Merge branch 'mueller_framework' into front_branch

framework.mk

@@ -28,11 +28,11 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 
 # select the OS
-ifeq ($(OS),rtems)
+ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
-else ifeq ($(OS),linux)
+else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
-else ifeq ($(OS),freeRTOS)
+else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
 else
 $(error invalid OS specified, valid OS are rtems, linux, freeRTOS)

ipc/FwMessageTypes.h

@@ -14,8 +14,9 @@ enum FW_MESSAGE_TYPE {
 	MONITORING,
 	MEMORY,
 	PARAMETER,
+	FILE_SYSTEM_MESSAGE,
 	FW_MESSAGES_COUNT,
-	FILE_SYSTEM_MESSAGE
+
 };
 }
 

ipc/QueueFactory.h

@@ -18,7 +18,7 @@ public:
 	 */
 	static QueueFactory* instance();
 
-	MessageQueueIF* createMessageQueue(size_t messageDepth = 3,
+	MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
 			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
 
 	void deleteMessageQueue(MessageQueueIF* queue);

osal/FreeRTOS/QueueFactory.cpp

@@ -26,7 +26,7 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
 	return new MessageQueue(messageDepth, maxMessageSize);
 }

osal/linux/QueueFactory.cpp

@@ -28,7 +28,7 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
 	return new MessageQueue(messageDepth, maxMessageSize);
 }

serviceinterface/ServiceInterfaceBuffer.cpp

@@ -1,11 +1,58 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <cstring>
+#include <inttypes.h>
 
 // to be implemented by bsp
-extern "C" void printChar(const char*);
+extern "C" void printChar(const char*, bool errStream);
+
+#ifndef UT699
+
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
+		bool addCrToPreamble, bool buffered , bool errStream, uint16_t port):
+		isActive(true), logMessage(setMessage),
+		addCrToPreamble(addCrToPreamble), buffered(buffered),
+		errStream(errStream) {
+	if(buffered) {
+		// Set pointers if the stream is buffered.
+		setp( buf, buf + BUF_SIZE );
+	}
+	preamble.reserve(MAX_PREAMBLE_SIZE);
+	preamble.resize(MAX_PREAMBLE_SIZE);
+}
+
+void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+	char array[BUF_SIZE];
+	uint32_t length = end - begin;
+	if (length > sizeof(array)) {
+		length = sizeof(array);
+	}
+	memcpy(array, begin, length);
+
+	for(; begin != end; begin++){
+		if(errStream) {
+			printChar(begin, true);
+		}
+		else {
+			printChar(begin, false);
+		}
+	}
+}
+
+#endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
+	if(not buffered and this->isActive) {
+		if (c != Traits::eof()) {
+			if(errStream) {
+				printChar(reinterpret_cast<const char*>(&c), true);
+			}
+			else {
+				printChar(reinterpret_cast<const char*>(&c), false);
+			}
+		}
+		return 0;
+	}
 	// Handle output
 	putChars(pbase(), pptr());
 	if (c != Traits::eof()) {
@@ -20,53 +67,63 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if (this->isActive) {
-		Clock::TimeOfDay_t loggerTime;
-		Clock::getDateAndTime(&loggerTime);
-		std::string preamble;
-		if(addCrToPreamble) {
-			preamble += "\r";
+	if(not this->isActive and not buffered) {
+		if(not buffered) {
+			setp(buf, buf + BUF_SIZE - 1);
 		}
-		preamble += log_message + ": | " + zero_padded(loggerTime.hour, 2)
-				+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-				+ zero_padded(loggerTime.second, 2) + "."
-				+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
-		// Write log_message and time
-		this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
+		return 0;
+	}
+	if(not buffered) {
+		return 0;
+	}
+
+	size_t preambleSize  = 0;
+	auto preamble = getPreamble(&preambleSize);
+	// Write logMessage and time
+	this->putChars(preamble.data(), preamble.data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
-	}
 	// This tells that buffer is empty again
 	setp(buf, buf + BUF_SIZE - 1);
 	return 0;
 }
 
-
-
-#ifndef UT699
-
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
-        uint16_t port, bool addCrToPreamble) {
-	this->addCrToPreamble = addCrToPreamble;
-	this->log_message = set_message;
-	this->isActive = true;
-	setp( buf, buf + BUF_SIZE );
+bool ServiceInterfaceBuffer::isBuffered() const {
+	return buffered;
 }
 
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-	char array[BUF_SIZE];
-	uint32_t length = end - begin;
-	if (length > sizeof(array)) {
-		length = sizeof(array);
+std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
+	Clock::TimeOfDay_t loggerTime;
+	Clock::getDateAndTime(&loggerTime);
+	size_t currentSize = 0;
+	char* parsePosition = &preamble[0];
+	if(addCrToPreamble) {
+		preamble[0] = '\r';
+		currentSize += 1;
+		parsePosition += 1;
 	}
-	memcpy(array, begin, length);
-
-	for(; begin != end; begin++){
-		printChar(begin);
+	int32_t charCount = sprintf(parsePosition,
+			"%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ",
+					this->logMessage.c_str(), loggerTime.hour,
+					loggerTime.minute,
+					loggerTime.second,
+					loggerTime.usecond /1000);
+	if(charCount < 0) {
+		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
+		return "";
+	}
+	if(charCount > MAX_PREAMBLE_SIZE) {
+		printf("ServiceInterfaceBuffer: Char count too large for maximum "
+				"preamble size");
+		return "";
+	}
+	currentSize += charCount;
+	if(preambleSize != nullptr) {
+		*preambleSize = currentSize;
+	}
+	return preamble;
 }
 
-}
-#endif
 
 
 #ifdef UT699

serviceinterface/ServiceInterfaceBuffer.h

@@ -1,67 +1,71 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <iostream>
 #include <sstream>
-#include <cstdio>
 #include <iomanip>
 
 #ifndef UT699
+
+/**
+ * @brief 	This is the underlying stream buffer which implements the
+ * 			streambuf class and overloads the overflow() and sync() methods
+ * @details
+ * This class is used to modify the output of the stream, for example by adding.
+ * It also calls the char printing function which is implemented in the
+ * board supply package (BSP).
+ */
 class ServiceInterfaceBuffer:
-        public std::basic_streambuf<char,std::char_traits<char>> {
+        public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string set_message, uint16_t port,
-			bool addCrToPreamble);
+	static constexpr uint8_t MAX_PREAMBLE_SIZE = 40;
+
+	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
+			bool buffered, bool errStream, uint16_t port);
+
 protected:
 	bool isActive;
-	// This is called when buffer becomes full. If
-	// buffer is not used, then this is called every
-	// time when characters are put to stream.
+	//! This is called when buffer becomes full. If
+	//! buffer is not used, then this is called every
+	//! time when characters are put to stream.
 	int overflow(int c = Traits::eof()) override;
 
-	// This function is called when stream is flushed,
-	// for example when std::endl is put to stream.
+	//! This function is called when stream is flushed,
+	//! for example when std::endl is put to stream.
 	int sync(void) override;
 
+	bool isBuffered() const;
 private:
-	// For additional message information
-	std::string log_message;
+	//! For additional message information
+	std::string logMessage;
+	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
-	// This is useful for some terminal programs which do not have
-	// implicit carriage return with newline characters.
+
+	//! This is useful for some terminal programs which do not have
+	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
 
-	// Work in buffer mode. It is also possible to work without buffer.
+	//! Specifies whether the stream operates in buffered or unbuffered mode.
+	bool buffered;
+	//! This specifies to print to stderr and work in unbuffered mode.
+	bool errStream;
+
+	//! Needed for buffered mode.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 
-	// In this function, the characters are parsed.
+	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
-	template<typename T>
-	std::string zero_padded(const T& num, uint8_t width) {
-	    std::ostringstream string_to_pad;
-	    string_to_pad << std::setw(width) << std::setfill('0') << num;
-	    std::string result = string_to_pad.str();
-	    if (result.length() > width)
-	    {
-	        result.erase(0, result.length() - width);
-	    }
-	    return result;
-	}
+	std::string getPreamble(size_t * preambleSize = nullptr);
 };
+
 #endif
 
 
-
-
-
-
-
-
-
 #ifdef UT699
 class ServiceInterfaceBuffer: public std::basic_streambuf<char,
 		std::char_traits<char> > {

serviceinterface/ServiceInterfaceStream.cpp

@@ -1,11 +1,32 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
+		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
+		std::ostream(&streambuf),
+		streambuf(setMessage, addCrToPreamble, buffered, errStream, port) {}
+
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->buf.isActive = myActive;
+	this->streambuf.isActive = myActive;
 }
 
-ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
-		bool addCrToPreamble, uint16_t port) :
-		std::basic_ostream<char, std::char_traits<char>>(&buf),
-		buf(set_message, port, addCrToPreamble) {
+std::string ServiceInterfaceStream::getPreamble() {
+	return streambuf.getPreamble();
+}
+
+void ServiceInterfaceStream::print(std::string error,
+		bool withPreamble, bool withNewline, bool flush) {
+	if(not streambuf.isBuffered() and withPreamble) {
+		*this << getPreamble() << error;
+	}
+	else {
+		*this << error;
+	}
+
+	if(withNewline) {
+		*this << "\n";
+	}
+	// if mode is non-buffered, no need to flush.
+	if(flush and streambuf.isBuffered()) {
+		this->flush();
+	}
 }

serviceinterface/ServiceInterfaceStream.h

@@ -3,29 +3,56 @@
 
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <iostream>
-#include <iosfwd>
-#include <sstream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of log_fe
-// (MUST be defined in main), to let the system know where to write to.
-namespace sif {
-extern std::ostream debug;
-extern std::ostream info;
-extern std::ostream warning;
-extern std::ostream error;
-}
-
-
-class ServiceInterfaceStream :
-        public std::basic_ostream<char, std::char_traits<char>> {
-protected:
-    ServiceInterfaceBuffer buf;
+/**
+ * Generic service interface stream which can be used like std::cout or
+ * std::cerr but has additional capability. Add preamble and timestamp
+ * to output. Can be run in buffered or unbuffered mode.
+ */
+class ServiceInterfaceStream : public std::ostream {
 public:
-    ServiceInterfaceStream( std::string set_message,
-    		bool addCrToPreamble = false, uint16_t port = 1234);
+	/**
+	 * This constructor is used by specifying the preamble message.
+	 * Optionally, the output can be directed to stderr and a CR character
+	 * can be prepended to the preamble.
+	 * @param setMessage message of preamble.
+	 * @param addCrToPreamble Useful for applications like Puttty.
+	 * @param buffered specify whether to use buffered mode.
+	 * @param errStream specify which output stream to use (stderr or stdout).
+	 */
+	ServiceInterfaceStream(std::string setMessage,
+			bool addCrToPreamble = false, bool buffered = true,
+			bool errStream = false, uint16_t port = 1234);
+
+	//! An inactive stream will not print anything.
 	void setActive( bool );
+
+	/**
+	 * This can be used to retrieve the preamble in case it should be printed in
+	 * the unbuffered mode.
+	 * @return Preamle consisting of log message and timestamp.
+	 */
+	std::string getPreamble();
+
+	/**
+	 * This prints an error with a preamble. Useful if using the unbuffered
+	 * mode. Flushes in default mode (prints immediately).
+	 */
+	void print(std::string error, bool withPreamble = true,
+			bool withNewline = true, bool flush = true);
+
+protected:
+	ServiceInterfaceBuffer streambuf;
 };
 
+// Forward declaration of interface streams. These should be instantiated in
+// main. They can then be used like std::cout or std::cerr.
+namespace sif {
+extern ServiceInterfaceStream debug;
+extern ServiceInterfaceStream info;
+extern ServiceInterfaceStream warning;
+extern ServiceInterfaceStream error;
+}
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

storagemanager/LocalPool.h

@@ -24,7 +24,6 @@
  * 			The local pool is NOT thread-safe.
  * @author 	Bastian Baetz
  */
-
 template<uint8_t NUMBER_OF_POOLS = 5>
 class LocalPool: public SystemObject, public StorageManagerIF {
 public:
@@ -48,9 +47,10 @@ public:
 	 * 						number of elements for each pool is determined.
 	 * 						The position of these values correspond to those in
 	 * 						element_sizes.
-	 * @param registered	Register the pool in object manager or not. Default is false (local pool).
-	 * @param spillsToHigherPools
-	 * 						A variable to determine whether higher n pools are used if the store is full.
+	 * @param registered	Register the pool in object manager or not.
+	 * Default is false (local pool).
+	 * @param spillsToHigherPools A variable to determine whether
+	 * higher n pools are used if the store is full.
 	 */
 	LocalPool(object_id_t setObjectId,
 			const uint16_t element_sizes[NUMBER_OF_POOLS],
@@ -117,7 +117,7 @@ private:
 	/**
 	 * @brief	store represents the actual memory pool.
 	 * @details	It is an array of pointers to memory, which was allocated with
-	 * 			a \c new call on construction.
+	 * 			a @c new call on construction.
 	 */
 	uint8_t* store[NUMBER_OF_POOLS];
 	/**

storagemanager/PoolManager.h

@@ -12,7 +12,7 @@
  * 			with a lock.
  * @author 	Bastian Baetz
  */
-template <uint8_t NUMBER_OF_POOLS>
+template <uint8_t NUMBER_OF_POOLS = 5>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
 public:
 	PoolManager(object_id_t setObjectId,
@@ -27,6 +27,7 @@ public:
 	ReturnValue_t deleteData(store_address_t) override;
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) override;
+
 protected:
 	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
 			bool ignoreFault) override;

storagemanager/PoolManager.tpp

@@ -48,4 +48,3 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 }
 
 #endif
-

storagemanager/StorageManagerIF.h

@@ -11,7 +11,6 @@
 using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
 using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
 
-
 /**
  * @brief	This class provides an interface for intermediate data storage.
  * @details	The Storage manager classes shall be used to store larger chunks of
@@ -80,6 +79,7 @@ public:
 	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) = 0;
 
+
 	/**
 	 * @brief 	Access the data by supplying a store ID.
 	 * @details
@@ -100,6 +100,7 @@ public:
 	virtual ReturnValue_t getData(store_address_t storeId,
 			ConstStorageAccessor& constAccessor) = 0;
 
+
 	/**
 	 * @brief	getData returns an address to data and the size of the data
 	 * 			for a given packet_id.