fsfw/fsfw
fsfw/fsfw
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fsfw/docs/README-core.md
Robin Mueller c2bf09d506 Introducing documentation with Sphinx 
This PR introduces the generation of documentation based on
this excellent blog post: https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/

It combines the tools Sphinx, Doxygen and Breathe to generate good
looking HTML documentation conveniently which can be hosted easily.

The helper scripts were unified and there is now one helper.py script
which can be used to create, build and open both tests and documentation.
"./helper.py -h" can be used to get the different options.

This PR also contains some smaller fixes which were necessary for the docs
to build
2021-12-01 11:17:28 +01:00

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FSFW Core Modules

These core modules provide the most important functionalities of the Flight Software Framework

Clock

  • This is a class of static functions that can be used at anytime
  • Leap Seconds must be set if any time conversions from UTC to other times is used

ObjectManager

  • Must be created during program startup
  • The component which handles all references. All SystemObjects register at this component.
  • Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
  • A reference to an object can be get by calling the following function. T must be the specific Interface you want to call. A nullptr check of the returning Pointer must be done. This function is based on Run-time type information.
template <typename T> T* ObjectManagerIF::get( object_id_t id )
  • A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation. By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.

Event Manager

  • Component which allows routing of events
  • Other objects can subscribe to specific events, ranges of events or all events of an object.
  • Subscriptions can be done during runtime but should be done during initialization
  • Amounts of allowed subscriptions can be configured in FSFWConfig.h

Health Table

  • A component which holds every health state
  • Provides a thread safe way to access all health states without the need of message exchanges

Stores

  • The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can be exchanged with Stores. With this, only the store address must be exchanged in the message.
  • Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
  • All of them should use the Thread Safe Class storagemanager/PoolManager

Tasks

There are two different types of tasks:

  • The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
  • FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence folder