KSat/fsfw
15
4
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests 1 Releases Wiki Activity

Merge remote-tracking branch 'ksat/mueller/master' into mueller/master

Browse Source
This commit is contained in:
Robin Müller 2021-05-27 14:10:12 +02:00
commit 43d4953e4a
10 changed files with 445 additions and 98 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
memory/CMakeLists.txt
View File

@ -1,5 +1,5 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
target_sources(${LIB_FSFW_NAME} PRIVATE
MemoryHelper.cpp
MemoryMessage.cpp
GenericFileSystemMessage.cpp
)

132
memory/GenericFileSystemMessage.cpp Normal file
View File

@ -0,0 +1,132 @@
#include "GenericFileSystemMessage.h"
void GenericFileSystemMessage::setCreateFileCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_CREATE_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setDeleteFileCommand(
CommandMessage* message, store_address_t storeId) {
message->setCommand(CMD_DELETE_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setCreateDirectoryCommand(
CommandMessage* message, store_address_t storeId) {
message->setCommand(CMD_CREATE_DIRECTORY);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setReportFileAttributesCommand(CommandMessage *message,
store_address_t storeId) {
message->setCommand(CMD_REPORT_FILE_ATTRIBUTES);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setReportFileAttributesReply(CommandMessage *message,
store_address_t storeId) {
message->setCommand(REPLY_REPORT_FILE_ATTRIBUTES);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setDeleteDirectoryCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_DELETE_DIRECTORY);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setLockFileCommand(CommandMessage *message,
store_address_t storeId) {
message->setCommand(CMD_LOCK_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setUnlockFileCommand(CommandMessage *message,
store_address_t storeId) {
message->setCommand(CMD_UNLOCK_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setSuccessReply(CommandMessage *message) {
message->setCommand(COMPLETION_SUCCESS);
}
void GenericFileSystemMessage::setFailureReply(CommandMessage *message,
ReturnValue_t errorCode, uint32_t errorParam) {
message->setCommand(COMPLETION_FAILED);
message->setParameter(errorCode);
message->setParameter2(errorParam);
}
store_address_t GenericFileSystemMessage::getStoreId(const CommandMessage* message) {
store_address_t temp;
temp.raw = message->getParameter2();
return temp;
}
ReturnValue_t GenericFileSystemMessage::getFailureReply(
const CommandMessage *message, uint32_t* errorParam) {
if(errorParam != nullptr) {
*errorParam = message->getParameter2();
}
return message->getParameter();
}
void GenericFileSystemMessage::setFinishStopWriteCommand(CommandMessage *message,
store_address_t storeId) {
message->setCommand(CMD_FINISH_APPEND_TO_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setFinishStopWriteReply(CommandMessage *message,
store_address_t storeId) {
message->setCommand(REPLY_FINISH_APPEND);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setCopyCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_COPY_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setWriteCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_APPEND_TO_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setReadCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_READ_FROM_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setFinishAppendReply(CommandMessage* message,
store_address_t storageID) {
message->setCommand(REPLY_FINISH_APPEND);
message->setParameter2(storageID.raw);
}
void GenericFileSystemMessage::setReadReply(CommandMessage* message,
bool readFinished, store_address_t storeId) {
message->setCommand(REPLY_READ_FROM_FILE);
message->setParameter(readFinished);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setReadFinishedReply(CommandMessage *message,
store_address_t storeId) {
message->setCommand(REPLY_READ_FINISHED_STOP);
message->setParameter2(storeId.raw);
}
bool GenericFileSystemMessage::getReadReply(const CommandMessage *message,
store_address_t *storeId) {
if(storeId != nullptr) {
(*storeId).raw = message->getParameter2();
}
return message->getParameter();
}

113
memory/GenericFileSystemMessage.h Normal file
View File

@ -0,0 +1,113 @@
#ifndef MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
#define MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
#include <cstdint>
#include <fsfw/ipc/CommandMessageIF.h>
#include <fsfw/ipc/FwMessageTypes.h>
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/storagemanager/storeAddress.h>
/**
* @brief These messages are sent to an object implementing HasFilesystemIF.
* @details
* Enables a message-based file management. The user can add custo commands be implementing
* this generic class.
* @author Jakob Meier, R. Mueller
*/
class GenericFileSystemMessage {
public:
/* Instantiation forbidden */
GenericFileSystemMessage() = delete;
static const uint8_t MESSAGE_ID = messagetypes::FILE_SYSTEM_MESSAGE;
/* PUS standard (ECSS-E-ST-70-41C15 2016 p.654) */
static const Command_t CMD_CREATE_FILE = MAKE_COMMAND_ID(1);
static const Command_t CMD_DELETE_FILE = MAKE_COMMAND_ID(2);
/** Report file attributes */
static const Command_t CMD_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(3);
static const Command_t REPLY_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(4);
/** Command to lock a file, setting it read-only */
static const Command_t CMD_LOCK_FILE = MAKE_COMMAND_ID(5);
/** Command to unlock a file, enabling further operations on it */
static const Command_t CMD_UNLOCK_FILE = MAKE_COMMAND_ID(6);
/**
* Find file in repository, using a search pattern.
* Please note that * is the wildcard character.
* For example, when looking for all files which start with have the
* structure tm<something>.bin, tm*.bin can be used.
*/
static const Command_t CMD_FIND_FILE = MAKE_COMMAND_ID(7);
static const Command_t CMD_CREATE_DIRECTORY = MAKE_COMMAND_ID(9);
static const Command_t CMD_DELETE_DIRECTORY = MAKE_COMMAND_ID(10);
static const Command_t CMD_RENAME_DIRECTORY = MAKE_COMMAND_ID(11);
/** Dump contents of a repository */
static const Command_t CMD_DUMP_REPOSITORY = MAKE_COMMAND_ID(12);
/** Repository dump reply */
static const Command_t REPLY_DUMY_REPOSITORY = MAKE_COMMAND_ID(13);
static constexpr Command_t CMD_COPY_FILE = MAKE_COMMAND_ID(14);
static constexpr Command_t CMD_MOVE_FILE = MAKE_COMMAND_ID(15);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(128);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(129);
// These command IDs will remain until CFDP has been introduced and consolidated.
/** Append operation commands */
static const Command_t CMD_APPEND_TO_FILE = MAKE_COMMAND_ID(130);
static const Command_t CMD_FINISH_APPEND_TO_FILE = MAKE_COMMAND_ID(131);
static const Command_t REPLY_FINISH_APPEND = MAKE_COMMAND_ID(132);
static const Command_t CMD_READ_FROM_FILE = MAKE_COMMAND_ID(140);
static const Command_t REPLY_READ_FROM_FILE = MAKE_COMMAND_ID(141);
static const Command_t CMD_STOP_READ = MAKE_COMMAND_ID(142);
static const Command_t REPLY_READ_FINISHED_STOP = MAKE_COMMAND_ID(143);
static void setLockFileCommand(CommandMessage* message, store_address_t storeId);
static void setUnlockFileCommand(CommandMessage* message, store_address_t storeId);
static void setCreateFileCommand(CommandMessage* message,
store_address_t storeId);
static void setDeleteFileCommand(CommandMessage* message,
store_address_t storeId);
static void setReportFileAttributesCommand(CommandMessage* message,
store_address_t storeId);
static void setReportFileAttributesReply(CommandMessage* message,
store_address_t storeId);
static void setCreateDirectoryCommand(CommandMessage* message,
store_address_t storeId);
static void setDeleteDirectoryCommand(CommandMessage* message,
store_address_t storeId);
static void setSuccessReply(CommandMessage* message);
static void setFailureReply(CommandMessage* message,
ReturnValue_t errorCode, uint32_t errorParam = 0);
static void setCopyCommand(CommandMessage* message, store_address_t storeId);
static void setWriteCommand(CommandMessage* message,
store_address_t storeId);
static void setFinishStopWriteCommand(CommandMessage* message,
store_address_t storeId);
static void setFinishStopWriteReply(CommandMessage* message,
store_address_t storeId);
static void setFinishAppendReply(CommandMessage* message,
store_address_t storeId);
static void setReadCommand(CommandMessage* message,
store_address_t storeId);
static void setReadFinishedReply(CommandMessage* message,
store_address_t storeId);
static void setReadReply(CommandMessage* message, bool readFinished,
store_address_t storeId);
static bool getReadReply(const CommandMessage* message,
store_address_t* storeId);
static store_address_t getStoreId(const CommandMessage* message);
static ReturnValue_t getFailureReply(const CommandMessage* message,
uint32_t* errorParam = nullptr);
};
#endif /* MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_ */

1
osal/FreeRTOS/CMakeLists.txt
View File

@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
TaskFactory.cpp
Timekeeper.cpp
TaskManagement.cpp
QueueMapManager.cpp
)
# FreeRTOS is required to link the FSFW now. It is recommended to compile

56
osal/FreeRTOS/MessageQueue.cpp
View File

@ -1,26 +1,23 @@
#include "MessageQueue.h"
#include "QueueMapManager.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
// TODO I guess we should have a way of checking if we are in an ISR and then
// use the "fromISR" versions of all calls
// As a first step towards this, introduces system context variable which needs
// to be switched manually
// Haven't found function to find system context.
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize);
#if FSFW_CPP_OSTREAM_ENABLED == 1
if (handle == nullptr) {
sif::error << "MessageQueue::MessageQueue:"
<< " Creation failed." << std::endl;
sif::error << "Specified Message Depth: " << messageDepth
<< std::endl;
sif::error << "Specified Maximum Message Size: "
<< maxMessageSize << std::endl;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Creation failed" << std::endl;
sif::error << "Specified Message Depth: " << messageDepth << std::endl;
sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Creation failed\n");
sif::printError("Specified Message Depth: %d\n", messageDepth);
sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
#endif
}
QueueMapManager::instance()->addMessageQueue(handle, &queueId);
}
MessageQueue::~MessageQueue() {
@ -62,13 +59,15 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
callContext);
}
QueueHandle_t MessageQueue::getNativeQueueHandle() {
return handle;
}
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
if (result != pdPASS) {
if (not ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->
get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent();
}
@ -110,7 +109,7 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
}
MessageQueueId_t MessageQueue::getId() const {
return reinterpret_cast<MessageQueueId_t>(handle);
return queueId;
}
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
@ -132,29 +131,24 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault, CallContext callContext) {
BaseType_t result = pdFALSE;
QueueHandle_t destination = nullptr;
if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
if(sendTo == MessageQueueIF::NO_QUEUE) {
return MessageQueueIF::DESTINATION_INVALID;
}
else {
destination = reinterpret_cast<QueueHandle_t>(sendTo);
QueueHandle_t destination = QueueMapManager::instance()->getMessageQueue(sendTo);
if(destination == nullptr) {
return MessageQueueIF::DESTINATION_INVALID;
}
message->setSender(sentFrom);
if(callContext == CallContext::TASK) {
result = xQueueSendToBack(destination,
static_cast<const void*>(message->getBuffer()), 0);
result = xQueueSendToBack(destination, static_cast<const void*>(message->getBuffer()), 0);
}
else {
/* If the call context is from an interrupt,
* request a context switch if a higher priority task
* was blocked by the interrupt. */
/* If the call context is from an interrupt, request a context switch if a higher priority
task was blocked by the interrupt. */
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
static_cast<const void*>(message->getBuffer()),
result = xQueueSendFromISR(destination, static_cast<const void*>(message->getBuffer()),
&xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken == pdTRUE) {
TaskManagement::requestContextSwitch(callContext);

9
osal/FreeRTOS/MessageQueue.h
View File

@ -11,11 +11,6 @@
#include <freertos/queue.h>
#include <fsfw/ipc/MessageQueueMessage.h>
// TODO: this class assumes that MessageQueueId_t is the same size as void*
// (the FreeRTOS handle type), compiler will catch this but it might be nice
// to have something checking or even an always working solution
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
/**
* @brief This class manages sending and receiving of
* message queue messages.
@ -112,6 +107,8 @@ public:
bool isDefaultDestinationSet() const override;
QueueHandle_t getNativeQueueHandle();
protected:
/**
* @brief Implementation to be called from any send Call within
@ -141,6 +138,8 @@ protected:
private:
bool defaultDestinationSet = false;
QueueHandle_t handle;
MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
const size_t maxMessageSize;

58
osal/FreeRTOS/QueueMapManager.cpp Normal file
View File

@ -0,0 +1,58 @@
#include "QueueMapManager.h"
#include "../../ipc/MutexFactory.h"
#include "../../ipc/MutexGuard.h"
QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
QueueMapManager::QueueMapManager() {
mapLock = MutexFactory::instance()->createMutex();
}
QueueMapManager* QueueMapManager::instance() {
if (mqManagerInstance == nullptr){
mqManagerInstance = new QueueMapManager();
}
return QueueMapManager::mqManagerInstance;
}
ReturnValue_t QueueMapManager::addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id) {
MutexGuard lock(mapLock);
uint32_t currentId = queueCounter++;
auto returnPair = queueMap.emplace(currentId, queue);
if(not returnPair.second) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "QueueMapManager::addMessageQueue This ID is already "
"inside the map!" << std::endl;
#else
sif::printError("QueueMapManager::addMessageQueue This ID is already "
"inside the map!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
if (id != nullptr) {
*id = currentId;
}
return HasReturnvaluesIF::RETURN_OK;
}
QueueHandle_t QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId) const {
auto queueIter = queueMap.find(messageQueueId);
if(queueIter != queueMap.end()) {
return queueIter->second;
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
" does not exists in the map!" << std::endl;
#else
sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
messageQueueId);
#endif
}
return nullptr;
}
QueueMapManager::~QueueMapManager() {
MutexFactory::instance()->deleteMutex(mapLock);
}

50
osal/FreeRTOS/QueueMapManager.h Normal file
View File

@ -0,0 +1,50 @@
#ifndef FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
#define FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_
#include "../../ipc/MutexIF.h"
#include "../../ipc/messageQueueDefinitions.h"
#include "../../ipc/MessageQueueIF.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include <map>
using QueueMap = std::map<MessageQueueId_t, QueueHandle_t>;
class QueueMapManager {
public:
//! Returns the single instance of QueueMapManager
static QueueMapManager* instance();
/**
* Insert a message queue and the corresponding QueueHandle into the map
* @param queue The message queue to insert.
* @param id The passed value will be set unless a nullptr is passed
* @return
*/
ReturnValue_t addMessageQueue(QueueHandle_t queue, MessageQueueId_t* id);
/**
* Get the message queue handle by providing a message queue ID. Returns nullptr
* if the queue ID does not exist in the internal map.
* @param messageQueueId
* @return
*/
QueueHandle_t getMessageQueue(MessageQueueId_t messageQueueId) const;
private:
//! External instantiation forbidden. Constructor still required for singleton instantiation.
QueueMapManager();
~QueueMapManager();
uint32_t queueCounter = 0;
MutexIF* mapLock;
QueueMap queueMap;
static QueueMapManager* mqManagerInstance;
};
#endif /* FSFW_OSAL_FREERTOS_QUEUEMAPMANAGER_H_ */

7
osal/host/QueueMapManager.cpp
View File

@ -23,9 +23,7 @@ QueueMapManager* QueueMapManager::instance() {
ReturnValue_t QueueMapManager::addMessageQueue(
MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
/* Not thread-safe, but it is assumed all message queues are created at software initialization
now. If this is to be made thread-safe in the future, it propably would be sufficient to lock
the increment operation here. */
MutexGuard lock(mapLock);
uint32_t currentId = queueCounter++;
auto returnPair = queueMap.emplace(currentId, queueToInsert);
if(not returnPair.second) {
@ -47,7 +45,6 @@ ReturnValue_t QueueMapManager::addMessageQueue(
MessageQueueIF* QueueMapManager::getMessageQueue(
MessageQueueId_t messageQueueId) const {
MutexGuard(mapLock, MutexIF::TimeoutType::WAITING, 50);
auto queueIter = queueMap.find(messageQueueId);
if(queueIter != queueMap.end()) {
return queueIter->second;
@ -60,7 +57,7 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
messageQueueId);
#endif
return nullptr;
}
return nullptr;
}

9
osal/host/QueueMapManager.h
View File

@ -15,7 +15,9 @@ using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
*/
class QueueMapManager {
public:
//! Returns the single instance of SemaphoreFactory.
//! Returns the single instance of QueueMapManager.
static QueueMapManager* instance();
/**
@ -27,14 +29,15 @@ public:
ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
id = nullptr);
/**
* Get the message queue handle by providing a message queue ID.
* Get the message queue handle by providing a message queue ID. Returns nullptr
* if the queue ID is not contained inside the internal map.
* @param messageQueueId
* @return
*/
MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
private:
//! External instantiation is forbidden.
//! External instantiation is forbidden. Constructor still required for singleton instantiation.
QueueMapManager();
~QueueMapManager();