fsfw/fsfw
fsfw
/
fsfw
10
3
Fork 6
Code Issues 31 Pull Requests 4 Releases 10 Wiki Activity

Parameter Improvements #250

Merged
gaisser merged 18 commits from KSat/fsfw:mueller/parameter-convergence into development 2020-12-10 17:09:55 +01:00
Conversation 3 Commits 18 Files Changed 7 +265 -130
7 changed files with 265 additions and 130 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
CHANGELOG
View File

@ -15,6 +15,20 @@ 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
### 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)

51
parameters/HasParametersIF.h
View File

@ -1,12 +1,16 @@
#ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
#define FSFW_PARAMETERS_HASPARAMETERSIF_H_
#include "../parameters/ParameterWrapper.h"
#include "ParameterWrapper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <stdint.h>
#include <cstdint>
/** Each parameter is identified with a unique parameter ID */
typedef uint32_t ParameterId_t;
/**
* Each parameter is identified with a unique parameter ID
* The first byte of the parameter ID will denote the domain ID.
* The second and third byte will be the unique identifier number.
*/
using ParameterId_t = uint32_t;
/**
* @brief This interface is used by components which have modifiable
@ -16,16 +20,15 @@ typedef uint32_t ParameterId_t;
* ID is the domain ID which can be used to identify unqiue spacecraft domains
* (e.g. control and sensor domain in the AOCS controller).
*
* The second and third byte represent the matrix ID, which can represent
* a 8-bit row and column number and the last byte...
* The second byte is a unique identfier ID.
*
* Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
* of a 8 bit number now?
* The third and fourth byte can be used as a linear index for matrix or array
* parameter entries.
*/
class HasParametersIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
static const ReturnValue_t INVALID_MATRIX_ID = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t INVALID_IDENTIFIER_ID = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t INVALID_DOMAIN_ID = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t INVALID_VALUE = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t READ_ONLY = MAKE_RETURN_CODE(0x05);
@ -34,33 +37,45 @@ public:
return id >> 24;
}
static uint16_t getMatrixId(ParameterId_t id) {
return id >> 8;
static uint8_t getUniqueIdentifierId(ParameterId_t id) {
return id >> 16;
}
static uint8_t getIndex(ParameterId_t id) {
/**
* Get the index of a parameter. Please note that the index is always a
* linear index. For a vector, this is straightforward.
* For a matrix, the linear indexing run from left to right, top to bottom.
* @param id
* @return
*/
static uint16_t getIndex(ParameterId_t id) {
return id;
}
static uint32_t getFullParameterId(uint8_t domainId, uint16_t parameterId,
uint8_t index) {
return (domainId << 24) + (parameterId << 8) + index;
static uint32_t getFullParameterId(uint8_t domainId,
uint8_t uniqueIdentifier, uint16_t linearIndex) {
return (domainId << 24) + (uniqueIdentifier << 16) + linearIndex;
}
virtual ~HasParametersIF() {}
/**
* This is the generic function overriden by child classes to set
* parameters. To set a parameter, the parameter wrapper is used with
* a variety of set functions. The provided values can be checked with
* newValues.
* Always set parameter before checking newValues!
*
* @param domainId
* @param parameterId
* @param parameterWrapper
* @param newValues
* @param startAtIndex
* @param startAtIndex Linear index, runs left to right, top to bottom for
* matrix indexes.
* @return
*/
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
virtual ReturnValue_t getParameter(uint8_t domainId,
uint16_t uniqueIdentifier, ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
};

192
parameters/ParameterHelper.cpp
View File

@ -2,131 +2,133 @@
#include "ParameterMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
owner(owner) {}
ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner):
owner(owner) {}
ParameterHelper::~ParameterHelper() {
}
ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
switch (message->getCommand()) {
case ParameterMessage::CMD_PARAMETER_DUMP: {
ParameterWrapper description;
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(message));
uint16_t parameterId = HasParametersIF::getMatrixId(
ParameterMessage::getParameterId(message));
result = owner->getParameter(domain, parameterId,
&description, &description, 0);
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(message->getSender(),
ParameterMessage::getParameterId(message), &description);
}
}
break;
case ParameterMessage::CMD_PARAMETER_LOAD: {
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(message));
uint16_t parameterId = HasParametersIF::getMatrixId(
ParameterMessage::getParameterId(message));
uint8_t index = HasParametersIF::getIndex(
ParameterMessage::getParameterId(message));
if(storage == nullptr) {
// ParameterHelper was not initialized
return HasReturnvaluesIF::RETURN_FAILED;
}
const uint8_t *storedStream = nullptr;
size_t storedStreamSize = 0;
result = storage->getData(
ParameterMessage::getStoreId(message), &storedStream,
&storedStreamSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "ParameterHelper::handleParameterMessage: Getting"
" store data failed for load command." << std::endl;
break;
}
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
switch (message->getCommand()) {
case ParameterMessage::CMD_PARAMETER_DUMP: {
ParameterWrapper description;
uint8_t domain = HasParametersIF::getDomain(
ParameterMessage::getParameterId(message));
uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
ParameterMessage::getParameterId(message));
result = owner->getParameter(domain, uniqueIdentifier,
&description, &description, 0);
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(message->getSender(),
ParameterMessage::getParameterId(message), &description);
}
}
break;
case ParameterMessage::CMD_PARAMETER_LOAD: {
ParameterId_t parameterId = 0;
uint8_t ptc = 0;
uint8_t pfc = 0;
uint8_t rows = 0;
uint8_t columns = 0;
store_address_t storeId = ParameterMessage::getParameterLoadCommand(
message, &parameterId, &ptc, &pfc, &rows, &columns);
Type type(Type::getActualType(ptc, pfc));
ParameterWrapper streamWrapper;
result = streamWrapper.set(storedStream, storedStreamSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(ParameterMessage::getStoreId(message));
break;
}
uint8_t domain = HasParametersIF::getDomain(parameterId);
uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
parameterId);
uint16_t linearIndex = HasParametersIF::getIndex(parameterId);
ParameterWrapper ownerWrapper;
result = owner->getParameter(domain, parameterId, &ownerWrapper,
&streamWrapper, index);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(ParameterMessage::getStoreId(message));
break;
}
ConstStorageAccessor accessor(storeId);
result = storage->getData(storeId, accessor);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "ParameterHelper::handleParameterMessage: Getting"
<< " store data failed for load command." << std::endl;
break;
}
result = ownerWrapper.copyFrom(&streamWrapper, index);
ParameterWrapper streamWrapper;
result = streamWrapper.set(type, rows, columns, accessor.data(),
accessor.size());
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
storage->deleteData(ParameterMessage::getStoreId(message));
ParameterWrapper ownerWrapper;
result = owner->getParameter(domain, uniqueIdentifier, &ownerWrapper,
&streamWrapper, linearIndex);
if (result == HasReturnvaluesIF::RETURN_OK) {
result = sendParameter(message->getSender(),
ParameterMessage::getParameterId(message), &ownerWrapper);
}
}
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
result = ownerWrapper.copyFrom(&streamWrapper, linearIndex);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (result != HasReturnvaluesIF::RETURN_OK) {
rejectCommand(message->getSender(), result, message->getCommand());
}
result = sendParameter(message->getSender(),
ParameterMessage::getParameterId(message), &ownerWrapper);
break;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
if (result != HasReturnvaluesIF::RETURN_OK) {
rejectCommand(message->getSender(), result, message->getCommand());
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
const ParameterWrapper* description) {
size_t serializedSize = description->getSerializedSize();
const ParameterWrapper* description) {
size_t serializedSize = description->getSerializedSize();
uint8_t *storeElement;
store_address_t address;
uint8_t *storeElement;
store_address_t address;
ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
&storeElement);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
&storeElement);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t storeElementSize = 0;
size_t storeElementSize = 0;
result = description->serialize(&storeElement, &storeElementSize,
serializedSize, SerializeIF::Endianness::BIG);
result = description->serialize(&storeElement, &storeElementSize,
serializedSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(address);
return result;
}
if (result != HasReturnvaluesIF::RETURN_OK) {
storage->deleteData(address);
return result;
}
CommandMessage reply;
CommandMessage reply;
ParameterMessage::setParameterDumpReply(&reply, id, address);
ParameterMessage::setParameterDumpReply(&reply, id, address);
MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ParameterHelper::initialize() {
ownerQueueId = owner->getCommandQueue();
ownerQueueId = owner->getCommandQueue();
storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (storage == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
} else {
return HasReturnvaluesIF::RETURN_OK;
}
storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (storage == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
Command_t initialCommand) {
CommandMessage reply;
reply.setReplyRejected(reason, initialCommand);
MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
Command_t initialCommand) {
CommandMessage reply;
reply.setReplyRejected(reason, initialCommand);
MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
}

20
parameters/ParameterMessage.cpp
View File

@ -25,10 +25,26 @@ void ParameterMessage::setParameterDumpReply(CommandMessage* message,
}
void ParameterMessage::setParameterLoadCommand(CommandMessage* message,
ParameterId_t id, store_address_t storageID) {
ParameterId_t id, store_address_t storeId, uint8_t ptc, uint8_t pfc,
uint8_t rows = 1, uint8_t columns = 1) {
message->setCommand(CMD_PARAMETER_LOAD);
message->setParameter(id);
message->setParameter2(storageID.raw);
message->setParameter2(storeId.raw);
uint32_t packedParameterSettings = (ptc << 24) | (pfc << 16) |
(rows << 8) | columns;
message->setParameter3(packedParameterSettings);
}
store_address_t ParameterMessage::getParameterLoadCommand(
const CommandMessage *message, ParameterId_t* parameterId, uint8_t *ptc,
uint8_t *pfc, uint8_t *rows, uint8_t *columns) {
*parameterId = message->getParameter2();
uint32_t packedParamSettings = message->getParameter3();
*ptc = packedParamSettings >> 24 & 0xff;
*pfc = packedParamSettings >> 16 & 0xff;
*rows = packedParamSettings >> 8 & 0xff;
*columns = packedParamSettings & 0xff;
return message->getParameter2();
}
void ParameterMessage::clear(CommandMessage* message) {

35
parameters/ParameterMessage.h
View File

@ -5,6 +5,20 @@
#include "../ipc/CommandMessage.h"
#include "../storagemanager/StorageManagerIF.h"
/**
* @brief ParameterMessage interface
* @details
* General structure of a parameter message:
* 1. 4-byte Object ID
* 2. 4-byte Parameter ID, first byte is Domain ID, second byte is unique
* identifier, third and fourth byte is linear index to start from
* 3. 4-byte Parameter Settings. First byte and second byte are the PTC and PFC
* ECSS type identifiers (see ECSS-E-ST-70-41C15 p.428 or Type class in
* globalfunctions). Third byte is the number of rows and fourth byte
* is the number of columns. For single variable parameters, this will
* be [1, 1].
*
*/
class ParameterMessage {
private:
ParameterMessage();
@ -20,8 +34,27 @@ public:
ParameterId_t id);
static void setParameterDumpReply(CommandMessage* message,
ParameterId_t id, store_address_t storageID);
/**
* Command to set a load parameter message. The CCSDS / ECSS type in
* form of a PTC and a PFC is expected. See ECSS-E-ST-70-41C15 p.428
* for all types or the Type class in globalfunctions.
* @param message
* @param id
* @param storeId
* @param ptc Type information according to CCSDS/ECSS standards
* @param pfc Type information according to CCSDS/ECSS standards
* @param rows Set number of rows in parameter set, minimum one.
* @param columns Set number of columns in parameter set, minimum one
*/
static void setParameterLoadCommand(CommandMessage* message,
ParameterId_t id, store_address_t storageID);
ParameterId_t id, store_address_t storeId, uint8_t ptc,
uint8_t pfc, uint8_t rows, uint8_t columns);
static store_address_t getParameterLoadCommand(
const CommandMessage* message, ParameterId_t* parameterId,
uint8_t* ptc, uint8_t* pfc, uint8_t* rows, uint8_t* columns) ;
static void clear(CommandMessage* message);
};

60
parameters/ParameterWrapper.cpp
View File

@ -115,7 +115,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
uint8_t fromColumns) {
//treat from as a continuous Stream as we copy all of it
const uint8_t *fromAsStream = (const uint8_t*) from;
const uint8_t *fromAsStream = reinterpret_cast<const uint8_t*>(from);
size_t streamSize = fromRows * fromColumns * sizeof(T);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@ -123,8 +123,9 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
//get the start element of this row in data
T *dataWithDataType = ((T*) data)
+ (((startingRow + fromRow) * columns) + startingColumn);
uint16_t offset = (((startingRow + fromRow) *
gaisser marked this conversation as resolved Outdated
gaisser commented 2020-12-10 16:32:42 +01:00
Outdated
Review
Copy Link

The addition on the right side might have an 8bit overflow.

The addition on the right side might have an 8bit overflow.
static_cast<uint16_t>(columns)) + startingColumn);
T *dataWithDataType = static_cast<T*>(data) + offset;
for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
result = SerializeAdapter::deSerialize(
@ -159,6 +160,23 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
return copyFrom(&streamDescription, startWritingAtIndex);
}
ReturnValue_t ParameterWrapper::set(Type type, uint8_t rows, uint8_t columns,
const void *data, size_t dataSize) {
this->type = type;
this->rows = rows;
this->columns = columns;
size_t expectedSize = type.getSize() * rows * columns;
if (expectedSize < dataSize) {
return SerializeIF::STREAM_TOO_SHORT;
}
this->data = nullptr;
this->readonlyData = data;
pointsToStream = true;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
const uint8_t **remainingStream, size_t *remainingSize) {
ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
@ -202,11 +220,13 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex) {
if (data == NULL) {
// TODO: Optional diagnostic output (which can be disabled in FSFWConfig)
// to determined faulty implementations and configuration errors quickly.
if (data == nullptr) {
return READONLY;
}
if (from->readonlyData == NULL) {
if (from->readonlyData == nullptr) {
return SOURCE_NOT_SET;
}
@ -214,9 +234,16 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
return DATATYPE_MISSMATCH;
}
// The smallest allowed value for rows and columns is one.
if(rows == 0 or columns == 0) {
return COLUMN_OR_ROWS_ZERO;
}
//check if from fits into this
uint8_t startingRow = startWritingAtIndex / columns;
uint8_t startingColumn = startWritingAtIndex % columns;
uint8_t startingRow = 0;
uint8_t startingColumn = 0;
ParameterWrapper::convertLinearIndexToRowAndColumn(startWritingAtIndex,
&startingRow, &startingColumn);
if ((from->rows > (rows - startingRow))
|| (from->columns > (columns - startingColumn))) {
@ -270,8 +297,8 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
//need a type to do arithmetic
uint8_t* typedData = static_cast<uint8_t*>(data);
for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
size_t offset = (((startingRow + fromRow) * columns) +
startingColumn) * typeSize;
size_t offset = (((startingRow + fromRow) * static_cast<uint16_t>(
columns)) + startingColumn) * typeSize;
std::memcpy(typedData + offset, from->readonlyData,
typeSize * from->columns);
}
@ -279,3 +306,18 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
return result;
}
void ParameterWrapper::convertLinearIndexToRowAndColumn(uint16_t index,
uint8_t *row, uint8_t *column) {
if(row == nullptr or column == nullptr) {
return;
}
// Integer division.
*row = index / columns;
*column = index % columns;
}
uint16_t ParameterWrapper::convertRowAndColumnToLinearIndex(uint8_t row,
uint8_t column) {
return row * columns + column;
}

23
parameters/ParameterWrapper.h
View File

@ -22,6 +22,7 @@ public:
static const ReturnValue_t SOURCE_NOT_SET = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t OUT_OF_BOUNDS = MAKE_RETURN_CODE(0x06);
static const ReturnValue_t NOT_SET = MAKE_RETURN_CODE(0x07);
static const ReturnValue_t COLUMN_OR_ROWS_ZERO = MAKE_RETURN_CODE(0x08);
ParameterWrapper();
ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data);
@ -68,7 +69,7 @@ public:
template<typename T>
void set(const T *readonlyData, uint8_t rows, uint8_t columns) {
this->data = NULL;
this->data = nullptr;
this->readonlyData = readonlyData;
this->type = PodTypeConversion<T>::type;
this->rows = rows;
@ -97,14 +98,19 @@ public:
}
template<typename T>
void setMatrix(T& member) {
this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
this->set(member[0], sizeof(member)/sizeof(member[0]),
sizeof(member[0])/sizeof(member[0][0]));
}
template<typename T>
void setMatrix(const T& member) {
this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
this->set(member[0], sizeof(member)/sizeof(member[0]),
sizeof(member[0])/sizeof(member[0][0]));
}
ReturnValue_t set(Type type, uint8_t rows, uint8_t columns,
const void *data, size_t dataSize);
ReturnValue_t set(const uint8_t *stream, size_t streamSize,
const uint8_t **remainingStream = nullptr,
size_t *remainingSize = nullptr);
@ -113,6 +119,13 @@ public:
uint16_t startWritingAtIndex);
private:
void convertLinearIndexToRowAndColumn(uint16_t index,
uint8_t *row, uint8_t *column);
uint16_t convertRowAndColumnToLinearIndex(uint8_t row,
uint8_t column);
bool pointsToStream = false;
Type type;
@ -148,9 +161,9 @@ inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
if (pointsToStream) {
const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
streamWithType += (row * columns + column) * type.getSize();
int32_t size = type.getSize();
size_t size = type.getSize();
return SerializeAdapter::deSerialize(value, &streamWithType,
&size, true);
&size, SerializeIF::Endianness::BIG);
}
else {
const T *dataWithType = static_cast<const T*>(readonlyData);