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Merge pull request 'Update FSFW' (#34) from mueller/master into eive/develop

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Reviewed-on: eive/fsfw#34
This commit is contained in:
Jakob Meier 2022-02-25 11:38:11 +01:00
commit 09c1918c1f
26 changed files with 88 additions and 75 deletions
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4
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
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@ -8,8 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
CookieIF *comCookie, uint32_t transitionDelayMs)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs),
dataset(this) {
}
dataset(this) {}
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
@ -207,7 +206,6 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
}
}
PoolReadGuard readSet(&dataset);
if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(angVelocX) < this->absLimitX) {

5
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
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@ -1,11 +1,11 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@ -59,7 +59,6 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset;
float absLimitX = L3GD20H::RANGE_DPS_00;
float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00;

2
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
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@ -287,7 +287,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
}
}
PoolReadGuard readHelper(&dataset);
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(mgmX) < absLimitX) {
@ -485,7 +484,6 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
this->absLimitZ = zLimit;
}
void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);

3
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
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@ -1,11 +1,10 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
class PeriodicOperationDivider;

4
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
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@ -10,8 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this),
transitionDelay(transitionDelay) {
}
transitionDelay(transitionDelay) {}
MgmRM3100Handler::~MgmRM3100Handler() {}
@ -352,7 +351,6 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
}
}
// TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset);
if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {

9
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
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@ -401,4 +401,13 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
// This updates the SPI clock default polarity. Only setting the mode does not update
// the line state, which can be an issue on mode switches because the clock line will
// switch the state after the chip select is pulled low
clockUpdateTransfer.len = 0;
retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}
}

1
hal/src/fsfw_hal/linux/spi/SpiComIF.h
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@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
MutexIF* spiMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
using SpiDeviceMapIter = SpiDeviceMap::iterator;

17
scripts/helper.py
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@ -97,11 +97,11 @@ def handle_docs_type(args, build_dir_list: list):
build_directory = determine_build_dir(build_dir_list)
os.chdir(build_directory)
if args.build:
os.system("cmake --build . -j")
cmd_runner("cmake --build . -j")
if args.open:
if not os.path.isfile("docs/sphinx/index.html"):
# try again..
os.system("cmake --build . -j")
cmd_runner("cmake --build . -j")
if not os.path.isfile("docs/sphinx/index.html"):
print(
"No Sphinx documentation file detected. "
@ -147,21 +147,21 @@ def handle_tests_type(args, build_dir_list: list):
# If we are in a different directory we try to switch into it but
# this might fail
os.chdir(UNITTEST_FOLDER_NAME)
os.system("valgrind --leak-check=full ./fsfw-tests")
cmd_runner("valgrind --leak-check=full ./fsfw-tests")
os.chdir("..")
def create_tests_build_cfg():
os.mkdir(UNITTEST_FOLDER_NAME)
os.chdir(UNITTEST_FOLDER_NAME)
os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
os.chdir("..")
def create_docs_build_cfg():
os.mkdir(DOCS_FOLDER_NAME)
os.chdir(DOCS_FOLDER_NAME)
os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
os.chdir("..")
@ -184,7 +184,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
def perform_lcov_operation(directory: str, chdir: bool):
if chdir:
os.chdir(directory)
os.system("cmake --build . -- fsfw-tests_coverage -j")
cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
def determine_build_dir(build_dir_list: List[str]):
@ -206,5 +206,10 @@ def determine_build_dir(build_dir_list: List[str]):
return build_directory
def cmd_runner(cmd: str):
print(f"Executing command: {cmd}")
os.system(cmd)
if __name__ == "__main__":
main()

4
src/fsfw/cfdp/CFDPHandler.cpp
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@ -13,8 +13,8 @@ object_id_t CFDPHandler::packetDestination = 0;
CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
: SystemObject(setObjectId) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION,
MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
requestQueue = QueueFactory::instance()->createMessageQueue(
CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
distributor = dist;
}

4
src/fsfw/controller/ControllerBase.cpp
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@ -14,8 +14,8 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
modeHelper(this),
healthHelper(this, setObjectId) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

3
src/fsfw/devicehandlers/HealthDevice.cpp
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@ -9,7 +9,8 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
commandQueue(),
healthHelper(this, setObjectId) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
commandQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

5
src/fsfw/events/EventManager.cpp
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@ -19,9 +19,8 @@ EventManager::EventManager(object_id_t setObjectId)
: SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
mutex = MutexFactory::instance()->createMutex();
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
EventMessage::EVENT_MESSAGE_SIZE,
&mqArgs);
eventReportQueue = QueueFactory::instance()->createMessageQueue(
MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
}
EventManager::~EventManager() {

4
src/fsfw/fdir/FailureIsolationBase.cpp
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@ -10,8 +10,8 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
uint8_t messageDepth, uint8_t parameterDomainBase)
: ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
auto mqArgs = MqArgs(owner, static_cast<void*>(this));
eventQueue =
QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
eventQueue = QueueFactory::instance()->createMessageQueue(
messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
}
FailureIsolationBase::~FailureIsolationBase() {

3
src/fsfw/internalerror/InternalErrorReporter.cpp
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@ -12,7 +12,8 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
internalErrorDataset(this) {
mutex = MutexFactory::instance()->createMutex();
auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
commandQueue = QueueFactory::instance()->createMessageQueue(
messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }

13
src/fsfw/objectmanager/ObjectManager.cpp
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@ -95,13 +95,16 @@ void ObjectManager::initialize() {
for (auto const& it : objectList) {
result = it.second->initialize();
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
object_id_t var = it.first;
sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
<< std::setfill('0') << var
<< " failed to "
"initialize with code 0x"
<< result << std::dec << std::setfill(' ') << std::endl;
<< std::setfill('0') << it.first << " failed to initialize with code 0x" << result
<< std::dec << std::setfill(' ') << std::endl;
#else
sif::printError(
"ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
it.first);
#endif
#endif
errorCount++;
}

3
src/fsfw/power/PowerSensor.cpp
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@ -16,7 +16,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
commandQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

3
src/fsfw/pus/Service1TelecommandVerification.cpp
View File

@ -17,7 +17,8 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
serviceId(serviceId),
targetDestination(targetDestination) {
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
tmQueue = QueueFactory::instance()->createMessageQueue(
messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
Service1TelecommandVerification::~Service1TelecommandVerification() {

9
src/fsfw/pus/Service5EventReporting.cpp
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@ -13,8 +13,8 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
: PusServiceBase(objectId, apid, serviceId),
maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
sif::info << eventQueue->getId() << std::endl;
eventQueue = QueueFactory::instance()->createMessageQueue(
messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
Service5EventReporting::~Service5EventReporting() {
@ -38,9 +38,6 @@ ReturnValue_t Service5EventReporting::performService() {
}
}
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -89,7 +86,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
// to be registered to the event manager to listen for events.
ReturnValue_t Service5EventReporting::initialize() {
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == NULL) {
if (manager == nullptr) {
return RETURN_FAILED;
}
// register Service 5 as listener for events

2
src/fsfw/pus/Service5EventReporting.h
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@ -41,7 +41,7 @@
class Service5EventReporting : public PusServiceBase {
public:
Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
virtual ~Service5EventReporting();
/***

6
src/fsfw/rmap/RMAPChannelIF.h
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@ -77,9 +77,9 @@ class RMAPChannelIF {
* command; command was not sent
* - @c COMMAND_BUFFER_FULL no receiver buffer available for
* expected len; command was not sent
* - @c COMMAND_TOO_BIG the data that was to be sent was too long
* for the hw to handle (write command) or the expected len was bigger than maximal expected len
* (read command) command was not sent
* - @c COMMAND_TOO_BIG the data that was to be sent was too
* long for the hw to handle (write command) or the expected len was bigger than maximal expected
* len (read command) command was not sent
* - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set
* - @c NOT_SUPPORTED if you dont feel like
* implementing something...

4
src/fsfw/subsystem/SubsystemBase.cpp
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@ -12,8 +12,8 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
modeHelper(this),
parentId(parent) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

3
src/fsfw/tcdistribution/TcDistributor.cpp
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@ -6,7 +6,8 @@
TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
auto mqArgs = MqArgs(objectId);
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
tcQueue = QueueFactory::instance()->createMessageQueue(
DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }

7
src/fsfw/thermal/AbstractTemperatureSensor.cpp
View File

@ -4,14 +4,13 @@
AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
ThermalModuleIF *thermalModule)
: SystemObject(setObjectid),
healthHelper(this, setObjectid),
parameterHelper(this) {
: SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
if (thermalModule != nullptr) {
thermalModule->registerSensor(this);
}
auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
commandQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
AbstractTemperatureSensor::~AbstractTemperatureSensor() {

3
src/fsfw/thermal/Heater.cpp
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@ -13,7 +13,8 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
heaterOnCountdown(10800000) /*about two orbits*/,
parameterHelper(this) {
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
eventQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }

3
src/fsfw/tmtcservices/PusServiceBase.cpp
View File

@ -14,7 +14,8 @@ object_id_t PusServiceBase::packetDestination = 0;
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
: SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
requestQueue = QueueFactory::instance()->createMessageQueue(
PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }

3
src/fsfw/tmtcservices/TmTcBridge.cpp
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@ -16,7 +16,8 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
{
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }