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Merge remote-tracking branch 'origin/mueller/master' into tompert/devel

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Robin Müller 2021-06-24 09:31:17 +02:00
commit 967d4964f1
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167 changed files with 3807 additions and 3278 deletions
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13
CHANGELOG
View File

@ -1,3 +1,16 @@
## Changes from ASTP 1.0.0 to 1.1.0
### PUS
- Added PUS C support
### Configuration
- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which
need to be specified in FSFWConfig.h
## Changes from ASTP 0.0.1 to 1.0.0
### Host OSAL

11
CMakeLists.txt
View File

@ -18,6 +18,13 @@ add_library(${LIB_FSFW_NAME})
set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 11)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
endif()
if(NOT OS_FSFW)
message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW
@ -131,9 +138,9 @@ else()
)
endif()
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATH})
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
if(IS_ABSOLUTE ${INCLUDE_PATH})
set(CURR_ABS_INC_PATH "${FREERTOS_PATH}")
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
else()
get_filename_component(CURR_ABS_INC_PATH
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})

7
FSFW.h Normal file
View File

@ -0,0 +1,7 @@
#ifndef FSFW_FSFW_H_
#define FSFW_FSFW_H_
#include "FSFWConfig.h"
#endif /* FSFW_FSFW_H_ */

4
action/ActionHelper.cpp
View File

@ -2,7 +2,7 @@
#include "HasActionsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../serviceinterface/ServiceInterface.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner,
@ -25,7 +25,7 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
}
ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

4
action/ActionMessage.cpp
View File

@ -1,7 +1,7 @@
#include "ActionMessage.h"
#include "HasActionsIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
ActionMessage::ActionMessage() {
@ -69,7 +69,7 @@ void ActionMessage::clear(CommandMessage* message) {
switch(message->getCommand()) {
case EXECUTE_ACTION:
case DATA_REPLY: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message));

9
action/CommandActionHelper.cpp
View File

@ -2,7 +2,8 @@
#include "CommandActionHelper.h"
#include "CommandsActionsIF.h"
#include "HasActionsIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
owner(setOwner), queueToUse(NULL), ipcStore(
@ -14,7 +15,7 @@ CommandActionHelper::~CommandActionHelper() {
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
ActionId_t actionId, SerializeIF *data) {
HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
@ -40,7 +41,7 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
// if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING;
// }
HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
@ -66,7 +67,7 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
}
ReturnValue_t CommandActionHelper::initialize() {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}

3
controller/ControllerBase.cpp
View File

@ -3,6 +3,7 @@
#include "../subsystem/SubsystemBase.h"
#include "../ipc/QueueFactory.h"
#include "../action/HasActionsIF.h"
#include "../objectmanager/ObjectManager.h"
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth) :
@ -25,7 +26,7 @@ ReturnValue_t ControllerBase::initialize() {
MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
SubsystemBase *parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == nullptr) {
return RETURN_FAILED;
}

4
controller/ExtendedControllerBase.h
View File

@ -66,6 +66,10 @@ protected:
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override = 0;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
// Mode abstract functions
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override = 0;
};

3
datalinklayer/DataLinkLayer.h
View File

@ -19,7 +19,8 @@ class VirtualChannelReception;
class DataLinkLayer : public CCSDSReturnValuesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
//! [EXPORT] : [COMMENT] A RF available signal was detected. P1: raw RFA state, P2: 0
static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO);
static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0

9
datalinklayer/MapPacketExtraction.cpp
View File

@ -1,10 +1,13 @@
#include "MapPacketExtraction.h"
#include "../ipc/QueueFactory.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../tmtcpacket/SpacePacketBase.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/TmTcMessage.h"
#include "../objectmanager/ObjectManager.h"
#include <cstring>
MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
@ -131,9 +134,9 @@ void MapPacketExtraction::clearBuffers() {
}
ReturnValue_t MapPacketExtraction::initialize() {
packetStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
AcceptsTelecommandsIF* distributor = objectManager->get<
AcceptsTelecommandsIF>(packetDestination);
packetStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
AcceptsTelecommandsIF* distributor = ObjectManager::instance()->
get<AcceptsTelecommandsIF>(packetDestination);
if ((packetStore != NULL) && (distributor != NULL)) {
tcQueueId = distributor->getRequestQueue();
return RETURN_OK;

3
datapoollocal/HasLocalDataPoolIF.h
View File

@ -34,7 +34,8 @@ class LocalPoolObjectBase;
* can be retrieved using the object manager, provided the target object is a SystemObject.
* For example, the following line of code can be used to retrieve the interface
*
* HasLocalDataPoolIF* poolIF = objectManager->get<HasLocalDataPoolIF>(objects::SOME_OBJECT);
* HasLocalDataPoolIF* poolIF = ObjectManager::instance()->
* get<HasLocalDataPoolIF>(objects::SOME_OBJECT);
* if(poolIF != nullptr) {
* doSomething()
* }

18
datapoollocal/LocalDataPoolManager.cpp
View File

@ -6,6 +6,7 @@
#include "internal/HasLocalDpIFManagerAttorney.h"
#include "../housekeeping/HousekeepingSetPacket.h"
#include "../objectmanager/ObjectManager.h"
#include "../housekeeping/HousekeepingSnapshot.h"
#include "../housekeeping/AcceptsHkPacketsIF.h"
#include "../timemanager/CCSDSTime.h"
@ -52,7 +53,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
}
hkQueue = queueToUse;
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if(ipcStore == nullptr) {
/* Error, all destinations invalid */
printWarningOrError(sif::OutputTypes::OUT_ERROR,
@ -63,8 +64,8 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
if(defaultHkDestination != objects::NO_OBJECT) {
AcceptsHkPacketsIF* hkPacketReceiver =
objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
AcceptsHkPacketsIF* hkPacketReceiver = ObjectManager::instance()->
get<AcceptsHkPacketsIF>(defaultHkDestination);
if(hkPacketReceiver != nullptr) {
hkDestinationId = hkPacketReceiver->getHkQueue();
}
@ -360,8 +361,8 @@ void LocalDataPoolManager::resetHkUpdateResetHelper() {
ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
bool enableReporting, float collectionInterval, bool isDiagnostics,
object_id_t packetDestination) {
AcceptsHkPacketsIF* hkReceiverObject =
objectManager->get<AcceptsHkPacketsIF>(packetDestination);
AcceptsHkPacketsIF* hkReceiverObject = ObjectManager::instance()->
get<AcceptsHkPacketsIF>(packetDestination);
if(hkReceiverObject == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_WARNING,
"subscribeForPeriodicPacket", QUEUE_OR_DESTINATION_INVALID);
@ -391,7 +392,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid,
bool isDiagnostics, bool reportingEnabled,
object_id_t packetDestination) {
AcceptsHkPacketsIF* hkReceiverObject =
objectManager->get<AcceptsHkPacketsIF>(packetDestination);
ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
if(hkReceiverObject == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_WARNING,
"subscribeForPeriodicPacket", QUEUE_OR_DESTINATION_INVALID);
@ -554,6 +555,11 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
if(dataSet == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage",
DATASET_NOT_FOUND);
return DATASET_NOT_FOUND;
}
if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT
and LocalPoolDataSetAttorney::isDiagnostics(*dataSet)) {
result = WRONG_HK_PACKET_TYPE;

3
datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -3,6 +3,7 @@
#include "internal/HasLocalDpIFUserAttorney.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/ObjectManager.h"
#include "../globalfunctions/bitutility.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../housekeeping/PeriodicHousekeepingHelper.h"
@ -45,7 +46,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
const size_t maxNumberOfVariables):
PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(
sid.objectId);
if(hkOwner != nullptr) {
AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);

4
datapoollocal/LocalPoolObjectBase.cpp
View File

@ -4,7 +4,7 @@
#include "HasLocalDataPoolIF.h"
#include "internal/HasLocalDpIFUserAttorney.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
@ -43,7 +43,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
"which is the NO_PARAMETER value!\n");
#endif
}
HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(poolOwner);
HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
if(hkOwner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "

3
defaultcfg/fsfwconfig/FSFWConfig.h
View File

@ -18,6 +18,7 @@
#endif
#define FSFW_USE_PUS_C_TELEMETRY 1
#define FSFW_USE_PUS_C_TELECOMMANDS 1
//! Can be used to disable the ANSI color sequences for C stdio.
#define FSFW_COLORED_OUTPUT 1
@ -67,6 +68,8 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

3
devicehandlers/ChildHandlerBase.cpp
View File

@ -1,6 +1,5 @@
#include "ChildHandlerBase.h"
#include "../subsystem/SubsystemBase.h"
#include "../subsystem/SubsystemBase.h"
ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * cookie,
@ -30,7 +29,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
SubsystemBase *parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == NULL) {
return RETURN_FAILED;
}

50
devicehandlers/DeviceHandlerBase.cpp
View File

@ -119,7 +119,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
return result;
}
communicationInterface = objectManager->get<DeviceCommunicationIF>(
communicationInterface = ObjectManager::instance()->get<DeviceCommunicationIF>(
deviceCommunicationId);
if (communicationInterface == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
@ -136,7 +136,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
return result;
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up");
@ -144,8 +144,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
if(rawDataReceiverId != objects::NO_OBJECT) {
AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
AcceptsDeviceResponsesIF>(rawDataReceiverId);
AcceptsDeviceResponsesIF *rawReceiver = ObjectManager::instance()->
get<AcceptsDeviceResponsesIF>(rawDataReceiverId);
if (rawReceiver == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR,
@ -164,7 +164,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
if(powerSwitcherId != objects::NO_OBJECT) {
powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
powerSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitcherId);
if (powerSwitcher == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR,
"initialize", ObjectManagerIF::CHILD_INIT_FAILED,
@ -226,16 +226,15 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
if (iter->second.delayCycles != 0) {
iter->second.delayCycles--;
if (iter->second.delayCycles == 0) {
if (iter->second.periodic) {
iter->second.delayCycles = iter->second.maxDelayCycles;
for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair: deviceReplyMap) {
if (replyPair.second.delayCycles != 0) {
replyPair.second.delayCycles--;
if (replyPair.second.delayCycles == 0) {
if (replyPair.second.periodic) {
replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
}
replyToReply(iter, TIMEOUT);
missedReply(iter->first);
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first);
}
}
}
@ -584,17 +583,28 @@ void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
}
}
void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceReplyInfo& replyInfo,
ReturnValue_t status) {
// No need to check if iter exists, as this is checked by callers.
// If someone else uses the method, add check.
if (iter->second.command == deviceCommandMap.end()) {
if (replyInfo.command == deviceCommandMap.end()) {
//Is most likely periodic reply. Silent return.
return;
}
DeviceCommandInfo* info = &replyInfo.command->second;
if (info == nullptr){
printWarningOrError(sif::OutputTypes::OUT_ERROR,
"replyToReply", HasReturnvaluesIF::RETURN_FAILED,
"Command pointer not found");
return;
}
if (info->expectedReplies > 0){
// Check before to avoid underflow
info->expectedReplies--;
}
// Check if more replies are expected. If so, do nothing.
DeviceCommandInfo* info = &(iter->second.command->second);
if (--info->expectedReplies == 0) {
if (info->expectedReplies == 0) {
// Check if it was transition or internal command.
// Don't send any replies in that case.
if (info->sendReplyTo != NO_COMMANDER) {
@ -602,7 +612,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
if(status == HasReturnvaluesIF::RETURN_OK) {
success = true;
}
actionHelper.finish(success, info->sendReplyTo, iter->first, status);
actionHelper.finish(success, info->sendReplyTo, command, status);
}
info->isExecuting = false;
}
@ -801,7 +811,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
}
replyToReply(iter, result);
replyToReply(iter->first, iter->second, result);
}
else {
/* Other completion failure messages are created by timeout.

5
devicehandlers/DeviceHandlerBase.h
View File

@ -667,7 +667,7 @@ protected:
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;
static const MessageQueueId_t NO_COMMANDER = MessageQueueIF::NO_QUEUE;
//! Pointer to the raw packet that will be sent.
uint8_t *rawPacket = nullptr;
@ -1195,7 +1195,8 @@ 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);
void replyToReply(const DeviceCommandId_t command, DeviceReplyInfo& replyInfo,
ReturnValue_t status);
/**
* Build and send a command to the device.

3
devicehandlers/DeviceHandlerFailureIsolation.cpp
View File

@ -1,6 +1,7 @@
#include "DeviceHandlerFailureIsolation.h"
#include "../devicehandlers/DeviceHandlerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../modes/HasModesIF.h"
#include "../health/HealthTableIF.h"
#include "../power/Fuse.h"
@ -175,7 +176,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
#endif
return result;
}
ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
ConfirmsFailuresIF* power = ObjectManager::instance()->get<ConfirmsFailuresIF>(
powerConfirmationId);
if (power != nullptr) {
powerConfirmation = power->getEventReceptionQueue();

4
devicehandlers/DeviceHandlerMessage.cpp
View File

@ -1,5 +1,5 @@
#include "DeviceHandlerMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
store_address_t DeviceHandlerMessage::getStoreAddress(
const CommandMessage* message) {
@ -70,7 +70,7 @@ void DeviceHandlerMessage::clear(CommandMessage* message) {
case REPLY_RAW_COMMAND:
case REPLY_RAW_REPLY:
case REPLY_DIRECT_COMMAND_DATA: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != nullptr) {
ipcStore->deleteData(getStoreAddress(message));

20
events/EventManager.cpp
View File

@ -156,11 +156,11 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage *messag
sif::info << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
message->getReporter() << std::setfill(' ') << std::dec;
}
sif::info << " report event with ID " << message->getEventId() << std::endl;
sif::info << std::hex << "P1 Hex: 0x" << message->getParameter1() <<
" | P1 Dec: " << std::dec << message->getParameter1() << std::hex <<
" | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " << std::dec <<
message->getParameter2() << std::endl;
sif::info << " reported event with ID " << message->getEventId() << std::endl;
sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
std::dec << message->getParameter2() << std::endl;
#else
if (string != 0) {
sif::printInfo("Event Manager: %s reported event with ID %d\n", string,
@ -186,11 +186,11 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage *messag
sif::debug << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
message->getReporter() << std::setfill(' ') << std::dec;
}
sif::debug << " report event with ID " << message->getEventId() << std::endl;
sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1() <<
" | P1 Dec: " << std::dec << message->getParameter1() << std::hex <<
" | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " << std::dec <<
message->getParameter2() << std::endl;
sif::debug << " reported event with ID " << message->getEventId() << std::endl;
sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
std::dec << message->getParameter2() << std::endl;
#else
if (string != 0) {
sif::printDebug("Event Manager: %s reported event with ID %d\n", string,

3
events/EventManager.h
View File

@ -3,8 +3,7 @@
#include "EventManagerIF.h"
#include "eventmatching/EventMatchTree.h"
#include <FSFWConfig.h>
#include "FSFWConfig.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/SystemObject.h"

4
events/EventManagerIF.h
View File

@ -3,7 +3,7 @@
#include "EventMessage.h"
#include "eventmatching/eventmatching.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../serviceinterface/ServiceInterface.h"
@ -43,7 +43,7 @@ public:
static void triggerEvent(EventMessage* message,
MessageQueueId_t sentFrom = 0) {
if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
EventManagerIF *eventmanager = objectManager->get<EventManagerIF>(
EventManagerIF *eventmanager = ObjectManager::instance()->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (eventmanager == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1

8
fdir/FailureIsolationBase.cpp
View File

@ -3,7 +3,7 @@
#include "../health/HasHealthIF.h"
#include "../health/HealthMessage.h"
#include "../ipc/QueueFactory.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
FailureIsolationBase::FailureIsolationBase(object_id_t owner,
object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
@ -18,7 +18,7 @@ FailureIsolationBase::~FailureIsolationBase() {
}
ReturnValue_t FailureIsolationBase::initialize() {
EventManagerIF* manager = objectManager->get<EventManagerIF>(
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -36,7 +36,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
owner = objectManager->get<HasHealthIF>(ownerId);
owner = ObjectManager::instance()->get<HasHealthIF>(ownerId);
if (owner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FailureIsolationBase::intialize: Owner object "
@ -46,7 +46,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
}
}
if (faultTreeParent != objects::NO_OBJECT) {
ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
ConfirmsFailuresIF* parentIF = ObjectManager::instance()->get<ConfirmsFailuresIF>(
faultTreeParent);
if (parentIF == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1

9
globalfunctions/arrayprinter.cpp
View File

@ -5,6 +5,15 @@
void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
bool printInfo, size_t maxCharPerLine) {
if(size == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Size is zero, nothing to print" << std::endl;
#else
sif::printInfo("Size is zero, nothing to print\n");
#endif
return;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
if(printInfo) {
sif::info << "Printing data with size " << size << ": " << std::endl;

6
health/HealthHelper.cpp
View File

@ -1,5 +1,5 @@
#include "HealthHelper.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
objectId(objectId), owner(owner) {
@ -37,8 +37,8 @@ void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
}
ReturnValue_t HealthHelper::initialize() {
healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
eventSender = objectManager->get<EventReportingProxyIF>(objectId);
healthTable = ObjectManager::instance()->get<HealthTableIF>(objects::HEALTH_TABLE);
eventSender = ObjectManager::instance()->get<EventReportingProxyIF>(objectId);
if (healthTable == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1

4
housekeeping/HousekeepingMessage.cpp
View File

@ -1,6 +1,6 @@
#include "HousekeepingMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include <cstring>
HousekeepingMessage::~HousekeepingMessage() {}
@ -161,7 +161,7 @@ void HousekeepingMessage::clear(CommandMessage* message) {
case(UPDATE_SNAPSHOT_VARIABLE): {
store_address_t storeId;
getHkDataReply(message, &storeId);
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != nullptr) {
ipcStore->deleteData(storeId);

4
ipc/CommandMessageCleaner.cpp
View File

@ -1,5 +1,6 @@
#include "CommandMessageCleaner.h"
#include "../memory/GenericFileSystemMessage.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
#include "../memory/MemoryMessage.h"
@ -42,6 +43,9 @@ void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
case messagetypes::HOUSEKEEPING:
HousekeepingMessage::clear(message);
break;
case messagetypes::FILE_SYSTEM_MESSAGE:
GenericFileSystemMessage::clear(message);
break;
default:
messagetypes::clearMissionMessage(message);
break;

4
memory/CMakeLists.txt
View File

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

161
memory/GenericFileSystemMessage.cpp Normal file
View File

@ -0,0 +1,161 @@
#include "GenericFileSystemMessage.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
void GenericFileSystemMessage::setCreateFileCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_CREATE_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setDeleteFileCommand(
CommandMessage* message, store_address_t storeId) {
message->setCommand(CMD_DELETE_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setCreateDirectoryCommand(
CommandMessage* message, store_address_t storeId) {
message->setCommand(CMD_CREATE_DIRECTORY);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setReportFileAttributesCommand(CommandMessage *message,
store_address_t storeId) {
message->setCommand(CMD_REPORT_FILE_ATTRIBUTES);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setReportFileAttributesReply(CommandMessage *message,
store_address_t storeId) {
message->setCommand(REPLY_REPORT_FILE_ATTRIBUTES);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setDeleteDirectoryCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_DELETE_DIRECTORY);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setLockFileCommand(CommandMessage *message,
store_address_t storeId) {
message->setCommand(CMD_LOCK_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setUnlockFileCommand(CommandMessage *message,
store_address_t storeId) {
message->setCommand(CMD_UNLOCK_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setSuccessReply(CommandMessage *message) {
message->setCommand(COMPLETION_SUCCESS);
}
void GenericFileSystemMessage::setFailureReply(CommandMessage *message,
ReturnValue_t errorCode, uint32_t errorParam) {
message->setCommand(COMPLETION_FAILED);
message->setParameter(errorCode);
message->setParameter2(errorParam);
}
store_address_t GenericFileSystemMessage::getStoreId(const CommandMessage* message) {
store_address_t temp;
temp.raw = message->getParameter2();
return temp;
}
ReturnValue_t GenericFileSystemMessage::getFailureReply(
const CommandMessage *message, uint32_t* errorParam) {
if(errorParam != nullptr) {
*errorParam = message->getParameter2();
}
return message->getParameter();
}
void GenericFileSystemMessage::setFinishStopWriteCommand(CommandMessage *message,
store_address_t storeId) {
message->setCommand(CMD_FINISH_APPEND_TO_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setFinishStopWriteReply(CommandMessage *message,
store_address_t storeId) {
message->setCommand(REPLY_FINISH_APPEND);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setCopyCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_COPY_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setWriteCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_APPEND_TO_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setReadCommand(CommandMessage* message,
store_address_t storeId) {
message->setCommand(CMD_READ_FROM_FILE);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setFinishAppendReply(CommandMessage* message,
store_address_t storageID) {
message->setCommand(REPLY_FINISH_APPEND);
message->setParameter2(storageID.raw);
}
void GenericFileSystemMessage::setReadReply(CommandMessage* message,
bool readFinished, store_address_t storeId) {
message->setCommand(REPLY_READ_FROM_FILE);
message->setParameter(readFinished);
message->setParameter2(storeId.raw);
}
void GenericFileSystemMessage::setReadFinishedReply(CommandMessage *message,
store_address_t storeId) {
message->setCommand(REPLY_READ_FINISHED_STOP);
message->setParameter2(storeId.raw);
}
bool GenericFileSystemMessage::getReadReply(const CommandMessage *message,
store_address_t *storeId) {
if(storeId != nullptr) {
(*storeId).raw = message->getParameter2();
}
return message->getParameter();
}
ReturnValue_t GenericFileSystemMessage::clear(CommandMessage* message) {
switch(message->getCommand()) {
case(CMD_CREATE_FILE):
case(CMD_DELETE_FILE):
case(CMD_CREATE_DIRECTORY):
case(CMD_REPORT_FILE_ATTRIBUTES):
case(REPLY_REPORT_FILE_ATTRIBUTES):
case(CMD_LOCK_FILE):
case(CMD_UNLOCK_FILE):
case(CMD_COPY_FILE):
case(REPLY_READ_FROM_FILE):
case(CMD_READ_FROM_FILE):
case(CMD_APPEND_TO_FILE):
case(CMD_FINISH_APPEND_TO_FILE):
case(REPLY_READ_FINISHED_STOP):
case(REPLY_FINISH_APPEND): {
store_address_t storeId = GenericFileSystemMessage::getStoreId(message);
auto ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if(ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return ipcStore->deleteData(storeId);
}
}
return HasReturnvaluesIF::RETURN_OK;
}

115
memory/GenericFileSystemMessage.h Normal file
View File

@ -0,0 +1,115 @@
#ifndef MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
#define MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
#include <cstdint>
#include <fsfw/ipc/CommandMessageIF.h>
#include <fsfw/ipc/FwMessageTypes.h>
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/storagemanager/storeAddress.h>
/**
* @brief These messages are sent to an object implementing HasFilesystemIF.
* @details
* Enables a message-based file management. The user can add custo commands be implementing
* this generic class.
* @author Jakob Meier, R. Mueller
*/
class GenericFileSystemMessage {
public:
/* Instantiation forbidden */
GenericFileSystemMessage() = delete;
static const uint8_t MESSAGE_ID = messagetypes::FILE_SYSTEM_MESSAGE;
/* PUS standard (ECSS-E-ST-70-41C15 2016 p.654) */
static const Command_t CMD_CREATE_FILE = MAKE_COMMAND_ID(1);
static const Command_t CMD_DELETE_FILE = MAKE_COMMAND_ID(2);
/** Report file attributes */
static const Command_t CMD_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(3);
static const Command_t REPLY_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(4);
/** Command to lock a file, setting it read-only */
static const Command_t CMD_LOCK_FILE = MAKE_COMMAND_ID(5);
/** Command to unlock a file, enabling further operations on it */
static const Command_t CMD_UNLOCK_FILE = MAKE_COMMAND_ID(6);
/**
* Find file in repository, using a search pattern.
* Please note that * is the wildcard character.
* For example, when looking for all files which start with have the
* structure tm<something>.bin, tm*.bin can be used.
*/
static const Command_t CMD_FIND_FILE = MAKE_COMMAND_ID(7);
static const Command_t CMD_CREATE_DIRECTORY = MAKE_COMMAND_ID(9);
static const Command_t CMD_DELETE_DIRECTORY = MAKE_COMMAND_ID(10);
static const Command_t CMD_RENAME_DIRECTORY = MAKE_COMMAND_ID(11);
/** Dump contents of a repository */
static const Command_t CMD_DUMP_REPOSITORY = MAKE_COMMAND_ID(12);
/** Repository dump reply */
static const Command_t REPLY_DUMY_REPOSITORY = MAKE_COMMAND_ID(13);
static constexpr Command_t CMD_COPY_FILE = MAKE_COMMAND_ID(14);
static constexpr Command_t CMD_MOVE_FILE = MAKE_COMMAND_ID(15);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(128);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(129);
// These command IDs will remain until CFDP has been introduced and consolidated.
/** Append operation commands */
static const Command_t CMD_APPEND_TO_FILE = MAKE_COMMAND_ID(130);
static const Command_t CMD_FINISH_APPEND_TO_FILE = MAKE_COMMAND_ID(131);
static const Command_t REPLY_FINISH_APPEND = MAKE_COMMAND_ID(132);
static const Command_t CMD_READ_FROM_FILE = MAKE_COMMAND_ID(140);
static const Command_t REPLY_READ_FROM_FILE = MAKE_COMMAND_ID(141);
static const Command_t CMD_STOP_READ = MAKE_COMMAND_ID(142);
static const Command_t REPLY_READ_FINISHED_STOP = MAKE_COMMAND_ID(143);
static void setLockFileCommand(CommandMessage* message, store_address_t storeId);
static void setUnlockFileCommand(CommandMessage* message, store_address_t storeId);
static void setCreateFileCommand(CommandMessage* message,
store_address_t storeId);
static void setDeleteFileCommand(CommandMessage* message,
store_address_t storeId);
static void setReportFileAttributesCommand(CommandMessage* message,
store_address_t storeId);
static void setReportFileAttributesReply(CommandMessage* message,
store_address_t storeId);
static void setCreateDirectoryCommand(CommandMessage* message,
store_address_t storeId);
static void setDeleteDirectoryCommand(CommandMessage* message,
store_address_t storeId);
static void setSuccessReply(CommandMessage* message);
static void setFailureReply(CommandMessage* message,
ReturnValue_t errorCode, uint32_t errorParam = 0);
static void setCopyCommand(CommandMessage* message, store_address_t storeId);
static void setWriteCommand(CommandMessage* message,
store_address_t storeId);
static void setFinishStopWriteCommand(CommandMessage* message,
store_address_t storeId);
static void setFinishStopWriteReply(CommandMessage* message,
store_address_t storeId);
static void setFinishAppendReply(CommandMessage* message,
store_address_t storeId);
static void setReadCommand(CommandMessage* message,
store_address_t storeId);
static void setReadFinishedReply(CommandMessage* message,
store_address_t storeId);
static void setReadReply(CommandMessage* message, bool readFinished,
store_address_t storeId);
static bool getReadReply(const CommandMessage* message,
store_address_t* storeId);
static store_address_t getStoreId(const CommandMessage* message);
static ReturnValue_t getFailureReply(const CommandMessage* message,
uint32_t* errorParam = nullptr);
static ReturnValue_t clear(CommandMessage* message);
};
#endif /* MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_ */

6
memory/MemoryHelper.cpp
View File

@ -2,9 +2,9 @@
#include "MemoryMessage.h"
#include "../globalfunctions/CRC.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../serialize/EndianConverter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis,
MessageQueueIF* useThisQueue):
@ -187,7 +187,7 @@ ReturnValue_t MemoryHelper::initialize(MessageQueueIF* queueToUse_) {
}
ReturnValue_t MemoryHelper::initialize() {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore != nullptr) {
return RETURN_OK;
} else {

4
memory/MemoryMessage.cpp
View File

@ -1,6 +1,6 @@
#include "MemoryMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
uint32_t MemoryMessage::getAddress(const CommandMessage* message) {
return message->getParameter();
@ -44,7 +44,7 @@ void MemoryMessage::clear(CommandMessage* message) {
switch (message->getCommand()) {
case CMD_MEMORY_LOAD:
case REPLY_MEMORY_DUMP: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreID(message));

23
monitoring/LimitViolationReporter.cpp
View File

@ -1,13 +1,8 @@
/**
* @file LimitViolationReporter.cpp
* @brief This file defines the LimitViolationReporter class.
* @date 17.07.2014
* @author baetz
*/
#include "LimitViolationReporter.h"
#include "MonitoringIF.h"
#include "ReceivesMonitoringReportsIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../serialize/SerializeAdapter.h"
ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF* data) {
@ -16,7 +11,7 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
return result;
}
store_address_t storeId;
uint8_t* dataTarget = NULL;
uint8_t* dataTarget = nullptr;
size_t maxSize = data->getSerializedSize();
if (maxSize > MonitoringIF::VIOLATION_REPORT_MAX_SIZE) {
return MonitoringIF::INVALID_SIZE;
@ -38,16 +33,16 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
ReturnValue_t LimitViolationReporter::checkClassLoaded() {
if (reportQueue == 0) {
ReceivesMonitoringReportsIF* receiver = objectManager->get<
ReceivesMonitoringReportsIF* receiver = ObjectManager::instance()->get<
ReceivesMonitoringReportsIF>(reportingTarget);
if (receiver == NULL) {
if (receiver == nullptr) {
return ObjectManagerIF::NOT_FOUND;
}
reportQueue = receiver->getCommandQueue();
}
if (ipcStore == NULL) {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == NULL) {
if (ipcStore == nullptr) {
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
@ -56,5 +51,5 @@ ReturnValue_t LimitViolationReporter::checkClassLoaded() {
//Lazy initialization.
MessageQueueId_t LimitViolationReporter::reportQueue = 0;
StorageManagerIF* LimitViolationReporter::ipcStore = NULL;
StorageManagerIF* LimitViolationReporter::ipcStore = nullptr;
object_id_t LimitViolationReporter::reportingTarget = 0;

4
monitoring/MonitoringMessage.cpp
View File

@ -1,5 +1,5 @@
#include "MonitoringMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
MonitoringMessage::~MonitoringMessage() {
}
@ -25,7 +25,7 @@ void MonitoringMessage::clear(CommandMessage* message) {
message->setCommand(CommandMessage::CMD_NONE);
switch (message->getCommand()) {
case MonitoringMessage::LIMIT_VIOLATION_REPORT: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message));

4
monitoring/MonitoringMessageContent.h
View File

@ -5,7 +5,7 @@
#include "MonitoringIF.h"
#include "../datapoollocal/localPoolDefinitions.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../serialize/SerialBufferAdapter.h"
#include "../serialize/SerialFixedArrayListAdapter.h"
#include "../serialize/SerializeElement.h"
@ -71,7 +71,7 @@ private:
}
bool checkAndSetStamper() {
if (timeStamper == nullptr) {
timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
timeStamper = ObjectManager::instance()->get<TimeStamperIF>( timeStamperId );
if ( timeStamper == nullptr ) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MonitoringReportContent::checkAndSetStamper: "

4
monitoring/TriplexMonitor.h
View File

@ -5,7 +5,7 @@
#include "../datapool/PIDReaderList.h"
#include "../health/HealthTableIF.h"
#include "../parameters/HasParametersIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
//SHOULDDO: This is by far not perfect. Could be merged with new Monitor classes. But still, it's over-engineering.
@ -64,7 +64,7 @@ public:
return result;
}
ReturnValue_t initialize() {
healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
healthTable = ObjectManager::instance()->get<HealthTableIF>(objects::HEALTH_TABLE);
if (healthTable == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}

43
objectmanager/ObjectManager.cpp
View File

@ -6,10 +6,22 @@
#endif
#include <cstdlib>
ObjectManager::ObjectManager( void (*setProducer)() ):
produceObjects(setProducer) {
//There's nothing special to do in the constructor.
ObjectManager* ObjectManager::objManagerInstance = nullptr;
ObjectManager* ObjectManager::instance() {
if(objManagerInstance == nullptr) {
objManagerInstance = new ObjectManager();
}
return objManagerInstance;
}
void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc, void *factoryArgs) {
this->objectFactoryFunction = objFactoryFunc;
this->factoryArgs = factoryArgs;
}
ObjectManager::ObjectManager() {}
ObjectManager::~ObjectManager() {
@ -28,10 +40,13 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
return this->RETURN_OK;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::insert: Object id " << std::hex
<< static_cast<uint32_t>(id) << std::dec
<< " is already in use!" << std::endl;
sif::error << "Terminating program." << std::endl;
sif::error << "ObjectManager::insert: Object ID " << std::hex <<
static_cast<uint32_t>(id) << std::dec << " is already in use!" << std::endl;
sif::error << "Terminating program" << std::endl;
#else
sif::printError("ObjectManager::insert: Object ID 0x%08x is already in use!\n",
static_cast<unsigned int>(id));
sif::printError("Terminating program");
#endif
//This is very severe and difficult to handle in other places.
std::exit(INSERTION_FAILED);
@ -66,12 +81,8 @@ SystemObjectIF* ObjectManager::getSystemObject( object_id_t id ) {
}
}
ObjectManager::ObjectManager() : produceObjects(nullptr) {
}
void ObjectManager::initialize() {
if(produceObjects == nullptr) {
if(objectFactoryFunction == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::initialize: Passed produceObjects "
"functions is nullptr!" << std::endl;
@ -80,7 +91,7 @@ void ObjectManager::initialize() {
#endif
return;
}
this->produceObjects();
objectFactoryFunction(factoryArgs);
ReturnValue_t result = RETURN_FAILED;
uint32_t errorCount = 0;
for (auto const& it : objectList) {
@ -108,9 +119,9 @@ void ObjectManager::initialize() {
result = it.second->checkObjectConnections();
if ( result != RETURN_OK ) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
(int) it.first << " connection check failed with code 0x"
<< result << std::dec << std::endl;
sif::error << "ObjectManager::ObjectManager: Object 0x" << std::hex <<
(int) it.first << " connection check failed with code 0x" << result <<
std::dec << std::endl;
#endif
errorCount++;
}

62
objectmanager/ObjectManager.h
View File

@ -5,6 +5,7 @@
#include "SystemObjectIF.h"
#include <map>
/**
* @brief This class implements a global object manager.
* @details This manager handles a list of available objects with system-wide
@ -19,15 +20,32 @@
* @author Bastian Baetz
*/
class ObjectManager : public ObjectManagerIF {
private:
//comparison?
public:
using produce_function_t = void (*) (void* args);
/**
* @brief This is the map of all initialized objects in the manager.
* @details Objects in the List must inherit the SystemObjectIF.
* Returns the single instance of TaskFactory.
* The implementation of #instance is found in its subclasses.
* Thus, we choose link-time variability of the instance.
*/
std::map<object_id_t, SystemObjectIF*> objectList;
static ObjectManager* instance();
void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
template <typename T> T* get( object_id_t id );
/**
* @brief In the class's destructor, all objects in the list are deleted.
*/
virtual ~ObjectManager();
ReturnValue_t insert(object_id_t id, SystemObjectIF* object) override;
ReturnValue_t remove(object_id_t id) override;
void initialize() override;
void printList() override;
protected:
SystemObjectIF* getSystemObject( object_id_t id );
SystemObjectIF* getSystemObject(object_id_t id) override;
/**
* @brief This attribute is initialized with the factory function
* that creates new objects.
@ -36,27 +54,25 @@ protected:
* @param The id of the object to be created.
* @return Returns a pointer to the newly created object or NULL.
*/
void (*produceObjects)();
public:
/**
* @brief Apart from setting the producer function, nothing special
* happens in the constructor.
* @param setProducer A pointer to a factory function.
*/
ObjectManager( void (*produce)() );
produce_function_t objectFactoryFunction = nullptr;
void* factoryArgs = nullptr;
private:
ObjectManager();
/**
* @brief In the class's destructor, all objects in the list are deleted.
* @brief This is the map of all initialized objects in the manager.
* @details Objects in the List must inherit the SystemObjectIF.
*/
// SHOULDDO: If, for some reason, deleting an ObjectManager instance is
// required, check if this works.
virtual ~ObjectManager( void );
ReturnValue_t insert( object_id_t id, SystemObjectIF* object );
ReturnValue_t remove( object_id_t id );
void initialize();
void printList();
std::map<object_id_t, SystemObjectIF*> objectList;
static ObjectManager* objManagerInstance;
};
// Documentation can be found in the class method declaration above
template <typename T>
T* ObjectManager::get( object_id_t id ) {
SystemObjectIF* temp = this->getSystemObject(id);
return dynamic_cast<T*>(temp);
}
#endif /* FSFW_OBJECTMANAGER_OBJECTMANAGER_H_ */

48
objectmanager/ObjectManagerIF.h
View File

@ -8,11 +8,11 @@
/**
* @brief This class provides an interface to the global object manager.
* @details This manager handles a list of available objects with system-wide
* relevance, such as device handlers, and TM/TC services. They can be
* inserted, removed and retrieved from the list. On getting the
* object, the call checks if the object implements the requested
* interface.
* @details
* This manager handles a list of available objects with system-wide relevance, such as device
* handlers, and TM/TC services. They can be inserted, removed and retrieved from the list.
* On getting the object, the call checks if the object implements the requested interface.
* This interface does not specify a getter function because templates can't be used in interfaces.
* @author Bastian Baetz
* @ingroup system_objects
*/
@ -21,7 +21,8 @@ public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
//!< Can be used if the initialization of a SystemObject failed.
static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
protected:
@ -49,22 +50,11 @@ public:
* @li RETURN_OK in case the object was successfully inserted
*/
virtual ReturnValue_t insert( object_id_t id, SystemObjectIF* object ) = 0;
/**
* @brief With the get call, interfaces of an object can be retrieved in
* a type-safe manner.
* @details With the template-based call, the object list is searched with the
* getSystemObject method and afterwards it is checked, if the object
* implements the requested interface (with a dynamic_cast).
* @param id The object id of the requested object.
* @return The method returns a pointer to an object implementing the
* requested interface, or NULL.
*/
template <typename T> T* get( object_id_t id );
/**
* @brief With this call, an object is removed from the list.
* @param id The object id of the object to be removed.
* @return \li NOT_FOUND in case the object was not found
* \li RETURN_OK in case the object was successfully removed
* @return @li NOT_FOUND in case the object was not found
* @li RETURN_OK in case the object was successfully removed
*/
virtual ReturnValue_t remove( object_id_t id ) = 0;
virtual void initialize() = 0;
@ -75,24 +65,4 @@ public:
virtual void printList() = 0;
};
/**
* @brief This is the forward declaration of the global objectManager instance.
*/
// SHOULDDO: maybe put this in the glob namespace to explicitely mark it global?
extern ObjectManagerIF *objectManager;
/*Documentation can be found in the class method declaration above.*/
template <typename T>
T* ObjectManagerIF::get( object_id_t id ) {
if(objectManager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectManagerIF: Global object manager has not "
"been initialized yet!" << std::endl;
#endif
}
SystemObjectIF* temp = this->getSystemObject(id);
return dynamic_cast<T*>(temp);
}
#endif /* OBJECTMANAGERIF_H_ */

8
objectmanager/SystemObject.cpp
View File

@ -5,17 +5,13 @@
SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
objectId(setObjectId), registered(doRegister) {
if (registered) {
if(objectManager != nullptr) {
objectManager->insert(objectId, this);
}
ObjectManager::instance()->insert(objectId, this);
}
}
SystemObject::~SystemObject() {
if (registered) {
if(objectManager != nullptr) {
objectManager->remove(objectId);
}
ObjectManager::instance()->remove(objectId);
}
}

1
osal/FreeRTOS/CMakeLists.txt
View File

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

68
osal/FreeRTOS/Clock.cpp
View File

@ -134,71 +134,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == NULL) {
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

6
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -1,6 +1,7 @@
#include "FixedTimeslotTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
@ -66,8 +67,7 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* handler =
objectManager->get<ExecutableObjectIF>(componentId);
ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK;

62
osal/FreeRTOS/MessageQueue.cpp
View File

@ -1,27 +1,24 @@
#include "MessageQueue.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "QueueMapManager.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
// TODO I guess we should have a way of checking if we are in an ISR and then
// use the "fromISR" versions of all calls
// As a first step towards this, introduces system context variable which needs
// to be switched manually
// Haven't found function to find system context.
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize);
#if FSFW_CPP_OSTREAM_ENABLED == 1
if (handle == nullptr) {
sif::error << "MessageQueue::MessageQueue:"
<< " Creation failed." << std::endl;
sif::error << "Specified Message Depth: " << messageDepth
<< std::endl;
sif::error << "Specified Maximum Message Size: "
<< maxMessageSize << std::endl;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Creation failed" << std::endl;
sif::error << "Specified Message Depth: " << messageDepth << std::endl;
sif::error << "Specified Maximum Message Size: " << maxMessageSize << std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Creation failed\n");
sif::printError("Specified Message Depth: %d\n", messageDepth);
sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize);
#endif
}
QueueMapManager::instance()->addMessageQueue(handle, &queueId);
}
MessageQueue::~MessageQueue() {
if (handle != nullptr) {
@ -62,13 +59,15 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
callContext);
}
QueueHandle_t MessageQueue::getNativeQueueHandle() {
return handle;
}
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
if (result != pdPASS) {
if (not ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->
get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->
get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent();
}
@ -110,7 +109,7 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
}
MessageQueueId_t MessageQueue::getId() const {
return reinterpret_cast<MessageQueueId_t>(handle);
return queueId;
}
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
@ -132,29 +131,24 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault, CallContext callContext) {
BaseType_t result = pdFALSE;
QueueHandle_t destination = nullptr;
if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
if(sendTo == MessageQueueIF::NO_QUEUE) {
return MessageQueueIF::DESTINATION_INVALID;
}
else {
destination = reinterpret_cast<QueueHandle_t>(sendTo);
QueueHandle_t destination = QueueMapManager::instance()->getMessageQueue(sendTo);
if(destination == nullptr) {
return MessageQueueIF::DESTINATION_INVALID;
}
message->setSender(sentFrom);
if(callContext == CallContext::TASK) {
result = xQueueSendToBack(destination,
static_cast<const void*>(message->getBuffer()), 0);
result = xQueueSendToBack(destination, static_cast<const void*>(message->getBuffer()), 0);
}
else {
/* If the call context is from an interrupt,
* request a context switch if a higher priority task
* was blocked by the interrupt. */
/* If the call context is from an interrupt, request a context switch if a higher priority
task was blocked by the interrupt. */
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
static_cast<const void*>(message->getBuffer()),
result = xQueueSendFromISR(destination, static_cast<const void*>(message->getBuffer()),
&xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken == pdTRUE) {
TaskManagement::requestContextSwitch(callContext);

9
osal/FreeRTOS/MessageQueue.h
View File

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

5
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -1,6 +1,7 @@
#include "PeriodicTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
@ -100,7 +101,7 @@ void PeriodicTask::taskFunctionality() {
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1

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

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

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

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

6
osal/common/TcpTmTcServer.cpp
View File

@ -6,7 +6,7 @@
#include "../../container/SharedRingBuffer.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/MutexGuard.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../tmtcservices/TmTcMessage.h"
@ -41,7 +41,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
return result;
}
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcpTmTcServer::initialize: TC store uninitialized!" << std::endl;
@ -51,7 +51,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TcpTmTcBridge>(tmtcBridgeId);
tmtcBridge = ObjectManager::instance()->get<TcpTmTcBridge>(tmtcBridgeId);
int retval = 0;
struct addrinfo *addrResult = nullptr;

7
osal/common/UdpTcPollingTask.cpp
View File

@ -2,7 +2,8 @@
#include "tcpipHelpers.h"
#include "../../platform.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/ObjectManager.h"
#ifdef PLATFORM_WIN
#include <winsock2.h>
@ -116,7 +117,7 @@ ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
}
ReturnValue_t UdpTcPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UdpTcPollingTask::initialize: TC store uninitialized!" << std::endl;
@ -124,7 +125,7 @@ ReturnValue_t UdpTcPollingTask::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<UdpTmTcBridge>(tmtcBridgeId);
tmtcBridge = ObjectManager::instance()->get<UdpTmTcBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UdpTcPollingTask::initialize: Invalid TMTC bridge object!" <<

68
osal/host/Clock.cpp
View File

@ -171,71 +171,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex(){
if(timeMutex == nullptr){
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

4
osal/host/FixedTimeslotTask.cpp
View File

@ -1,9 +1,11 @@
#include "taskHelpers.h"
#include "../../platform.h"
#include "../../osal/host/FixedTimeslotTask.h"
#include "../../ipc/MutexFactory.h"
#include "../../osal/host/Mutex.h"
#include "../../osal/host/FixedTimeslotTask.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../tasks/ExecutableObjectIF.h"
@ -110,7 +112,7 @@ void FixedTimeslotTask::taskFunctionality() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* executableObject = objectManager->
ExecutableObjectIF* executableObject = ObjectManager::instance()->
get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep,

13
osal/host/MessageQueue.cpp
View File

@ -1,7 +1,8 @@
#include "MessageQueue.h"
#include "QueueMapManager.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../ipc/MutexFactory.h"
#include "../../ipc/MutexGuard.h"
@ -13,8 +14,9 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue:"
<< " Could not be created" << std::endl;
sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Could not be created\n");
#endif
}
}
@ -121,9 +123,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
QueueMapManager::instance()->getMessageQueue(sendTo));
if(targetQueue == nullptr) {
if(not ignoreFault) {
InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->
get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent();
}

5
osal/host/PeriodicTask.cpp
View File

@ -4,7 +4,8 @@
#include "../../platform.h"
#include "../../ipc/MutexFactory.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../tasks/ExecutableObjectIF.h"
#include <thread>
@ -103,7 +104,7 @@ void PeriodicTask::taskFunctionality() {
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;

7
osal/host/QueueMapManager.cpp
View File

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

9
osal/host/QueueMapManager.h
View File

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

51
osal/linux/BinarySemaphore.cpp
View File

@ -1,4 +1,5 @@
#include "BinarySemaphore.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterfacePrinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
@ -44,10 +45,7 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
result = sem_timedwait(&handle, &timeOut);
if(result != 0 and errno == EINVAL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
<< std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "sem_timedwait");
}
}
if(result == 0) {
@ -57,19 +55,21 @@ ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
switch(errno) {
case(EAGAIN):
// Operation could not be performed without blocking (for sem_trywait)
case(ETIMEDOUT):
case(ETIMEDOUT): {
// Semaphore is 0
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "ETIMEDOUT");
return SemaphoreIF::SEMAPHORE_TIMEOUT;
case(EINVAL):
}
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
case(EINTR):
}
case(EINTR): {
// Call was interrupted by signal handler
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
"Code " << strerror(errno) << std::endl;
#endif
/* No break */
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINTR");
return HasReturnvaluesIF::RETURN_FAILED;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -91,11 +91,16 @@ ReturnValue_t BinarySemaphore::release(sem_t *handle) {
}
switch(errno) {
case(EINVAL):
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric(CLASS_NAME, "release", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
case(EOVERFLOW):
}
case(EOVERFLOW): {
// SEM_MAX_VALUE overflow. This should never happen
utility::printUnixErrorGeneric(CLASS_NAME, "release", "EOVERFLOW");
return HasReturnvaluesIF::RETURN_FAILED;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -128,17 +133,14 @@ void BinarySemaphore::initSemaphore(uint8_t initCount) {
auto result = sem_init(&handle, true, initCount);
if(result == -1) {
switch(errno) {
case(EINVAL):
// Value exceeds SEM_VALUE_MAX
case(EINVAL): {
utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "EINVAL");
break;
}
case(ENOSYS): {
// System does not support process-shared semaphores
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "BinarySemaphore: Init failed with "
<< strerror(errno) << std::endl;
#else
sif::printError("BinarySemaphore: Init failed with %s\n",
strerror(errno));
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "ENOSYS");
break;
}
}
}
@ -151,8 +153,7 @@ ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
// Binary Semaphore special case.
// This is a config error use lightweight printf is this is called
// from an interrupt
printf("BinarySemaphore::release: Value of binary semaphore greater"
" than 1!\n");
printf("BinarySemaphore::release: Value of binary semaphore greater than 1!\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
return SemaphoreIF::SEMAPHORE_NOT_OWNED;

1
osal/linux/BinarySemaphore.h
View File

@ -76,6 +76,7 @@ public:
static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
protected:
sem_t handle;
static constexpr const char* CLASS_NAME = "BinarySemaphore";
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

1
osal/linux/CMakeLists.txt
View File

@ -15,6 +15,7 @@ target_sources(${LIB_FSFW_NAME}
TaskFactory.cpp
Timer.cpp
tcpipHelpers.cpp
unixUtility.cpp
)
find_package(Threads REQUIRED)

68
osal/linux/Clock.cpp
View File

@ -153,71 +153,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex==NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex(){
if(timeMutex == nullptr){
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

22
osal/linux/CountingSemaphore.cpp
View File

@ -1,4 +1,6 @@
#include "../../osal/linux/CountingSemaphore.h"
#include "CountingSemaphore.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <errno.h>
@ -7,8 +9,11 @@ CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
sif::warning << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count" << std::endl;
#else
sif::printWarning("CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count\n");
#endif
initCount = maxCount;
}
@ -42,11 +47,18 @@ ReturnValue_t CountingSemaphore::release(sem_t* handle) {
}
switch(errno) {
case(EINVAL):
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric("CountingSemaphore", "release", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
case(EOVERFLOW):
}
case(EOVERFLOW): {
// SEM_MAX_VALUE overflow. This should never happen
utility::printUnixErrorGeneric("CountingSemaphore", "release", "EOVERFLOW");
return SemaphoreIF::SEMAPHORE_INVALID;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}

6
osal/linux/FixedTimeslotTask.cpp
View File

@ -1,5 +1,7 @@
#include "FixedTimeslotTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <limits.h>
@ -40,7 +42,7 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* executableObject =
objectManager->get<ExecutableObjectIF>(componentId);
ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep,
executableObject,this);

278
osal/linux/MessageQueue.cpp
View File

@ -1,6 +1,8 @@
#include "MessageQueue.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../objectmanager/ObjectManager.h"
#include <fstream>
@ -12,9 +14,7 @@
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE),
maxMessageSize(maxMessageSize) {
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
defaultDestination(MessageQueueIF::NO_QUEUE), maxMessageSize(maxMessageSize) {
mq_attr attributes;
this->id = 0;
//Set attributes
@ -31,7 +31,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
mqd_t tempId = mq_open(name, oflag, mode, &attributes);
if (tempId == -1) {
handleError(&attributes, messageDepth);
handleOpenError(&attributes, messageDepth);
}
else {
//Successful mq_open call
@ -42,102 +42,14 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
MessageQueue::~MessageQueue() {
int status = mq_close(this->id);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::Destructor: mq_close Failed with status: "
<< strerror(errno) <<std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "close");
}
status = mq_unlink(name);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
<< strerror(errno) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "unlink");
}
}
ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
uint32_t messageDepth) {
switch(errno) {
case(EINVAL): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
" for message size" << std::endl;
#endif
size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Default MQ size "
<< defaultMqMaxMsg << " is too small for requested size "
<< messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" << std::endl;
#endif
}
break;
}
case(EEXIST): {
// An error occured during open
// We need to distinguish if it is caused by an already created queue
//There's another queue with the same name
//We unlink the other queue
int status = mq_unlink(name);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "mq_unlink Failed with status: " << strerror(errno)
<< std::endl;
#endif
}
else {
// Successful unlinking, try to open again
mqd_t tempId = mq_open(name,
O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
if (tempId != -1) {
//Successful mq_open
this->id = tempId;
return HasReturnvaluesIF::RETURN_OK;
}
}
break;
}
default: {
// Failed either the first time or the second time
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Creating Queue " << name
<< " failed with status: " << strerror(errno) << std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Creating Queue %s"
" failed with status: %s\n", name, strerror(errno));
#endif
}
}
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
@ -204,14 +116,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
//currently on the specified queue.
return MessageQueueIF::EMPTY;
case EBADF:
case EBADF: {
//mqdes doesn't represent a valid queue open for reading.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
#endif
/*NO BREAK*/
case EINVAL:
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EBADF");
break;
}
case EINVAL: {
/*
* This value indicates one of the following:
* - The pointer to the buffer for storing the received message,
@ -221,12 +131,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
* been set in the queue's mq_flags.
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
#endif
/*NO BREAK*/
case EMSGSIZE:
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINVAL");
break;
}
case EMSGSIZE: {
/*
* This value indicates one of the following:
* - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
@ -236,18 +144,25 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
* given msg_len is too short for the message that would have
* been received.
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
#endif
/*NO BREAK*/
case EINTR:
//The operation was interrupted by a signal.
default:
return HasReturnvaluesIF::RETURN_FAILED;
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EMSGSIZE");
break;
}
case EINTR: {
//The operation was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINTR");
break;
}
case ETIMEDOUT: {
//The operation was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "ETIMEDOUT");
break;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
}
@ -262,16 +177,17 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
switch(errno){
case EBADF:
//mqdes doesn't represent a valid message queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::flush configuration error, "
"called flush with an invalid queue ID" << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
break;
/*NO BREAK*/
case EINVAL:
//mq_attr is NULL
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
*count = attrib.mq_curmsgs;
attrib.mq_curmsgs = 0;
@ -280,11 +196,8 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
switch(errno) {
case EBADF:
//mqdes doesn't represent a valid message queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::flush configuration error, "
"called flush with an invalid queue ID" << std::endl;
#endif
/*NO BREAK*/
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
break;
case EINVAL:
/*
* This value indicates one of the following:
@ -293,9 +206,12 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
* mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -336,8 +252,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
bool ignoreFault) {
if(message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
"nullptr!" << std::endl;
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
#else
sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -350,9 +267,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
//TODO: Check if we're in ISR.
if (result != 0) {
if(!ignoreFault){
InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->
get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
@ -366,17 +282,20 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
case EBADF: {
//mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
<< " destination invalid." << std::endl;
sif::error << strerror(errno) << " in "
<<"mq_send to: " << sendTo << " sent from "
<< sentFrom << std::endl;
sif::warning << "mq_send to: " << sendTo << " sent from "
<< sentFrom << "failed" << std::endl;
#else
sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
#endif
return DESTINATION_INVALID;
}
case EINTR:
//The call was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINTR");
break;
case EINVAL:
/*
* This value indicates one of the following:
@ -387,22 +306,87 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
* - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
* msg_prio is greater than the priority of the calling process.
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send" << std::endl;
#endif
/*NO BREAK*/
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINVAL");
break;
case EMSGSIZE:
// The msg_len is greater than the msgsize associated with
//the specified queue.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessage: Size error [" <<
strerror(errno) << "] in mq_send" << std::endl;
#endif
/*NO BREAK*/
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EMSGSIZE");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes,
uint32_t messageDepth) {
switch(errno) {
case(EINVAL): {
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EINVAL");
size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg <<
" is too small for requested size " << messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" << std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Default MQ size %d is too small for"
"requested size %d\n");
sif::printError("This error can be fixes by setting the maximum allowed"
"message size higher!\n");
#endif
}
break;
}
case(EEXIST): {
// An error occured during open.
// We need to distinguish if it is caused by an already created queue
// There's another queue with the same name
// We unlink the other queue
int status = mq_unlink(name);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EEXIST");
}
else {
// Successful unlinking, try to open again
mqd_t tempId = mq_open(name,
O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
if (tempId != -1) {
//Successful mq_open
this->id = tempId;
return HasReturnvaluesIF::RETURN_OK;
}
}
break;
}
default: {
// Failed either the first time or the second time
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "Unknown");
}
}
return HasReturnvaluesIF::RETURN_FAILED;
}

3
osal/linux/MessageQueue.h
View File

@ -181,7 +181,8 @@ private:
static uint16_t queueCounter;
const size_t maxMessageSize;
ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
static constexpr const char* CLASS_NAME = "MessageQueue";
ReturnValue_t handleOpenError(mq_attr* attributes, uint32_t messageDepth);
};
#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */

27
osal/linux/Mutex.cpp
View File

@ -1,43 +1,34 @@
#include "Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../timemanager/Clock.h"
uint8_t Mutex::count = 0;
#include <cstring>
#include <errno.h>
uint8_t Mutex::count = 0;
Mutex::Mutex() {
pthread_mutexattr_t mutexAttr;
int status = pthread_mutexattr_init(&mutexAttr);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_init");
}
status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status)
<< std::endl;
#endif
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_setprotocol");
}
status = pthread_mutex_init(&mutex, &mutexAttr);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: creation with name, id " << mutex.__data.__count
<< ", " << " failed with " << strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutex_init");
}
// After a mutex attributes object has been used to initialize one or more
// mutexes, any function affecting the attributes object
// (including destruction) shall not affect any previously initialized mutexes.
status = pthread_mutexattr_destroy(&mutexAttr);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_destroy");
}
}

17
osal/linux/PeriodicPosixTask.cpp
View File

@ -1,8 +1,11 @@
#include "../../tasks/ExecutableObjectIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <errno.h>
#include "PeriodicPosixTask.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <errno.h>
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
PosixThread(name_, priority_, stackSize_), objectList(), started(false),
@ -22,12 +25,15 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
}
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
#else
sif::printError("PeriodicTask::addComponent: Invalid object. Make sure it "
"implements ExecutableObjectIF!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -44,9 +50,6 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
ReturnValue_t PeriodicPosixTask::startTask(void) {
started = true;
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::info << stackSize << std::endl;
#endif
PosixThread::createTask(&taskEntryPoint,this);
return HasReturnvaluesIF::RETURN_OK;
}

74
osal/linux/PosixThread.cpp
View File

@ -1,4 +1,5 @@
#include "PosixThread.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
@ -49,8 +50,10 @@ void PosixThread::suspend() {
sigwait(&waitSignal, &caughtSig);
if (caughtSig != SIGUSR1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedTimeslotTask: Unknown Signal received: " <<
caughtSig << std::endl;
sif::error << "FixedTimeslotTask::suspend: Unknown Signal received: " << caughtSig <<
std::endl;
#else
sif::printError("FixedTimeslotTask::suspend: Unknown Signal received: %d\n", caughtSig);
#endif
}
}
@ -133,18 +136,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
pthread_attr_t attributes;
int status = pthread_attr_init(&attributes);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute init failed with: " <<
strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_init");
}
void* stackPointer;
status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
if(status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Stack init failed with: " <<
strerror(status) << std::endl;
#endif
if(errno == ENOMEM) {
size_t stackMb = stackSize/10e6;
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -154,35 +150,35 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
sif::printError("PosixThread::createTask: Insufficient memory for "
"the requested %lu MB\n", static_cast<unsigned long>(stackMb));
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "ENOMEM");
}
else if(errno == EINVAL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Wrong alignment argument!"
<< std::endl;
#else
sif::printError("PosixThread::createTask: "
"Wrong alignment argument!\n");
sif::printError("PosixThread::createTask: Wrong alignment argument!\n");
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "EINVAL");
}
return;
}
status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
if(status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setstack");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: pthread_attr_setstack "
" failed with: " << strerror(status) << std::endl;
sif::error << "Make sure the specified stack size is valid and is "
sif::warning << "Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size." << std::endl;
#else
sif::printWarning("Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size.\n");
#endif
}
status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute setinheritsched failed with: " <<
strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setinheritsched");
}
#ifndef FSFW_USE_REALTIME_FOR_LINUX
#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
@ -191,20 +187,14 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
// FIFO -> This needs root privileges for the process
status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute schedule policy failed with: " <<
strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
}
sched_param scheduleParams;
scheduleParams.__sched_priority = priority;
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute schedule params failed with: " <<
strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
}
#endif
//Set Signal Mask for suspend until startTask is called
@ -213,23 +203,17 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
sigaddset(&waitSignal, SIGUSR1);
status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread sigmask failed failed with: " <<
strerror(status) << " errno: " << strerror(errno) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_sigmask");
}
status = pthread_create(&thread,&attributes,fnc_,arg_);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_create");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Failed with: " <<
strerror(status) << std::endl;
sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " <<
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf" << std::endl;
#else
sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status));
sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf\n");
@ -238,31 +222,25 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
status = pthread_setname_np(thread,name);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: setname failed with: " <<
strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
if(status == ERANGE) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Task name length longer"
sif::warning << "PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating.." << std::endl;
#else
sif::printWarning("PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating..\n");
#endif
name[15] = '\0';
status = pthread_setname_np(thread,name);
if(status != 0){
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Setting name"
" did not work.." << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
}
}
}
status = pthread_attr_destroy(&attributes);
if (status != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Posix Thread attribute destroy failed with: " <<
strerror(status) << std::endl;
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
}
}

2
osal/linux/PosixThread.h
View File

@ -72,6 +72,8 @@ private:
char name[PTHREAD_MAX_NAMELEN];
int priority;
size_t stackSize = 0;
static constexpr const char* CLASS_NAME = "PosixThread";
};
#endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */

32
osal/linux/unixUtility.cpp Normal file
View File

@ -0,0 +1,32 @@
#include "FSFWConfig.h"
#include "unixUtility.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <cstring>
#include <errno.h>
void utility::printUnixErrorGeneric(const char* const className,
const char* const function, const char* const failString,
sif::OutputTypes outputType) {
if(className == nullptr or failString == nullptr or function == nullptr) {
return;
}
#if FSFW_VERBOSE_LEVEL >= 1
if(outputType == sif::OutputTypes::OUT_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << className << "::" << function << ":" << failString << " error: "
<< strerror(errno) << std::endl;
#else
sif::printError("%s::%s: %s error: %s\n", className, function, failString, strerror(errno));
#endif
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << className << "::" << function << ":" << failString << " error: "
<< strerror(errno) << std::endl;
#else
sif::printWarning("%s::%s: %s error: %s\n", className, function, failString, strerror(errno));
#endif
}
#endif
}

13
osal/linux/unixUtility.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef FSFW_OSAL_LINUX_UNIXUTILITY_H_
#define FSFW_OSAL_LINUX_UNIXUTILITY_H_
#include "../../serviceinterface/serviceInterfaceDefintions.h"
namespace utility {
void printUnixErrorGeneric(const char* const className, const char* const function,
const char* const failString, sif::OutputTypes outputType = sif::OutputTypes::OUT_ERROR);
}
#endif /* FSFW_OSAL_LINUX_UNIXUTILITY_H_ */

62
osal/rtems/Clock.cpp
View File

@ -154,65 +154,3 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
MutexGuard helper(timeMutex);
leapSeconds = leapSeconds_;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex==nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
MutexGuard helper(timeMutex);
*leapSeconds_ = leapSeconds;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::checkOrCreateClockMutex(){
if(timeMutex==nullptr){
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

4
osal/rtems/FixedTimeslotTask.cpp
View File

@ -3,7 +3,7 @@
#include "../../tasks/FixedSequenceSlot.h"
#include "../../objectmanager/SystemObjectIF.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../serviceinterface/ServiceInterface.h"
@ -81,7 +81,7 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
ExecutableObjectIF* object = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (object != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
return HasReturnvaluesIF::RETURN_OK;

9
osal/rtems/MessageQueue.cpp
View File

@ -1,8 +1,11 @@
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "MessageQueue.h"
#include "RtemsBasic.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/ObjectManager.h"
#include <cstring>
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
@ -94,7 +97,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
//TODO: Check if we're in ISR.
if (result != RTEMS_SUCCESSFUL && !ignoreFault) {
if (internalErrorReporter == nullptr) {
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
internalErrorReporter = ObjectManager::instance()->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
}
if (internalErrorReporter != nullptr) {

3
osal/rtems/PeriodicTask.cpp
View File

@ -1,6 +1,7 @@
#include "PeriodicTask.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
@ -68,7 +69,7 @@ void PeriodicTask::taskFunctionality() {
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(object);
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

5
parameters/ParameterHelper.cpp
View File

@ -1,6 +1,7 @@
#include "ParameterHelper.h"
#include "ParameterMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner):
owner(owner) {}
@ -124,7 +125,7 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
ReturnValue_t ParameterHelper::initialize() {
ownerQueueId = owner->getCommandQueue();
storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
storage = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (storage == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}

7
parameters/ParameterMessage.cpp
View File

@ -1,5 +1,6 @@
#include "../parameters/ParameterMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "ParameterMessage.h"
#include "../objectmanager/ObjectManager.h"
ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {
return message->getParameter();
@ -51,7 +52,7 @@ void ParameterMessage::clear(CommandMessage* message) {
switch (message->getCommand()) {
case CMD_PARAMETER_LOAD:
case REPLY_PARAMETER_DUMP: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message));

4
power/Fuse.cpp
View File

@ -2,7 +2,7 @@
#include "../monitoring/LimitViolationReporter.h"
#include "../monitoring/MonitoringMessageContent.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../serialize/SerialFixedArrayListAdapter.h"
#include "../ipc/QueueFactory.h"
@ -44,7 +44,7 @@ ReturnValue_t Fuse::initialize() {
if (result != RETURN_OK) {
return result;
}
powerIF = objectManager->get<PowerSwitchIF>(powerSwitchId);
powerIF = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
if (powerIF == NULL) {
return RETURN_FAILED;
}

6
power/PowerSwitcher.cpp
View File

@ -1,7 +1,7 @@
#include "PowerSwitcher.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../objectmanager/ObjectManager.h"
#include "../serviceinterface/ServiceInterface.h"
PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
PowerSwitcher::State_t setStartState):
@ -10,7 +10,7 @@ PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
}
ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
power = objectManager->get<PowerSwitchIF>(powerSwitchId);
power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
if (power == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

5
pus/CService200ModeCommanding.cpp
View File

@ -2,7 +2,8 @@
#include "servicepackets/Service200Packets.h"
#include "../modes/HasModesIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../objectmanager/ObjectManager.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../serialize/SerialLinkedListAdapter.h"
#include "../modes/ModeMessage.h"
@ -40,7 +41,7 @@ ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
HasModesIF * destination = ObjectManager::instance()->get<HasModesIF>(*objectId);
if(destination == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;

8
pus/CService201HealthCommanding.cpp
View File

@ -1,9 +1,11 @@
#include "CService201HealthCommanding.h"
#include "servicepackets/Service201Packets.h"
#include "../health/HasHealthIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/ObjectManager.h"
#include "../health/HealthMessage.h"
#include "servicepackets/Service201Packets.h"
CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId,
uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
@ -43,7 +45,7 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
HasHealthIF * destination = objectManager->get<HasHealthIF>(*objectId);
HasHealthIF * destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
if(destination == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}

2
pus/Service17Test.cpp
View File

@ -3,7 +3,7 @@
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/SystemObject.h"
#include "../tmtcpacket/pus/TmPacketStored.h"
#include "../tmtcpacket/pus/tm/TmPacketStored.h"
Service17Test::Service17Test(object_id_t objectId,

5
pus/Service1TelecommandVerification.cpp
View File

@ -2,8 +2,9 @@
#include "servicepackets/Service1Packets.h"
#include "../ipc/QueueFactory.h"
#include "../objectmanager/ObjectManager.h"
#include "../tmtcservices/PusVerificationReport.h"
#include "../tmtcpacket/pus/TmPacketStored.h"
#include "../tmtcpacket/pus/tm/TmPacketStored.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcservices/AcceptsTelemetryIF.h"
@ -99,7 +100,7 @@ ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
ReturnValue_t Service1TelecommandVerification::initialize() {
// Get target object for TC verification messages
AcceptsTelemetryIF* funnel = objectManager->
AcceptsTelemetryIF* funnel = ObjectManager::instance()->
get<AcceptsTelemetryIF>(targetDestination);
if(funnel == nullptr){
#if FSFW_CPP_OSTREAM_ENABLED == 1

15
pus/Service20ParameterManagement.cpp
View File

@ -1,11 +1,11 @@
#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>
#include "../serviceinterface/ServiceInterface.h"
#include "../parameters/HasParametersIF.h"
#include "../parameters/ParameterMessage.h"
#include "../objectmanager/ObjectManager.h"
#include "../parameters/ReceivesParameterMessagesIF.h"
Service20ParameterManagement::Service20ParameterManagement(object_id_t objectId, uint16_t apid,
@ -65,7 +65,7 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check ReceivesParameterMessagesIF property of target
ReceivesParameterMessagesIF* possibleTarget =
objectManager->get<ReceivesParameterMessagesIF>(*objectId);
ObjectManager::instance()->get<ReceivesParameterMessagesIF>(*objectId);
if(possibleTarget == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
@ -133,6 +133,9 @@ ReturnValue_t Service20ParameterManagement::prepareLoadCommand(
store_address_t storeAddress;
size_t parameterDataLen = tcDataLen - sizeof(object_id_t) - sizeof(ParameterId_t) -
sizeof(uint32_t);
if(parameterDataLen == 0) {
return CommandingServiceBase::INVALID_TC;
}
ReturnValue_t result = IPCStore->getFreeElement(&storeAddress,
parameterDataLen, &storePointer);
if(result != HasReturnvaluesIF::RETURN_OK) {

2
pus/Service20ParameterManagement.h
View File

@ -1,7 +1,7 @@
#ifndef FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_
#define FSFW_PUS_SERVICE20PARAMETERMANAGEMENT_H_
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include "../tmtcservices/CommandingServiceBase.h"
/**
* @brief PUS Service 20 Parameter Service implementation

3
pus/Service2DeviceAccess.cpp
View File

@ -1,6 +1,7 @@
#include "Service2DeviceAccess.h"
#include "servicepackets/Service2Packets.h"
#include "../objectmanager/ObjectManager.h"
#include "../devicehandlers/DeviceHandlerIF.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
@ -47,7 +48,7 @@ ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
DeviceHandlerIF* possibleTarget =
objectManager->get<DeviceHandlerIF>(*objectId);
ObjectManager::instance()->get<DeviceHandlerIF>(*objectId);
if(possibleTarget == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}

5
pus/Service3Housekeeping.cpp
View File

@ -1,7 +1,8 @@
#include "Service3Housekeeping.h"
#include "servicepackets/Service3Packets.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid,
uint8_t serviceId):
@ -56,7 +57,7 @@ ReturnValue_t Service3Housekeeping::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check HasLocalDataPoolIF property of target
HasLocalDataPoolIF* possibleTarget =
objectManager->get<HasLocalDataPoolIF>(*objectId);
ObjectManager::instance()->get<HasLocalDataPoolIF>(*objectId);
if(possibleTarget == nullptr){
return CommandingServiceBase::INVALID_OBJECT;
}

7
pus/Service5EventReporting.cpp
View File

@ -1,10 +1,11 @@
#include "Service5EventReporting.h"
#include "servicepackets/Service5Packets.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/ObjectManager.h"
#include "../events/EventManagerIF.h"
#include "../ipc/QueueFactory.h"
#include "../tmtcpacket/pus/TmPacketStored.h"
#include "../tmtcpacket/pus/tm/TmPacketStored.h"
Service5EventReporting::Service5EventReporting(object_id_t objectId,
@ -89,7 +90,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
// In addition to the default PUSServiceBase initialization, this service needs
// to be registered to the event manager to listen for events.
ReturnValue_t Service5EventReporting::initialize() {
EventManagerIF* manager = objectManager->get<EventManagerIF>(
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (manager == NULL) {
return RETURN_FAILED;

5
pus/Service8FunctionManagement.cpp
View File

@ -1,11 +1,12 @@
#include "Service8FunctionManagement.h"
#include "servicepackets/Service8Packets.h"
#include "../objectmanager/ObjectManager.h"
#include "../objectmanager/SystemObjectIF.h"
#include "../action/HasActionsIF.h"
#include "../devicehandlers/DeviceHandlerIF.h"
#include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterface.h"
Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId,
uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
@ -41,7 +42,7 @@ ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check HasActionIF property of target
HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
HasActionsIF* possibleTarget = ObjectManager::instance()->get<HasActionsIF>(*objectId);
if(possibleTarget == nullptr){
return CommandingServiceBase::INVALID_OBJECT;
}

7
pus/servicepackets/Service20Packets.h
View File

@ -27,12 +27,11 @@ public:
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(parameterDataLen == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterCommand: Parameter data length is less than 12!"
<< std::endl;
sif::warning << "ParameterCommand: Parameter data length is 0" << std::endl;
#else
sif::printWarning("ParameterCommand: Parameter data length is less than 12!\n");
sif::printWarning("ParameterCommand: Parameter data length is 0!\n");
#endif
}
#endif /* FSFW_VERBOSE_LEVEL >= 1 */

4
returnvalues/FwClassIds.h
View File

@ -72,6 +72,10 @@ enum: uint8_t {
PUS_SERVICE_3, //PUS3
PUS_SERVICE_9, //PUS9
FILE_SYSTEM, //FILS
HAL_SPI, //HSPI
HAL_UART, //HURT
HAL_I2C, //HI2C
HAL_GPIO, //HGIO
FW_CLASS_ID_COUNT // [EXPORT] : [END]
};

6
serviceinterface/ServiceInterfaceBuffer.cpp
View File

@ -35,7 +35,7 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
colorPrefix = sif::ANSI_COLOR_GREEN;
}
else if(setMessage.find("WARNING") != std::string::npos) {
colorPrefix = sif::ANSI_COLOR_YELLOW;
colorPrefix = sif::ANSI_COLOR_MAGENTA;
}
else if(setMessage.find("ERROR") != std::string::npos) {
colorPrefix = sif::ANSI_COLOR_RED;
@ -171,6 +171,10 @@ bool ServiceInterfaceBuffer::crAdditionEnabled() const {
return addCrToPreamble;
}
void ServiceInterfaceBuffer::setAsciiColorPrefix(std::string colorPrefix) {
this->colorPrefix = colorPrefix;
}
#ifdef UT699
#include "../osal/rtems/Interrupt.h"

1
serviceinterface/ServiceInterfaceBuffer.h
View File

@ -48,6 +48,7 @@ private:
#if FSFW_COLORED_OUTPUT == 1
std::string colorPrefix;
void setAsciiColorPrefix(std::string colorPrefix);
#endif
// For EOF detection

2
serviceinterface/ServiceInterfacePrinter.h
View File

@ -7,6 +7,8 @@
//! https://stackoverflow.com/questions/111928/is-there-a-printf-converter-to-print-in-binary-format
//! Can be used to print out binary numbers in human-readable format.
//! Example usage:
//! sif::printInfo("Status register: " BYTE_TO_BINARY_PATTERN "\n",BYTE_TO_BINARY(0x1f));
#define BYTE_TO_BINARY_PATTERN "%c%c%c%c%c%c%c%c"
#define BYTE_TO_BINARY(byte) \
(byte & 0x80 ? '1' : '0'), \

4
serviceinterface/ServiceInterfaceStream.cpp
View File

@ -19,5 +19,9 @@ bool ServiceInterfaceStream::crAdditionEnabled() const {
return streambuf.crAdditionEnabled();
}
void ServiceInterfaceStream::setAsciiColorPrefix(std::string asciiColorCode) {
streambuf.setAsciiColorPrefix(asciiColorCode);
}
#endif

2
serviceinterface/ServiceInterfaceStream.h
View File

@ -46,6 +46,8 @@ public:
*/
bool crAdditionEnabled() const;
void setAsciiColorPrefix(std::string asciiColorCode);
protected:
ServiceInterfaceBuffer streambuf;
};

7
storagemanager/LocalPool.cpp
View File

@ -1,5 +1,8 @@
#include "LocalPool.h"
#include <FSFWConfig.h>
#include "FSFWConfig.h"
#include "../objectmanager/ObjectManager.h"
#include <cstring>
LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
@ -185,7 +188,7 @@ ReturnValue_t LocalPool::initialize() {
if (result != RETURN_OK) {
return result;
}
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
internalErrorReporter = ObjectManager::instance()->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter == nullptr){
return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;

7
subsystem/Subsystem.cpp
View File

@ -1,6 +1,7 @@
#include "Subsystem.h"
#include "../health/HealthMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../serialize/SerialArrayListAdapter.h"
#include "../serialize/SerialFixedArrayListAdapter.h"
#include "../serialize/SerializeElement.h"
@ -477,13 +478,13 @@ ReturnValue_t Subsystem::initialize() {
return result;
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == NULL) {
return RETURN_FAILED;
}
#if FSFW_USE_MODESTORE == 1
modeStore = objectManager->get<ModeStoreIF>(objects::MODE_STORE);
modeStore = ObjectManager::instance()->get<ModeStoreIF>(objects::MODE_STORE);
if (modeStore == nullptr) {
return RETURN_FAILED;

13
subsystem/SubsystemBase.cpp
View File

@ -1,6 +1,7 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../subsystem/SubsystemBase.h"
#include "SubsystemBase.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/ObjectManager.h"
#include "../ipc/QueueFactory.h"
SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
@ -19,10 +20,10 @@ SubsystemBase::~SubsystemBase() {
ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
ChildInfo info;
HasModesIF *child = objectManager->get<HasModesIF>(objectId);
HasModesIF *child = ObjectManager::instance()->get<HasModesIF>(objectId);
// This is a rather ugly hack to have the changedHealth info for all
// children available.
HasHealthIF* healthChild = objectManager->get<HasHealthIF>(objectId);
HasHealthIF* healthChild = ObjectManager::instance()->get<HasHealthIF>(objectId);
if (child == nullptr) {
if (healthChild == nullptr) {
return CHILD_DOESNT_HAVE_MODES;
@ -174,7 +175,7 @@ ReturnValue_t SubsystemBase::initialize() {
}
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
SubsystemBase *parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == nullptr) {
return RETURN_FAILED;
}

4
subsystem/modes/ModeSequenceMessage.cpp
View File

@ -1,6 +1,6 @@
#include "ModeSequenceMessage.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../storagemanager/StorageManagerIF.h"
void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
@ -50,7 +50,7 @@ void ModeSequenceMessage::clear(CommandMessage *message) {
case TABLE_LIST:
case TABLE:
case SEQUENCE: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != nullptr){
ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message));

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