Merge branch 'development' into mueller/doc-update

This commit is contained in:
Steffen Gaisser 2020-12-22 15:29:05 +01:00
commit afad130918
223 changed files with 4579 additions and 4721 deletions

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@ -15,10 +15,50 @@ a C file without issues
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets
### EnhancedControllerBase
- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
### Local Pool
- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
### Parameter Service
- The API of the parameter service has been changed to prevent inconsistencies
between documentation and actual code and to clarify usage.
- The parameter ID now consists of:
1. Domain ID (1 byte)
2. Unique Identifier (1 byte)
3. Linear Index (2 bytes)
The linear index can be used for arrays as well as matrices.
The parameter load command now explicitely expects the ECSS PTC and PFC
information as well as the rows and column number. Rows and column will
default to one, which is equivalent to one scalar parameter (the most
important use-case)
### File System Interface
- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
### Internal Error Reporter
- The new internal error reporter uses the local data pools. The pool IDs for
the exisiting three error values and the new error set will be hardcoded for
now, the the constructor for the internal error reporter just takes an object
ID for now.
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
- getTransitionDelayMs is now an abstract method
### DeviceHandlerIF
- Typo for UNKNOWN_DEVICE_REPLY
### Events

143
CMakeLists.txt Normal file
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@ -0,0 +1,143 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_FSFW_NAME fsfw)
add_library(${LIB_FSFW_NAME})
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
if(NOT OS_FSFW)
message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW
if(UNIX)
set(OS_FSFW "linux"
CACHE STRING
"OS abstraction layer used in the FSFW"
)
elseif(WIN32)
set(OS_FSFW "host"
CACHE STRING "OS abstraction layer used in the FSFW"
)
endif()
endif()
if(${OS_FSFW} STREQUAL host)
set(OS_FSFW_NAME "Host")
elseif(${OS_FSFW} STREQUAL linux)
set(OS_FSFW_NAME "Linux")
elseif(${OS_FSFW} STREQUAL freertos)
set(OS_FSFW_NAME "FreeRTOS")
target_link_libraries(${LIB_FSFW_NAME} ${LIB_OS_NAME})
elseif(${OS_FSFW} STREQUAL rtems)
set(OS_FSFW_NAME "RTEMS")
else()
message(WARNING
"Invalid operating system for FSFW specified! Setting to host.."
)
set(OS_FSFW_NAME "Host")
set(OS_FSFW "host")
endif()
message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
# Options to exclude parts of the FSFW from compilation.
option(FSFW_USE_RMAP "Compile with RMAP" ON)
option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
add_subdirectory(action)
add_subdirectory(container)
add_subdirectory(controller)
add_subdirectory(coordinates)
if(FSFW_USE_DATALINKLAYER)
add_subdirectory(datalinklayer)
endif()
add_subdirectory(datapool)
add_subdirectory(datapoollocal)
add_subdirectory(housekeeping)
add_subdirectory(devicehandlers)
add_subdirectory(events)
add_subdirectory(fdir)
add_subdirectory(globalfunctions)
add_subdirectory(health)
add_subdirectory(internalError)
add_subdirectory(ipc)
add_subdirectory(memory)
add_subdirectory(modes)
add_subdirectory(monitoring)
add_subdirectory(objectmanager)
add_subdirectory(osal)
add_subdirectory(parameters)
add_subdirectory(power)
add_subdirectory(pus)
if(FSFW_USE_RMAP)
add_subdirectory(rmap)
endif()
add_subdirectory(serialize)
add_subdirectory(serviceinterface)
add_subdirectory(storagemanager)
add_subdirectory(subsystem)
add_subdirectory(tasks)
add_subdirectory(tcdistribution)
add_subdirectory(thermal)
add_subdirectory(timemanager)
add_subdirectory(tmstorage)
add_subdirectory(tmtcpacket)
add_subdirectory(tmtcservices)
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
# If this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH)
message(WARNING "Flight Software Framework configuration path not set!")
message(WARNING "Setting default configuration!")
add_subdirectory(defaultcfg/fsfwconfig)
endif()
# FSFW might be part of a possibly complicated folder structure, so we
# extract the absolute path of the fsfwconfig folder.
if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
else()
get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
)
endif()
if(CMAKE_COMPILER_IS_GNUCXX)
set(WARNING_FLAGS
-Wall
-Wextra
-Wshadow=local
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
)
endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
set(COMPILER_FLAGS "/permissive-")
endif()
# Required include paths to compile the FSFW
target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_SOURCE_DIR}
${FSFW_CONFIG_PATH_ABSOLUTE}
)
# Includes path required to compile FSFW itself as well
# We assume that the fsfwconfig folder uses include relative to the project
# root here!
target_include_directories(${LIB_FSFW_NAME} PRIVATE
${CMAKE_SOURCE_DIR}
${FSFW_CONFIG_PATH_ABSOLUTE}
)
# Machine specific options can be set with the ABI_FLAGS variable.
target_compile_options(${LIB_FSFW_NAME} PRIVATE
${WARNING_FLAGS}
${COMPILER_FLAGS}
${ABI_FLAGS}
)

7
action/CMakeLists.txt Normal file
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@ -0,0 +1,7 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
ActionHelper.cpp
ActionMessage.cpp
CommandActionHelper.cpp
SimpleActionHelper.cpp
)

5
container/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
SharedRingBuffer.cpp
SimpleRingBuffer.cpp
)

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@ -0,0 +1,4 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
ControllerBase.cpp
)

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@ -1,16 +1,16 @@
#include "../subsystem/SubsystemBase.h"
#include "ControllerBase.h"
#include "../subsystem/SubsystemBase.h"
#include "../ipc/QueueFactory.h"
#include "../action/HasActionsIF.h"
ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
SUBMODE_NONE), commandQueue(NULL), modeHelper(
this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
submode(SUBMODE_NONE), modeHelper(this),
healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth);
}
ControllerBase::~ControllerBase() {
@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() {
}
MessageQueueId_t parentQueue = 0;
if (parentId != 0) {
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == NULL) {
if (parent == nullptr) {
return RETURN_FAILED;
}
parentQueue = parent->getCommandQueue();
@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() {
return result;
}
result = hkSwitcher.initialize();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
@ -56,26 +52,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
}
void ControllerBase::handleQueue() {
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&message);
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = healthHelper.handleHealthCommand(&message);
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&message);
result = handleCommandMessage(&command);
if (result == RETURN_OK) {
continue;
}
message.setToUnknownCommand();
commandQueue->reply(&message);
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
@ -106,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) {
ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
handleQueue();
hkSwitcher.performOperation();
performControlOperation();
return RETURN_OK;
}
@ -135,3 +131,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}
ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
return HasReturnvaluesIF::RETURN_OK;
}

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@ -1,5 +1,5 @@
#ifndef CONTROLLERBASE_H_
#define CONTROLLERBASE_H_
#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
#define FSFW_CONTROLLER_CONTROLLERBASE_H_
#include "../health/HasHealthIF.h"
#include "../health/HealthHelper.h"
@ -7,73 +7,88 @@
#include "../modes/ModeHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../datapool/HkSwitchHelper.h"
/**
* @brief Generic base class for controller classes
* @details
* Implements common interfaces for controllers, which generally have
* a mode and a health state. This avoids boilerplate code.
*/
class ControllerBase: public HasModesIF,
public HasHealthIF,
public ExecutableObjectIF,
public SystemObject,
public HasReturnvaluesIF {
public:
static const Mode_t MODE_NORMAL = 2;
ControllerBase(uint32_t setObjectId, uint32_t parentId,
ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth = 3);
virtual ~ControllerBase();
ReturnValue_t initialize();
/** SystemObject override */
virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const;
virtual MessageQueueId_t getCommandQueue() const override;
virtual ReturnValue_t performOperation(uint8_t opCode);
virtual ReturnValue_t setHealth(HealthState health);
virtual HasHealthIF::HealthState getHealth();
/**
* Implementation of ExecutableObjectIF function
*
* Used to setup the reference of the task, that executes this component
* @param task_ Pointer to the taskIF of this task
*/
virtual void setTaskIF(PeriodicTaskIF* task_);
/** HasHealthIF overrides */
virtual ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override;
/** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual void setTaskIF(PeriodicTaskIF* task) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
const uint32_t parentId;
/**
* Implemented by child class. Handle command messages which are not
* mode or health messages.
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/**
* Periodic helper, implemented by child class.
*/
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
const object_id_t parentId;
Mode_t mode;
Submode_t submode;
MessageQueueIF* commandQueue;
MessageQueueIF* commandQueue = nullptr;
ModeHelper modeHelper;
HealthHelper healthHelper;
HkSwitchHelper hkSwitcher;
/**
* Pointer to the task which executes this component, is invalid before setTaskIF was called.
* Pointer to the task which executes this component,
* is invalid before setTaskIF was called.
*/
PeriodicTaskIF* executingTask;
PeriodicTaskIF* executingTask = nullptr;
void handleQueue();
/** Handle mode and health messages */
virtual void handleQueue();
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
/** Mode helpers */
virtual void modeChanged(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 setToExternalControl();
virtual void announceMode(bool recursive);
/** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
};
#endif /* CONTROLLERBASE_H_ */
#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

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@ -0,0 +1,113 @@
#include "ExtendedControllerBase.h"
ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
object_id_t parentId, size_t commandQueueDepth):
ControllerBase(objectId, parentId, commandQueueDepth),
localPoolManager(this, commandQueue),
actionHelper(this, commandQueue) {
}
ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
// needs to be overriden and implemented by child class.
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
// needs to be overriden and implemented by child class.
return HasReturnvaluesIF::RETURN_OK;
}
object_id_t ExtendedControllerBase::getObjectId() const {
return SystemObject::getObjectId();
}
LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
return &localPoolManager;
}
uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
return this->executingTask->getPeriodMs();
}
ReturnValue_t ExtendedControllerBase::handleCommandMessage(
CommandMessage *message) {
ReturnValue_t result = actionHelper.handleActionMessage(message);
if(result == HasReturnvaluesIF::RETURN_OK) {
return result;
}
return localPoolManager.handleHousekeepingMessage(message);
}
void ExtendedControllerBase::handleQueue() {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = actionHelper.handleActionMessage(&command);
if (result == RETURN_OK) {
continue;
}
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = localPoolManager.handleHousekeepingMessage(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&command);
if (result == RETURN_OK) {
continue;
}
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
ReturnValue_t ExtendedControllerBase::initialize() {
ReturnValue_t result = ControllerBase::initialize();
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return localPoolManager.initialize(commandQueue);
}
ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
return localPoolManager.initializeAfterTaskCreation();
}
ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
handleQueue();
localPoolManager.performHkOperation();
performControlOperation();
return RETURN_OK;
}
MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
return commandQueue->getId();
}
LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
<< " implementation provided, returning nullptr!" << std::endl;
return nullptr;
}

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@ -0,0 +1,72 @@
#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
#include "ControllerBase.h"
#include "../action/HasActionsIF.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
#include "../action/ActionHelper.h"
#include "../datapoollocal/LocalDataPoolManager.h"
/**
* @brief Extendes the basic ControllerBase with the common components
* HasActionsIF for commandability and HasLocalDataPoolIF to keep
* a pool of local data pool variables.
* @details
* Default implementations required for the interfaces will be empty and have
* to be implemented by child class.
*/
class ExtendedControllerBase: public ControllerBase,
public HasActionsIF,
public HasLocalDataPoolIF {
public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
size_t commandQueueDepth = 3);
/** SystemObjectIF overrides */
virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override;
/** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
LocalDataPoolManager localPoolManager;
ActionHelper actionHelper;
/**
* Implemented by child class. Handle all command messages which are
* not health, mode, action or housekeeping messages.
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/**
* Periodic helper from ControllerBase, implemented by child class.
*/
virtual void performControlOperation() = 0;
/** Handle the four messages mentioned above */
void handleQueue() override;
/** HasActionsIF overrides */
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data,
size_t size) override;
/** HasLocalDatapoolIF overrides */
virtual object_id_t getObjectId() const override;
virtual ReturnValue_t initializeLocalDataPool(
LocalDataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual uint32_t getPeriodicOperationFrequency() const override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
};
#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

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@ -0,0 +1,5 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
CoordinateTransformations.cpp
Sgp4Propagator.cpp
)

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@ -1,7 +1,9 @@
#ifndef SGP4PROPAGATOR_H_
#define SGP4PROPAGATOR_H_
#ifndef WIN32
#include <sys/time.h>
#endif
#include "../contrib/sgp4/sgp4unit.h"
#include "../returnvalues/HasReturnvaluesIF.h"

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@ -0,0 +1,12 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
Clcw.cpp
DataLinkLayer.cpp
Farm1StateLockout.cpp
Farm1StateOpen.cpp
Farm1StateWait.cpp
MapPacketExtraction.cpp
TcTransferFrame.cpp
TcTransferFrameLocal.cpp
VirtualChannelReception.cpp
)

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@ -1,10 +1,3 @@
/**
* @file MapPacketExtraction.cpp
* @brief This file defines the MapPacketExtraction class.
* @date 26.03.2013
* @author baetz
*/
#include "MapPacketExtraction.h"
#include "../ipc/QueueFactory.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
@ -12,14 +5,14 @@
#include "../tmtcpacket/SpacePacketBase.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/TmTcMessage.h"
#include <string.h>
#include <cstring>
MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
object_id_t setPacketDestination) :
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
packetBuffer), packetDestination(setPacketDestination), packetStore(
NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
memset(packetBuffer, 0, sizeof(packetBuffer));
lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
bufferPosition(packetBuffer), packetDestination(setPacketDestination),
tcQueueId(MessageQueueIF::NO_QUEUE) {
std::memset(packetBuffer, 0, sizeof(packetBuffer));
}
ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {

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@ -1,12 +1,5 @@
/**
* @file MapPacketExtraction.h
* @brief This file defines the MapPacketExtraction class.
* @date 26.03.2013
* @author baetz
*/
#ifndef MAPPACKETEXTRACTION_H_
#define MAPPACKETEXTRACTION_H_
#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
#include "MapPacketExtractionIF.h"
#include "../objectmanager/ObjectManagerIF.h"
@ -20,17 +13,19 @@ class StorageManagerIF;
* The class implements the full MAP Packet Extraction functionality as described in the CCSDS
* TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
* fully received. All found packets are forwarded to a single distribution entity.
* @author B. Baetz
*/
class MapPacketExtraction: public MapPacketExtractionIF {
private:
static const uint32_t MAX_PACKET_SIZE = 4096;
uint8_t lastSegmentationFlag; //!< The segmentation flag of the last received frame.
uint8_t mapId; //!< MAP ID of this MAP Channel.
uint32_t packetLength; //!< Complete length of the current Space Packet.
uint32_t packetLength = 0; //!< Complete length of the current Space Packet.
uint8_t* bufferPosition; //!< Position to write to in the internal Packet buffer.
uint8_t packetBuffer[MAX_PACKET_SIZE]; //!< The internal Space Packet Buffer.
object_id_t packetDestination;
StorageManagerIF* packetStore; //!< Pointer to the store where full TC packets are stored.
//!< Pointer to the store where full TC packets are stored.
StorageManagerIF* packetStore = nullptr;
MessageQueueId_t tcQueueId; //!< QueueId to send found packets to the distributor.
/**
* Debug method to print the packet Buffer's content.
@ -75,4 +70,4 @@ public:
uint8_t getMapId() const;
};
#endif /* MAPPACKETEXTRACTION_H_ */
#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */

6
datapool/CMakeLists.txt Normal file
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@ -0,0 +1,6 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
HkSwitchHelper.cpp
PoolDataSetBase.cpp
PoolEntry.cpp
)

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@ -59,6 +59,11 @@ uint16_t PoolDataSetBase::getFillCount() const {
ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(registeredVariables[count] == nullptr) {
// configuration error.
return HasReturnvaluesIF::RETURN_FAILED;
}
// These checks are often performed by the respective
// variable implementation too, but I guess a double check does not hurt.
if (registeredVariables[count]->getReadWriteMode() !=

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@ -1,14 +0,0 @@
#include <fsfw/datapoolglob/ControllerSet.h>
ControllerSet::ControllerSet() {
}
ControllerSet::~ControllerSet() {
}
void ControllerSet::setInvalid() {
read();
setToDefault();
commit(PoolVariableIF::INVALID);
}

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

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@ -1,301 +0,0 @@
#include "DataPoolAdmin.h"
#include "GlobalDataSet.h"
#include "GlobalDataPool.h"
#include "PoolRawAccess.h"
#include "../ipc/CommandMessage.h"
#include "../ipc/QueueFactory.h"
#include "../parameters/ParameterMessage.h"
DataPoolAdmin::DataPoolAdmin(object_id_t objectId) :
SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper(
this, NULL), actionHelper(this, NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue();
}
DataPoolAdmin::~DataPoolAdmin() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
ReturnValue_t DataPoolAdmin::performOperation(uint8_t opCode) {
handleCommand();
return RETURN_OK;
}
MessageQueueId_t DataPoolAdmin::getCommandQueue() const {
return commandQueue->getId();
}
ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
if (actionId != SET_VALIDITY) {
return INVALID_ACTION_ID;
}
if (size != 5) {
return INVALID_PARAMETERS;
}
uint32_t address = (data[0] << 24) | (data[1] << 16) | (data[2] << 8)
| data[3];
uint8_t valid = data[4];
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
GlobDataSet mySet;
PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE);
ReturnValue_t status = mySet.read();
if (status != RETURN_OK) {
return INVALID_ADDRESS;
}
if (valid != 0) {
variable.setValid(PoolVariableIF::VALID);
} else {
variable.setValid(PoolVariableIF::INVALID);
}
mySet.commit();
return EXECUTION_FINISHED;
}
ReturnValue_t DataPoolAdmin::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
return HasReturnvaluesIF::RETURN_FAILED;
}
void DataPoolAdmin::handleCommand() {
CommandMessage command;
ReturnValue_t result = commandQueue->receiveMessage(&command);
if (result != RETURN_OK) {
return;
}
result = actionHelper.handleActionMessage(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
return;
}
result = handleParameterCommand(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
return;
}
result = memoryHelper.handleMemoryCommand(&command);
if (result != RETURN_OK) {
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
const uint8_t* data, size_t size, uint8_t** dataPointer) {
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
GlobDataSet testSet;
PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
PoolVariableIF::VAR_READ);
ReturnValue_t status = testSet.read();
if (status != RETURN_OK) {
return INVALID_ADDRESS;
}
uint8_t typeSize = varToGetSize.getSizeOfType();
if (size % typeSize != 0) {
return INVALID_SIZE;
}
if (size > varToGetSize.getSizeTillEnd()) {
return INVALID_SIZE;
}
const uint8_t* readPosition = data;
for (; size > 0; size -= typeSize) {
GlobDataSet rawSet;
PoolRawAccess variable(poolId, arrayIndex, &rawSet,
PoolVariableIF::VAR_READ_WRITE);
status = rawSet.read();
if (status == RETURN_OK) {
status = variable.setEntryFromBigEndian(readPosition, typeSize);
if (status == RETURN_OK) {
status = rawSet.commit();
}
}
arrayIndex += 1;
readPosition += typeSize;
}
return ACTIVITY_COMPLETED;
}
ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
uint8_t** dataPointer, uint8_t* copyHere) {
uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
GlobDataSet testSet;
PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
PoolVariableIF::VAR_READ);
ReturnValue_t status = testSet.read();
if (status != RETURN_OK) {
return INVALID_ADDRESS;
}
uint8_t typeSize = varToGetSize.getSizeOfType();
if (size > varToGetSize.getSizeTillEnd()) {
return INVALID_SIZE;
}
uint8_t* ptrToCopy = copyHere;
for (; size > 0; size -= typeSize) {
GlobDataSet rawSet;
PoolRawAccess variable(poolId, arrayIndex, &rawSet,
PoolVariableIF::VAR_READ);
status = rawSet.read();
if (status == RETURN_OK) {
size_t temp = 0;
status = variable.getEntryEndianSafe(ptrToCopy, &temp, size);
if (status != RETURN_OK) {
return RETURN_FAILED;
}
} else {
//Error reading parameter.
}
arrayIndex += 1;
ptrToCopy += typeSize;
}
return ACTIVITY_COMPLETED;
}
ReturnValue_t DataPoolAdmin::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = memoryHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (storage == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
result = actionHelper.initialize(commandQueue);
return result;
}
//mostly identical to ParameterHelper::handleParameterMessage()
ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
switch (command->getCommand()) {
case ParameterMessage::CMD_PARAMETER_DUMP: {
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(command));
uint16_t parameterId = HasParametersIF::getMatrixId(
ParameterMessage::getParameterId(command));
DataPoolParameterWrapper wrapper;
result = wrapper.set(domain, parameterId);
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(command->getSender(),
ParameterMessage::getParameterId(command), &wrapper);
}
}
break;
case ParameterMessage::CMD_PARAMETER_LOAD: {
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(command));
uint16_t parameterId = HasParametersIF::getMatrixId(
ParameterMessage::getParameterId(command));
uint8_t index = HasParametersIF::getIndex(
ParameterMessage::getParameterId(command));
const uint8_t *storedStream;
size_t storedStreamSize;
result = storage->getData(ParameterMessage::getStoreId(command),
&storedStream, &storedStreamSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
ParameterWrapper streamWrapper;
result = streamWrapper.set(storedStream, storedStreamSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(ParameterMessage::getStoreId(command));
break;
}
DataPoolParameterWrapper poolWrapper;
result = poolWrapper.set(domain, parameterId);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(ParameterMessage::getStoreId(command));
break;
}
result = poolWrapper.copyFrom(&streamWrapper, index);
storage->deleteData(ParameterMessage::getStoreId(command));
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(command->getSender(),
ParameterMessage::getParameterId(command), &poolWrapper);
}
}
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
if (result != HasReturnvaluesIF::RETURN_OK) {
rejectCommand(command->getSender(), result, command->getCommand());
}
return HasReturnvaluesIF::RETURN_OK;
}
//identical to ParameterHelper::sendParameter()
ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
const DataPoolParameterWrapper* wrapper) {
size_t serializedSize = wrapper->getSerializedSize();
uint8_t *storeElement;
store_address_t address;
ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
&storeElement);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t storeElementSize = 0;
result = wrapper->serialize(&storeElement, &storeElementSize,
serializedSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(address);
return result;
}
CommandMessage reply;
ParameterMessage::setParameterDumpReply(&reply, id, address);
commandQueue->sendMessage(to, &reply);
return HasReturnvaluesIF::RETURN_OK;
}
//identical to ParameterHelper::rejectCommand()
void DataPoolAdmin::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand) {
CommandMessage reply;
reply.setReplyRejected(reason, initialCommand);
commandQueue->sendMessage(to, &reply);
}

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#ifndef FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
#define FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
#include "DataPoolParameterWrapper.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../action/HasActionsIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../parameters/ReceivesParameterMessagesIF.h"
#include "../action/SimpleActionHelper.h"
#include "../memory/MemoryHelper.h"
class DataPoolAdmin: public HasActionsIF,
public ExecutableObjectIF,
public AcceptsMemoryMessagesIF,
public HasReturnvaluesIF,
public ReceivesParameterMessagesIF,
public SystemObject {
public:
static const ActionId_t SET_VALIDITY = 1;
DataPoolAdmin(object_id_t objectId);
~DataPoolAdmin();
ReturnValue_t performOperation(uint8_t opCode);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
size_t size, uint8_t** dataPointer);
ReturnValue_t handleMemoryDump(uint32_t address, size_t size,
uint8_t** dataPointer, uint8_t* copyHere);
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
//not implemented as ParameterHelper is no used
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
ReturnValue_t initialize();
private:
StorageManagerIF *storage;
MessageQueueIF* commandQueue;
MemoryHelper memoryHelper;
SimpleActionHelper actionHelper;
void handleCommand();
ReturnValue_t handleParameterCommand(CommandMessage *command);
ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
const DataPoolParameterWrapper* wrapper);
void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand);
};
#endif /* FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ */

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@ -1,179 +0,0 @@
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/DataPoolParameterWrapper.h"
#include "../datapoolglob/PoolRawAccess.h"
#include "../parameters/HasParametersIF.h"
DataPoolParameterWrapper::DataPoolParameterWrapper() :
type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
PoolVariableIF::NO_PARAMETER) {
}
DataPoolParameterWrapper::~DataPoolParameterWrapper() {
}
ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
uint16_t parameterId) {
poolId = (domainId << 16) + parameterId;
GlobDataSet mySet;
PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ);
ReturnValue_t status = mySet.read();
if (status != HasReturnvaluesIF::RETURN_OK) {
//should only fail for invalid pool id
return HasParametersIF::INVALID_MATRIX_ID;
}
type = raw.getType();
rows = raw.getArraySize();
columns = 1;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
size_t* size, size_t maxSize, Endianness streamEndianness) const {
ReturnValue_t result;
result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&columns, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
for (uint8_t index = 0; index < rows; index++){
GlobDataSet mySet;
PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
mySet.read();
result = raw.serialize(buffer,size,maxSize,streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK){
return result;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
//same as ParameterWrapper
size_t DataPoolParameterWrapper::getSerializedSize() const {
size_t serializedSize = 0;
serializedSize += type.getSerializedSize();
serializedSize += sizeof(rows);
serializedSize += sizeof(columns);
serializedSize += rows * columns * type.getSize();
return serializedSize;
}
ReturnValue_t DataPoolParameterWrapper::deSerialize(const uint8_t** buffer,
size_t* size, Endianness streamEndianness) {
return HasReturnvaluesIF::RETURN_FAILED;
}
template<typename T>
ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow,
uint8_t startingColumn, const void* from, uint8_t fromRows) {
//treat from as a continuous Stream as we copy all of it
const uint8_t *fromAsStream = (const uint8_t *) from;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
GlobDataSet mySet;
PoolRawAccess raw(poolId, startingRow + fromRow, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();
result = raw.setEntryFromBigEndian(fromAsStream, sizeof(T));
fromAsStream += sizeof(T);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
mySet.commit();
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t DataPoolParameterWrapper::copyFrom(const ParameterWrapper* from,
uint16_t startWritingAtIndex) {
if (poolId == PoolVariableIF::NO_PARAMETER) {
return ParameterWrapper::NOT_SET;
}
if (type != from->type) {
return ParameterWrapper::DATATYPE_MISSMATCH;
}
//check if from fits into this
uint8_t startingRow = startWritingAtIndex / columns;
uint8_t startingColumn = startWritingAtIndex % columns;
if ((from->rows > (rows - startingRow))
|| (from->columns > (columns - startingColumn))) {
return ParameterWrapper::TOO_BIG;
}
ReturnValue_t result;
//copy data
if (from->pointsToStream) {
switch (type) {
case Type::UINT8_T:
result = deSerializeData<uint8_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::INT8_T:
result = deSerializeData<int8_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::UINT16_T:
result = deSerializeData<uint16_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::INT16_T:
result = deSerializeData<int16_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::UINT32_T:
result = deSerializeData<uint32_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::INT32_T:
result = deSerializeData<int32_t>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::FLOAT:
result = deSerializeData<float>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
case Type::DOUBLE:
result = deSerializeData<double>(startingRow, startingColumn,
from->readonlyData, from->rows);
break;
default:
result = ParameterWrapper::UNKNOW_DATATYPE;
break;
}
} else {
//not supported
return HasReturnvaluesIF::RETURN_FAILED;
}
return result;
}

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#ifndef DATAPOOLPARAMETERWRAPPER_H_
#define DATAPOOLPARAMETERWRAPPER_H_
#include "../globalfunctions/Type.h"
#include "../parameters/ParameterWrapper.h"
class DataPoolParameterWrapper: public SerializeIF {
public:
DataPoolParameterWrapper();
virtual ~DataPoolParameterWrapper();
ReturnValue_t set(uint8_t domainId, uint16_t parameterId);
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
ReturnValue_t copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex);
private:
Type type;
uint8_t rows;
uint8_t columns;
uint32_t poolId;
template<typename T>
ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn,
const void *from, uint8_t fromRows);
};
#endif /* DATAPOOLPARAMETERWRAPPER_H_ */

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#include "../datapoolglob/GlobalDataPool.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/MutexFactory.h"
GlobalDataPool::GlobalDataPool(
void(*initFunction)(GlobPoolMap* pool_map)) {
mutex = MutexFactory::instance()->createMutex();
if (initFunction != NULL ) {
initFunction( &this->globDataPool );
}
}