Merge pull request 'RTEMS and DHB update' (#362) from mueller/rtems-update into development

Reviewed-on: fsfw/fsfw#362

datapoollocal/LocalDataPoolManager.cpp

@@ -890,7 +890,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 				<< std::dec << std::setfill(' ') << std::endl;
 #else
 		sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
-				owner->getObjectId(), errorPrint);
+				functionName, owner->getObjectId(), errorPrint);
 #endif
 	}
 	else if(outputType == sif::OutputTypes::OUT_ERROR) {
@@ -901,7 +901,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 				<< std::dec << std::setfill(' ') << std::endl;
 #else
 		sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
-				owner->getObjectId(), errorPrint);
+				functionName, owner->getObjectId(), errorPrint);
 #endif
 	}
 }

datapoollocal/LocalDataPoolManager.h

@@ -399,14 +399,14 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
         PoolEntry<T> **poolEntry) {
     auto poolIter = localPoolMap.find(localPoolId);
     if (poolIter == localPoolMap.end()) {
-        printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry",
+        printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
                 localpool::POOL_ENTRY_NOT_FOUND);
         return localpool::POOL_ENTRY_NOT_FOUND;
     }
 
     *poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
     if(*poolEntry == nullptr) {
-        printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry",
+        printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
                 localpool::POOL_ENTRY_TYPE_CONFLICT);
         return localpool::POOL_ENTRY_TYPE_CONFLICT;
     }

datapoollocal/StaticLocalDataSet.h

@@ -2,6 +2,9 @@
 #define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
 
 #include "LocalPoolDataSetBase.h"
+#include "LocalPoolVariable.h"
+#include "LocalPoolVector.h"
+
 #include "../objectmanager/SystemObjectIF.h"
 #include <array>
 

devicehandlers/DeviceHandlerBase.cpp

@@ -1202,61 +1202,62 @@ ReturnValue_t DeviceHandlerBase::letChildHandleMessage(
 	return RETURN_FAILED;
 }
 
-void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
+void DeviceHandlerBase::handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId,
-		DeviceCommandId_t replyId, bool neverInDataPool, bool forceDirectTm) {
+        bool forceDirectTm) {
+    if(dataSet == nullptr) {
+        return;
+    }
+
 	DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
 	if (iter == deviceReplyMap.end()) {
 		triggerEvent(DEVICE_UNKNOWN_REPLY, replyId);
 		return;
 	}
-	DeviceTmReportingWrapper wrapper(getObjectId(), replyId, data);
+
-	//replies to a command
+	/* Regular replies to a command */
 	if (iter->second.command != deviceCommandMap.end())
 	{
 		MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
 		if (queueId != NO_COMMANDER) {
-			//This may fail, but we'll ignore the fault.
+			/* This may fail, but we'll ignore the fault. */
-			actionHelper.reportData(queueId, replyId, data);
+			actionHelper.reportData(queueId, replyId, dataSet);
 		}
 
-		//This check should make sure we get any TM but don't get anything doubled.
+		/* This check should make sure we get any TM but don't get anything doubled. */
 		if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
+            DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
 			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
 		}
+
 		else if (forceDirectTm and (defaultRawReceiver != queueId) and
 		        (defaultRawReceiver != MessageQueueIF::NO_QUEUE))
 		{
 			// hiding of sender needed so the service will handle it as
 			// unexpected Data, no matter what state (progress or completed)
 			// it is in
-			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
+			actionHelper.reportData(defaultRawReceiver, replyId, dataSet, true);
-					true);
 		}
 	}
-	//unrequested/aperiodic replies
+	/* Unrequested or aperiodic replies */
 	else
 	{
+	    DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
 		if (wiretappingMode == TM) {
 			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
 		}
-		else if (forceDirectTm and defaultRawReceiver !=
+		if (forceDirectTm and defaultRawReceiver != MessageQueueIF::NO_QUEUE)
-				MessageQueueIF::NO_QUEUE)
 		{
+//		    sid_t setSid = sid_t(this->getObjectId(), replyId);
+//		    LocalPoolDataSetBase* dataset = getDataSetHandle(setSid);
+//		    if(dataset != nullptr) {
+//	            poolManager.generateHousekeepingPacket(setSid, dataset, true);
+//		    }
+
 			// hiding of sender needed so the service will handle it as
 			// unexpected Data, no matter what state (progress or completed)
 			// it is in
-			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
+			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper, true);
-					true);
-		}
-	}
-	//Try to cast to GlobDataSet and commit data.
-	if (not neverInDataPool) {
-		LocalPoolDataSetBase* dataSet =
-				dynamic_cast<LocalPoolDataSetBase*>(data);
-		if (dataSet != nullptr) {
-			dataSet->setValidity(true, true);
-			dataSet->commit();
 		}
 	}
 }
@@ -1531,3 +1532,11 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
 LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
     return &poolManager;
 }
+
+MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const {
+    auto commandIter = deviceCommandMap.find(replyId);
+    if(commandIter == deviceCommandMap.end()) {
+        return MessageQueueIF::NO_QUEUE;
+    }
+    return commandIter->second.sendReplyTo;
+}

devicehandlers/DeviceHandlerBase.h

@@ -189,6 +189,38 @@ public:
 	/** Destructor. */
 	virtual ~DeviceHandlerBase();
 
+
+    /**
+     * Implementation of ExecutableObjectIF function
+     * Used to setup the reference of the task, that executes this component
+     * @param task_ Pointer to the taskIF of this task
+     */
+    virtual  void setTaskIF(PeriodicTaskIF* task_) override;
+    virtual MessageQueueId_t getCommandQueue(void) const override;
+
+    /** Explicit interface implementation of getObjectId */
+    virtual object_id_t getObjectId() const override;
+
+    /**
+     * @param parentQueueId
+     */
+    virtual void setParentQueue(MessageQueueId_t parentQueueId);
+
+    /** @brief  Implementation required for HasActionIF */
+    ReturnValue_t executeAction(ActionId_t actionId,
+            MessageQueueId_t commandedBy, const uint8_t* data,
+            size_t size) override;
+
+    Mode_t getTransitionSourceMode() const;
+    Submode_t getTransitionSourceSubMode() const;
+    virtual void getMode(Mode_t *mode, Submode_t *submode);
+    HealthState getHealth();
+    ReturnValue_t setHealth(HealthState health);
+    virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+            ParameterWrapper *parameterWrapper,
+            const ParameterWrapper *newValues, uint16_t startAtIndex) override;
+
+
 protected:
 	/**
 	 * @brief 	This is used to let the child class handle the transition from
@@ -288,23 +320,29 @@ protected:
 	virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0;
 
 	/**
-	 * @brief 	Build a device command packet from data supplied by a
+	 * @brief 	Build a device command packet from data supplied by a direct
-	 * 			direct command.
+	 *          command (PUS Service 8)
-	 *
 	 * @details
-	 * #rawPacket and #rawPacketLen should be set by this method to the packet
+	 * This will be called if an functional command via PUS Service 8 is received and is
-	 * to be sent. The existence of the command in the command map and the
+	 * the primary interface for functional command instead of #executeAction for users. The
-	 * command size check against 0 are done by the base class.
+	 * supplied ActionId_t action ID will be converted to a DeviceCommandId_t command ID after
+	 * an internal check whether the action ID is a key in the device command map.
 	 *
-	 * @param deviceCommand the command to build, already checked against
+	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
-	 * deviceCommandMap
+	 * The existence of the command in the command map and the command size check against 0 are
-	 * @param commandData pointer to the data from the direct command
+	 * done by the base class.
-	 * @param commandDataLen length of commandData
+	 *
+	 * @param deviceCommand     The command to build, already checked against deviceCommandMap
+	 * @param commandData       Pointer to the data from the direct command
+	 * @param commandDataLen    Length of commandData
 	 * @return
 	 *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
 	 *       have been set.
-	 *  - Anything else triggers an event with the
+	 *  - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
-	 *    returnvalue as a parameter
+	 *       be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
+	 *       to finish the command handling.
+	 *  - Anything else triggers an event with the return code as a parameter as well as a
+	 *    step reply failed with the return code
 	 */
 	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 			const uint8_t * commandData, size_t commandDataLen) = 0;
@@ -529,37 +567,6 @@ protected:
 	 */
 	virtual void performOperationHook();
 
-public:
-	/** Explicit interface implementation of getObjectId */
-	virtual object_id_t getObjectId() const override;
-
-	/**
-	 * @param parentQueueId
-	 */
-	virtual void setParentQueue(MessageQueueId_t parentQueueId);
-
-	/** @brief 	Implementation required for HasActionIF */
-	ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data,
-			size_t size) override;
-
-	Mode_t getTransitionSourceMode() const;
-	Submode_t getTransitionSourceSubMode() const;
-	virtual void getMode(Mode_t *mode, Submode_t *submode);
-	HealthState getHealth();
-	ReturnValue_t setHealth(HealthState health);
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex) override;
-	/**
-	 * Implementation of ExecutableObjectIF function
-	 *
-	 * Used to setup the reference of the task, that executes this component
-	 * @param task_ Pointer to the taskIF of this task
-	 */
-	virtual  void setTaskIF(PeriodicTaskIF* task_);
-	virtual MessageQueueId_t getCommandQueue(void) const;
-
 protected:
 	/**
 	 * The Returnvalues id of this class, required by HasReturnvaluesIF
@@ -567,16 +574,16 @@ protected:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
 	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(0xA0);
-	// Returnvalues for scanForReply()
+	/* Return codes for scanForReply */
 	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB0); //!< This is used to specify for replies from a device which are not replies to requests
 	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB1); //!< Ignore parts of the received packet
 	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB2); //!< Ignore full received packet
-	// Returnvalues for command building
+	/* Return codes for command building */
 	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC0); //!< Return this if no command sending in required
 	static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(0xC2);
-	// Returnvalues for getSwitches()
+	// Return codes for getSwitches */
 	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xD0);
-	// Mode handling error Codes
+	/* Mode handling error Codes */
 	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0);
 	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1);
 
@@ -763,6 +770,8 @@ protected:
 	 */
 	virtual void setNormalDatapoolEntriesInvalid();
 
+	MessageQueueId_t getCommanderId(DeviceCommandId_t replyId) const;
+
 	/**
 	 * Helper function to get pending command. This is useful for devices
 	 * like SPI sensors to identify the last sent command.
@@ -995,8 +1004,10 @@ protected:
 
 	bool isAwaitingReply();
 
-	void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t commandId,
+	void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId,
-			bool neverInDataPool = false, bool forceDirectTm = false);
+	        bool forceDirectTm = false);
+//	void handleDeviceTM(uint8_t* data, size_t dataSize, DeviceCommandId_t replyId,
+//	        bool forceDirectTm);
 
 	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode);
@@ -1062,6 +1073,7 @@ protected:
 	 * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
 	 */
 	void commandSwitch(ReturnValue_t onOff);
+
 private:
 
 	/**

monitoring/MonitoringMessageContent.h

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

objectmanager/ObjectManager.cpp

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

objectmanager/SystemObject.cpp

@@ -5,15 +5,19 @@
 SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
 		objectId(setObjectId), registered(doRegister) {
 	if (registered) {
+	    if(objectManager != nullptr) {
 	        objectManager->insert(objectId, this);
 	    }
 	}
+}
 
 SystemObject::~SystemObject() {
 	if (registered) {
+	    if(objectManager != nullptr) {
 	        objectManager->remove(objectId);
 	    }
 	}
+}
 
 object_id_t SystemObject::getObjectId() const {
 	return objectId;

objectmanager/frameworkObjects.h

@@ -1,8 +1,11 @@
 #ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
 #define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
 
+#include <fsfw/objectmanager/SystemObjectIF.h>
+
 namespace objects {
-enum framework_objects {
+enum framework_objects: object_id_t {
+    FSFW_OBJECTS_START = 0x53000000,
     // Default verification reporter.
     PUS_SERVICE_1_VERIFICATION = 0x53000001,
     PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
@@ -24,6 +27,7 @@ enum framework_objects {
     TM_STORE = 0x534f0200,
     TIME_STAMPER = 0x53500010,
 
+    FSFW_OBJECTS_END = 0x53ffffff,
     NO_OBJECT = 0xFFFFFFFF
 };
 }

osal/rtems/TaskBase.cpp

@@ -1,84 +0,0 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "TaskBase.h"
-
-const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
-
-TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
-		const char *name) {
-	rtems_name osalName = 0;
-	for (uint8_t i = 0; i < 4; i++) {
-		if (name[i] == 0) {
-			break;
-		}
-		osalName += name[i] << (8 * (3 - i));
-	}
-	//The task is created with the operating system's system call.
-	rtems_status_code status = RTEMS_UNSATISFIED;
-	if (set_priority >= 0 && set_priority <= 99) {
-		 status = rtems_task_create(osalName,
-				(0xFF - 2 * set_priority), stack_size,
-				RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
-				RTEMS_FLOATING_POINT, &id);
-	}
-	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;
-	}
-}
-
-TaskBase::~TaskBase() {
-	rtems_task_delete(id);
-}
-
-rtems_id TaskBase::getId() {
-	return this->id;
-}
-
-ReturnValue_t TaskBase::sleepFor(uint32_t ms) {
-	rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
-	return convertReturnCode(status);
-}
-
-
-ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
-	switch (inValue) {
-	case RTEMS_SUCCESSFUL:
-		return HasReturnvaluesIF::RETURN_OK;
-	case RTEMS_MP_NOT_CONFIGURED:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_INVALID_NAME:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_TOO_MANY:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_INVALID_ADDRESS:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_UNSATISFIED:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_INVALID_PRIORITY:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-}
-
-
-ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
-	rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
-	rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
-	if (status == RTEMS_SUCCESSFUL) {
-		status = restartPeriod(period,*periodId);
-	}
-	return convertReturnCode(status);
-}
-
-rtems_status_code TaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
-	//This is necessary to avoid a call with period = 0, which does not start the period.
-	rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
-	return status;
-}

osal/rtems/TaskBase.h

@@ -1,47 +0,0 @@
-#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_
-#define FSFW_OSAL_RTEMS_TASKBASE_H_
-
-#include "RtemsBasic.h"
-#include "../../tasks/PeriodicTaskIF.h"
-
-/**
- * @brief	This is the basic task handling class for rtems.
- *
- * @details Task creation base class for rtems.
- */
-class TaskBase {
-protected:
-	/**
-	 * @brief	The class stores the task id it got assigned from the operating system in this attribute.
-	 * 			If initialization fails, the id is set to zero.
-	 */
-	rtems_id id;
-public:
-	/**
-	 * @brief	The constructor creates and initializes a task.
-	 * @details	This is accomplished by using the operating system call to create a task. The name is
-	 * 			created automatically with the help od taskCounter. Priority and stack size are
-	 * 			adjustable, all other attributes are set with default values.
-	 * @param priority		Sets the priority of a task. Values range from a low 0 to a high 99.
-	 * @param stack_size	The stack size reserved by the operating system for the task.
-	 * @param nam			The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
-	 */
-	TaskBase( rtems_task_priority priority, size_t stack_size, const char  *name);
-	/**
-	 * @brief	In the destructor, the created task is deleted.
-	 */
-	virtual ~TaskBase();
-	/**
-	 * @brief	This method returns the task id of this class.
-	 */
-	rtems_id getId();
-
-	ReturnValue_t sleepFor(uint32_t ms);
-	static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
-	static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
-private:
-	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
-};
-
-
-#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */

pus/Service8FunctionManagement.cpp

@@ -104,6 +104,8 @@ ReturnValue_t Service8FunctionManagement::handleReply(
 		break;
 	}
 	case ActionMessage::DATA_REPLY: {
+	    /* Multiple data replies are possible, so declare data reply as step */
+	    *isStep = true;
 	    result = handleDataReply(reply, objectId, actionId);
 		break;
 	}

timemanager/Stopwatch.cpp

@@ -1,6 +1,9 @@
 #include "Stopwatch.h"
 #include "../serviceinterface/ServiceInterface.h"
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 #include <iomanip>
+#endif
 
 Stopwatch::Stopwatch(bool displayOnDestruction,
         StopwatchDisplayMode displayMode): displayOnDestruction(

unittest/tests/datapoollocal/LocalPoolManagerTest.cpp

@@ -187,8 +187,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
         CHECK(messageSent.getCommand() == static_cast<int>(
                 HousekeepingMessage::HK_REPORT));
         CommandMessageCleaner::clearCommandMessage(&messageSent);
-        REQUIRE(mqMock->receiveMessage(&messageSent) ==
+        REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
-                static_cast<int>(MessageQueueIF::EMPTY));
     }
 
     /* we need to reset the subscription list because the pool owner