From 4f9797af3b4432a7e26279e039709b7cee5ca06e Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Mon, 28 Mar 2022 21:24:33 +0200 Subject: [PATCH 01/28] Updated CCSDS CuC Functions --- src/fsfw/timemanager/CCSDSTime.cpp | 12 ++++----- src/fsfw/timemanager/CCSDSTime.h | 27 ++++++++++++++++--- .../unit/timemanager/TestCCSDSTime.cpp | 21 +++++++++++++++ 3 files changed, 50 insertions(+), 10 deletions(-) diff --git a/src/fsfw/timemanager/CCSDSTime.cpp b/src/fsfw/timemanager/CCSDSTime.cpp index 9ebd1d79..ff20142f 100644 --- a/src/fsfw/timemanager/CCSDSTime.cpp +++ b/src/fsfw/timemanager/CCSDSTime.cpp @@ -428,7 +428,7 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, const uint8_t* from, size_t from++; ReturnValue_t result = convertFromCUC(to, pField, from, foundLength, maxLength - 1); if (result == HasReturnvaluesIF::RETURN_OK) { - if (foundLength != NULL) { + if (foundLength != nullptr) { *foundLength += 1; } } @@ -588,18 +588,18 @@ ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8 uint8_t nCoarse = ((pField & 0b1100) >> 2) + 1; uint8_t nFine = (pField & 0b11); size_t totalLength = nCoarse + nFine; - if (foundLength != NULL) { + if (foundLength != nullptr) { *foundLength = totalLength; } if (totalLength > maxLength) { return LENGTH_MISMATCH; } - for (int count = 0; count < nCoarse; count++) { - secs += *from << ((nCoarse * 8 - 8) * (1 + count)); + for (int count = nCoarse; count > 0; count--) { + secs += *from << (count * 8 - 8); from++; } - for (int count = 0; count < nFine; count++) { - subSeconds += *from << ((nFine * 8 - 8) * (1 + count)); + for (int count = nFine; count > 0; count--) { + subSeconds += *from << (count * 8 - 8); from++; } // Move to POSIX epoch. diff --git a/src/fsfw/timemanager/CCSDSTime.h b/src/fsfw/timemanager/CCSDSTime.h index 19c980d0..59e16a1c 100644 --- a/src/fsfw/timemanager/CCSDSTime.h +++ b/src/fsfw/timemanager/CCSDSTime.h @@ -161,18 +161,37 @@ class CCSDSTime : public HasReturnvaluesIF { */ static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from, size_t *foundLength, size_t maxLength); - + /** + * @brief Currently unsupported conversion due to leapseconds + * + * @param to Time Of Day (UTC) + * @param from Buffer to take the CUC from + * @param length Length of buffer + * @return ReturnValue_t UNSUPPORTED_TIME_FORMAT in any case ATM + */ static ReturnValue_t convertFromCUC(Clock::TimeOfDay_t *to, uint8_t const *from, uint8_t length); - + /** + * @brief Converts from CCSDS CUC to timeval + * + * If input is CCSDS Epoch this is TAI! -> No leapsecond support. + * + * Currently, it only supports seconds + 2 Byte Subseconds (1/65536 seconds) + * + * + * @param to Timeval to write the result to + * @param from Buffer to read from + * @param foundLength Length found by this function (can be nullptr if unused) + * @param maxLength Max length of the buffer to be read + * @return ReturnValue_t - RETURN_OK if successful + * - LENGTH_MISMATCH if expected length is larger than maxLength + */ static ReturnValue_t convertFromCUC(timeval *to, uint8_t const *from, size_t *foundLength, size_t maxLength); - static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField, uint8_t const *from, size_t *foundLength, size_t maxLength); static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from, size_t *foundLength, size_t maxLength); - static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField, uint8_t const *from, size_t *foundLength, size_t maxLength); diff --git a/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp b/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp index a43ff8ab..e96ddfc9 100644 --- a/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp +++ b/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp @@ -179,6 +179,27 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") { CHECK(todFromCCSDS.second == time.second); CHECK(todFromCCSDS.usecond == 123000); } + SECTION("CUC") { + timeval to; + // seconds = 0x771E960F, microseconds = 0x237 + // microseconds = 567000 + // This gives 37158.912 1/65536 seconds -> rounded to 37159 -> 0x9127 + // This results in -> 567001 us + std::array cucBuffer = { + CCSDSTime::P_FIELD_CUC_6B_CCSDS, 0x77, 0x1E, 0x96, 0x0F, 0x91, 0x27}; + size_t foundLength = 0; + auto result = CCSDSTime::convertFromCUC(&to, cucBuffer.data(), &foundLength, cucBuffer.size()); + REQUIRE(result == HasReturnvaluesIF::RETURN_OK); + REQUIRE(foundLength == 7); + REQUIRE(to.tv_sec == 1619801999); // TAI (no leap seconds) + REQUIRE(to.tv_usec == 567001); + + Clock::TimeOfDay_t tod; + result = CCSDSTime::convertFromCUC(&tod, cucBuffer.data(), cucBuffer.size()); + // This test must be changed if this is ever going to be implemented + REQUIRE(result == CCSDSTime::UNSUPPORTED_TIME_FORMAT); + } + SECTION("CCSDS Failures") { Clock::TimeOfDay_t time; time.year = 2020; From a3930dafc59bca2faf49e133b8c6f03f01ff8d4f Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Mon, 28 Mar 2022 21:37:25 +0200 Subject: [PATCH 02/28] Moved unused constructors --- src/fsfw/timemanager/CCSDSTime.cpp | 4 ---- src/fsfw/timemanager/CCSDSTime.h | 4 ++-- 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/src/fsfw/timemanager/CCSDSTime.cpp b/src/fsfw/timemanager/CCSDSTime.cpp index ff20142f..1f84dd03 100644 --- a/src/fsfw/timemanager/CCSDSTime.cpp +++ b/src/fsfw/timemanager/CCSDSTime.cpp @@ -6,10 +6,6 @@ #include "fsfw/FSFW.h" -CCSDSTime::CCSDSTime() {} - -CCSDSTime::~CCSDSTime() {} - ReturnValue_t CCSDSTime::convertToCcsds(Ccs_seconds* to, const Clock::TimeOfDay_t* from) { ReturnValue_t result = checkTimeOfDay(from); if (result != RETURN_OK) { diff --git a/src/fsfw/timemanager/CCSDSTime.h b/src/fsfw/timemanager/CCSDSTime.h index 59e16a1c..2a2316af 100644 --- a/src/fsfw/timemanager/CCSDSTime.h +++ b/src/fsfw/timemanager/CCSDSTime.h @@ -211,8 +211,8 @@ class CCSDSTime : public HasReturnvaluesIF { static uint32_t subsecondsToMicroseconds(uint16_t subseconds); private: - CCSDSTime(); - virtual ~CCSDSTime(); + CCSDSTime(){}; + virtual ~CCSDSTime(){}; /** * checks a ccs time stream for validity * From 9947a648df6929d5114d03f6d07045f309fbeea7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 11 Apr 2022 16:01:26 +0200 Subject: [PATCH 03/28] fix compiler warnings --- src/fsfw/container/HybridIterator.h | 14 ++++++++++--- src/fsfw/globalfunctions/matching/MatchTree.h | 3 +++ src/fsfw/subsystem/Subsystem.cpp | 20 +++++++++++++------ src/fsfw/subsystem/Subsystem.h | 2 +- 4 files changed, 29 insertions(+), 10 deletions(-) diff --git a/src/fsfw/container/HybridIterator.h b/src/fsfw/container/HybridIterator.h index e8b24a3d..50a37988 100644 --- a/src/fsfw/container/HybridIterator.h +++ b/src/fsfw/container/HybridIterator.h @@ -10,16 +10,24 @@ class HybridIterator : public LinkedElement::Iterator, public ArrayList::Iterator *iter) - : LinkedElement::Iterator(*iter), value(iter->value), linked(true) {} + : LinkedElement::Iterator(*iter), value(iter->value), linked(true) { + if(iter != nullptr) { + value = iter->value; + } + } HybridIterator(LinkedElement *start) - : LinkedElement::Iterator(start), value(start->value), linked(true) {} + : LinkedElement::Iterator(start), linked(true) { + if(start != nullptr) { + value = start->value; + } + } HybridIterator(typename ArrayList::Iterator start, typename ArrayList::Iterator end) : ArrayList::Iterator(start), value(start.value), linked(false), end(end.value) { if (value == this->end) { - value = NULL; + value = nullptr; } } diff --git a/src/fsfw/globalfunctions/matching/MatchTree.h b/src/fsfw/globalfunctions/matching/MatchTree.h index f7775d45..47e400da 100644 --- a/src/fsfw/globalfunctions/matching/MatchTree.h +++ b/src/fsfw/globalfunctions/matching/MatchTree.h @@ -179,6 +179,9 @@ class MatchTree : public SerializeableMatcherIF, public BinaryTreematch(number); if (isMatch) { if (iter.left() == this->end()) { diff --git a/src/fsfw/subsystem/Subsystem.cpp b/src/fsfw/subsystem/Subsystem.cpp index a837bf83..767cfe39 100644 --- a/src/fsfw/subsystem/Subsystem.cpp +++ b/src/fsfw/subsystem/Subsystem.cpp @@ -30,11 +30,11 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator iter, return FALLBACK_SEQUENCE_DOES_NOT_EXIST; } - if (iter.value == NULL) { + if (iter.value ==nullptr) { return NO_TARGET_TABLE; } - for (; iter.value != NULL; ++iter) { + for (; iter.value != nullptr; ++iter) { if (!existsModeTable(iter->getTableId())) { return TABLE_DOES_NOT_EXIST; } else { @@ -66,13 +66,18 @@ HybridIterator Subsystem::getCurrentTable() { void Subsystem::performChildOperation() { if (isInTransition) { if (commandsOutstanding <= 0) { // all children of the current table were commanded and replied - if (currentSequenceIterator.value == NULL) { // we're through with this sequence + if (currentSequenceIterator.value == nullptr) { // we're through with this sequence if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) { setMode(targetMode, targetSubmode); isInTransition = false; return; } else { - transitionFailed(TARGET_TABLE_NOT_REACHED, getSequence(targetMode)->getTableId()); + Mode_t tableId = 0; + auto seq = getSequence(targetMode); + if(seq.value != nullptr) { + tableId = seq->getTableId(); + } + transitionFailed(TARGET_TABLE_NOT_REACHED, tableId); return; } } @@ -248,10 +253,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) { case ModeSequenceMessage::READ_TABLE: { ReturnValue_t result; Mode_t table = ModeSequenceMessage::getSequenceId(message); - EntryPointer *entry = NULL; + EntryPointer *entry = nullptr; result = modeTables.find(table, &entry); - if (result != RETURN_OK) { + if (result != RETURN_OK or entry == nullptr) { replyToCommand(result, 0); + if(entry == nullptr) { + return result; + } } SerializeIF *elements[2]; diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index 2c78c8cd..e0fafb51 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -1,7 +1,7 @@ #ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_ #define FSFW_SUBSYSTEM_SUBSYSTEM_H_ -#include +#include "fsfw/FSFW.h" #include "../container/FixedArrayList.h" #include "../container/FixedMap.h" From cb78fefbb3606b23c73a38ae4a90715188b47bcf Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 11 Apr 2022 17:14:04 +0200 Subject: [PATCH 04/28] afmt --- .../devicehandlers/MgmLIS3MDLHandler.cpp | 4 +- hal/src/fsfw_hal/linux/uart/UartCookie.cpp | 4 +- src/fsfw/container/HybridIterator.h | 7 ++- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 13 +++-- src/fsfw/globalfunctions/matching/MatchTree.h | 2 +- src/fsfw/osal/rtems/PeriodicTask.h | 5 +- src/fsfw/subsystem/Subsystem.cpp | 8 +-- src/fsfw/subsystem/Subsystem.h | 3 +- src/fsfw/version.cpp | 3 +- src/fsfw/version.h | 2 +- tests/src/fsfw_tests/unit/version.cpp | 50 +++++++++---------- 11 files changed, 48 insertions(+), 53 deletions(-) diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index 52b6dc07..644b488d 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -1,9 +1,9 @@ #include "MgmLIS3MDLHandler.h" -#include "fsfw/datapool/PoolReadGuard.h" - #include +#include "fsfw/datapool/PoolReadGuard.h" + MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie, uint32_t transitionDelay) : DeviceHandlerBase(objectId, deviceCommunication, comCookie), diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp index aa2dd214..3fedc9d4 100644 --- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp @@ -24,9 +24,7 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; } Parity UartCookie::getParity() const { return parity; } -void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { - bitsPerWord = bitsPerWord_; -} +void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; } BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; } diff --git a/src/fsfw/container/HybridIterator.h b/src/fsfw/container/HybridIterator.h index 50a37988..189f8410 100644 --- a/src/fsfw/container/HybridIterator.h +++ b/src/fsfw/container/HybridIterator.h @@ -11,14 +11,13 @@ class HybridIterator : public LinkedElement::Iterator, public ArrayList::Iterator *iter) : LinkedElement::Iterator(*iter), value(iter->value), linked(true) { - if(iter != nullptr) { + if (iter != nullptr) { value = iter->value; } } - HybridIterator(LinkedElement *start) - : LinkedElement::Iterator(start), linked(true) { - if(start != nullptr) { + HybridIterator(LinkedElement *start) : LinkedElement::Iterator(start), linked(true) { + if (start != nullptr) { value = start->value; } } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 0e2802ac..dd9bd5d7 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -458,16 +458,15 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) { DeviceCommandId_t replyId = NO_COMMAND_ID; DeviceCommandMap::iterator command = cookieInfo.pendingCommand; if (command->second.useAlternativeReplyId) { - replyId = command->second.alternativeReplyId; - } - else { - replyId = commandId; + replyId = command->second.alternativeReplyId; + } else { + replyId = commandId; } DeviceReplyIter iter = deviceReplyMap.find(replyId); if (iter != deviceReplyMap.end()) { - if (iter->second.delayCycles != 0) { - return iter->second.replyLen; - } + if (iter->second.delayCycles != 0) { + return iter->second.replyLen; + } } return 0; } diff --git a/src/fsfw/globalfunctions/matching/MatchTree.h b/src/fsfw/globalfunctions/matching/MatchTree.h index 47e400da..68b8f270 100644 --- a/src/fsfw/globalfunctions/matching/MatchTree.h +++ b/src/fsfw/globalfunctions/matching/MatchTree.h @@ -179,7 +179,7 @@ class MatchTree : public SerializeableMatcherIF, public BinaryTreematch(number); diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index 24ce4af1..9f47dfc6 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { */ ReturnValue_t addComponent(object_id_t object) override; -/** + /** * Adds an object to the list of objects to be executed. * The objects are executed in the order added. * @param object pointer to the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(ExecutableObjectIF* object) override; - + ReturnValue_t addComponent(ExecutableObjectIF *object) override; uint32_t getPeriodMs() const override; diff --git a/src/fsfw/subsystem/Subsystem.cpp b/src/fsfw/subsystem/Subsystem.cpp index 767cfe39..ab8c1b16 100644 --- a/src/fsfw/subsystem/Subsystem.cpp +++ b/src/fsfw/subsystem/Subsystem.cpp @@ -30,7 +30,7 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator iter, return FALLBACK_SEQUENCE_DOES_NOT_EXIST; } - if (iter.value ==nullptr) { + if (iter.value == nullptr) { return NO_TARGET_TABLE; } @@ -74,8 +74,8 @@ void Subsystem::performChildOperation() { } else { Mode_t tableId = 0; auto seq = getSequence(targetMode); - if(seq.value != nullptr) { - tableId = seq->getTableId(); + if (seq.value != nullptr) { + tableId = seq->getTableId(); } transitionFailed(TARGET_TABLE_NOT_REACHED, tableId); return; @@ -257,7 +257,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) { result = modeTables.find(table, &entry); if (result != RETURN_OK or entry == nullptr) { replyToCommand(result, 0); - if(entry == nullptr) { + if (entry == nullptr) { return result; } } diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index e0fafb51..d3e197b0 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -1,14 +1,13 @@ #ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_ #define FSFW_SUBSYSTEM_SUBSYSTEM_H_ -#include "fsfw/FSFW.h" - #include "../container/FixedArrayList.h" #include "../container/FixedMap.h" #include "../container/HybridIterator.h" #include "../container/SinglyLinkedList.h" #include "../serialize/SerialArrayListAdapter.h" #include "SubsystemBase.h" +#include "fsfw/FSFW.h" #include "modes/ModeDefinitions.h" /** diff --git a/src/fsfw/version.cpp b/src/fsfw/version.cpp index 926e465f..e4a62002 100644 --- a/src/fsfw/version.cpp +++ b/src/fsfw/version.cpp @@ -1,8 +1,9 @@ #include "version.h" -#include "fsfw/FSFWVersion.h" #include +#include "fsfw/FSFWVersion.h" + #ifdef major #undef major #endif diff --git a/src/fsfw/version.h b/src/fsfw/version.h index 7cddf193..bb4d0399 100644 --- a/src/fsfw/version.h +++ b/src/fsfw/version.h @@ -29,7 +29,7 @@ class Version { } friend bool operator>(const Version& v1, const Version& v2) { - return not (v1 < v2) and not (v1 == v2); + return not(v1 < v2) and not(v1 == v2); } friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); } diff --git a/tests/src/fsfw_tests/unit/version.cpp b/tests/src/fsfw_tests/unit/version.cpp index 92a930dc..2967dfa5 100644 --- a/tests/src/fsfw_tests/unit/version.cpp +++ b/tests/src/fsfw_tests/unit/version.cpp @@ -17,15 +17,15 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") { fsfw::Version v1 = fsfw::Version(1, 1, 1); fsfw::Version v2 = fsfw::Version(1, 1, 1); REQUIRE(v1 == v2); - REQUIRE(not (v1 < v2)); - REQUIRE(not (v1 > v2)); + REQUIRE(not(v1 < v2)); + REQUIRE(not(v1 > v2)); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); v1.revision -= 1; REQUIRE(v1 != v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 > v2)); - REQUIRE(not (v1 >= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 > v2)); + REQUIRE(not(v1 >= v2)); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); v1.revision += 1; @@ -33,60 +33,60 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") { REQUIRE(v1 != v2); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 > v2)); - REQUIRE(not (v1 >= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 > v2)); + REQUIRE(not(v1 >= v2)); v1.minor += 1; v1.major -= 1; REQUIRE(v1 != v2); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 > v2)); - REQUIRE(not (v1 >= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 > v2)); + REQUIRE(not(v1 >= v2)); v1.major += 1; REQUIRE(v1 == v2); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 != v2)); - REQUIRE(not (v1 > v2)); - REQUIRE(not (v1 < v2)); + REQUIRE(not(v1 != v2)); + REQUIRE(not(v1 > v2)); + REQUIRE(not(v1 < v2)); v1.major += 1; v1.minor -= 1; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 < v2)); - REQUIRE(not (v1 <= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 < v2)); + REQUIRE(not(v1 <= v2)); v1.major -= 1; v1.minor += 2; v1.revision -= 1; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 < v2)); - REQUIRE(not (v1 <= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 < v2)); + REQUIRE(not(v1 <= v2)); v1.minor -= 1; v1.revision += 2; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 < v2)); - REQUIRE(not (v1 <= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 < v2)); + REQUIRE(not(v1 <= v2)); v1.revision -= 1; REQUIRE(v1 == v2); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 != v2)); + REQUIRE(not(v1 != v2)); #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "v" << fsfw::FSFW_VERSION << std::endl; #endif char verString[10] = {}; fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString)); #if FSFW_DISABLE_PRINTOUT == 0 - printf("v%s\n",verString); + printf("v%s\n", verString); #endif } From a1d7a56dfa1c0cfb73a57929ee0a9ac1dcee4928 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 11 Apr 2022 17:14:43 +0200 Subject: [PATCH 05/28] small fix --- src/fsfw/container/HybridIterator.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/container/HybridIterator.h b/src/fsfw/container/HybridIterator.h index 189f8410..ad000ec2 100644 --- a/src/fsfw/container/HybridIterator.h +++ b/src/fsfw/container/HybridIterator.h @@ -10,7 +10,7 @@ class HybridIterator : public LinkedElement::Iterator, public ArrayList::Iterator *iter) - : LinkedElement::Iterator(*iter), value(iter->value), linked(true) { + : LinkedElement::Iterator(*iter), linked(true) { if (iter != nullptr) { value = iter->value; } From 900ef5b9124063b5eec88de19d851006b2e1e601 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Tue, 26 Apr 2022 09:07:03 +0200 Subject: [PATCH 06/28] option to use coutdwon object to time out replies --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 73 +++++++++++++++---- src/fsfw/devicehandlers/DeviceHandlerBase.h | 27 ++++++- src/fsfw/timemanager/Countdown.cpp | 9 ++- src/fsfw/timemanager/Countdown.h | 3 +- 4 files changed, 93 insertions(+), 19 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index b0a5d1f0..52178683 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -243,17 +243,28 @@ ReturnValue_t DeviceHandlerBase::initialize() { } void DeviceHandlerBase::decrementDeviceReplyMap() { + bool timedOut = false; for (std::pair& replyPair : deviceReplyMap) { - if (replyPair.second.delayCycles != 0) { + if (replyPair.second.countdown != nullptr && replyPair.second.active) { + if (replyPair.second.countdown->hasTimedOut()) { + timedOut = true; + } + } + if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) { replyPair.second.delayCycles--; if (replyPair.second.delayCycles == 0) { if (replyPair.second.periodic) { replyPair.second.delayCycles = replyPair.second.maxDelayCycles; } - replyToReply(replyPair.first, replyPair.second, TIMEOUT); - missedReply(replyPair.first); + timedOut = true; } } + if (timedOut) { + replyToReply(replyPair.first, replyPair.second, TIMEOUT); + missedReply(replyPair.first); + timedOut = false; + replyPair.second.active = false; + } } } @@ -416,20 +427,22 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap( DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet, - size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) { + size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId, + Countdown* countdown) { // No need to check, as we may try to insert multiple times. insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId); if (hasDifferentReplyId) { - return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic); + return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown); } else { - return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic); + return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic, + countdown); } } ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId, uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet, size_t replyLen, - bool periodic) { + bool periodic, Countdown* countdown) { DeviceReplyInfo info; info.maxDelayCycles = maxDelayCycles; info.periodic = periodic; @@ -437,6 +450,10 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId, info.replyLen = replyLen; info.dataSet = dataSet; info.command = deviceCommandMap.end(); + info.countdown = countdown; + if (info.periodic) { + info.active = true; + } auto resultPair = deviceReplyMap.emplace(replyId, info); if (resultPair.second) { return RETURN_OK; @@ -472,7 +489,8 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) { } DeviceReplyIter iter = deviceReplyMap.find(replyId); if (iter != deviceReplyMap.end()) { - if (iter->second.delayCycles != 0) { + if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) || + (iter->second.active && iter->second.countdown != nullptr)) { return iter->second.replyLen; } } @@ -816,17 +834,18 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId DeviceReplyInfo* info = &(iter->second); - if (info->delayCycles != 0) { + if ((info->delayCycles != 0 && info->countdown == nullptr) || + (info->active && info->countdown != nullptr)) { result = interpretDeviceReply(foundId, receivedData); if (result == IGNORE_REPLY_DATA) { return; } - if (info->periodic) { - info->delayCycles = info->maxDelayCycles; - } else { - info->delayCycles = 0; + if (info->active && info->countdown != nullptr) { + disableTimeoutControlledReply(info); + } else if (info->delayCycles != 0) { + disableDelayCyclesControlledReply(info); } if (result != RETURN_OK) { @@ -845,6 +864,24 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId } } +void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) { + if (info->periodic) { + info->countdown->resetTimer(); + } else { + info->active = false; + info->countdown->timeOut(); + } +} + +void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) { + if (info->periodic) { + info->delayCycles = info->maxDelayCycles; + } else { + info->delayCycles = 0; + info->active = false; + } +} + ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data, size_t* len) { size_t lenTmp; @@ -970,6 +1007,10 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato info->delayCycles = info->maxDelayCycles; info->command = command; command->second.expectedReplies = expectedReplies; + if (info->countdown != nullptr) { + info->countdown->resetTimer(); + } + info->active = true; return RETURN_OK; } else { return NO_REPLY_EXPECTED; @@ -1204,7 +1245,8 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) { bool DeviceHandlerBase::isAwaitingReply() { std::map::iterator iter; for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) { - if (iter->second.delayCycles != 0) { + if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) || + (iter->second.active && iter->second.countdown != nullptr)) { return true; } } @@ -1360,6 +1402,9 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand) if (iter == deviceReplyMap.end()) { return 0; } + else if (iter->second.countdown != nullptr) { + return 0; + } return iter->second.delayCycles; } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index d8c3363e..4e457c33 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -451,6 +451,9 @@ class DeviceHandlerBase : public DeviceHandlerIF, * by the device repeatedly without request) or not. Default is aperiodic (0). * Please note that periodic replies are disabled by default. You can enable them with * #updatePeriodicReply + * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible + * to provide a pointer to a Countdown object which will signal the timeout + * when expired * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ @@ -458,7 +461,8 @@ class DeviceHandlerBase : public DeviceHandlerIF, LocalPoolDataSetBase *replyDataSet = nullptr, size_t replyLen = 0, bool periodic = false, bool hasDifferentReplyId = false, - DeviceCommandId_t replyId = 0); + DeviceCommandId_t replyId = 0, + Countdown *countdown = nullptr); /** * @brief This is a helper method to insert replies in the reply map. * @param deviceCommand Identifier of the reply to add. @@ -468,12 +472,15 @@ class DeviceHandlerBase : public DeviceHandlerIF, * by the device repeatedly without request) or not. Default is aperiodic (0). * Please note that periodic replies are disabled by default. You can enable them with * #updatePeriodicReply + * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible + * to provide a pointer to a Countdown object which will signal the timeout + * when expired * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0, - bool periodic = false); + bool periodic = false, Countdown *countdown = nullptr); /** * @brief A simple command to add a command to the commandList. @@ -792,6 +799,11 @@ class DeviceHandlerBase : public DeviceHandlerIF, LocalPoolDataSetBase *dataSet = nullptr; //! The command that expects this reply. DeviceCommandMap::iterator command; + //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it + //! is also possible specify a countdown + Countdown* countdown = nullptr; + //! will be set to true when reply is enabled + bool active = false; }; using DeviceReplyMap = std::map; @@ -1253,6 +1265,17 @@ class DeviceHandlerBase : public DeviceHandlerIF, */ void doGetRead(void); + /** + * @brief Handles disabling of replies which use a timeout to detect missed replies. + */ + void disableTimeoutControlledReply(DeviceReplyInfo* info); + + /** + * @brief Handles disabling of replies which use a number of maximum delay cycles to detect + * missed replies. + */ + void disableDelayCyclesControlledReply(DeviceReplyInfo* info); + /** * Retrive data from the #IPCStore. * diff --git a/src/fsfw/timemanager/Countdown.cpp b/src/fsfw/timemanager/Countdown.cpp index a8ba78cb..327995f8 100644 --- a/src/fsfw/timemanager/Countdown.cpp +++ b/src/fsfw/timemanager/Countdown.cpp @@ -1,7 +1,12 @@ #include "fsfw/timemanager/Countdown.h" -Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) { - setTimeout(initialTimeout); +Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) { + if (startImmediately) { + setTimeout(initialTimeout); + } + else { + timeout = initialTimeout; + } } Countdown::~Countdown() {} diff --git a/src/fsfw/timemanager/Countdown.h b/src/fsfw/timemanager/Countdown.h index 44be2b1a..26534789 100644 --- a/src/fsfw/timemanager/Countdown.h +++ b/src/fsfw/timemanager/Countdown.h @@ -26,8 +26,9 @@ class Countdown { * Otherwise a call to hasTimedOut might return True. * * @param initialTimeout Countdown duration in milliseconds + * @param startImmediately Set to false if countdown should not be started immediately */ - Countdown(uint32_t initialTimeout = 0); + Countdown(uint32_t initialTimeout = 0, bool startImmediately = true); ~Countdown(); /** * Call to set a new countdown duration. From c80f06fbcb81f303ded1a08d23032429f61067c3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 09:08:17 +0200 Subject: [PATCH 07/28] hotfix for ETL lib dep --- CMakeLists.txt | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d8ca812e..fd3cee36 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -108,23 +108,23 @@ endif() message(STATUS "Finding and/or providing ETL library") # Check whether the user has already installed ETL first -find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) +# find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) # Not installed, so use FetchContent to download and provide etl -if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) - message(STATUS - "No ETL installation was found with find_package. Installing and providing " - "etl with FindPackage" - ) - include(FetchContent) +# if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) +message(STATUS + "No ETL installation was found with find_package. Installing and providing " + "etl with FindPackage" +) +include(FetchContent) - FetchContent_Declare( - ${FSFW_ETL_LIB_NAME} - GIT_REPOSITORY https://github.com/ETLCPP/etl - GIT_TAG ${FSFW_ETL_LIB_VERSION} - ) +FetchContent_Declare( + ${FSFW_ETL_LIB_NAME} + GIT_REPOSITORY https://github.com/ETLCPP/etl + GIT_TAG ${FSFW_ETL_LIB_VERSION} +) - FetchContent_MakeAvailable(etl) -endif() +FetchContent_MakeAvailable(etl) +# endif() set(FSFW_CORE_INC_PATH "inc") From 64f0166b64ef7c10f415e32d167518eeb4c89e8f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 09:16:52 +0200 Subject: [PATCH 08/28] hotfix for new ETL dependency --- CMakeLists.txt | 32 +++++++++++++++++--------------- 1 file changed, 17 insertions(+), 15 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fd3cee36..a74e58f4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -13,6 +13,7 @@ set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.2 CACHE STRING "ETL library exact version requirement" ) +set(FSFW_ETL_LINK_TARGET etl::etl) set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING "Catch2 library major version requirement" @@ -108,23 +109,24 @@ endif() message(STATUS "Finding and/or providing ETL library") # Check whether the user has already installed ETL first -# find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) +find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) # Not installed, so use FetchContent to download and provide etl -# if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) -message(STATUS - "No ETL installation was found with find_package. Installing and providing " - "etl with FindPackage" -) -include(FetchContent) +if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) + message(STATUS + "No ETL installation was found with find_package. Installing and providing " + "etl with FindPackage" + ) + include(FetchContent) -FetchContent_Declare( - ${FSFW_ETL_LIB_NAME} - GIT_REPOSITORY https://github.com/ETLCPP/etl - GIT_TAG ${FSFW_ETL_LIB_VERSION} -) + FetchContent_Declare( + ${FSFW_ETL_LIB_NAME} + GIT_REPOSITORY https://github.com/ETLCPP/etl + GIT_TAG ${FSFW_ETL_LIB_VERSION} + ) -FetchContent_MakeAvailable(etl) -# endif() + FetchContent_MakeAvailable(etl) + add_library(${FSFW_ETL_LINK_TARGET} ALIAS etl) +endif() set(FSFW_CORE_INC_PATH "inc") @@ -387,7 +389,7 @@ target_compile_options(${LIB_FSFW_NAME} PRIVATE ) target_link_libraries(${LIB_FSFW_NAME} PRIVATE - ${FSFW_ETL_LIB_NAME} + ${FSFW_ETL_LINK_TARGET} ${FSFW_ADDITIONAL_LINK_LIBS} ) From 17e609c3a599090a3aea5518c2f5d33412e90fcf Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 09:37:11 +0200 Subject: [PATCH 09/28] some more var replacements --- CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a74e58f4..9d9c1891 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -124,8 +124,8 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) GIT_TAG ${FSFW_ETL_LIB_VERSION} ) - FetchContent_MakeAvailable(etl) - add_library(${FSFW_ETL_LINK_TARGET} ALIAS etl) + FetchContent_MakeAvailable(${FSFW_ETL_LIB_NAME}) + add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME}) endif() set(FSFW_CORE_INC_PATH "inc") From b00d83cb1a20c2fd61343ba19f93173e789d69e4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 09:41:16 +0200 Subject: [PATCH 10/28] bump ETL revision --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9d9c1891..705d5cc6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,7 +10,7 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH}) set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING "ETL library major version requirement" ) -set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.2 CACHE STRING +set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING "ETL library exact version requirement" ) set(FSFW_ETL_LINK_TARGET etl::etl) From 8c34051d8bf2bb39a0cad0863e7c96e4e742b040 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 09:45:20 +0200 Subject: [PATCH 11/28] bump Catch2 revision --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9d9c1891..225ee784 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -18,7 +18,7 @@ set(FSFW_ETL_LINK_TARGET etl::etl) set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING "Catch2 library major version requirement" ) -set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview4 CACHE STRING +set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING "Catch2 library exact version requirement" ) From 50b1b48678c526f85f0509ddcebb4ed8fe47b70e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 13:36:26 +0200 Subject: [PATCH 12/28] link Catch2 issue --- CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7435a867..4c45e090 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -78,7 +78,8 @@ if(FSFW_BUILD_UNITTESTS) ) FetchContent_MakeAvailable(Catch2) - #fixes regression -preview4, to be confirmed in later releases + # fixes regression -preview4, to be confirmed in later releases + # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417 set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "") endif() From b5d890eedd51bdb225bc8344e08ff88b4c6b0dae Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 13:43:49 +0200 Subject: [PATCH 13/28] install Catch2 for docker_d2 and update Jenkinsfile --- automation/Dockerfile | 5 +++++ automation/Jenkinsfile | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/automation/Dockerfile b/automation/Dockerfile index 9df67fc8..5eda79e9 100644 --- a/automation/Dockerfile +++ b/automation/Dockerfile @@ -6,3 +6,8 @@ RUN apt-get --yes upgrade #tzdata is a dependency, won't install otherwise ARG DEBIAN_FRONTEND=noninteractive RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping + +RUN git clone https://github.com/catchorg/Catch2.git && \ + cd Catch2 && \ + cmake -Bbuild -H. -DBUILD_TESTING=OFF && \ + cmake --build build/ --target install diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile index d1459e52..6abf5636 100644 --- a/automation/Jenkinsfile +++ b/automation/Jenkinsfile @@ -3,7 +3,7 @@ pipeline { BUILDDIR = 'build-tests' } agent { - docker { image 'fsfw-ci:d1'} + docker { image 'fsfw-ci:d2'} } stages { stage('Clean') { From 70f0a72f1b60706c3db372abcd9fbdd354d5176d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 13:54:15 +0200 Subject: [PATCH 14/28] added explicit checkout of v3.0.0-preview5 --- automation/Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/automation/Dockerfile b/automation/Dockerfile index 5eda79e9..0eb98fbb 100644 --- a/automation/Dockerfile +++ b/automation/Dockerfile @@ -9,5 +9,6 @@ RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping RUN git clone https://github.com/catchorg/Catch2.git && \ cd Catch2 && \ + git checkout v3.0.0-preview5 && \ cmake -Bbuild -H. -DBUILD_TESTING=OFF && \ cmake --build build/ --target install From 6aa72892edf060798ce7665521e15f825cb94ab5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 21:53:57 +0200 Subject: [PATCH 15/28] clean usage of FetchContent_MakeAvailable --- CMakeLists.txt | 21 ++++++++++++++++----- 1 file changed, 16 insertions(+), 5 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 705d5cc6..a7fa1712 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -77,9 +77,7 @@ if(FSFW_BUILD_UNITTESTS) GIT_TAG ${FSFW_CATCH2_LIB_VERSION} ) - FetchContent_MakeAvailable(Catch2) - #fixes regression -preview4, to be confirmed in later releases - set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "") + list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2) endif() set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) @@ -124,8 +122,21 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) GIT_TAG ${FSFW_ETL_LIB_VERSION} ) - FetchContent_MakeAvailable(${FSFW_ETL_LIB_NAME}) - add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME}) + list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME}) +endif() + +# The documentation for FetchContent recommends declaring all the dependencies +# before making them available. We make all declared dependency available here +# after their declaration +if(FSFW_FETCH_CONTENT_TARGETS) + FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS}) + if(TARGET ${FSFW_ETL_LIB_NAME}) + add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME}) + endif() + if(TARGET Catch2) + # Fixes regression -preview4, to be confirmed in later releases + set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "") + endif() endif() set(FSFW_CORE_INC_PATH "inc") From 43aad11859d5ca772d4323b24626d7a94646f3fd Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Fri, 29 Apr 2022 07:43:52 +0200 Subject: [PATCH 16/28] space packet bugfix --- src/fsfw/tmtcpacket/SpacePacket.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw/tmtcpacket/SpacePacket.cpp b/src/fsfw/tmtcpacket/SpacePacket.cpp index c8ebbd97..16d968fb 100644 --- a/src/fsfw/tmtcpacket/SpacePacket.cpp +++ b/src/fsfw/tmtcpacket/SpacePacket.cpp @@ -19,8 +19,8 @@ SpacePacket::SpacePacket(uint16_t packetDataLength, bool isTelecommand, uint16_t SpacePacket::~SpacePacket(void) {} bool SpacePacket::addWholeData(const uint8_t* p_Data, uint32_t packet_size) { - if (packet_size <= sizeof(this->data)) { - memcpy(&this->localData.byteStream, p_Data, packet_size); + if (packet_size <= sizeof(this->localData)) { + memcpy(this->localData.byteStream, p_Data, packet_size); return true; } else { return false; From 9731dc1e619e6e52207174e67daf0468a675a5ec Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Fri, 29 Apr 2022 07:47:23 +0200 Subject: [PATCH 17/28] space packet bug fix --- src/fsfw/tmtcpacket/SpacePacket.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw/tmtcpacket/SpacePacket.cpp b/src/fsfw/tmtcpacket/SpacePacket.cpp index c8ebbd97..16d968fb 100644 --- a/src/fsfw/tmtcpacket/SpacePacket.cpp +++ b/src/fsfw/tmtcpacket/SpacePacket.cpp @@ -19,8 +19,8 @@ SpacePacket::SpacePacket(uint16_t packetDataLength, bool isTelecommand, uint16_t SpacePacket::~SpacePacket(void) {} bool SpacePacket::addWholeData(const uint8_t* p_Data, uint32_t packet_size) { - if (packet_size <= sizeof(this->data)) { - memcpy(&this->localData.byteStream, p_Data, packet_size); + if (packet_size <= sizeof(this->localData)) { + memcpy(this->localData.byteStream, p_Data, packet_size); return true; } else { return false; From afcbc8be0a24f6ede4a8c665cc222e938d769e6e Mon Sep 17 00:00:00 2001 From: Robin Date: Sat, 30 Apr 2022 18:40:22 +0200 Subject: [PATCH 18/28] changes for MacOS --- CMakeLists.txt | 1 + hal/src/fsfw_hal/linux/CMakeLists.txt | 9 +++++++-- hal/src/fsfw_hal/linux/spi/SpiCookie.cpp | 2 +- src/fsfw/datapool/PoolDataSetBase.h | 2 +- src/fsfw/globalfunctions/matching/MatchTree.h | 2 +- src/fsfw/globalfunctions/matching/RangeMatcher.h | 2 +- src/fsfw/objectmanager/SystemObject.h | 4 ++-- src/fsfw/subsystem/Subsystem.h | 2 +- src/fsfw/subsystem/SubsystemBase.h | 2 +- src/fsfw/tmtcservices/CommandingServiceBase.h | 2 +- 10 files changed, 17 insertions(+), 11 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d8ca812e..8619f17b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -332,6 +332,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") -Warray-bounds=2 # Some array bounds violations will be found -Wshift-overflow=2 # Search for bit left shift overflows (, public BinaryTree>(root.element), maxDepth(maxDepth) {} MatchTree() : BinaryTree>(), maxDepth(-1) {} virtual ~MatchTree() {} - virtual bool match(T number) { return matchesTree(number); } + virtual bool match(T number) override { return matchesTree(number); } bool matchesTree(T number) { iterator iter = this->begin(); if (iter == this->end()) { diff --git a/src/fsfw/globalfunctions/matching/RangeMatcher.h b/src/fsfw/globalfunctions/matching/RangeMatcher.h index 4e1f3922..c5962ab3 100644 --- a/src/fsfw/globalfunctions/matching/RangeMatcher.h +++ b/src/fsfw/globalfunctions/matching/RangeMatcher.h @@ -15,7 +15,7 @@ class RangeMatcher : public SerializeableMatcherIF { RangeMatcher(T lowerBound, T upperBound, bool inverted = false) : inverted(inverted), lowerBound(lowerBound), upperBound(upperBound) {} - bool match(T input) { + bool match(T input) override { if (inverted) { return !doMatch(input); } else { diff --git a/src/fsfw/objectmanager/SystemObject.h b/src/fsfw/objectmanager/SystemObject.h index 6d5b8303..eeb68b8f 100644 --- a/src/fsfw/objectmanager/SystemObject.h +++ b/src/fsfw/objectmanager/SystemObject.h @@ -48,9 +48,9 @@ class SystemObject : public SystemObjectIF { virtual ~SystemObject(); object_id_t getObjectId() const override; virtual ReturnValue_t initialize() override; - virtual ReturnValue_t checkObjectConnections(); + virtual ReturnValue_t checkObjectConnections() override; - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const; + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override; }; #endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */ diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index 2c78c8cd..0aa99148 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -138,7 +138,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode); - virtual void startTransition(Mode_t mode, Submode_t submode); + virtual void startTransition(Mode_t mode, Submode_t submode) override; void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count); diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h index 8cfd5be0..d51be540 100644 --- a/src/fsfw/subsystem/SubsystemBase.h +++ b/src/fsfw/subsystem/SubsystemBase.h @@ -123,7 +123,7 @@ class SubsystemBase : public SystemObject, virtual void performChildOperation() = 0; virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode) = 0; + uint32_t *msToReachTheMode) override = 0; virtual void startTransition(Mode_t mode, Submode_t submode) = 0; diff --git a/src/fsfw/tmtcservices/CommandingServiceBase.h b/src/fsfw/tmtcservices/CommandingServiceBase.h index 0ae19505..ecc936b7 100644 --- a/src/fsfw/tmtcservices/CommandingServiceBase.h +++ b/src/fsfw/tmtcservices/CommandingServiceBase.h @@ -104,7 +104,7 @@ class CommandingServiceBase : public SystemObject, * * @return requestQueue messageQueueId_t */ - virtual MessageQueueId_t getRequestQueue(); + virtual MessageQueueId_t getRequestQueue() override; /** * Returns the commandQueue MessageQueueId_t From 7d61e67d20feb67b26564bda59efaff291a99950 Mon Sep 17 00:00:00 2001 From: Robin Date: Sat, 30 Apr 2022 19:02:41 +0200 Subject: [PATCH 19/28] more macos changes --- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 2 ++ src/fsfw/cfdp/pdu/HeaderSerializer.h | 2 +- src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp | 11 ++++++----- src/fsfw/datapoollocal/LocalPoolObjectBase.h | 4 ++-- src/fsfw/monitoring/MonitoringMessageContent.h | 3 +-- src/fsfw/pus/Service3Housekeeping.h | 2 +- src/fsfw/subsystem/Subsystem.h | 4 ++-- src/fsfw/subsystem/SubsystemBase.h | 4 ++-- src/fsfw/tmtcservices/CommandingServiceBase.h | 2 +- 9 files changed, 18 insertions(+), 16 deletions(-) diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index 5aa72138..72c79df6 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -265,6 +265,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki cfsetispeed(options, B230400); cfsetospeed(options, B230400); break; +#ifndef __APPLE__ case UartBaudRate::RATE_460800: cfsetispeed(options, B460800); cfsetospeed(options, B460800); @@ -313,6 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki cfsetispeed(options, B4000000); cfsetospeed(options, B4000000); break; +#endif // ! __APPLE__ default: #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; diff --git a/src/fsfw/cfdp/pdu/HeaderSerializer.h b/src/fsfw/cfdp/pdu/HeaderSerializer.h index 8f2fc3fd..1de97d63 100644 --- a/src/fsfw/cfdp/pdu/HeaderSerializer.h +++ b/src/fsfw/cfdp/pdu/HeaderSerializer.h @@ -44,7 +44,7 @@ class HeaderSerializer : public SerializeIF, public PduHeaderIF { cfdp::WidthInBytes getLenEntityIds() const override; cfdp::WidthInBytes getLenSeqNum() const override; cfdp::SegmentMetadataFlag getSegmentMetadataFlag() const override; - bool hasSegmentMetadataFlag() const; + bool hasSegmentMetadataFlag() const override; void setSegmentationControl(cfdp::SegmentationControl); void getSourceId(cfdp::EntityId& sourceId) const override; diff --git a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp index 4a076212..09f35057 100644 --- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp +++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp @@ -94,13 +94,14 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer( ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; const uint8_t validityMaskSize = std::ceil(static_cast(fillCount) / 8.0); uint8_t *validityPtr = nullptr; -#ifdef _MSC_VER - /* Use a std::vector here because MSVC will (rightly) not create a fixed size array - with a non constant size specifier */ - std::vector validityMask(validityMaskSize); +#if defined(_MSC_VER) || defined(__APPLE__) + // Use a std::vector here because MSVC will (rightly) not create a fixed size array + // with a non constant size specifier. The Apple compiler (LLVM) will not accept + // the initialization of a variable sized array + std::vector validityMask(validityMaskSize) = {}; validityPtr = validityMask.data(); #else - uint8_t validityMask[validityMaskSize] = {0}; + uint8_t validityMask[validityMaskSize] = {}; validityPtr = validityMask; #endif uint8_t validBufferIndex = 0; diff --git a/src/fsfw/datapoollocal/LocalPoolObjectBase.h b/src/fsfw/datapoollocal/LocalPoolObjectBase.h index 56e190df..b2ffa4c1 100644 --- a/src/fsfw/datapoollocal/LocalPoolObjectBase.h +++ b/src/fsfw/datapoollocal/LocalPoolObjectBase.h @@ -23,8 +23,8 @@ class LocalPoolObjectBase : public PoolVariableIF, public HasReturnvaluesIF, pub LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr, pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE); - void setReadWriteMode(pool_rwm_t newReadWriteMode); - pool_rwm_t getReadWriteMode() const; + void setReadWriteMode(pool_rwm_t newReadWriteMode) override; + pool_rwm_t getReadWriteMode() const override; bool isValid() const override; void setValid(bool valid) override; diff --git a/src/fsfw/monitoring/MonitoringMessageContent.h b/src/fsfw/monitoring/MonitoringMessageContent.h index 0ac455eb..fb3ace3d 100644 --- a/src/fsfw/monitoring/MonitoringMessageContent.h +++ b/src/fsfw/monitoring/MonitoringMessageContent.h @@ -34,7 +34,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter { SerializeElement limitValue; SerializeElement oldState; SerializeElement newState; - uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE]; + uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {}; SerializeElement> timestampSerializer; TimeStamperIF* timeStamper; MonitoringReportContent() @@ -46,7 +46,6 @@ class MonitoringReportContent : public SerialLinkedListAdapter { limitValue(0), oldState(0), newState(0), - rawTimestamp({0}), timestampSerializer(rawTimestamp, sizeof(rawTimestamp)), timeStamper(NULL) { setAllNext(); diff --git a/src/fsfw/pus/Service3Housekeeping.h b/src/fsfw/pus/Service3Housekeeping.h index c1928891..70f15762 100644 --- a/src/fsfw/pus/Service3Housekeeping.h +++ b/src/fsfw/pus/Service3Housekeeping.h @@ -43,7 +43,7 @@ class Service3Housekeeping : public CommandingServiceBase, public AcceptsHkPacke CommandMessage* optionalNextCommand, object_id_t objectId, bool* isStep) override; - virtual MessageQueueId_t getHkQueue() const; + virtual MessageQueueId_t getHkQueue() const override; private: enum class Subservice { diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index 0aa99148..06181ca7 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -127,7 +127,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { ReturnValue_t deleteTable(Mode_t id); - virtual void performChildOperation(); + virtual void performChildOperation() override; virtual ReturnValue_t handleCommandMessage(CommandMessage *message); @@ -136,7 +136,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { bool isTableUsed(Mode_t tableId); virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode); + uint32_t *msToReachTheMode) override; virtual void startTransition(Mode_t mode, Submode_t submode) override; diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h index d51be540..a908e13a 100644 --- a/src/fsfw/subsystem/SubsystemBase.h +++ b/src/fsfw/subsystem/SubsystemBase.h @@ -127,9 +127,9 @@ class SubsystemBase : public SystemObject, virtual void startTransition(Mode_t mode, Submode_t submode) = 0; - virtual void getMode(Mode_t *mode, Submode_t *submode); + virtual void getMode(Mode_t *mode, Submode_t *submode) override; - virtual void setToExternalControl(); + virtual void setToExternalControl() override; virtual void announceMode(bool recursive); diff --git a/src/fsfw/tmtcservices/CommandingServiceBase.h b/src/fsfw/tmtcservices/CommandingServiceBase.h index ecc936b7..867fc287 100644 --- a/src/fsfw/tmtcservices/CommandingServiceBase.h +++ b/src/fsfw/tmtcservices/CommandingServiceBase.h @@ -95,7 +95,7 @@ class CommandingServiceBase : public SystemObject, */ virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual uint16_t getIdentifier(); + virtual uint16_t getIdentifier() override; /** * Returns the requestQueue MessageQueueId_t From 28015c47356524472822052243ca827f2f2ef02b Mon Sep 17 00:00:00 2001 From: Robin Date: Sun, 1 May 2022 17:48:49 +0200 Subject: [PATCH 20/28] it compiles and runs --- src/fsfw/container/FixedArrayList.h | 2 +- src/fsfw/controller/ControllerBase.h | 8 ++-- .../datapoollocal/LocalPoolDataSetBase.cpp | 4 +- src/fsfw/devicehandlers/DeviceHandlerBase.h | 8 ++-- src/fsfw/osal/common/UdpTcPollingTask.cpp | 19 ++++---- src/fsfw/osal/common/UdpTcPollingTask.h | 12 ++--- src/fsfw/osal/common/UdpTmTcBridge.cpp | 16 +++---- src/fsfw/osal/common/UdpTmTcBridge.h | 8 ++-- src/fsfw/osal/host/CMakeLists.txt | 43 +++++++++-------- src/fsfw/osal/linux/CMakeLists.txt | 48 +++++++++---------- src/fsfw/power/Fuse.h | 2 +- src/fsfw/subsystem/Subsystem.h | 2 +- src/fsfw/subsystem/SubsystemBase.h | 4 +- 13 files changed, 89 insertions(+), 87 deletions(-) diff --git a/src/fsfw/container/FixedArrayList.h b/src/fsfw/container/FixedArrayList.h index c09a421e..26a73921 100644 --- a/src/fsfw/container/FixedArrayList.h +++ b/src/fsfw/container/FixedArrayList.h @@ -9,7 +9,7 @@ */ template class FixedArrayList : public ArrayList { -#if !defined(_MSC_VER) +#if !defined(_MSC_VER) && !defined(__clang__) static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1), "count_t is not large enough to hold MAX_SIZE"); #endif diff --git a/src/fsfw/controller/ControllerBase.h b/src/fsfw/controller/ControllerBase.h index 7032f817..227b859b 100644 --- a/src/fsfw/controller/ControllerBase.h +++ b/src/fsfw/controller/ControllerBase.h @@ -55,7 +55,7 @@ class ControllerBase : public HasModesIF, virtual void performControlOperation() = 0; virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode) = 0; + uint32_t *msToReachTheMode) override = 0; const object_id_t parentId; @@ -80,9 +80,9 @@ class ControllerBase : public HasModesIF, /** 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 startTransition(Mode_t mode, Submode_t submode) override; + virtual void getMode(Mode_t *mode, Submode_t *submode) override; + virtual void setToExternalControl() override; virtual void announceMode(bool recursive); /** HK helpers */ virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); diff --git a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp index 09f35057..62fdb184 100644 --- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp +++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp @@ -94,11 +94,11 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer( ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; const uint8_t validityMaskSize = std::ceil(static_cast(fillCount) / 8.0); uint8_t *validityPtr = nullptr; -#if defined(_MSC_VER) || defined(__APPLE__) +#if defined(_MSC_VER) || defined(__clang__) // Use a std::vector here because MSVC will (rightly) not create a fixed size array // with a non constant size specifier. The Apple compiler (LLVM) will not accept // the initialization of a variable sized array - std::vector validityMask(validityMaskSize) = {}; + std::vector validityMask(validityMaskSize, 0); validityPtr = validityMask.data(); #else uint8_t validityMask[validityMaskSize] = {}; diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 5e974831..5808b8e6 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -163,7 +163,7 @@ class DeviceHandlerBase : public DeviceHandlerIF, * @param counter Specifies which Action to perform * @return RETURN_OK for successful execution */ - virtual ReturnValue_t performOperation(uint8_t counter); + virtual ReturnValue_t performOperation(uint8_t counter) override; /** * @brief Initializes the device handler @@ -173,7 +173,7 @@ class DeviceHandlerBase : public DeviceHandlerIF, * Calls fillCommandAndReplyMap(). * @return */ - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; /** * @brief Intialization steps performed after all tasks have been created. @@ -1058,11 +1058,11 @@ class DeviceHandlerBase : public DeviceHandlerIF, * @param parameter1 Optional parameter 1 * @param parameter2 Optional parameter 2 */ - void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0); + void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override; /** * Same as triggerEvent, but for forwarding if object is used as proxy. */ - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const; + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override; /** * Checks if current mode is transitional mode. diff --git a/src/fsfw/osal/common/UdpTcPollingTask.cpp b/src/fsfw/osal/common/UdpTcPollingTask.cpp index ab982a3c..38fb1921 100644 --- a/src/fsfw/osal/common/UdpTcPollingTask.cpp +++ b/src/fsfw/osal/common/UdpTcPollingTask.cpp @@ -16,11 +16,13 @@ //! Debugging preprocessor define. #define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0 +const timeval UdpTcPollingTask::DEFAULT_TIMEOUT = {0, 500000}; + UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize, double timeoutSeconds) : SystemObject(objectId), tmtcBridgeId(tmtcUdpBridge) { - if (frameSize > 0) { - this->frameSize = frameSize; + if (maxRecvSize > 0) { + this->frameSize = maxRecvSize; } else { this->frameSize = DEFAULT_MAX_RECV_SIZE; } @@ -31,22 +33,20 @@ UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBrid receptionBuffer.resize(this->frameSize); if (timeoutSeconds == -1) { - receptionTimeout = DEFAULT_TIMEOUT; + receptionTimeout = UdpTcPollingTask::DEFAULT_TIMEOUT; } else { receptionTimeout = timevalOperations::toTimeval(timeoutSeconds); } } -UdpTcPollingTask::~UdpTcPollingTask() {} - -ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { +[[noreturn]] ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { /* Sender Address is cached here. */ - struct sockaddr senderAddress; + struct sockaddr senderAddress {}; socklen_t senderAddressSize = sizeof(senderAddress); /* Poll for new UDP datagrams in permanent loop. */ while (true) { - int bytesReceived = + ssize_t bytesReceived = recvfrom(this->serverSocket, reinterpret_cast(receptionBuffer.data()), frameSize, receptionFlags, &senderAddress, &senderAddressSize); if (bytesReceived == SOCKET_ERROR) { @@ -70,7 +70,6 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { } tmtcBridge->checkAndSetClientAddress(senderAddress); } - return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) { @@ -155,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) { #endif } #elif defined(PLATFORM_UNIX) - timeval tval; + timeval tval {}; tval = timevalOperations::toTimeval(timeoutSeconds); int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout)); if (result == -1) { diff --git a/src/fsfw/osal/common/UdpTcPollingTask.h b/src/fsfw/osal/common/UdpTcPollingTask.h index afcd32a1..894716d7 100644 --- a/src/fsfw/osal/common/UdpTcPollingTask.h +++ b/src/fsfw/osal/common/UdpTcPollingTask.h @@ -21,11 +21,11 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl public: static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500; //! 0.5 default milliseconds timeout for now. - static constexpr timeval DEFAULT_TIMEOUT = {0, 500}; + static const timeval DEFAULT_TIMEOUT; UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUdpBridge, size_t maxRecvSize = 0, double timeoutSeconds = -1); - virtual ~UdpTcPollingTask(); + ~UdpTcPollingTask() override = default; /** * Turn on optional timeout for UDP polling. In the default mode, @@ -34,9 +34,9 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl */ void setTimeout(double timeoutSeconds); - virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual ReturnValue_t initialize() override; - virtual ReturnValue_t initializeAfterTaskCreation() override; + [[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override; + ReturnValue_t initialize() override; + ReturnValue_t initializeAfterTaskCreation() override; protected: StorageManagerIF* tcStore = nullptr; @@ -51,7 +51,7 @@ class UdpTcPollingTask : public TcpIpBase, public SystemObject, public Executabl std::vector receptionBuffer; size_t frameSize = 0; - timeval receptionTimeout; + timeval receptionTimeout{}; ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); }; diff --git a/src/fsfw/osal/common/UdpTmTcBridge.cpp b/src/fsfw/osal/common/UdpTmTcBridge.cpp index 0efe1c74..6089f266 100644 --- a/src/fsfw/osal/common/UdpTmTcBridge.cpp +++ b/src/fsfw/osal/common/UdpTmTcBridge.cpp @@ -20,13 +20,13 @@ const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, - std::string udpServerPort, object_id_t tmStoreId, + const std::string& udpServerPort_, object_id_t tmStoreId, object_id_t tcStoreId) : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { - if (udpServerPort == "") { - this->udpServerPort = DEFAULT_SERVER_PORT; + if (udpServerPort_.empty()) { + udpServerPort = DEFAULT_SERVER_PORT; } else { - this->udpServerPort = udpServerPort; + udpServerPort = udpServerPort_; } mutex = MutexFactory::instance()->createMutex(); @@ -117,7 +117,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) { tcpip::printAddress(&clientAddress); #endif - int bytesSent = sendto(serverSocket, reinterpret_cast(data), dataLen, flags, + ssize_t bytesSent = sendto(serverSocket, reinterpret_cast(data), dataLen, flags, &clientAddress, clientAddressLen); if (bytesSent == SOCKET_ERROR) { #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -150,7 +150,7 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr &newAddress) { clientAddressLen = sizeof(clientAddress); } -void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs) { - this->timeoutType = timeoutType; - this->mutexTimeoutMs = timeoutMs; +void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType_, dur_millis_t timeoutMs) { + timeoutType = timeoutType_; + mutexTimeoutMs = timeoutMs; } diff --git a/src/fsfw/osal/common/UdpTmTcBridge.h b/src/fsfw/osal/common/UdpTmTcBridge.h index 78843ccd..b0a67430 100644 --- a/src/fsfw/osal/common/UdpTmTcBridge.h +++ b/src/fsfw/osal/common/UdpTmTcBridge.h @@ -29,10 +29,10 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase { /* The ports chosen here should not be used by any other process. */ static const std::string DEFAULT_SERVER_PORT; - UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, std::string udpServerPort = "", + UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE, object_id_t tcStoreId = objects::TC_STORE); - virtual ~UdpTmTcBridge(); + ~UdpTmTcBridge() override; /** * Set properties of internal mutex. @@ -46,12 +46,12 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase { std::string getUdpPort() const; protected: - virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override; + ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override; private: std::string udpServerPort; - struct sockaddr clientAddress; + struct sockaddr clientAddress = {}; socklen_t clientAddressLen = 0; //! Access to the client address is mutex protected as it is set by another task. diff --git a/src/fsfw/osal/host/CMakeLists.txt b/src/fsfw/osal/host/CMakeLists.txt index 2d29ce5d..8b11a531 100644 --- a/src/fsfw/osal/host/CMakeLists.txt +++ b/src/fsfw/osal/host/CMakeLists.txt @@ -1,24 +1,27 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - Clock.cpp - FixedTimeslotTask.cpp - MessageQueue.cpp - Mutex.cpp - MutexFactory.cpp - PeriodicTask.cpp - QueueFactory.cpp - QueueMapManager.cpp - SemaphoreFactory.cpp - TaskFactory.cpp - taskHelpers.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + Clock.cpp + FixedTimeslotTask.cpp + MessageQueue.cpp + Mutex.cpp + MutexFactory.cpp + PeriodicTask.cpp + QueueFactory.cpp + QueueMapManager.cpp + SemaphoreFactory.cpp + TaskFactory.cpp + taskHelpers.cpp ) if(UNIX) - find_package(Threads REQUIRED) - - target_link_libraries(${LIB_FSFW_NAME} - PRIVATE - rt - ${CMAKE_THREAD_LIBS_INIT} - ) + find_package(Threads REQUIRED) + + target_link_libraries(${LIB_FSFW_NAME} PRIVATE + ${CMAKE_THREAD_LIBS_INIT} + ) + if(NOT APPLE) + target_link_libraries(${LIB_FSFW_NAME} PRIVATE + rt + ) + endif() + endif() \ No newline at end of file diff --git a/src/fsfw/osal/linux/CMakeLists.txt b/src/fsfw/osal/linux/CMakeLists.txt index 679b2931..2e88d6d0 100644 --- a/src/fsfw/osal/linux/CMakeLists.txt +++ b/src/fsfw/osal/linux/CMakeLists.txt @@ -1,29 +1,29 @@ target_sources(${LIB_FSFW_NAME} PRIVATE - Clock.cpp - BinarySemaphore.cpp - CountingSemaphore.cpp - FixedTimeslotTask.cpp - InternalErrorCodes.cpp - MessageQueue.cpp - Mutex.cpp - MutexFactory.cpp - PeriodicPosixTask.cpp - PosixThread.cpp - QueueFactory.cpp - SemaphoreFactory.cpp - TaskFactory.cpp - tcpipHelpers.cpp - unixUtility.cpp -) + Clock.cpp + BinarySemaphore.cpp + CountingSemaphore.cpp + FixedTimeslotTask.cpp + InternalErrorCodes.cpp + MessageQueue.cpp + Mutex.cpp + MutexFactory.cpp + PeriodicPosixTask.cpp + PosixThread.cpp + QueueFactory.cpp + SemaphoreFactory.cpp + TaskFactory.cpp + tcpipHelpers.cpp + unixUtility.cpp + ) find_package(Threads REQUIRED) -target_link_libraries(${LIB_FSFW_NAME} PRIVATE - ${CMAKE_THREAD_LIBS_INIT} +target_link_libraries(${LIB_FSFW_NAME} PUBLIC + ${CMAKE_THREAD_LIBS_INIT} + ) + +if(NOT APPLE) + target_link_libraries(${LIB_FSFW_NAME} PUBLIC rt -) - -target_link_libraries(${LIB_FSFW_NAME} INTERFACE - ${CMAKE_THREAD_LIBS_INIT} -) - + ) +endif() diff --git a/src/fsfw/power/Fuse.h b/src/fsfw/power/Fuse.h index e6f9c149..787fa38d 100644 --- a/src/fsfw/power/Fuse.h +++ b/src/fsfw/power/Fuse.h @@ -54,7 +54,7 @@ class Fuse : public SystemObject, ReturnValue_t check(); uint8_t getFuseId() const; - ReturnValue_t initialize(); + ReturnValue_t initialize() override; DeviceList devices; ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) const override; diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index 06181ca7..f4f09d1c 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -129,7 +129,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { virtual void performChildOperation() override; - virtual ReturnValue_t handleCommandMessage(CommandMessage *message); + virtual ReturnValue_t handleCommandMessage(CommandMessage *message) override; bool isFallbackSequence(Mode_t SequenceId); diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h index a908e13a..52f9891e 100644 --- a/src/fsfw/subsystem/SubsystemBase.h +++ b/src/fsfw/subsystem/SubsystemBase.h @@ -125,13 +125,13 @@ class SubsystemBase : public SystemObject, virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode) override = 0; - virtual void startTransition(Mode_t mode, Submode_t submode) = 0; + virtual void startTransition(Mode_t mode, Submode_t submode) override = 0; virtual void getMode(Mode_t *mode, Submode_t *submode) override; virtual void setToExternalControl() override; - virtual void announceMode(bool recursive); + virtual void announceMode(bool recursive) override; virtual void modeChanged(); }; From 77450eb4b7b2629f0b88fdab66ae99bfc546daa4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 2 May 2022 09:09:41 +0200 Subject: [PATCH 21/28] removed flag which does not exist --- CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8619f17b..d8ca812e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -332,7 +332,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") -Warray-bounds=2 # Some array bounds violations will be found -Wshift-overflow=2 # Search for bit left shift overflows ( Date: Tue, 3 May 2022 16:43:15 +0200 Subject: [PATCH 22/28] improved i2c error printout --- hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp | 22 +++++++++++---------- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 2 +- src/fsfw/devicehandlers/DeviceHandlerBase.h | 3 ++- src/fsfw/objectmanager/SystemObject.h | 3 ++- src/fsfw/osal/common/UdpTcPollingTask.cpp | 2 +- src/fsfw/osal/common/UdpTmTcBridge.cpp | 4 ++-- src/fsfw/osal/common/UdpTmTcBridge.h | 4 ++-- 7 files changed, 22 insertions(+), 18 deletions(-) diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 4f53dc1f..1740b022 100644 --- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -170,18 +170,20 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe int readLen = read(fd, replyBuffer, requestLen); if (readLen != static_cast(requestLen)) { -#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C " - << "device failed with error code " << errno << ". Description" - << " of error: " << strerror(errno) << std::endl; - sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen - << " bytes" << std::endl; +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + if (readLen < 0) { + sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C " + << "device failed with error code " << errno << " | " << strerror(errno) + << std::endl; + } else { + sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " + << requestLen << " bytes" << std::endl; + } +#else +#endif #endif i2cDeviceMapIter->second.replyLen = 0; -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen - << " bytes" << std::endl; -#endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index 72c79df6..f77bdeae 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -314,7 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki cfsetispeed(options, B4000000); cfsetospeed(options, B4000000); break; -#endif // ! __APPLE__ +#endif // ! __APPLE__ default: #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 4a08e60f..e833e129 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -1072,7 +1072,8 @@ class DeviceHandlerBase : public DeviceHandlerIF, /** * Same as triggerEvent, but for forwarding if object is used as proxy. */ - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override; + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, + uint32_t parameter2 = 0) const override; /** * Checks if current mode is transitional mode. diff --git a/src/fsfw/objectmanager/SystemObject.h b/src/fsfw/objectmanager/SystemObject.h index eeb68b8f..c541ac5e 100644 --- a/src/fsfw/objectmanager/SystemObject.h +++ b/src/fsfw/objectmanager/SystemObject.h @@ -50,7 +50,8 @@ class SystemObject : public SystemObjectIF { virtual ReturnValue_t initialize() override; virtual ReturnValue_t checkObjectConnections() override; - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override; + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, + uint32_t parameter2 = 0) const override; }; #endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */ diff --git a/src/fsfw/osal/common/UdpTcPollingTask.cpp b/src/fsfw/osal/common/UdpTcPollingTask.cpp index 38fb1921..bcc8e9e3 100644 --- a/src/fsfw/osal/common/UdpTcPollingTask.cpp +++ b/src/fsfw/osal/common/UdpTcPollingTask.cpp @@ -154,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) { #endif } #elif defined(PLATFORM_UNIX) - timeval tval {}; + timeval tval{}; tval = timevalOperations::toTimeval(timeoutSeconds); int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout)); if (result == -1) { diff --git a/src/fsfw/osal/common/UdpTmTcBridge.cpp b/src/fsfw/osal/common/UdpTmTcBridge.cpp index 6089f266..e3cad58f 100644 --- a/src/fsfw/osal/common/UdpTmTcBridge.cpp +++ b/src/fsfw/osal/common/UdpTmTcBridge.cpp @@ -20,7 +20,7 @@ const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, - const std::string& udpServerPort_, object_id_t tmStoreId, + const std::string &udpServerPort_, object_id_t tmStoreId, object_id_t tcStoreId) : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { if (udpServerPort_.empty()) { @@ -118,7 +118,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) { #endif ssize_t bytesSent = sendto(serverSocket, reinterpret_cast(data), dataLen, flags, - &clientAddress, clientAddressLen); + &clientAddress, clientAddressLen); if (bytesSent == SOCKET_ERROR) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl; diff --git a/src/fsfw/osal/common/UdpTmTcBridge.h b/src/fsfw/osal/common/UdpTmTcBridge.h index b0a67430..92829c46 100644 --- a/src/fsfw/osal/common/UdpTmTcBridge.h +++ b/src/fsfw/osal/common/UdpTmTcBridge.h @@ -29,8 +29,8 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase { /* The ports chosen here should not be used by any other process. */ static const std::string DEFAULT_SERVER_PORT; - UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, const std::string& udpServerPort = "", - object_id_t tmStoreId = objects::TM_STORE, + UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, + const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE, object_id_t tcStoreId = objects::TC_STORE); ~UdpTmTcBridge() override; From a9041b84a3adc360106c1b4530d4df9d5dc9c080 Mon Sep 17 00:00:00 2001 From: Cleanroom Laptop L15 Date: Wed, 4 May 2022 10:27:20 +0200 Subject: [PATCH 23/28] update read gpio API --- hal/src/fsfw_hal/common/gpio/GpioIF.h | 2 +- hal/src/fsfw_hal/common/gpio/gpioDefinitions.h | 2 +- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 4 ++-- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/hal/src/fsfw_hal/common/gpio/GpioIF.h b/hal/src/fsfw_hal/common/gpio/GpioIF.h index 5cca1481..2c284094 100644 --- a/hal/src/fsfw_hal/common/gpio/GpioIF.h +++ b/hal/src/fsfw_hal/common/gpio/GpioIF.h @@ -48,7 +48,7 @@ class GpioIF : public HasReturnvaluesIF { * @param gpioId A unique number which specifies the GPIO to read. * @param gpioState State of GPIO will be written to this pointer. */ - virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0; + virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0; }; #endif /* COMMON_GPIO_GPIOIF_H_ */ diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index eb90629e..a15ffbc0 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -9,7 +9,7 @@ using gpioId_t = uint16_t; namespace gpio { -enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 }; +enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 }; enum class Direction : int { IN = 0, OUT = 1 }; diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index f46ad386..e9da5b03 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -280,7 +280,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul return RETURN_OK; } -ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { +ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) { gpioMapIter = gpioMap.find(gpioId); if (gpioMapIter == gpioMap.end()) { #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -299,7 +299,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { if (regularGpio == nullptr) { return GPIO_TYPE_FAILURE; } - *gpioState = gpiod_line_get_value(regularGpio->lineHandle); + gpioState = static_cast(gpiod_line_get_value(regularGpio->lineHandle)); } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); if (gpioCallback->callback == nullptr) { diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h index fcc9c775..4ac2e7d9 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h @@ -38,7 +38,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject { ReturnValue_t addGpios(GpioCookie* gpioCookie) override; ReturnValue_t pullHigh(gpioId_t gpioId) override; ReturnValue_t pullLow(gpioId_t gpioId) override; - ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; + ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override; private: static const size_t MAX_CHIPNAME_LENGTH = 11; From 3556eca8e875aaa4aab1c96e60f0b1eaefc7e982 Mon Sep 17 00:00:00 2001 From: Cleanroom Laptop L15 Date: Wed, 4 May 2022 10:33:55 +0200 Subject: [PATCH 24/28] error check on line getter --- hal/src/fsfw_hal/common/gpio/GpioIF.h | 2 +- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/common/gpio/GpioIF.h b/hal/src/fsfw_hal/common/gpio/GpioIF.h index 2c284094..f8ef9d9c 100644 --- a/hal/src/fsfw_hal/common/gpio/GpioIF.h +++ b/hal/src/fsfw_hal/common/gpio/GpioIF.h @@ -46,7 +46,7 @@ class GpioIF : public HasReturnvaluesIF { * an ouput or input gpio. * * @param gpioId A unique number which specifies the GPIO to read. - * @param gpioState State of GPIO will be written to this pointer. + * @param gpioState State of GPIO will be written to this reference */ virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0; }; diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index e9da5b03..03bc1830 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -300,6 +300,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) return GPIO_TYPE_FAILURE; } gpioState = static_cast(gpiod_line_get_value(regularGpio->lineHandle)); + if (gpioState == gpio::Levels::FAILED) { + // TODO: Print error + return RETURN_FAILED; + } } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); if (gpioCallback->callback == nullptr) { From 8ee26f81f9449e28566a8d34fbb3454cfd1da01c Mon Sep 17 00:00:00 2001 From: Cleanroom Laptop L15 Date: Wed, 4 May 2022 10:36:32 +0200 Subject: [PATCH 25/28] dedicated returnvalue for line get failure --- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 3 +-- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h | 4 +++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 03bc1830..136dfe11 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -301,8 +301,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) } gpioState = static_cast(gpiod_line_get_value(regularGpio->lineHandle)); if (gpioState == gpio::Levels::FAILED) { - // TODO: Print error - return RETURN_FAILED; + return GPIO_GET_VALUE_FAILED; } } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h index 4ac2e7d9..a50e480d 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h @@ -31,7 +31,9 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject { HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5); static constexpr ReturnValue_t GPIO_INIT_FAILED = HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6); - + // Will be returned if getting the line value failed. Error type will be set to errno in this case + static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED = + HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7); LinuxLibgpioIF(object_id_t objectId); virtual ~LinuxLibgpioIF(); From f59b05c86cd54390d2a259eda770ee7935587112 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 5 May 2022 02:00:41 +0200 Subject: [PATCH 26/28] use warning instead of error --- src/fsfw/osal/freertos/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/rtems/FixedTimeslotTask.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp index e0e3779e..0f3bfe18 100644 --- a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp @@ -46,7 +46,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." << std::endl; #endif } diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index 1f4d6e23..d64c020d 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -87,7 +87,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." << std::endl; #endif } diff --git a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp index 3347739a..12434e1b 100644 --- a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp @@ -50,7 +50,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." << std::endl; #endif } From 71f704c980ec8847bdd0bb1bf354c8de30d3524b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 5 May 2022 12:29:46 +0200 Subject: [PATCH 27/28] remove the dot --- src/fsfw/osal/freertos/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/rtems/FixedTimeslotTask.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp index 0f3bfe18..e8823f8a 100644 --- a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp @@ -46,7 +46,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" << std::endl; #endif } diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index d64c020d..37b958de 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -87,7 +87,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" << std::endl; #endif } diff --git a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp index 12434e1b..745b8d70 100644 --- a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp @@ -50,7 +50,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" << std::endl; #endif } From d72b212fa629029924d9862e3e862d0388911f8e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 6 May 2022 10:36:01 +0200 Subject: [PATCH 28/28] cmakelists.txt hotfix --- CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2f10ab8e..5c898369 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,5 @@ cmake_minimum_required(VERSION 3.13) +set(LIB_FSFW_NAME fsfw) project(${LIB_FSFW_NAME}) set(FSFW_VERSION_IF_GIT_FAILS 4) @@ -58,7 +59,7 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF) # Contrib sources option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF) -set(LIB_FSFW_NAME fsfw) + set(FSFW_TEST_TGT fsfw-tests) set(FSFW_DUMMY_TGT fsfw-dummy)