDReader<T> parameter(this->parameterId, &mySet);
mySet.read();
if (!parameter.isValid()) {

1
objectmanager/frameworkObjects.h
View File

@ -6,6 +6,7 @@ enum framework_objects {
// Default verification reporter.
PUS_SERVICE_1_VERIFICATION = 0x53000001,
PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
PUS_SERVICE_3_HOUSEKEEPING = 0x53000003,
PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
PUS_SERVICE_9_TIME_MGMT = 0x53000009,

6
power/Fuse.cpp
View File

@ -1,7 +1,7 @@
#include "../monitoring/LimitViolationReporter.h"
#include "../monitoring/MonitoringMessageContent.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "Fuse.h"
#include "../power/Fuse.h"
#include "../serialize/SerialFixedArrayListAdapter.h"
#include "../ipc/QueueFactory.h"
@ -12,7 +12,7 @@ Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId), powerIF(
NULL), currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount,
maxCurrent, FUSE_CURRENT_HIGH), powerMonitor(fuseObjectId, 2,
DataPool::poolIdAndPositionToPid(ids.poolIdPower, 0),
GlobalDataPool::poolIdAndPositionToPid(ids.poolIdPower, 0),
confirmationCount), set(), voltage(ids.pidVoltage, &set), current(
ids.pidCurrent, &set), state(ids.pidState, &set), power(
ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE), commandQueue(
@ -109,7 +109,7 @@ size_t Fuse::getSerializedSize() const {
}
ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
Endianness streamEndianness) {
ReturnValue_t result = RETURN_FAILED;
for (DeviceList::iterator iter = devices.begin(); iter != devices.end();
iter++) {

15
power/Fuse.h
View File

@ -1,12 +1,13 @@
#ifndef FUSE_H_
#define FUSE_H_
#include "../datapool/DataSet.h"
#include "../datapool/PIDReader.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../datapoolglob/PIDReader.h"
#include "../devicehandlers/HealthDevice.h"
#include "../monitoring/AbsLimitMonitor.h"
#include "PowerComponentIF.h"
#include "PowerSwitchIF.h"
#include "../power/PowerComponentIF.h"
#include "../power/PowerSwitchIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../parameters/ParameterHelper.h"
#include <list>
@ -84,12 +85,12 @@ private:
};
PowerMonitor powerMonitor;
DataSet set;
GlobDataSet set;
PIDReader<float> voltage;
PIDReader<float> current;
PIDReader<uint8_t> state;
db_float_t power;
MessageQueueIF *commandQueue;
gp_float_t power;
MessageQueueIF* commandQueue;
ParameterHelper parameterHelper;
HealthHelper healthHelper;
static object_id_t powerSwitchId;

10
power/PowerSensor.h
View File

@ -1,9 +1,9 @@
#ifndef POWERSENSOR_H_
#define POWERSENSOR_H_
#include "../datapool/DataSet.h"
#include "../datapool/PIDReader.h"
#include "../datapool/PoolVariable.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../datapoolglob/PIDReader.h"
#include "../devicehandlers/HealthDevice.h"
#include "../monitoring/LimitMonitor.h"
#include "../parameters/ParameterHelper.h"
@ -53,12 +53,12 @@ private:
MessageQueueIF* commandQueue;
ParameterHelper parameterHelper;
HealthHelper healthHelper;
DataSet set;
GlobDataSet set;
//Variables in
PIDReader<float> current;
PIDReader<float> voltage;
//Variables out
db_float_t power;
gp_float_t power;
static const uint8_t MODULE_ID_CURRENT = 1;
static const uint8_t MODULE_ID_VOLTAGE = 2;

12
thermal/CoreComponent.cpp
View File

@ -2,7 +2,7 @@
CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
uint32_t temperaturePoolId, uint32_t targetStatePoolId,
uint32_t currentStatePoolId, uint32_t requestPoolId, DataSet* dataSet,
uint32_t currentStatePoolId, uint32_t requestPoolId, GlobDataSet* dataSet,
AbstractTemperatureSensor* sensor,
AbstractTemperatureSensor* firstRedundantSensor,
AbstractTemperatureSensor* secondRedundantSensor,
@ -18,14 +18,14 @@ CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
AbstractTemperatureSensor::ZERO_KELVIN_C), parameters(
parameters), temperatureMonitor(reportingObjectId,
domainId + 1,
DataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
GlobalDataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
COMPONENT_TEMP_CONFIRMATION), domainId(domainId) {
if (thermalModule != NULL) {
thermalModule->registerComponent(this, priority);
}
//Set thermal state once, then leave to operator.
DataSet mySet;
PoolVariable<int8_t> writableTargetState(targetStatePoolId, &mySet,
GlobDataSet mySet;
gp_uint8_t writableTargetState(targetStatePoolId, &mySet,
PoolVariableIF::VAR_WRITE);
writableTargetState = initialTargetState;
mySet.commit(PoolVariableIF::VALID);
@ -70,8 +70,8 @@ float CoreComponent::getLowerOpLimit() {
}
ReturnValue_t CoreComponent::setTargetState(int8_t newState) {
DataSet mySet;
PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
GlobDataSet mySet;
gp_uint8_t writableTargetState(targetState.getDataPoolId(),
&mySet, PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if ((writableTargetState == STATE_REQUEST_OPERATIONAL)

23
thermal/CoreComponent.h
View File

@ -1,13 +1,14 @@
#ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
#define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
#include "../datapool/DataSet.h"
#include "../datapool/PoolVariable.h"
#include "ThermalComponentIF.h"
#include "AbstractTemperatureSensor.h"
#include "ThermalModule.h"
#include "ThermalMonitor.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../thermal/ThermalComponentIF.h"
#include "../thermal/AbstractTemperatureSensor.h"
#include "../thermal/ThermalModule.h"
#include "../thermal/ThermalMonitor.h"
// TODO: Documentaiton, how to use this? only use Thermal Component, which inherits core component?
class CoreComponent: public ThermalComponentIF {
public:
struct Parameters {
@ -22,7 +23,7 @@ public:
CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
uint32_t targetStatePoolId, uint32_t currentStatePoolId,
uint32_t requestPoolId, DataSet *dataSet,
uint32_t requestPoolId, GlobDataSet *dataSet,
AbstractTemperatureSensor *sensor,
AbstractTemperatureSensor *firstRedundantSensor,
AbstractTemperatureSensor *secondRedundantSensor,
@ -57,10 +58,10 @@ protected:
AbstractTemperatureSensor *secondRedundantSensor;
ThermalModuleIF *thermalModule;
db_float_t temperature;
db_int8_t targetState;
db_int8_t currentState;
db_uint8_t heaterRequest;
gp_float_t temperature;
gp_int8_t targetState;
gp_int8_t currentState;
gp_uint8_t heaterRequest;
bool isHeating;

18
thermal/ThermalComponent.cpp
View File

@ -3,7 +3,7 @@
ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
uint8_t domainId, uint32_t temperaturePoolId,
uint32_t targetStatePoolId, uint32_t currentStatePoolId,
uint32_t requestPoolId, DataSet* dataSet,
uint32_t requestPoolId, GlobDataSet* dataSet,
AbstractTemperatureSensor* sensor,
AbstractTemperatureSensor* firstRedundantSensor,
AbstractTemperatureSensor* secondRedundantSensor,
@ -12,20 +12,18 @@ ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
CoreComponent(reportingObjectId, domainId, temperaturePoolId,
targetStatePoolId, currentStatePoolId, requestPoolId, dataSet,
sensor, firstRedundantSensor, secondRedundantSensor,
thermalModule,
{ parameters.lowerOpLimit, parameters.upperOpLimit,
parameters.heaterOn, parameters.hysteresis,
parameters.heaterSwitchoff }, priority,
ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL), nopParameters(
{ parameters.lowerNopLimit, parameters.upperNopLimit }) {
thermalModule,{ parameters.lowerOpLimit, parameters.upperOpLimit,
parameters.heaterOn, parameters.hysteresis, parameters.heaterSwitchoff },
priority, ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) {
}
ThermalComponent::~ThermalComponent() {
}
ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
DataSet mySet;
PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
GlobDataSet mySet;
gp_int8_t writableTargetState(targetState.getDataPoolId(),
&mySet, PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
@ -42,7 +40,7 @@ ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
}
}
ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
if (size != 4 * sizeof(parameters.lowerOpLimit)) {
return MonitoringIF::INVALID_SIZE;
}

28
thermal/ThermalComponent.h
View File

@ -3,6 +3,9 @@
#include "CoreComponent.h"
/**
* What is it. How to use
*/
class ThermalComponent: public CoreComponent {
public:
struct Parameters {
@ -14,13 +17,34 @@ public:
float hysteresis;
float heaterSwitchoff;
};
/**
* Non-Operational Temperatures
*/
struct NopParameters {
float lowerNopLimit;
float upperNopLimit;
};
/**
* How to use.
* @param reportingObjectId
* @param domainId
* @param temperaturePoolId
* @param targetStatePoolId
* @param currentStatePoolId
* @param requestPoolId
* @param dataSet
* @param sensor
* @param firstRedundantSensor
* @param secondRedundantSensor
* @param thermalModule
* @param parameters
* @param priority
*/
ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
uint32_t targetStatePoolId, uint32_t currentStatePoolId, uint32_t requestPoolId,
DataSet *dataSet, AbstractTemperatureSensor *sensor,
GlobDataSet *dataSet, AbstractTemperatureSensor *sensor,
AbstractTemperatureSensor *firstRedundantSensor,
AbstractTemperatureSensor *secondRedundantSensor,
ThermalModuleIF *thermalModule, Parameters parameters,
@ -29,7 +53,7 @@ public:
ReturnValue_t setTargetState(int8_t newState);
virtual ReturnValue_t setLimits( const uint8_t* data, uint32_t size);
virtual ReturnValue_t setLimits( const uint8_t* data, size_t size);
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,

8
thermal/ThermalModule.cpp
View File

@ -6,7 +6,7 @@
ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
uint32_t currentStatePoolId, uint32_t targetStatePoolId,
DataSet *dataSet, Parameters parameters,
GlobDataSet *dataSet, Parameters parameters,
RedundantHeater::Parameters heaterParameters) :
oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
false), parameters(parameters), moduleTemperature(
@ -16,7 +16,7 @@ ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
heater = new RedundantHeater(heaterParameters);
}
ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, DataSet* dataSet) :
ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet* dataSet) :
oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
false), parameters( { 0, 0 }), moduleTemperature(
moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
@ -250,8 +250,8 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
}
void ThermalModule::setHeating(bool on) {
DataSet mySet;
PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
GlobDataSet mySet;
gp_int8_t writableTargetState(targetState.getDataPoolId(),
&mySet, PoolVariableIF::VAR_WRITE);
if (on) {
writableTargetState = STATE_REQUEST_HEATING;

17
thermal/ThermalModule.h
View File

@ -1,8 +1,8 @@
#ifndef THERMALMODULE_H_
#define THERMALMODULE_H_
#include "../datapool/DataSet.h"
#include "../datapool/PoolVariable.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../devicehandlers/HealthDevice.h"
#include "../events/EventReportingProxyIF.h"
#include "ThermalModuleIF.h"
@ -11,6 +11,9 @@
#include "RedundantHeater.h"
class PowerSwitchIF;
/**
* @brief Allows creation of different thermal control domains within a system.
*/
class ThermalModule: public ThermalModuleIF {
friend class ThermalController;
public:
@ -20,10 +23,10 @@ public:
};
ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId,
uint32_t targetStatePoolId, DataSet *dataSet, Parameters parameters,
uint32_t targetStatePoolId, GlobDataSet *dataSet, Parameters parameters,
RedundantHeater::Parameters heaterParameters);
ThermalModule(uint32_t moduleTemperaturePoolId, DataSet *dataSet);
ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet *dataSet);
virtual ~ThermalModule();
@ -67,12 +70,12 @@ protected:
Parameters parameters;
db_float_t moduleTemperature;
gp_float_t moduleTemperature;
RedundantHeater *heater;
db_int8_t currentState;
db_int8_t targetState;
gp_int8_t currentState;
gp_int8_t targetState;
std::list<AbstractTemperatureSensor *> sensors;
std::list<ComponentData> components;