Merge branch 'development' into mueller/datapool-update

This commit is contained in:
Steffen Gaisser 2021-01-12 15:07:06 +01:00
commit a89d9eab36
14 changed files with 82 additions and 16 deletions

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@ -139,5 +139,4 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
target_compile_options(${LIB_FSFW_NAME} PRIVATE
${WARNING_FLAGS}
${COMPILER_FLAGS}
${ABI_FLAGS}
)

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@ -3,11 +3,12 @@
#include "OBSWVersion.h"
#ifdef __cplusplus
#include "objects/systemObjectList.h"
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
#ifdef __cplusplus
namespace config {
#endif

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@ -682,8 +682,10 @@ void DeviceHandlerBase::doGetRead() {
replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
}
if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
if (mode == MODE_RAW) {
if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
}
}
else {
parseReply(receivedData, receivedDataLen);

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@ -13,9 +13,11 @@ target_sources(${LIB_FSFW_NAME}
)
if(UNIX)
find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME}
PRIVATE
rt
pthread
${CMAKE_THREAD_LIBS_INIT}
)
endif()

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@ -18,8 +18,14 @@ target_sources(${LIB_FSFW_NAME}
Timer.cpp
)
target_link_libraries(${LIB_FSFW_NAME}
PRIVATE
rt
pthread
find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${CMAKE_THREAD_LIBS_INIT}
rt
)
target_link_libraries(${LIB_FSFW_NAME} INTERFACE
${CMAKE_THREAD_LIBS_INIT}
)

18
osal/rtems/CMakeLists.txt Normal file
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@ -0,0 +1,18 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
Clock.cpp
CpuUsage.cpp
InitTask.cpp
InternalErrorCodes.cpp
MessageQueue.cpp
MultiObjectTask.cpp
Mutex.cpp
MutexFactory.cpp
PollingTask.cpp
QueueFactory.cpp
RtemsBasic.cpp
TaskBase.cpp
TaskFactory.cpp
)

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@ -1,6 +1,10 @@
#include "../../timemanager/Clock.h"
#include "RtemsBasic.h"
#include "../../timemanager/Clock.h"
#include "../../ipc/MutexHelper.h"
#include <rtems/score/todimpl.h>
#include <rtems/rtems/clockimpl.h>
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = nullptr;
@ -33,15 +37,24 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
}
ReturnValue_t Clock::setClock(const timeval* time) {
//TODO This routine uses _TOD_Set which is not
timespec newTime;
newTime.tv_sec = time->tv_sec;
if(time->tv_usec < 0) {
// better returnvalue.
return HasReturnvaluesIF::RETURN_FAILED;
}
newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND;
//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
//TODO Second parameter is ISR_lock_Context
_TOD_Set(&newTime,nullptr);
return HasReturnvaluesIF::RETURN_OK;
ISR_lock_Context context;
_TOD_Lock();
_TOD_Acquire(&context);
Status_Control status = _TOD_Set(&newTime, &context);
_TOD_Unlock();
if(status == STATUS_SUCCESSFUL) {
return HasReturnvaluesIF::RETURN_OK;
}
// better returnvalue
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t Clock::getClock_timeval(timeval* time) {
@ -91,6 +104,7 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
}
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
// TIsn't this a bug? Are RTEMS ticks always microseconds?
rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
rtems_status_code status = rtems_clock_get_tod(timeRtems);
switch (status) {

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@ -34,8 +34,10 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
return OUT_OF_PROXIES;
case INTERNAL_ERROR_INVALID_GLOBAL_ID:
return INVALID_GLOBAL_ID;
#ifndef STM32H743ZI_NUCLEO
case INTERNAL_ERROR_BAD_STACK_HOOK:
return BAD_STACK_HOOK;
#endif
// case INTERNAL_ERROR_BAD_ATTRIBUTES:
// return BAD_ATTRIBUTES;
// case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:

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@ -9,9 +9,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
rtems_status_code status = rtems_message_queue_create(name, message_depth,
max_message_size, 0, &(this->id));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
<< name << std::dec << " failed with status:"
<< (uint32_t) status << std::endl;
#endif
this->id = 0;
}
}

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@ -30,8 +30,10 @@ ReturnValue_t MultiObjectTask::startTask() {
rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
@ -63,7 +65,9 @@ void MultiObjectTask::taskFunctionality() {
char nameSpace[8] = { 0 };
char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
nameSpace);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
#endif
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}

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@ -10,16 +10,20 @@ Mutex::Mutex() :
RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
&mutexId);
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
<< " failed with " << status << std::endl;
#endif
}
}
Mutex::~Mutex() {
rtems_status_code status = rtems_semaphore_delete(mutexId);
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Mutex: deletion for id " << mutexId
<< " failed with " << status << std::endl;
#endif
}
}

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@ -35,15 +35,19 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
//The task's functionality is called.
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->getId()
<< " returned from taskFunctionality." << std::endl;
#endif
}
void PollingTask::missedDeadlineCounter() {
PollingTask::deadlineMissedCount++;
if (PollingTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << PollingTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}
@ -51,8 +55,10 @@ ReturnValue_t PollingTask::startTask() {
rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PollingTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
@ -75,8 +81,10 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId,
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}

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@ -22,9 +22,11 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
}
ReturnValue_t result = convertReturnCode(status);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
<< osalName << std::dec << " failed with return code "
<< (uint32_t) status << std::endl;
#endif
this->id = 0;
}
}

2
unittest/CMakeLists.txt Normal file
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@ -0,0 +1,2 @@
add_subdirectory(internal)
add_subdirectory(tests)