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added new command executor

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Robin Müller 2021-08-05 15:42:47 +02:00
parent 1a4a85ceb2
commit c8472beb5f
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4 changed files with 315 additions and 0 deletions
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1
src/fsfw/osal/linux/CMakeLists.txt
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@ -16,6 +16,7 @@ target_sources(${LIB_FSFW_NAME}
Timer.cpp Timer.cpp
tcpipHelpers.cpp tcpipHelpers.cpp
unixUtility.cpp unixUtility.cpp
CommandExecutor.cpp
) )
find_package(Threads REQUIRED) find_package(Threads REQUIRED)

180
src/fsfw/osal/linux/CommandExecutor.cpp Normal file
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@ -0,0 +1,180 @@
#include "CommandExecutor.h"
#include "fsfw/serviceinterface.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/container/DynamicFIFO.h"
#include <unistd.h>
#include <cstring>
CommandExecutor::CommandExecutor(const size_t maxSize):
readVec(maxSize) {
waiter.events = POLLIN;
}
ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
if(state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmd = command;
this->blocking = blocking;
this->printOutput = printOutput;
if(state == States::IDLE) {
state = States::COMMAND_LOADED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::execute() {
if(state == States::IDLE) {
return NO_COMMAND_LOADED_OR_PENDING;
}
else if(state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmdFile = popen(currentCmd.c_str(), "r");
if(currentCmdFile == nullptr) {
lastError = errno;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(blocking) {
return executeBlocking();
}
else {
currentFd = fileno(currentCmdFile);
waiter.fd = currentFd;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::close() {
if(state == States::PENDING) {
// Attempt to close process, irrespective of if it is running or not
if(currentCmdFile != nullptr) {
pclose(currentCmdFile);
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::printLastError(std::string funcName) const {
if(lastError != 0) {
sif::error << funcName << " pclose failed with code " <<
lastError << ": " << strerror(lastError) << std::endl;
}
}
void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
DynamicFIFO<uint16_t>* sizesFifo) {
this->ringBuffer = ringBuffer;
this->sizesFifo = sizesFifo;
}
ReturnValue_t CommandExecutor::check(bool& bytesRead) {
if(blocking) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(state) {
case(States::IDLE):
case(States::COMMAND_LOADED): {
return NO_COMMAND_LOADED_OR_PENDING;
}
case(States::PENDING): {
break;
}
}
int result = poll(&waiter, 1, 0);
switch(result) {
case(0): {
return HasReturnvaluesIF::RETURN_OK;
break;
}
case(1): {
if (waiter.revents & POLLIN) {
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
if(readBytes == 0) {
// Should not happen
sif::warning << "CommandExecutor::check: "
"No bytes read after poll event.." << std::endl;
break;
}
else if(readBytes > 0) {
bytesRead = true;
if(printOutput) {
// It is assumed the command output is line terminated
sif::info << currentCmd << " | " << readVec.data();
}
if(ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
readVec.data()), readBytes);
}
if(sizesFifo != nullptr) {
if(not sizesFifo->full()) {
sizesFifo->insert(readBytes);
}
}
return BYTES_READ;
}
else {
// Should also not happen
sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
strerror(errno) << std::endl;
}
}
else if(waiter.revents & POLLERR) {
sif::warning << "CommandExecuter::check: Poll error" << std::endl;
return COMMAND_ERROR;
}
else if(waiter.revents & POLLHUP) {
int result = pclose(currentCmdFile);
if(result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}
state = States::IDLE;
currentCmdFile = nullptr;
currentFd = 0;
return EXECUTION_FINISHED;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::reset() {
CommandExecutor::close();
currentCmdFile = nullptr;
currentFd = 0;
state = States::IDLE;
}
int CommandExecutor::getLastError() const {
return this->lastError;
}
ReturnValue_t CommandExecutor::executeBlocking() {
while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
std::string output(readVec.data());
if(printOutput) {
sif::info << currentCmd << " | " << output;
}
if(ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
}
if(sizesFifo != nullptr) {
if(not sizesFifo->full()) {
sizesFifo->insert(output.size());
}
}
}
int result = pclose(currentCmdFile);
if(result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}
return EXECUTION_FINISHED;
}

133
src/fsfw/osal/linux/CommandExecutor.h Normal file
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@ -0,0 +1,133 @@
#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/FwClassIds.h"
#include <poll.h>
#include <string>
#include <vector>
class SimpleRingBuffer;
template <typename T> class DynamicFIFO;
/**
* @brief Helper class to execute shell commands in blocking and non-blocking mode
* @details
* This class is able to execute processes by using the Linux popen call. It also has the
* capability of writing the read output of a process into a provided ring buffer.
*
* The executor works by first loading the command which should be executed and specifying
* whether it should be executed blocking or non-blocking. After that, execution can be started
* with the execute command. In blocking mode, the execute command will block until the command
* has finished
*/
class CommandExecutor {
public:
enum class States {
IDLE,
COMMAND_LOADED,
PENDING
};
static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
//! [EXPORT] : [COMMENT] Execution of the current command has finished
static constexpr ReturnValue_t EXECUTION_FINISHED =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
//! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
//! to load another command but a command is still pending
static constexpr ReturnValue_t COMMAND_PENDING =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
//! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
static constexpr ReturnValue_t BYTES_READ =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
//! [EXPORT] : [COMMENT] Command execution failed
static constexpr ReturnValue_t COMMAND_ERROR =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
//! [EXPORT] : [COMMENT]
static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
/**
* Constructor. Is initialized with maximum size of internal buffer to read data from the
* executed process.
* @param maxSize
*/
CommandExecutor(const size_t maxSize);
/**
* Load a new command which should be executed
* @param command
* @param blocking
* @param printOutput
* @return
*/
ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
/**
* Execute the loaded command.
* @return
* - In blocking mode, it will return RETURN_FAILED if
* the result of the system call was not 0. The error value can be accessed using
* getLastError
* - In non-blocking mode, this call will start
* the execution and then return RETURN_OK
*/
ReturnValue_t execute();
/**
* Only used in non-blocking mode. Checks the currently running command.
* @param bytesRead Will be set to the number of bytes read, if bytes have been read
* @return
* - BYTES_READ if bytes have been read from the executing process. It is recommended to call
* check again after this
* - RETURN_OK execution is pending, but no bytes have been read from the executing process
* - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
* - EXECUTION_FINISHED if the process was executed successfully
* - COMMAND_ERROR internal poll error
*/
ReturnValue_t check(bool& bytesRead);
/**
* Abort the current command. Should normally not be necessary, check can be used to find
* out whether command execution was successful
* @return RETURN_OK
*/
ReturnValue_t close();
int getLastError() const;
void printLastError(std::string funcName) const;
/**
* Assign a ring buffer and a FIFO which will be filled by the executor with the output
* read from the started process
* @param ringBuffer
* @param sizesFifo
*/
void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
/**
* Reset the executor. This calls close internally and then reset the state machine so new
* commands can be loaded and executed
*/
void reset();
private:
std::string currentCmd;
bool blocking = true;
FILE* currentCmdFile = nullptr;
int currentFd = 0;
bool printOutput = true;
std::vector<char> readVec;
struct pollfd waiter {};
SimpleRingBuffer* ringBuffer = nullptr;
DynamicFIFO<uint16_t>* sizesFifo = nullptr;
States state = States::IDLE;
int lastError = 0;
ReturnValue_t executeBlocking();
};
#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

1
src/fsfw/returnvalues/FwClassIds.h
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@ -72,6 +72,7 @@ enum: uint8_t {
PUS_SERVICE_3, //PUS3 PUS_SERVICE_3, //PUS3
PUS_SERVICE_9, //PUS9 PUS_SERVICE_9, //PUS9
FILE_SYSTEM, //FILS FILE_SYSTEM, //FILS
LINUX_OSAL, //UXOS
HAL_SPI, //HSPI HAL_SPI, //HSPI
HAL_UART, //HURT HAL_UART, //HURT
HAL_I2C, //HI2C HAL_I2C, //HI2C