fsfw/fsfw
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Merge remote-tracking branch 'upstream/mueller/master' into mueller/master

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This commit is contained in:
Robin Müller 2021-02-03 13:39:09 +01:00
commit 8c5e261a0d
119 changed files with 9240 additions and 5985 deletions
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166
action/ActionHelper.cpp
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@ -6,120 +6,120 @@
ActionHelper::ActionHelper(HasActionsIF* setOwner, ActionHelper::ActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) : MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue) { owner(setOwner), queueToUse(useThisQueue) {
} }
ActionHelper::~ActionHelper() { ActionHelper::~ActionHelper() {
} }
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) { ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
ActionId_t currentAction = ActionMessage::getActionId(command); ActionId_t currentAction = ActionMessage::getActionId(command);
prepareExecution(command->getSender(), currentAction, prepareExecution(command->getSender(), currentAction,
ActionMessage::getStoreId(command)); ActionMessage::getStoreId(command));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {
return CommandMessage::UNKNOWN_COMMAND; return CommandMessage::UNKNOWN_COMMAND;
} }
} }
ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE); ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == nullptr) { if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
if(queueToUse_ != nullptr) { if(queueToUse_ != nullptr) {
setQueueToUse(queueToUse_); setQueueToUse(queueToUse_);
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ReturnValue_t result) { ActionId_t commandId, ReturnValue_t result) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply); queueToUse->sendMessage(reportTo, &reply);
} }
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) { ReturnValue_t result) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, result); ActionMessage::setCompletionReply(&reply, commandId, result);
queueToUse->sendMessage(reportTo, &reply); queueToUse->sendMessage(reportTo, &reply);
} }
void ActionHelper::setQueueToUse(MessageQueueIF* queue) { void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue; queueToUse = queue;
} }
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) { ActionId_t actionId, store_address_t dataAddress) {
const uint8_t* dataPtr = NULL; const uint8_t* dataPtr = NULL;
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result); ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
return; return;
} }
result = owner->executeAction(actionId, commandedBy, dataPtr, size); result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress); ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) { if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, result); ActionMessage::setCompletionReply(&reply, actionId, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
} }
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result); ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
return; return;
} }
} }
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, SerializeIF* data, bool hideSender) { ActionId_t replyId, SerializeIF* data, bool hideSender) {
CommandMessage reply; CommandMessage reply;
store_address_t storeAddress; store_address_t storeAddress;
uint8_t *dataPtr; uint8_t *dataPtr;
size_t maxSize = data->getSerializedSize(); size_t maxSize = data->getSerializedSize();
if (maxSize == 0) { if (maxSize == 0) {
//No error, there's simply nothing to report. //No error, there's simply nothing to report.
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
&dataPtr); &dataPtr);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
result = data->serialize(&dataPtr, &size, maxSize, result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG); SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress); ipcStore->deleteData(storeAddress);
return result; return result;
} }
// We don't need to report the objectId, as we receive REQUESTED data // We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message. // before the completion success message.
// True aperiodic replies need to be reported with // True aperiodic replies need to be reported with
// another dedicated message. // another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress); ActionMessage::setDataReply(&reply, replyId, storeAddress);
// If the sender needs to be hidden, for example to handle packet // If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here. // as unrequested reply, this will be done here.
if (hideSender) { if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply); result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} }
else { else {
result = queueToUse->sendMessage(reportTo, &reply); result = queueToUse->sendMessage(reportTo, &reply);
} }
if (result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress); ipcStore->deleteData(storeAddress);
} }
return result; return result;
} }
void ActionHelper::resetHelper() { void ActionHelper::resetHelper() {
@ -155,7 +155,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
result = queueToUse->sendMessage(reportTo, &reply); result = queueToUse->sendMessage(reportTo, &reply);
} }
if (result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress); ipcStore->deleteData(storeAddress);
} }
return result; return result;

176
action/ActionHelper.h
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@ -18,68 +18,68 @@ class HasActionsIF;
class ActionHelper { class ActionHelper {
public: public:
/** /**
* Constructor of the action helper * Constructor of the action helper
* @param setOwner Pointer to the owner of the interface * @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during * @param useThisQueue messageQueue to be used, can be set during
* initialize function as well. * initialize function as well.
*/ */
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~ActionHelper(); virtual ~ActionHelper();
/** /**
* Function to be called from the owner with a new command message * Function to be called from the owner with a new command message
* *
* If the message is a valid action message the helper will use the * If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF. * executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be * If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically. * send to the sender of the message automatically.
* *
* @param command Pointer to a command message received by the owner * @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message, * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown * CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/ */
ReturnValue_t handleActionMessage(CommandMessage* command); ReturnValue_t handleActionMessage(CommandMessage* command);
/** /**
* Helper initialize function. Must be called before use of any other * Helper initialize function. Must be called before use of any other
* helper function * helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional * @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor * if queue was set in constructor
* @return Returns RETURN_OK if successful * @return Returns RETURN_OK if successful
*/ */
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/** /**
* Function to be called from the owner to send a step message. * Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value. * Success or failure will be determined by the result value.
* *
* @param step Number of steps already done * @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to * @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command * @param commandId ID of the executed command
* @param result Result of the execution * @param result Result of the execution
*/ */
void step(uint8_t step, MessageQueueId_t reportTo, void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/** /**
* Function to be called by the owner to send a action completion message * Function to be called by the owner to send a action completion message
* *
* @param reportTo MessageQueueId_t to report the action completion message to * @param reportTo MessageQueueId_t to report the action completion message to
* @param commandId ID of the executed command * @param commandId ID of the executed command
* @param result Result of the execution * @param result Result of the execution
*/ */
void finish(MessageQueueId_t reportTo, ActionId_t commandId, void finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/** /**
* Function to be called by the owner if an action does report data. * Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store. * Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion * @param reportTo MessageQueueId_t to report the action completion
* message to * message to
* @param replyId ID of the executed command * @param replyId ID of the executed command
* @param data Pointer to the data * @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code * @return Returns RETURN_OK if successful, otherwise failure code
*/ */
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false); SerializeIF* data, bool hideSender = false);
/** /**
* Function to be called by the owner if an action does report data. * Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store. * Takes the raw data and writes it into the IPC store.
@ -91,35 +91,35 @@ public:
*/ */
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender = false); const uint8_t* data, size_t dataSize, bool hideSender = false);
/** /**
* Function to setup the MessageQueueIF* of the helper. Can be used to * Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction * set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions. * and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper * @param queue Queue to be used by the helper
*/ */
void setQueueToUse(MessageQueueIF *queue); void setQueueToUse(MessageQueueIF *queue);
protected: protected:
//!< Increase of value of this per step //! Increase of value of this per step
static const uint8_t STEP_OFFSET = 1; static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;//!< Pointer to the owner HasActionsIF* owner;//!< Pointer to the owner
//! Queue to be used as response sender, has to be set in ctor or with //! Queue to be used as response sender, has to be set in ctor or with
//! setQueueToUse //! setQueueToUse
MessageQueueIF* queueToUse; MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or //! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr; StorageManagerIF* ipcStore = nullptr;
/** /**
* Internal function called by handleActionMessage * Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander * @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done * @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store * @param dataAddress Address of additional data in IPC Store
*/ */
virtual void prepareExecution(MessageQueueId_t commandedBy, virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress); ActionId_t actionId, store_address_t dataAddress);
/** /**
* @brief Default implementation is empty. * @brief Default implementation is empty.
*/ */
virtual void resetHelper(); virtual void resetHelper();
}; };
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */ #endif /* FSFW_ACTION_ACTIONHELPER_H_ */

86
action/ActionMessage.cpp
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@ -11,71 +11,71 @@ ActionMessage::~ActionMessage() {
} }
void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid, void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters) { store_address_t parameters) {
message->setCommand(EXECUTE_ACTION); message->setCommand(EXECUTE_ACTION);
message->setParameter(fid); message->setParameter(fid);
message->setParameter2(parameters.raw); message->setParameter2(parameters.raw);
} }
ActionId_t ActionMessage::getActionId(const CommandMessage* message) { ActionId_t ActionMessage::getActionId(const CommandMessage* message) {
return ActionId_t(message->getParameter()); return ActionId_t(message->getParameter());
} }
store_address_t ActionMessage::getStoreId(const CommandMessage* message) { store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
store_address_t temp; store_address_t temp;
temp.raw = message->getParameter2(); temp.raw = message->getParameter2();
return temp; return temp;
} }
void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
ReturnValue_t result) { ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
message->setCommand(STEP_SUCCESS); message->setCommand(STEP_SUCCESS);
} else { } else {
message->setCommand(STEP_FAILED); message->setCommand(STEP_FAILED);
} }
message->setParameter(fid); message->setParameter(fid);
message->setParameter2((step << 16) + result); message->setParameter2((step << 16) + result);
} }
uint8_t ActionMessage::getStep(const CommandMessage* message) { uint8_t ActionMessage::getStep(const CommandMessage* message) {
return uint8_t((message->getParameter2() >> 16) & 0xFF); return uint8_t((message->getParameter2() >> 16) & 0xFF);
} }
ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) { ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) {
return message->getParameter2() & 0xFFFF; return message->getParameter2() & 0xFFFF;
} }
void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId, void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data) { store_address_t data) {
message->setCommand(DATA_REPLY); message->setCommand(DATA_REPLY);
message->setParameter(actionId); message->setParameter(actionId);
message->setParameter2(data.raw); message->setParameter2(data.raw);
} }
void ActionMessage::setCompletionReply(CommandMessage* message, void ActionMessage::setCompletionReply(CommandMessage* message,
ActionId_t fid, ReturnValue_t result) { ActionId_t fid, ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) { if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) {
message->setCommand(COMPLETION_SUCCESS); message->setCommand(COMPLETION_SUCCESS);
} else { } else {
message->setCommand(COMPLETION_FAILED); message->setCommand(COMPLETION_FAILED);
} }
message->setParameter(fid); message->setParameter(fid);
message->setParameter2(result); message->setParameter2(result);
} }
void ActionMessage::clear(CommandMessage* message) { void ActionMessage::clear(CommandMessage* message) {
switch(message->getCommand()) { switch(message->getCommand()) {
case EXECUTE_ACTION: case EXECUTE_ACTION:
case DATA_REPLY: { case DATA_REPLY: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>( StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
objects::IPC_STORE); objects::IPC_STORE);
if (ipcStore != NULL) { if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message)); ipcStore->deleteData(getStoreId(message));
} }
break; break;
} }
default: default:
break; break;
} }
} }

44
action/ActionMessage.h
View File

@ -15,29 +15,29 @@ using ActionId_t = uint32_t;
*/ */
class ActionMessage { class ActionMessage {
private: private:
ActionMessage(); ActionMessage();
public: public:
static const uint8_t MESSAGE_ID = messagetypes::ACTION; static const uint8_t MESSAGE_ID = messagetypes::ACTION;
static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4); static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5); static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6); static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
virtual ~ActionMessage(); virtual ~ActionMessage();
static void setCommand(CommandMessage* message, ActionId_t fid, static void setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters); store_address_t parameters);
static ActionId_t getActionId(const CommandMessage* message ); static ActionId_t getActionId(const CommandMessage* message );
static store_address_t getStoreId(const CommandMessage* message ); static store_address_t getStoreId(const CommandMessage* message );
static void setStepReply(CommandMessage* message, ActionId_t fid, static void setStepReply(CommandMessage* message, ActionId_t fid,
uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message ); static uint8_t getStep(const CommandMessage* message );
static ReturnValue_t getReturnCode(const CommandMessage* message ); static ReturnValue_t getReturnCode(const CommandMessage* message );
static void setDataReply(CommandMessage* message, ActionId_t actionId, static void setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data); store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid, static void setCompletionReply(CommandMessage* message, ActionId_t fid,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message); static void clear(CommandMessage* message);
}; };
#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */ #endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */

188
action/CommandActionHelper.cpp
View File

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

36
action/CommandActionHelper.h
View File

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

28
action/CommandsActionsIF.h
View File

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

44
action/HasActionsIF.h
View File

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

102
action/SimpleActionHelper.cpp
View File

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

30
action/SimpleActionHelper.h
View File

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

398
container/ArrayList.h
View File

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

234
container/BinaryTree.h
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@ -7,65 +7,65 @@
template<typename Tp> template<typename Tp>
class BinaryNode { class BinaryNode {
public: public:
BinaryNode(Tp* setValue) : BinaryNode(Tp* setValue) :
value(setValue), left(NULL), right(NULL), parent(NULL) { value(setValue), left(NULL), right(NULL), parent(NULL) {
} }
Tp *value; Tp *value;
BinaryNode* left; BinaryNode* left;
BinaryNode* right; BinaryNode* right;
BinaryNode* parent; BinaryNode* parent;
}; };
template<typename Tp> template<typename Tp>
class ExplicitNodeIterator { class ExplicitNodeIterator {
public: public:
typedef ExplicitNodeIterator<Tp> _Self; typedef ExplicitNodeIterator<Tp> _Self;
typedef BinaryNode<Tp> _Node; typedef BinaryNode<Tp> _Node;
typedef Tp value_type; typedef Tp value_type;
typedef Tp* pointer; typedef Tp* pointer;
typedef Tp& reference; typedef Tp& reference;
ExplicitNodeIterator() : ExplicitNodeIterator() :
element(NULL) { element(NULL) {
} }
ExplicitNodeIterator(_Node* node) : ExplicitNodeIterator(_Node* node) :
element(node) { element(node) {
} }
BinaryNode<Tp>* element; BinaryNode<Tp>* element;
_Self up() { _Self up() {
return _Self(element->parent); return _Self(element->parent);
} }
_Self left() { _Self left() {
if (element != NULL) { if (element != NULL) {
return _Self(element->left); return _Self(element->left);
} else { } else {
return _Self(NULL); return _Self(NULL);
} }
} }
_Self right() { _Self right() {
if (element != NULL) { if (element != NULL) {
return _Self(element->right); return _Self(element->right);
} else { } else {
return _Self(NULL); return _Self(NULL);
} }
} }
bool operator==(const _Self& __x) const { bool operator==(const _Self& __x) const {
return element == __x.element; return element == __x.element;
} }
bool operator!=(const _Self& __x) const { bool operator!=(const _Self& __x) const {
return element != __x.element; return element != __x.element;
} }
pointer pointer
operator->() const { operator->() const {
if (element != NULL) { if (element != NULL) {
return element->value; return element->value;
} else { } else {
return NULL; return NULL;
} }
} }
pointer operator*() const { pointer operator*() const {
return this->operator->(); return this->operator->();
} }
}; };
@ -75,77 +75,77 @@ public:
template<typename Tp> template<typename Tp>
class BinaryTree { class BinaryTree {
public: public:
typedef ExplicitNodeIterator<Tp> iterator; typedef ExplicitNodeIterator<Tp> iterator;
typedef BinaryNode<Tp> Node; typedef BinaryNode<Tp> Node;
typedef std::pair<iterator, iterator> children; typedef std::pair<iterator, iterator> children;
BinaryTree() : BinaryTree() :
rootNode(NULL) { rootNode(NULL) {
} }
BinaryTree(Node* rootNode) : BinaryTree(Node* rootNode) :
rootNode(rootNode) { rootNode(rootNode) {
} }
iterator begin() const { iterator begin() const {
return iterator(rootNode); return iterator(rootNode);
} }
static iterator end() { static iterator end() {
return iterator(NULL); return iterator(NULL);
} }
iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) { iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) {
newNode->parent = parentNode.element; newNode->parent = parentNode.element;
if (parentNode.element != NULL) { if (parentNode.element != NULL) {
if (insertLeft) { if (insertLeft) {
parentNode.element->left = newNode; parentNode.element->left = newNode;
} else { } else {
parentNode.element->right = newNode; parentNode.element->right = newNode;
} }
} else { } else {
//Insert first element. //Insert first element.
rootNode = newNode; rootNode = newNode;
} }
return iterator(newNode); return iterator(newNode);
} }
//No recursion to children. Needs to be done externally. //No recursion to children. Needs to be done externally.
children erase(iterator node) { children erase(iterator node) {
if (node.element == rootNode) { if (node.element == rootNode) {
//We're root node //We're root node
rootNode = NULL; rootNode = NULL;
} else { } else {
//Delete parent's reference //Delete parent's reference
if (node.up().left() == node) { if (node.up().left() == node) {
node.up().element->left = NULL; node.up().element->left = NULL;
} else { } else {
node.up().element->right = NULL; node.up().element->right = NULL;
} }
} }
return children(node.element->left, node.element->right); return children(node.element->left, node.element->right);
} }
static uint32_t countLeft(iterator start) { static uint32_t countLeft(iterator start) {
if (start == end()) { if (start == end()) {
return 0; return 0;
} }
//We also count the start node itself. //We also count the start node itself.
uint32_t count = 1; uint32_t count = 1;
while (start.left() != end()) { while (start.left() != end()) {
count++; count++;
start = start.left(); start = start.left();
} }
return count; return count;
} }
static uint32_t countRight(iterator start) { static uint32_t countRight(iterator start) {
if (start == end()) { if (start == end()) {
return 0; return 0;
} }
//We also count the start node itself. //We also count the start node itself.
uint32_t count = 1; uint32_t count = 1;
while (start.right() != end()) { while (start.right() != end()) {
count++; count++;
start = start.right(); start = start.right();
} }
return count; return count;
} }
protected: protected:
Node* rootNode; Node* rootNode;
}; };

64
container/DynamicFIFO.h
View File

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

48
container/FIFO.h
View File

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

112
container/FIFOBase.h
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@ -8,70 +8,70 @@
template <typename T> template <typename T>
class FIFOBase { class FIFOBase {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS; static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
static const ReturnValue_t FULL = MAKE_RETURN_CODE(1); static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2); static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
/** Default ctor, takes pointer to first entry of underlying container /** Default ctor, takes pointer to first entry of underlying container
* and maximum capacity */ * and maximum capacity */
FIFOBase(T* values, const size_t maxCapacity); FIFOBase(T* values, const size_t maxCapacity);
/** /**
* Insert value into FIFO * Insert value into FIFO
* @param value * @param value
* @return RETURN_OK on success, FULL if full * @return RETURN_OK on success, FULL if full
*/ */
ReturnValue_t insert(T value); ReturnValue_t insert(T value);
/** /**
* Retrieve item from FIFO. This removes the item from the FIFO. * Retrieve item from FIFO. This removes the item from the FIFO.
* @param value Must point to a valid T * @param value Must point to a valid T
* @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
*/ */
ReturnValue_t retrieve(T *value); ReturnValue_t retrieve(T *value);
/** /**
* Retrieve item from FIFO without removing it from FIFO. * Retrieve item from FIFO without removing it from FIFO.
* @param value Must point to a valid T * @param value Must point to a valid T
* @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
*/ */
ReturnValue_t peek(T * value); ReturnValue_t peek(T * value);
/** /**
* Remove item from FIFO. * Remove item from FIFO.
* @return RETURN_OK on success, EMPTY if empty * @return RETURN_OK on success, EMPTY if empty
*/ */
ReturnValue_t pop(); ReturnValue_t pop();
/*** /***
* Check if FIFO is empty * Check if FIFO is empty
* @return True if empty, False if not * @return True if empty, False if not
*/ */
bool empty(); bool empty();
/*** /***
* Check if FIFO is Full * Check if FIFO is Full
* @return True if full, False if not * @return True if full, False if not
*/ */
bool full(); bool full();
/*** /***
* Current used size (elements) used * Current used size (elements) used
* @return size_t in elements * @return size_t in elements
*/ */
size_t size(); size_t size();
/*** /***
* Get maximal capacity of fifo * Get maximal capacity of fifo
* @return size_t with max capacity of this fifo * @return size_t with max capacity of this fifo
*/ */
size_t getMaxCapacity() const; size_t getMaxCapacity() const;
protected: protected:
void setContainer(T* data); void setContainer(T* data);
size_t maxCapacity = 0; size_t maxCapacity = 0;
T* values; T* values;
size_t readIndex = 0; size_t readIndex = 0;
size_t writeIndex = 0; size_t writeIndex = 0;
size_t currentSize = 0; size_t currentSize = 0;
size_t next(size_t current); size_t next(size_t current);
}; };
#include "FIFOBase.tpp" #include "FIFOBase.tpp"

82
container/FIFOBase.tpp
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@ -7,87 +7,87 @@
template<typename T> template<typename T>
inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity): inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
maxCapacity(maxCapacity), values(values){}; maxCapacity(maxCapacity), values(values){};
template<typename T> template<typename T>
inline ReturnValue_t FIFOBase<T>::insert(T value) { inline ReturnValue_t FIFOBase<T>::insert(T value) {
if (full()) { if (full()) {
return FULL; return FULL;
} else { } else {
values[writeIndex] = value; values[writeIndex] = value;
writeIndex = next(writeIndex); writeIndex = next(writeIndex);
++currentSize; ++currentSize;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
}; };
template<typename T> template<typename T>
inline ReturnValue_t FIFOBase<T>::retrieve(T* value) { inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
if (empty()) { if (empty()) {
return EMPTY; return EMPTY;
} else { } else {
if (value == nullptr){ if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
*value = values[readIndex]; *value = values[readIndex];
readIndex = next(readIndex); readIndex = next(readIndex);
--currentSize; --currentSize;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
}; };
template<typename T> template<typename T>
inline ReturnValue_t FIFOBase<T>::peek(T* value) { inline ReturnValue_t FIFOBase<T>::peek(T* value) {
if(empty()) { if(empty()) {
return EMPTY; return EMPTY;
} else { } else {
if (value == nullptr){ if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
*value = values[readIndex]; *value = values[readIndex];
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
}; };
template<typename T> template<typename T>
inline ReturnValue_t FIFOBase<T>::pop() { inline ReturnValue_t FIFOBase<T>::pop() {
T value; T value;
return this->retrieve(&value); return this->retrieve(&value);
}; };
template<typename T> template<typename T>
inline bool FIFOBase<T>::empty() { inline bool FIFOBase<T>::empty() {
return (currentSize == 0); return (currentSize == 0);
}; };
template<typename T> template<typename T>
inline bool FIFOBase<T>::full() { inline bool FIFOBase<T>::full() {
return (currentSize == maxCapacity); return (currentSize == maxCapacity);
} }
template<typename T> template<typename T>
inline size_t FIFOBase<T>::size() { inline size_t FIFOBase<T>::size() {
return currentSize; return currentSize;
} }
template<typename T> template<typename T>
inline size_t FIFOBase<T>::next(size_t current) { inline size_t FIFOBase<T>::next(size_t current) {
++current; ++current;
if (current == maxCapacity) { if (current == maxCapacity) {
current = 0; current = 0;
} }
return current; return current;
} }
template<typename T> template<typename T>
inline size_t FIFOBase<T>::getMaxCapacity() const { inline size_t FIFOBase<T>::getMaxCapacity() const {
return maxCapacity; return maxCapacity;
} }
template<typename T> template<typename T>
inline void FIFOBase<T>::setContainer(T *data) { inline void FIFOBase<T>::setContainer(T *data) {
this->values = data; this->values = data;
} }
#endif #endif

38
container/FixedArrayList.h
View File

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

354
container/FixedMap.h
View File

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

282
container/FixedOrderedMultimap.h
View File

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

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

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

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

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

40
container/SharedRingBuffer.cpp
View File

@ -3,23 +3,23 @@
#include "../ipc/MutexHelper.h" #include "../ipc/MutexHelper.h"
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size, SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes): bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(size, overwriteOld, SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
maxExcessBytes) { maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
} }
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer, SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
const size_t size, bool overwriteOld, size_t maxExcessBytes): const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld, SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
maxExcessBytes) { maxExcessBytes) {
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
} }
void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) { void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
this->fifoDepth = fifoDepth; this->fifoDepth = fifoDepth;
} }
ReturnValue_t SharedRingBuffer::lockRingBufferMutex( ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
@ -38,20 +38,20 @@ MutexIF* SharedRingBuffer::getMutexHandle() const {
} }
ReturnValue_t SharedRingBuffer::initialize() { ReturnValue_t SharedRingBuffer::initialize() {
if(fifoDepth > 0) { if(fifoDepth > 0) {
receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth); receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
} }
return SystemObject::initialize(); return SystemObject::initialize();
} }
DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() { DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
if(receiveSizesFIFO == nullptr) { if(receiveSizesFIFO == nullptr) {
// Configuration error. // Configuration error.
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer" sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!" << " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl; << std::endl;
#endif #endif
} }
return receiveSizesFIFO; return receiveSizesFIFO;
} }

122
container/SharedRingBuffer.h
View File

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

152
container/SimpleRingBuffer.cpp
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@ -2,31 +2,31 @@
#include <cstring> #include <cstring>
SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
size_t maxExcessBytes) : size_t maxExcessBytes) :
RingBufferBase<>(0, size, overwriteOld), RingBufferBase<>(0, size, overwriteOld),
maxExcessBytes(maxExcessBytes) { maxExcessBytes(maxExcessBytes) {
if(maxExcessBytes > size) { if(maxExcessBytes > size) {
this->maxExcessBytes = size; this->maxExcessBytes = size;
} }
else { else {
this->maxExcessBytes = maxExcessBytes; this->maxExcessBytes = maxExcessBytes;
} }
buffer = new uint8_t[size + maxExcessBytes]; buffer = new uint8_t[size + maxExcessBytes];
} }
SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size, SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
bool overwriteOld, size_t maxExcessBytes): bool overwriteOld, size_t maxExcessBytes):
RingBufferBase<>(0, size, overwriteOld), buffer(buffer) { RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
if(maxExcessBytes > size) { if(maxExcessBytes > size) {
this->maxExcessBytes = size; this->maxExcessBytes = size;
} }
else { else {
this->maxExcessBytes = maxExcessBytes; this->maxExcessBytes = maxExcessBytes;
} }
} }
SimpleRingBuffer::~SimpleRingBuffer() { SimpleRingBuffer::~SimpleRingBuffer() {
delete[] buffer; delete[] buffer;
} }
ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer, ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
@ -48,58 +48,58 @@ ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
} }
void SimpleRingBuffer::confirmBytesWritten(size_t amount) { void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
if(getExcessBytes() > 0) { if(getExcessBytes() > 0) {
moveExcessBytesToStart(); moveExcessBytesToStart();
} }
incrementWrite(amount); incrementWrite(amount);
} }
ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
size_t amount) { size_t amount) {
if (availableWriteSpace() >= amount or overwriteOld) { if (availableWriteSpace() >= amount or overwriteOld) {
size_t amountTillWrap = writeTillWrap(); size_t amountTillWrap = writeTillWrap();
if (amountTillWrap >= amount) { if (amountTillWrap >= amount) {
// remaining size in buffer is sufficient to fit full amount. // remaining size in buffer is sufficient to fit full amount.
memcpy(&buffer[write], data, amount); memcpy(&buffer[write], data, amount);
} }
else { else {
memcpy(&buffer[write], data, amountTillWrap); memcpy(&buffer[write], data, amountTillWrap);
memcpy(buffer, data + amountTillWrap, amount - amountTillWrap); memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
} }
incrementWrite(amount); incrementWrite(amount);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount, ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
bool incrementReadPtr, bool readRemaining, size_t* trueAmount) { bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR); size_t availableData = getAvailableReadData(READ_PTR);
size_t amountTillWrap = readTillWrap(READ_PTR); size_t amountTillWrap = readTillWrap(READ_PTR);
if (availableData < amount) { if (availableData < amount) {
if (readRemaining) { if (readRemaining) {
// more data available than amount specified. // more data available than amount specified.
amount = availableData; amount = availableData;
} else { } else {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
if (trueAmount != nullptr) { if (trueAmount != nullptr) {
*trueAmount = amount; *trueAmount = amount;
} }
if (amountTillWrap >= amount) { if (amountTillWrap >= amount) {
memcpy(data, &buffer[read[READ_PTR]], amount); memcpy(data, &buffer[read[READ_PTR]], amount);
} else { } else {
memcpy(data, &buffer[read[READ_PTR]], amountTillWrap); memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
memcpy(data + amountTillWrap, buffer, amount - amountTillWrap); memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
} }
if(incrementReadPtr) { if(incrementReadPtr) {
deleteData(amount, readRemaining); deleteData(amount, readRemaining);
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
size_t SimpleRingBuffer::getExcessBytes() const { size_t SimpleRingBuffer::getExcessBytes() const {
@ -114,18 +114,18 @@ void SimpleRingBuffer::moveExcessBytesToStart() {
} }
ReturnValue_t SimpleRingBuffer::deleteData(size_t amount, ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
bool deleteRemaining, size_t* trueAmount) { bool deleteRemaining, size_t* trueAmount) {
size_t availableData = getAvailableReadData(READ_PTR); size_t availableData = getAvailableReadData(READ_PTR);
if (availableData < amount) { if (availableData < amount) {
if (deleteRemaining) { if (deleteRemaining) {
amount = availableData; amount = availableData;
} else { } else {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
if (trueAmount != nullptr) { if (trueAmount != nullptr) {
*trueAmount = amount; *trueAmount = amount;
} }
incrementRead(amount, READ_PTR); incrementRead(amount, READ_PTR);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

178
container/SimpleRingBuffer.h
View File

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

176
container/SinglyLinkedList.h
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@ -5,71 +5,71 @@
#include <cstdint> #include <cstdint>
/** /**
* @brief Linked list data structure, * @brief Linked list data structure,
* each entry has a pointer to the next entry (singly) * each entry has a pointer to the next entry (singly)
* @ingroup container * @ingroup container
*/ */
template<typename T> template<typename T>
class LinkedElement { class LinkedElement {
public: public:
T *value; T *value;
class Iterator { class Iterator {
public: public:
LinkedElement<T> *value = nullptr; LinkedElement<T> *value = nullptr;
Iterator() {} Iterator() {}
Iterator(LinkedElement<T> *element) : Iterator(LinkedElement<T> *element) :
value(element) { value(element) {
} }
Iterator& operator++() { Iterator& operator++() {
value = value->getNext(); value = value->getNext();
return *this; return *this;
} }
Iterator operator++(int) { Iterator operator++(int) {
Iterator tmp(*this); Iterator tmp(*this);
operator++(); operator++();
return tmp; return tmp;
} }
bool operator==(Iterator other) { bool operator==(Iterator other) {
return value == other.value; return value == other.value;
} }
bool operator!=(Iterator other) { bool operator!=(Iterator other) {
return !(*this == other); return !(*this == other);
} }
T *operator->() { T *operator->() {
return value->value; return value->value;
} }
}; };
LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr): LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
value(setElement), next(setNext) {} value(setElement), next(setNext) {}
virtual ~LinkedElement(){} virtual ~LinkedElement(){}
virtual LinkedElement* getNext() const { virtual LinkedElement* getNext() const {
return next; return next;
} }
virtual void setNext(LinkedElement* next) { virtual void setNext(LinkedElement* next) {
this->next = next; this->next = next;
} }
virtual void setEnd() { virtual void setEnd() {
this->next = nullptr; this->next = nullptr;
} }
LinkedElement* begin() { LinkedElement* begin() {
return this; return this;
} }
LinkedElement* end() { LinkedElement* end() {
return nullptr; return nullptr;
} }
private: private:
LinkedElement *next; LinkedElement *next;
}; };
template<typename T> template<typename T>
@ -77,52 +77,52 @@ class SinglyLinkedList {
public: public:
using ElementIterator = typename LinkedElement<T>::Iterator; using ElementIterator = typename LinkedElement<T>::Iterator;
SinglyLinkedList() {} SinglyLinkedList() {}
SinglyLinkedList(ElementIterator start) : SinglyLinkedList(ElementIterator start) :
start(start.value) {} start(start.value) {}
SinglyLinkedList(LinkedElement<T>* startElement) : SinglyLinkedList(LinkedElement<T>* startElement) :
start(startElement) {} start(startElement) {}
ElementIterator begin() const { ElementIterator begin() const {
return ElementIterator::Iterator(start); return ElementIterator::Iterator(start);
} }
/** Returns iterator to nulltr */ /** Returns iterator to nulltr */
ElementIterator end() const { ElementIterator end() const {
return ElementIterator::Iterator(); return ElementIterator::Iterator();
} }
/** /**
* Returns last element in singly linked list. * Returns last element in singly linked list.
* @return * @return
*/ */
ElementIterator back() const { ElementIterator back() const {
LinkedElement<T> *element = start; LinkedElement<T> *element = start;
while (element->getNext() != nullptr) { while (element->getNext() != nullptr) {
element = element->getNext(); element = element->getNext();
} }
return ElementIterator::Iterator(element); return ElementIterator::Iterator(element);
} }
size_t getSize() const { size_t getSize() const {
size_t size = 0; size_t size = 0;
LinkedElement<T> *element = start; LinkedElement<T> *element = start;
while (element != nullptr) { while (element != nullptr) {
size++; size++;
element = element->getNext(); element = element->getNext();
} }
return size; return size;
} }
void setStart(LinkedElement<T>* firstElement) { void setStart(LinkedElement<T>* firstElement) {
start = firstElement; start = firstElement;
} }
void setNext(LinkedElement<T>* currentElement, void setNext(LinkedElement<T>* currentElement,
LinkedElement<T>* nextElement) { LinkedElement<T>* nextElement) {
currentElement->setNext(nextElement); currentElement->setNext(nextElement);
} }
void setLast(LinkedElement<T>* lastElement) { void setLast(LinkedElement<T>* lastElement) {
lastElement->setEnd(); lastElement->setEnd();
@ -148,7 +148,7 @@ public:
} }
protected: protected:
LinkedElement<T> *start = nullptr; LinkedElement<T> *start = nullptr;
}; };
#endif /* SINGLYLINKEDLIST_H_ */ #endif /* SINGLYLINKEDLIST_H_ */

4
controller/CMakeLists.txt
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@ -1,4 +1,4 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME}
PRIVATE PRIVATE
ControllerBase.cpp ControllerBase.cpp
) )

152
controller/ControllerBase.cpp
View File

@ -5,128 +5,128 @@
#include "../action/HasActionsIF.h" #include "../action/HasActionsIF.h"
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth) : size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
submode(SUBMODE_NONE), modeHelper(this), submode(SUBMODE_NONE), modeHelper(this),
healthHelper(this, setObjectId) { healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue( commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth); commandQueueDepth);
} }
ControllerBase::~ControllerBase() { ControllerBase::~ControllerBase() {
QueueFactory::instance()->deleteMessageQueue(commandQueue); QueueFactory::instance()->deleteMessageQueue(commandQueue);
} }
ReturnValue_t ControllerBase::initialize() { ReturnValue_t ControllerBase::initialize() {
ReturnValue_t result = SystemObject::initialize(); ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
MessageQueueId_t parentQueue = 0; MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) { if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId); SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == nullptr) { if (parent == nullptr) {
return RETURN_FAILED; return RETURN_FAILED;
} }
parentQueue = parent->getCommandQueue(); parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId()); parent->registerChild(getObjectId());
} }
result = healthHelper.initialize(parentQueue); result = healthHelper.initialize(parentQueue);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
result = modeHelper.initialize(parentQueue); result = modeHelper.initialize(parentQueue);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
return RETURN_OK; return RETURN_OK;
} }
MessageQueueId_t ControllerBase::getCommandQueue() const { MessageQueueId_t ControllerBase::getCommandQueue() const {
return commandQueue->getId(); return commandQueue->getId();
} }
void ControllerBase::handleQueue() { void ControllerBase::handleQueue() {
CommandMessage command; CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command); for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK; result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) { result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&command); result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) { if (result == RETURN_OK) {
continue; continue;
} }
result = healthHelper.handleHealthCommand(&command); result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) { if (result == RETURN_OK) {
continue; continue;
} }
result = handleCommandMessage(&command); result = handleCommandMessage(&command);
if (result == RETURN_OK) { if (result == RETURN_OK) {
continue; continue;
} }
command.setToUnknownCommand(); command.setToUnknownCommand();
commandQueue->reply(&command); commandQueue->reply(&command);
} }
} }
void ControllerBase::startTransition(Mode_t mode, Submode_t submode) { void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
changeHK(this->mode, this->submode, false); changeHK(this->mode, this->submode, false);
triggerEvent(CHANGING_MODE, mode, submode); triggerEvent(CHANGING_MODE, mode, submode);
this->mode = mode; this->mode = mode;
this->submode = submode; this->submode = submode;
modeHelper.modeChanged(mode, submode); modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode); modeChanged(mode, submode);
announceMode(false); announceMode(false);
changeHK(this->mode, this->submode, true); changeHK(this->mode, this->submode, true);
} }
void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) { void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode; *mode = this->mode;
*submode = this->submode; *submode = this->submode;
} }
void ControllerBase::setToExternalControl() { void ControllerBase::setToExternalControl() {
healthHelper.setHealth(EXTERNAL_CONTROL); healthHelper.setHealth(EXTERNAL_CONTROL);
} }
void ControllerBase::announceMode(bool recursive) { void ControllerBase::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode); triggerEvent(MODE_INFO, mode, submode);
} }
ReturnValue_t ControllerBase::performOperation(uint8_t opCode) { ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
handleQueue(); handleQueue();
performControlOperation(); performControlOperation();
return RETURN_OK; return RETURN_OK;
} }
void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) {
return; return;
} }
ReturnValue_t ControllerBase::setHealth(HealthState health) { ReturnValue_t ControllerBase::setHealth(HealthState health) {
switch (health) { switch (health) {
case HEALTHY: case HEALTHY:
case EXTERNAL_CONTROL: case EXTERNAL_CONTROL:
healthHelper.setHealth(health); healthHelper.setHealth(health);
return RETURN_OK; return RETURN_OK;
default: default:
return INVALID_HEALTH_STATE; return INVALID_HEALTH_STATE;
} }
} }
HasHealthIF::HealthState ControllerBase::getHealth() { HasHealthIF::HealthState ControllerBase::getHealth() {
return healthHelper.getHealth(); return healthHelper.getHealth();
} }
void ControllerBase::setTaskIF(PeriodicTaskIF* task_){ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_; executingTask = task_;
} }
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) { void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {

90
controller/ControllerBase.h
View File

@ -17,39 +17,39 @@
* a mode and a health state. This avoids boilerplate code. * a mode and a health state. This avoids boilerplate code.
*/ */
class ControllerBase: public HasModesIF, class ControllerBase: public HasModesIF,
public HasHealthIF, public HasHealthIF,
public ExecutableObjectIF, public ExecutableObjectIF,
public SystemObject, public SystemObject,
public HasReturnvaluesIF { public HasReturnvaluesIF {
public: public:
static const Mode_t MODE_NORMAL = 2; static const Mode_t MODE_NORMAL = 2;
ControllerBase(object_id_t setObjectId, object_id_t parentId, ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth = 3); size_t commandQueueDepth = 3);
virtual ~ControllerBase(); virtual ~ControllerBase();
/** SystemObject override */ /** SystemObject override */
virtual ReturnValue_t initialize() override; virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override; virtual MessageQueueId_t getCommandQueue() const override;
/** HasHealthIF overrides */ /** HasHealthIF overrides */
virtual ReturnValue_t setHealth(HealthState health) override; virtual ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override; virtual HasHealthIF::HealthState getHealth() override;
/** ExecutableObjectIF overrides */ /** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override; virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual void setTaskIF(PeriodicTaskIF* task) override; virtual void setTaskIF(PeriodicTaskIF* task) override;
virtual ReturnValue_t initializeAfterTaskCreation() override; virtual ReturnValue_t initializeAfterTaskCreation() override;
protected: protected:
/** /**
* Implemented by child class. Handle command messages which are not * Implemented by child class. Handle command messages which are not
* mode or health messages. * mode or health messages.
* @param message * @param message
* @return * @return
*/ */
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0; virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/** /**
@ -60,35 +60,35 @@ protected:
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0; uint32_t *msToReachTheMode) = 0;
const object_id_t parentId; const object_id_t parentId;
Mode_t mode; Mode_t mode;
Submode_t submode; Submode_t submode;
MessageQueueIF* commandQueue = nullptr; MessageQueueIF* commandQueue = nullptr;
ModeHelper modeHelper; ModeHelper modeHelper;
HealthHelper healthHelper; HealthHelper healthHelper;
/** /**
* Pointer to the task which executes this component, * Pointer to the task which executes this component,
* is invalid before setTaskIF was called. * is invalid before setTaskIF was called.
*/ */
PeriodicTaskIF* executingTask = nullptr; PeriodicTaskIF* executingTask = nullptr;
/** Handle mode and health messages */ /** Handle mode and health messages */
virtual void handleQueue(); virtual void handleQueue();
/** Mode helpers */ /** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode); virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode); virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode); virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl(); virtual void setToExternalControl();
virtual void announceMode(bool recursive); virtual void announceMode(bool recursive);
/** HK helpers */ /** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
}; };
#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */ #endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

2
datapoollocal/AccessLocalPoolF.h
View File

@ -18,7 +18,7 @@ public:
* This function is protected because it should only be used by the * This function is protected because it should only be used by the
* class imlementing the interface. * class imlementing the interface.
*/ */
virtual LocalDataPoolManager* getHkManagerHandle() = 0; virtual LocalDataPoolManager* getPoolManagerHandle() = 0;
protected: protected:

14
datapoollocal/LocalDataPoolManager.cpp
View File

@ -5,8 +5,8 @@
#include "internal/LocalPoolDataSetAttorney.h" #include "internal/LocalPoolDataSetAttorney.h"
#include "internal/HasLocalDpIFManagerAttorney.h" #include "internal/HasLocalDpIFManagerAttorney.h"
#include "../housekeeping/HousekeepingPacketUpdate.h"
#include "../housekeeping/HousekeepingSetPacket.h" #include "../housekeeping/HousekeepingSetPacket.h"
#include "../housekeeping/HousekeepingSnapshot.h"
#include "../housekeeping/AcceptsHkPacketsIF.h" #include "../housekeeping/AcceptsHkPacketsIF.h"
#include "../timemanager/CCSDSTime.h" #include "../timemanager/CCSDSTime.h"
#include "../ipc/MutexFactory.h" #include "../ipc/MutexFactory.h"
@ -226,7 +226,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
Clock::getClock_timeval(&now); Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds; CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now); CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds), HousekeepingSnapshot updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner, sizeof(cds), HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner,
receiver.dataId.localPoolId)); receiver.dataId.localPoolId));
@ -264,7 +264,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
Clock::getClock_timeval(&now); Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds; CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now); CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds), HousekeepingSnapshot updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sizeof(cds), HasLocalDpIFManagerAttorney::getDataSetHandle(owner,
receiver.dataId.sid)); receiver.dataId.sid));
@ -292,7 +292,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
} }
ReturnValue_t LocalDataPoolManager::addUpdateToStore( ReturnValue_t LocalDataPoolManager::addUpdateToStore(
HousekeepingPacketUpdate& updatePacket, store_address_t& storeId) { HousekeepingSnapshot& updatePacket, store_address_t& storeId) {
size_t updatePacketSize = updatePacket.getSerializedSize(); size_t updatePacketSize = updatePacket.getSerializedSize();
uint8_t *storePtr = nullptr; uint8_t *storePtr = nullptr;
ReturnValue_t result = ipcStore->getFreeElement(&storeId, ReturnValue_t result = ipcStore->getFreeElement(&storeId,
@ -890,7 +890,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
<< std::dec << std::setfill(' ') << std::endl; << std::dec << std::setfill(' ') << std::endl;
#else #else
sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
owner->getObjectId(), errorPrint); functionName, owner->getObjectId(), errorPrint);
#endif #endif
} }
else if(outputType == sif::OutputTypes::OUT_ERROR) { else if(outputType == sif::OutputTypes::OUT_ERROR) {
@ -901,11 +901,11 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
<< std::dec << std::setfill(' ') << std::endl; << std::dec << std::setfill(' ') << std::endl;
#else #else
sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
owner->getObjectId(), errorPrint); functionName, owner->getObjectId(), errorPrint);
#endif #endif
} }
} }
LocalDataPoolManager* LocalDataPoolManager::getHkManagerHandle() { LocalDataPoolManager* LocalDataPoolManager::getPoolManagerHandle() {
return this; return this;
} }

342
datapoollocal/LocalDataPoolManager.h
View File

@ -24,7 +24,7 @@ void setStaticFrameworkObjectIds();
} }
class LocalPoolDataSetBase; class LocalPoolDataSetBase;
class HousekeepingPacketUpdate; class HousekeepingSnapshot;
class HasLocalDataPoolIF; class HasLocalDataPoolIF;
class LocalDataPool; class LocalDataPool;
@ -52,17 +52,17 @@ class LocalDataPool;
* Each pool entry has a valid state too. * Each pool entry has a valid state too.
* @author R. Mueller * @author R. Mueller
*/ */
class LocalDataPoolManager: public ProvidesDataPoolSubscriptionIF, class LocalDataPoolManager:
public AccessPoolManagerIF { public ProvidesDataPoolSubscriptionIF,
friend void (Factory::setStaticFrameworkObjectIds)(); public AccessPoolManagerIF {
//! Some classes using the pool manager directly need to access class internals of the friend void (Factory::setStaticFrameworkObjectIds)();
//! manager. The attorney provides granular control of access to these internals. //! Some classes using the pool manager directly need to access class internals of the
friend class LocalDpManagerAttorney; //! manager. The attorney provides granular control of access to these internals.
friend class LocalDpManagerAttorney;
public: public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER; static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
static constexpr ReturnValue_t QUEUE_OR_DESTINATION_INVALID = MAKE_RETURN_CODE(0); static constexpr ReturnValue_t QUEUE_OR_DESTINATION_INVALID = MAKE_RETURN_CODE(0);
static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(1); static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(1);
static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(2); static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(2);
static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(3); static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(3);
@ -81,29 +81,29 @@ public:
* @param appendValidityBuffer Specify whether a buffer containing the * @param appendValidityBuffer Specify whether a buffer containing the
* validity state is generated when serializing or deserializing packets. * validity state is generated when serializing or deserializing packets.
*/ */
LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse, LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
bool appendValidityBuffer = true); bool appendValidityBuffer = true);
virtual~ LocalDataPoolManager(); virtual~ LocalDataPoolManager();
/** /**
* Assigns the queue to use. Make sure to call this in the #initialize * Assigns the queue to use. Make sure to call this in the #initialize
* function of the owner. * function of the owner.
* @param queueToUse * @param queueToUse
* @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc * @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
* @return * @return
*/ */
ReturnValue_t initialize(MessageQueueIF* queueToUse); ReturnValue_t initialize(MessageQueueIF* queueToUse);
/** /**
* Initializes the map by calling the map initialization function and * Initializes the map by calling the map initialization function and
* setting the periodic factor for non-diagnostic packets. * setting the periodic factor for non-diagnostic packets.
* Don't forget to call this in the #initializeAfterTaskCreation call of * Don't forget to call this in the #initializeAfterTaskCreation call of
* the owner, otherwise the map will be invalid! * the owner, otherwise the map will be invalid!
* @param nonDiagInvlFactor * @param nonDiagInvlFactor
* @return * @return
*/ */
ReturnValue_t initializeAfterTaskCreation( ReturnValue_t initializeAfterTaskCreation(
uint8_t nonDiagInvlFactor = 5); uint8_t nonDiagInvlFactor = 5);
/** /**
* @brief This should be called in the periodic handler of the owner. * @brief This should be called in the periodic handler of the owner.
@ -116,49 +116,49 @@ public:
*/ */
virtual ReturnValue_t performHkOperation(); virtual ReturnValue_t performHkOperation();
/** /**
* @brief Subscribe for the generation of periodic packets. * @brief Subscribe for the generation of periodic packets.
* @details * @details
* This subscription mechanism will generally be used by the data creator * This subscription mechanism will generally be used by the data creator
* to generate housekeeping packets which are downlinked directly. * to generate housekeeping packets which are downlinked directly.
* @return * @return
*/ */
ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting, ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
float collectionInterval, bool isDiagnostics, float collectionInterval, bool isDiagnostics,
object_id_t packetDestination = defaultHkDestination) override; object_id_t packetDestination = defaultHkDestination) override;
/** /**
* @brief Subscribe for the generation of packets if the dataset * @brief Subscribe for the generation of packets if the dataset
* is marked as changed. * is marked as changed.
* @details * @details
* This subscription mechanism will generally be used by the data creator. * This subscription mechanism will generally be used by the data creator.
* @param sid * @param sid
* @param isDiagnostics * @param isDiagnostics
* @param packetDestination * @param packetDestination
* @return * @return
*/ */
ReturnValue_t subscribeForUpdatePackets(sid_t sid, bool reportingEnabled, ReturnValue_t subscribeForUpdatePackets(sid_t sid, bool reportingEnabled,
bool isDiagnostics, bool isDiagnostics,
object_id_t packetDestination = defaultHkDestination) override; object_id_t packetDestination = defaultHkDestination) override;
/** /**
* @brief Subscribe for a notification message which will be sent * @brief Subscribe for a notification message which will be sent
* if a dataset has changed. * if a dataset has changed.
* @details * @details
* This subscription mechanism will generally be used internally by * This subscription mechanism will generally be used internally by
* other software components. * other software components.
* @param setId Set ID of the set to receive update messages from. * @param setId Set ID of the set to receive update messages from.
* @param destinationObject * @param destinationObject
* @param targetQueueId * @param targetQueueId
* @param generateSnapshot If this is set to true, a copy of the current * @param generateSnapshot If this is set to true, a copy of the current
* data with a timestamp will be generated and sent via message. * data with a timestamp will be generated and sent via message.
* Otherwise, only an notification message is sent. * Otherwise, only an notification message is sent.
* @return * @return
*/ */
ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId, ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
object_id_t destinationObject, object_id_t destinationObject,
MessageQueueId_t targetQueueId, MessageQueueId_t targetQueueId,
bool generateSnapshot) override; bool generateSnapshot) override;
/** /**
* @brief Subscribe for an notification message which will be sent if a * @brief Subscribe for an notification message which will be sent if a
@ -179,18 +179,16 @@ public:
MessageQueueId_t targetQueueId, MessageQueueId_t targetQueueId,
bool generateSnapshot) override; bool generateSnapshot) override;
MutexIF* getLocalPoolMutex() override; /**
* Non-Diagnostics packets usually have a lower minimum sampling frequency
/** * than diagnostic packets.
* Non-Diagnostics packets usually have a lower minimum sampling frequency * A factor can be specified to determine the minimum sampling frequency
* than diagnostic packets. * for non-diagnostic packets. The minimum sampling frequency of the
* A factor can be specified to determine the minimum sampling frequency * diagnostics packets,which is usually jusst the period of the
* for non-diagnostic packets. The minimum sampling frequency of the * performOperation calls, is multiplied with that factor.
* diagnostics packets,which is usually jusst the period of the * @param factor
* performOperation calls, is multiplied with that factor. */
* @param factor void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
*/
void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
/** /**
* @brief The manager is also able to handle housekeeping messages. * @brief The manager is also able to handle housekeeping messages.
@ -206,18 +204,18 @@ public:
*/ */
virtual ReturnValue_t handleHousekeepingMessage(CommandMessage* message); virtual ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
/** /**
* Generate a housekeeping packet with a given SID. * Generate a housekeeping packet with a given SID.
* @param sid * @param sid
* @return * @return
*/ */
ReturnValue_t generateHousekeepingPacket(sid_t sid, ReturnValue_t generateHousekeepingPacket(sid_t sid,
LocalPoolDataSetBase* dataSet, bool forDownlink, LocalPoolDataSetBase* dataSet, bool forDownlink,
MessageQueueId_t destination = MessageQueueIF::NO_QUEUE); MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
HasLocalDataPoolIF* getOwner(); HasLocalDataPoolIF* getOwner();
ReturnValue_t printPoolEntry(lp_id_t localPoolId); ReturnValue_t printPoolEntry(lp_id_t localPoolId);
/** /**
* Different types of housekeeping reporting are possible. * Different types of housekeeping reporting are possible.
@ -236,22 +234,19 @@ public:
PERIODIC, PERIODIC,
//! Housekeeping packet will be generated if values have changed. //! Housekeeping packet will be generated if values have changed.
UPDATE_HK, UPDATE_HK,
//! Update notification will be sent out as message. //! Update notification will be sent out as message.
UPDATE_NOTIFICATION, UPDATE_NOTIFICATION,
//! Notification will be sent out as message and a snapshot of the //! Notification will be sent out as message and a snapshot of the
//! current data will be generated. //! current data will be generated.
UPDATE_SNAPSHOT, UPDATE_SNAPSHOT,
}; };
/** /** Different data types are possible in the HK receiver map. For example, updates can be
* Different data types are possible in the HK receiver map. requested for full datasets or for single pool variables. Periodic reporting is only possible
* For example, updates can be requested for full datasets or for data sets. */
* for single pool variables. Periodic reporting is only possible for
* data sets.
*/
enum class DataType: uint8_t { enum class DataType: uint8_t {
LOCAL_POOL_VARIABLE, LOCAL_POOL_VARIABLE,
DATA_SET DATA_SET
}; };
/* Copying forbidden */ /* Copying forbidden */
@ -267,11 +262,19 @@ public:
object_id_t getCreatorObjectId() const; object_id_t getCreatorObjectId() const;
virtual LocalDataPoolManager* getHkManagerHandle() override; /**
* 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();
virtual LocalDataPoolManager* getPoolManagerHandle() override;
private: private:
localpool::DataPool localPoolMap; localpool::DataPool localPoolMap;
//! Every housekeeping data manager has a mutex to protect access /** Every housekeeping data manager has a mutex to protect access
//! to it's data pool. to it's data pool. */
MutexIF* mutex = nullptr; MutexIF* mutex = nullptr;
/** The class which actually owns the manager (and its datapool). */ /** The class which actually owns the manager (and its datapool). */
@ -279,9 +282,9 @@ private:
uint8_t nonDiagnosticIntervalFactor = 0; uint8_t nonDiagnosticIntervalFactor = 0;
/** Default receiver for periodic HK packets */ /** Default receiver for periodic HK packets */
static object_id_t defaultHkDestination; static object_id_t defaultHkDestination;
MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE; MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
union DataId { union DataId {
DataId(): sid() {}; DataId(): sid() {};
@ -291,10 +294,10 @@ private:
/** The data pool manager will keep an internal map of HK receivers. */ /** The data pool manager will keep an internal map of HK receivers. */
struct HkReceiver { struct HkReceiver {
/** Object ID of receiver */ /** Object ID of receiver */
object_id_t objectId = objects::NO_OBJECT; object_id_t objectId = objects::NO_OBJECT;
DataType dataType = DataType::DATA_SET; DataType dataType = DataType::DATA_SET;
DataId dataId; DataId dataId;
ReportingType reportingType = ReportingType::PERIODIC; ReportingType reportingType = ReportingType::PERIODIC;
@ -324,37 +327,30 @@ private:
* of generated housekeeping packets. */ * of generated housekeeping packets. */
bool appendValidityBuffer = true; bool appendValidityBuffer = true;
/** /**
* @brief Queue used for communication, for example commands. * @brief Queue used for communication, for example commands.
* Is also used to send messages. Can be set either in the constructor * Is also used to send messages. Can be set either in the constructor
* or in the initialize() function. * or in the initialize() function.
*/ */
MessageQueueIF* hkQueue = nullptr; MessageQueueIF* hkQueue = nullptr;
/** Global IPC store is used to store all packets. */ /** Global IPC store is used to store all packets. */
StorageManagerIF* ipcStore = nullptr; 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 * 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 * entry to the supplied PoolEntry pointer. The type of the pool entry
* is deduced automatically. This call is not thread-safe! * is deduced automatically. This call is not thread-safe!
* For now, only friend classes like LocalPoolVar may access this * For now, only friend classes like LocalPoolVar may access this
* function. * function.
* @tparam T Type of the pool entry * @tparam T Type of the pool entry
* @param localPoolId Pool ID of the variable to read * @param localPoolId Pool ID of the variable to read
* @param poolVar [out] Corresponding pool entry will be assigned to the * @param poolVar [out] Corresponding pool entry will be assigned to the
* supplied pointer. * supplied pointer.
* @return * @return
*/ */
template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId, template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry); PoolEntry<T> **poolEntry);
/** /**
* This function is used to fill the local data pool map with pool * This function is used to fill the local data pool map with pool
@ -364,55 +360,57 @@ private:
*/ */
ReturnValue_t initializeHousekeepingPoolEntriesOnce(); ReturnValue_t initializeHousekeepingPoolEntriesOnce();
ReturnValue_t serializeHkPacketIntoStore( MutexIF* getLocalPoolMutex() override;
HousekeepingPacketDownlink& hkPacket,
store_address_t& storeId, bool forDownlink, size_t* serializedSize);
void performPeriodicHkGeneration(HkReceiver& hkReceiver); ReturnValue_t serializeHkPacketIntoStore(
ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, HousekeepingPacketDownlink& hkPacket,
bool isDiagnostics); store_address_t& storeId, bool forDownlink, size_t* serializedSize);
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 performPeriodicHkGeneration(HkReceiver& hkReceiver);
void handleChangeResetLogic(DataType type, ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
DataId dataId, MarkChangedIF* toReset); bool isDiagnostics);
void resetHkUpdateResetHelper(); ReturnValue_t changeCollectionInterval(sid_t sid,
float newCollectionInterval, bool isDiagnostics);
ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver, 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& status);
ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver, ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver,
ReturnValue_t& status);
ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
ReturnValue_t& status); ReturnValue_t& status);
ReturnValue_t addUpdateToStore(HousekeepingPacketUpdate& updatePacket, ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
store_address_t& storeId); ReturnValue_t& status);
ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket,
store_address_t& storeId);
void printWarningOrError(sif::OutputTypes outputType, void printWarningOrError(sif::OutputTypes outputType,
const char* functionName, const char* functionName,
ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED, ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
const char* errorPrint = nullptr); const char* errorPrint = nullptr);
}; };
template<class T> inline template<class T> inline
ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry) { PoolEntry<T> **poolEntry) {
auto poolIter = localPoolMap.find(localPoolId); auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) { if (poolIter == localPoolMap.end()) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry", printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
localpool::POOL_ENTRY_NOT_FOUND); localpool::POOL_ENTRY_NOT_FOUND);
return localpool::POOL_ENTRY_NOT_FOUND; return localpool::POOL_ENTRY_NOT_FOUND;
} }
*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second); *poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
if(*poolEntry == nullptr) { if(*poolEntry == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry", printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
localpool::POOL_ENTRY_TYPE_CONFLICT); localpool::POOL_ENTRY_TYPE_CONFLICT);
return localpool::POOL_ENTRY_TYPE_CONFLICT; return localpool::POOL_ENTRY_TYPE_CONFLICT;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

15
datapoollocal/LocalDataSet.h
View File

@ -4,11 +4,26 @@
#include "LocalPoolDataSetBase.h" #include "LocalPoolDataSetBase.h"
#include <vector> #include <vector>
/**
* @brief This dataset type can be used to group related pool variables if the number of
* variables should not be fixed.
* @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.
*/
class LocalDataSet: public LocalPoolDataSetBase { class LocalDataSet: public LocalPoolDataSetBase {
public: public:
LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId, LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId,
const size_t maxSize); const size_t maxSize);
LocalDataSet(sid_t sid, const size_t maxSize); LocalDataSet(sid_t sid, const size_t maxSize);
virtual~ LocalDataSet(); virtual~ LocalDataSet();
//! Copying forbidden for now. //! Copying forbidden for now.

2
datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -28,7 +28,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner); AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
if(accessor != nullptr) { if(accessor != nullptr) {
poolManager = accessor->getHkManagerHandle(); poolManager = accessor->getPoolManagerHandle();
mutexIfSingleDataCreator = accessor->getLocalPoolMutex(); mutexIfSingleDataCreator = accessor->getLocalPoolMutex();
} }

4
datapoollocal/LocalPoolObjectBase.cpp
View File

@ -22,7 +22,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkO
return; return;
} }
AccessPoolManagerIF* poolManAccessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner); AccessPoolManagerIF* poolManAccessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
hkManager = poolManAccessor->getHkManagerHandle(); hkManager = poolManAccessor->getPoolManagerHandle();
if (dataSet != nullptr) { if (dataSet != nullptr) {
dataSet->registerVariable(this); dataSet->registerVariable(this);
@ -50,7 +50,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner); AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
if(accessor != nullptr) { if(accessor != nullptr) {
hkManager = accessor->getHkManagerHandle(); hkManager = accessor->getPoolManagerHandle();
} }
if(dataSet != nullptr) { if(dataSet != nullptr) {

5
datapoollocal/LocalPoolVector.h
View File

@ -77,8 +77,7 @@ public:
* @param dataSet * @param dataSet
* @param setReadWriteMode * @param setReadWriteMode
*/ */
LocalPoolVector(gp_id_t globalPoolId, LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE); pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/** /**
@ -87,7 +86,7 @@ public:
* The user can work on this attribute just like he would on a local * The user can work on this attribute just like he would on a local
* array of this type. * array of this type.
*/ */
T value[vectorSize]; T value[vectorSize]= {};
/** /**
* @brief The classes destructor is empty. * @brief The classes destructor is empty.
* @details If commit() was not called, the local value is * @details If commit() was not called, the local value is

1
datapoollocal/LocalPoolVector.tpp
View File

@ -16,7 +16,6 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode): lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {} LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize> template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode): DataSetIF *dataSet, pool_rwm_t setReadWriteMode):

6
datapoollocal/StaticLocalDataSet.h
View File

@ -2,11 +2,15 @@
#define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ #define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
#include "LocalPoolDataSetBase.h" #include "LocalPoolDataSetBase.h"
#include "LocalPoolVariable.h"
#include "LocalPoolVector.h"
#include "../objectmanager/SystemObjectIF.h" #include "../objectmanager/SystemObjectIF.h"
#include <array> #include <array>
/** /**
* @brief This local dataset type is created on the stack. * @brief This dataset type can be used to group related pool variables if the number of
* variables is fixed.
* @details * @details
* This will is the primary data structure to organize pool variables into * This will is the primary data structure to organize pool variables into
* sets which can be accessed via the housekeeping service interface or * sets which can be accessed via the housekeeping service interface or

2290
devicehandlers/DeviceHandlerBase.cpp
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File diff suppressed because it is too large Load Diff

2169
devicehandlers/DeviceHandlerBase.h
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File diff suppressed because it is too large Load Diff

12
devicehandlers/DeviceHandlerFailureIsolation.cpp
View File

@ -209,20 +209,20 @@ void DeviceHandlerFailureIsolation::startRecovery(Event reason) {
} }
ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId, ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) { const ParameterWrapper* newValues, uint16_t startAtIndex) {
ReturnValue_t result = strangeReplyCount.getParameter(domainId, parameterId, ReturnValue_t result = strangeReplyCount.getParameter(domainId, uniqueId,
parameterWrapper, newValues, startAtIndex); parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) { if (result != INVALID_DOMAIN_ID) {
return result; return result;
} }
result = missedReplyCount.getParameter(domainId, parameterId, result = missedReplyCount.getParameter(domainId, uniqueId, parameterWrapper, newValues,
parameterWrapper, newValues, startAtIndex); startAtIndex);
if (result != INVALID_DOMAIN_ID) { if (result != INVALID_DOMAIN_ID) {
return result; return result;
} }
result = recoveryCounter.getParameter(domainId, parameterId, result = recoveryCounter.getParameter(domainId, uniqueId, parameterWrapper, newValues,
parameterWrapper, newValues, startAtIndex); startAtIndex);
if (result != INVALID_DOMAIN_ID) { if (result != INVALID_DOMAIN_ID) {
return result; return result;
} }

6
devicehandlers/DeviceHandlerFailureIsolation.h
View File

@ -17,9 +17,9 @@ public:
ReturnValue_t initialize(); ReturnValue_t initialize();
void triggerEvent(Event event, uint32_t parameter1 = 0, void triggerEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0);bool isFdirActionInProgress(); uint32_t parameter2 = 0);bool isFdirActionInProgress();
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
const ParameterWrapper *newValues, uint16_t startAtIndex); uint16_t startAtIndex);
protected: protected:
FaultCounter strangeReplyCount; FaultCounter strangeReplyCount;

3
doc/doxy/.gitignore vendored Normal file
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@ -0,0 +1,3 @@
html
latex
rtf

2609
doc/doxy/OPUS.doxyfile Normal file
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File diff suppressed because it is too large Load Diff

1
events/EventManager.cpp
View File

@ -6,6 +6,7 @@
#include "../ipc/QueueFactory.h" #include "../ipc/QueueFactory.h"
#include "../ipc/MutexFactory.h" #include "../ipc/MutexFactory.h"
MessageQueueId_t EventManagerIF::eventmanagerQueue = MessageQueueIF::NO_QUEUE;
// If one checks registerListener calls, there are around 40 (to max 50) // If one checks registerListener calls, there are around 40 (to max 50)
// objects registering for certain events. // objects registering for certain events.

21
events/EventManagerIF.h
View File

@ -1,11 +1,12 @@
#ifndef EVENTMANAGERIF_H_ #ifndef FSFW_EVENTS_EVENTMANAGERIF_H_
#define EVENTMANAGERIF_H_ #define FSFW_EVENTS_EVENTMANAGERIF_H_
#include "EventMessage.h" #include "EventMessage.h"
#include "eventmatching/eventmatching.h" #include "eventmatching/eventmatching.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
#include "../ipc/MessageQueueSenderIF.h" #include "../ipc/MessageQueueSenderIF.h"
#include "../ipc/MessageQueueIF.h" #include "../ipc/MessageQueueIF.h"
#include "../serviceinterface/ServiceInterface.h"
class EventManagerIF { class EventManagerIF {
public: public:
@ -41,11 +42,19 @@ public:
static void triggerEvent(EventMessage* message, static void triggerEvent(EventMessage* message,
MessageQueueId_t sentFrom = 0) { MessageQueueId_t sentFrom = 0) {
static MessageQueueId_t eventmanagerQueue = MessageQueueIF::NO_QUEUE;
if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) { if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
EventManagerIF *eventmanager = objectManager->get<EventManagerIF>( EventManagerIF *eventmanager = objectManager->get<EventManagerIF>(
objects::EVENT_MANAGER); objects::EVENT_MANAGER);
if (eventmanager == nullptr) { if (eventmanager == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "EventManagerIF::triggerEvent: EventManager invalid or not found!"
<< std::endl;
#else
sif::printWarning("EventManagerIF::triggerEvent: "
"EventManager invalid or not found!");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return; return;
} }
eventmanagerQueue = eventmanager->getEventReportQueue(); eventmanagerQueue = eventmanager->getEventReportQueue();
@ -53,6 +62,10 @@ public:
MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom); MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom);
} }
private:
//! Initialized by EventManager (C++11 does not allow header-only static member initialization).
static MessageQueueId_t eventmanagerQueue;
}; };
#endif /* EVENTMANAGERIF_H_ */ #endif /* FSFW_EVENTS_EVENTMANAGERIF_H_ */

4
fdir/FaultCounter.cpp
View File

@ -58,14 +58,14 @@ FaultCounter::FaultCounter() :
parameterDomain(0), timer(), faultCount(0), failureThreshold(0) { parameterDomain(0), timer(), faultCount(0), failureThreshold(0) {
} }
ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint16_t parameterId, ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues, ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) { uint16_t startAtIndex) {
if (domainId != parameterDomain) { if (domainId != parameterDomain) {
return INVALID_DOMAIN_ID; return INVALID_DOMAIN_ID;
} }
switch (parameterId) { switch (uniqueId) {
case 0: case 0:
parameterWrapper->set(failureThreshold); parameterWrapper->set(failureThreshold);
break; break;

2
fdir/FaultCounter.h
View File

@ -23,7 +23,7 @@ public:
void setFailureThreshold(uint32_t failureThreshold); void setFailureThreshold(uint32_t failureThreshold);
void setFaultDecrementTimeMs(uint32_t timeMs); void setFaultDecrementTimeMs(uint32_t timeMs);
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex); const ParameterWrapper *newValues, uint16_t startAtIndex);

2
housekeeping/HousekeepingMessage.cpp
View File

@ -176,7 +176,7 @@ void HousekeepingMessage::setUpdateNotificationVariableCommand(
void HousekeepingMessage::setUpdateSnapshotSetCommand(CommandMessage *command, void HousekeepingMessage::setUpdateSnapshotSetCommand(CommandMessage *command,
sid_t sid, store_address_t storeId) { sid_t sid, store_address_t storeId) {
command->setCommand(UPDATE_SNAPSHOT_VARIABLE); command->setCommand(UPDATE_SNAPSHOT_SET);
setSid(command, sid); setSid(command, sid);
command->setParameter3(storeId.raw); command->setParameter3(storeId.raw);
} }

39
housekeeping/HousekeepingPacketUpdate.h → housekeeping/HousekeepingSnapshot.h
View File

@ -1,24 +1,37 @@
#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_ #ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGSNAPSHOT_H_
#define FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_ #define FSFW_HOUSEKEEPING_HOUSEKEEPINGSNAPSHOT_H_
#include "../serialize/SerialBufferAdapter.h" #include "../serialize/SerialBufferAdapter.h"
#include "../serialize/SerialLinkedListAdapter.h" #include "../serialize/SerialLinkedListAdapter.h"
#include "../datapoollocal/LocalPoolDataSetBase.h" #include "../datapoollocal/LocalPoolDataSetBase.h"
#include "../datapoollocal/LocalPoolObjectBase.h"
#include "../timemanager/CCSDSTime.h"
/** /**
* @brief This helper class will be used to serialize and deserialize * @brief This helper class will be used to serialize and deserialize update housekeeping packets
* update housekeeping packets into the store. * into the store.
*/ */
class HousekeepingPacketUpdate: public SerializeIF { class HousekeepingSnapshot: public SerializeIF {
public: public:
/** /**
* Update packet constructor for datasets * Update packet constructor for datasets.
* @param timeStamp * @param cdsShort If a CSD short timestamp is used, a reference should be
* @param timeStampSize * supplied here
* @param hkData * @param dataSetPtr Pointer to the dataset instance to serialize or deserialize the
* @param hkDataSize * data into
*/ */
HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize, HousekeepingSnapshot(CCSDSTime::CDS_short* cdsShort, LocalPoolDataSetBase* dataSetPtr):
timeStamp(reinterpret_cast<uint8_t*>(cdsShort)),
timeStampSize(sizeof(CCSDSTime::CDS_short)), updateData(dataSetPtr) {};
/**
* Update packet constructor for datasets.
* @param timeStamp Pointer to the buffer where the timestamp will be stored.
* @param timeStampSize Size of the timestamp
* @param dataSetPtr Pointer to the dataset instance to deserialize the data into
*/
HousekeepingSnapshot(uint8_t* timeStamp, size_t timeStampSize,
LocalPoolDataSetBase* dataSetPtr): LocalPoolDataSetBase* dataSetPtr):
timeStamp(timeStamp), timeStampSize(timeStampSize), timeStamp(timeStamp), timeStampSize(timeStampSize),
updateData(dataSetPtr) {}; updateData(dataSetPtr) {};
@ -29,7 +42,7 @@ public:
* @param timeStampSize * @param timeStampSize
* @param dataSetPtr * @param dataSetPtr
*/ */
HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize, HousekeepingSnapshot(uint8_t* timeStamp, size_t timeStampSize,
LocalPoolObjectBase* dataSetPtr): LocalPoolObjectBase* dataSetPtr):
timeStamp(timeStamp), timeStampSize(timeStampSize), timeStamp(timeStamp), timeStampSize(timeStampSize),
updateData(dataSetPtr) {}; updateData(dataSetPtr) {};
@ -89,4 +102,4 @@ private:
}; };
#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_ */ #endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGSNAPSHOT_H_ */

10
monitoring/LimitMonitor.h
View File

@ -37,16 +37,16 @@ public:
} }
} }
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
const ParameterWrapper *newValues, uint16_t startAtIndex) { uint16_t startAtIndex) {
ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId, ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
parameterId, parameterWrapper, newValues, startAtIndex); uniqueId, parameterWrapper, newValues, startAtIndex);
//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there. //We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
if (result != this->INVALID_IDENTIFIER_ID) { if (result != this->INVALID_IDENTIFIER_ID) {
return result; return result;
} }
switch (parameterId) { switch (uniqueId) {
case 10: case 10:
parameterWrapper->set(this->lowerLimit); parameterWrapper->set(this->lowerLimit);
break; break;

8
monitoring/MonitorReporter.h
View File

@ -51,13 +51,13 @@ public:
return state; return state;
} }
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
const ParameterWrapper *newValues, uint16_t startAtIndex) { uint16_t startAtIndex) {
if (domainId != monitorId) { if (domainId != monitorId) {
return INVALID_DOMAIN_ID; return INVALID_DOMAIN_ID;
} }
switch (parameterId) { switch (uniqueId) {
case 0: case 0:
parameterWrapper->set(this->confirmationLimit); parameterWrapper->set(this->confirmationLimit);
break; break;

2
monitoring/MonitoringMessageContent.h
View File

@ -10,7 +10,7 @@
#include "../serialize/SerialFixedArrayListAdapter.h" #include "../serialize/SerialFixedArrayListAdapter.h"
#include "../serialize/SerializeElement.h" #include "../serialize/SerializeElement.h"
#include "../serialize/SerialLinkedListAdapter.h" #include "../serialize/SerialLinkedListAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterface.h"
#include "../timemanager/TimeStamperIF.h" #include "../timemanager/TimeStamperIF.h"
namespace Factory{ namespace Factory{

8
monitoring/TriplexMonitor.h
View File

@ -71,13 +71,13 @@ public:
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
const ParameterWrapper *newValues, uint16_t startAtIndex) { uint16_t startAtIndex) {
if (domainId != this->domainId) { if (domainId != this->domainId) {
return INVALID_DOMAIN_ID; return INVALID_DOMAIN_ID;
} }
switch (parameterId) { switch (uniqueId) {
case 0: case 0:
parameterWrapper->set(limit); parameterWrapper->set(limit);
break; break;

4
objectmanager/ObjectManager.cpp
View File

@ -1,5 +1,5 @@
#include "ObjectManager.h" #include "ObjectManager.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterface.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iomanip> #include <iomanip>
@ -75,6 +75,8 @@ void ObjectManager::initialize() {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::initialize: Passed produceObjects " sif::error << "ObjectManager::initialize: Passed produceObjects "
"functions is nullptr!" << std::endl; "functions is nullptr!" << std::endl;
#else
sif::printError("ObjectManager::initialize: Passed produceObjects functions is nullptr!\n");
#endif #endif
return; return;
} }

8
objectmanager/SystemObject.cpp
View File

@ -5,13 +5,17 @@
SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) : SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
objectId(setObjectId), registered(doRegister) { objectId(setObjectId), registered(doRegister) {
if (registered) { if (registered) {
objectManager->insert(objectId, this); if(objectManager != nullptr) {
objectManager->insert(objectId, this);
}
} }
} }
SystemObject::~SystemObject() { SystemObject::~SystemObject() {
if (registered) { if (registered) {
objectManager->remove(objectId); if(objectManager != nullptr) {
objectManager->remove(objectId);
}
} }
} }

47
objectmanager/frameworkObjects.h
View File

@ -1,30 +1,35 @@
#ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ #ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
#define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ #define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
namespace objects { namespace objects {
enum framework_objects { enum framework_objects: object_id_t {
// Default verification reporter. FSFW_OBJECTS_START = 0x53000000,
PUS_SERVICE_1_VERIFICATION = 0x53000001, // Default verification reporter.
PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002, PUS_SERVICE_1_VERIFICATION = 0x53000001,
PUS_SERVICE_3_HOUSEKEEPING = 0x53000003, PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
PUS_SERVICE_5_EVENT_REPORTING = 0x53000005, PUS_SERVICE_3_HOUSEKEEPING = 0x53000003,
PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008, PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
PUS_SERVICE_9_TIME_MGMT = 0x53000009, PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
PUS_SERVICE_17_TEST = 0x53000017, PUS_SERVICE_9_TIME_MGMT = 0x53000009,
PUS_SERVICE_200_MODE_MGMT = 0x53000200, PUS_SERVICE_17_TEST = 0x53000017,
PUS_SERVICE_20_PARAMETERS = 0x53000020,
PUS_SERVICE_200_MODE_MGMT = 0x53000200,
//Generic IDs for IPC, modes, health, events //Generic IDs for IPC, modes, health, events
HEALTH_TABLE = 0x53010000, HEALTH_TABLE = 0x53010000,
// MODE_STORE = 0x53010100, // MODE_STORE = 0x53010100,
EVENT_MANAGER = 0x53030000, EVENT_MANAGER = 0x53030000,
INTERNAL_ERROR_REPORTER = 0x53040000, INTERNAL_ERROR_REPORTER = 0x53040000,
IPC_STORE = 0x534f0300, IPC_STORE = 0x534f0300,
//IDs for PUS Packet Communication //IDs for PUS Packet Communication
TC_STORE = 0x534f0100, TC_STORE = 0x534f0100,
TM_STORE = 0x534f0200, TM_STORE = 0x534f0200,
TIME_STAMPER = 0x53500010, TIME_STAMPER = 0x53500010,
NO_OBJECT = 0xFFFFFFFF FSFW_OBJECTS_END = 0x53ffffff,
NO_OBJECT = 0xFFFFFFFF
}; };
} }

3
osal/Endiness.h
View File

@ -25,7 +25,8 @@
#else #else
#ifdef WIN32 #ifdef WIN32
#include <Windows.h> #include <winsock2.h>
#include <windows.h>
#if REG_DWORD == REG_DWORD_LITTLE_ENDIAN #if REG_DWORD == REG_DWORD_LITTLE_ENDIAN
#define BYTE_ORDER_SYSTEM LITTLE_ENDIAN #define BYTE_ORDER_SYSTEM LITTLE_ENDIAN
#else #else

61
osal/host/Clock.cpp
View File

@ -3,7 +3,7 @@
#include <chrono> #include <chrono>
#if defined(WIN32) #if defined(WIN32)
#include <windows.h> #include <sysinfoapi.h>
#elif defined(LINUX) #elif defined(LINUX)
#include <fstream> #include <fstream>
#endif #endif
@ -15,35 +15,34 @@ using SystemClock = std::chrono::system_clock;
uint32_t Clock::getTicksPerSecond(void){ uint32_t Clock::getTicksPerSecond(void){
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl; sif::warning << "Clock::getTicksPerSecond: Not implemented for host OSAL" << std::endl;
#else
sif::printWarning("Clock::getTicksPerSecond: Not implemented for host OSAL\n");
#endif #endif
return 0; /* To avoid division by zero */
//return CLOCKS_PER_SEC; return 1;
//uint32_t ticks = sysconf(_SC_CLK_TCK);
//return ticks;
} }
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) { ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
// do some magic with chrono /* I don't know why someone would need to set a clock which is probably perfectly fine on a
host system with internet access so this is not implemented for now. */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::setClock: not implemented yet" << std::endl; sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
#else
sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
#endif #endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t Clock::setClock(const timeval* time) { ReturnValue_t Clock::setClock(const timeval* time) {
// do some magic with chrono /* I don't know why someone would need to set a clock which is probably perfectly fine on a
#if defined(WIN32) host system with internet access so this is not implemented for now. */
return HasReturnvaluesIF::RETURN_OK;
#elif defined(LINUX)
return HasReturnvaluesIF::RETURN_OK;
#else
#endif
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl; sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
#else
sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t Clock::getClock_timeval(timeval* time) { ReturnValue_t Clock::getClock_timeval(timeval* time) {
@ -53,8 +52,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
auto epoch = now.time_since_epoch(); auto epoch = now.time_since_epoch();
time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count(); time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
auto fraction = now - secondsChrono; auto fraction = now - secondsChrono;
time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>( time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(fraction).count();
fraction).count();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
#elif defined(LINUX) #elif defined(LINUX)
timespec timeUnix; timespec timeUnix;
@ -67,7 +65,9 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
#else #else
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl; sif::warning << "Clock::getUptime: Not implemented for found OS!" << std::endl;
#else
sif::printWarning("Clock::getUptime: Not implemented for found OS!\n");
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
#endif #endif
@ -75,10 +75,11 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
} }
ReturnValue_t Clock::getClock_usecs(uint64_t* time) { ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
// do some magic with chrono if(time == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 return HasReturnvaluesIF::RETURN_FAILED;
sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl; }
#endif using namespace std::chrono;
*time = duration_cast<microseconds>(system_clock::now().time_since_epoch()).count();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -120,9 +121,9 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) { ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
// do some magic with chrono (C++20!) /* Do some magic with chrono (C++20!) */
// Right now, the library doesn't have the new features yet. /* Right now, the library doesn't have the new features to get the required values yet.
// so we work around that for now. so we work around that for now. */
auto now = SystemClock::now(); auto now = SystemClock::now();
auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now); auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
auto fraction = now - seconds; auto fraction = now - seconds;
@ -137,10 +138,6 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
time->second = timeInfo->tm_sec; time->second = timeInfo->tm_sec;
auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction); auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
time->usecond = usecond.count(); time->usecond = usecond.count();
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

2
osal/host/PeriodicTask.cpp
View File

@ -9,7 +9,7 @@
#include <chrono> #include <chrono>
#if defined(WIN32) #if defined(WIN32)
#include <windows.h> #include <processthreadsapi.h>
#elif defined(LINUX) #elif defined(LINUX)
#include <pthread.h> #include <pthread.h>
#endif #endif

6
osal/rtems/CMakeLists.txt
View File

@ -5,13 +5,13 @@ target_sources(${LIB_FSFW_NAME}
InitTask.cpp InitTask.cpp
InternalErrorCodes.cpp InternalErrorCodes.cpp
MessageQueue.cpp MessageQueue.cpp
MultiObjectTask.cpp PeriodicTask.cpp
Mutex.cpp Mutex.cpp
MutexFactory.cpp MutexFactory.cpp
PollingTask.cpp FixedTimeslotTask.cpp
QueueFactory.cpp QueueFactory.cpp
RtemsBasic.cpp RtemsBasic.cpp
TaskBase.cpp RTEMSTaskBase.cpp
TaskFactory.cpp TaskFactory.cpp
) )

6
osal/rtems/Clock.cpp
View File

@ -104,9 +104,13 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
} }
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) { ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
// TIsn't this a bug? Are RTEMS ticks always microseconds? /* For all but the last field, the struct will be filled with the correct values */
rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time); rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
rtems_status_code status = rtems_clock_get_tod(timeRtems); rtems_status_code status = rtems_clock_get_tod(timeRtems);
/* The last field now contains the RTEMS ticks of the seconds from 0
to rtems_clock_get_ticks_per_second() minus one. We calculate the microseconds accordingly */
timeRtems->ticks = static_cast<float>(timeRtems->ticks) /
rtems_clock_get_ticks_per_second() * 1e6;
switch (status) { switch (status) {
case RTEMS_SUCCESSFUL: case RTEMS_SUCCESSFUL:
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;

2
osal/rtems/CpuUsage.cpp
View File

@ -164,7 +164,7 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
if ((*size = *size - MAX_LENGTH_OF_THREAD_NAME) < 0) { if (*size < MAX_LENGTH_OF_THREAD_NAME) {
return STREAM_TOO_SHORT; return STREAM_TOO_SHORT;
} }
memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME); memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);

140
osal/rtems/FixedTimeslotTask.cpp Normal file
View File

@ -0,0 +1,140 @@
#include "FixedTimeslotTask.h"
#include "RtemsBasic.h"
#include "../../tasks/FixedSequenceSlot.h"
#include "../../objectmanager/SystemObjectIF.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <rtems/bspIo.h>
#include <rtems/io.h>
#include <rtems/rtems/ratemon.h>
#include <rtems/rtems/status.h>
#include <rtems/rtems/tasks.h>
#include <rtems/rtems/types.h>
#include <sys/_stdint.h>
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iostream>
#endif
#include <cstddef>
#include <list>
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
size_t setStack, uint32_t setOverallPeriod, void (*setDeadlineMissedFunc)(void)):
RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
FixedTimeslotTask::~FixedTimeslotTask() {
}
rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as a FixedTimeslotTask */
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
/* The task's functionality is called. */
return originalTask->taskFunctionality();
/* Should never be reached */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." <<
std::endl;
#endif
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}
ReturnValue_t FixedTimeslotTask::startTask() {
rtems_status_code status = rtems_task_start(id, FixedTimeslotTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PollingTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
//ask started successfully
return HasReturnvaluesIF::RETURN_OK;
default:
/*
RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
if (object != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const {
return pst.getLengthMs();
}
ReturnValue_t FixedTimeslotTask::checkSequence() const {
return pst.checkSequence();
}
void FixedTimeslotTask::taskFunctionality() {
/* A local iterator for the Polling Sequence Table is created to find the start time for
the first entry. */
FixedSlotSequence::SlotListIter it = pst.current;
/* Initialize the PST with the correct calling task */
pst.intializeSequenceAfterTaskCreation();
/* The start time for the first entry is read. */
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
RTEMSTaskBase::setAndStartPeriod(interval,&periodId);
//The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
/* Do nothing */
}
else {
/* The interval for the next polling slot is selected. */
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
/* The period is checked and restarted with the new interval.
If the deadline was missed, the deadlineMissedFunc is called. */
rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
/* The device handler for this slot is executed and the next one is chosen. */
this->pst.executeAndAdvance();
}
}
ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms){
return RTEMSTaskBase::sleepFor(ms);
};

81
osal/rtems/FixedTimeslotTask.h Normal file
View File

@ -0,0 +1,81 @@
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#include "RTEMSTaskBase.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.
* @details
* This is the general constructor of the class. In addition to the TaskBase parameters,
* the following variables are passed:
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
* that shall be assigned.
* @param getPst The object id of the completely initialized polling sequence.
*/
FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief The destructor of the class.
* @details
* The destructor frees all heap memory that was allocated on thread initialization
* for the PST andthe device handlers. This is done by calling the PST's destructor.
*/
virtual ~FixedTimeslotTask( void );
ReturnValue_t startTask( void );
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
*
* @details
* Another function may be announced to determine the actions to perform when a deadline
* was missed. Currently, only one function for missing any deadline is allowed.
* If not used, it shall be declared NULL.
*/
void ( *deadlineMissedFunc )( void ) = nullptr;
/**
* @brief This is the entry point in a new polling thread.
* @details This method is the entry point in the new thread
*/
static rtems_task taskEntryPoint( rtems_task_argument argument );
/**
* @brief This function holds the main functionality of the thread.
* @details
* Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
* keep the timing of the periods.
*/
void taskFunctionality( void );
};
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */

92
osal/rtems/MultiObjectTask.cpp
View File

@ -1,92 +0,0 @@
/**
* @file MultiObjectTask.cpp
* @brief This file defines the MultiObjectTask class.
* @date 30.01.2014
* @author baetz
*/
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "MultiObjectTask.h"
MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
TaskBase(setPriority, setStack, name), periodTicks(
RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc(
setDeadlineMissedFunc) {
}
MultiObjectTask::~MultiObjectTask(void) {
//Do not delete objects, we were responsible for ptrs only.
rtems_rate_monotonic_delete(periodId);
}
rtems_task MultiObjectTask::taskEntryPoint(rtems_task_argument argument) {
//The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place.
MultiObjectTask *originalTask(reinterpret_cast<MultiObjectTask*>(argument));
originalTask->taskFunctionality();
}
ReturnValue_t MultiObjectTask::startTask() {
rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
//ask started successfully
return HasReturnvaluesIF::RETURN_OK;
default:
/* RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) {
return TaskBase::sleepFor(ms);
}
void MultiObjectTask::taskFunctionality() {
TaskBase::setAndStartPeriod(periodTicks,&periodId);
//The task's "infinite" inner loop is entered.
while (1) {
for (ObjectList::iterator it = objectList.begin();
it != objectList.end(); ++it) {
(*it)->performOperation();
}
rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId);
if (status == RTEMS_TIMEOUT) {
char nameSpace[8] = { 0 };
char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
nameSpace);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
#endif
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
}
ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t MultiObjectTask::getPeriodMs() const {
return RtemsBasic::convertTicksToMs(periodTicks);
}

12
osal/rtems/Mutex.cpp
View File

@ -1,18 +1,20 @@
#include "Mutex.h" #include "Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterface.h"
uint8_t Mutex::count = 0; uint8_t Mutex::count = 0;
Mutex::Mutex() : Mutex::Mutex() {
mutexId(0) {
rtems_name mutexName = ('M' << 24) + ('T' << 16) + ('X' << 8) + count++; rtems_name mutexName = ('M' << 24) + ('T' << 16) + ('X' << 8) + count++;
rtems_status_code status = rtems_semaphore_create(mutexName, 1, rtems_status_code status = rtems_semaphore_create(mutexName, 1,
RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0, RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
&mutexId); &mutexId);
if (status != RTEMS_SUCCESSFUL) { if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId sif::error << "Mutex::Mutex: Creation with name, id " << mutexName << ", " << mutexId <<
<< " failed with " << status << std::endl; " failed with " << status << std::endl;
#else
sif::printError("Mutex::Mutex: Creation with name, id %s, %d failed with %d\n", mutexName,
static_cast<int>(mutexId), static_cast<int>(status));
#endif #endif
} }
} }

2
osal/rtems/Mutex.h
View File

@ -11,7 +11,7 @@ public:
ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0); ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
ReturnValue_t unlockMutex(); ReturnValue_t unlockMutex();
private: private:
rtems_id mutexId; rtems_id mutexId = 0;
static uint8_t count; static uint8_t count;
}; };

5
osal/rtems/MutexFactory.cpp
View File

@ -1,6 +1,7 @@
#include "../../ipc/MutexFactory.h"
#include "Mutex.h" #include "Mutex.h"
#include "RtemsBasic.h"
#include "../../ipc/MutexFactory.h"
MutexFactory* MutexFactory::factoryInstance = new MutexFactory(); MutexFactory* MutexFactory::factoryInstance = new MutexFactory();

83
osal/rtems/PeriodicTask.cpp Normal file
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@ -0,0 +1,83 @@
#include "PeriodicTask.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
RTEMSTaskBase(setPriority, setStack, name),
periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
deadlineMissedFunc(setDeadlineMissedFunc) {
}
PeriodicTask::~PeriodicTask(void) {
/* Do not delete objects, we were responsible for pointers only. */
rtems_rate_monotonic_delete(periodId);
}
rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
so it is found from any place. */
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
return originalTask->taskFunctionality();;
}
ReturnValue_t PeriodicTask::startTask() {
rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
/* Task started successfully */
return HasReturnvaluesIF::RETURN_OK;
default:
/* RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
return RTEMSTaskBase::sleepFor(ms);
}
void PeriodicTask::taskFunctionality() {
RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
for (const auto& object: objectList) {
object->initializeAfterTaskCreation();
}
/* The task's "infinite" inner loop is entered. */
while (1) {
for (const auto& object: objectList) {
object->performOperation();
}
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const {
return RtemsBasic::convertTicksToMs(periodTicks);
}

18
osal/rtems/MultiObjectTask.h → osal/rtems/PeriodicTask.h
View File

@ -1,10 +1,10 @@
#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ #ifndef FSFW_OSAL_RTEMS_PERIODICTASK_H_
#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ #define FSFW_OSAL_RTEMS_PERIODICTASK_H_
#include "RTEMSTaskBase.h"
#include "../../objectmanager/ObjectManagerIF.h" #include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h" #include "../../tasks/PeriodicTaskIF.h"
#include "TaskBase.h"
#include <vector> #include <vector>
class ExecutableObjectIF; class ExecutableObjectIF;
@ -18,7 +18,7 @@ class ExecutableObjectIF;
* @author baetz * @author baetz
* @ingroup task_handling * @ingroup task_handling
*/ */
class MultiObjectTask: public TaskBase, public PeriodicTaskIF { class PeriodicTask: public RTEMSTaskBase, public PeriodicTaskIF {
public: public:
/** /**
* @brief Standard constructor of the class. * @brief Standard constructor of the class.
@ -35,13 +35,13 @@ public:
* @param setDeadlineMissedFunc The function pointer to the deadline missed function * @param setDeadlineMissedFunc The function pointer to the deadline missed function
* that shall be assigned. * that shall be assigned.
*/ */
MultiObjectTask(const char *name, rtems_task_priority setPriority, size_t setStack, rtems_interval setPeriod, PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
void (*setDeadlineMissedFunc)()); rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
/** /**
* @brief Currently, the executed object's lifetime is not coupled with the task object's * @brief Currently, the executed object's lifetime is not coupled with the task object's
* lifetime, so the destructor is empty. * lifetime, so the destructor is empty.
*/ */
virtual ~MultiObjectTask(void); virtual ~PeriodicTask(void);
/** /**
* @brief The method to start the task. * @brief The method to start the task.
@ -76,7 +76,7 @@ protected:
/** /**
* @brief id of the associated OS period * @brief id of the associated OS period
*/ */
rtems_id periodId; rtems_id periodId = 0;
/** /**
* @brief The pointer to the deadline-missed function. * @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed. * @details This pointer stores the function that is executed if the task's deadline is missed.
@ -104,4 +104,4 @@ protected:
void taskFunctionality(void); void taskFunctionality(void);
}; };
#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */ #endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

131
osal/rtems/PollingTask.cpp
View File

@ -1,131 +0,0 @@
#include "../../tasks/FixedSequenceSlot.h"
#include "../../objectmanager/SystemObjectIF.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "PollingTask.h"
#include "RtemsBasic.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <rtems/bspIo.h>
#include <rtems/rtems/ratemon.h>
#include <rtems/rtems/status.h>
#include <rtems/rtems/tasks.h>
#include <rtems/rtems/types.h>
#include <stddef.h>
#include <sys/_stdint.h>
#include <iostream>
#include <list>
uint32_t PollingTask::deadlineMissedCount = 0;
PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
size_t setStack, uint32_t setOverallPeriod,
void (*setDeadlineMissedFunc)()) :
TaskBase(setPriority, setStack, name), periodId(0), pst(
setOverallPeriod) {
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
PollingTask::~PollingTask() {
}
rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
//The argument is re-interpreted as PollingTask.
PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
//The task's functionality is called.
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->getId()
<< " returned from taskFunctionality." << std::endl;
#endif
}
void PollingTask::missedDeadlineCounter() {
PollingTask::deadlineMissedCount++;
if (PollingTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << PollingTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}
ReturnValue_t PollingTask::startTask() {
rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PollingTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
//ask started successfully
return HasReturnvaluesIF::RETURN_OK;
default:
/* RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t PollingTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
if (object != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t PollingTask::getPeriodMs() const {
return pst.getLengthMs();
}
ReturnValue_t PollingTask::checkSequence() const {
return pst.checkSequence();
}
#include <rtems/io.h>
void PollingTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
FixedSlotSequence::SlotListIter it = pst.current;
//The start time for the first entry is read.
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
TaskBase::setAndStartPeriod(interval,&periodId);
//The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
//Do nothing
} else {
//The interval for the next polling slot is selected.
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
//The period is checked and restarted with the new interval.
//If the deadline was missed, the deadlineMissedFunc is called.
rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
//The device handler for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
}
}
ReturnValue_t PollingTask::sleepFor(uint32_t ms){
return TaskBase::sleepFor(ms);
};

85
osal/rtems/PollingTask.h
View File

@ -1,85 +0,0 @@
#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
#define FSFW_OSAL_RTEMS_POLLINGTASK_H_
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "TaskBase.h"
class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.
*
* @details This is the general constructor of the class. In addition to the TaskBase parameters,
* the following variables are passed:
*
* @param (*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
*
* @param getPst The object id of the completely initialized polling sequence.
*/
PollingTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief The destructor of the class.
*
* @details The destructor frees all heap memory that was allocated on thread initialization for the PST and
* the device handlers. This is done by calling the PST's destructor.
*/
virtual ~PollingTask( void );
ReturnValue_t startTask( void );
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
*
* @details Another function may be announced to determine the actions to perform when a deadline was missed.
* Currently, only one function for missing any deadline is allowed.
* If not used, it shall be declared NULL.
*/
void ( *deadlineMissedFunc )( void );
/**
* @brief This is the entry point in a new polling thread.
*
* @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
* and link the Polling Sequence Table to the thread object and start taskFunctionality()
* on success. If operation of the task is ended for some reason,
* the destructor is called to free allocated memory.
*/
static rtems_task taskEntryPoint( rtems_task_argument argument );
/**
* @brief This function holds the main functionality of the thread.
*
*
* @details Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's System Calls
* to keep the timing of the periods.
*/
void taskFunctionality( void );
};
#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */

22
osal/rtems/TaskBase.cpp → osal/rtems/RTEMSTaskBase.cpp
View File

@ -1,9 +1,9 @@
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "RTEMSTaskBase.h"
#include "TaskBase.h" #include "../../serviceinterface/ServiceInterface.h"
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE; const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE;
TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size, RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size,
const char *name) { const char *name) {
rtems_name osalName = 0; rtems_name osalName = 0;
for (uint8_t i = 0; i < 4; i++) { for (uint8_t i = 0; i < 4; i++) {
@ -14,7 +14,7 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
} }
//The task is created with the operating system's system call. //The task is created with the operating system's system call.
rtems_status_code status = RTEMS_UNSATISFIED; rtems_status_code status = RTEMS_UNSATISFIED;
if (set_priority >= 0 && set_priority <= 99) { if (set_priority <= 99) {
status = rtems_task_create(osalName, status = rtems_task_create(osalName,
(0xFF - 2 * set_priority), stack_size, (0xFF - 2 * set_priority), stack_size,
RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR, RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
@ -31,21 +31,21 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
} }
} }
TaskBase::~TaskBase() { RTEMSTaskBase::~RTEMSTaskBase() {
rtems_task_delete(id); rtems_task_delete(id);
} }
rtems_id TaskBase::getId() { rtems_id RTEMSTaskBase::getId() {
return this->id; return this->id;
} }
ReturnValue_t TaskBase::sleepFor(uint32_t ms) { ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms)); rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
return convertReturnCode(status); return convertReturnCode(status);
} }
ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) { ReturnValue_t RTEMSTaskBase::convertReturnCode(rtems_status_code inValue) {
switch (inValue) { switch (inValue) {
case RTEMS_SUCCESSFUL: case RTEMS_SUCCESSFUL:
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -68,7 +68,7 @@ ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
} }
ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) { ReturnValue_t RTEMSTaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd'); rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId); rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
if (status == RTEMS_SUCCESSFUL) { if (status == RTEMS_SUCCESSFUL) {
@ -77,7 +77,7 @@ ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *perio
return convertReturnCode(status); return convertReturnCode(status);
} }
rtems_status_code TaskBase::restartPeriod(rtems_interval period, rtems_id periodId){ rtems_status_code RTEMSTaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
//This is necessary to avoid a call with period = 0, which does not start the period. //This is necessary to avoid a call with period = 0, which does not start the period.
rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1); rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
return status; return status;

12
osal/rtems/TaskBase.h → osal/rtems/RTEMSTaskBase.h
View File

@ -1,5 +1,5 @@
#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_ #ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
#define FSFW_OSAL_RTEMS_TASKBASE_H_ #define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
#include "RtemsBasic.h" #include "RtemsBasic.h"
#include "../../tasks/PeriodicTaskIF.h" #include "../../tasks/PeriodicTaskIF.h"
@ -9,7 +9,7 @@
* *
* @details Task creation base class for rtems. * @details Task creation base class for rtems.
*/ */
class TaskBase { class RTEMSTaskBase {
protected: protected:
/** /**
* @brief The class stores the task id it got assigned from the operating system in this attribute. * @brief The class stores the task id it got assigned from the operating system in this attribute.
@ -26,11 +26,11 @@ public:
* @param stack_size The stack size reserved by the operating system for the task. * @param stack_size The stack size reserved by the operating system for the task.
* @param nam The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated * @param nam The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
*/ */
TaskBase( rtems_task_priority priority, size_t stack_size, const char *name); RTEMSTaskBase( rtems_task_priority priority, size_t stack_size, const char *name);
/** /**
* @brief In the destructor, the created task is deleted. * @brief In the destructor, the created task is deleted.
*/ */
virtual ~TaskBase(); virtual ~RTEMSTaskBase();
/** /**
* @brief This method returns the task id of this class. * @brief This method returns the task id of this class.
*/ */
@ -44,4 +44,4 @@ private:
}; };
#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */ #endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */

1
osal/rtems/RtemsBasic.cpp
View File

@ -1,5 +1,6 @@
#include "RtemsBasic.h" #include "RtemsBasic.h"
// TODO: Can this be removed?
//ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) { //ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) {
// if (inValue == RTEMS_SUCCESSFUL) { // if (inValue == RTEMS_SUCCESSFUL) {

3
osal/rtems/RtemsBasic.h
View File

@ -2,12 +2,13 @@
#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_ #define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
#include "../../returnvalues/HasReturnvaluesIF.h" #include "../../returnvalues/HasReturnvaluesIF.h"
#include <rtems.h> #include <rtems.h>
#include <rtems/libio.h> #include <rtems/libio.h>
#include <rtems/error.h> #include <rtems/error.h>
#include <rtems/stackchk.h> #include <rtems/stackchk.h>
#include <stddef.h>
#include <cstddef>
class RtemsBasic { class RtemsBasic {
public: public:

21
osal/rtems/TaskFactory.cpp
View File

@ -1,8 +1,9 @@
#include "../../tasks/TaskFactory.h" #include "FixedTimeslotTask.h"
#include "MultiObjectTask.h" #include "PeriodicTask.h"
#include "PollingTask.h"
#include "InitTask.h" #include "InitTask.h"
#include "RtemsBasic.h" #include "RtemsBasic.h"
#include "../../tasks/TaskFactory.h"
#include "../../returnvalues/HasReturnvaluesIF.h" #include "../../returnvalues/HasReturnvaluesIF.h"
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
@ -15,15 +16,21 @@ TaskFactory* TaskFactory::instance() {
return TaskFactory::factoryInstance; return TaskFactory::factoryInstance;
} }
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) { PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
TaskStackSize stackSize_,TaskPeriod periodInSeconds_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond(); rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<PeriodicTaskIF*>(new MultiObjectTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_)); return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
taskPeriod,deadLineMissedFunction_));
} }
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) { FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond(); rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<FixedTimeslotTaskIF*>(new PollingTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_)); return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,
stackSize_, taskPeriod, deadLineMissedFunction_));
} }
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) { ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

11
parameters/HasParametersIF.h
View File

@ -52,9 +52,8 @@ public:
return id; return id;
} }
static uint32_t getFullParameterId(uint8_t domainId, static uint32_t getFullParameterId(uint8_t domainId, uint8_t uniqueId, uint16_t linearIndex) {
uint8_t uniqueIdentifier, uint16_t linearIndex) { return (domainId << 24) + (uniqueId << 16) + linearIndex;
return (domainId << 24) + (uniqueIdentifier << 16) + linearIndex;
} }
virtual ~HasParametersIF() {} virtual ~HasParametersIF() {}
@ -74,9 +73,9 @@ public:
* matrix indexes. * matrix indexes.
* @return * @return
*/ */
virtual ReturnValue_t getParameter(uint8_t domainId, virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
uint16_t uniqueIdentifier, ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
const ParameterWrapper *newValues, uint16_t startAtIndex) = 0; uint16_t startAtIndex) = 0;
}; };
#endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */ #endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */

2
parameters/ParameterHelper.cpp
View File

@ -90,7 +90,7 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
const ParameterWrapper* description) { const ParameterWrapper* description) {
size_t serializedSize = description->getSerializedSize(); size_t serializedSize = description->getSerializedSize();
uint8_t *storeElement; uint8_t *storeElement = nullptr;
store_address_t address; store_address_t address;
ReturnValue_t result = storage->getFreeElement(&address, serializedSize, ReturnValue_t result = storage->getFreeElement(&address, serializedSize,

2
parameters/ParameterMessage.cpp
View File

@ -38,7 +38,7 @@ void ParameterMessage::setParameterLoadCommand(CommandMessage* message,
store_address_t ParameterMessage::getParameterLoadCommand( store_address_t ParameterMessage::getParameterLoadCommand(
const CommandMessage *message, ParameterId_t* parameterId, uint8_t *ptc, const CommandMessage *message, ParameterId_t* parameterId, uint8_t *ptc,
uint8_t *pfc, uint8_t *rows, uint8_t *columns) { uint8_t *pfc, uint8_t *rows, uint8_t *columns) {
*parameterId = message->getParameter2(); *parameterId = message->getParameter();
uint32_t packedParamSettings = message->getParameter3(); uint32_t packedParamSettings = message->getParameter3();
*ptc = packedParamSettings >> 24 & 0xff; *ptc = packedParamSettings >> 24 & 0xff;
*pfc = packedParamSettings >> 16 & 0xff; *pfc = packedParamSettings >> 16 & 0xff;

44
parameters/ParameterWrapper.cpp
View File

@ -1,17 +1,19 @@
#include "ParameterWrapper.h" #include "ParameterWrapper.h"
#include <FSFWConfig.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
ParameterWrapper::ParameterWrapper() : ParameterWrapper::ParameterWrapper() :
pointsToStream(false), type(Type::UNKNOWN_TYPE) { pointsToStream(false), type(Type::UNKNOWN_TYPE) {
} }
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns, ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
void *data) : void *data):
pointsToStream(false), type(type), rows(rows), columns(columns), pointsToStream(false), type(type), rows(rows), columns(columns),
data(data), readonlyData(data) { data(data), readonlyData(data) {
} }
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns, ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
const void *data) : const void *data):
pointsToStream(false), type(type), rows(rows), columns(columns), pointsToStream(false), type(type), rows(rows), columns(columns),
data(nullptr), readonlyData(data) { data(nullptr), readonlyData(data) {
} }
@ -40,8 +42,8 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t **buffer, size_t *size,
return result; return result;
} }
//serialize uses readonlyData, as it is always valid /* serialize uses readonlyData, as it is always valid */
if (readonlyData == NULL) { if (readonlyData == nullptr) {
return NOT_SET; return NOT_SET;
} }
switch (type) { switch (type) {
@ -75,7 +77,7 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t **buffer, size_t *size,
result = serializeData<double>(buffer, size, maxSize, streamEndianness); result = serializeData<double>(buffer, size, maxSize, streamEndianness);
break; break;
default: default:
result = UNKNOW_DATATYPE; result = UNKNOWN_DATATYPE;
break; break;
} }
return result; return result;
@ -220,22 +222,48 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from, ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex) { uint16_t startWritingAtIndex) {
// TODO: Optional diagnostic output (which can be disabled in FSFWConfig)
// to determined faulty implementations and configuration errors quickly.
if (data == nullptr) { if (data == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return READONLY; return READONLY;
} }
if (from->readonlyData == nullptr) { if (from->readonlyData == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return SOURCE_NOT_SET; return SOURCE_NOT_SET;
} }
if (type != from->type) { if (type != from->type) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return DATATYPE_MISSMATCH; return DATATYPE_MISSMATCH;
} }
// The smallest allowed value for rows and columns is one. // The smallest allowed value for rows and columns is one.
if(rows == 0 or columns == 0) { if(rows == 0 or columns == 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return COLUMN_OR_ROWS_ZERO; return COLUMN_OR_ROWS_ZERO;
} }
@ -289,7 +317,7 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
from->readonlyData, from->rows, from->columns); from->readonlyData, from->rows, from->columns);
break; break;
default: default:
result = UNKNOW_DATATYPE; result = UNKNOWN_DATATYPE;
break; break;
} }
} }

36
parameters/ParameterWrapper.h
View File

@ -8,14 +8,23 @@
#include <cstddef> #include <cstddef>
/** /**
* @brief * @brief This wrapper encapsulates the access to parameters provided by HasParametersIF.
* @details * @details
* This wrapper is used by the ParameterHelper to interface with the on-board parameters
* exposed by the software via the HasParametersIF. A handle of this wrapper is passed
* to the user which then can be used to set or dump the parameters.
*
* The wrapper provides a set of setter functions. The user should call those setter functions,
* supplying an address to the local parameters. The user can also deserialize or
* serialize the parameter data. Please note that this will also serialize and deserialize
* the parameter information field (4 bytes) containing the ECSS PTC, PFC and rows and columns
* number.
*/ */
class ParameterWrapper: public SerializeIF { class ParameterWrapper: public SerializeIF {
friend class DataPoolParameterWrapper; friend class DataPoolParameterWrapper;
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::PARAMETER_WRAPPER; static const uint8_t INTERFACE_ID = CLASS_ID::PARAMETER_WRAPPER;
static const ReturnValue_t UNKNOW_DATATYPE = MAKE_RETURN_CODE(0x01); static const ReturnValue_t UNKNOWN_DATATYPE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t DATATYPE_MISSMATCH = MAKE_RETURN_CODE(0x02); static const ReturnValue_t DATATYPE_MISSMATCH = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t READONLY = MAKE_RETURN_CODE(0x03); static const ReturnValue_t READONLY = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t TOO_BIG = MAKE_RETURN_CODE(0x04); static const ReturnValue_t TOO_BIG = MAKE_RETURN_CODE(0x04);
@ -26,8 +35,7 @@ public:
ParameterWrapper(); ParameterWrapper();
ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data); ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data);
ParameterWrapper(Type type, uint8_t rows, uint8_t columns, ParameterWrapper(Type type, uint8_t rows, uint8_t columns, const void *data);
const void *data);
virtual ~ParameterWrapper(); virtual ~ParameterWrapper();
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
@ -77,11 +85,23 @@ public:
this->pointsToStream = false; this->pointsToStream = false;
} }
/**
* Setter function for scalar non-const entries
* @tparam T
* @param member
*/
template<typename T> template<typename T>
void set(T& member) { void set(T& member) {
this->set(&member, 1, 1); this->set(&member, 1, 1);
} }
/**
* Setter function for scalar const entries.
* TODO: This is confusing, it should not be called set. Maybe we should call all functions
* assign instead?
* @tparam T
* @param readonlyMember
*/
template<typename T> template<typename T>
void set(const T& readonlyMember) { void set(const T& readonlyMember) {
this->set(&readonlyMember, 1, 1); this->set(&readonlyMember, 1, 1);
@ -89,12 +109,16 @@ public:
template<typename T> template<typename T>
void setVector(T& member) { void setVector(T& member) {
this->set(member, sizeof(member)/sizeof(member[0]), 1); /* For a vector entry, the number of rows will be one
(left to right, top to bottom indexing) */
this->set(member, 1, sizeof(member) / sizeof(member[0]));
} }
template<typename T> template<typename T>
void setVector(const T& member) { void setVector(const T& member) {
this->set(member, 1, sizeof(member)/sizeof(member[0])); /* For a vector entry, the number of rows will be one
(left to right, top to bottom indexing) */
this->set(member, 1, sizeof(member) / sizeof(member[0]));
} }
template<typename T> template<typename T>
void setMatrix(T& member) { void setMatrix(T& member) {

6
power/Fuse.cpp
View File

@ -210,15 +210,15 @@ void Fuse::setDataPoolEntriesInvalid() {
set.commit(); set.commit();
} }
ReturnValue_t Fuse::getParameter(uint8_t domainId, uint16_t parameterId, ReturnValue_t Fuse::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues, ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) { uint16_t startAtIndex) {
ReturnValue_t result = currentLimit.getParameter(domainId, parameterId, ReturnValue_t result = currentLimit.getParameter(domainId, uniqueId,
parameterWrapper, newValues, startAtIndex); parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) { if (result != INVALID_DOMAIN_ID) {
return result; return result;
} }
result = powerMonitor.getParameter(domainId, parameterId, parameterWrapper, result = powerMonitor.getParameter(domainId, uniqueId, parameterWrapper,
newValues, startAtIndex); newValues, startAtIndex);
return result; return result;
} }

6
power/Fuse.h
View File

@ -62,9 +62,9 @@ public:
ReturnValue_t setHealth(HealthState health); ReturnValue_t setHealth(HealthState health);
HasHealthIF::HealthState getHealth(); HasHealthIF::HealthState getHealth();
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
const ParameterWrapper *newValues, uint16_t startAtIndex); uint16_t startAtIndex);
private: private:
uint8_t oldFuseState; uint8_t oldFuseState;

8
power/PowerComponent.cpp
View File

@ -61,13 +61,13 @@ ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness); return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness);
} }
ReturnValue_t PowerComponent::getParameter(uint8_t domainId, ReturnValue_t PowerComponent::getParameter(uint8_t domainId, uint8_t uniqueId,
uint16_t parameterId, ParameterWrapper* parameterWrapper, ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
const ParameterWrapper* newValues, uint16_t startAtIndex) { uint16_t startAtIndex) {
if (domainId != moduleId) { if (domainId != moduleId) {
return INVALID_DOMAIN_ID; return INVALID_DOMAIN_ID;
} }
switch (parameterId) { switch (uniqueId) {
case 0: case 0:
parameterWrapper->set<>(min); parameterWrapper->set<>(min);
break; break;

6
power/PowerComponent.h
View File

@ -31,9 +31,9 @@ public:
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override; Endianness streamEndianness) override;
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
const ParameterWrapper *newValues, uint16_t startAtIndex); uint16_t startAtIndex);
private: private:
const object_id_t deviceObjectId = objects::NO_OBJECT; const object_id_t deviceObjectId = objects::NO_OBJECT;
const uint8_t switchId1; const uint8_t switchId1;

6
power/PowerSensor.cpp
View File

@ -119,15 +119,15 @@ HasHealthIF::HealthState PowerSensor::getHealth() {
return healthHelper.getHealth(); return healthHelper.getHealth();
} }
ReturnValue_t PowerSensor::getParameter(uint8_t domainId, uint16_t parameterId, ReturnValue_t PowerSensor::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues, ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) { uint16_t startAtIndex) {
ReturnValue_t result = currentLimit.getParameter(domainId, parameterId, ReturnValue_t result = currentLimit.getParameter(domainId, uniqueId,
parameterWrapper, newValues, startAtIndex); parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) { if (result != INVALID_DOMAIN_ID) {
return result; return result;
} }
result = voltageLimit.getParameter(domainId, parameterId, parameterWrapper, result = voltageLimit.getParameter(domainId, uniqueId, parameterWrapper,
newValues, startAtIndex); newValues, startAtIndex);
return result; return result;
} }

2
power/PowerSensor.h
View File

@ -48,7 +48,7 @@ public:
float getPower(); float getPower();
ReturnValue_t setHealth(HealthState health); ReturnValue_t setHealth(HealthState health);
HasHealthIF::HealthState getHealth(); HasHealthIF::HealthState getHealth();
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex); const ParameterWrapper *newValues, uint16_t startAtIndex);
private: private:

22
pus/CMakeLists.txt
View File

@ -1,12 +1,12 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME} PRIVATE
PRIVATE Service1TelecommandVerification.cpp
CService200ModeCommanding.cpp Service2DeviceAccess.cpp
CService201HealthCommanding.cpp Service3Housekeeping.cpp
Service17Test.cpp Service5EventReporting.cpp
Service1TelecommandVerification.cpp Service8FunctionManagement.cpp
Service2DeviceAccess.cpp Service9TimeManagement.cpp
Service3Housekeeping.cpp Service17Test.cpp
Service5EventReporting.cpp Service20ParameterManagement.cpp
Service8FunctionManagement.cpp CService200ModeCommanding.cpp
Service9TimeManagement.cpp CService201HealthCommanding.cpp
) )

2
pus/Service17Test.cpp
View File

@ -15,7 +15,7 @@ Service17Test::~Service17Test() {
} }
ReturnValue_t Service17Test::handleRequest(uint8_t subservice) { ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
switch(subservice){ switch(subservice) {
case Subservice::CONNECTION_TEST: { case Subservice::CONNECTION_TEST: {
TmPacketStored connectionPacket(apid, serviceId, TmPacketStored connectionPacket(apid, serviceId,
Subservice::CONNECTION_TEST_REPORT, packetSubCounter++); Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);

186
pus/Service20ParameterManagement.cpp Normal file
View File

@ -0,0 +1,186 @@
#include "Service20ParameterManagement.h"
#include "servicepackets/Service20Packets.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/parameters/HasParametersIF.h>
#include <fsfw/parameters/ParameterMessage.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <tmtc/pusIds.h>
Service20ParameterManagement::Service20ParameterManagement(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numberOfParallelCommands, uint16_t commandTimeoutSeconds) :
CommandingServiceBase(objectId, apid, serviceId,
numberOfParallelCommands,commandTimeoutSeconds) {}
Service20ParameterManagement::~Service20ParameterManagement() {}
ReturnValue_t Service20ParameterManagement::isValidSubservice(
uint8_t subservice) {
switch(static_cast<Subservice>(subservice)) {
case Subservice::PARAMETER_LOAD:
case Subservice::PARAMETER_DUMP:
return HasReturnvaluesIF::RETURN_OK;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Invalid Subservice for Service 20" << std::endl;
#else
sif::printError("Invalid Subservice for Service 20\n");
#endif
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service20ParameterManagement::getMessageQueueAndObject(
uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
MessageQueueId_t* id, object_id_t* objectId) {
ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
if(result != RETURN_OK) {
return result;
}
return checkInterfaceAndAcquireMessageQueue(id,objectId);
}
ReturnValue_t Service20ParameterManagement::checkAndAcquireTargetID(
object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
if(SerializeAdapter::deSerialize(objectIdToSet, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG) != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service20ParameterManagement::checkAndAcquireTargetID: "
<< "Invalid data." << std::endl;
#else
sif::printError("Service20ParameterManagement::"
"checkAndAcquireTargetID: Invalid data.\n");
#endif
return CommandingServiceBase::INVALID_TC;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check ReceivesParameterMessagesIF property of target
ReceivesParameterMessagesIF* possibleTarget =
objectManager->get<ReceivesParameterMessagesIF>(*objectId);
if(possibleTarget == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
<<"MessageQueue: Can't access object" << std::endl;
sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
#else
sif::printError("Service20ParameterManagement::checkInterfaceAndAcquire"
"MessageQueue: Can't access object\n");
sif::printError("Object ID: 0x%08x\n", objectId);
sif::printError("Make sure it implements "
"ReceivesParameterMessagesIF!\n");
#endif
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service20ParameterManagement::prepareCommand(
CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
size_t tcDataLen, uint32_t* state, object_id_t objectId) {
switch(static_cast<Subservice>(subservice)){
case Subservice::PARAMETER_DUMP: {
return prepareDumpCommand(message, tcData, tcDataLen);
}
break;
case Subservice::PARAMETER_LOAD: {
return prepareLoadCommand(message, tcData, tcDataLen);
}
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t Service20ParameterManagement::prepareDumpCommand(
CommandMessage* message, const uint8_t* tcData, size_t tcDataLen) {
/* the first part is the objectId, but we have extracted that earlier
and only need the parameterId */
tcData += sizeof(object_id_t);
tcDataLen -= sizeof(object_id_t);
ParameterId_t parameterId;
if(SerializeAdapter::deSerialize(&parameterId, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG) != HasReturnvaluesIF::RETURN_OK) {
return CommandingServiceBase::INVALID_TC;
}
/* The length should have been decremented to 0 by this point */
if(tcDataLen != 0) {
return CommandingServiceBase::INVALID_TC;
}
ParameterMessage::setParameterDumpCommand(message, parameterId);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service20ParameterManagement::prepareLoadCommand(
CommandMessage* message, const uint8_t* tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(object_id_t) + sizeof(ParameterId_t) +
sizeof(uint32_t)) {
return CommandingServiceBase::INVALID_TC;
}
uint8_t* storePointer = nullptr;
store_address_t storeAddress;
size_t parameterDataLen = tcDataLen - sizeof(object_id_t) - sizeof(ParameterId_t) -
sizeof(uint32_t);
ReturnValue_t result = IPCStore->getFreeElement(&storeAddress,
parameterDataLen, &storePointer);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
/* Following format is expected: The first 4 bytes in the TC data are the 4 byte
parameter ID (ParameterId_t). The second 4 bytes are the parameter information field,
containing the following 1 byte fields:
1. ECSS PTC field
2. ECSS PFC field
3. Number of rows
4. Number of columns */
ParameterLoadCommand command(storePointer, parameterDataLen);
result = command.deSerialize(&tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ParameterMessage::setParameterLoadCommand(message, command.getParameterId(), storeAddress,
command.getPtc(), command.getPfc(), command.getRows(), command.getColumns());
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service20ParameterManagement::handleReply(
const CommandMessage* reply, Command_t previousCommand, uint32_t* state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool* isStep) {
Command_t replyId = reply->getCommand();
switch(replyId) {
case ParameterMessage::REPLY_PARAMETER_DUMP: {
ConstAccessorPair parameterData = IPCStore->getData(
ParameterMessage::getStoreId(reply));
if(parameterData.first != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ParameterId_t parameterId = ParameterMessage::getParameterId(reply);
ParameterDumpReply parameterReply(objectId, parameterId,
parameterData.second.data(), parameterData.second.size());
sendTmPacket(static_cast<uint8_t>(
Subservice::PARAMETER_DUMP_REPLY), &parameterReply);
return HasReturnvaluesIF::RETURN_OK;
}
default:
return CommandingServiceBase::INVALID_REPLY;
}
}

60
pus/Service20ParameterManagement.h Normal file
View File

@ -0,0 +1,60 @@
#ifndef FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_
#define FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_
#include <fsfw/tmtcservices/CommandingServiceBase.h>
/**
* @brief PUS Service 20 Parameter Service implementation
* @details
* This service handles PUS service requests related to parameter management and forwards
* them to the internal software bus.
* @author J. Gerhards
*
*/
class Service20ParameterManagement : public CommandingServiceBase
{
public:
Service20ParameterManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
uint8_t numberOfParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
virtual ~Service20ParameterManagement();
static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
protected:
/* CommandingServiceBase (CSB) abstract functions. See CSB documentation. */
ReturnValue_t isValidSubservice(uint8_t subservice) override;
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) override;
ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
object_id_t objectId) override;
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
private:
ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
ReturnValue_t prepareDirectCommand(CommandMessage* message,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t prepareDumpCommand(CommandMessage* message,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t prepareLoadCommand(CommandMessage* message,
const uint8_t* tcData, size_t tcDataLen);
enum class Subservice {
PARAMETER_LOAD = 128, //!< [EXPORT] : Load a Parameter
PARAMETER_DUMP = 129, //!< [EXPORT] : Dump a Parameter
PARAMETER_DUMP_REPLY = 130, //!< [EXPORT] : Dump a Parameter
};
};
#endif /* FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_ */

4
pus/Service8FunctionManagement.cpp
View File

@ -104,12 +104,14 @@ ReturnValue_t Service8FunctionManagement::handleReply(
break; break;
} }
case ActionMessage::DATA_REPLY: { case ActionMessage::DATA_REPLY: {
/* Multiple data replies are possible, so declare data reply as step */
*isStep = true;
result = handleDataReply(reply, objectId, actionId); result = handleDataReply(reply, objectId, actionId);
break; break;
} }
case ActionMessage::STEP_FAILED: case ActionMessage::STEP_FAILED:
*isStep = true; *isStep = true;
/*No break, falls through*/ /* No break, falls through */
case ActionMessage::COMPLETION_FAILED: case ActionMessage::COMPLETION_FAILED:
result = ActionMessage::getReturnCode(reply); result = ActionMessage::getReturnCode(reply);
break; break;

142
pus/servicepackets/Service20Packets.h Normal file
View File

@ -0,0 +1,142 @@
#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE20PACKETS_H_
#define FSFW_PUS_SERVICEPACKETS_SERVICE20PACKETS_H_
#include <FSFWConfig.h>
#include <fsfw/parameters/HasParametersIF.h>
#include <fsfw/serialize/SerialBufferAdapter.h>
#include <fsfw/serialize/SerializeElement.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
/**
* @brief This class encapsulates the packets sent to the PUS service 20 or sent by the
* PUS service 20
* @details
* This command can be used to handle both load and dump commands as well.
* @author
*/
class ParameterCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128, 129, 130
public:
/**
* This constructor is used for load replies. The data is expected in the correct formast
* in the store pointer.
* @param storePointer
* @param parameterDataLen
*/
ParameterCommand(uint8_t* storePointer, size_t parameterDataLen):
parameterBuffer(storePointer, parameterDataLen) {
#if FSFW_VERBOSE_LEVEL >= 1
if(parameterDataLen < sizeof(object_id_t) + sizeof(ParameterId_t) + 4) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterCommand: Parameter data length is less than 12!"
<< std::endl;
#else
sif::printWarning("ParameterCommand: Parameter data length is less than 12!\n");
#endif
}
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
setLoadLinks();
}
/**
* This constructor is used for dump replies. It is assumed the 4 byte parameter
* information field is located inside the parameter buffer.
* @param objectId
* @param parameterId
* @param parameterBuffer
* @param parameterBufferSize
*/
ParameterCommand(object_id_t objectId, ParameterId_t parameterId,
const uint8_t* parameterBuffer, size_t parameterBufferSize):
objectId(objectId), parameterId(parameterId),
parameterBuffer(parameterBuffer, parameterBufferSize) {
setDumpReplyLinks();
}
ParameterId_t getParameterId() const {
return parameterId.entry;
}
const uint8_t* getParameterBuffer() {
return parameterBuffer.entry.getConstBuffer();
}
size_t getParameterBufferLen() const {
return parameterBuffer.getSerializedSize();
}
uint8_t getDomainId() const {
return (parameterId.entry >> 24) & 0xff;
}
uint8_t getUniqueId() const {
return (parameterId.entry >> 16) & 0xff;
}
uint16_t getLinearIndex() const {
return parameterId.entry & 0xffff;
}
uint8_t getPtc() const {
return ccsdsType.entry >> 8 & 0xff;
}
uint8_t getPfc() const {
return ccsdsType.entry & 0xff;
}
uint8_t getRows() const {
return rows.entry;
}
uint8_t getColumns() const {
return columns.entry;
}
private:
void setLoadLinks() {
setStart(&objectId);
objectId.setNext(&parameterId);
parameterId.setNext(&ccsdsType);
ccsdsType.setNext(&rows);
rows.setNext(&columns);
columns.setNext(&parameterBuffer);
}
void setDumpReplyLinks() {
/* For a dump reply, the parameter information is contained in the parameter buffer
with the actual parameters */
setStart(&objectId);
objectId.setNext(&parameterId);
parameterId.setNext(&parameterBuffer);
}
void setDumpRequestLinks() {
setStart(&objectId);
objectId.setNext(&parameterId);
}
SerializeElement<object_id_t> objectId = 0;
SerializeElement<ParameterId_t> parameterId = 0;
//! [EXPORT] : [COMMENT] Type consisting of one byte PTC and one byte PFC.
SerializeElement<uint16_t> ccsdsType = 0;
SerializeElement<uint8_t> rows = 0;
SerializeElement<uint8_t> columns = 0;
SerializeElement<SerialBufferAdapter<uint8_t>> parameterBuffer;
};
class ParameterLoadCommand: public ParameterCommand {
public:
ParameterLoadCommand(uint8_t* parameterPacket, size_t parameterDataLen):
ParameterCommand(parameterPacket, parameterDataLen) {}
};
class ParameterDumpReply: public ParameterCommand {
public:
ParameterDumpReply(object_id_t objectId, ParameterId_t parameterId,
const uint8_t* parameterBuffer, size_t parameterBufferSize):
ParameterCommand(objectId, parameterId, parameterBuffer, parameterBufferSize) {}
};
#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE20PACKETS_H_ */

2
serviceinterface/ServiceInterfaceBuffer.cpp
View File

@ -29,7 +29,7 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
#if FSFW_COLORED_OUTPUT == 1 #if FSFW_COLORED_OUTPUT == 1
if(setMessage.find("DEBUG") != std::string::npos) { if(setMessage.find("DEBUG") != std::string::npos) {
colorPrefix = sif::ANSI_COLOR_MAGENTA; colorPrefix = sif::ANSI_COLOR_CYAN;
} }
else if(setMessage.find("INFO") != std::string::npos) { else if(setMessage.find("INFO") != std::string::npos) {
colorPrefix = sif::ANSI_COLOR_GREEN; colorPrefix = sif::ANSI_COLOR_GREEN;

2
serviceinterface/ServiceInterfacePrinter.cpp
View File

@ -45,7 +45,7 @@ void fsfwPrint(sif::PrintLevel printType, const char* fmt, va_list arg) {
len += sprintf(bufferPosition, sif::ANSI_COLOR_GREEN); len += sprintf(bufferPosition, sif::ANSI_COLOR_GREEN);
} }
else if(printType == sif::PrintLevel::DEBUG_LEVEL) { else if(printType == sif::PrintLevel::DEBUG_LEVEL) {
len += sprintf(bufferPosition, sif::ANSI_COLOR_MAGENTA); len += sprintf(bufferPosition, sif::ANSI_COLOR_CYAN);
} }
else if(printType == sif::PrintLevel::WARNING_LEVEL) { else if(printType == sif::PrintLevel::WARNING_LEVEL) {
len += sprintf(bufferPosition, sif::ANSI_COLOR_YELLOW); len += sprintf(bufferPosition, sif::ANSI_COLOR_YELLOW);

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