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Merge remote-tracking branch 'upstream/development' into mueller/master

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Robin Müller 2022-02-14 22:17:14 +01:00
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214
CHANGELOG → CHANGELOG.md
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@ -1,4 +1,214 @@
# Changed from ASTP 1.1.0 to 1.2.0
Change Log
=======
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v4.0.0]
## Additions
- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
allow sending of CFDP packets to the CCSDS handlers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
- added virtual function to print datasets
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
- doSendRead Hook
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
- Dockumentation for DHB
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
### HAL additions
- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
- uio Mapper
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
## Changes
- Applied the `clang-format` auto-formatter to all source code
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
- Updated Catch2 to v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
- Changed CI to use prebuilt docker image
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
## Bugfix
- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
- Fix for build regression in Catch2 v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
- Fix in unittest which failed on CI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
- Fix in helper script
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
## API Changes
- Aforementioned changes to existing TMTC stack
## Known bugs
-
# [v3.0.1]
## API Changes
*
## Bugfixes
* Version number was not updated for v3.0.0 #542
## Enhancement
*
## Known bugs
*
# [v3.0.0]
## API Changes
#### TCP Socket Changes
* Keep Open TCP Implementation #496
* The socket will now kept open after disconnect. This allows reconnecting.
* Only one connection is allowed
* No internal influence but clients need to change their Code.
### GPIO IF
* Add feature to open GPIO by line name #506
### Bitutil
* Unittests for Op Divider and Bitutility #510
### Filesystem IF changed
* Filesystem Base Interface: Use IF instead of void pointer #511
### STM32
* STM32 SPI Updates #518
## Bugfixes
* Small bugfix for LIS3 handler #504
* Spelling fixed for function names #509
* CMakeLists fixes #517
* Out of bound reads and writes in unittests #519
* Bug in TmPacketStoredPusC (#478)
* Windows ifdef fixed #529
## Enhancement
* FSFW.h.in more default values #491
* Minor updates for PUS services #498
* HasReturnvaluesIF naming for parameter #499
* Tests can now be built as part of FSFW and versioning moved to CMake #500
* Added integration test code #508
* More printouts for rejected TC packets #505
* Arrayprinter format improvements #514
* Adding code for CI with docker and jenkins #520
* Added new function in SerializeAdapter #513
* Enables simple deSerialize if you keep track of the buffer position yourself
* `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser #525
* ``'-o', '--open', Open coverage data in webbrowser``
* Documentation updated. Sphinx Documentation can now be build with python script #526
## Known bugs
* Version number was not updated for v3.0.0 #542
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
# [v2.0.0]
## API Changes
### File Structure changed to fit more common structure
* See pull request (#445)
* HAL is now part of the main project
* **See Instructions below:**
#### Instruction how to update existing / user code
* Changes in `#include`:
* Rename `internalError` in includes to `internalerror`
* Rename `fsfw/hal` to `fsfw_hal`
* Rename `fsfw/tests` to `fsfw_tests`
* Rename `osal/FreeRTOS` to `osal/freertos`
* Changes in `CMakeLists.txt`:
* Rename `OS_FSFW` to `FSFW_OSAL`
* Changes in `DleEncoder.cpp`
* Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
### Removed osal/linux/Timer (#486)
* Was redundant to timemanager/Countdown
#### Instruction how to update existing / user code
* Use timemanager/Countdown instead
## Bugfixes
### TM Stack
* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
#### Host OSAL / FreeRTOS
* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
#### Events
* Event output is now consistent (#447)
#### DLE Encoder
* Fixed possible out of bounds access in DLE Encoder (#492)
## Enhancment
* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
* Linux HAL updates (#456)
* FreeRTOS Header cleaning update and Cmake tweaks (#442)
* Printer updates (#453)
* New returnvalue for for empty PST (#485)
* TMTC Bridge: Increase limit of packets stored (#484)
## Known bugs
* Bug in TmPacketStoredPusC (#478)
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
# [v1.2.0]
## API Changes
@ -27,7 +237,7 @@
- See API changes chapter. This change will keep the internal API consistent in the future
# Changes from ASTP 1.0.0 to 1.1.0
# [v1.1.0]
## API Changes

4
CMakeLists.txt
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@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 3.13)
set(FSFW_VERSION 3)
set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0)
@ -60,6 +60,8 @@ if(FSFW_BUILD_UNITTESTS)
)
FetchContent_MakeAvailable(Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)

36
README.md
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@ -107,6 +107,42 @@ cmake --build . -- fsfw-tests_coverage -j
The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
## Building the documentations
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
```sh
sudo apt-get install doxygen graphviz
```
And the following Python packages
```sh
python3 -m pip install sphinx breathe
```
You can set up a documentation build system using the following commands
```sh
mkdir build-docs && cd build-docs
cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
```
Then you can generate the documentation using
```sh
cmake --build . -j
```
You can find the generated documentation inside the `docs/sphinx` folder inside the build
folder. Simply open the `index.html` in the webbrowser of your choice.
The `helper.py` script located in the script` folder can also be used to create, build
and open the documentation conveniently. Try `helper.py -h for more information.
## Formatting the sources
The formatting is done by the `clang-format` tool. The configuration is contained within the

6
automation/Dockerfile
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@ -6,9 +6,3 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
RUN git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout v3.0.0-preview4 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install

8
automation/Jenkinsfile vendored
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@ -3,13 +3,7 @@ pipeline {
BUILDDIR = 'build-tests'
}
agent {
dockerfile {
dir 'automation'
//force docker to redownload base image and rebuild all steps instead of caching them
//this way, we always get an up to date docker image one each build
additionalBuildArgs '--no-cache --pull'
reuseNode true
}
docker { image 'fsfw-ci:d1'}
}
stages {
stage('Clean') {

107
docs/devicehandlers.rst
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@ -1,3 +1,110 @@
.. _dhb-prim-doc:
Device Handlers
==================
Device handler components represent, control and monitor equipment, for example sensors or actuators
of a spacecraft or the payload.
Most device handlers have the same common functionality or
requirements, which are fulfilled by implementing certain interfaces:
- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
- The handler needs to communicate with the physical device via a dedicated
communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
- The handler has housekeeping data which has to be exposed to the operator and/or other software
components: :cpp:class:`HasLocalDataPoolIF`
- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
also implements :cpp:class:`HasParametersIF`
- The handler has health states, for example to indicate a broken device:
:cpp:class:`HasHealthIF`
- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
but that it is not periodically polling data from the
physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
The device handler base therefore provides abstractions for a lot of common
functionality, which can potentially avoid high amounts or logic and code duplication.
Template Device Handler Base File
----------------------------------
This is an example template device handler header file with all necessary
functions implemented:
.. code-block:: cpp
#ifndef __TESTDEVICEHANDLER_H_
#define __TESTDEVICEHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class TestDeviceHandler: DeviceHandlerBase {
public:
TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
private:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
};
#endif /* __TESTDEVICEHANDLER_H_ */
and the respective source file with sensible default return values:
.. code-block:: cpp
#include "TestDeviceHandler.h"
TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
: DeviceHandlerBase(objectId, comIF, cookie) {}
void TestDeviceHandler::doStartUp() {}
void TestDeviceHandler::doShutDown() {}
ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
void TestDeviceHandler::fillCommandAndReplyMap() {}
ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 10000;
}
ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}

25
docs/getting_started.rst
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@ -90,8 +90,21 @@ Building the documentation
----------------------------
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a
documentation build system using the following commands
instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
.. code-block:: console
sudo apt-get install doxygen graphviz
And the following Python packages
.. code-block:: console
python3 -m pip install sphinx breathe
You can set up a documentation build system using the following commands
.. code-block:: bash
@ -110,6 +123,14 @@ folder. Simply open the ``index.html`` in the webbrowser of your choice.
The ``helper.py`` script located in the ``script`` folder can also be used to create, build
and open the documentation conveniently. Try ``helper.py -h`` for more information.
Formatting the source
-----------------------
The formatting is done by the ``clang-format`` tool. The configuration is contained within the
``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
.. _`Catch2 library`: https://github.com/catchorg/Catch2
.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

2
docs/highlevel.rst
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@ -118,7 +118,7 @@ The DH has mechanisms to monitor the communication with the physical device whic
for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``.
A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the
related [documentation section](doc/README-devicehandlers.md#top).
related :ref:`documentation section <dhb-prim-doc>`.
Modes and Health
--------------------

2
hal/src/fsfw_hal/linux/CMakeLists.txt
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@ -14,3 +14,5 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
add_subdirectory(i2c)
add_subdirectory(uart)
endif()
add_subdirectory(uio)

3
hal/src/fsfw_hal/linux/uio/CMakeLists.txt Normal file
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@ -0,0 +1,3 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
UioMapper.cpp
)

86
hal/src/fsfw_hal/linux/uio/UioMapper.cpp Normal file
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@ -0,0 +1,86 @@
#include "UioMapper.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include "fsfw/serviceinterface.h"
const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
const char UioMapper::MAP_SUBSTR[] = "/maps/map";
const char UioMapper::SIZE_FILE_PATH[] = "/size";
UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
UioMapper::~UioMapper() {}
ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int fd = open(uioFile.c_str(), O_RDWR);
if (fd < 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t size = 0;
result = getMapSize(&size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*address = static_cast<uint32_t*>(
mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
if (*address == MAP_FAILED) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
<< uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UioMapper::getMapSize(size_t* size) {
std::stringstream namestream;
namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
<< SIZE_FILE_PATH;
FILE* fp;
fp = fopen(namestream.str().c_str(), "r");
if (fp == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
char hexstring[SIZE_HEX_STRING] = "";
int items = fscanf(fp, "%s", hexstring);
if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed with error code " << errno
<< " to read size "
"string from file "
<< namestream.str() << std::endl;
#endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t sizeTmp = 0;
items = sscanf(hexstring, "%x", &sizeTmp);
if (size != nullptr) {
*size = sizeTmp;
}
if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
<< "size of map" << mapNum << " to integer" << std::endl;
#endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
}
fclose(fp);
return HasReturnvaluesIF::RETURN_OK;
}

58
hal/src/fsfw_hal/linux/uio/UioMapper.h Normal file
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@ -0,0 +1,58 @@
#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#include <sys/mman.h>
#include <string>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Class to help opening uio device files and mapping the physical addresses into the user
* address space.
*
* @author J. Meier
*/
class UioMapper {
public:
enum class Permissions : int {
READ_ONLY = PROT_READ,
WRITE_ONLY = PROT_WRITE,
READ_WRITE = PROT_READ | PROT_WRITE
};
/**
* @brief Constructor
*
* @param uioFile The device file of the uiO to open
* @param uioMap Number of memory map. Most UIO drivers have only one map which has than 0.
*/
UioMapper(std::string uioFile, int mapNum = 0);
virtual ~UioMapper();
/**
* @brief Maps the physical address into user address space and returns the mapped address
*
* @address The mapped user space address
* @permissions Specifies the read/write permissions of the address region
*/
ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
private:
static const char UIO_PATH_PREFIX[];
static const char MAP_SUBSTR[];
static const char SIZE_FILE_PATH[];
static constexpr int SIZE_HEX_STRING = 10;
std::string uioFile;
int mapNum = 0;
/**
* @brief Reads the map size from the associated sysfs size file
*
* @param size The read map size
*/
ReturnValue_t getMapSize(size_t* size);
};
#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */

5
scripts/helper.py
View File

@ -143,7 +143,10 @@ def handle_tests_type(args, build_dir_list: list):
if which("valgrind") is None:
print("Please install valgrind first")
sys.exit(1)
os.chdir(UNITTEST_FOLDER_NAME)
if os.path.split(os.getcwd())[1] != UNITTEST_FOLDER_NAME:
# 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")
os.chdir("..")

2
src/fsfw/datalinklayer/DataLinkLayer.h
View File

@ -30,7 +30,7 @@ class DataLinkLayer : public CCSDSReturnValuesIF {
//! [EXPORT] : [COMMENT] A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO);
// static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board
//detected that either bit lock or RF available or both are lost. No parameters.
// detected that either bit lock or RF available or both are lost. No parameters.
//! [EXPORT] : [COMMENT] The CCSDS Board could not interpret a TC
static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW);
/**

4
src/fsfw/datalinklayer/VirtualChannelReception.cpp
View File

@ -30,9 +30,9 @@ ReturnValue_t VirtualChannelReception::mapDemultiplexing(TcTransferFrame* frame)
mapChannelIterator iter = mapChannels.find(mapId);
if (iter == mapChannels.end()) {
// error << "VirtualChannelReception::mapDemultiplexing on VC " << std::hex << (int)
//channelId
// channelId
// << ": MapChannel " << (int) mapId << std::dec << " not found." <<
//std::endl;
// std::endl;
return VC_NOT_FOUND;
} else {
return (iter->second)->extractPackets(frame);

2
src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -291,3 +291,5 @@ float LocalPoolDataSetBase::getCollectionInterval() const {
return 0.0;
}
}
void LocalPoolDataSetBase::printSet() { return; }

5
src/fsfw/datapoollocal/LocalPoolDataSetBase.h
View File

@ -171,6 +171,11 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
*/
float getCollectionInterval() const;
/**
* @brief Can be overwritten by a specific implementation of a dataset to print the set.
*/
virtual void printSet();
protected:
sid_t sid;
//! This mutex is used if the data is created by one object only.

7
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -665,6 +665,11 @@ void DeviceHandlerBase::doGetWrite() {
void DeviceHandlerBase::doSendRead() {
ReturnValue_t result;
result = doSendReadHook();
if (result != RETURN_OK) {
return;
}
size_t replyLen = 0;
if (cookieInfo.pendingCommand != deviceCommandMap.end()) {
replyLen = getNextReplyLength(cookieInfo.pendingCommand->first);
@ -920,6 +925,8 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
}
}
ReturnValue_t DeviceHandlerBase::doSendReadHook() { return RETURN_OK; }
ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
return DeviceHandlerBase::NO_SWITCH;
}

6
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -1082,6 +1082,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
void commandSwitch(ReturnValue_t onOff);
/**
* @brief This function can be used to insert device specific code during the do-send-read
* step.
*/
virtual ReturnValue_t doSendReadHook();
private:
/**
* State a cookie is in.

4
src/fsfw/globalfunctions/CRC.cpp
View File

@ -116,8 +116,8 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti
// for (int i=0; i<16 ;i++)
// {
// if (xor_out[i] == true)
// crc_value = crc_value + pow(2,(15 -i)); // reverse CrC result before Final
//XOR
// crc_value = crc_value + pow(2,(15 -i)); // reverse CrC result before
//Final XOR
// }
//
// crc_value = 0;// for debug mode

16
src/fsfw/modes/ModeMessage.h
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@ -14,30 +14,30 @@ class ModeMessage {
static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
static const Command_t CMD_MODE_COMMAND =
MAKE_COMMAND_ID(0x01); //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
//!REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
//!as this will break the subsystem mode machine!!
//! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
//! as this will break the subsystem mode machine!!
static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(
0xF1); //!> Command to set the specified Mode, regardless of external control flag, replies
//!are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
//!replies, as this will break the subsystem mode machine!!
//! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
//! replies, as this will break the subsystem mode machine!!
static const Command_t REPLY_MODE_REPLY =
MAKE_COMMAND_ID(0x02); //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
static const Command_t REPLY_MODE_INFO =
MAKE_COMMAND_ID(0x03); //!> Unrequested info about the current mode (used for composites to
//!inform their container of a changed mode)
//! inform their container of a changed mode)
static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(
0x04); //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
static const Command_t REPLY_WRONG_MODE_REPLY =
MAKE_COMMAND_ID(0x05); //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
//!and a transition started but was aborted; the parameters contain
//!the mode that was reached
//! and a transition started but was aborted; the parameters contain
//! the mode that was reached
static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(
0x06); //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(
0x07); //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY =
MAKE_COMMAND_ID(0x08); //!> Command to trigger an ModeInfo Event and to send this command to
//!every child. This command does NOT have a reply.
//! every child. This command does NOT have a reply.
static Mode_t getMode(const CommandMessage* message);
static Submode_t getSubmode(const CommandMessage* message);

4
src/fsfw/osal/linux/PeriodicPosixTask.h
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@ -65,8 +65,8 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
/**
* @brief The function containing the actual functionality of the task.
* @details The method sets and starts
* the task's period, then enters a loop that is repeated indefinitely. Within the loop,
* all performOperation methods of the added objects are called. Afterwards the task will be
* the task's period, then enters a loop that is repeated indefinitely. Within the
* loop, all performOperation methods of the added objects are called. Afterwards the task will be
* blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed.
*/
virtual void taskFunctionality(void);

4
src/fsfw/osal/rtems/PeriodicTask.h
View File

@ -13,8 +13,8 @@ class ExecutableObjectIF;
* @brief This class represents a specialized task for periodic activities of multiple objects.
*
* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
* multiple objects that implement the ExecutableObjectIF interface. The objects must
* be added prior to starting the task.
* multiple objects that implement the ExecutableObjectIF interface. The objects
* must be added prior to starting the task.
* @author baetz
* @ingroup task_handling
*/

4
src/fsfw/osal/rtems/RTEMSTaskBase.h
View File

@ -25,8 +25,8 @@ class RTEMSTaskBase {
* all other attributes are set with default values.
* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
* @param stack_size The stack size reserved by the operating system for the task.
* @param nam The name of the Task, as a null-terminated String. Currently max 4 chars
* supported (excluding Null-terminator), rest will be truncated
* @param nam The name of the Task, as a null-terminated String. Currently max 4
* chars supported (excluding Null-terminator), rest will be truncated
*/
RTEMSTaskBase(rtems_task_priority priority, size_t stack_size, const char *name);
/**

18
src/fsfw/rmap/RMAP.h
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@ -51,9 +51,9 @@ class RMAP : public HasReturnvaluesIF {
// MAKE_RETURN_CODE(0xE4); //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
// replaced by DeviceCommunicationIF::NULLPOINTER static const ReturnValue_t COMMAND_NULLPOINTER
// = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write command, or
// nullpointer in read command
// replaced by DeviceCommunicationIF::NULLPOINTER static const ReturnValue_t
// COMMAND_NULLPOINTER = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write
// command, or nullpointer in read command
static const ReturnValue_t COMMAND_CHANNEL_DEACTIVATED =
MAKE_RETURN_CODE(0xE6); // the channel has no port set
static const ReturnValue_t COMMAND_PORT_OUT_OF_RANGE =
@ -73,8 +73,8 @@ class RMAP : public HasReturnvaluesIF {
static const ReturnValue_t REPLY_MISSMATCH = MAKE_RETURN_CODE(
0xD3); // a read command was issued, but get_write_rply called, or other way round
static const ReturnValue_t REPLY_TIMEOUT = MAKE_RETURN_CODE(0xD4); // timeout
// replaced by DeviceCommunicationIF::NULLPOINTER static const ReturnValue_t REPLY_NULLPOINTER =
// MAKE_RETURN_CODE(0xD5);//one of the arguments in a read reply was NULL return values for
// replaced by DeviceCommunicationIF::NULLPOINTER static const ReturnValue_t REPLY_NULLPOINTER
// = MAKE_RETURN_CODE(0xD5);//one of the arguments in a read reply was NULL return values for
// get_reply
static const ReturnValue_t REPLY_INTERFACE_BUSY =
MAKE_RETURN_CODE(0xC0); // Interface is busy (transmission buffer still being processed)
@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
* @param buffer the data to write
* @param length length of data
* @return
* - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in write
* command
* - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in
* write command
* - return codes of RMAPChannelIF::sendCommand()
*/
static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
* @param cookie to cookie to read from
* @param expLength the expected maximum length of the reply
* @return
* - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in write
* command, or nullpointer in read command
* - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in
* write command, or nullpointer in read command
* - return codes of RMAPChannelIF::sendCommand()
*/
static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);

20
src/fsfw/rmap/RMAPChannelIF.h
View File

@ -73,16 +73,16 @@ class RMAPChannelIF {
* @param datalen length of data
* @return
* - @c RETURN_OK
* - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending 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)
* - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending
* 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_CHANNEL_DEACTIVATED the channel has no port set
* - @c NOT_SUPPORTED if you dont feel like implementing
* something...
* - @c NOT_SUPPORTED if you dont feel like
* implementing something...
*/
virtual ReturnValue_t sendCommand(RMAPCookie *cookie, uint8_t instruction, const uint8_t *data,
size_t datalen) = 0;
@ -97,8 +97,8 @@ class RMAPChannelIF {
* - @c REPLY_NO_REPLY no reply was received
* - @c REPLY_NOT_SENT command was not sent, implies no reply
* - @c REPLY_NOT_YET_SENT command is still waiting to be sent
* - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer still being
* processed)
* - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer still
* being processed)
* - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last
* operation, data could not be processed. (transmission error)
* - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value)

6
src/fsfw/rmap/rmapStructs.h
View File

@ -32,10 +32,10 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C
static const uint8_t RMAP_REPLY_WRITE =
((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY));
static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY));
//#define RMAP_COMMAND_WRITE ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE) |
//(1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY ((1<<RMAP_COMMAND_BIT) |
//#define RMAP_COMMAND_WRITE ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
//| (1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY ((1<<RMAP_COMMAND_BIT) |
//(1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define
//RMAP_COMMAND_READ ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
// RMAP_COMMAND_READ ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
//#define RMAP_REPLY_WRITE ((1<<RMAP_COMMAND_BIT_WRITE) |
//(1<<RMAP_COMMAND_BIT_REPLY))

10
tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
View File

@ -45,7 +45,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
result = cmdExecutor.check(bytesHaveBeenRead);
REQUIRE(result != CommandExecutor::COMMAND_ERROR);
usleep(500);
REQUIRE(limitIdx < 5);
REQUIRE(limitIdx < 500);
}
limitIdx = 0;
@ -71,8 +71,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
limitIdx++;
result = cmdExecutor.check(bytesHaveBeenRead);
REQUIRE(result != CommandExecutor::COMMAND_ERROR);
// This ensures that the tests do not block indefinitely
usleep(500);
REQUIRE(limitIdx < 20);
REQUIRE(limitIdx < 500);
}
limitIdx = 0;
CHECK(bytesHaveBeenRead == true);
@ -89,7 +90,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
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);
REQUIRE(allTheReply.find("PING localhost") != std::string::npos);
// Now check failing command
result = cmdExecutor.load("false", false, false);
@ -101,8 +102,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
limitIdx++;
result = cmdExecutor.check(bytesHaveBeenRead);
REQUIRE(result != CommandExecutor::COMMAND_ERROR);
// This ensures that the tests do not block indefinitely
usleep(500);
REQUIRE(limitIdx < 20);
REQUIRE(limitIdx < 500);
}
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
REQUIRE(cmdExecutor.getLastError() == 1);