Linux CommandExecutor

The CommandExecutor helper class can execute shell commands in blocking and non-blocking mode
This class is able to execute processes by using the Linux popen call. It also has the capability of writing
the read output of a process into a provided ring buffer.

The executor works by first loading the command which should be executed and specifying whether
it should be executed blocking or non-blocking. After that, execution can be started with the execute call.

Using non-blocking mode allows to execute commands which might take a longer time in the background,
and allowing the user thread to check completion status with the check function

Moved to HAL like requested in code review and unit tested with failing commands as well.
Also, Linux HAL components are compiled by default now unless explicitely disabled.

hal/CMakeLists.txt

@@ -3,7 +3,13 @@ cmake_minimum_required(VERSION 3.13)
 # Can also be changed by upper CMakeLists.txt file
 find_library(LIB_FSFW_NAME fsfw REQUIRED)
 
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF)
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
 option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

hal/src/fsfw_hal/CMakeLists.txt

@@ -1,7 +1,7 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
 
-if(FSFW_HAL_ADD_LINUX)
+if(UNIX)
     add_subdirectory(linux)
 endif()
 

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,10 +4,13 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 
-add_subdirectory(gpio)
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-add_subdirectory(spi)
+	add_subdirectory(gpio)
-add_subdirectory(i2c)
+	add_subdirectory(spi)
-add_subdirectory(uart)
+	add_subdirectory(i2c)
+	add_subdirectory(uart)
+endif()

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,213 @@
+#include "CommandExecutor.h"
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+CommandExecutor::CommandExecutor(const size_t maxSize):
+readVec(maxSize) {
+    waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+    if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+
+    currentCmd = command;
+    this->blocking = blocking;
+    this->printOutput = printOutput;
+    if(state == States::IDLE) {
+        state = States::COMMAND_LOADED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+    if(state == States::IDLE) {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    else if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+    currentCmdFile = popen(currentCmd.c_str(), "r");
+    if(currentCmdFile == nullptr) {
+        lastError = errno;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if(blocking) {
+        ReturnValue_t result = executeBlocking();
+        state = States::IDLE;
+        return result;
+    }
+    else {
+        currentFd = fileno(currentCmdFile);
+        waiter.fd = currentFd;
+    }
+    state = States::PENDING;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+    if(state == States::PENDING) {
+        // Attempt to close process, irrespective of if it is running or not
+        if(currentCmdFile != nullptr) {
+            pclose(currentCmdFile);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+    if(lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << funcName << " pclose failed with code " << lastError << ": " <<
+                strerror(lastError) << std::endl;
+#else
+        sif::printError("%s pclose failed with code %d: %s\n",
+                funcName, lastError, strerror(lastError));
+#endif
+    }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
+        DynamicFIFO<uint16_t>* sizesFifo) {
+    this->ringBuffer = ringBuffer;
+    this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& replyReceived) {
+    if(blocking) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    switch(state) {
+    case(States::IDLE):
+    case(States::COMMAND_LOADED): {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case(States::PENDING): {
+        break;
+    }
+    }
+
+    int result = poll(&waiter, 1, 0);
+    switch(result) {
+    case(0): {
+        return HasReturnvaluesIF::RETURN_OK;
+        break;
+    }
+    case(1): {
+        if (waiter.revents & POLLIN) {
+            ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+            if(readBytes == 0) {
+                // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: No bytes read "
+                        "after poll event.." << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+                break;
+            }
+            else if(readBytes > 0) {
+                replyReceived = true;
+                if(printOutput) {
+                    // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                    sif::info << currentCmd << " | " << readVec.data();
+#else
+                    sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+                }
+                if(ringBuffer != nullptr) {
+                    ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
+                            readVec.data()), readBytes);
+                }
+                if(sizesFifo != nullptr) {
+                    if(not sizesFifo->full()) {
+                        sizesFifo->insert(readBytes);
+                    }
+                }
+            }
+            else {
+                // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
+                        strerror(errno) << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+            }
+        }
+        if(waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+            sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+            return COMMAND_ERROR;
+        }
+        if(waiter.revents & POLLHUP) {
+            result = pclose(currentCmdFile);
+            ReturnValue_t retval = EXECUTION_FINISHED;
+            if(result != 0) {
+                lastError = result;
+                retval = HasReturnvaluesIF::RETURN_FAILED;
+            }
+            state = States::IDLE;
+            currentCmdFile = nullptr;
+            currentFd = 0;
+            return retval;
+        }
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+    CommandExecutor::close();
+    currentCmdFile = nullptr;
+    currentFd = 0;
+    state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+    // See: https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
+    return WEXITSTATUS(this->lastError);
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const {
+    return state;
+}
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+    while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+        std::string output(readVec.data());
+        if(printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << output;
+#else
+            sif::printInfo("%s | %s", currentCmd, output);
+#endif
+        }
+        if(ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+        }
+        if(sizesFifo != nullptr) {
+            if(not sizesFifo->full()) {
+                sizesFifo->insert(output.size());
+            }
+        }
+    }
+    int result = pclose(currentCmdFile);
+    if(result != 0) {
+        lastError = result;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,135 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+class SimpleRingBuffer;
+template <typename T> class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+public:
+    enum class States {
+        IDLE,
+        COMMAND_LOADED,
+        PENDING
+    };
+
+    static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+    //! [EXPORT] : [COMMENT] Execution of the current command has finished
+    static constexpr ReturnValue_t EXECUTION_FINISHED =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+    //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+    //! to load another command but a command is still pending
+    static constexpr ReturnValue_t COMMAND_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+    //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+    static constexpr ReturnValue_t BYTES_READ =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static constexpr ReturnValue_t COMMAND_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+    //! [EXPORT] : [COMMENT]
+    static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+    static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+    /**
+     * Constructor. Is initialized with maximum size of internal buffer to read data from the
+     * executed process.
+     * @param maxSize
+     */
+    CommandExecutor(const size_t maxSize);
+
+    /**
+     * Load a new command which should be executed
+     * @param command
+     * @param blocking
+     * @param printOutput
+     * @return
+     */
+    ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+    /**
+     * Execute the loaded command.
+     * @return
+     *  - In blocking mode, it will return RETURN_FAILED if
+     *    the result of the system call was not 0. The error value can be accessed using
+     *    getLastError
+     *  - In non-blocking mode, this call will start
+     *    the execution and then return RETURN_OK
+     */
+    ReturnValue_t execute();
+    /**
+     * Only used in non-blocking mode. Checks the currently running command.
+     * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+     * @return
+     *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+     *    check again after this
+     *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+     *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+     *  - EXECUTION_FINISHED if the process was executed successfully
+     *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
+     *  - COMMAND_ERROR internal poll error
+     */
+    ReturnValue_t check(bool& replyReceived);
+    /**
+     * Abort the current command. Should normally not be necessary, check can be used to find
+     * out whether command execution was successful
+     * @return RETURN_OK
+     */
+    ReturnValue_t close();
+
+    States getCurrentState() const;
+    int getLastError() const;
+    void printLastError(std::string funcName) const;
+
+    /**
+     * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+     * read from the started process
+     * @param ringBuffer
+     * @param sizesFifo
+     */
+    void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+    /**
+     * Reset the executor. This calls close internally and then reset the state machine so new
+     * commands can be loaded and executed
+     */
+    void reset();
+private:
+    std::string currentCmd;
+    bool blocking = true;
+    FILE* currentCmdFile = nullptr;
+    int currentFd = 0;
+    bool printOutput = true;
+    std::vector<char> readVec;
+    struct pollfd waiter {};
+    SimpleRingBuffer* ringBuffer = nullptr;
+    DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+    States state = States::IDLE;
+    int lastError = 0;
+
+    ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

hal/src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -1,12 +1,16 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    LinuxLibgpioIF.cpp
-)
-
 # This abstraction layer requires the gpiod library. You can install this library
 # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
 # to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod REQUIRED)
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_GPIO}
+    )
+endif()
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${LIB_GPIO}
-)

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -1,8 +1,10 @@
+#include "fsfw/FSFW.h"
+
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/utility.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #include <unistd.h>
 #include <fcntl.h>
@@ -24,12 +26,16 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
     std::string deviceFile;
 
     if(cookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
@@ -41,15 +47,19 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
         I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
         auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
         if (not statusPair.second) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
                     i2cAddress << "to I2C device " << "map" << std::endl;
+#endif
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         return HasReturnvaluesIF::RETURN_OK;
     }
 
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
             "already in use" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
 }
 
@@ -61,8 +71,10 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
     std::string deviceFile;
 
     if(sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
                 << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
@@ -72,15 +84,19 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
 
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
                 << "registered in i2cDeviceMap" << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
@@ -94,10 +110,12 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
         return result;
     }
 
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
+    if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
                 "device with error code " << errno << ". Error description: "
                 << strerror(errno) << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;
@@ -119,7 +137,9 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
 
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
+#endif
         i2cDeviceMapIter->second.replyLen = 0;
         return NULLPOINTER;
     }
@@ -127,8 +147,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
                 << "registered in i2cDeviceMap" << std::endl;
+#endif
         i2cDeviceMapIter->second.replyLen = 0;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -156,7 +178,9 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
                 << requestLen << " bytes" << std::endl;
 #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;
     }
 
@@ -168,15 +192,19 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
         uint8_t **buffer, size_t* size) {
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
                 << "found in i2cDeviceMap" << std::endl;
+#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     *buffer = i2cDeviceMapIter->second.replyBuffer.data();

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -1,8 +1,8 @@
 #include "UartComIF.h"
-#include "OBSWConfig.h"
+#include "fsfw/FSFW.h"
 
 #include "fsfw_hal/linux/utility.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface.h"
 
 #include <cstring>
 #include <fcntl.h>
@@ -26,7 +26,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
@@ -42,14 +44,18 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
         UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
         auto status = uartDeviceMap.emplace(deviceFile, uartElements);
         if (status.second == false) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
                     deviceFile << "to UART device map" << std::endl;
+#endif
             return RETURN_FAILED;
         }
     }
     else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
                 " already in use" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
@@ -70,15 +76,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
     int fd = open(deviceFile.c_str(), flags);
 
     if (fd < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
                 "with error code " << errno << strerror(errno) << std::endl;
+#endif
         return fd;
     }
 
     /* Read in existing settings */
     if(tcgetattr(fd, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
                 << strerror(errno) << std::endl;
+#endif
         return fd;
     }
 
@@ -99,8 +109,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
 
     /* Save option settings */
     if (tcsetattr(fd, TCSANOW, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
                 errno << ": " << strerror(errno);
+#endif
         return fd;
     }
     return fd;
@@ -152,7 +164,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
         options->c_cflag |= CS8;
         break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+#endif
         break;
     }
 }
@@ -259,7 +273,9 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
         cfsetospeed(options, B460800);
         break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#endif
         break;
     }
 }
@@ -275,29 +291,37 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
     }
 
     if(sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
     if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
                 "not in UART map" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
     fd = uartDeviceMapIter->second.fileDescriptor;
 
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
+    if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
                 errno << ": Error description: " << strerror(errno) << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
@@ -314,7 +338,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
@@ -327,8 +353,10 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
     }
 
     if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
                 << " not in uart map" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
@@ -425,8 +453,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
     }
     else if (bytesRead != static_cast<int>(requestLen)) {
         if(uartCookie.isReplySizeFixed()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
                     " of " << requestLen << " bytes" << std::endl;
+#endif
             return RETURN_FAILED;
         }
     }
@@ -442,15 +472,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
 
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
     if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
                 " not in uart map" << std::endl;
+#endif
         return RETURN_FAILED;
     }
 
@@ -468,7 +502,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();
@@ -486,7 +522,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();
@@ -504,7 +542,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
+#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -1,6 +1,6 @@
 #include "fsfw_hal/linux/uart/UartCookie.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
         uint32_t baudrate, size_t maxReplyLen):
@@ -42,7 +42,9 @@ void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
     case 8:
         break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+#endif
         return;
     }
     bitsPerWord = bitsPerWord_;

scripts/helper.py

@@ -132,7 +132,9 @@ def handle_tests_type(args, build_dir_list: list):
 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 ..')
+    cmake_cmd = "cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON .."
+    print(f"Executing CMake command {cmake_cmd}")
+    os.system(cmake_cmd)
     os.chdir('..')
 
 

src/fsfw/FSFW.h.in

@@ -18,6 +18,10 @@
 
 // FSFW core defines
 
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
 #ifndef FSFW_CPP_OSTREAM_ENABLED
 #define FSFW_CPP_OSTREAM_ENABLED            1
 #endif /* FSFW_CPP_OSTREAM_ENABLED */

src/fsfw/container/SimpleRingBuffer.h

@@ -5,8 +5,7 @@
 #include <cstddef>
 
 /**
- * @brief     Circular buffer implementation, useful for buffering
+ * @brief     Circular buffer implementation, useful for buffering into data streams.
- *          into data streams.
  * @details
  * Note that the deleteData() has to be called to increment the read pointer.
  * This class allocated dynamically, so
@@ -20,8 +19,8 @@ public:
      * @param size
      * @param overwriteOld If the ring buffer is overflowing at a write
      * operation, the oldest data will be overwritten.
-     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * @param maxExcessBytes These additional bytes will be allocated in addition
-     * to the specified size to accomodate contiguous write operations
+     * to the specified size to accommodate continuous write operations
      * with getFreeElement.
      *
      */
@@ -32,10 +31,10 @@ public:
      * @param buffer
      * @param size
      * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * If the ring buffer is overflowing at a write operation, the oldest data
      * will be overwritten.
      * @param maxExcessBytes
-     * If the buffer can accomodate additional bytes for contigous write
+     * If the buffer can accommodate additional bytes for contiguous write
      * operations with getFreeElement, this is the maximum allowed additional
      * size
      */
@@ -48,7 +47,7 @@ public:
      * Write to circular buffer and increment write pointer by amount.
      * @param data
      * @param amount
-     * @return -@c RETURN_OK if write operation was successfull
+     * @return -@c RETURN_OK if write operation was successful
      * -@c RETURN_FAILED if
      */
     ReturnValue_t writeData(const uint8_t* data, size_t amount);
@@ -108,7 +107,7 @@ public:
      * Delete data by incrementing read pointer.
      * @param amount
      * @param deleteRemaining
-     * If the amount specified is larger than the remaing size to read and this
+     * If the amount specified is larger than the remaining size to read and this
      * is set to true, the remaining amount will be deleted as well
      * @param trueAmount [out]
      * If deleteRemaining was set to true, the amount deleted will be assigned

src/fsfw/devicehandlers/AssemblyBase.h

@@ -7,7 +7,7 @@
 
 /**
  * @brief   Base class to implement reconfiguration and failure handling for
- *          redundant devices by monitoring their modes health states.
+ *          redundant devices by monitoring their modes and health states.
  * @details
  * Documentation: Dissertation Baetz p.156, 157.
  *

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -85,9 +85,10 @@ public:
 	 * Called by DHB in the GET_WRITE doGetWrite().
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
-	 * @return - @c RETURN_OK if data was sent successfull
+	 * @return
-	 * 		   - Everything else triggers falure event with
+	 *  - @c RETURN_OK if data was sent successfully but a reply is expected
-	 * 		     returnvalue as parameter 1
+	 *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+	 *  - Everything else to indicate failure
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -334,8 +334,7 @@ protected:
      *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
      *       have been set.
      *  - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
-     *       be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
+     *       be used if no reply is expected
-     *       to finish the command handling.
      *  - Anything else triggers an event with the return code as a parameter as well as a
      *    step reply failed with the return code
      */

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -120,7 +120,8 @@ public:
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	//!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,20 +1,19 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE 
+    Clock.cpp
-		Clock.cpp
+	BinarySemaphore.cpp
-		BinarySemaphore.cpp
+	CountingSemaphore.cpp
-		CountingSemaphore.cpp
+	FixedTimeslotTask.cpp
-		FixedTimeslotTask.cpp
+	InternalErrorCodes.cpp
-		InternalErrorCodes.cpp
+	MessageQueue.cpp
-		MessageQueue.cpp
+	Mutex.cpp
-		Mutex.cpp
+	MutexFactory.cpp
-		MutexFactory.cpp
+	PeriodicPosixTask.cpp
-		PeriodicPosixTask.cpp
+	PosixThread.cpp
-		PosixThread.cpp
+	QueueFactory.cpp
-		QueueFactory.cpp
+	SemaphoreFactory.cpp
-		SemaphoreFactory.cpp
+	TaskFactory.cpp
-		TaskFactory.cpp
+	tcpipHelpers.cpp
-		tcpipHelpers.cpp
+	unixUtility.cpp
-		unixUtility.cpp
 )
 
 find_package(Threads REQUIRED)

src/fsfw/osal/linux/MessageQueue.cpp

@@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
             utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "mq_send to: " << sendTo << " sent from "
+            sif::warning << "mq_send to " << sendTo << " sent from "
-                    << sentFrom << "failed" << std::endl;
+                    << sentFrom << " failed" << std::endl;
 #else
-            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
+            sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
 #endif
             return DESTINATION_INVALID;
         }

src/fsfw/subsystem/SubsystemBase.h

@@ -62,7 +62,8 @@ protected:
 	struct ChildInfo {
 		MessageQueueId_t commandQueue;
 		Mode_t mode;
-		Submode_t submode;bool healthChanged;
+		Submode_t submode;
+		bool healthChanged;
 	};
 
 	Mode_t mode;

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -21,3 +21,4 @@ add_subdirectory(storagemanager)
 add_subdirectory(globalfunctions)
 add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)
+add_subdirectory(hal)

tests/src/fsfw_tests/unit/hal/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+	testCommandExecutor.cpp
+)

tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp

@@ -0,0 +1,110 @@
+#include <catch2/catch_test_macros.hpp>
+
+#include "fsfw/serviceinterface.h"
+
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include "fsfw_hal/linux/CommandExecutor.h"
+#include "fsfw/platform.h"
+
+#include <unistd.h>
+#include <fstream>
+
+#ifdef PLATFORM_UNIX
+
+static const char TEST_FILE_NAME[] = "/tmp/fsfw-unittest-test.txt";
+
+TEST_CASE( "Command Executor" , "[cmd-exec]") {
+    // Check blocking mode first
+    CommandExecutor cmdExecutor(1024);
+    std::string cmd = "echo \"test\" >> " + std::string(TEST_FILE_NAME);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
+    ReturnValue_t result = cmdExecutor.load(cmd, true, true);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::COMMAND_LOADED);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(cmdExecutor.execute() == HasReturnvaluesIF::RETURN_OK);
+    // Check that file exists with contents
+    std::ifstream file(TEST_FILE_NAME);
+    std::string line;
+    std::getline(file, line);
+    CHECK(line == "test");
+    std::remove(TEST_FILE_NAME);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
+
+    // Now check non-blocking mode
+    SimpleRingBuffer outputBuffer(524, true);
+    DynamicFIFO<uint16_t> sizesFifo(12);
+    cmdExecutor.setRingBuffer(&outputBuffer, &sizesFifo);
+
+    result = cmdExecutor.load("echo \"Hello World\"", false, false);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    cmdExecutor.execute();
+    bool bytesHaveBeenRead = false;
+    size_t limitIdx = 0;
+    while(result != CommandExecutor::EXECUTION_FINISHED) {
+        limitIdx++;
+        result = cmdExecutor.check(bytesHaveBeenRead);
+        REQUIRE(result != CommandExecutor::COMMAND_ERROR);
+        usleep(500);
+        REQUIRE(limitIdx < 5);
+    }
+
+    limitIdx = 0;
+    CHECK(bytesHaveBeenRead == true);
+    CHECK(result == CommandExecutor::EXECUTION_FINISHED);
+    uint16_t readBytes = 0;
+    sizesFifo.retrieve(&readBytes);
+    REQUIRE(readBytes == 12);
+    REQUIRE(outputBuffer.getAvailableReadData() == 12);
+    uint8_t readBuffer[32];
+    REQUIRE(outputBuffer.readData(readBuffer, 12) == HasReturnvaluesIF::RETURN_OK);
+    CHECK(strcmp(reinterpret_cast<char*>(readBuffer), "Hello World\n") == 0);
+    outputBuffer.deleteData(12, true);
+    // Test more complex command
+    result = cmdExecutor.load("ping -c 1 localhost", false, false);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::COMMAND_LOADED);
+    REQUIRE(cmdExecutor.execute() == HasReturnvaluesIF::RETURN_OK);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING);
+    limitIdx = 0;
+    while(result != CommandExecutor::EXECUTION_FINISHED) {
+        limitIdx++;
+        result = cmdExecutor.check(bytesHaveBeenRead);
+        REQUIRE(result != CommandExecutor::COMMAND_ERROR);
+        usleep(500);
+        REQUIRE(limitIdx < 20);
+    }
+    limitIdx = 0;
+    CHECK(bytesHaveBeenRead == true);
+    CHECK(result == CommandExecutor::EXECUTION_FINISHED);
+    REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
+    readBytes = 0;
+    sizesFifo.retrieve(&readBytes);
+    // That's about the size of the reply
+    bool beTrue = (readBytes > 200) and (readBytes < 300);
+    REQUIRE(beTrue);
+    uint8_t largerReadBuffer[1024] = {};
+    outputBuffer.readData(largerReadBuffer, readBytes);
+    // You can also check this output in the debugger
+    std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer));
+    // I am just going to assume that this string is the same across ping implementations
+    // of different Linux systems
+    REQUIRE(allTheReply.find("localhost ping statistics") != std::string::npos);
+
+    // Now check failing command
+    result = cmdExecutor.load("false", false, false);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    result = cmdExecutor.execute();
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    while(result != CommandExecutor::EXECUTION_FINISHED and result != HasReturnvaluesIF::RETURN_FAILED) {
+        limitIdx++;
+        result = cmdExecutor.check(bytesHaveBeenRead);
+        REQUIRE(result != CommandExecutor::COMMAND_ERROR);
+        usleep(500);
+        REQUIRE(limitIdx < 20);
+    }
+    REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
+    REQUIRE(cmdExecutor.getLastError() == 1);
+}
+
+#endif