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

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This commit is contained in:
Robin Müller 2021-02-03 13:39:09 +01:00
commit 8c5e261a0d
119 changed files with 9240 additions and 5985 deletions
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2
action/ActionHelper.cpp
View File

@ -155,7 +155,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
}
return result;

2
action/ActionHelper.h
View File

@ -99,7 +99,7 @@ public:
*/
void setQueueToUse(MessageQueueIF *queue);
protected:
//!< Increase of value of this per step
//! Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;//!< Pointer to the owner
//! Queue to be used as response sender, has to be set in ctor or with

2
datapoollocal/AccessLocalPoolF.h
View File

@ -18,7 +18,7 @@ public:
* This function is protected because it should only be used by the
* class imlementing the interface.
*/
virtual LocalDataPoolManager* getHkManagerHandle() = 0;
virtual LocalDataPoolManager* getPoolManagerHandle() = 0;
protected:

14
datapoollocal/LocalDataPoolManager.cpp
View File

@ -5,8 +5,8 @@
#include "internal/LocalPoolDataSetAttorney.h"
#include "internal/HasLocalDpIFManagerAttorney.h"
#include "../housekeeping/HousekeepingPacketUpdate.h"
#include "../housekeeping/HousekeepingSetPacket.h"
#include "../housekeeping/HousekeepingSnapshot.h"
#include "../housekeeping/AcceptsHkPacketsIF.h"
#include "../timemanager/CCSDSTime.h"
#include "../ipc/MutexFactory.h"
@ -226,7 +226,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
HousekeepingSnapshot updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner,
receiver.dataId.localPoolId));
@ -264,7 +264,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
HousekeepingSnapshot updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), HasLocalDpIFManagerAttorney::getDataSetHandle(owner,
receiver.dataId.sid));
@ -292,7 +292,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
}
ReturnValue_t LocalDataPoolManager::addUpdateToStore(
HousekeepingPacketUpdate& updatePacket, store_address_t& storeId) {
HousekeepingSnapshot& updatePacket, store_address_t& storeId) {
size_t updatePacketSize = updatePacket.getSerializedSize();
uint8_t *storePtr = nullptr;
ReturnValue_t result = ipcStore->getFreeElement(&storeId,
@ -890,7 +890,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
<< std::dec << std::setfill(' ') << std::endl;
#else
sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
owner->getObjectId(), errorPrint);
functionName, owner->getObjectId(), errorPrint);
#endif
}
else if(outputType == sif::OutputTypes::OUT_ERROR) {
@ -901,11 +901,11 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
<< std::dec << std::setfill(' ') << std::endl;
#else
sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
owner->getObjectId(), errorPrint);
functionName, owner->getObjectId(), errorPrint);
#endif
}
}
LocalDataPoolManager* LocalDataPoolManager::getHkManagerHandle() {
LocalDataPoolManager* LocalDataPoolManager::getPoolManagerHandle() {
return this;
}

46
datapoollocal/LocalDataPoolManager.h
View File

@ -24,7 +24,7 @@ void setStaticFrameworkObjectIds();
}
class LocalPoolDataSetBase;
class HousekeepingPacketUpdate;
class HousekeepingSnapshot;
class HasLocalDataPoolIF;
class LocalDataPool;
@ -52,7 +52,8 @@ class LocalDataPool;
* Each pool entry has a valid state too.
* @author R. Mueller
*/
class LocalDataPoolManager: public ProvidesDataPoolSubscriptionIF,
class LocalDataPoolManager:
public ProvidesDataPoolSubscriptionIF,
public AccessPoolManagerIF {
friend void (Factory::setStaticFrameworkObjectIds)();
//! Some classes using the pool manager directly need to access class internals of the
@ -62,7 +63,6 @@ public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
static constexpr ReturnValue_t QUEUE_OR_DESTINATION_INVALID = MAKE_RETURN_CODE(0);
static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(1);
static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(2);
static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(3);
@ -179,8 +179,6 @@ public:
MessageQueueId_t targetQueueId,
bool generateSnapshot) override;
MutexIF* getLocalPoolMutex() override;
/**
* Non-Diagnostics packets usually have a lower minimum sampling frequency
* than diagnostic packets.
@ -243,12 +241,9 @@ public:
UPDATE_SNAPSHOT,
};
/**
* Different data types are possible in the HK receiver map.
* For example, updates can be requested for full datasets or
* for single pool variables. Periodic reporting is only possible for
* data sets.
*/
/** Different data types are possible in the HK receiver map. For example, updates can be
requested for full datasets or for single pool variables. Periodic reporting is only possible
for data sets. */
enum class DataType: uint8_t {
LOCAL_POOL_VARIABLE,
DATA_SET
@ -267,11 +262,19 @@ public:
object_id_t getCreatorObjectId() const;
virtual LocalDataPoolManager* getHkManagerHandle() override;
/**
* Get the pointer to the mutex. Can be used to lock the data pool
* externally. Use with care and don't forget to unlock locked mutexes!
* For now, only friend classes can accss this function.
* @return
*/
MutexIF* getMutexHandle();
virtual LocalDataPoolManager* getPoolManagerHandle() override;
private:
localpool::DataPool localPoolMap;
//! Every housekeeping data manager has a mutex to protect access
//! to it's data pool.
/** Every housekeeping data manager has a mutex to protect access
to it's data pool. */
MutexIF* mutex = nullptr;
/** The class which actually owns the manager (and its datapool). */
@ -333,13 +336,6 @@ private:
/** Global IPC store is used to store all packets. */
StorageManagerIF* ipcStore = nullptr;
/**
* Get the pointer to the mutex. Can be used to lock the data pool
* externally. Use with care and don't forget to unlock locked mutexes!
* For now, only friend classes can accss this function.
* @return
*/
MutexIF* getMutexHandle();
/**
* Read a variable by supplying its local pool ID and assign the pool
@ -364,6 +360,8 @@ private:
*/
ReturnValue_t initializeHousekeepingPoolEntriesOnce();
MutexIF* getLocalPoolMutex() override;
ReturnValue_t serializeHkPacketIntoStore(
HousekeepingPacketDownlink& hkPacket,
store_address_t& storeId, bool forDownlink, size_t* serializedSize);
@ -386,7 +384,7 @@ private:
ReturnValue_t& status);
ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
ReturnValue_t& status);
ReturnValue_t addUpdateToStore(HousekeepingPacketUpdate& updatePacket,
ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket,
store_address_t& storeId);
void printWarningOrError(sif::OutputTypes outputType,
@ -401,14 +399,14 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
PoolEntry<T> **poolEntry) {
auto poolIter = localPoolMap.find(localPoolId);
if (poolIter == localPoolMap.end()) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry",
printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
localpool::POOL_ENTRY_NOT_FOUND);
return localpool::POOL_ENTRY_NOT_FOUND;
}
*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
if(*poolEntry == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry",
printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
localpool::POOL_ENTRY_TYPE_CONFLICT);
return localpool::POOL_ENTRY_TYPE_CONFLICT;
}

15
datapoollocal/LocalDataSet.h
View File

@ -4,11 +4,26 @@
#include "LocalPoolDataSetBase.h"
#include <vector>
/**
* @brief This dataset type can be used to group related pool variables if the number of
* variables should not be fixed.
* @details
* This will is the primary data structure to organize pool variables into
* sets which can be accessed via the housekeeping service interface or
* which can be sent to other software objects.
*
* It is recommended to read the documentation of the LocalPoolDataSetBase
* class for more information on how this class works and how to use it.
* @tparam capacity Capacity of the static dataset, which is usually known
* beforehand.
*/
class LocalDataSet: public LocalPoolDataSetBase {
public:
LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId,
const size_t maxSize);
LocalDataSet(sid_t sid, const size_t maxSize);
virtual~ LocalDataSet();
//! Copying forbidden for now.

2
datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -28,7 +28,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
if(accessor != nullptr) {
poolManager = accessor->getHkManagerHandle();
poolManager = accessor->getPoolManagerHandle();
mutexIfSingleDataCreator = accessor->getLocalPoolMutex();
}

4
datapoollocal/LocalPoolObjectBase.cpp
View File

@ -22,7 +22,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkO
return;
}
AccessPoolManagerIF* poolManAccessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
hkManager = poolManAccessor->getHkManagerHandle();
hkManager = poolManAccessor->getPoolManagerHandle();
if (dataSet != nullptr) {
dataSet->registerVariable(this);
@ -50,7 +50,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
if(accessor != nullptr) {
hkManager = accessor->getHkManagerHandle();
hkManager = accessor->getPoolManagerHandle();
}
if(dataSet != nullptr) {

5
datapoollocal/LocalPoolVector.h
View File

@ -77,8 +77,7 @@ public:
* @param dataSet
* @param setReadWriteMode
*/
LocalPoolVector(gp_id_t globalPoolId,
DataSetIF* dataSet = nullptr,
LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
@ -87,7 +86,7 @@ public:
* The user can work on this attribute just like he would on a local
* array of this type.
*/
T value[vectorSize];
T value[vectorSize]= {};
/**
* @brief The classes destructor is empty.
* @details If commit() was not called, the local value is

1
datapoollocal/LocalPoolVector.tpp
View File

@ -16,7 +16,6 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):

6
datapoollocal/StaticLocalDataSet.h
View File

@ -2,11 +2,15 @@
#define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
#include "LocalPoolDataSetBase.h"
#include "LocalPoolVariable.h"
#include "LocalPoolVector.h"
#include "../objectmanager/SystemObjectIF.h"
#include <array>
/**
* @brief This local dataset type is created on the stack.
* @brief This dataset type can be used to group related pool variables if the number of
* variables is fixed.
* @details
* This will is the primary data structure to organize pool variables into
* sets which can be accessed via the housekeeping service interface or

110
devicehandlers/DeviceHandlerBase.cpp
View File

@ -17,16 +17,15 @@ object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * comCookie,
FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
CookieIF* comCookie, FailureIsolationBase* fdirInstance, size_t cmdQueueSize):
SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication), comCookie(comCookie),
healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
actionHelper(this, nullptr), poolManager(this, nullptr),
childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false), childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) {
@ -80,7 +79,6 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
checkSwitchState();
decrementDeviceReplyMap();
fdirInstance->checkForFailures();
hkSwitcher.performOperation();
performOperationHook();
return RETURN_OK;
}
@ -92,7 +90,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
switch (getComAction()) {
case CommunicationAction::SEND_WRITE:
if (cookieInfo.state == COOKIE_UNUSED) {
// if no external command was specified, build internal command.
/* If no external command was specified, build internal command. */
buildInternalCommand();
}
doSendWrite();
@ -105,8 +103,8 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
break;
case CommunicationAction::GET_READ:
doGetRead();
// This will be performed after datasets have been updated by the
// custom device implementation.
/* This will be performed after datasets have been updated by the
custom device implementation. */
poolManager.performHkOperation();
break;
default:
@ -205,11 +203,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
return result;
}
result = hkSwitcher.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = poolManager.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
@ -506,7 +499,8 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
}
void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
changeHK(mode, submode, false);
/* TODO: This will probably be done by the LocalDataPoolManager now */
//changeHK(mode, submode, false);
submode = newSubmode;
mode = newMode;
modeChanged();
@ -529,7 +523,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
}
}
changeHK(mode, submode, true);
/* TODO: This will probably be done by the LocalDataPoolManager now */
//changeHK(mode, submode, true);
}
void DeviceHandlerBase::setMode(Mode_t newMode) {
@ -1202,61 +1197,62 @@ ReturnValue_t DeviceHandlerBase::letChildHandleMessage(
return RETURN_FAILED;
}
void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
DeviceCommandId_t replyId, bool neverInDataPool, bool forceDirectTm) {
void DeviceHandlerBase::handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId,
bool forceDirectTm) {
if(dataSet == nullptr) {
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
triggerEvent(DEVICE_UNKNOWN_REPLY, replyId);
return;
}
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, data);
//replies to a command
/* Regular replies to a command */
if (iter->second.command != deviceCommandMap.end())
{
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId != NO_COMMANDER) {
//This may fail, but we'll ignore the fault.
actionHelper.reportData(queueId, replyId, data);
/* This may fail, but we'll ignore the fault. */
actionHelper.reportData(queueId, replyId, dataSet);
}
//This check should make sure we get any TM but don't get anything doubled.
/* This check should make sure we get any TM but don't get anything doubled. */
if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
}
else if (forceDirectTm and (defaultRawReceiver != queueId) and
(defaultRawReceiver != MessageQueueIF::NO_QUEUE))
{
// hiding of sender needed so the service will handle it as
// unexpected Data, no matter what state (progress or completed)
// it is in
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
true);
actionHelper.reportData(defaultRawReceiver, replyId, dataSet, true);
}
}
//unrequested/aperiodic replies
/* Unrequested or aperiodic replies */
else
{
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
if (wiretappingMode == TM) {
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
}
else if (forceDirectTm and defaultRawReceiver !=
MessageQueueIF::NO_QUEUE)
if (forceDirectTm and defaultRawReceiver != MessageQueueIF::NO_QUEUE)
{
// sid_t setSid = sid_t(this->getObjectId(), replyId);
// LocalPoolDataSetBase* dataset = getDataSetHandle(setSid);
// if(dataset != nullptr) {
// poolManager.generateHousekeepingPacket(setSid, dataset, true);
// }
// hiding of sender needed so the service will handle it as
// unexpected Data, no matter what state (progress or completed)
// it is in
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
true);
}
}
//Try to cast to GlobDataSet and commit data.
if (not neverInDataPool) {
LocalPoolDataSetBase* dataSet =
dynamic_cast<LocalPoolDataSetBase*>(data);
if (dataSet != nullptr) {
dataSet->setValidity(true, true);
dataSet->commit();
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper, true);
}
}
}
@ -1285,18 +1281,17 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
}
void DeviceHandlerBase::buildInternalCommand(void) {
//Neither Raw nor Direct could build a command
/* Neither raw nor direct could build a command */
ReturnValue_t result = NOTHING_TO_SEND;
DeviceCommandId_t deviceCommandId = NO_COMMAND_ID;
if (mode == MODE_NORMAL) {
result = buildNormalDeviceCommand(&deviceCommandId);
if (result == BUSY) {
// so we can track misconfigurations
printWarningOrError(sif::OutputTypes::OUT_WARNING,
"buildInternalCommand",
HasReturnvaluesIF::RETURN_FAILED,
"Busy.");
result = NOTHING_TO_SEND; //no need to report this
/* So we can track misconfigurations */
printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
HasReturnvaluesIF::RETURN_FAILED, "Busy.");
/* No need to report this */
result = NOTHING_TO_SEND;
}
}
else if (mode == MODE_RAW) {
@ -1318,7 +1313,8 @@ void DeviceHandlerBase::buildInternalCommand(void) {
deviceCommandId);
if (iter == deviceCommandMap.end()) {
result = COMMAND_NOT_SUPPORTED;
} else if (iter->second.isExecuting) {
}
else if (iter->second.isExecuting) {
#if FSFW_DISABLE_PRINTOUT == 0
char output[36];
sprintf(output, "Command 0x%08x is executing",
@ -1378,11 +1374,11 @@ void DeviceHandlerBase::forwardEvent(Event event, uint32_t parameter1,
void DeviceHandlerBase::doOffActivity() {
}
ReturnValue_t DeviceHandlerBase::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
ReturnValue_t result = fdirInstance->getParameter(domainId, parameterId,
parameterWrapper, newValues, startAtIndex);
ReturnValue_t DeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
ReturnValue_t result = fdirInstance->getParameter(domainId, uniqueId, parameterWrapper,
newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
@ -1406,14 +1402,10 @@ bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) {
}
void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task){
executingTask = task;
}
// Default implementations empty.
void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
object_id_t objectId, uint32_t parameter) {}
@ -1531,3 +1523,11 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
return &poolManager;
}
MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const {
auto commandIter = deviceCommandMap.find(replyId);
if(commandIter == deviceCommandMap.end()) {
return MessageQueueIF::NO_QUEUE;
}
return commandIter->second.sendReplyTo;
}

535
devicehandlers/DeviceHandlerBase.h
View File

@ -20,7 +20,6 @@
#include "../action/ActionHelper.h"
#include "../health/HealthHelper.h"
#include "../parameters/ParameterHelper.h"
#include "../datapool/HkSwitchHelper.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
#include "../datapoollocal/LocalDataPoolManager.h"
@ -80,14 +79,14 @@ class StorageManagerIF;
* @ingroup devices
*/
class DeviceHandlerBase: public DeviceHandlerIF,
public HasReturnvaluesIF,
public ExecutableObjectIF,
public SystemObject,
public HasModesIF,
public HasHealthIF,
public HasActionsIF,
public ReceivesParameterMessagesIF,
public HasLocalDataPoolIF {
public HasReturnvaluesIF,
public ExecutableObjectIF,
public SystemObject,
public HasModesIF,
public HasHealthIF,
public HasActionsIF,
public ReceivesParameterMessagesIF,
public HasLocalDataPoolIF {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
/**
@ -148,8 +147,7 @@ public:
* 4. Decrements counter for timeout of replies by calling
* decrementDeviceReplyMap()
* 5. Performs FDIR check for failures
* 6. Calls hkSwitcher.performOperation()
* 7. If the device mode is MODE_OFF, return RETURN_OK.
* 6. If the device mode is MODE_OFF, return RETURN_OK.
* Otherwise, perform the Action property and performs depending
* on value specified by input value counter (incremented in PST).
* The child class tells base class what to do by setting this value.
@ -189,6 +187,37 @@ public:
/** Destructor. */
virtual ~DeviceHandlerBase();
/**
* Implementation of ExecutableObjectIF function
* Used to setup the reference of the task, that executes this component
* @param task_ Pointer to the taskIF of this task
*/
virtual void setTaskIF(PeriodicTaskIF* task_) override;
virtual MessageQueueId_t getCommandQueue(void) const override;
/** Explicit interface implementation of getObjectId */
virtual object_id_t getObjectId() const override;
/**
* @param parentQueueId
*/
virtual void setParentQueue(MessageQueueId_t parentQueueId);
/** @brief Implementation required for HasActionIF */
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data,
size_t size) override;
Mode_t getTransitionSourceMode() const;
Submode_t getTransitionSourceSubMode() const;
virtual void getMode(Mode_t *mode, Submode_t *submode);
HealthState getHealth();
ReturnValue_t setHealth(HealthState health);
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) override;
protected:
/**
* @brief This is used to let the child class handle the transition from
@ -216,7 +245,6 @@ protected:
* for a failed transition
*/
virtual void doStartUp() = 0;
/**
* @brief This is used to let the child class handle the transition
* from mode @c _MODE_SHUT_DOWN to @c _MODE_POWER_DOWN
@ -242,6 +270,7 @@ protected:
*/
virtual void doShutDown() = 0;
/* Command handling */
/**
* Build the device command to send for normal mode.
*
@ -262,7 +291,6 @@ protected:
* - Anything else triggers an even with the returnvalue as a parameter.
*/
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
/**
* Build the device command to send for a transitional mode.
*
@ -286,29 +314,35 @@ protected:
* - Anything else triggers an even with the returnvalue as a parameter
*/
virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0;
/**
* @brief Build a device command packet from data supplied by a
* direct command.
*
* @brief Build a device command packet from data supplied by a direct
* command (PUS Service 8)
* @details
* #rawPacket and #rawPacketLen should be set by this method to the packet
* to be sent. The existence of the command in the command map and the
* command size check against 0 are done by the base class.
* This will be called if an functional command via PUS Service 8 is received and is
* the primary interface for functional command instead of #executeAction for users. The
* supplied ActionId_t action ID will be converted to a DeviceCommandId_t command ID after
* an internal check whether the action ID is a key in the device command map.
*
* @param deviceCommand the command to build, already checked against
* deviceCommandMap
* @param commandData pointer to the data from the direct command
* @param commandDataLen length of commandData
* #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
* The existence of the command in the command map and the command size check against 0 are
* done by the base class.
*
* @param deviceCommand The command to build, already checked against deviceCommandMap
* @param commandData Pointer to the data from the direct command
* @param commandDataLen Length of commandData
* @return
* - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
* have been set.
* - Anything else triggers an event with the
* returnvalue as a parameter
* - @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
* 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
*/
virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData, size_t commandDataLen) = 0;
/* Reply handling */
/**
* @brief Scans a buffer for a valid reply.
* @details
@ -344,7 +378,6 @@ protected:
*/
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) = 0;
/**
* @brief Interpret a reply from the device.
* @details
@ -366,10 +399,19 @@ protected:
*/
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) = 0;
MessageQueueId_t getCommanderId(DeviceCommandId_t replyId) const;
/**
* @brief fill the #DeviceCommandMap and #DeviceReplyMap
* called by the initialize() of the base class
* Helper function to get pending command. This is useful for devices
* like SPI sensors to identify the last sent command.
* This only returns the command sent in the last SEND_WRITE cycle.
* @return
*/
DeviceCommandId_t getPendingCommand() const;
/* Specifying commands and replies */
/**
* @brief Fill the #DeviceCommandMap and #DeviceReplyMap called by the #initialize
* of the base class
* @details
* This is used to let the base class know which replies are expected.
* There are different scenarios regarding this:
@ -399,7 +441,6 @@ protected:
* handled by returning @c APERIODIC_REPLY in scanForReply().
*/
virtual void fillCommandAndReplyMap() = 0;
/**
* This is a helper method to facilitate inserting entries in the command map.
* @param deviceCommand Identifier of the command to add.
@ -417,7 +458,6 @@ protected:
LocalPoolDataSetBase* replyDataSet = nullptr,
size_t replyLen = 0, bool periodic = false,
bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
/**
* @brief This is a helper method to insert replies in the reply map.
* @param deviceCommand Identifier of the reply to add.
@ -431,7 +471,6 @@ protected:
ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
size_t replyLen = 0, bool periodic = false);
/**
* @brief A simple command to add a command to the commandList.
* @param deviceCommand The command to add
@ -457,25 +496,14 @@ protected:
ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
uint16_t delayCycles, uint16_t maxDelayCycles,
bool periodic = false);
/**
* @brief Can be used to set the dataset corresponding to a reply ID manually.
* @details
* Used by the local data pool manager.
*/
ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
LocalPoolDataSetBase* dataset);
/**
* @brief Can be implemented by child handler to
* perform debugging
* @details Example: Calling this in performOperation
* to track values like mode.
* @param positionTracker Provide the child handler a way to know
* where the debugInterface was called
* @param objectId Provide the child handler object Id to
* specify actions for spefic devices
* @param parameter Supply a parameter of interest
* Please delete all debugInterface calls in DHB after debugging is finished !
*/
virtual void debugInterface(uint8_t positionTracker = 0,
object_id_t objectId = 0, uint32_t parameter = 0);
/**
* Get the time needed to transit from modeFrom to modeTo.
*
@ -494,6 +522,73 @@ protected:
*/
virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) = 0;
/* Functions used by the local data pool manager */
/**
* This function is used to initialize the local housekeeping pool
* entries. The default implementation leaves the pool empty.
* @param localDataPoolMap
* @return
*/
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
/**
* @brief Set all datapool variables that are update periodically in
* normal mode invalid
* @details
* The default implementation will set all datasets which have been added
* in #fillCommandAndReplyMap to invalid. It will also set all pool
* variables inside the dataset to invalid. The user can override this
* method optionally.
*/
virtual void setNormalDatapoolEntriesInvalid();
/**
* @brief Get the dataset handle for a given SID.
* @details
* The default implementation will use the deviceCommandMap to look for the corresponding
* dataset handle. The user can override this function if this is not desired.
* @param sid
* @return
*/
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
/* HasModesIF overrides */
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive) override;
/**
* @brief Set the device handler mode
* @details
* Sets #timeoutStart with every call Also sets #transitionTargetMode if necessary so
* transitional states can be entered from everywhere without breaking the state machine
* (which relies on a correct #transitionTargetMode).
* The submode is left unchanged.
*
* @param newMode
*/
void setMode(Mode_t newMode);
/**
* @overload
* @param submode
*/
void setMode(Mode_t newMode, Submode_t submode);
/**
* @brief Should be implemented properly by child class.
* @param mode
* @param submode
* @return
* - @c RETURN_OK if valid
* - @c RETURN_FAILED if invalid
*/
virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
Submode_t submode);
/**
* @brief Notify child about mode change.
* @details
* Can be overriden to be used like a callback.
*/
virtual void modeChanged();
/* Power handling functions */
/**
* Return the switches connected to the device.
*
@ -509,82 +604,60 @@ protected:
uint8_t *numberOfSwitches);
/**
* This function is used to initialize the local housekeeping pool
* entries. The default implementation leaves the pool empty.
* @param localDataPoolMap
* @return
* @brief Helper function to report a missed reply
* @details Can be overwritten by children to act on missed replies or to fake reporting Id.
* @param id of the missed reply
*/
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
/**
* Required for HasLocalDataPoolIF, return a handle to the local pool manager.
* @return
*/
LocalDataPoolManager* getHkManagerHandle() override;
virtual void missedReply(DeviceCommandId_t id);
/* Miscellaneous functions */
/**
* @brief Hook function for child handlers which is called once per
* performOperation(). Default implementation is empty.
*/
virtual void performOperationHook();
public:
/** Explicit interface implementation of getObjectId */
virtual object_id_t getObjectId() const override;
/**
* @param parentQueueId
* @brief Can be implemented by child handler to
* perform debugging
* @details Example: Calling this in performOperation
* to track values like mode.
* @param positionTracker Provide the child handler a way to know
* where the debugInterface was called
* @param objectId Provide the child handler object Id to
* specify actions for spefic devices
* @param parameter Supply a parameter of interest
* Please delete all debugInterface calls in DHB after debugging is finished !
*/
virtual void setParentQueue(MessageQueueId_t parentQueueId);
/** @brief Implementation required for HasActionIF */
ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data,
size_t size) override;
Mode_t getTransitionSourceMode() const;
Submode_t getTransitionSourceSubMode() const;
virtual void getMode(Mode_t *mode, Submode_t *submode);
HealthState getHealth();
ReturnValue_t setHealth(HealthState health);
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) override;
/**
* Implementation of ExecutableObjectIF function
*
* Used to setup the reference of the task, that executes this component
* @param task_ Pointer to the taskIF of this task
*/
virtual void setTaskIF(PeriodicTaskIF* task_);
virtual MessageQueueId_t getCommandQueue(void) const;
virtual void debugInterface(uint8_t positionTracker = 0,
object_id_t objectId = 0, uint32_t parameter = 0);
protected:
/**
* The Returnvalues id of this class, required by HasReturnvaluesIF
*/
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(0xA0);
// Returnvalues for scanForReply()
static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB0); //!< This is used to specify for replies from a device which are not replies to requests
static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB1); //!< Ignore parts of the received packet
static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB2); //!< Ignore full received packet
// Returnvalues for command building
static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC0); //!< Return this if no command sending in required
/* Return codes for scanForReply */
//! This is used to specify for replies from a device which are not replies to requests
static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB0);
//! Ignore parts of the received packet
static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB1);
//! Ignore full received packet
static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB2);
/* Return codes for command building */
//! Return this if no command sending in required
static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC0);
static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(0xC2);
// Returnvalues for getSwitches()
// Return codes for getSwitches */
static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xD0);
// Mode handling error Codes
/* Mode handling error Codes */
static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0);
static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1);
static const MessageQueueId_t NO_COMMANDER = 0;
/** Pointer to the raw packet that will be sent.*/
//! Pointer to the raw packet that will be sent.
uint8_t *rawPacket = nullptr;
/** Size of the #rawPacket. */
//! Size of the #rawPacket.
uint32_t rawPacketLen = 0;
/**
@ -642,15 +715,15 @@ protected:
/** Cookie used for communication */
CookieIF * comCookie;
/** Health helper for HasHealthIF */
/* Health helper for HasHealthIF */
HealthHelper healthHelper;
/** Mode helper for HasModesIF */
/* Mode helper for HasModesIF */
ModeHelper modeHelper;
/** Parameter helper for ReceivesParameterMessagesIF */
/* Parameter helper for ReceivesParameterMessagesIF */
ParameterHelper parameterHelper;
/** Action helper for HasActionsIF */
/* Action helper for HasActionsIF */
ActionHelper actionHelper;
/** Housekeeping Manager */
/* Housekeeping Manager */
LocalDataPoolManager poolManager;
/**
@ -733,88 +806,41 @@ protected:
* default class is instantiated. */
FailureIsolationBase* fdirInstance;
HkSwitchHelper hkSwitcher;
//! To correctly delete the default instance.
bool defaultFDIRUsed;
bool defaultFDIRUsed; //!< To correctly delete the default instance.
//! Indicates if SWITCH_WENT_OFF was already thrown.
bool switchOffWasReported;
bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
//! Pointer to the task which executes this component, is invalid
//! before setTaskIF was called.
/** Pointer to the task which executes this component,
is invalid before setTaskIF was called. */
PeriodicTaskIF* executingTask = nullptr;
//!< Object which switches power on and off.
//! Object which switches power on and off.
static object_id_t powerSwitcherId;
//!< Object which receives RAW data by default.
//! Object which receives RAW data by default.
static object_id_t rawDataReceiverId;
//!< Object which may be the root cause of an identified fault.
//! Object which may be the root cause of an identified fault.
static object_id_t defaultFdirParentId;
/**
* @brief Set all datapool variables that are update periodically in
* normal mode invalid
* @details
* The default implementation will set all datasets which have been added
* in #fillCommandAndReplyMap to invalid. It will also set all pool
* variables inside the dataset to invalid. The user can override this
* method optionally.
*/
virtual void setNormalDatapoolEntriesInvalid();
/**
* Helper function to get pending command. This is useful for devices
* like SPI sensors to identify the last sent command.
* This only returns the command sent in the last SEND_WRITE cycle.
* @return
*/
DeviceCommandId_t getPendingCommand() const;
/**
* Helper function to report a missed reply
*
* Can be overwritten by children to act on missed replies or to fake
* reporting Id.
*
* @param id of the missed reply
*/
virtual void missedReply(DeviceCommandId_t id);
/**
* Send a reply to a received device handler command.
* @brief Send a reply to a received device handler command.
*
* This also resets #DeviceHandlerCommand to 0.
*
* @param reply the reply type
* @param parameter parameter for the reply
*/
void replyReturnvalueToCommand(ReturnValue_t status,
uint32_t parameter = 0);
void replyReturnvalueToCommand(ReturnValue_t status, uint32_t parameter = 0);
/**
* TODO: Whats the difference between this and the upper command?
* @param status
* @param parameter
*/
void replyToCommand(ReturnValue_t status, uint32_t parameter = 0);
/**
* Set the device handler mode
*
* Sets #timeoutStart with every call.
*
* Sets #transitionTargetMode if necessary so transitional states can be
* entered from everywhere without breaking the state machine
* (which relies on a correct #transitionTargetMode).
*
* The submode is left unchanged.
*
* @param newMode
*/
void setMode(Mode_t newMode);
/**
* @overload
* @param submode
*/
void setMode(Mode_t newMode, Submode_t submode);
/**
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
*
@ -856,16 +882,6 @@ protected:
*/
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
/**
* @param mode
* @param submode
* @return
* - @c RETURN_OK if valid
* - @c RETURN_FAILED if invalid
*/
virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
Submode_t submode);
/**
* Get the communication action for the current step.
* The step number can be read from #pstStep.
@ -874,27 +890,28 @@ protected:
virtual CommunicationAction getComAction();
/**
* Build the device command to send for raw mode.
*
* This is only called in @c MODE_RAW. It is for the rare case that in
* raw mode packets are to be sent by the handler itself. It is NOT needed
* for the raw commanding service. Its only current use is in the STR
* handler which gets its raw packets from a different source.
* Also it can be used for transitional commands, to get the device ready
* for @c MODE_RAW
*
* As it is almost never used, there is a default implementation
* returning @c NOTHING_TO_SEND.
*
* #rawPacket and #rawPacketLen must be set by this method to the packet
* to be sent.
*
* @param[out] id the device command id built
* @return
* - @c RETURN_OK when a command is to be sent
* - not @c NOTHING_TO_SEND when no command is to be sent
* Checks state of switches in conjunction with mode and triggers an event
* if they don't fit.
*/
virtual ReturnValue_t buildChildRawCommand();
virtual void checkSwitchState();
/**
* Reserved for the rare case where a device needs to perform additional
* operation cyclically in OFF mode.
*/
virtual void doOffActivity();
/**
* Reserved for the rare case where a device needs to perform additional
* operation cyclically in ON mode.
*/
virtual void doOnActivity();
/**
* Required for HasLocalDataPoolIF, return a handle to the local pool manager.
* @return
*/
LocalDataPoolManager* getHkManagerHandle() override;
/**
* Returns the delay cycle count of a reply.
@ -906,24 +923,6 @@ protected:
*/
uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
/**
* Construct a command reply containing a raw reply.
*
* It gets space in the #IPCStore, copies data there, then sends a raw reply
* containing the store address.
*
* This method is virtual, as devices can have different channels to send
* raw replies
*
* @param data data to send
* @param len length of @c data
* @param sendTo the messageQueueId of the one to send to
* @param isCommand marks the raw data as a command, the message then
* will be of type raw_command
*/
virtual void replyRawData(const uint8_t *data, size_t len,
MessageQueueId_t sendTo, bool isCommand = false);
/**
* Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping
* is active and if so, does not send the data as the wiretapping will have
@ -931,11 +930,6 @@ protected:
*/
void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
/**
* @brief Notify child about mode change.
*/
virtual void modeChanged(void);
/**
* Enable the reply checking for a command
*
@ -963,6 +957,45 @@ protected:
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0);
/**
* @brief Build the device command to send for raw mode.
* @details
* This is only called in @c MODE_RAW. It is for the rare case that in
* raw mode packets are to be sent by the handler itself. It is NOT needed
* for the raw commanding service. Its only current use is in the STR
* handler which gets its raw packets from a different source.
* Also it can be used for transitional commands, to get the device ready
* for @c MODE_RAW
*
* As it is almost never used, there is a default implementation
* returning @c NOTHING_TO_SEND.
*
* #rawPacket and #rawPacketLen must be set by this method to the packet
* to be sent.
*
* @param[out] id the device command id built
* @return
* - @c RETURN_OK when a command is to be sent
* - not @c NOTHING_TO_SEND when no command is to be sent
*/
virtual ReturnValue_t buildChildRawCommand();
/**
* @brief Construct a command reply containing a raw reply.
* @details
* It gets space in the #IPCStore, copies data there, then sends a raw reply
* containing the store address. This method is virtual, as devices can have different channels
* to send raw replies
*
* @param data data to send
* @param len length of @c data
* @param sendTo the messageQueueId of the one to send to
* @param isCommand marks the raw data as a command, the message then
* will be of type raw_command
*/
virtual void replyRawData(const uint8_t *data, size_t len,
MessageQueueId_t sendTo, bool isCommand = false);
/**
* Get the state of the PCDU switches in the local datapool
* @return
@ -972,12 +1005,7 @@ protected:
* #switches are off
* - @c PowerSwitchIF::RETURN_FAILED if an error occured
*/
ReturnValue_t getStateOfSwitches(void);
/**
* build a list of sids and pass it to the #hkSwitcher
*/
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
ReturnValue_t getStateOfSwitches();
/**
* Children can overwrite this function to suppress checking of the
@ -995,17 +1023,14 @@ protected:
bool isAwaitingReply();
void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t commandId,
bool neverInDataPool = false, bool forceDirectTm = false);
void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId,
bool forceDirectTm = false);
// void handleDeviceTM(uint8_t* data, size_t dataSize, DeviceCommandId_t replyId,
// bool forceDirectTm);
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
/* HasModesIF overrides */
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive) override;
virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
/**
@ -1023,23 +1048,6 @@ protected:
*/
virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0) const;
/**
* Checks state of switches in conjunction with mode and triggers an event
* if they don't fit.
*/
virtual void checkSwitchState();
/**
* Reserved for the rare case where a device needs to perform additional
* operation cyclically in OFF mode.
*/
virtual void doOffActivity();
/**
* Reserved for the rare case where a device needs to perform additional
* operation cyclically in ON mode.
*/
virtual void doOnActivity();
/**
* Checks if current mode is transitional mode.
@ -1062,6 +1070,7 @@ protected:
* @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
*/
void commandSwitch(ReturnValue_t onOff);
private:
/**
@ -1151,7 +1160,6 @@ private:
void buildRawDeviceCommand(CommandMessage* message);
void buildInternalCommand(void);
/**
* Decrement the counter for the timout of replies.
*
@ -1159,7 +1167,6 @@ private:
* reply has timed out (that means a reply was expected but not received).
*/
void decrementDeviceReplyMap(void);
/**
* Convenience function to handle a reply.
*
@ -1174,8 +1181,8 @@ private:
* @foundLen the length of the packet
*/
void handleReply(const uint8_t *data, DeviceCommandId_t id, uint32_t foundLen);
void replyToReply(DeviceReplyMap::iterator iter, ReturnValue_t status);
/**
* Build and send a command to the device.
*
@ -1190,7 +1197,6 @@ private:
* sends the command via RMAP.
*/
void doSendWrite(void);
/**
* Check if the RMAP sendWrite action was successful.
*
@ -1200,7 +1206,6 @@ private:
* - if the action was successful, the reply timout counter is initialized
*/
void doGetWrite(void);
/**
* Send a RMAP getRead command.
*
@ -1208,7 +1213,6 @@ private:
* This is always executed, independently from the current mode.
*/
void doSendRead(void);
/**
* Check the getRead reply and the contained data.
*
@ -1238,14 +1242,12 @@ private:
void setTransition(Mode_t modeTo, Submode_t submodeTo);
/**
* calls the right child function for the transitional submodes
* Calls the right child function for the transitional submodes
*/
void callChildStatemachine();
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
virtual dur_millis_t getPeriodicOperationFrequency() const override;
void parseReply(const uint8_t* receivedData,
@ -1254,6 +1256,13 @@ private:
void handleTransitionToOnMode(Mode_t commandedMode,
Submode_t commandedSubmode);
/**
* Generic internal printer function which also handles printing the object ID.
* @param errorType
* @param functionName
* @param errorCode
* @param errorPrint
*/
void printWarningOrError(sif::OutputTypes errorType,
const char* functionName,
ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,

12
devicehandlers/DeviceHandlerFailureIsolation.cpp
View File

@ -209,20 +209,20 @@ void DeviceHandlerFailureIsolation::startRecovery(Event reason) {
}
ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper,
uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
ReturnValue_t result = strangeReplyCount.getParameter(domainId, parameterId,
ReturnValue_t result = strangeReplyCount.getParameter(domainId, uniqueId,
parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
result = missedReplyCount.getParameter(domainId, parameterId,
parameterWrapper, newValues, startAtIndex);
result = missedReplyCount.getParameter(domainId, uniqueId, parameterWrapper, newValues,
startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
result = recoveryCounter.getParameter(domainId, parameterId,
parameterWrapper, newValues, startAtIndex);
result = recoveryCounter.getParameter(domainId, uniqueId, parameterWrapper, newValues,
startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}

6
devicehandlers/DeviceHandlerFailureIsolation.h
View File

@ -17,9 +17,9 @@ public:
ReturnValue_t initialize();
void triggerEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0);bool isFdirActionInProgress();
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex);
protected:
FaultCounter strangeReplyCount;

3
doc/doxy/.gitignore vendored Normal file
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@ -0,0 +1,3 @@
html
latex
rtf

2609
doc/doxy/OPUS.doxyfile Normal file
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1
events/EventManager.cpp
View File

@ -6,6 +6,7 @@
#include "../ipc/QueueFactory.h"
#include "../ipc/MutexFactory.h"
MessageQueueId_t EventManagerIF::eventmanagerQueue = MessageQueueIF::NO_QUEUE;
// If one checks registerListener calls, there are around 40 (to max 50)
// objects registering for certain events.

21
events/EventManagerIF.h
View File

@ -1,11 +1,12 @@
#ifndef EVENTMANAGERIF_H_
#define EVENTMANAGERIF_H_
#ifndef FSFW_EVENTS_EVENTMANAGERIF_H_
#define FSFW_EVENTS_EVENTMANAGERIF_H_
#include "EventMessage.h"
#include "eventmatching/eventmatching.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../serviceinterface/ServiceInterface.h"
class EventManagerIF {
public:
@ -41,11 +42,19 @@ public:
static void triggerEvent(EventMessage* message,
MessageQueueId_t sentFrom = 0) {
static MessageQueueId_t eventmanagerQueue = MessageQueueIF::NO_QUEUE;
if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
EventManagerIF *eventmanager = objectManager->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (eventmanager == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "EventManagerIF::triggerEvent: EventManager invalid or not found!"
<< std::endl;
#else
sif::printWarning("EventManagerIF::triggerEvent: "
"EventManager invalid or not found!");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return;
}
eventmanagerQueue = eventmanager->getEventReportQueue();
@ -53,6 +62,10 @@ public:
MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom);
}
private:
//! Initialized by EventManager (C++11 does not allow header-only static member initialization).
static MessageQueueId_t eventmanagerQueue;
};
#endif /* EVENTMANAGERIF_H_ */
#endif /* FSFW_EVENTS_EVENTMANAGERIF_H_ */

4
fdir/FaultCounter.cpp
View File

@ -58,14 +58,14 @@ FaultCounter::FaultCounter() :
parameterDomain(0), timer(), faultCount(0), failureThreshold(0) {
}
ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint16_t parameterId,
ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
if (domainId != parameterDomain) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
switch (uniqueId) {
case 0:
parameterWrapper->set(failureThreshold);
break;

2
fdir/FaultCounter.h
View File

@ -23,7 +23,7 @@ public:
void setFailureThreshold(uint32_t failureThreshold);
void setFaultDecrementTimeMs(uint32_t timeMs);
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);

2
housekeeping/HousekeepingMessage.cpp
View File

@ -176,7 +176,7 @@ void HousekeepingMessage::setUpdateNotificationVariableCommand(
void HousekeepingMessage::setUpdateSnapshotSetCommand(CommandMessage *command,
sid_t sid, store_address_t storeId) {
command->setCommand(UPDATE_SNAPSHOT_VARIABLE);
command->setCommand(UPDATE_SNAPSHOT_SET);
setSid(command, sid);
command->setParameter3(storeId.raw);
}

39
housekeeping/HousekeepingPacketUpdate.h → housekeeping/HousekeepingSnapshot.h
View File

@ -1,24 +1,37 @@
#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
#define FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGSNAPSHOT_H_
#define FSFW_HOUSEKEEPING_HOUSEKEEPINGSNAPSHOT_H_
#include "../serialize/SerialBufferAdapter.h"
#include "../serialize/SerialLinkedListAdapter.h"
#include "../datapoollocal/LocalPoolDataSetBase.h"
#include "../datapoollocal/LocalPoolObjectBase.h"
#include "../timemanager/CCSDSTime.h"
/**
* @brief This helper class will be used to serialize and deserialize
* update housekeeping packets into the store.
* @brief This helper class will be used to serialize and deserialize update housekeeping packets
* into the store.
*/
class HousekeepingPacketUpdate: public SerializeIF {
class HousekeepingSnapshot: public SerializeIF {
public:
/**
* Update packet constructor for datasets
* @param timeStamp
* @param timeStampSize
* @param hkData
* @param hkDataSize
* Update packet constructor for datasets.
* @param cdsShort If a CSD short timestamp is used, a reference should be
* supplied here
* @param dataSetPtr Pointer to the dataset instance to serialize or deserialize the
* data into
*/
HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize,
HousekeepingSnapshot(CCSDSTime::CDS_short* cdsShort, LocalPoolDataSetBase* dataSetPtr):
timeStamp(reinterpret_cast<uint8_t*>(cdsShort)),
timeStampSize(sizeof(CCSDSTime::CDS_short)), updateData(dataSetPtr) {};
/**
* Update packet constructor for datasets.
* @param timeStamp Pointer to the buffer where the timestamp will be stored.
* @param timeStampSize Size of the timestamp
* @param dataSetPtr Pointer to the dataset instance to deserialize the data into
*/
HousekeepingSnapshot(uint8_t* timeStamp, size_t timeStampSize,
LocalPoolDataSetBase* dataSetPtr):
timeStamp(timeStamp), timeStampSize(timeStampSize),
updateData(dataSetPtr) {};
@ -29,7 +42,7 @@ public:
* @param timeStampSize
* @param dataSetPtr
*/
HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize,
HousekeepingSnapshot(uint8_t* timeStamp, size_t timeStampSize,
LocalPoolObjectBase* dataSetPtr):
timeStamp(timeStamp), timeStampSize(timeStampSize),
updateData(dataSetPtr) {};
@ -89,4 +102,4 @@ private:
};
#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_ */
#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGSNAPSHOT_H_ */

10
monitoring/LimitMonitor.h
View File

@ -37,16 +37,16 @@ public:
}
}
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) {
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) {
ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
parameterId, parameterWrapper, newValues, startAtIndex);
uniqueId, parameterWrapper, newValues, startAtIndex);
//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
if (result != this->INVALID_IDENTIFIER_ID) {
return result;
}
switch (parameterId) {
switch (uniqueId) {
case 10:
parameterWrapper->set(this->lowerLimit);
break;

8
monitoring/MonitorReporter.h
View File

@ -51,13 +51,13 @@ public:
return state;
}
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) {
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) {
if (domainId != monitorId) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
switch (uniqueId) {
case 0:
parameterWrapper->set(this->confirmationLimit);
break;

2
monitoring/MonitoringMessageContent.h
View File

@ -10,7 +10,7 @@
#include "../serialize/SerialFixedArrayListAdapter.h"
#include "../serialize/SerializeElement.h"
#include "../serialize/SerialLinkedListAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../timemanager/TimeStamperIF.h"
namespace Factory{

8
monitoring/TriplexMonitor.h
View File

@ -71,13 +71,13 @@ public:
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) {
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) {
if (domainId != this->domainId) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
switch (uniqueId) {
case 0:
parameterWrapper->set(limit);
break;

4
objectmanager/ObjectManager.cpp
View File

@ -1,5 +1,5 @@
#include "ObjectManager.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iomanip>
@ -75,6 +75,8 @@ void ObjectManager::initialize() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::initialize: Passed produceObjects "
"functions is nullptr!" << std::endl;
#else
sif::printError("ObjectManager::initialize: Passed produceObjects functions is nullptr!\n");
#endif
return;
}

4
objectmanager/SystemObject.cpp
View File

@ -5,14 +5,18 @@
SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
objectId(setObjectId), registered(doRegister) {
if (registered) {
if(objectManager != nullptr) {
objectManager->insert(objectId, this);
}
}
}
SystemObject::~SystemObject() {
if (registered) {
if(objectManager != nullptr) {
objectManager->remove(objectId);
}
}
}
object_id_t SystemObject::getObjectId() const {

9
objectmanager/frameworkObjects.h
View File

@ -1,8 +1,11 @@
#ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
#define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
namespace objects {
enum framework_objects {
enum framework_objects: object_id_t {
FSFW_OBJECTS_START = 0x53000000,
// Default verification reporter.
PUS_SERVICE_1_VERIFICATION = 0x53000001,
PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
@ -11,11 +14,12 @@ enum framework_objects {
PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
PUS_SERVICE_9_TIME_MGMT = 0x53000009,
PUS_SERVICE_17_TEST = 0x53000017,
PUS_SERVICE_20_PARAMETERS = 0x53000020,
PUS_SERVICE_200_MODE_MGMT = 0x53000200,
//Generic IDs for IPC, modes, health, events
HEALTH_TABLE = 0x53010000,
// MODE_STORE = 0x53010100,
// MODE_STORE = 0x53010100,
EVENT_MANAGER = 0x53030000,
INTERNAL_ERROR_REPORTER = 0x53040000,
IPC_STORE = 0x534f0300,
@ -24,6 +28,7 @@ enum framework_objects {
TM_STORE = 0x534f0200,
TIME_STAMPER = 0x53500010,
FSFW_OBJECTS_END = 0x53ffffff,
NO_OBJECT = 0xFFFFFFFF
};
}

3
osal/Endiness.h
View File

@ -25,7 +25,8 @@
#else
#ifdef WIN32
#include <Windows.h>
#include <winsock2.h>
#include <windows.h>
#if REG_DWORD == REG_DWORD_LITTLE_ENDIAN
#define BYTE_ORDER_SYSTEM LITTLE_ENDIAN
#else

61
osal/host/Clock.cpp
View File

@ -3,7 +3,7 @@
#include <chrono>
#if defined(WIN32)
#include <windows.h>
#include <sysinfoapi.h>
#elif defined(LINUX)
#include <fstream>
#endif
@ -15,35 +15,34 @@ using SystemClock = std::chrono::system_clock;
uint32_t Clock::getTicksPerSecond(void){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
sif::warning << "Clock::getTicksPerSecond: Not implemented for host OSAL" << std::endl;
#else
sif::printWarning("Clock::getTicksPerSecond: Not implemented for host OSAL\n");
#endif
return 0;
//return CLOCKS_PER_SEC;
//uint32_t ticks = sysconf(_SC_CLK_TCK);
//return ticks;
/* To avoid division by zero */
return 1;
}
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
// do some magic with chrono
/* I don't know why someone would need to set a clock which is probably perfectly fine on a
host system with internet access so this is not implemented for now. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::setClock: not implemented yet" << std::endl;
sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
#else
sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
#endif
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setClock(const timeval* time) {
// do some magic with chrono
#if defined(WIN32)
return HasReturnvaluesIF::RETURN_OK;
#elif defined(LINUX)
return HasReturnvaluesIF::RETURN_OK;
#else
#endif
/* I don't know why someone would need to set a clock which is probably perfectly fine on a
host system with internet access so this is not implemented for now. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
sif::warning << "Clock::setClock: Not implemented for host OSAL" << std::endl;
#else
sif::printWarning("Clock::setClock: Not implemented for host OSAL\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getClock_timeval(timeval* time) {
@ -53,8 +52,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
auto epoch = now.time_since_epoch();
time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
auto fraction = now - secondsChrono;
time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
fraction).count();
time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(fraction).count();
return HasReturnvaluesIF::RETURN_OK;
#elif defined(LINUX)
timespec timeUnix;
@ -67,7 +65,9 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
return HasReturnvaluesIF::RETURN_OK;
#else
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
sif::warning << "Clock::getUptime: Not implemented for found OS!" << std::endl;
#else
sif::printWarning("Clock::getUptime: Not implemented for found OS!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
#endif
@ -75,10 +75,11 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
}
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
// do some magic with chrono
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
#endif
if(time == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
using namespace std::chrono;
*time = duration_cast<microseconds>(system_clock::now().time_since_epoch()).count();
return HasReturnvaluesIF::RETURN_OK;
}
@ -120,9 +121,9 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
// do some magic with chrono (C++20!)
// Right now, the library doesn't have the new features yet.
// so we work around that for now.
/* Do some magic with chrono (C++20!) */
/* Right now, the library doesn't have the new features to get the required values yet.
so we work around that for now. */
auto now = SystemClock::now();
auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
auto fraction = now - seconds;
@ -137,10 +138,6 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
time->second = timeInfo->tm_sec;
auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
time->usecond = usecond.count();
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK;
}

2
osal/host/PeriodicTask.cpp
View File

@ -9,7 +9,7 @@
#include <chrono>
#if defined(WIN32)
#include <windows.h>
#include <processthreadsapi.h>
#elif defined(LINUX)
#include <pthread.h>
#endif

6
osal/rtems/CMakeLists.txt
View File

@ -5,13 +5,13 @@ target_sources(${LIB_FSFW_NAME}
InitTask.cpp
InternalErrorCodes.cpp
MessageQueue.cpp
MultiObjectTask.cpp
PeriodicTask.cpp
Mutex.cpp
MutexFactory.cpp
PollingTask.cpp
FixedTimeslotTask.cpp
QueueFactory.cpp
RtemsBasic.cpp
TaskBase.cpp
RTEMSTaskBase.cpp
TaskFactory.cpp
)

6
osal/rtems/Clock.cpp
View File

@ -104,9 +104,13 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
}
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
// TIsn't this a bug? Are RTEMS ticks always microseconds?
/* For all but the last field, the struct will be filled with the correct values */
rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
rtems_status_code status = rtems_clock_get_tod(timeRtems);
/* The last field now contains the RTEMS ticks of the seconds from 0
to rtems_clock_get_ticks_per_second() minus one. We calculate the microseconds accordingly */
timeRtems->ticks = static_cast<float>(timeRtems->ticks) /
rtems_clock_get_ticks_per_second() * 1e6;
switch (status) {
case RTEMS_SUCCESSFUL:
return HasReturnvaluesIF::RETURN_OK;

2
osal/rtems/CpuUsage.cpp
View File

@ -164,7 +164,7 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if ((*size = *size - MAX_LENGTH_OF_THREAD_NAME) < 0) {
if (*size < MAX_LENGTH_OF_THREAD_NAME) {
return STREAM_TOO_SHORT;
}
memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);

140
osal/rtems/FixedTimeslotTask.cpp Normal file
View File

@ -0,0 +1,140 @@
#include "FixedTimeslotTask.h"
#include "RtemsBasic.h"
#include "../../tasks/FixedSequenceSlot.h"
#include "../../objectmanager/SystemObjectIF.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <rtems/bspIo.h>
#include <rtems/io.h>
#include <rtems/rtems/ratemon.h>
#include <rtems/rtems/status.h>
#include <rtems/rtems/tasks.h>
#include <rtems/rtems/types.h>
#include <sys/_stdint.h>
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iostream>
#endif
#include <cstddef>
#include <list>
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
size_t setStack, uint32_t setOverallPeriod, void (*setDeadlineMissedFunc)(void)):
RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
FixedTimeslotTask::~FixedTimeslotTask() {
}
rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as a FixedTimeslotTask */
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
/* The task's functionality is called. */
return originalTask->taskFunctionality();
/* Should never be reached */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." <<
std::endl;
#endif
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}
ReturnValue_t FixedTimeslotTask::startTask() {
rtems_status_code status = rtems_task_start(id, FixedTimeslotTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PollingTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
//ask started successfully
return HasReturnvaluesIF::RETURN_OK;
default:
/*
RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
if (object != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const {
return pst.getLengthMs();
}
ReturnValue_t FixedTimeslotTask::checkSequence() const {
return pst.checkSequence();
}
void FixedTimeslotTask::taskFunctionality() {
/* A local iterator for the Polling Sequence Table is created to find the start time for
the first entry. */
FixedSlotSequence::SlotListIter it = pst.current;
/* Initialize the PST with the correct calling task */
pst.intializeSequenceAfterTaskCreation();
/* The start time for the first entry is read. */
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
RTEMSTaskBase::setAndStartPeriod(interval,&periodId);
//The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
/* Do nothing */
}
else {
/* The interval for the next polling slot is selected. */
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
/* The period is checked and restarted with the new interval.
If the deadline was missed, the deadlineMissedFunc is called. */
rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
/* The device handler for this slot is executed and the next one is chosen. */
this->pst.executeAndAdvance();
}
}
ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms){
return RTEMSTaskBase::sleepFor(ms);
};

81
osal/rtems/FixedTimeslotTask.h Normal file
View File

@ -0,0 +1,81 @@
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#include "RTEMSTaskBase.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.
* @details
* This is the general constructor of the class. In addition to the TaskBase parameters,
* the following variables are passed:
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
* that shall be assigned.
* @param getPst The object id of the completely initialized polling sequence.
*/
FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief The destructor of the class.
* @details
* The destructor frees all heap memory that was allocated on thread initialization
* for the PST andthe device handlers. This is done by calling the PST's destructor.
*/
virtual ~FixedTimeslotTask( void );
ReturnValue_t startTask( void );
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
*
* @details
* Another function may be announced to determine the actions to perform when a deadline
* was missed. Currently, only one function for missing any deadline is allowed.
* If not used, it shall be declared NULL.
*/
void ( *deadlineMissedFunc )( void ) = nullptr;
/**
* @brief This is the entry point in a new polling thread.
* @details This method is the entry point in the new thread
*/
static rtems_task taskEntryPoint( rtems_task_argument argument );
/**
* @brief This function holds the main functionality of the thread.
* @details
* Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
* keep the timing of the periods.
*/
void taskFunctionality( void );
};
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */

92
osal/rtems/MultiObjectTask.cpp
View File

@ -1,92 +0,0 @@
/**
* @file MultiObjectTask.cpp
* @brief This file defines the MultiObjectTask class.
* @date 30.01.2014
* @author baetz
*/
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "MultiObjectTask.h"
MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
TaskBase(setPriority, setStack, name), periodTicks(
RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc(
setDeadlineMissedFunc) {
}
MultiObjectTask::~MultiObjectTask(void) {
//Do not delete objects, we were responsible for ptrs only.
rtems_rate_monotonic_delete(periodId);
}
rtems_task MultiObjectTask::taskEntryPoint(rtems_task_argument argument) {
//The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place.
MultiObjectTask *originalTask(reinterpret_cast<MultiObjectTask*>(argument));
originalTask->taskFunctionality();
}
ReturnValue_t MultiObjectTask::startTask() {
rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
//ask started successfully
return HasReturnvaluesIF::RETURN_OK;
default:
/* RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) {
return TaskBase::sleepFor(ms);
}
void MultiObjectTask::taskFunctionality() {
TaskBase::setAndStartPeriod(periodTicks,&periodId);
//The task's "infinite" inner loop is entered.
while (1) {
for (ObjectList::iterator it = objectList.begin();
it != objectList.end(); ++it) {
(*it)->performOperation();
}
rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId);
if (status == RTEMS_TIMEOUT) {
char nameSpace[8] = { 0 };
char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
nameSpace);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
#endif
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
}
ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t MultiObjectTask::getPeriodMs() const {
return RtemsBasic::convertTicksToMs(periodTicks);
}

12
osal/rtems/Mutex.cpp
View File

@ -1,18 +1,20 @@
#include "Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../serviceinterface/ServiceInterface.h"
uint8_t Mutex::count = 0;
Mutex::Mutex() :
mutexId(0) {
Mutex::Mutex() {
rtems_name mutexName = ('M' << 24) + ('T' << 16) + ('X' << 8) + count++;
rtems_status_code status = rtems_semaphore_create(mutexName, 1,
RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
&mutexId);
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
<< " failed with " << status << std::endl;
sif::error << "Mutex::Mutex: Creation with name, id " << mutexName << ", " << mutexId <<
" failed with " << status << std::endl;
#else
sif::printError("Mutex::Mutex: Creation with name, id %s, %d failed with %d\n", mutexName,
static_cast<int>(mutexId), static_cast<int>(status));
#endif
}
}

2
osal/rtems/Mutex.h
View File

@ -11,7 +11,7 @@ public:
ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
ReturnValue_t unlockMutex();
private:
rtems_id mutexId;
rtems_id mutexId = 0;
static uint8_t count;
};

5
osal/rtems/MutexFactory.cpp
View File

@ -1,6 +1,7 @@
#include "../../ipc/MutexFactory.h"
#include "Mutex.h"
#include "RtemsBasic.h"
#include "../../ipc/MutexFactory.h"
MutexFactory* MutexFactory::factoryInstance = new MutexFactory();

83
osal/rtems/PeriodicTask.cpp Normal file
View File

@ -0,0 +1,83 @@
#include "PeriodicTask.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
RTEMSTaskBase(setPriority, setStack, name),
periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
deadlineMissedFunc(setDeadlineMissedFunc) {
}
PeriodicTask::~PeriodicTask(void) {
/* Do not delete objects, we were responsible for pointers only. */
rtems_rate_monotonic_delete(periodId);
}
rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
so it is found from any place. */
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
return originalTask->taskFunctionality();;
}
ReturnValue_t PeriodicTask::startTask() {
rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
/* Task started successfully */
return HasReturnvaluesIF::RETURN_OK;
default:
/* RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
return RTEMSTaskBase::sleepFor(ms);
}
void PeriodicTask::taskFunctionality() {
RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
for (const auto& object: objectList) {
object->initializeAfterTaskCreation();
}
/* The task's "infinite" inner loop is entered. */
while (1) {
for (const auto& object: objectList) {
object->performOperation();
}
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const {
return RtemsBasic::convertTicksToMs(periodTicks);
}

18
osal/rtems/MultiObjectTask.h → osal/rtems/PeriodicTask.h
View File

@ -1,10 +1,10 @@
#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
#ifndef FSFW_OSAL_RTEMS_PERIODICTASK_H_
#define FSFW_OSAL_RTEMS_PERIODICTASK_H_
#include "RTEMSTaskBase.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "TaskBase.h"
#include <vector>
class ExecutableObjectIF;
@ -18,7 +18,7 @@ class ExecutableObjectIF;
* @author baetz
* @ingroup task_handling
*/
class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
class PeriodicTask: public RTEMSTaskBase, public PeriodicTaskIF {
public:
/**
* @brief Standard constructor of the class.
@ -35,13 +35,13 @@ public:
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
* that shall be assigned.
*/
MultiObjectTask(const char *name, rtems_task_priority setPriority, size_t setStack, rtems_interval setPeriod,
void (*setDeadlineMissedFunc)());
PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief Currently, the executed object's lifetime is not coupled with the task object's
* lifetime, so the destructor is empty.
*/
virtual ~MultiObjectTask(void);
virtual ~PeriodicTask(void);
/**
* @brief The method to start the task.
@ -76,7 +76,7 @@ protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
rtems_id periodId = 0;
/**
* @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed.
@ -104,4 +104,4 @@ protected:
void taskFunctionality(void);
};
#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

131
osal/rtems/PollingTask.cpp
View File

@ -1,131 +0,0 @@
#include "../../tasks/FixedSequenceSlot.h"
#include "../../objectmanager/SystemObjectIF.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "PollingTask.h"
#include "RtemsBasic.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <rtems/bspIo.h>
#include <rtems/rtems/ratemon.h>
#include <rtems/rtems/status.h>
#include <rtems/rtems/tasks.h>
#include <rtems/rtems/types.h>
#include <stddef.h>
#include <sys/_stdint.h>
#include <iostream>
#include <list>
uint32_t PollingTask::deadlineMissedCount = 0;
PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
size_t setStack, uint32_t setOverallPeriod,
void (*setDeadlineMissedFunc)()) :
TaskBase(setPriority, setStack, name), periodId(0), pst(
setOverallPeriod) {
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
PollingTask::~PollingTask() {
}
rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
//The argument is re-interpreted as PollingTask.
PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
//The task's functionality is called.
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->getId()
<< " returned from taskFunctionality." << std::endl;
#endif
}
void PollingTask::missedDeadlineCounter() {
PollingTask::deadlineMissedCount++;
if (PollingTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << PollingTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}
ReturnValue_t PollingTask::startTask() {
rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PollingTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
//ask started successfully
return HasReturnvaluesIF::RETURN_OK;
default:
/* RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t PollingTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
if (object != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t PollingTask::getPeriodMs() const {
return pst.getLengthMs();
}
ReturnValue_t PollingTask::checkSequence() const {
return pst.checkSequence();
}
#include <rtems/io.h>
void PollingTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
FixedSlotSequence::SlotListIter it = pst.current;
//The start time for the first entry is read.
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
TaskBase::setAndStartPeriod(interval,&periodId);
//The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
//Do nothing
} else {
//The interval for the next polling slot is selected.
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
//The period is checked and restarted with the new interval.
//If the deadline was missed, the deadlineMissedFunc is called.
rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
//The device handler for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
}
}
ReturnValue_t PollingTask::sleepFor(uint32_t ms){
return TaskBase::sleepFor(ms);
};

85
osal/rtems/PollingTask.h
View File

@ -1,85 +0,0 @@
#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
#define FSFW_OSAL_RTEMS_POLLINGTASK_H_
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "TaskBase.h"
class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.
*
* @details This is the general constructor of the class. In addition to the TaskBase parameters,
* the following variables are passed:
*
* @param (*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
*
* @param getPst The object id of the completely initialized polling sequence.
*/
PollingTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief The destructor of the class.
*
* @details The destructor frees all heap memory that was allocated on thread initialization for the PST and
* the device handlers. This is done by calling the PST's destructor.
*/
virtual ~PollingTask( void );
ReturnValue_t startTask( void );
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
*
* @details Another function may be announced to determine the actions to perform when a deadline was missed.
* Currently, only one function for missing any deadline is allowed.
* If not used, it shall be declared NULL.
*/
void ( *deadlineMissedFunc )( void );
/**
* @brief This is the entry point in a new polling thread.
*
* @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
* and link the Polling Sequence Table to the thread object and start taskFunctionality()
* on success. If operation of the task is ended for some reason,
* the destructor is called to free allocated memory.
*/
static rtems_task taskEntryPoint( rtems_task_argument argument );
/**
* @brief This function holds the main functionality of the thread.
*
*
* @details Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's System Calls
* to keep the timing of the periods.
*/
void taskFunctionality( void );
};
#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */

22
osal/rtems/TaskBase.cpp → osal/rtems/RTEMSTaskBase.cpp
View File

@ -1,9 +1,9 @@
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TaskBase.h"
#include "RTEMSTaskBase.h"
#include "../../serviceinterface/ServiceInterface.h"
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE;
TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size,
const char *name) {
rtems_name osalName = 0;
for (uint8_t i = 0; i < 4; i++) {
@ -14,7 +14,7 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
}
//The task is created with the operating system's system call.
rtems_status_code status = RTEMS_UNSATISFIED;
if (set_priority >= 0 && set_priority <= 99) {
if (set_priority <= 99) {
status = rtems_task_create(osalName,
(0xFF - 2 * set_priority), stack_size,
RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
@ -31,21 +31,21 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
}
}
TaskBase::~TaskBase() {
RTEMSTaskBase::~RTEMSTaskBase() {
rtems_task_delete(id);
}
rtems_id TaskBase::getId() {
rtems_id RTEMSTaskBase::getId() {
return this->id;
}
ReturnValue_t TaskBase::sleepFor(uint32_t ms) {
ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
return convertReturnCode(status);
}
ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
ReturnValue_t RTEMSTaskBase::convertReturnCode(rtems_status_code inValue) {
switch (inValue) {
case RTEMS_SUCCESSFUL:
return HasReturnvaluesIF::RETURN_OK;
@ -68,7 +68,7 @@ ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
}
ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
ReturnValue_t RTEMSTaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
if (status == RTEMS_SUCCESSFUL) {
@ -77,7 +77,7 @@ ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *perio
return convertReturnCode(status);
}
rtems_status_code TaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
rtems_status_code RTEMSTaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
//This is necessary to avoid a call with period = 0, which does not start the period.
rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
return status;

12
osal/rtems/TaskBase.h → osal/rtems/RTEMSTaskBase.h
View File

@ -1,5 +1,5 @@
#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_
#define FSFW_OSAL_RTEMS_TASKBASE_H_
#ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
#define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
#include "RtemsBasic.h"
#include "../../tasks/PeriodicTaskIF.h"
@ -9,7 +9,7 @@
*
* @details Task creation base class for rtems.
*/
class TaskBase {
class RTEMSTaskBase {
protected:
/**
* @brief The class stores the task id it got assigned from the operating system in this attribute.
@ -26,11 +26,11 @@ public:
* @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
*/
TaskBase( rtems_task_priority priority, size_t stack_size, const char *name);
RTEMSTaskBase( rtems_task_priority priority, size_t stack_size, const char *name);
/**
* @brief In the destructor, the created task is deleted.
*/
virtual ~TaskBase();
virtual ~RTEMSTaskBase();
/**
* @brief This method returns the task id of this class.
*/
@ -44,4 +44,4 @@ private:
};
#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */
#endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */

1
osal/rtems/RtemsBasic.cpp
View File

@ -1,5 +1,6 @@
#include "RtemsBasic.h"
// TODO: Can this be removed?
//ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) {
// if (inValue == RTEMS_SUCCESSFUL) {

3
osal/rtems/RtemsBasic.h
View File

@ -2,12 +2,13 @@
#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include <rtems.h>
#include <rtems/libio.h>
#include <rtems/error.h>
#include <rtems/stackchk.h>
#include <stddef.h>
#include <cstddef>
class RtemsBasic {
public:

21
osal/rtems/TaskFactory.cpp
View File

@ -1,8 +1,9 @@
#include "../../tasks/TaskFactory.h"
#include "MultiObjectTask.h"
#include "PollingTask.h"
#include "FixedTimeslotTask.h"
#include "PeriodicTask.h"
#include "InitTask.h"
#include "RtemsBasic.h"
#include "../../tasks/TaskFactory.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
@ -15,15 +16,21 @@ TaskFactory* TaskFactory::instance() {
return TaskFactory::factoryInstance;
}
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
TaskStackSize stackSize_,TaskPeriod periodInSeconds_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<PeriodicTaskIF*>(new MultiObjectTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
taskPeriod,deadLineMissedFunction_));
}
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<FixedTimeslotTaskIF*>(new PollingTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,
stackSize_, taskPeriod, deadLineMissedFunction_));
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

11
parameters/HasParametersIF.h
View File

@ -52,9 +52,8 @@ public:
return id;
}
static uint32_t getFullParameterId(uint8_t domainId,
uint8_t uniqueIdentifier, uint16_t linearIndex) {
return (domainId << 24) + (uniqueIdentifier << 16) + linearIndex;
static uint32_t getFullParameterId(uint8_t domainId, uint8_t uniqueId, uint16_t linearIndex) {
return (domainId << 24) + (uniqueId << 16) + linearIndex;
}
virtual ~HasParametersIF() {}
@ -74,9 +73,9 @@ public:
* matrix indexes.
* @return
*/
virtual ReturnValue_t getParameter(uint8_t domainId,
uint16_t uniqueIdentifier, ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) = 0;
};
#endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */

2
parameters/ParameterHelper.cpp
View File

@ -90,7 +90,7 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
const ParameterWrapper* description) {
size_t serializedSize = description->getSerializedSize();
uint8_t *storeElement;
uint8_t *storeElement = nullptr;
store_address_t address;
ReturnValue_t result = storage->getFreeElement(&address, serializedSize,

2
parameters/ParameterMessage.cpp
View File

@ -38,7 +38,7 @@ void ParameterMessage::setParameterLoadCommand(CommandMessage* message,
store_address_t ParameterMessage::getParameterLoadCommand(
const CommandMessage *message, ParameterId_t* parameterId, uint8_t *ptc,
uint8_t *pfc, uint8_t *rows, uint8_t *columns) {
*parameterId = message->getParameter2();
*parameterId = message->getParameter();
uint32_t packedParamSettings = message->getParameter3();
*ptc = packedParamSettings >> 24 & 0xff;
*pfc = packedParamSettings >> 16 & 0xff;

44
parameters/ParameterWrapper.cpp
View File

@ -1,17 +1,19 @@
#include "ParameterWrapper.h"
#include <FSFWConfig.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
ParameterWrapper::ParameterWrapper() :
pointsToStream(false), type(Type::UNKNOWN_TYPE) {
}
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
void *data) :
void *data):
pointsToStream(false), type(type), rows(rows), columns(columns),
data(data), readonlyData(data) {
}
ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
const void *data) :
const void *data):
pointsToStream(false), type(type), rows(rows), columns(columns),
data(nullptr), readonlyData(data) {
}
@ -40,8 +42,8 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t **buffer, size_t *size,
return result;
}
//serialize uses readonlyData, as it is always valid
if (readonlyData == NULL) {
/* serialize uses readonlyData, as it is always valid */
if (readonlyData == nullptr) {
return NOT_SET;
}
switch (type) {
@ -75,7 +77,7 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t **buffer, size_t *size,
result = serializeData<double>(buffer, size, maxSize, streamEndianness);
break;
default:
result = UNKNOW_DATATYPE;
result = UNKNOWN_DATATYPE;
break;
}
return result;
@ -220,22 +222,48 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
uint16_t startWritingAtIndex) {
// TODO: Optional diagnostic output (which can be disabled in FSFWConfig)
// to determined faulty implementations and configuration errors quickly.
if (data == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return READONLY;
}
if (from->readonlyData == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return SOURCE_NOT_SET;
}
if (type != from->type) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return DATATYPE_MISSMATCH;
}
// The smallest allowed value for rows and columns is one.
if(rows == 0 or columns == 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl;
#else
sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return COLUMN_OR_ROWS_ZERO;
}
@ -289,7 +317,7 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
from->readonlyData, from->rows, from->columns);
break;
default:
result = UNKNOW_DATATYPE;
result = UNKNOWN_DATATYPE;
break;
}
}

36
parameters/ParameterWrapper.h
View File

@ -8,14 +8,23 @@
#include <cstddef>
/**
* @brief
* @brief This wrapper encapsulates the access to parameters provided by HasParametersIF.
* @details
* This wrapper is used by the ParameterHelper to interface with the on-board parameters
* exposed by the software via the HasParametersIF. A handle of this wrapper is passed
* to the user which then can be used to set or dump the parameters.
*
* The wrapper provides a set of setter functions. The user should call those setter functions,
* supplying an address to the local parameters. The user can also deserialize or
* serialize the parameter data. Please note that this will also serialize and deserialize
* the parameter information field (4 bytes) containing the ECSS PTC, PFC and rows and columns
* number.
*/
class ParameterWrapper: public SerializeIF {
friend class DataPoolParameterWrapper;
public:
static const uint8_t INTERFACE_ID = CLASS_ID::PARAMETER_WRAPPER;
static const ReturnValue_t UNKNOW_DATATYPE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t UNKNOWN_DATATYPE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t DATATYPE_MISSMATCH = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t READONLY = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t TOO_BIG = MAKE_RETURN_CODE(0x04);
@ -26,8 +35,7 @@ public:
ParameterWrapper();
ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data);
ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
const void *data);
ParameterWrapper(Type type, uint8_t rows, uint8_t columns, const void *data);
virtual ~ParameterWrapper();
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
@ -77,11 +85,23 @@ public:
this->pointsToStream = false;
}
/**
* Setter function for scalar non-const entries
* @tparam T
* @param member
*/
template<typename T>
void set(T& member) {
this->set(&member, 1, 1);
}
/**
* Setter function for scalar const entries.
* TODO: This is confusing, it should not be called set. Maybe we should call all functions
* assign instead?
* @tparam T
* @param readonlyMember
*/
template<typename T>
void set(const T& readonlyMember) {
this->set(&readonlyMember, 1, 1);
@ -89,12 +109,16 @@ public:
template<typename T>
void setVector(T& member) {
this->set(member, sizeof(member)/sizeof(member[0]), 1);
/* For a vector entry, the number of rows will be one
(left to right, top to bottom indexing) */
this->set(member, 1, sizeof(member) / sizeof(member[0]));
}
template<typename T>
void setVector(const T& member) {
this->set(member, 1, sizeof(member)/sizeof(member[0]));
/* For a vector entry, the number of rows will be one
(left to right, top to bottom indexing) */
this->set(member, 1, sizeof(member) / sizeof(member[0]));
}
template<typename T>
void setMatrix(T& member) {

6
power/Fuse.cpp
View File

@ -210,15 +210,15 @@ void Fuse::setDataPoolEntriesInvalid() {
set.commit();
}
ReturnValue_t Fuse::getParameter(uint8_t domainId, uint16_t parameterId,
ReturnValue_t Fuse::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
ReturnValue_t result = currentLimit.getParameter(domainId, parameterId,
ReturnValue_t result = currentLimit.getParameter(domainId, uniqueId,
parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
result = powerMonitor.getParameter(domainId, parameterId, parameterWrapper,
result = powerMonitor.getParameter(domainId, uniqueId, parameterWrapper,
newValues, startAtIndex);
return result;
}

6
power/Fuse.h
View File

@ -62,9 +62,9 @@ public:
ReturnValue_t setHealth(HealthState health);
HasHealthIF::HealthState getHealth();
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex);
private:
uint8_t oldFuseState;

8
power/PowerComponent.cpp
View File

@ -61,13 +61,13 @@ ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness);
}
ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
ReturnValue_t PowerComponent::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
if (domainId != moduleId) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
switch (uniqueId) {
case 0:
parameterWrapper->set<>(min);
break;

6
power/PowerComponent.h
View File

@ -31,9 +31,9 @@ public:
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex);
private:
const object_id_t deviceObjectId = objects::NO_OBJECT;
const uint8_t switchId1;

6
power/PowerSensor.cpp
View File

@ -119,15 +119,15 @@ HasHealthIF::HealthState PowerSensor::getHealth() {
return healthHelper.getHealth();
}
ReturnValue_t PowerSensor::getParameter(uint8_t domainId, uint16_t parameterId,
ReturnValue_t PowerSensor::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
ReturnValue_t result = currentLimit.getParameter(domainId, parameterId,
ReturnValue_t result = currentLimit.getParameter(domainId, uniqueId,
parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
result = voltageLimit.getParameter(domainId, parameterId, parameterWrapper,
result = voltageLimit.getParameter(domainId, uniqueId, parameterWrapper,
newValues, startAtIndex);
return result;
}

2
power/PowerSensor.h
View File

@ -48,7 +48,7 @@ public:
float getPower();
ReturnValue_t setHealth(HealthState health);
HasHealthIF::HealthState getHealth();
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
private:

10
pus/CMakeLists.txt
View File

@ -1,12 +1,12 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
CService200ModeCommanding.cpp
CService201HealthCommanding.cpp
Service17Test.cpp
target_sources(${LIB_FSFW_NAME} PRIVATE
Service1TelecommandVerification.cpp
Service2DeviceAccess.cpp
Service3Housekeeping.cpp
Service5EventReporting.cpp
Service8FunctionManagement.cpp
Service9TimeManagement.cpp
Service17Test.cpp
Service20ParameterManagement.cpp
CService200ModeCommanding.cpp
CService201HealthCommanding.cpp
)

2
pus/Service17Test.cpp
View File

@ -15,7 +15,7 @@ Service17Test::~Service17Test() {
}
ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
switch(subservice){
switch(subservice) {
case Subservice::CONNECTION_TEST: {
TmPacketStored connectionPacket(apid, serviceId,
Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);

186
pus/Service20ParameterManagement.cpp Normal file
View File

@ -0,0 +1,186 @@
#include "Service20ParameterManagement.h"
#include "servicepackets/Service20Packets.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/parameters/HasParametersIF.h>
#include <fsfw/parameters/ParameterMessage.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <tmtc/pusIds.h>
Service20ParameterManagement::Service20ParameterManagement(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numberOfParallelCommands, uint16_t commandTimeoutSeconds) :
CommandingServiceBase(objectId, apid, serviceId,
numberOfParallelCommands,commandTimeoutSeconds) {}
Service20ParameterManagement::~Service20ParameterManagement() {}
ReturnValue_t Service20ParameterManagement::isValidSubservice(
uint8_t subservice) {
switch(static_cast<Subservice>(subservice)) {
case Subservice::PARAMETER_LOAD:
case Subservice::PARAMETER_DUMP:
return HasReturnvaluesIF::RETURN_OK;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Invalid Subservice for Service 20" << std::endl;
#else
sif::printError("Invalid Subservice for Service 20\n");
#endif
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service20ParameterManagement::getMessageQueueAndObject(
uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
MessageQueueId_t* id, object_id_t* objectId) {
ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
if(result != RETURN_OK) {
return result;
}
return checkInterfaceAndAcquireMessageQueue(id,objectId);
}
ReturnValue_t Service20ParameterManagement::checkAndAcquireTargetID(
object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
if(SerializeAdapter::deSerialize(objectIdToSet, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG) != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service20ParameterManagement::checkAndAcquireTargetID: "
<< "Invalid data." << std::endl;
#else
sif::printError("Service20ParameterManagement::"
"checkAndAcquireTargetID: Invalid data.\n");
#endif
return CommandingServiceBase::INVALID_TC;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check ReceivesParameterMessagesIF property of target
ReceivesParameterMessagesIF* possibleTarget =
objectManager->get<ReceivesParameterMessagesIF>(*objectId);
if(possibleTarget == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
<<"MessageQueue: Can't access object" << std::endl;
sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
#else
sif::printError("Service20ParameterManagement::checkInterfaceAndAcquire"
"MessageQueue: Can't access object\n");
sif::printError("Object ID: 0x%08x\n", objectId);
sif::printError("Make sure it implements "
"ReceivesParameterMessagesIF!\n");
#endif
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service20ParameterManagement::prepareCommand(
CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
size_t tcDataLen, uint32_t* state, object_id_t objectId) {
switch(static_cast<Subservice>(subservice)){
case Subservice::PARAMETER_DUMP: {
return prepareDumpCommand(message, tcData, tcDataLen);
}
break;
case Subservice::PARAMETER_LOAD: {
return prepareLoadCommand(message, tcData, tcDataLen);
}
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t Service20ParameterManagement::prepareDumpCommand(
CommandMessage* message, const uint8_t* tcData, size_t tcDataLen) {
/* the first part is the objectId, but we have extracted that earlier
and only need the parameterId */
tcData += sizeof(object_id_t);
tcDataLen -= sizeof(object_id_t);
ParameterId_t parameterId;
if(SerializeAdapter::deSerialize(&parameterId, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG) != HasReturnvaluesIF::RETURN_OK) {
return CommandingServiceBase::INVALID_TC;
}
/* The length should have been decremented to 0 by this point */
if(tcDataLen != 0) {
return CommandingServiceBase::INVALID_TC;
}
ParameterMessage::setParameterDumpCommand(message, parameterId);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service20ParameterManagement::prepareLoadCommand(
CommandMessage* message, const uint8_t* tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(object_id_t) + sizeof(ParameterId_t) +
sizeof(uint32_t)) {
return CommandingServiceBase::INVALID_TC;
}
uint8_t* storePointer = nullptr;
store_address_t storeAddress;
size_t parameterDataLen = tcDataLen - sizeof(object_id_t) - sizeof(ParameterId_t) -
sizeof(uint32_t);
ReturnValue_t result = IPCStore->getFreeElement(&storeAddress,
parameterDataLen, &storePointer);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
/* Following format is expected: The first 4 bytes in the TC data are the 4 byte
parameter ID (ParameterId_t). The second 4 bytes are the parameter information field,
containing the following 1 byte fields:
1. ECSS PTC field
2. ECSS PFC field
3. Number of rows
4. Number of columns */
ParameterLoadCommand command(storePointer, parameterDataLen);
result = command.deSerialize(&tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
ParameterMessage::setParameterLoadCommand(message, command.getParameterId(), storeAddress,
command.getPtc(), command.getPfc(), command.getRows(), command.getColumns());
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service20ParameterManagement::handleReply(
const CommandMessage* reply, Command_t previousCommand, uint32_t* state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool* isStep) {
Command_t replyId = reply->getCommand();
switch(replyId) {
case ParameterMessage::REPLY_PARAMETER_DUMP: {
ConstAccessorPair parameterData = IPCStore->getData(
ParameterMessage::getStoreId(reply));
if(parameterData.first != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ParameterId_t parameterId = ParameterMessage::getParameterId(reply);
ParameterDumpReply parameterReply(objectId, parameterId,
parameterData.second.data(), parameterData.second.size());
sendTmPacket(static_cast<uint8_t>(
Subservice::PARAMETER_DUMP_REPLY), &parameterReply);
return HasReturnvaluesIF::RETURN_OK;
}
default:
return CommandingServiceBase::INVALID_REPLY;
}
}

60
pus/Service20ParameterManagement.h Normal file
View File

@ -0,0 +1,60 @@
#ifndef FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_
#define FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_
#include <fsfw/tmtcservices/CommandingServiceBase.h>
/**
* @brief PUS Service 20 Parameter Service implementation
* @details
* This service handles PUS service requests related to parameter management and forwards
* them to the internal software bus.
* @author J. Gerhards
*
*/
class Service20ParameterManagement : public CommandingServiceBase
{
public:
Service20ParameterManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
uint8_t numberOfParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
virtual ~Service20ParameterManagement();
static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
protected:
/* CommandingServiceBase (CSB) abstract functions. See CSB documentation. */
ReturnValue_t isValidSubservice(uint8_t subservice) override;
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) override;
ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
object_id_t objectId) override;
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
private:
ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
ReturnValue_t prepareDirectCommand(CommandMessage* message,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t prepareDumpCommand(CommandMessage* message,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t prepareLoadCommand(CommandMessage* message,
const uint8_t* tcData, size_t tcDataLen);
enum class Subservice {
PARAMETER_LOAD = 128, //!< [EXPORT] : Load a Parameter
PARAMETER_DUMP = 129, //!< [EXPORT] : Dump a Parameter
PARAMETER_DUMP_REPLY = 130, //!< [EXPORT] : Dump a Parameter
};
};
#endif /* FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_ */

4
pus/Service8FunctionManagement.cpp
View File

@ -104,12 +104,14 @@ ReturnValue_t Service8FunctionManagement::handleReply(
break;
}
case ActionMessage::DATA_REPLY: {
/* Multiple data replies are possible, so declare data reply as step */
*isStep = true;
result = handleDataReply(reply, objectId, actionId);
break;
}
case ActionMessage::STEP_FAILED:
*isStep = true;
/*No break, falls through*/
/* No break, falls through */
case ActionMessage::COMPLETION_FAILED:
result = ActionMessage::getReturnCode(reply);
break;

142
pus/servicepackets/Service20Packets.h Normal file
View File

@ -0,0 +1,142 @@
#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE20PACKETS_H_
#define FSFW_PUS_SERVICEPACKETS_SERVICE20PACKETS_H_
#include <FSFWConfig.h>
#include <fsfw/parameters/HasParametersIF.h>
#include <fsfw/serialize/SerialBufferAdapter.h>
#include <fsfw/serialize/SerializeElement.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
/**
* @brief This class encapsulates the packets sent to the PUS service 20 or sent by the
* PUS service 20
* @details
* This command can be used to handle both load and dump commands as well.
* @author
*/
class ParameterCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128, 129, 130
public:
/**
* This constructor is used for load replies. The data is expected in the correct formast
* in the store pointer.
* @param storePointer
* @param parameterDataLen
*/
ParameterCommand(uint8_t* storePointer, size_t parameterDataLen):
parameterBuffer(storePointer, parameterDataLen) {
#if FSFW_VERBOSE_LEVEL >= 1
if(parameterDataLen < sizeof(object_id_t) + sizeof(ParameterId_t) + 4) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterCommand: Parameter data length is less than 12!"
<< std::endl;
#else
sif::printWarning("ParameterCommand: Parameter data length is less than 12!\n");
#endif
}
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
setLoadLinks();
}
/**
* This constructor is used for dump replies. It is assumed the 4 byte parameter
* information field is located inside the parameter buffer.
* @param objectId
* @param parameterId
* @param parameterBuffer
* @param parameterBufferSize
*/
ParameterCommand(object_id_t objectId, ParameterId_t parameterId,
const uint8_t* parameterBuffer, size_t parameterBufferSize):
objectId(objectId), parameterId(parameterId),
parameterBuffer(parameterBuffer, parameterBufferSize) {
setDumpReplyLinks();
}
ParameterId_t getParameterId() const {
return parameterId.entry;
}
const uint8_t* getParameterBuffer() {
return parameterBuffer.entry.getConstBuffer();
}
size_t getParameterBufferLen() const {
return parameterBuffer.getSerializedSize();
}
uint8_t getDomainId() const {
return (parameterId.entry >> 24) & 0xff;
}
uint8_t getUniqueId() const {
return (parameterId.entry >> 16) & 0xff;
}
uint16_t getLinearIndex() const {
return parameterId.entry & 0xffff;
}
uint8_t getPtc() const {
return ccsdsType.entry >> 8 & 0xff;
}
uint8_t getPfc() const {
return ccsdsType.entry & 0xff;
}
uint8_t getRows() const {
return rows.entry;
}
uint8_t getColumns() const {
return columns.entry;
}
private:
void setLoadLinks() {
setStart(&objectId);
objectId.setNext(&parameterId);
parameterId.setNext(&ccsdsType);
ccsdsType.setNext(&rows);
rows.setNext(&columns);
columns.setNext(&parameterBuffer);
}
void setDumpReplyLinks() {
/* For a dump reply, the parameter information is contained in the parameter buffer
with the actual parameters */
setStart(&objectId);
objectId.setNext(&parameterId);
parameterId.setNext(&parameterBuffer);
}
void setDumpRequestLinks() {
setStart(&objectId);
objectId.setNext(&parameterId);
}
SerializeElement<object_id_t> objectId = 0;
SerializeElement<ParameterId_t> parameterId = 0;
//! [EXPORT] : [COMMENT] Type consisting of one byte PTC and one byte PFC.
SerializeElement<uint16_t> ccsdsType = 0;
SerializeElement<uint8_t> rows = 0;
SerializeElement<uint8_t> columns = 0;
SerializeElement<SerialBufferAdapter<uint8_t>> parameterBuffer;
};
class ParameterLoadCommand: public ParameterCommand {
public:
ParameterLoadCommand(uint8_t* parameterPacket, size_t parameterDataLen):
ParameterCommand(parameterPacket, parameterDataLen) {}
};
class ParameterDumpReply: public ParameterCommand {
public:
ParameterDumpReply(object_id_t objectId, ParameterId_t parameterId,
const uint8_t* parameterBuffer, size_t parameterBufferSize):
ParameterCommand(objectId, parameterId, parameterBuffer, parameterBufferSize) {}
};
#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE20PACKETS_H_ */

2
serviceinterface/ServiceInterfaceBuffer.cpp
View File

@ -29,7 +29,7 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
#if FSFW_COLORED_OUTPUT == 1
if(setMessage.find("DEBUG") != std::string::npos) {
colorPrefix = sif::ANSI_COLOR_MAGENTA;
colorPrefix = sif::ANSI_COLOR_CYAN;
}
else if(setMessage.find("INFO") != std::string::npos) {
colorPrefix = sif::ANSI_COLOR_GREEN;

2
serviceinterface/ServiceInterfacePrinter.cpp
View File

@ -45,7 +45,7 @@ void fsfwPrint(sif::PrintLevel printType, const char* fmt, va_list arg) {
len += sprintf(bufferPosition, sif::ANSI_COLOR_GREEN);
}
else if(printType == sif::PrintLevel::DEBUG_LEVEL) {
len += sprintf(bufferPosition, sif::ANSI_COLOR_MAGENTA);
len += sprintf(bufferPosition, sif::ANSI_COLOR_CYAN);
}
else if(printType == sif::PrintLevel::WARNING_LEVEL) {
len += sprintf(bufferPosition, sif::ANSI_COLOR_YELLOW);

5
serviceinterface/ServiceInterfaceStream.h
View File

@ -39,6 +39,11 @@ public:
*/
std::string* getPreamble();
/**
* Can be used to determine if the stream was configured to add CR characters in addition
* to newline characters.
* @return
*/
bool crAdditionEnabled() const;
protected:

48
storagemanager/LocalPool.cpp
View File

@ -5,15 +5,15 @@
LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
bool registered, bool spillsToHigherPools):
SystemObject(setObjectId, registered),
NUMBER_OF_POOLS(poolConfig.size()),
NUMBER_OF_SUBPOOLS(poolConfig.size()),
spillsToHigherPools(spillsToHigherPools) {
if(NUMBER_OF_POOLS == 0) {
if(NUMBER_OF_SUBPOOLS == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPool::LocalPool: Passed pool configuration is "
<< " invalid!" << std::endl;
#endif
}
max_pools_t index = 0;
max_subpools_t index = 0;
for (const auto& currentPoolConfig: poolConfig) {
this->numberOfElements[index] = currentPoolConfig.first;
this->elementSizes[index] = currentPoolConfig.second;
@ -98,7 +98,7 @@ ReturnValue_t LocalPool::modifyData(store_address_t storeId,
ReturnValue_t LocalPool::modifyData(store_address_t storeId,
uint8_t **packetPtr, size_t *size) {
ReturnValue_t status = RETURN_FAILED;
if (storeId.poolIndex >= NUMBER_OF_POOLS) {
if (storeId.poolIndex >= NUMBER_OF_SUBPOOLS) {
return ILLEGAL_STORAGE_ID;
}
if ((storeId.packetIndex >= numberOfElements[storeId.poolIndex])) {
@ -127,7 +127,7 @@ ReturnValue_t LocalPool::deleteData(store_address_t storeId) {
#endif
ReturnValue_t status = RETURN_OK;
size_type pageSize = getPageSize(storeId.poolIndex);
size_type pageSize = getSubpoolElementSize(storeId.poolIndex);
if ((pageSize != 0) and
(storeId.packetIndex < numberOfElements[storeId.poolIndex])) {
uint16_t packetPosition = getRawPosition(storeId);
@ -151,7 +151,7 @@ ReturnValue_t LocalPool::deleteData(uint8_t *ptr, size_t size,
store_address_t *storeId) {
store_address_t localId;
ReturnValue_t result = ILLEGAL_ADDRESS;
for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
for (uint16_t n = 0; n < NUMBER_OF_SUBPOOLS; n++) {
//Not sure if new allocates all stores in order. so better be careful.
if ((store[n].data() <= ptr) and
(&store[n][numberOfElements[n]*elementSizes[n]] > ptr)) {
@ -192,7 +192,7 @@ ReturnValue_t LocalPool::initialize() {
}
//Check if any pool size is large than the maximum allowed.
for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
for (uint8_t count = 0; count < NUMBER_OF_SUBPOOLS; count++) {
if (elementSizes[count] >= STORAGE_FREE) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPool::initialize: Pool is too large! "
@ -217,7 +217,7 @@ void LocalPool::clearStore() {
ReturnValue_t LocalPool::reserveSpace(const size_t size,
store_address_t *storeId, bool ignoreFault) {
ReturnValue_t status = getPoolIndex(size, &storeId->poolIndex);
ReturnValue_t status = getSubPoolIndex(size, &storeId->poolIndex);
if (status != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
@ -227,7 +227,7 @@ ReturnValue_t LocalPool::reserveSpace(const size_t size,
}
status = findEmpty(storeId->poolIndex, &storeId->packetIndex);
while (status != RETURN_OK && spillsToHigherPools) {
status = getPoolIndex(size, &storeId->poolIndex, storeId->poolIndex + 1);
status = getSubPoolIndex(size, &storeId->poolIndex, storeId->poolIndex + 1);
if (status != RETURN_OK) {
//We don't find any fitting pool anymore.
break;
@ -263,9 +263,9 @@ void LocalPool::write(store_address_t storeId, const uint8_t *data,
sizeLists[storeId.poolIndex][storeId.packetIndex] = size;
}
LocalPool::size_type LocalPool::getPageSize(max_pools_t poolIndex) {
if (poolIndex < NUMBER_OF_POOLS) {
return elementSizes[poolIndex];
LocalPool::size_type LocalPool::getSubpoolElementSize(max_subpools_t subpoolIndex) {
if (subpoolIndex < NUMBER_OF_SUBPOOLS) {
return elementSizes[subpoolIndex];
}
else {
return 0;
@ -276,9 +276,9 @@ void LocalPool::setToSpillToHigherPools(bool enable) {
this->spillsToHigherPools = enable;
}
ReturnValue_t LocalPool::getPoolIndex(size_t packetSize, uint16_t *poolIndex,
ReturnValue_t LocalPool::getSubPoolIndex(size_t packetSize, uint16_t *subpoolIndex,
uint16_t startAtIndex) {
for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
for (uint16_t n = startAtIndex; n < NUMBER_OF_SUBPOOLS; n++) {
#if FSFW_VERBOSE_PRINTOUT == 2
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: "
@ -286,7 +286,7 @@ ReturnValue_t LocalPool::getPoolIndex(size_t packetSize, uint16_t *poolIndex,
#endif
#endif
if (elementSizes[n] >= packetSize) {
*poolIndex = n;
*subpoolIndex = n;
return RETURN_OK;
}
}
@ -313,7 +313,7 @@ ReturnValue_t LocalPool::findEmpty(n_pool_elem_t poolIndex, uint16_t *element) {
size_t LocalPool::getTotalSize(size_t* additionalSize) {
size_t totalSize = 0;
size_t sizesSize = 0;
for(uint8_t idx = 0; idx < NUMBER_OF_POOLS; idx ++) {
for(uint8_t idx = 0; idx < NUMBER_OF_SUBPOOLS; idx ++) {
totalSize += elementSizes[idx] * numberOfElements[idx];
sizesSize += numberOfElements[idx] * sizeof(size_type);
}
@ -331,7 +331,7 @@ void LocalPool::getFillCount(uint8_t *buffer, uint8_t *bytesWritten) {
uint16_t reservedHits = 0;
uint8_t idx = 0;
uint16_t sum = 0;
for(; idx < NUMBER_OF_POOLS; idx ++) {
for(; idx < NUMBER_OF_SUBPOOLS; idx ++) {
for(const auto& size: sizeLists[idx]) {
if(size != STORAGE_FREE) {
reservedHits++;
@ -343,21 +343,25 @@ void LocalPool::getFillCount(uint8_t *buffer, uint8_t *bytesWritten) {
sum += buffer[idx];
reservedHits = 0;
}
buffer[idx] = sum / NUMBER_OF_POOLS;
buffer[idx] = sum / NUMBER_OF_SUBPOOLS;
*bytesWritten += 1;
}
void LocalPool::clearPage(max_pools_t pageIndex) {
if(pageIndex >= NUMBER_OF_POOLS) {
void LocalPool::clearSubPool(max_subpools_t subpoolIndex) {
if(subpoolIndex >= NUMBER_OF_SUBPOOLS) {
return;
}
// Mark the storage as free
for(auto& size: sizeLists[pageIndex]) {
for(auto& size: sizeLists[subpoolIndex]) {
size = STORAGE_FREE;
}
// Set all the page content to 0.
std::memset(store[pageIndex].data(), 0, elementSizes[pageIndex]);
std::memset(store[subpoolIndex].data(), 0, elementSizes[subpoolIndex]);
}
LocalPool::max_subpools_t LocalPool::getNumberOfSubPools() const {
return NUMBER_OF_SUBPOOLS;
}

39
storagemanager/LocalPool.h
View File

@ -60,15 +60,6 @@ public:
};
using LocalPoolConfig = std::multiset<LocalPoolCfgPair, LocalPoolConfigCmp>;
/**
* @brief This definition generally sets the number of
* different sized pools. It is derived from the number of pairs
* inside the LocalPoolConfig set on object creation.
* @details
* This must be less than the maximum number of pools (currently 0xff).
*/
const max_pools_t NUMBER_OF_POOLS;
/**
* @brief This is the default constructor for a pool manager instance.
* @details
@ -143,9 +134,15 @@ public:
void getFillCount(uint8_t* buffer, uint8_t* bytesWritten) override;
void clearStore() override;
void clearPage(max_pools_t pageIndex) override;
void clearSubPool(max_subpools_t poolIndex) override;
ReturnValue_t initialize() override;
/**
* Get number sub pools. Each pool has pages with a specific bucket size.
* @return
*/
max_subpools_t getNumberOfSubPools() const override;
protected:
/**
* With this helper method, a free element of @c size is reserved.
@ -158,6 +155,16 @@ protected:
store_address_t* address, bool ignoreFault);
private:
/**
* @brief This definition generally sets the number of
* different sized pools. It is derived from the number of pairs
* inside the LocalPoolConfig set on object creation.
* @details
* This must be less than the maximum number of pools (currently 0xff).
*/
const max_subpools_t NUMBER_OF_SUBPOOLS;
/**
* Indicates that this element is free.
* This value limits the maximum size of a pool.
@ -170,20 +177,20 @@ private:
* must be set in ascending order on construction.
*/
std::vector<size_type> elementSizes =
std::vector<size_type>(NUMBER_OF_POOLS);
std::vector<size_type>(NUMBER_OF_SUBPOOLS);
/**
* @brief n_elements stores the number of elements per pool.
* @details These numbers are maintained for internal pool management.
*/
std::vector<uint16_t> numberOfElements =
std::vector<uint16_t>(NUMBER_OF_POOLS);
std::vector<uint16_t>(NUMBER_OF_SUBPOOLS);
/**
* @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.
*/
std::vector<std::vector<uint8_t>> store =
std::vector<std::vector<uint8_t>>(NUMBER_OF_POOLS);
std::vector<std::vector<uint8_t>>(NUMBER_OF_SUBPOOLS);
/**
* @brief The size_list attribute stores the size values of every pool element.
@ -191,7 +198,7 @@ private:
* is also dynamically allocated there.
*/
std::vector<std::vector<size_type>> sizeLists =
std::vector<std::vector<size_type>>(NUMBER_OF_POOLS);
std::vector<std::vector<size_type>>(NUMBER_OF_SUBPOOLS);
//! A variable to determine whether higher n pools are used if
//! the store is full.
@ -210,7 +217,7 @@ private:
* @param pool_index The pool in which to look.
* @return Returns the size of an element or 0.
*/
size_type getPageSize(max_pools_t poolIndex);
size_type getSubpoolElementSize(max_subpools_t subpoolIndex);
/**
* @brief This helper method looks up a fitting pool for a given size.
@ -221,7 +228,7 @@ private:
* @return - @c RETURN_OK on success,
* - @c DATA_TOO_LARGE otherwise.
*/
ReturnValue_t getPoolIndex(size_t packetSize, uint16_t* poolIndex,
ReturnValue_t getSubPoolIndex(size_t packetSize, uint16_t* subpoolIndex,
uint16_t startAtIndex = 0);
/**
* @brief This helper method calculates the true array position in store

25
storagemanager/StorageManagerIF.h
View File

@ -29,7 +29,7 @@ using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
class StorageManagerIF : public HasReturnvaluesIF {
public:
using size_type = size_t;
using max_pools_t = uint8_t;
using max_subpools_t = uint8_t;
static const uint8_t INTERFACE_ID = CLASS_ID::STORAGE_MANAGER_IF; //!< The unique ID for return codes for this interface.
static const ReturnValue_t DATA_TOO_LARGE = MAKE_RETURN_CODE(1); //!< This return code indicates that the data to be stored is too large for the store.
@ -149,10 +149,10 @@ public:
virtual ReturnValue_t modifyData(store_address_t packet_id,
uint8_t** packet_ptr, size_t* size) = 0;
/**
* This method reserves an element of \c size.
* This method reserves an element of @c size.
*
* It returns the packet id of this element as well as a direct pointer to the
* data of the element. It must be assured that exactly \c size data is
* data of the element. It must be assured that exactly @c size data is
* written to p_data!
* @param storageId A pointer to the storageId to retrieve.
* @param size The size of the space to be reserved.
@ -171,20 +171,29 @@ public:
virtual void clearStore() = 0;
/**
* Clears a page in the store. Use with care!
* Clears a pool in the store with the given pool index. Use with care!
* @param pageIndex
*/
virtual void clearPage(uint8_t pageIndex) = 0;
virtual void clearSubPool(uint8_t poolIndex) = 0;
/**
* Get the fill count of the pool. The exact form will be implementation
* dependant.
* Get the fill count of the pool. Each character inside the provided
* buffer will be assigned to a rounded percentage fill count for each
* page. The last written byte (at the index bytesWritten - 1)
* will contain the total fill count of the pool as a mean of the
* percentages of single pages.
* @param buffer
* @param bytesWritten
* @param maxSize
*/
virtual void getFillCount(uint8_t* buffer, uint8_t* bytesWritten) = 0;
virtual size_t getTotalSize(size_t* additionalSize) = 0;
/**
* Get number of pools.
* @return
*/
virtual max_subpools_t getNumberOfSubPools() const = 0;
};
#endif /* FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_ */

4
thermal/Heater.cpp
View File

@ -290,13 +290,13 @@ void Heater::handleQueue() {
}
}
ReturnValue_t Heater::getParameter(uint8_t domainId, uint16_t parameterId,
ReturnValue_t Heater::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
if (domainId != DOMAIN_ID_BASE) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
switch (uniqueId) {
case 0:
parameterWrapper->set(heaterOnCountdown.timeout);
break;

2
thermal/Heater.h
View File

@ -34,7 +34,7 @@ public:
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);

6
thermal/TemperatureSensor.h
View File

@ -183,10 +183,10 @@ public:
static const uint8_t DOMAIN_ID_SENSOR = 1;
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) {
ReturnValue_t result = sensorMonitor.getParameter(domainId, parameterId,
ReturnValue_t result = sensorMonitor.getParameter(domainId, uniqueId,
parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
@ -194,7 +194,7 @@ public:
if (domainId != this->DOMAIN_ID_BASE) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
switch (uniqueId) {
case ADDRESS_A:
parameterWrapper->set(parameters.a);
break;

6
thermal/ThermalComponent.cpp
View File

@ -148,14 +148,14 @@ ThermalComponentIF::State ThermalComponent::getIgnoredState(int8_t state) {
}
ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper,
uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
ReturnValue_t result = ThermalComponentCore::getParameter(domainId, parameterId,
ReturnValue_t result = ThermalComponentCore::getParameter(domainId, uniqueId,
parameterWrapper, newValues, startAtIndex);
if (result != INVALID_IDENTIFIER_ID) {
return result;
}
switch (parameterId) {
switch (uniqueId) {
case 12:
parameterWrapper->set(nopParameters.lowerNopLimit);
break;

2
thermal/ThermalComponent.h
View File

@ -58,7 +58,7 @@ public:
virtual ReturnValue_t setLimits( const uint8_t* data, size_t size);
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);

6
thermal/ThermalComponentCore.cpp
View File

@ -247,17 +247,17 @@ ThermalComponentCore::Parameters ThermalComponentCore::getParameters() {
}
ReturnValue_t ThermalComponentCore::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper,
uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
ReturnValue_t result = temperatureMonitor.getParameter(domainId,
parameterId, parameterWrapper, newValues, startAtIndex);
uniqueId, parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
if (domainId != this->domainId) {
return INVALID_DOMAIN_ID;
}
switch (parameterId) {
switch (uniqueId) {
case 0:
parameterWrapper->set(parameters.heaterOn);
break;

2
thermal/ThermalComponentCore.h
View File

@ -68,7 +68,7 @@ public:
virtual void setOutputInvalid();
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);

16
timemanager/Stopwatch.cpp
View File

@ -1,6 +1,9 @@
#include "Stopwatch.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iomanip>
#endif
Stopwatch::Stopwatch(bool displayOnDestruction,
StopwatchDisplayMode displayMode): displayOnDestruction(
@ -28,9 +31,13 @@ double Stopwatch::stopSeconds() {
void Stopwatch::display() {
if(displayMode == StopwatchDisplayMode::MILLIS) {
dur_millis_t timeMillis = static_cast<dur_millis_t>(
elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
sif::info << "Stopwatch: Operation took " << timeMillis << " milliseconds" << std::endl;
#else
sif::printInfo("Stopwatch: Operation took %lu milliseconds\n\r",
static_cast<unsigned int>(timeMillis));
#endif
}
else if(displayMode == StopwatchDisplayMode::SECONDS) {
@ -38,6 +45,9 @@ void Stopwatch::display() {
sif::info <<"Stopwatch: Operation took " << std::setprecision(3)
<< std::fixed << timevalOperations::toDouble(elapsedTime)
<< " seconds" << std::endl;
#else
sif::printInfo("Stopwatch: Operation took %.3f seconds\n\r",
static_cast<float>(timevalOperations::toDouble(elapsedTime)));
#endif
}
}

18
tmtcservices/TmTcBridge.cpp
View File

@ -1,7 +1,7 @@
#include "TmTcBridge.h"
#include "../ipc/QueueFactory.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../globalfunctions/arrayprinter.h"
TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
@ -109,9 +109,8 @@ ReturnValue_t TmTcBridge::handleTm() {
ReturnValue_t result = handleTmQueue();
if(result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcBridge::handleTm: Error handling TM queue with "
<< "error code 0x" << std::hex << result << std::dec
<< "!" << std::endl;
sif::error << "TmTcBridge::handleTm: Error handling TM queue with error code 0x" <<
std::hex << result << std::dec << "!" << std::endl;
#endif
status = result;
}
@ -121,8 +120,7 @@ ReturnValue_t TmTcBridge::handleTm() {
result = handleStoredTm();
if(result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcBridge::handleTm: Error handling stored TMs!"
<< std::endl;
sif::error << "TmTcBridge::handleTm: Error handling stored TMs!" << std::endl;
#endif
status = result;
}
@ -140,9 +138,15 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
result == HasReturnvaluesIF::RETURN_OK;
result = tmTcReceptionQueue->receiveMessage(&message))
{
#if FSFW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::info << (int) packetSentCounter << std::endl;
sif::info << "Sent packet counter: " << static_cast<int>(packetSentCounter) << std::endl;
#else
sif::printInfo("Sent packet counter: %d\n", packetSentCounter);
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 3 */
if(communicationLinkUp == false or
packetSentCounter >= sentPacketsPerCycle) {
storeDownlinkData(&message);

124
unittest/tests/datapoollocal/LocalPoolManagerTest.cpp
View File

@ -1,10 +1,16 @@
#include "LocalPoolOwnerBase.h"
#include <catch2/catch_test_macros.hpp>
#include <catch2/catch_approx.hpp>
#include <fsfw/datapool/PoolReadHelper.h>
#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/housekeeping/HousekeepingSnapshot.h>
#include <fsfw/ipc/CommandMessageCleaner.h>
#include <fsfw/timemanager/CCSDSTime.h>
#include <unittest/core/CatchDefinitions.h>
#include <iostream>
TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
@ -14,7 +20,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation()
== retval::CATCH_OK);
REQUIRE(poolOwner->dataset.assignPointers() == retval::CATCH_OK);
//REQUIRE(poolOwner->dataset.assignPointers() == retval::CATCH_OK);
MessageQueueMockBase* mqMock = poolOwner->getMockQueueHandle();
REQUIRE(mqMock != nullptr);
CommandMessage messageSent;
@ -22,11 +28,11 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
SECTION("BasicTest") {
// Subscribe for message generation on update.
/* Subscribe for message generation on update. */
REQUIRE(poolOwner->subscribeWrapperSetUpdate() == retval::CATCH_OK);
// Subscribe for an update message.
/* Subscribe for an update message. */
poolOwner->dataset.setChanged(true);
// Now the update message should be generated.
/* Now the update message should be generated. */
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent() == true);
@ -34,9 +40,9 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
CHECK(messageSent.getCommand() == static_cast<int>(
HousekeepingMessage::UPDATE_NOTIFICATION_SET));
// Should have been reset.
/* Should have been reset. */
CHECK(poolOwner->dataset.hasChanged() == false);
// Set changed again, result should be the same.
/* Set changed again, result should be the same. */
poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
@ -46,14 +52,14 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
CHECK(messageSent.getCommand() == static_cast<int>(
HousekeepingMessage::UPDATE_NOTIFICATION_SET));
// now subscribe for set update HK as well.
/* Now subscribe for set update HK as well. */
REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK);
poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 2);
// first message sent should be the update notification, considering
// the internal list is a vector checked in insertion order.
/* first message sent should be the update notification, considering
the internal list is a vector checked in insertion order. */
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == static_cast<int>(
HousekeepingMessage::UPDATE_NOTIFICATION_SET));
@ -61,16 +67,82 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == static_cast<int>(
HousekeepingMessage::HK_REPORT));
// clear message to avoid memory leak, our mock won't do it for us (yet)
/* Clear message to avoid memory leak, our mock won't do it for us (yet) */
CommandMessageCleaner::clearCommandMessage(&messageSent);
}
SECTION("SnapshotUpdateTests") {
/* Set the variables in the set to certain values. These are checked later. */
{
PoolReadHelper readHelper(&poolOwner->dataset);
REQUIRE(readHelper.getReadResult() == retval::CATCH_OK);
poolOwner->dataset.localPoolVarUint8.value = 5;
poolOwner->dataset.localPoolVarFloat.value = -12.242;
poolOwner->dataset.localPoolUint16Vec.value[0] = 2;
poolOwner->dataset.localPoolUint16Vec.value[1] = 32;
poolOwner->dataset.localPoolUint16Vec.value[2] = 42932;
}
/* Subscribe for snapshot generation on update. */
REQUIRE(poolOwner->subscribeWrapperSetUpdateSnapshot() == retval::CATCH_OK);
poolOwner->dataset.setChanged(true);
/* Store current time, we are going to check the (approximate) time equality later */
CCSDSTime::CDS_short timeCdsNow;
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::convertToCcsds(&timeCdsNow, &now);
/* Trigger generation of snapshot */
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
/* Check that snapshot was generated */
CHECK(messageSent.getCommand() == static_cast<int>(
HousekeepingMessage::UPDATE_SNAPSHOT_SET));
/* Now we deserialize the snapshot into a new dataset instance */
CCSDSTime::CDS_short cdsShort;
LocalPoolTestDataSet newSet;
HousekeepingSnapshot snapshot(&cdsShort, &newSet);
store_address_t storeId;
HousekeepingMessage::getUpdateSnapshotSetCommand(&messageSent, &storeId);
ConstAccessorPair accessorPair = tglob::getIpcStoreHandle()->getData(storeId);
REQUIRE(accessorPair.first == retval::CATCH_OK);
const uint8_t* readOnlyPtr = accessorPair.second.data();
size_t sizeToDeserialize = accessorPair.second.size();
CHECK(newSet.localPoolVarFloat.value == 0);
CHECK(newSet.localPoolVarUint8 == 0);
CHECK(newSet.localPoolUint16Vec.value[0] == 0);
CHECK(newSet.localPoolUint16Vec.value[1] == 0);
CHECK(newSet.localPoolUint16Vec.value[2] == 0);
/* Fill the dataset and timestamp */
REQUIRE(snapshot.deSerialize(&readOnlyPtr, &sizeToDeserialize,
SerializeIF::Endianness::MACHINE) == retval::CATCH_OK);
/* Now we check that the snapshot is actually correct */
CHECK(newSet.localPoolVarFloat.value == Catch::Approx(-12.242));
CHECK(newSet.localPoolVarUint8 == 5);
CHECK(newSet.localPoolUint16Vec.value[0] == 2);
CHECK(newSet.localPoolUint16Vec.value[1] == 32);
CHECK(newSet.localPoolUint16Vec.value[2] == 42932);
/* Now we check that both times are equal */
CHECK(cdsShort.pField == timeCdsNow.pField);
CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(1));
}
SECTION("AdvancedTests") {
// we need to reset the subscription list because the pool owner
// is a global object.
poolOwner->resetSubscriptionList();
// Subscribe for variable update as well
REQUIRE(not poolOwner->dataset.hasChanged());
/* Acquire subscription interface */
ProvidesDataPoolSubscriptionIF* subscriptionIF = poolOwner->getSubscriptionInterface();
REQUIRE(subscriptionIF != nullptr);
/* Subscribe for variable update */
REQUIRE(poolOwner->subscribeWrapperVariableUpdate(lpool::uint8VarId) ==
retval::CATCH_OK);
lp_var_t<uint8_t>* poolVar = dynamic_cast<lp_var_t<uint8_t>*>(
@ -79,22 +151,22 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
poolVar->setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
// Check update notification was sent.
/* Check update notification was sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1);
// Should have been reset.
/* Should have been reset. */
CHECK(poolVar->hasChanged() == false);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == static_cast<int>(
HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
// now subscribe for the dataset update (HK and update) again
REQUIRE(poolOwner->subscribeWrapperSetUpdate() == retval::CATCH_OK);
/* Now subscribe for the dataset update (HK and update) again with subscription interface */
REQUIRE(subscriptionIF->subscribeForSetUpdateMessages(lpool::testSetId,
objects::NO_OBJECT, objects::HK_RECEIVER_MOCK, false) == retval::CATCH_OK);
REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK);
poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
// now two messages should be sent.
/* Now two messages should be sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 2);
mqMock->clearMessages(true);
@ -102,7 +174,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
poolOwner->dataset.setChanged(true);
poolVar->setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
// now three messages should be sent.
/* Now three messages should be sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 3);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
@ -115,8 +187,12 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
CHECK(messageSent.getCommand() == static_cast<int>(
HousekeepingMessage::HK_REPORT));
CommandMessageCleaner::clearCommandMessage(&messageSent);
REQUIRE(mqMock->receiveMessage(&messageSent) ==
static_cast<int>(MessageQueueIF::EMPTY));
REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
}
/* we need to reset the subscription list because the pool owner
is a global object. */
poolOwner->resetSubscriptionList();
mqMock->clearMessages(true);
}

53
unittest/tests/datapoollocal/LocalPoolOwnerBase.h
View File

@ -20,33 +20,43 @@ static constexpr lp_id_t int64Vec2Id = 4;
static constexpr uint32_t testSetId = 0;
static constexpr uint8_t dataSetMaxVariables = 10;
static const sid_t testSid = sid_t(objects::TEST_LOCAL_POOL_OWNER_BASE,
testSetId);
static const sid_t testSid = sid_t(objects::TEST_LOCAL_POOL_OWNER_BASE, testSetId);
static const gp_id_t uint8VarGpid = gp_id_t(objects::TEST_LOCAL_POOL_OWNER_BASE, uint8VarId);
static const gp_id_t floatVarGpid = gp_id_t(objects::TEST_LOCAL_POOL_OWNER_BASE, floatVarId);
static const gp_id_t uint32Gpid = gp_id_t(objects::TEST_LOCAL_POOL_OWNER_BASE, uint32VarId);
static const gp_id_t uint16Vec3Gpid = gp_id_t(objects::TEST_LOCAL_POOL_OWNER_BASE, uint16Vec3Id);
static const gp_id_t uint64Vec2Id = gp_id_t(objects::TEST_LOCAL_POOL_OWNER_BASE, int64Vec2Id);
}
class LocalPoolTestDataSet: public LocalDataSet {
public:
LocalPoolTestDataSet():
LocalDataSet(lpool::testSid, lpool::dataSetMaxVariables) {
}
LocalPoolTestDataSet(HasLocalDataPoolIF* owner, uint32_t setId):
LocalDataSet(owner, setId, lpool::dataSetMaxVariables) {
}
ReturnValue_t assignPointers() {
PoolVariableIF** rawVarArray = getContainer();
localPoolVarUint8 = dynamic_cast<lp_var_t<uint8_t>*>(rawVarArray[0]);
localPoolVarFloat = dynamic_cast<lp_var_t<float>*>(rawVarArray[1]);
localPoolUint16Vec = dynamic_cast<lp_vec_t<uint16_t, 3>*>(
rawVarArray[2]);
if(localPoolVarUint8 == nullptr or localPoolVarFloat == nullptr or
localPoolUint16Vec == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
// ReturnValue_t assignPointers() {
// PoolVariableIF** rawVarArray = getContainer();
// localPoolVarUint8 = dynamic_cast<lp_var_t<uint8_t>*>(rawVarArray[0]);
// localPoolVarFloat = dynamic_cast<lp_var_t<float>*>(rawVarArray[1]);
// localPoolUint16Vec = dynamic_cast<lp_vec_t<uint16_t, 3>*>(
// rawVarArray[2]);
// if(localPoolVarUint8 == nullptr or localPoolVarFloat == nullptr or
// localPoolUint16Vec == nullptr) {
// return HasReturnvaluesIF::RETURN_FAILED;
// }
// return HasReturnvaluesIF::RETURN_OK;
// }
lp_var_t<uint8_t>* localPoolVarUint8 = nullptr;
lp_var_t<float>* localPoolVarFloat = nullptr;
lp_vec_t<uint16_t, 3>* localPoolUint16Vec = nullptr;
lp_var_t<uint8_t> localPoolVarUint8 = lp_var_t<uint8_t>(lpool::uint8VarGpid, this);
lp_var_t<float> localPoolVarFloat = lp_var_t<float>(lpool::floatVarGpid, this);
lp_vec_t<uint16_t, 3> localPoolUint16Vec = lp_vec_t<uint16_t, 3>(lpool::uint16Vec3Gpid, this);
private:
};
@ -155,7 +165,12 @@ public:
ReturnValue_t subscribeWrapperSetUpdate() {
return poolManager.subscribeForSetUpdateMessages(lpool::testSetId,
objects::NO_OBJECT, MessageQueueIF::NO_QUEUE, false);
objects::NO_OBJECT, objects::HK_RECEIVER_MOCK, false);
}
ReturnValue_t subscribeWrapperSetUpdateSnapshot() {
return poolManager.subscribeForSetUpdateMessages(lpool::testSetId,
objects::NO_OBJECT, objects::HK_RECEIVER_MOCK, true);
}
ReturnValue_t subscribeWrapperSetUpdateHk(bool diagnostics = false) {
@ -165,7 +180,7 @@ public:
ReturnValue_t subscribeWrapperVariableUpdate(lp_id_t localPoolId) {
return poolManager.subscribeForVariableUpdateMessages(localPoolId,
MessageQueueIF::NO_QUEUE, objects::NO_OBJECT, false);
MessageQueueIF::NO_QUEUE, objects::HK_RECEIVER_MOCK, false);
}
void resetSubscriptionList() {

8
unittest/tests/datapoollocal/LocalPoolVariableTest.cpp
View File

@ -14,7 +14,7 @@ TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") {
== retval::CATCH_OK);
SECTION("Basic Tests") {
// very basic test.
/* very basic test. */
lp_var_t<uint8_t> testVariable = lp_var_t<uint8_t>(
objects::TEST_LOCAL_POOL_OWNER_BASE, lpool::uint8VarId);
REQUIRE(testVariable.read() == retval::CATCH_OK);
@ -77,7 +77,7 @@ TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") {
SECTION("ErrorHandling") {
// not try to use a local pool variable which does not exist
/* now try to use a local pool variable which does not exist */
lp_var_t<uint8_t> invalidVariable = lp_var_t<uint8_t>(
objects::TEST_LOCAL_POOL_OWNER_BASE, 0xffffffff);
REQUIRE(invalidVariable.read() ==
@ -85,7 +85,7 @@ TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") {
REQUIRE(invalidVariable.commit() ==
static_cast<int>(localpool::POOL_ENTRY_NOT_FOUND));
// now try to access with wrong type
/* now try to access with wrong type */
lp_var_t<int8_t> invalidVariable2 = lp_var_t<int8_t>(
objects::TEST_LOCAL_POOL_OWNER_BASE, lpool::uint8VarId);
REQUIRE(invalidVariable2.read() ==
@ -108,7 +108,7 @@ TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") {
sif::info << "LocalPoolVariable printout: " <<uint32tVar << std::endl;
#endif
// for code coverage. If program does not crash -> OK
/* for code coverage. If program does not crash -> OK */
lp_var_t<uint8_t> invalidObjectVar = lp_var_t<uint8_t>(
0xffffffff, lpool::uint8VarId);
gp_id_t globPoolId(0xffffffff,

10
unittest/tests/datapoollocal/LocalPoolVectorTest.cpp
View File

@ -35,13 +35,13 @@ TEST_CASE("LocalPoolVector" , "[LocPoolVecTest]") {
CHECK(testVector[0] == 5);
// This is invalid access, so the last value will be set instead.
// (we can't throw exceptions)
/* This is invalid access, so the last value will be set instead.
(we can't throw exceptions) */
testVector[4] = 12;
CHECK(testVector[2] == 12);
CHECK(testVector.commit() == retval::CATCH_OK);
// Use read-only reference.
/* Use read-only reference. */
const lp_vec_t<uint16_t, 3>& roTestVec = testVector;
uint16_t valueOne = roTestVec[0];
CHECK(valueOne == 5);
@ -87,7 +87,7 @@ TEST_CASE("LocalPoolVector" , "[LocPoolVecTest]") {
}
SECTION("ErrorHandling") {
// not try to use a local pool variable which does not exist
/* Now try to use a local pool variable which does not exist */
lp_vec_t<uint16_t, 3> invalidVector = lp_vec_t<uint16_t, 3>(
objects::TEST_LOCAL_POOL_OWNER_BASE, 0xffffffff);
REQUIRE(invalidVector.read() ==
@ -95,7 +95,7 @@ TEST_CASE("LocalPoolVector" , "[LocPoolVecTest]") {
REQUIRE(invalidVector.commit() ==
static_cast<int>(localpool::POOL_ENTRY_NOT_FOUND));
// now try to access with wrong type
/* Now try to access with wrong type */
lp_vec_t<uint32_t, 3> invalidVector2 = lp_vec_t<uint32_t, 3>(
objects::TEST_LOCAL_POOL_OWNER_BASE, lpool::uint16Vec3Id);
REQUIRE(invalidVector2.read() ==

2
unittest/tests/storagemanager/TestPool.cpp
View File

@ -276,7 +276,7 @@ TEST_CASE( "Local Pool Extended Tests [3 Pools]" , "[TestPool2]") {
CHECK(receptionArray[3] == 66);
// now clear first page
simplePool.clearPage(0);
simplePool.clearSubPool(0);
bytesWritten = 0;
simplePool.getFillCount(receptionArray.data(), &bytesWritten);
// Second page full, median fill count is 33 %