From 20adc1c9813697744a37c375027114370131695c Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" <–meierj@irs.uni-stuttgart.de> Date: Sat, 7 Aug 2021 14:28:12 +0200 Subject: [PATCH 01/34] queue nullptr check in action helper --- action/ActionHelper.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index 73007ea3..aaa19ac4 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -33,6 +33,17 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { setQueueToUse(queueToUse_); } + if(queueToUse == nullptr) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "ActionHelper::initialize: No queue set" << std::endl; +#else + sif::printWarning("ActionHelper::initialize: No queue set\n"); +#endif +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; } From a18706ec5351db0ae638380ba806cbce44c8ece3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 16 Aug 2021 10:49:07 +0200 Subject: [PATCH 02/34] Make FSFW tests accessible from outside 1. Further reduces the amount of code the user needs to copy and paste 2. Makes FSFW tests more accessible. This can be used to simplify moving mission unit tests to the FSFW 3. A lot of include improvements --- CMakeLists.txt | 3 ++- tests/src/fsfw_tests/unit/CMakeLists.txt | 13 ++++++++++ .../fsfw_tests/unit}/CatchDefinitions.cpp | 0 .../fsfw_tests/unit}/CatchDefinitions.h | 0 .../fsfw_tests/unit}/CatchFactory.cpp | 16 +++++++------ tests/src/fsfw_tests/unit/CatchFactory.h | 24 +++++++++++++++++++ .../fsfw_tests/unit}/CatchRunner.cpp | 6 ++--- tests/src/fsfw_tests/unit/CatchRunner.h | 14 +++++++++++ .../fsfw_tests/unit}/CatchSetup.cpp | 15 +++++------- .../unit/action/TestActionHelper.cpp | 5 +--- .../fsfw_tests/unit/action/TestActionHelper.h | 3 +-- .../unit/container/RingBufferTest.cpp | 2 +- .../unit/container/TestArrayList.cpp | 3 ++- .../unit/container/TestDynamicFifo.cpp | 3 ++- .../fsfw_tests/unit/container/TestFifo.cpp | 3 ++- .../unit/container/TestFixedArrayList.cpp | 3 ++- .../unit/container/TestFixedMap.cpp | 3 ++- .../container/TestFixedOrderedMultimap.cpp | 3 ++- .../unit/container/TestPlacementFactory.cpp | 3 ++- .../unit/datapoollocal/DataSetTest.cpp | 7 +++--- .../datapoollocal/LocalPoolManagerTest.cpp | 9 +++---- .../unit/datapoollocal/LocalPoolOwnerBase.h | 2 +- .../datapoollocal/LocalPoolVariableTest.cpp | 4 ++-- .../datapoollocal/LocalPoolVectorTest.cpp | 3 ++- .../unit/mocks/MessageQueueMockBase.h | 9 ++++--- .../fsfw_tests/unit/osal/TestMessageQueue.cpp | 3 ++- .../fsfw_tests/unit}/printChar.cpp | 0 .../core => src/fsfw_tests/unit}/printChar.h | 0 .../serialize/TestSerialBufferAdapter.cpp | 4 +++- .../unit/serialize/TestSerialLinkedPacket.cpp | 3 +-- .../unit/serialize/TestSerialization.cpp | 2 +- .../unit/storagemanager/TestNewAccessor.cpp | 5 +++- .../unit/storagemanager/TestPool.cpp | 3 ++- tests/user/CMakeLists.txt | 4 ++-- tests/user/testcfg/TestsConfig.h.in | 2 ++ tests/user/unittest/CMakeLists.txt | 1 - tests/user/unittest/core/CMakeLists.txt | 13 ---------- tests/user/unittest/core/CatchFactory.h | 16 ------------- tests/user/unittest/core/core.mk | 3 --- 39 files changed, 124 insertions(+), 91 deletions(-) rename tests/{user/unittest/core => src/fsfw_tests/unit}/CatchDefinitions.cpp (100%) rename tests/{user/unittest/core => src/fsfw_tests/unit}/CatchDefinitions.h (100%) rename tests/{user/unittest/core => src/fsfw_tests/unit}/CatchFactory.cpp (91%) create mode 100644 tests/src/fsfw_tests/unit/CatchFactory.h rename tests/{user/unittest/core => src/fsfw_tests/unit}/CatchRunner.cpp (78%) create mode 100644 tests/src/fsfw_tests/unit/CatchRunner.h rename tests/{user/unittest/core => src/fsfw_tests/unit}/CatchSetup.cpp (57%) rename tests/{user/unittest/core => src/fsfw_tests/unit}/printChar.cpp (100%) rename tests/{user/unittest/core => src/fsfw_tests/unit}/printChar.h (100%) delete mode 100644 tests/user/unittest/CMakeLists.txt delete mode 100644 tests/user/unittest/core/CMakeLists.txt delete mode 100644 tests/user/unittest/core/CatchFactory.h delete mode 100644 tests/user/unittest/core/core.mk diff --git a/CMakeLists.txt b/CMakeLists.txt index b7865300..feaa4b81 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,6 +10,7 @@ endif() option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON) # Options to exclude parts of the FSFW from compilation. option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON) +option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF) option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON) # Optional sources @@ -38,7 +39,7 @@ elseif(${CMAKE_CXX_STANDARD} LESS 11) endif() # Backwards comptability -if(OS_FSFW) +if(OS_FSFW AND NOT FSFW_OSAL) message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW") set(FSFW_OSAL OS_FSFW) endif() diff --git a/tests/src/fsfw_tests/unit/CMakeLists.txt b/tests/src/fsfw_tests/unit/CMakeLists.txt index 255063f3..01e4d19c 100644 --- a/tests/src/fsfw_tests/unit/CMakeLists.txt +++ b/tests/src/fsfw_tests/unit/CMakeLists.txt @@ -1,3 +1,16 @@ +target_sources(${TARGET_NAME} PRIVATE + CatchDefinitions.cpp + CatchFactory.cpp + printChar.cpp +) + +if(FSFW_CUSTOM_UNITTEST_RUNNER) + target_sources(${TARGET_NAME} PRIVATE + CatchRunner.cpp + CatchSetup.cpp + ) +endif() + add_subdirectory(action) add_subdirectory(container) add_subdirectory(osal) diff --git a/tests/user/unittest/core/CatchDefinitions.cpp b/tests/src/fsfw_tests/unit/CatchDefinitions.cpp similarity index 100% rename from tests/user/unittest/core/CatchDefinitions.cpp rename to tests/src/fsfw_tests/unit/CatchDefinitions.cpp diff --git a/tests/user/unittest/core/CatchDefinitions.h b/tests/src/fsfw_tests/unit/CatchDefinitions.h similarity index 100% rename from tests/user/unittest/core/CatchDefinitions.h rename to tests/src/fsfw_tests/unit/CatchDefinitions.h diff --git a/tests/user/unittest/core/CatchFactory.cpp b/tests/src/fsfw_tests/unit/CatchFactory.cpp similarity index 91% rename from tests/user/unittest/core/CatchFactory.cpp rename to tests/src/fsfw_tests/unit/CatchFactory.cpp index ff591b8e..010ab5dd 100644 --- a/tests/user/unittest/core/CatchFactory.cpp +++ b/tests/src/fsfw_tests/unit/CatchFactory.cpp @@ -1,17 +1,21 @@ #include "CatchFactory.h" +#include "datapoollocal/LocalPoolOwnerBase.h" +#include "mocks/HkReceiverMock.h" + #include #include #include #include -#include +#include #include #include #include #include #include -#include -#include + + +#if FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS == 1 /** * @brief Produces system objects. @@ -26,7 +30,7 @@ * * @ingroup init */ -void Factory::produce(void) { +void Factory::produceFrameworkObjects(void* args) { setStaticFrameworkObjectIds(); new EventManager(objects::EVENT_MANAGER); new HealthTable(objects::HEALTH_TABLE); @@ -55,7 +59,6 @@ void Factory::produce(void) { }; new PoolManager(objects::IPC_STORE, poolCfg); } - } void Factory::setStaticFrameworkObjectIds() { @@ -77,5 +80,4 @@ void Factory::setStaticFrameworkObjectIds() { TmPacketBase::timeStamperId = objects::NO_OBJECT; } - - +#endif diff --git a/tests/src/fsfw_tests/unit/CatchFactory.h b/tests/src/fsfw_tests/unit/CatchFactory.h new file mode 100644 index 00000000..ae0629e5 --- /dev/null +++ b/tests/src/fsfw_tests/unit/CatchFactory.h @@ -0,0 +1,24 @@ +#ifndef FSFW_CATCHFACTORY_H_ +#define FSFW_CATCHFACTORY_H_ + +#include "TestConfig.h" +#include "fsfw/objectmanager/SystemObjectIF.h" +#include "fsfw/objectmanager/ObjectManager.h" + +// TODO: It is possible to solve this more cleanly using a special class which +// is allowed to set the object IDs and has virtual functions. +#if FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS == 1 + +namespace Factory { + /** + * @brief Creates all SystemObject elements which are persistent + * during execution. + */ + void produceFrameworkObjects(void* args); + void setStaticFrameworkObjectIds(); + +} + +#endif /* FSFW_ADD_DEFAULT_FSFW_FACTORY == 1 */ + +#endif /* FSFW_CATCHFACTORY_H_ */ diff --git a/tests/user/unittest/core/CatchRunner.cpp b/tests/src/fsfw_tests/unit/CatchRunner.cpp similarity index 78% rename from tests/user/unittest/core/CatchRunner.cpp rename to tests/src/fsfw_tests/unit/CatchRunner.cpp index 886d641f..c96db7f4 100644 --- a/tests/user/unittest/core/CatchRunner.cpp +++ b/tests/src/fsfw_tests/unit/CatchRunner.cpp @@ -6,7 +6,7 @@ * from the eclipse market place to get colored characters. */ -#include +#include "CatchRunner.h" #define CATCH_CONFIG_COLOUR_WINDOWS @@ -14,11 +14,11 @@ extern int customSetup(); -int main( int argc, char* argv[] ) { +int fsfwtest::customMain(int argc, char* argv[]) { customSetup(); // Catch internal function call - int result = Catch::Session().run( argc, argv ); + int result = Catch::Session().run(argc, argv); // global clean-up return result; diff --git a/tests/src/fsfw_tests/unit/CatchRunner.h b/tests/src/fsfw_tests/unit/CatchRunner.h new file mode 100644 index 00000000..720625c6 --- /dev/null +++ b/tests/src/fsfw_tests/unit/CatchRunner.h @@ -0,0 +1,14 @@ +#ifndef FSFW_TESTS_USER_UNITTEST_CORE_CATCHRUNNER_H_ +#define FSFW_TESTS_USER_UNITTEST_CORE_CATCHRUNNER_H_ + +namespace fsfwtest { + +/** + * Can be called by upper level main() if default Catch2 main is overriden + * @return + */ +int customMain(int argc, char* argv[]); + +} + +#endif /* FSFW_TESTS_USER_UNITTEST_CORE_CATCHRUNNER_H_ */ diff --git a/tests/user/unittest/core/CatchSetup.cpp b/tests/src/fsfw_tests/unit/CatchSetup.cpp similarity index 57% rename from tests/user/unittest/core/CatchSetup.cpp rename to tests/src/fsfw_tests/unit/CatchSetup.cpp index bda31400..a0791bc9 100644 --- a/tests/user/unittest/core/CatchSetup.cpp +++ b/tests/src/fsfw_tests/unit/CatchSetup.cpp @@ -5,10 +5,9 @@ #include #endif -#include -#include -#include -#include +#include "fsfw/objectmanager/ObjectManager.h" +#include "fsfw/storagemanager/StorageManagerIF.h" +#include "fsfw/serviceinterface/ServiceInterface.h" /* Global instantiations normally done in main.cpp */ @@ -24,13 +23,11 @@ ServiceInterfaceStream warning("WARNING"); } #endif -/* Global object manager */ -ObjectManagerIF *objectManager; - int customSetup() { // global setup - objectManager = new ObjectManager(Factory::produce); - objectManager -> initialize(); + ObjectManager* objMan = ObjectManager::instance(); + objMan->setObjectFactoryFunction(Factory::produceFrameworkObjects, nullptr); + objMan->initialize(); return 0; } diff --git a/tests/src/fsfw_tests/unit/action/TestActionHelper.cpp b/tests/src/fsfw_tests/unit/action/TestActionHelper.cpp index 126979f6..3129b001 100644 --- a/tests/src/fsfw_tests/unit/action/TestActionHelper.cpp +++ b/tests/src/fsfw_tests/unit/action/TestActionHelper.cpp @@ -1,13 +1,10 @@ #include "TestActionHelper.h" - -#include +#include "fsfw_tests/unit/mocks/MessageQueueMockBase.h" #include #include -#include #include - #include diff --git a/tests/src/fsfw_tests/unit/action/TestActionHelper.h b/tests/src/fsfw_tests/unit/action/TestActionHelper.h index 641ea2c6..34b228c0 100644 --- a/tests/src/fsfw_tests/unit/action/TestActionHelper.h +++ b/tests/src/fsfw_tests/unit/action/TestActionHelper.h @@ -1,12 +1,11 @@ #ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_ #define UNITTEST_HOSTED_TESTACTIONHELPER_H_ +#include "fsfw_tests/unit/CatchDefinitions.h" #include #include -#include #include - class ActionHelperOwnerMockBase: public HasActionsIF { public: bool getCommandQueueCalled = false; diff --git a/tests/src/fsfw_tests/unit/container/RingBufferTest.cpp b/tests/src/fsfw_tests/unit/container/RingBufferTest.cpp index 32a2502d..819401ab 100644 --- a/tests/src/fsfw_tests/unit/container/RingBufferTest.cpp +++ b/tests/src/fsfw_tests/unit/container/RingBufferTest.cpp @@ -1,4 +1,4 @@ -#include +#include "fsfw_tests/unit/CatchDefinitions.h" #include #include diff --git a/tests/src/fsfw_tests/unit/container/TestArrayList.cpp b/tests/src/fsfw_tests/unit/container/TestArrayList.cpp index 1fd330b6..9417144c 100644 --- a/tests/src/fsfw_tests/unit/container/TestArrayList.cpp +++ b/tests/src/fsfw_tests/unit/container/TestArrayList.cpp @@ -1,8 +1,9 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include -#include /** * @brief Array List test diff --git a/tests/src/fsfw_tests/unit/container/TestDynamicFifo.cpp b/tests/src/fsfw_tests/unit/container/TestDynamicFifo.cpp index 2b572d52..a1bab3ba 100644 --- a/tests/src/fsfw_tests/unit/container/TestDynamicFifo.cpp +++ b/tests/src/fsfw_tests/unit/container/TestDynamicFifo.cpp @@ -1,9 +1,10 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include #include -#include TEST_CASE( "Dynamic Fifo Tests", "[TestDynamicFifo]") { INFO("Dynamic Fifo Tests"); diff --git a/tests/src/fsfw_tests/unit/container/TestFifo.cpp b/tests/src/fsfw_tests/unit/container/TestFifo.cpp index fbcd40cc..311dd8fd 100644 --- a/tests/src/fsfw_tests/unit/container/TestFifo.cpp +++ b/tests/src/fsfw_tests/unit/container/TestFifo.cpp @@ -1,9 +1,10 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include #include -#include TEST_CASE( "Static Fifo Tests", "[TestFifo]") { INFO("Fifo Tests"); diff --git a/tests/src/fsfw_tests/unit/container/TestFixedArrayList.cpp b/tests/src/fsfw_tests/unit/container/TestFixedArrayList.cpp index 1a85f30d..ed597f73 100644 --- a/tests/src/fsfw_tests/unit/container/TestFixedArrayList.cpp +++ b/tests/src/fsfw_tests/unit/container/TestFixedArrayList.cpp @@ -1,8 +1,9 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include -#include TEST_CASE( "FixedArrayList Tests", "[TestFixedArrayList]") { diff --git a/tests/src/fsfw_tests/unit/container/TestFixedMap.cpp b/tests/src/fsfw_tests/unit/container/TestFixedMap.cpp index 297171ca..488418b9 100644 --- a/tests/src/fsfw_tests/unit/container/TestFixedMap.cpp +++ b/tests/src/fsfw_tests/unit/container/TestFixedMap.cpp @@ -1,8 +1,9 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include -#include template class FixedMap; diff --git a/tests/src/fsfw_tests/unit/container/TestFixedOrderedMultimap.cpp b/tests/src/fsfw_tests/unit/container/TestFixedOrderedMultimap.cpp index a47d6efb..23d91744 100644 --- a/tests/src/fsfw_tests/unit/container/TestFixedOrderedMultimap.cpp +++ b/tests/src/fsfw_tests/unit/container/TestFixedOrderedMultimap.cpp @@ -1,8 +1,9 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include -#include TEST_CASE( "FixedOrderedMultimap Tests", "[TestFixedOrderedMultimap]") { INFO("FixedOrderedMultimap Tests"); diff --git a/tests/src/fsfw_tests/unit/container/TestPlacementFactory.cpp b/tests/src/fsfw_tests/unit/container/TestPlacementFactory.cpp index 14cf8eb4..1e328fc7 100644 --- a/tests/src/fsfw_tests/unit/container/TestPlacementFactory.cpp +++ b/tests/src/fsfw_tests/unit/container/TestPlacementFactory.cpp @@ -1,10 +1,11 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include #include #include -#include TEST_CASE( "PlacementFactory Tests", "[TestPlacementFactory]") { INFO("PlacementFactory Tests"); diff --git a/tests/src/fsfw_tests/unit/datapoollocal/DataSetTest.cpp b/tests/src/fsfw_tests/unit/datapoollocal/DataSetTest.cpp index b8748eb4..94b13f2f 100644 --- a/tests/src/fsfw_tests/unit/datapoollocal/DataSetTest.cpp +++ b/tests/src/fsfw_tests/unit/datapoollocal/DataSetTest.cpp @@ -1,7 +1,5 @@ #include "LocalPoolOwnerBase.h" - -#include -#include +#include "fsfw_tests/unit/CatchDefinitions.h" #include #include @@ -10,7 +8,8 @@ #include #include -#include +#include +#include TEST_CASE("DataSetTest" , "[DataSetTest]") { LocalPoolOwnerBase* poolOwner = ObjectManager::instance()-> diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp index 4a4d08fb..7b2f9412 100644 --- a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp +++ b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp @@ -1,7 +1,5 @@ #include "LocalPoolOwnerBase.h" - -#include -#include +#include "fsfw_tests/unit/CatchDefinitions.h" #include #include @@ -10,7 +8,10 @@ #include #include #include -#include + +#include +#include + #include diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.h b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.h index c0e41ddf..ea5bb7e0 100644 --- a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.h +++ b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.h @@ -2,6 +2,7 @@ #define FSFW_UNITTEST_TESTS_DATAPOOLLOCAL_LOCALPOOLOWNERBASE_H_ #include "objects/systemObjectList.h" +#include "../mocks/MessageQueueMockBase.h" #include #include @@ -10,7 +11,6 @@ #include #include #include -#include #include namespace lpool { diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVariableTest.cpp b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVariableTest.cpp index 514d8125..648a76e2 100644 --- a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVariableTest.cpp +++ b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVariableTest.cpp @@ -1,10 +1,10 @@ #include "LocalPoolOwnerBase.h" +#include "fsfw_tests/unit/CatchDefinitions.h" -#include #include #include -#include +#include TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") { LocalPoolOwnerBase* poolOwner = ObjectManager::instance()-> diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVectorTest.cpp b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVectorTest.cpp index 5b3dd105..3f846dec 100644 --- a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVectorTest.cpp +++ b/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVectorTest.cpp @@ -1,9 +1,10 @@ #include "LocalPoolOwnerBase.h" +#include "fsfw_tests/unit/CatchDefinitions.h" #include #include #include -#include + TEST_CASE("LocalPoolVector" , "[LocPoolVecTest]") { LocalPoolOwnerBase* poolOwner = ObjectManager::instance()-> diff --git a/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h b/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h index 3000f7fb..93a00b7a 100644 --- a/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h +++ b/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h @@ -1,9 +1,12 @@ #ifndef FSFW_UNITTEST_TESTS_MOCKS_MESSAGEQUEUEMOCKBASE_H_ #define FSFW_UNITTEST_TESTS_MOCKS_MESSAGEQUEUEMOCKBASE_H_ -#include -#include -#include +#include "fsfw_tests/unit/CatchDefinitions.h" + +#include "fsfw/ipc/CommandMessage.h" +#include "fsfw/ipc/MessageQueueIF.h" +#include "fsfw/ipc/MessageQueueMessage.h" + #include #include diff --git a/tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp b/tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp index e33b7240..07197bf7 100644 --- a/tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp +++ b/tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp @@ -1,8 +1,9 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include -#include #include diff --git a/tests/user/unittest/core/printChar.cpp b/tests/src/fsfw_tests/unit/printChar.cpp similarity index 100% rename from tests/user/unittest/core/printChar.cpp rename to tests/src/fsfw_tests/unit/printChar.cpp diff --git a/tests/user/unittest/core/printChar.h b/tests/src/fsfw_tests/unit/printChar.h similarity index 100% rename from tests/user/unittest/core/printChar.h rename to tests/src/fsfw_tests/unit/printChar.h diff --git a/tests/src/fsfw_tests/unit/serialize/TestSerialBufferAdapter.cpp b/tests/src/fsfw_tests/unit/serialize/TestSerialBufferAdapter.cpp index 1938746d..01d75881 100644 --- a/tests/src/fsfw_tests/unit/serialize/TestSerialBufferAdapter.cpp +++ b/tests/src/fsfw_tests/unit/serialize/TestSerialBufferAdapter.cpp @@ -1,7 +1,9 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include -#include + #include diff --git a/tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.cpp b/tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.cpp index b90ae9f8..b6bb214d 100644 --- a/tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.cpp +++ b/tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.cpp @@ -1,10 +1,9 @@ #include "TestSerialLinkedPacket.h" -#include +#include "fsfw_tests/unit/CatchDefinitions.h" #include #include -#include #include diff --git a/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp b/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp index 3de581ec..64deae3b 100644 --- a/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp +++ b/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp @@ -1,8 +1,8 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" #include #include #include -#include #include diff --git a/tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp b/tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp index 10d05c6b..bd1634b7 100644 --- a/tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp +++ b/tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp @@ -1,6 +1,9 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include + #include -#include + #include #include diff --git a/tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp b/tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp index d05a3dd6..013ecf86 100644 --- a/tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp +++ b/tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp @@ -1,8 +1,9 @@ +#include "fsfw_tests/unit/CatchDefinitions.h" + #include #include #include -#include #include diff --git a/tests/user/CMakeLists.txt b/tests/user/CMakeLists.txt index df16c756..2e1fdee3 100644 --- a/tests/user/CMakeLists.txt +++ b/tests/user/CMakeLists.txt @@ -32,7 +32,7 @@ if(NOT FSFW_OSAL) set(FSFW_OSAL host CACHE STRING "OS for the FSFW.") endif() -option(CUSTOM_UNITTEST_RUNNER +option(FSFW_CUSTOM_UNITTEST_RUNNER "Specify whether custom main or Catch2 main is used" TRUE ) @@ -49,7 +49,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED True) # Set names and variables set(TARGET_NAME ${CMAKE_PROJECT_NAME}) -if(CUSTOM_UNITTEST_RUNNER) +if(FSFW_CUSTOM_UNITTEST_RUNNER) set(CATCH2_TARGET Catch2) else() set(CATCH2_TARGET Catch2WithMain) diff --git a/tests/user/testcfg/TestsConfig.h.in b/tests/user/testcfg/TestsConfig.h.in index 0341583d..7d950070 100644 --- a/tests/user/testcfg/TestsConfig.h.in +++ b/tests/user/testcfg/TestsConfig.h.in @@ -1,6 +1,8 @@ #ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ #define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ +#define FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS 1 + #ifdef __cplusplus #include "objects/systemObjectList.h" diff --git a/tests/user/unittest/CMakeLists.txt b/tests/user/unittest/CMakeLists.txt deleted file mode 100644 index ad6d4787..00000000 --- a/tests/user/unittest/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -add_subdirectory(core) diff --git a/tests/user/unittest/core/CMakeLists.txt b/tests/user/unittest/core/CMakeLists.txt deleted file mode 100644 index 0989926c..00000000 --- a/tests/user/unittest/core/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -target_sources(${TARGET_NAME} PRIVATE - CatchDefinitions.cpp - CatchFactory.cpp - CatchRunner.cpp - CatchSetup.cpp - printChar.cpp -) - -if(CUSTOM_UNITTEST_RUNNER) - target_sources(${TARGET_NAME} PRIVATE - CatchRunner.cpp - ) -endif() \ No newline at end of file diff --git a/tests/user/unittest/core/CatchFactory.h b/tests/user/unittest/core/CatchFactory.h deleted file mode 100644 index 024f762e..00000000 --- a/tests/user/unittest/core/CatchFactory.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef FSFW_CATCHFACTORY_H_ -#define FSFW_CATCHFACTORY_H_ - -#include - -namespace Factory { - /** - * @brief Creates all SystemObject elements which are persistent - * during execution. - */ - void produce(void* args); - void setStaticFrameworkObjectIds(); - -} - -#endif /* FSFW_CATCHFACTORY_H_ */ diff --git a/tests/user/unittest/core/core.mk b/tests/user/unittest/core/core.mk deleted file mode 100644 index 3e5626d3..00000000 --- a/tests/user/unittest/core/core.mk +++ /dev/null @@ -1,3 +0,0 @@ -CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp) - -INCLUDES += $(CURRENTPATH) \ No newline at end of file From db3284c2b8cc6492a50476025a93cab509e02d77 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 16 Aug 2021 14:52:11 +0200 Subject: [PATCH 03/34] subversion update --- src/fsfw/FSFWVersion.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/FSFWVersion.h b/src/fsfw/FSFWVersion.h index 1d0da280..f8e89694 100644 --- a/src/fsfw/FSFWVersion.h +++ b/src/fsfw/FSFWVersion.h @@ -4,7 +4,7 @@ const char* const FSFW_VERSION_NAME = "ASTP"; #define FSFW_VERSION 1 -#define FSFW_SUBVERSION 3 +#define FSFW_SUBVERSION 2 #define FSFW_REVISION 0 #endif /* FSFW_VERSION_H_ */ From fa14ebbe1f0aa5f8888e53d3476b93acf1a82cdb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 16 Aug 2021 15:19:03 +0200 Subject: [PATCH 04/34] additional check --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9a1f7d1a..4a1ec8c4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,7 +38,7 @@ elseif(${CMAKE_CXX_STANDARD} LESS 11) endif() # Backwards comptability -if(OS_FSFW) +if(OS_FSFW AND NOT FSFW_OSAL) message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW") set(FSFW_OSAL OS_FSFW) endif() From 92d3f0743b3b765e8da028b4aba712f751eda201 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 16 Aug 2021 15:26:28 +0200 Subject: [PATCH 05/34] moved change to another PR --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index feaa4b81..4882db54 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -39,7 +39,7 @@ elseif(${CMAKE_CXX_STANDARD} LESS 11) endif() # Backwards comptability -if(OS_FSFW AND NOT FSFW_OSAL) +if(OS_FSFW) message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW") set(FSFW_OSAL OS_FSFW) endif() From 845c00044ecbb36683c7dbc1c662d24e49bad380 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 Aug 2021 11:27:39 +0200 Subject: [PATCH 06/34] printout fixes for UnixFileGuard --- hal/src/fsfw_hal/linux/UnixFileGuard.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp index f7901018..ad875623 100644 --- a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp +++ b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp @@ -1,5 +1,10 @@ +#include "fsfw/FSFW.h" +#include "fsfw/serviceinterface.h" #include "fsfw_hal/linux/UnixFileGuard.h" +#include +#include + UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags, std::string diagnosticPrefix): fileDescriptor(fileDescriptor) { @@ -10,12 +15,11 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags, if (*fileDescriptor < 0) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno << - "." << std::endl; - sif::warning << "Error description: " << strerror(errno) << std::endl; + sif::warning << diagnosticPrefix << "Opening device failed with error code " << + errno << ": " << strerror(errno) << std::endl; #else - sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix); - sif::printWarning("Error description: %s\n", strerror(errno)); + sif::printWarning("%sOpening device failed with error code %d: %s\n", + diagnosticPrefix, errno, strerror(errno)); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */ openStatus = OPEN_FILE_FAILED; From 3cec9f5f8054e2003c66affc39f45ed73cba2398 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 Aug 2021 13:18:42 +0200 Subject: [PATCH 07/34] Made two functions private, small tweak --- src/fsfw/globalfunctions/DleEncoder.cpp | 19 +++++++------------ src/fsfw/globalfunctions/DleEncoder.h | 4 ++-- 2 files changed, 9 insertions(+), 14 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index 6ad5e5fa..e30eee22 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -122,18 +122,13 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_ destStream[decodedIndex] = nextByte; } else { - if(this->escapeStxEtx) { - /* The next byte is a STX, DTX or 0x0D character which - * was escaped by a DLE character. The actual byte was - * also encoded by adding + 0x40 to prevent having control chars, - * in the stream at all, so we convert it back. */ - if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or - (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) { - destStream[decodedIndex] = nextByte - 0x40; - } - else { - return DECODING_ERROR; - } + /* The next byte is a STX, DTX or 0x0D character which + * was escaped by a DLE character. The actual byte was + * also encoded by adding + 0x40 to prevent having control chars, + * in the stream at all, so we convert it back. */ + if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or + (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) { + destStream[decodedIndex] = nextByte - 0x40; } else { return DECODING_ERROR; diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h index cd2164f8..292e00f8 100644 --- a/src/fsfw/globalfunctions/DleEncoder.h +++ b/src/fsfw/globalfunctions/DleEncoder.h @@ -87,14 +87,14 @@ public: size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen); +private: + ReturnValue_t decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen); ReturnValue_t decodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen); -private: - bool escapeStxEtx; bool escapeCr; }; From 5dcf0e44b65f5d986b71881c731207f8bbc47029 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 Aug 2021 13:33:31 +0200 Subject: [PATCH 08/34] encoder functions split up --- src/fsfw/globalfunctions/DleEncoder.cpp | 179 ++++++++++++++++-------- src/fsfw/globalfunctions/DleEncoder.h | 8 ++ 2 files changed, 125 insertions(+), 62 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index e30eee22..a043cbf7 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -8,76 +8,131 @@ DleEncoder::~DleEncoder() {} ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, size_t sourceLen, uint8_t* destStream, size_t maxDestLen, size_t* encodedLen, bool addStxEtx) { - if (maxDestLen < 2) { - return STREAM_TOO_SHORT; - } - size_t encodedIndex = 0, sourceIndex = 0; - uint8_t nextByte; + size_t minAllowedLen = 0; + if(escapeStxEtx) { + minAllowedLen = 2; + + } + else { + minAllowedLen = 1; + + } + if(maxDestLen < minAllowedLen) { + return STREAM_TOO_SHORT; + } if (addStxEtx) { if(not escapeStxEtx) { destStream[0] = DLE_CHAR; - ++encodedIndex; } destStream[0] = STX_CHAR; - ++encodedIndex; } - while (encodedIndex < maxDestLen and sourceIndex < sourceLen) { - nextByte = sourceStream[sourceIndex]; - // STX, ETX and CR characters in the stream need to be escaped with DLE - if ((nextByte == STX_CHAR or nextByte == ETX_CHAR) or - (this->escapeCr and nextByte == CARRIAGE_RETURN)) { - if(this->escapeStxEtx) { - if (encodedIndex + 1 >= maxDestLen) { - return STREAM_TOO_SHORT; - } - else { - destStream[encodedIndex] = DLE_CHAR; - ++encodedIndex; - /* Escaped byte will be actual byte + 0x40. This prevents - * STX, ETX, and carriage return characters from appearing - * in the encoded data stream at all, so when polling an - * encoded stream, the transmission can be stopped at ETX. - * 0x40 was chosen at random with special requirements: - * - Prevent going from one control char to another - * - Prevent overflow for common characters */ - destStream[encodedIndex] = nextByte + 0x40; - } - } - } - // DLE characters are simply escaped with DLE. - else if (nextByte == DLE_CHAR) { - if (encodedIndex + 1 >= maxDestLen) { - return STREAM_TOO_SHORT; - } - else { - destStream[encodedIndex] = DLE_CHAR; - ++encodedIndex; - destStream[encodedIndex] = DLE_CHAR; - } - } - else { - destStream[encodedIndex] = nextByte; - } - ++encodedIndex; - ++sourceIndex; - } + if(escapeStxEtx) { + return encodeStreamEscaped(sourceStream, sourceLen, + destStream, maxDestLen, encodedLen, addStxEtx); + } + else { + return encodeStreamNonEscaped(sourceStream, sourceLen, + destStream, maxDestLen, encodedLen, addStxEtx); + } - if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { - if (addStxEtx) { - if(not escapeStxEtx) { - destStream[encodedIndex] = DLE_CHAR; - ++encodedIndex; - } - destStream[encodedIndex] = ETX_CHAR; - ++encodedIndex; - } - *encodedLen = encodedIndex; - return RETURN_OK; - } - else { - return STREAM_TOO_SHORT; - } +} + +ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen, + uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, + bool addStxEtx) { + size_t encodedIndex = 2; + size_t sourceIndex = 0; + uint8_t nextByte = 0; + while (encodedIndex < maxDestLen and sourceIndex < sourceLen) { + nextByte = sourceStream[sourceIndex]; + // STX, ETX and CR characters in the stream need to be escaped with DLE + if ((nextByte == STX_CHAR or nextByte == ETX_CHAR) or + (this->escapeCr and nextByte == CARRIAGE_RETURN)) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + /* Escaped byte will be actual byte + 0x40. This prevents + * STX, ETX, and carriage return characters from appearing + * in the encoded data stream at all, so when polling an + * encoded stream, the transmission can be stopped at ETX. + * 0x40 was chosen at random with special requirements: + * - Prevent going from one control char to another + * - Prevent overflow for common characters */ + destStream[encodedIndex] = nextByte + 0x40; + } + } + // DLE characters are simply escaped with DLE. + else if (nextByte == DLE_CHAR) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + destStream[encodedIndex] = DLE_CHAR; + } + } + else { + destStream[encodedIndex] = nextByte; + } + ++encodedIndex; + ++sourceIndex; + } + + if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { + if (addStxEtx) { + destStream[encodedIndex] = ETX_CHAR; + ++encodedIndex; + } + *encodedLen = encodedIndex; + return RETURN_OK; + } + else { + return STREAM_TOO_SHORT; + } +} + +ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen, + uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, + bool addStxEtx) { + size_t encodedIndex = 1; + size_t sourceIndex = 0; + uint8_t nextByte = 0; + while (encodedIndex < maxDestLen and sourceIndex < sourceLen) { + nextByte = sourceStream[sourceIndex]; + // DLE characters are simply escaped with DLE. + if (nextByte == DLE_CHAR) { + if (encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } + else { + destStream[encodedIndex] = DLE_CHAR; + ++encodedIndex; + destStream[encodedIndex] = DLE_CHAR; + } + } + else { + destStream[encodedIndex] = nextByte; + } + ++encodedIndex; + ++sourceIndex; + } + + if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { + if (addStxEtx) { + destStream[encodedIndex] = ETX_CHAR; + ++encodedIndex; + } + *encodedLen = encodedIndex; + return RETURN_OK; + } + else { + return STREAM_TOO_SHORT; + } } ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h index 292e00f8..dc178a0e 100644 --- a/src/fsfw/globalfunctions/DleEncoder.h +++ b/src/fsfw/globalfunctions/DleEncoder.h @@ -89,6 +89,14 @@ public: private: + ReturnValue_t encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen, + uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, + bool addStxEtx = true); + + ReturnValue_t encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen, + uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, + bool addStxEtx = true); + ReturnValue_t decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen); From b6aebb3061a8417ffe09111eced07b8f17dddd3d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 19 Aug 2021 17:08:35 +0200 Subject: [PATCH 09/34] format adapted --- hal/src/fsfw_hal/linux/UnixFileGuard.cpp | 4 ++-- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp index ad875623..5019343e 100644 --- a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp +++ b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp @@ -15,10 +15,10 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags, if (*fileDescriptor < 0) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << diagnosticPrefix << "Opening device failed with error code " << + sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": " << strerror(errno) << std::endl; #else - sif::printWarning("%sOpening device failed with error code %d: %s\n", + sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno, strerror(errno)); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */ diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index fafe67be..6697bc92 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -184,7 +184,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const /* Prepare transfer */ int fileDescriptor = 0; std::string device = spiCookie->getSpiDevice(); - UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: "); + UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage"); if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return OPENING_FILE_FAILED; } @@ -273,7 +273,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) { std::string device = spiCookie->getSpiDevice(); int fileDescriptor = 0; UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, - "SpiComIF::requestReceiveMessage: "); + "SpiComIF::requestReceiveMessage"); if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return OPENING_FILE_FAILED; } From 98e3ed897c9f81837cffa24da41d4cbb50cea72d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 19 Aug 2021 17:17:19 +0200 Subject: [PATCH 10/34] small tweak --- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index 6697bc92..48bf7449 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -90,7 +90,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) { int fileDescriptor = 0; UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR, - "SpiComIF::initializeInterface: "); + "SpiComIF::initializeInterface"); if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return fileHelper.getOpenResult(); } From a6d744c9c8df4e2cd69c170a4bd6806f54b835f9 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 6 Sep 2021 12:05:30 +0200 Subject: [PATCH 11/34] Possible bugfix in DHB The delayCycles variables needs to be initialized differently for periodic replies. It is initialized to the maxDelayCycles value now --- devicehandlers/DeviceHandlerBase.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp index 5665b101..733701b2 100644 --- a/devicehandlers/DeviceHandlerBase.cpp +++ b/devicehandlers/DeviceHandlerBase.cpp @@ -430,7 +430,12 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId, DeviceReplyInfo info; info.maxDelayCycles = maxDelayCycles; info.periodic = periodic; - info.delayCycles = 0; + if(info.periodic) { + info.delayCycles = info.maxDelayCycles; + } + else { + info.delayCycles = 0; + } info.replyLen = replyLen; info.dataSet = dataSet; info.command = deviceCommandMap.end(); From c42eb59d2e6947c51dcc6e952e7e626e5a1531ea Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Sep 2021 16:10:18 +0200 Subject: [PATCH 12/34] UART bugfixes and improvements --- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 42 ++++++++++++++++------ hal/src/fsfw_hal/linux/uart/UartCookie.cpp | 4 +-- 2 files changed, 33 insertions(+), 13 deletions(-) diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index f52b6b1e..f5754c6e 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -1,6 +1,7 @@ -#include "fsfw_hal/linux/uart/UartComIF.h" +#include "UartComIF.h" #include "OBSWConfig.h" +#include "fsfw_hal/linux/utility.h" #include "fsfw/serviceinterface/ServiceInterface.h" #include @@ -60,7 +61,13 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) { struct termios options = {}; std::string deviceFile = uartCookie->getDeviceFile(); - int fd = open(deviceFile.c_str(), O_RDWR); + int flags = O_RDWR; + if(uartCookie->getUartMode() == UartModes::CANONICAL) { + // In non-canonical mode, don't specify O_NONBLOCK because these properties will be + // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this + flags |= O_NONBLOCK; + } + int fd = open(deviceFile.c_str(), flags); if (fd < 0) { sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << @@ -259,23 +266,22 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki ReturnValue_t UartComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) { - int fd = 0; std::string deviceFile; UartDeviceMapIter uartDeviceMapIter; - if(sendData == nullptr) { - sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl; - return RETURN_FAILED; - } - if(sendLen == 0) { return RETURN_OK; } + if(sendData == nullptr) { + sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl; + return RETURN_FAILED; + } + UartCookie* uartCookie = dynamic_cast(cookie); if(uartCookie == nullptr) { - sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl; + sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl; return NULLPOINTER; } @@ -347,12 +353,13 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM size_t maxReplySize = uartCookie.getMaxReplyLen(); int fd = iter->second.fileDescriptor; auto bufferPtr = iter->second.replyBuffer.data(); + iter->second.replyLen = 0; do { size_t allowedReadSize = 0; if(currentBytesRead >= maxReplySize) { // Overflow risk. Emit warning, trigger event and break. If this happens, // the reception buffer is not large enough or data is not polled often enough. -#if OBSW_VERBOSE_LEVEL >= 1 +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!" << std::endl; @@ -370,7 +377,20 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM bytesRead = read(fd, bufferPtr, allowedReadSize); if (bytesRead < 0) { - return RETURN_FAILED; + // EAGAIN: No data available in non-blocking mode + if(errno != EAGAIN) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << + errno << ": " << strerror(errno) << std::endl; +#else + sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", + errno, strerror(errno)); +#endif +#endif + return RETURN_FAILED; + } + } else if(bytesRead > 0) { iter->second.replyLen += bytesRead; diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp index 339c7451..1c52e9cd 100644 --- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp @@ -4,8 +4,8 @@ UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate, size_t maxReplyLen): - handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), baudrate(baudrate), - maxReplyLen(maxReplyLen) { + handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), + baudrate(baudrate), maxReplyLen(maxReplyLen) { } UartCookie::~UartCookie() {} From dfc44fce071a29ce1de05eaecd76e795b09ea8fc Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Sep 2021 23:33:10 +0200 Subject: [PATCH 13/34] added DLE encoder test files --- .../unit/globalfunctions/CMakeLists.txt | 1 + .../unit/globalfunctions/testDleEncoder.cpp | 69 +++++++++++++++++++ 2 files changed, 70 insertions(+) create mode 100644 tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp diff --git a/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt b/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt index 8e57e01b..617c7f5a 100644 --- a/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt +++ b/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt @@ -1,2 +1,3 @@ target_sources(${TARGET_NAME} PRIVATE + testDleEncoder.cpp ) diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp new file mode 100644 index 00000000..01ac3568 --- /dev/null +++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp @@ -0,0 +1,69 @@ +#include "fsfw/globalfunctions/DleEncoder.h" +#include "fsfw_tests/unit/CatchDefinitions.h" +#include "catch2/catch_test_macros.hpp" + +#include + +const std::array TEST_ARRAY_0 = { 0 }; +const std::array TEST_ARRAY_1 = { 0, DleEncoder::DLE_CHAR, 5}; +const std::array TEST_ARRAY_2 = { 0, DleEncoder::STX_CHAR, 5}; +const std::array TEST_ARRAY_3 = { 0, DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR}; + +TEST_CASE("DleEncoder" , "[DleEncoder]") { + + DleEncoder dleEncoder; + std::array buffer; + SECTION("Encoding") { + size_t encodedLen = 0; + ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_0.data(), TEST_ARRAY_0.size(), + buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == retval::CATCH_OK); + std::vector expected = {DleEncoder::STX_CHAR, 0, 0, 0, 0, 0, + DleEncoder::ETX_CHAR}; + for(size_t idx = 0; idx < expected.size(); idx++) { + REQUIRE(buffer[idx] == expected[idx]); + } + REQUIRE(encodedLen == 7); + + result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(), + buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == retval::CATCH_OK); + expected = std::vector{DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, + DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR}; + for(size_t idx = 0; idx < expected.size(); idx++) { + REQUIRE(buffer[idx] == expected[idx]); + } + REQUIRE(encodedLen == expected.size()); + + result = dleEncoder.encode(TEST_ARRAY_2.data(), TEST_ARRAY_2.size(), + buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == retval::CATCH_OK); + expected = std::vector{DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, + DleEncoder::STX_CHAR + 0x40, 5, DleEncoder::ETX_CHAR}; + for(size_t idx = 0; idx < expected.size(); idx++) { + REQUIRE(buffer[idx] == expected[idx]); + } + REQUIRE(encodedLen == expected.size()); + + result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(), + buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == retval::CATCH_OK); + expected = std::vector{DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN, + DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR}; + for(size_t idx = 0; idx < expected.size(); idx++) { + REQUIRE(buffer[idx] == expected[idx]); + } + REQUIRE(encodedLen == expected.size()); + + result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(), + buffer.data(), 0, &encodedLen); + REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); + result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(), + buffer.data(), 4, &encodedLen); + REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); + } + + SECTION("Decoding") { + + } +} From b5063117f62393be273dbbcdf10532055a848ec3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 9 Sep 2021 00:02:17 +0200 Subject: [PATCH 14/34] added check to avoid seg fault --- src/fsfw/globalfunctions/DleEncoder.cpp | 20 +++++++++++--------- tests/src/fsfw_tests/unit/CatchFactory.h | 2 +- 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index a043cbf7..5ab9fae6 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -10,12 +10,10 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, size_t* encodedLen, bool addStxEtx) { size_t minAllowedLen = 0; if(escapeStxEtx) { - minAllowedLen = 2; - + minAllowedLen = 1; } else { - minAllowedLen = 1; - + minAllowedLen = 2; } if(maxDestLen < minAllowedLen) { return STREAM_TOO_SHORT; @@ -41,7 +39,7 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen, uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, bool addStxEtx) { - size_t encodedIndex = 2; + size_t encodedIndex = 1; size_t sourceIndex = 0; uint8_t nextByte = 0; while (encodedIndex < maxDestLen and sourceIndex < sourceLen) { @@ -99,7 +97,7 @@ ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen, uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, bool addStxEtx) { - size_t encodedIndex = 1; + size_t encodedIndex = 2; size_t sourceIndex = 0; uint8_t nextByte = 0; while (encodedIndex < maxDestLen and sourceIndex < sourceLen) { @@ -166,10 +164,14 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_ size_t encodedIndex = 1; size_t decodedIndex = 0; uint8_t nextByte; - while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen) - && (sourceStream[encodedIndex] != ETX_CHAR) - && (sourceStream[encodedIndex] != STX_CHAR)) { + while ((encodedIndex < sourceStreamLen) + and (decodedIndex < maxDestStreamlen) + and (sourceStream[encodedIndex] != ETX_CHAR) + and (sourceStream[encodedIndex] != STX_CHAR)) { if (sourceStream[encodedIndex] == DLE_CHAR) { + if(encodedIndex + 1 >= sourceStreamLen) { + return DECODING_ERROR; + } nextByte = sourceStream[encodedIndex + 1]; // The next byte is a DLE character that was escaped by another // DLE character, so we can write it to the destination stream. diff --git a/tests/src/fsfw_tests/unit/CatchFactory.h b/tests/src/fsfw_tests/unit/CatchFactory.h index ae0629e5..38ec46bd 100644 --- a/tests/src/fsfw_tests/unit/CatchFactory.h +++ b/tests/src/fsfw_tests/unit/CatchFactory.h @@ -1,7 +1,7 @@ #ifndef FSFW_CATCHFACTORY_H_ #define FSFW_CATCHFACTORY_H_ -#include "TestConfig.h" +#include "TestsConfig.h" #include "fsfw/objectmanager/SystemObjectIF.h" #include "fsfw/objectmanager/ObjectManager.h" From 35b53e9a1707dd4502f1d58ac912564be23557aa Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 9 Sep 2021 01:06:54 +0200 Subject: [PATCH 15/34] continuing tests --- src/fsfw/globalfunctions/DleEncoder.cpp | 8 +- src/fsfw/globalfunctions/DleEncoder.h | 3 + .../unit/globalfunctions/testDleEncoder.cpp | 120 +++++++++++------- 3 files changed, 84 insertions(+), 47 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index 5ab9fae6..02e4aba4 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -22,7 +22,7 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, if(not escapeStxEtx) { destStream[0] = DLE_CHAR; } - destStream[0] = STX_CHAR; + destStream[1] = STX_CHAR; } if(escapeStxEtx) { @@ -220,6 +220,9 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, uint8_t nextByte; while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) { if (sourceStream[encodedIndex] == DLE_CHAR) { + if(encodedIndex + 1 >= sourceStreamLen) { + return DECODING_ERROR; + } nextByte = sourceStream[encodedIndex + 1]; if(nextByte == STX_CHAR) { *readLen = ++encodedIndex; @@ -247,3 +250,6 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, return DECODING_ERROR; } +void DleEncoder::setEscapeMode(bool escapeStxEtx) { + this->escapeStxEtx = escapeStxEtx; +} diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h index dc178a0e..e4871bf0 100644 --- a/src/fsfw/globalfunctions/DleEncoder.h +++ b/src/fsfw/globalfunctions/DleEncoder.h @@ -37,6 +37,9 @@ public: * @param escapeCr In escaped mode, escape all CR occurrences as well */ DleEncoder(bool escapeStxEtx = true, bool escapeCr = false); + + void setEscapeMode(bool escapeStxEtx); + virtual ~DleEncoder(); static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER; diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp index 01ac3568..91eb9052 100644 --- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp +++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp @@ -4,58 +4,82 @@ #include -const std::array TEST_ARRAY_0 = { 0 }; -const std::array TEST_ARRAY_1 = { 0, DleEncoder::DLE_CHAR, 5}; -const std::array TEST_ARRAY_2 = { 0, DleEncoder::STX_CHAR, 5}; -const std::array TEST_ARRAY_3 = { 0, DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR}; +const std::vector TEST_ARRAY_0 = { 0, 0, 0, 0, 0 }; +const std::vector TEST_ARRAY_1 = { 0, DleEncoder::DLE_CHAR, 5}; +const std::vector TEST_ARRAY_2 = { 0, DleEncoder::STX_CHAR, 5}; +const std::vector TEST_ARRAY_3 = { 0, DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR}; +const std::vector TEST_ARRAY_4 = { DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR, + DleEncoder::STX_CHAR }; + +const std::vector TEST_ARRAY_0_ENCODED_ESCAPED = { + DleEncoder::STX_CHAR, 0, 0, 0, 0, 0, DleEncoder::ETX_CHAR +}; +const std::vector TEST_ARRAY_0_ENCODED_NON_ESCAPED = { + DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0, 0, 0, 0, 0, + DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR +}; + +const std::vector TEST_ARRAY_1_ENCODED_ESCAPED = { + DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR +}; +const std::vector TEST_ARRAY_2_ENCODED_ESCAPED = { + DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR + 0x40, + 5, DleEncoder::ETX_CHAR +}; +const std::vector TEST_ARRAY_3_ENCODED_ESCAPED = { + DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN, + DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR +}; +const std::vector TEST_ARRAY_4_ENCODED_ESCAPED = { + DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, + DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::DLE_CHAR, + DleEncoder::STX_CHAR + 0x40, DleEncoder::ETX_CHAR +}; + TEST_CASE("DleEncoder" , "[DleEncoder]") { - DleEncoder dleEncoder; std::array buffer; + + size_t encodedLen = 0; + size_t readLen = 0; + size_t decodedLen = 0; + + auto testLambdaEncode = [&](DleEncoder& encoder, const std::vector& vecToEncode, + const std::vector& expectedVec) { + ReturnValue_t result = encoder.encode(vecToEncode.data(), vecToEncode.size(), + buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == retval::CATCH_OK); + for(size_t idx = 0; idx < expectedVec.size(); idx++) { + REQUIRE(buffer[idx] == expectedVec[idx]); + } + REQUIRE(encodedLen == expectedVec.size()); + }; + + auto testLambdaDecode = [&](DleEncoder& encoder, const std::vector& testVecEncoded, + const std::vector& expectedVec) { + ReturnValue_t result = encoder.decode(testVecEncoded.data(), + testVecEncoded.size(), + &readLen, buffer.data(), buffer.size(), &decodedLen); + REQUIRE(result == retval::CATCH_OK); + REQUIRE(readLen == testVecEncoded.size()); + REQUIRE(decodedLen == expectedVec.size()); + for(size_t idx = 0; idx < decodedLen; idx++) { + REQUIRE(buffer[idx] == expectedVec[idx]); + } + }; + SECTION("Encoding") { - size_t encodedLen = 0; - ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_0.data(), TEST_ARRAY_0.size(), - buffer.data(), buffer.size(), &encodedLen); - REQUIRE(result == retval::CATCH_OK); - std::vector expected = {DleEncoder::STX_CHAR, 0, 0, 0, 0, 0, - DleEncoder::ETX_CHAR}; - for(size_t idx = 0; idx < expected.size(); idx++) { - REQUIRE(buffer[idx] == expected[idx]); - } - REQUIRE(encodedLen == 7); + testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_ESCAPED); + testLambdaEncode(dleEncoder, TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_ESCAPED); + testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED); + testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED); + testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED); - result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(), - buffer.data(), buffer.size(), &encodedLen); - REQUIRE(result == retval::CATCH_OK); - expected = std::vector{DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, - DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR}; - for(size_t idx = 0; idx < expected.size(); idx++) { - REQUIRE(buffer[idx] == expected[idx]); - } - REQUIRE(encodedLen == expected.size()); + dleEncoder.setEscapeMode(false); + testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED); - result = dleEncoder.encode(TEST_ARRAY_2.data(), TEST_ARRAY_2.size(), - buffer.data(), buffer.size(), &encodedLen); - REQUIRE(result == retval::CATCH_OK); - expected = std::vector{DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, - DleEncoder::STX_CHAR + 0x40, 5, DleEncoder::ETX_CHAR}; - for(size_t idx = 0; idx < expected.size(); idx++) { - REQUIRE(buffer[idx] == expected[idx]); - } - REQUIRE(encodedLen == expected.size()); - - result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(), - buffer.data(), buffer.size(), &encodedLen); - REQUIRE(result == retval::CATCH_OK); - expected = std::vector{DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN, - DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR}; - for(size_t idx = 0; idx < expected.size(); idx++) { - REQUIRE(buffer[idx] == expected[idx]); - } - REQUIRE(encodedLen == expected.size()); - - result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(), + ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(), buffer.data(), 0, &encodedLen); REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(), @@ -64,6 +88,10 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { } SECTION("Decoding") { - + testLambdaDecode(dleEncoder, TEST_ARRAY_0_ENCODED_ESCAPED, TEST_ARRAY_0); + testLambdaDecode(dleEncoder, TEST_ARRAY_1_ENCODED_ESCAPED, TEST_ARRAY_1); + testLambdaDecode(dleEncoder, TEST_ARRAY_2_ENCODED_ESCAPED, TEST_ARRAY_2); + testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3); + testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4); } } From d05eb23ea73499f37b9dc3d7c6b5389c43a53c2c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 9 Sep 2021 01:28:21 +0200 Subject: [PATCH 16/34] debugged and tested non-escaped encoder --- src/fsfw/globalfunctions/DleEncoder.cpp | 9 ++--- .../unit/globalfunctions/testDleEncoder.cpp | 34 ++++++++++++++++--- 2 files changed, 34 insertions(+), 9 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index 02e4aba4..f17df055 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -19,10 +19,11 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, return STREAM_TOO_SHORT; } if (addStxEtx) { + size_t currentIdx = 0; if(not escapeStxEtx) { - destStream[0] = DLE_CHAR; + destStream[currentIdx++] = DLE_CHAR; } - destStream[1] = STX_CHAR; + destStream[currentIdx] = STX_CHAR; } if(escapeStxEtx) { @@ -122,8 +123,8 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { if (addStxEtx) { - destStream[encodedIndex] = ETX_CHAR; - ++encodedIndex; + destStream[encodedIndex++] = DLE_CHAR; + destStream[encodedIndex++] = ETX_CHAR; } *encodedLen = encodedIndex; return RETURN_OK; diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp index 91eb9052..bb8ee40f 100644 --- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp +++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp @@ -22,19 +22,39 @@ const std::vector TEST_ARRAY_0_ENCODED_NON_ESCAPED = { const std::vector TEST_ARRAY_1_ENCODED_ESCAPED = { DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, 5, DleEncoder::ETX_CHAR }; +const std::vector TEST_ARRAY_1_ENCODED_NON_ESCAPED = { + DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, + 5, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR +}; + const std::vector TEST_ARRAY_2_ENCODED_ESCAPED = { DleEncoder::STX_CHAR, 0, DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR + 0x40, 5, DleEncoder::ETX_CHAR }; +const std::vector TEST_ARRAY_2_ENCODED_NON_ESCAPED = { + DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0, + DleEncoder::STX_CHAR, 5, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR +}; + const std::vector TEST_ARRAY_3_ENCODED_ESCAPED = { DleEncoder::STX_CHAR, 0, DleEncoder::CARRIAGE_RETURN, - DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR + DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::ETX_CHAR }; +const std::vector TEST_ARRAY_3_ENCODED_NON_ESCAPED = { + DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, 0, + DleEncoder::CARRIAGE_RETURN, DleEncoder::ETX_CHAR, DleEncoder::DLE_CHAR, + DleEncoder::ETX_CHAR +}; + const std::vector TEST_ARRAY_4_ENCODED_ESCAPED = { DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR + 0x40, DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR + 0x40, DleEncoder::ETX_CHAR }; +const std::vector TEST_ARRAY_4_ENCODED_NON_ESCAPED = { + DleEncoder::DLE_CHAR, DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::DLE_CHAR, + DleEncoder::ETX_CHAR, DleEncoder::STX_CHAR, DleEncoder::DLE_CHAR, DleEncoder::ETX_CHAR +}; TEST_CASE("DleEncoder" , "[DleEncoder]") { @@ -75,16 +95,20 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED); testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED); testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED); - - dleEncoder.setEscapeMode(false); - testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED); - ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(), buffer.data(), 0, &encodedLen); REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(), buffer.data(), 4, &encodedLen); REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); + + dleEncoder.setEscapeMode(false); + testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED); + testLambdaEncode(dleEncoder, TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_NON_ESCAPED); + testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_NON_ESCAPED); + testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_NON_ESCAPED); + testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_NON_ESCAPED); + dleEncoder.setEscapeMode(true); } SECTION("Decoding") { From 3d336c08f20cbae3703660787c1169bc8d31bcb8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 9 Sep 2021 10:47:54 +0200 Subject: [PATCH 17/34] tests almost complete --- src/fsfw/globalfunctions/DleEncoder.cpp | 5 +- .../unit/globalfunctions/testDleEncoder.cpp | 69 ++++++++++++++++--- 2 files changed, 65 insertions(+), 9 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index f17df055..e9e5e856 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -15,7 +15,7 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, else { minAllowedLen = 2; } - if(maxDestLen < minAllowedLen) { + if(minAllowedLen > maxDestLen) { return STREAM_TOO_SHORT; } if (addStxEtx) { @@ -123,6 +123,9 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { if (addStxEtx) { + if(encodedIndex + 2 >= maxDestLen) { + return STREAM_TOO_SHORT; + } destStream[encodedIndex++] = DLE_CHAR; destStream[encodedIndex++] = ETX_CHAR; } diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp index bb8ee40f..42701377 100644 --- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp +++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp @@ -59,6 +59,7 @@ const std::vector TEST_ARRAY_4_ENCODED_NON_ESCAPED = { TEST_CASE("DleEncoder" , "[DleEncoder]") { DleEncoder dleEncoder; + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; std::array buffer; size_t encodedLen = 0; @@ -67,7 +68,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { auto testLambdaEncode = [&](DleEncoder& encoder, const std::vector& vecToEncode, const std::vector& expectedVec) { - ReturnValue_t result = encoder.encode(vecToEncode.data(), vecToEncode.size(), + result = encoder.encode(vecToEncode.data(), vecToEncode.size(), buffer.data(), buffer.size(), &encodedLen); REQUIRE(result == retval::CATCH_OK); for(size_t idx = 0; idx < expectedVec.size(); idx++) { @@ -78,7 +79,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { auto testLambdaDecode = [&](DleEncoder& encoder, const std::vector& testVecEncoded, const std::vector& expectedVec) { - ReturnValue_t result = encoder.decode(testVecEncoded.data(), + result = encoder.decode(testVecEncoded.data(), testVecEncoded.size(), &readLen, buffer.data(), buffer.size(), &decodedLen); REQUIRE(result == retval::CATCH_OK); @@ -95,12 +96,25 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED); testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED); testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED); - ReturnValue_t result = dleEncoder.encode(TEST_ARRAY_3.data(), TEST_ARRAY_3.size(), - buffer.data(), 0, &encodedLen); - REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); - result = dleEncoder.encode(TEST_ARRAY_1.data(), TEST_ARRAY_1.size(), - buffer.data(), 4, &encodedLen); - REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); + + auto testFaultyEncoding = [&](const std::vector& vecToEncode, + const std::vector& expectedVec) { + + for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) { + if(faultyDestSize == 8) { + + } + result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(), + buffer.data(), faultyDestSize, &encodedLen); + REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); + } + }; + + testFaultyEncoding(TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_ESCAPED); + testFaultyEncoding(TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_ESCAPED); + testFaultyEncoding(TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_ESCAPED); + testFaultyEncoding(TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_ESCAPED); + testFaultyEncoding(TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_ESCAPED); dleEncoder.setEscapeMode(false); testLambdaEncode(dleEncoder, TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED); @@ -108,6 +122,12 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { testLambdaEncode(dleEncoder, TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_NON_ESCAPED); testLambdaEncode(dleEncoder, TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_NON_ESCAPED); testLambdaEncode(dleEncoder, TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_NON_ESCAPED); + + testFaultyEncoding(TEST_ARRAY_0, TEST_ARRAY_0_ENCODED_NON_ESCAPED); + testFaultyEncoding(TEST_ARRAY_1, TEST_ARRAY_1_ENCODED_NON_ESCAPED); + testFaultyEncoding(TEST_ARRAY_2, TEST_ARRAY_2_ENCODED_NON_ESCAPED); + testFaultyEncoding(TEST_ARRAY_3, TEST_ARRAY_3_ENCODED_NON_ESCAPED); + testFaultyEncoding(TEST_ARRAY_4, TEST_ARRAY_4_ENCODED_NON_ESCAPED); dleEncoder.setEscapeMode(true); } @@ -117,5 +137,38 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { testLambdaDecode(dleEncoder, TEST_ARRAY_2_ENCODED_ESCAPED, TEST_ARRAY_2); testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3); testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4); + + auto testFaultyDecoding = [&](const std::vector& vecToDecode, + const std::vector& expectedVec) { + for(size_t faultyDestSizes = 0; + faultyDestSizes < expectedVec.size(); + faultyDestSizes ++) { + result = dleEncoder.decode(vecToDecode.data(), + vecToDecode.size(), &readLen, + buffer.data(), faultyDestSizes, &decodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + } + }; + + testFaultyDecoding(TEST_ARRAY_0_ENCODED_ESCAPED, TEST_ARRAY_0); + testFaultyDecoding(TEST_ARRAY_1_ENCODED_ESCAPED, TEST_ARRAY_1); + testFaultyDecoding(TEST_ARRAY_2_ENCODED_ESCAPED, TEST_ARRAY_2); + testFaultyDecoding(TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3); + testFaultyDecoding(TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4); + + dleEncoder.setEscapeMode(false); + testLambdaDecode(dleEncoder, TEST_ARRAY_0_ENCODED_NON_ESCAPED, TEST_ARRAY_0); + testLambdaDecode(dleEncoder, TEST_ARRAY_1_ENCODED_NON_ESCAPED, TEST_ARRAY_1); + testLambdaDecode(dleEncoder, TEST_ARRAY_2_ENCODED_NON_ESCAPED, TEST_ARRAY_2); + testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_NON_ESCAPED, TEST_ARRAY_3); + testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_NON_ESCAPED, TEST_ARRAY_4); + + testFaultyDecoding(TEST_ARRAY_0_ENCODED_NON_ESCAPED, TEST_ARRAY_0); + testFaultyDecoding(TEST_ARRAY_1_ENCODED_NON_ESCAPED, TEST_ARRAY_1); + testFaultyDecoding(TEST_ARRAY_2_ENCODED_NON_ESCAPED, TEST_ARRAY_2); + testFaultyDecoding(TEST_ARRAY_3_ENCODED_NON_ESCAPED, TEST_ARRAY_3); + testFaultyDecoding(TEST_ARRAY_4_ENCODED_NON_ESCAPED, TEST_ARRAY_4); + + dleEncoder.setEscapeMode(true); } } From ea573b0523ea205ef36c8f4c91c61d948bab29c7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 9 Sep 2021 11:12:42 +0200 Subject: [PATCH 18/34] a few more tests with faulty source data --- src/fsfw/globalfunctions/DleEncoder.cpp | 3 ++ .../unit/globalfunctions/testDleEncoder.cpp | 54 +++++++++++++++++-- 2 files changed, 54 insertions(+), 3 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index e9e5e856..0db557b6 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -244,6 +244,9 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, *decodedLen = decodedIndex; return RETURN_OK; } + else { + return DECODING_ERROR; + } } else { destStream[decodedIndex] = sourceStream[encodedIndex]; diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp index 42701377..4cc3326e 100644 --- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp +++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp @@ -101,9 +101,6 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { const std::vector& expectedVec) { for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) { - if(faultyDestSize == 8) { - - } result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(), buffer.data(), faultyDestSize, &encodedLen); REQUIRE(result == DleEncoder::STREAM_TOO_SHORT); @@ -138,6 +135,28 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { testLambdaDecode(dleEncoder, TEST_ARRAY_3_ENCODED_ESCAPED, TEST_ARRAY_3); testLambdaDecode(dleEncoder, TEST_ARRAY_4_ENCODED_ESCAPED, TEST_ARRAY_4); + // Faulty source data + auto testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_ESCAPED; + testArray1EncodedFaulty[3] = 0; + result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + auto testArray2EncodedFaulty = TEST_ARRAY_2_ENCODED_ESCAPED; + testArray2EncodedFaulty[5] = 0; + result = dleEncoder.decode(testArray2EncodedFaulty.data(), testArray2EncodedFaulty.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + auto testArray4EncodedFaulty = TEST_ARRAY_4_ENCODED_ESCAPED; + testArray4EncodedFaulty[2] = 0; + result = dleEncoder.decode(testArray4EncodedFaulty.data(), testArray4EncodedFaulty.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + auto testArray4EncodedFaulty2 = TEST_ARRAY_4_ENCODED_ESCAPED; + testArray4EncodedFaulty2[4] = 0; + result = dleEncoder.decode(testArray4EncodedFaulty2.data(), testArray4EncodedFaulty2.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + auto testFaultyDecoding = [&](const std::vector& vecToDecode, const std::vector& expectedVec) { for(size_t faultyDestSizes = 0; @@ -169,6 +188,35 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { testFaultyDecoding(TEST_ARRAY_3_ENCODED_NON_ESCAPED, TEST_ARRAY_3); testFaultyDecoding(TEST_ARRAY_4_ENCODED_NON_ESCAPED, TEST_ARRAY_4); + // Faulty source data + testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED; + auto prevVal = testArray1EncodedFaulty[0]; + testArray1EncodedFaulty[0] = 0; + result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + testArray1EncodedFaulty[0] = prevVal; + testArray1EncodedFaulty[1] = 0; + result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + + testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED; + testArray1EncodedFaulty[6] = 0; + result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_NON_ESCAPED; + testArray1EncodedFaulty[7] = 0; + result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + testArray4EncodedFaulty = TEST_ARRAY_4_ENCODED_NON_ESCAPED; + testArray4EncodedFaulty[3] = 0; + result = dleEncoder.decode(testArray4EncodedFaulty.data(), testArray4EncodedFaulty.size(), + &readLen, buffer.data(), buffer.size(), &encodedLen); + REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + dleEncoder.setEscapeMode(true); } } From c9bfc8464aede0f79c167e18c5c0c79ded2444ce Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 11 Sep 2021 17:39:42 +0200 Subject: [PATCH 19/34] added function to enable periodic reply --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 23 +++++++++++------ src/fsfw/devicehandlers/DeviceHandlerBase.h | 25 +++++++++++++------ 2 files changed, 33 insertions(+), 15 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 1a7fbc91..95e25b74 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -430,12 +430,7 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId, DeviceReplyInfo info; info.maxDelayCycles = maxDelayCycles; info.periodic = periodic; - if(info.periodic) { - info.delayCycles = info.maxDelayCycles; - } - else { - info.delayCycles = 0; - } + info.delayCycles = 0; info.replyLen = replyLen; info.dataSet = dataSet; info.command = deviceCommandMap.end(); @@ -474,7 +469,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep auto replyIter = deviceReplyMap.find(deviceReply); if (replyIter == deviceReplyMap.end()) { triggerEvent(INVALID_DEVICE_COMMAND, deviceReply); - return RETURN_FAILED; + return COMMAND_NOT_SUPPORTED; } else { DeviceReplyInfo *info = &(replyIter->second); if (maxDelayCycles != 0) { @@ -486,6 +481,20 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep } } +ReturnValue_t DeviceHandlerBase::enablePeriodicReply(DeviceCommandId_t deviceReply) { + auto replyIter = deviceReplyMap.find(deviceReply); + if (replyIter == deviceReplyMap.end()) { + triggerEvent(INVALID_DEVICE_COMMAND, deviceReply); + return COMMAND_NOT_SUPPORTED; + } else { + DeviceReplyInfo *info = &(replyIter->second); + if(not info->periodic) { + return COMMAND_NOT_SUPPORTED; + } + info->delayCycles = info->maxDelayCycles; + } + return HasReturnvaluesIF::RETURN_OK; +} ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId, LocalPoolDataSetBase *dataSet) { diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 53bd1e65..d478b0fa 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -449,7 +449,9 @@ protected: * @param replyLen Will be supplied to the requestReceiveMessage call of * the communication interface. * @param periodic Indicates if the command is periodic (i.e. it is sent - * by the device repeatedly without request) or not. Default is aperiodic (0) + * by the device repeatedly without request) or not. Default is aperiodic (0). + * Please note that periodic replies are disabled by default. You can enable them with + * #enablePeriodicReplies * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ @@ -464,7 +466,9 @@ protected: * @param maxDelayCycles The maximum number of delay cycles the reply waits * until it times out. * @param periodic Indicates if the command is periodic (i.e. it is sent - * by the device repeatedly without request) or not. Default is aperiodic (0) + * by the device repeatedly without request) or not. Default is aperiodic (0). + * Please note that periodic replies are disabled by default. You can enable them with + * #enablePeriodicReplies * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ @@ -480,6 +484,13 @@ protected: */ ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand); + /** + * Enables a periodic reply for a given command. It sets to delay cycles to the specified + * maximum delay cycles for a given reply ID. + * @return + */ + ReturnValue_t enablePeriodicReply(DeviceCommandId_t deviceReply); + /** * @brief This function returns the reply length of the next reply to read. * @@ -493,16 +504,14 @@ protected: virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand); /** - * @brief This is a helper method to facilitate updating entries - * in the reply map. + * @brief This is a helper method to facilitate updating entries in the reply map. * @param deviceCommand Identifier of the reply to update. - * @param delayCycles The current number of delay cycles to wait. - * As stated in #fillCommandAndCookieMap, to disable periodic commands, - * this is set to zero. + * @param delayCycles The current number of delay cycles to wait. As stated in + * #fillCommandAndReplyMap, to disable periodic commands, this is set to zero. * @param maxDelayCycles The maximum number of delay cycles the reply waits * until it times out. By passing 0 the entry remains untouched. * @param periodic Indicates if the command is periodic (i.e. it is sent - * by the device repeatedly without request) or not.Default is aperiodic (0). + * by the device repeatedly without request) or not. Default is aperiodic (0). * Warning: The setting always overrides the value that was entered in the map. * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. From 11a3c8c21f8a80d5c0872e99e39bd655f18acfa7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 11 Sep 2021 17:42:29 +0200 Subject: [PATCH 20/34] added option to disable it as well --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 9 +++++++-- src/fsfw/devicehandlers/DeviceHandlerBase.h | 5 +++-- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 95e25b74..aab3aa16 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -481,7 +481,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep } } -ReturnValue_t DeviceHandlerBase::enablePeriodicReply(DeviceCommandId_t deviceReply) { +ReturnValue_t DeviceHandlerBase::enablePeriodicReply(bool enable, DeviceCommandId_t deviceReply) { auto replyIter = deviceReplyMap.find(deviceReply); if (replyIter == deviceReplyMap.end()) { triggerEvent(INVALID_DEVICE_COMMAND, deviceReply); @@ -491,7 +491,12 @@ ReturnValue_t DeviceHandlerBase::enablePeriodicReply(DeviceCommandId_t deviceRep if(not info->periodic) { return COMMAND_NOT_SUPPORTED; } - info->delayCycles = info->maxDelayCycles; + if(enable) { + info->delayCycles = info->maxDelayCycles; + } + else { + info->delayCycles = 0; + } } return HasReturnvaluesIF::RETURN_OK; } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index d478b0fa..138b429e 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -486,10 +486,11 @@ protected: /** * Enables a periodic reply for a given command. It sets to delay cycles to the specified - * maximum delay cycles for a given reply ID. + * maximum delay cycles for a given reply ID if enabled or to 0 if disabled. + * @param enable Specify whether to enable or disable a given periodic reply * @return */ - ReturnValue_t enablePeriodicReply(DeviceCommandId_t deviceReply); + ReturnValue_t enablePeriodicReply(bool enable, DeviceCommandId_t deviceReply); /** * @brief This function returns the reply length of the next reply to read. From 134deb3f433988513617a0d510fbbf8629b34fbc Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 11 Sep 2021 17:43:58 +0200 Subject: [PATCH 21/34] renamed function --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 2 +- src/fsfw/devicehandlers/DeviceHandlerBase.h | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index aab3aa16..c3fc023e 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -481,7 +481,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep } } -ReturnValue_t DeviceHandlerBase::enablePeriodicReply(bool enable, DeviceCommandId_t deviceReply) { +ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply) { auto replyIter = deviceReplyMap.find(deviceReply); if (replyIter == deviceReplyMap.end()) { triggerEvent(INVALID_DEVICE_COMMAND, deviceReply); diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 138b429e..30d36ef0 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -451,7 +451,7 @@ protected: * @param periodic Indicates if the command is periodic (i.e. it is sent * by the device repeatedly without request) or not. Default is aperiodic (0). * Please note that periodic replies are disabled by default. You can enable them with - * #enablePeriodicReplies + * #updatePeriodicReply * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ @@ -468,7 +468,7 @@ protected: * @param periodic Indicates if the command is periodic (i.e. it is sent * by the device repeatedly without request) or not. Default is aperiodic (0). * Please note that periodic replies are disabled by default. You can enable them with - * #enablePeriodicReplies + * #updatePeriodicReply * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ @@ -490,7 +490,7 @@ protected: * @param enable Specify whether to enable or disable a given periodic reply * @return */ - ReturnValue_t enablePeriodicReply(bool enable, DeviceCommandId_t deviceReply); + ReturnValue_t updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply); /** * @brief This function returns the reply length of the next reply to read. From 7c7a8a5df7510e9a35f6bd6f88d21cad54454548 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 11 Sep 2021 19:18:18 +0200 Subject: [PATCH 22/34] added improvements from code review --- src/fsfw/globalfunctions/DleEncoder.cpp | 93 ++++++++++++------- src/fsfw/globalfunctions/DleEncoder.h | 5 + .../unit/globalfunctions/testDleEncoder.cpp | 2 +- 3 files changed, 65 insertions(+), 35 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index 0db557b6..35ba84d5 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -8,22 +8,12 @@ DleEncoder::~DleEncoder() {} ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, size_t sourceLen, uint8_t* destStream, size_t maxDestLen, size_t* encodedLen, bool addStxEtx) { - size_t minAllowedLen = 0; - if(escapeStxEtx) { - minAllowedLen = 1; - } - else { - minAllowedLen = 2; - } - if(minAllowedLen > maxDestLen) { - return STREAM_TOO_SHORT; - } if (addStxEtx) { size_t currentIdx = 0; if(not escapeStxEtx) { destStream[currentIdx++] = DLE_CHAR; } - destStream[currentIdx] = STX_CHAR; + } if(escapeStxEtx) { @@ -40,9 +30,15 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen, uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, bool addStxEtx) { - size_t encodedIndex = 1; + size_t encodedIndex = 0; size_t sourceIndex = 0; uint8_t nextByte = 0; + if(addStxEtx) { + if(maxDestLen < 1) { + return STREAM_TOO_SHORT; + } + destStream[encodedIndex++] = STX_CHAR; + } while (encodedIndex < maxDestLen and sourceIndex < sourceLen) { nextByte = sourceStream[sourceIndex]; // STX, ETX and CR characters in the stream need to be escaped with DLE @@ -82,8 +78,11 @@ ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_ ++sourceIndex; } - if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { + if (sourceIndex == sourceLen) { if (addStxEtx) { + if(encodedIndex + 1 >= maxDestLen) { + return STREAM_TOO_SHORT; + } destStream[encodedIndex] = ETX_CHAR; ++encodedIndex; } @@ -98,9 +97,16 @@ ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen, uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, bool addStxEtx) { - size_t encodedIndex = 2; + size_t encodedIndex = 0; size_t sourceIndex = 0; uint8_t nextByte = 0; + if(addStxEtx) { + if(maxDestLen < 2) { + return STREAM_TOO_SHORT; + } + destStream[encodedIndex++] = DLE_CHAR; + destStream[encodedIndex++] = STX_CHAR; + } while (encodedIndex < maxDestLen and sourceIndex < sourceLen) { nextByte = sourceStream[sourceIndex]; // DLE characters are simply escaped with DLE. @@ -121,7 +127,7 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si ++sourceIndex; } - if (sourceIndex == sourceLen and encodedIndex < maxDestLen) { + if (sourceIndex == sourceLen) { if (addStxEtx) { if(encodedIndex + 2 >= maxDestLen) { return STREAM_TOO_SHORT; @@ -140,17 +146,6 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen) { - size_t encodedIndex = 0; - if(not escapeStxEtx) { - if (*sourceStream != DLE_CHAR) { - return DECODING_ERROR; - } - ++encodedIndex; - } - if (sourceStream[encodedIndex] != STX_CHAR) { - return DECODING_ERROR; - } - if(escapeStxEtx) { return decodeStreamEscaped(sourceStream, sourceStreamLen, readLen, destStream, maxDestStreamlen, decodedLen); @@ -164,10 +159,15 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen) { - // Skip start marker, was already checked - size_t encodedIndex = 1; + size_t encodedIndex = 0; size_t decodedIndex = 0; uint8_t nextByte; + if(maxDestStreamlen < 1) { + return STREAM_TOO_SHORT; + } + if (sourceStream[encodedIndex++] != STX_CHAR) { + return DECODING_ERROR; + } while ((encodedIndex < sourceStreamLen) and (decodedIndex < maxDestStreamlen) and (sourceStream[encodedIndex] != ETX_CHAR) @@ -192,6 +192,8 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_ destStream[decodedIndex] = nextByte - 0x40; } else { + // Set readLen so user can resume parsing after incorrect data + *readLen = encodedIndex + 2; return DECODING_ERROR; } } @@ -205,8 +207,13 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_ ++decodedIndex; } if (sourceStream[encodedIndex] != ETX_CHAR) { - *readLen = ++encodedIndex; - return DECODING_ERROR; + if(decodedIndex == maxDestStreamlen) { + return STREAM_TOO_SHORT; + } + else { + *readLen = ++encodedIndex; + return DECODING_ERROR; + } } else { *readLen = ++encodedIndex; @@ -218,18 +225,29 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen) { - // Skip start marker, was already checked - size_t encodedIndex = 2; + size_t encodedIndex = 0; size_t decodedIndex = 0; uint8_t nextByte; + if(maxDestStreamlen < 2) { + return STREAM_TOO_SHORT; + } + if (sourceStream[encodedIndex++] != DLE_CHAR) { + return DECODING_ERROR; + } + if (sourceStream[encodedIndex++] != STX_CHAR) { + return DECODING_ERROR; + } while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) { if (sourceStream[encodedIndex] == DLE_CHAR) { if(encodedIndex + 1 >= sourceStreamLen) { + *readLen = encodedIndex; return DECODING_ERROR; } nextByte = sourceStream[encodedIndex + 1]; if(nextByte == STX_CHAR) { - *readLen = ++encodedIndex; + // Set readLen so the DLE/STX char combination is preserved. Could be start of + // another frame + *readLen = encodedIndex; return DECODING_ERROR; } else if(nextByte == DLE_CHAR) { @@ -245,6 +263,7 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, return RETURN_OK; } else { + *readLen = encodedIndex; return DECODING_ERROR; } } @@ -254,7 +273,13 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, ++encodedIndex; ++decodedIndex; } - return DECODING_ERROR; + *readLen = encodedIndex; + if(decodedIndex == maxDestStreamlen) { + return STREAM_TOO_SHORT; + } + else { + return DECODING_ERROR; + } } void DleEncoder::setEscapeMode(bool escapeStxEtx) { diff --git a/src/fsfw/globalfunctions/DleEncoder.h b/src/fsfw/globalfunctions/DleEncoder.h index e4871bf0..09fa2726 100644 --- a/src/fsfw/globalfunctions/DleEncoder.h +++ b/src/fsfw/globalfunctions/DleEncoder.h @@ -71,6 +71,8 @@ public: * @param addStxEtx Adding STX start marker and ETX end marker can be omitted, * if they are added manually * @return + * - RETURN_OK for successful encoding operation + * - STREAM_TOO_SHORT if the destination stream is too short */ ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen, uint8_t *destStream, size_t maxDestLen, size_t *encodedLen, @@ -85,6 +87,9 @@ public: * @param maxDestStreamlen * @param decodedLen * @return + * - RETURN_OK for successful decode operation + * - DECODE_ERROR if the source stream is invalid + * - STREAM_TOO_SHORT if the destination stream is too short */ ReturnValue_t decode(const uint8_t *sourceStream, size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp index 4cc3326e..a82ac73a 100644 --- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp +++ b/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp @@ -165,7 +165,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") { result = dleEncoder.decode(vecToDecode.data(), vecToDecode.size(), &readLen, buffer.data(), faultyDestSizes, &decodedLen); - REQUIRE(result == static_cast(DleEncoder::DECODING_ERROR)); + REQUIRE(result == static_cast(DleEncoder::STREAM_TOO_SHORT)); } }; From d36d849e6994356c045e17924a60a00b13ae75e3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 11 Sep 2021 19:21:21 +0200 Subject: [PATCH 23/34] removed part which is now not necessary anymore --- src/fsfw/globalfunctions/DleEncoder.cpp | 8 -------- 1 file changed, 8 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index 35ba84d5..04e4985c 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -8,14 +8,6 @@ DleEncoder::~DleEncoder() {} ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, size_t sourceLen, uint8_t* destStream, size_t maxDestLen, size_t* encodedLen, bool addStxEtx) { - if (addStxEtx) { - size_t currentIdx = 0; - if(not escapeStxEtx) { - destStream[currentIdx++] = DLE_CHAR; - } - - } - if(escapeStxEtx) { return encodeStreamEscaped(sourceStream, sourceLen, destStream, maxDestLen, encodedLen, addStxEtx); From dae27a8e105a5d0e9c0f8bd5bda6b6d2826441b3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 11 Sep 2021 19:22:51 +0200 Subject: [PATCH 24/34] indentation --- src/fsfw/globalfunctions/DleEncoder.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index 04e4985c..df9a909e 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -1,13 +1,13 @@ #include "fsfw/globalfunctions/DleEncoder.h" -DleEncoder::DleEncoder(bool escapeStxEtx, bool escapeCr): escapeStxEtx(escapeStxEtx), - escapeCr(escapeCr) {} +DleEncoder::DleEncoder(bool escapeStxEtx, bool escapeCr): + escapeStxEtx(escapeStxEtx), escapeCr(escapeCr) {} DleEncoder::~DleEncoder() {} ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream, - size_t sourceLen, uint8_t* destStream, size_t maxDestLen, - size_t* encodedLen, bool addStxEtx) { + size_t sourceLen, uint8_t* destStream, size_t maxDestLen, + size_t* encodedLen, bool addStxEtx) { if(escapeStxEtx) { return encodeStreamEscaped(sourceStream, sourceLen, destStream, maxDestLen, encodedLen, addStxEtx); @@ -136,16 +136,16 @@ ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, si } ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream, - size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, - size_t maxDestStreamlen, size_t *decodedLen) { - if(escapeStxEtx) { - return decodeStreamEscaped(sourceStream, sourceStreamLen, - readLen, destStream, maxDestStreamlen, decodedLen); - } - else { + size_t sourceStreamLen, size_t *readLen, uint8_t *destStream, + size_t maxDestStreamlen, size_t *decodedLen) { + if(escapeStxEtx) { + return decodeStreamEscaped(sourceStream, sourceStreamLen, + readLen, destStream, maxDestStreamlen, decodedLen); + } + else { return decodeStreamNonEscaped(sourceStream, sourceStreamLen, readLen, destStream, maxDestStreamlen, decodedLen); - } + } } ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen, From abacfbf2d5550c189e5c0b48f3eb794eb8525f02 Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Mon, 13 Sep 2021 10:38:36 +0200 Subject: [PATCH 25/34] added setting of readLen according to review --- src/fsfw/globalfunctions/DleEncoder.cpp | 23 ++++++++++++++++++++--- 1 file changed, 20 insertions(+), 3 deletions(-) diff --git a/src/fsfw/globalfunctions/DleEncoder.cpp b/src/fsfw/globalfunctions/DleEncoder.cpp index df9a909e..47ea5c4e 100644 --- a/src/fsfw/globalfunctions/DleEncoder.cpp +++ b/src/fsfw/globalfunctions/DleEncoder.cpp @@ -154,6 +154,11 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_ size_t encodedIndex = 0; size_t decodedIndex = 0; uint8_t nextByte; + + //init to 0 so that we can just return in the first checks (which do not consume anything from + //the source stream) + *readLen = 0; + if(maxDestStreamlen < 1) { return STREAM_TOO_SHORT; } @@ -166,6 +171,8 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_ and (sourceStream[encodedIndex] != STX_CHAR)) { if (sourceStream[encodedIndex] == DLE_CHAR) { if(encodedIndex + 1 >= sourceStreamLen) { + //reached the end of the sourceStream + *readLen = sourceStreamLen; return DECODING_ERROR; } nextByte = sourceStream[encodedIndex + 1]; @@ -200,6 +207,8 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_ } if (sourceStream[encodedIndex] != ETX_CHAR) { if(decodedIndex == maxDestStreamlen) { + //so far we did not find anything wrong here, so let user try again + *readLen = 0; return STREAM_TOO_SHORT; } else { @@ -220,6 +229,11 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, size_t encodedIndex = 0; size_t decodedIndex = 0; uint8_t nextByte; + + //init to 0 so that we can just return in the first checks (which do not consume anything from + //the source stream) + *readLen = 0; + if(maxDestStreamlen < 2) { return STREAM_TOO_SHORT; } @@ -227,6 +241,7 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, return DECODING_ERROR; } if (sourceStream[encodedIndex++] != STX_CHAR) { + *readLen = 1; return DECODING_ERROR; } while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) { @@ -265,11 +280,13 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream, ++encodedIndex; ++decodedIndex; } - *readLen = encodedIndex; + if(decodedIndex == maxDestStreamlen) { + //so far we did not find anything wrong here, so let user try again + *readLen = 0; return STREAM_TOO_SHORT; - } - else { + } else { + *readLen = encodedIndex; return DECODING_ERROR; } } From 21b5eaa891c58f3e52de3acbf138c3ec128a1789 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 15 Sep 2021 17:09:42 +0200 Subject: [PATCH 26/34] Some changes and improvements for DHB 1. Renamed getCommanderId to getCommanderQueueId. 2. Some indentation 3. Correct preprocessor define for warning printout used now --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 28 ++++++++++----- src/fsfw/devicehandlers/DeviceHandlerBase.h | 34 +++++++++---------- 2 files changed, 36 insertions(+), 26 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index c3fc023e..535113fd 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -461,7 +461,7 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){ return iter->second.replyLen; }else{ return 0; - } + } } ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply, @@ -612,15 +612,15 @@ void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceRepl } DeviceCommandInfo* info = &replyInfo.command->second; if (info == nullptr){ - printWarningOrError(sif::OutputTypes::OUT_ERROR, - "replyToReply", HasReturnvaluesIF::RETURN_FAILED, - "Command pointer not found"); - return; + 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 before to avoid underflow + info->expectedReplies--; } // Check if more replies are expected. If so, do nothing. if (info->expectedReplies == 0) { @@ -1355,10 +1355,20 @@ void DeviceHandlerBase::buildInternalCommand(void) { DeviceCommandMap::iterator iter = deviceCommandMap.find( deviceCommandId); if (iter == deviceCommandMap.end()) { +#if FSFW_VERBOSE_LEVEL >= 1 + char output[36]; + sprintf(output, "Command 0x%08x unknown", + static_cast(deviceCommandId)); + // so we can track misconfigurations + printWarningOrError(sif::OutputTypes::OUT_WARNING, + "buildInternalCommand", + COMMAND_NOT_SUPPORTED, + output); +#endif result = COMMAND_NOT_SUPPORTED; } else if (iter->second.isExecuting) { -#if FSFW_DISABLE_PRINTOUT == 0 +#if FSFW_VERBOSE_LEVEL >= 1 char output[36]; sprintf(output, "Command 0x%08x is executing", static_cast(deviceCommandId)); @@ -1569,7 +1579,7 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() { return &poolManager; } -MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const { +MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyId) const { auto commandIter = deviceCommandMap.find(replyId); if(commandIter == deviceCommandMap.end()) { return MessageQueueIF::NO_QUEUE; diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 30d36ef0..b182b611 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -6,22 +6,22 @@ #include "DeviceHandlerFailureIsolation.h" #include "DeviceHandlerThermalSet.h" -#include "../serviceinterface/ServiceInterface.h" -#include "../serviceinterface/serviceInterfaceDefintions.h" -#include "../objectmanager/SystemObject.h" -#include "../tasks/ExecutableObjectIF.h" -#include "../returnvalues/HasReturnvaluesIF.h" -#include "../action/HasActionsIF.h" -#include "../datapool/PoolVariableIF.h" -#include "../modes/HasModesIF.h" -#include "../power/PowerSwitchIF.h" -#include "../ipc/MessageQueueIF.h" -#include "../tasks/PeriodicTaskIF.h" -#include "../action/ActionHelper.h" -#include "../health/HealthHelper.h" -#include "../parameters/ParameterHelper.h" -#include "../datapoollocal/HasLocalDataPoolIF.h" -#include "../datapoollocal/LocalDataPoolManager.h" +#include "fsfw/serviceinterface/ServiceInterface.h" +#include "fsfw/serviceinterface/serviceInterfaceDefintions.h" +#include "fsfw/objectmanager/SystemObject.h" +#include "fsfw/tasks/ExecutableObjectIF.h" +#include "fsfw/returnvalues/HasReturnvaluesIF.h" +#include "fsfw/action/HasActionsIF.h" +#include "fsfw/datapool/PoolVariableIF.h" +#include "fsfw/modes/HasModesIF.h" +#include "fsfw/power/PowerSwitchIF.h" +#include "fsfw/ipc/MessageQueueIF.h" +#include "fsfw/tasks/PeriodicTaskIF.h" +#include "fsfw/action/ActionHelper.h" +#include "fsfw/health/HealthHelper.h" +#include "fsfw/parameters/ParameterHelper.h" +#include "fsfw/datapoollocal/HasLocalDataPoolIF.h" +#include "fsfw/datapoollocal/LocalDataPoolManager.h" #include @@ -399,7 +399,7 @@ protected: */ virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0; - MessageQueueId_t getCommanderId(DeviceCommandId_t replyId) const; + MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const; /** * Helper function to get pending command. This is useful for devices * like SPI sensors to identify the last sent command. From e5db64cbb91bc72c63f0f3963bba9d89df9e1e6c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 15 Sep 2021 17:15:18 +0200 Subject: [PATCH 27/34] set transfer size to 0, better name --- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 8 ++------ hal/src/fsfw_hal/linux/spi/SpiComIF.h | 1 + hal/src/fsfw_hal/linux/spi/SpiCookie.cpp | 2 +- hal/src/fsfw_hal/linux/spi/SpiCookie.h | 6 ++---- 4 files changed, 6 insertions(+), 11 deletions(-) diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index 48bf7449..6cf6675f 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -15,11 +15,6 @@ #include #include -/* Can be used for low-level debugging of the SPI bus */ -#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING -#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0 -#endif - SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId), gpioComIF(gpioComIF) { if(gpioComIF == nullptr) { @@ -193,7 +188,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr); setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); spiCookie->assignWriteBuffer(sendData); - spiCookie->assignTransferSize(sendLen); + spiCookie->setTransferSize(sendLen); bool fullDuplex = spiCookie->isFullDuplex(); gpioId_t gpioId = spiCookie->getChipSelectPin(); @@ -335,6 +330,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, *buffer = rxBuf; *size = spiCookie->getCurrentTransferSize(); + spiCookie->setTransferSize(0); return HasReturnvaluesIF::RETURN_OK; } diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index d43e2505..bcca7462 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -1,6 +1,7 @@ #ifndef LINUX_SPI_SPICOMIF_H_ #define LINUX_SPI_SPICOMIF_H_ +#include "fsfw/FSFW.h" #include "spiDefinitions.h" #include "returnvalues/classIds.h" #include "fsfw_hal/common/gpio/GpioIF.h" diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp index 54d8aa16..f07954e9 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp @@ -121,7 +121,7 @@ bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; } -void SpiCookie::assignTransferSize(size_t transferSize) { +void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; } diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.h b/hal/src/fsfw_hal/linux/spi/SpiCookie.h index acf7c77c..844fd421 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiCookie.h +++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.h @@ -103,10 +103,10 @@ public: void assignReadBuffer(uint8_t* rx); void assignWriteBuffer(const uint8_t* tx); /** - * Assign size for the next transfer. + * Set size for the next transfer. Set to 0 for no transfer * @param transferSize */ - void assignTransferSize(size_t transferSize); + void setTransferSize(size_t transferSize); size_t getCurrentTransferSize() const; struct UncommonParameters { @@ -158,8 +158,6 @@ private: std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback, void* args); - size_t currentTransferSize = 0; - address_t spiAddress; gpioId_t chipSelectPin; std::string spiDevice; From a6e4eb9ad4f9c2367c09d72182176d43b67260a8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 15 Sep 2021 17:18:47 +0200 Subject: [PATCH 28/34] improvements for L3GD20H device handler --- .../devicehandlers/GyroL3GD20Handler.cpp | 42 +++++++++---------- .../devicehandlers/GyroL3GD20Handler.h | 11 ++--- 2 files changed, 25 insertions(+), 28 deletions(-) diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp index 96d284e1..4a492e5d 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp @@ -3,9 +3,9 @@ #include "fsfw/datapool/PoolReadGuard.h" GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, - CookieIF *comCookie): + CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs): DeviceHandlerBase(objectId, deviceCommunication, comCookie), - dataset(this) { + switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) { #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 debugDivider = new PeriodicOperationDivider(5); #endif @@ -47,7 +47,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t switch(internalState) { case(InternalState::NONE): case(InternalState::NORMAL): { - return HasReturnvaluesIF::RETURN_OK; + return NOTHING_TO_SEND; } case(InternalState::CONFIGURE): { *id = L3GD20H::CONFIGURE_CTRL_REGS; @@ -66,10 +66,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t default: #if FSFW_CPP_OSTREAM_ENABLED == 1 /* Might be a configuration error. */ - sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" << - std::endl; + sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: " + "Unknown internal state!" << std::endl; #else - sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n"); + sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: " + "Unknown internal state!\n"); #endif return HasReturnvaluesIF::RETURN_OK; } @@ -144,7 +145,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand( ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { - /* For SPI, the ID will always be the one of the last sent command. */ + // For SPI, the ID will always be the one of the last sent command *foundId = this->getPendingCommand(); *foundLen = this->rawPacketLen; @@ -166,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, commandExecuted = true; } else { - /* Attempt reconfiguration. */ + // Attempt reconfiguration internalState = InternalState::CONFIGURE; return DeviceHandlerIF::DEVICE_REPLY_INVALID; } @@ -199,13 +200,12 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, if(debugDivider->checkAndIncrement()) { /* Set terminal to utf-8 if there is an issue with micro printout. */ #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" << - std::endl; - sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl; - sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl; - sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl; + sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; + sif::info << "X: " << angVelocX << std::endl; + sif::info << "Y: " << angVelocY << std::endl; + sif::info << "Z: " << angVelocZ << std::endl; #else - sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n"); + sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); sif::printInfo("X: %f\n", angVelocX); sif::printInfo("Y: %f\n", angVelocY); sif::printInfo("Z: %f\n", angVelocZ); @@ -231,7 +231,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) { - return 10000; + return this->transitionDelayMs; } void GyroHandlerL3GD20H::setGoNormalModeAtStartup() { @@ -240,14 +240,10 @@ void GyroHandlerL3GD20H::setGoNormalModeAtStartup() { ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool( localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { - localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, - new PoolEntry({0.0})); - localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, - new PoolEntry({0.0})); - localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, - new PoolEntry({0.0})); - localDataPoolMap.emplace(L3GD20H::TEMPERATURE, - new PoolEntry({0.0})); + localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry({0.0})); + localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry({0.0})); + localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry({0.0})); + localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry({0.0})); return HasReturnvaluesIF::RETURN_OK; } diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h index 020c5a32..bc1d9c1c 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h @@ -7,10 +7,6 @@ #include #include -#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG -#define FSFW_HAL_L3GD20_GYRO_DEBUG 0 -#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */ - /** * @brief Device Handler for the L3GD20H gyroscope sensor * (https://www.st.com/en/mems-and-sensors/l3gd20h.html) @@ -23,9 +19,12 @@ class GyroHandlerL3GD20H: public DeviceHandlerBase { public: GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, - CookieIF* comCookie); + CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000); virtual ~GyroHandlerL3GD20H(); + /** + * @brief Configure device handler to go to normal mode immediately + */ void setGoNormalModeAtStartup(); protected: @@ -51,6 +50,8 @@ protected: LocalDataPoolManager &poolManager) override; private: + uint8_t switchId = 0; + uint32_t transitionDelayMs = 0; GyroPrimaryDataset dataset; enum class InternalState { From 1732359f72766216acd7f8a719a51606cac66c33 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 15 Sep 2021 17:23:26 +0200 Subject: [PATCH 29/34] doc was wrong --- src/fsfw/pus/servicepackets/Service1Packets.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/fsfw/pus/servicepackets/Service1Packets.h b/src/fsfw/pus/servicepackets/Service1Packets.h index 2249b4b0..02ae339f 100644 --- a/src/fsfw/pus/servicepackets/Service1Packets.h +++ b/src/fsfw/pus/servicepackets/Service1Packets.h @@ -13,10 +13,10 @@ /** * @brief FailureReport class to serialize a failure report - * @brief Subservice 1, 3, 5, 7 + * @brief Subservice 2, 4, 6, 8 * @ingroup spacepackets */ -class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7 +class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8 public: FailureReport(uint8_t failureSubtype_, uint16_t packetId_, uint16_t packetSequenceControl_, uint8_t stepNumber_, @@ -108,10 +108,10 @@ private: }; /** - * @brief Subservices 2, 4, 6, 8 + * @brief Subservices 1, 3, 5, 7 * @ingroup spacepackets */ -class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8 +class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7 public: SuccessReport(uint8_t subtype_, uint16_t packetId_, uint16_t packetSequenceControl_,uint8_t stepNumber_) : From f2bc374f0ffd349c3c02552885433735eb632f92 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 23 Sep 2021 18:12:59 +0200 Subject: [PATCH 30/34] Device handler updates --- .../fsfw_hal/devicehandlers/CMakeLists.txt | 2 + .../devicehandlers/GyroL3GD20Handler.cpp | 43 ++++- .../devicehandlers/GyroL3GD20Handler.h | 21 ++- .../devicedefinitions/MgmLIS3HandlerDefs.h | 178 ++++++++++++++++++ .../devicedefinitions/MgmRM3100HandlerDefs.h | 132 +++++++++++++ 5 files changed, 364 insertions(+), 12 deletions(-) create mode 100644 hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h create mode 100644 hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h diff --git a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt b/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt index cf542d8d..94e67c72 100644 --- a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt +++ b/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt @@ -1,3 +1,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE GyroL3GD20Handler.cpp + MgmRM3100Handler.cpp + MgmLIS3MDLHandler.cpp ) diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp index 4a492e5d..70ba49eb 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp @@ -3,11 +3,11 @@ #include "fsfw/datapool/PoolReadGuard.h" GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, - CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs): + CookieIF *comCookie, uint32_t transitionDelayMs): DeviceHandlerBase(objectId, deviceCommunication, comCookie), - switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) { + transitionDelayMs(transitionDelayMs), dataset(this) { #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(5); + debugDivider = new PeriodicOperationDivider(3); #endif } @@ -215,11 +215,32 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, PoolReadGuard readSet(&dataset); if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { - dataset.angVelocX = angVelocX; - dataset.angVelocY = angVelocY; - dataset.angVelocZ = angVelocZ; + if(std::abs(angVelocX) < this->absLimitX) { + dataset.angVelocX = angVelocX; + dataset.angVelocX.setValid(true); + } + else { + dataset.angVelocX.setValid(false); + } + + if(std::abs(angVelocY) < this->absLimitY) { + dataset.angVelocY = angVelocY; + dataset.angVelocY.setValid(true); + } + else { + dataset.angVelocY.setValid(false); + } + + if(std::abs(angVelocZ) < this->absLimitZ) { + dataset.angVelocZ = angVelocZ; + dataset.angVelocZ.setValid(true); + } + else { + dataset.angVelocZ.setValid(false); + } + dataset.temperature = temperature; - dataset.setValidity(true, true); + dataset.temperature.setValid(true); } break; } @@ -234,7 +255,7 @@ uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) { return this->transitionDelayMs; } -void GyroHandlerL3GD20H::setGoNormalModeAtStartup() { +void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; } @@ -256,3 +277,9 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() { void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; } + +void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) { + this->absLimitX = limitX; + this->absLimitY = limitY; + this->absLimitZ = limitZ; +} diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h index bc1d9c1c..870f551d 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h @@ -19,13 +19,22 @@ class GyroHandlerL3GD20H: public DeviceHandlerBase { public: GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, - CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000); + CookieIF* comCookie, uint32_t transitionDelayMs); virtual ~GyroHandlerL3GD20H(); + /** + * Set the absolute limit for the values on the axis in degrees per second. + * The dataset values will be marked as invalid if that limit is exceeded + * @param xLimit + * @param yLimit + * @param zLimit + */ + void setAbsoluteLimits(float limitX, float limitY, float limitZ); + /** * @brief Configure device handler to go to normal mode immediately */ - void setGoNormalModeAtStartup(); + void setToGoToNormalMode(bool enable); protected: /* DeviceHandlerBase overrides */ @@ -40,12 +49,12 @@ protected: size_t commandDataLen) override; ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId, size_t *foundLen) override; - ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override; void fillCommandAndReplyMap() override; void modeChanged() override; - uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; + virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) override; @@ -54,6 +63,10 @@ private: uint32_t transitionDelayMs = 0; GyroPrimaryDataset dataset; + float absLimitX = L3GD20H::RANGE_DPS_00; + float absLimitY = L3GD20H::RANGE_DPS_00; + float absLimitZ = L3GD20H::RANGE_DPS_00; + enum class InternalState { NONE, CONFIGURE, diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h new file mode 100644 index 00000000..b6f3fd84 --- /dev/null +++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h @@ -0,0 +1,178 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ + +#include +#include +#include +#include + +namespace MGMLIS3MDL { + +enum Set { + ON, OFF +}; +enum OpMode { + LOW, MEDIUM, HIGH, ULTRA +}; + +enum Sensitivies: uint8_t { + GAUSS_4 = 4, + GAUSS_8 = 8, + GAUSS_12 = 12, + GAUSS_16 = 16 +}; + +/* Actually 15, we just round up a bit */ +static constexpr size_t MAX_BUFFER_SIZE = 16; + +/* Field data register scaling */ +static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100; +static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0; +static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0; +static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0; +static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0; + +static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00; +static const DeviceCommandId_t SETUP_MGM = 0x01; +static const DeviceCommandId_t READ_TEMPERATURE = 0x02; +static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03; +static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04; +static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05; + +/* Number of all control registers */ +static const uint8_t NR_OF_CTRL_REGISTERS = 5; +/* Number of registers in the MGM */ +static const uint8_t NR_OF_REGISTERS = 19; +/* Total number of adresses for all registers */ +static const uint8_t TOTAL_NR_OF_ADRESSES = 52; +static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14; +static const uint8_t TEMPERATURE_REPLY_LEN = 3; +static const uint8_t SETUP_REPLY_LEN = 6; + +/*------------------------------------------------------------------------*/ +/* Register adresses */ +/*------------------------------------------------------------------------*/ +/* Register adress returns identifier of device with default 0b00111101 */ +static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111; +static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device + +/* Register adress to access register 1 */ +static const uint8_t CTRL_REG1 = 0b00100000; +/* Register adress to access register 2 */ +static const uint8_t CTRL_REG2 = 0b00100001; +/* Register adress to access register 3 */ +static const uint8_t CTRL_REG3 = 0b00100010; +/* Register adress to access register 4 */ +static const uint8_t CTRL_REG4 = 0b00100011; +/* Register adress to access register 5 */ +static const uint8_t CTRL_REG5 = 0b00100100; + +/* Register adress to access status register */ +static const uint8_t STATUS_REG_IDX = 8; +static const uint8_t STATUS_REG = 0b00100111; + +/* Register adress to access low byte of x-axis */ +static const uint8_t X_LOWBYTE_IDX = 9; +static const uint8_t X_LOWBYTE = 0b00101000; +/* Register adress to access high byte of x-axis */ +static const uint8_t X_HIGHBYTE_IDX = 10; +static const uint8_t X_HIGHBYTE = 0b00101001; +/* Register adress to access low byte of y-axis */ +static const uint8_t Y_LOWBYTE_IDX = 11; +static const uint8_t Y_LOWBYTE = 0b00101010; +/* Register adress to access high byte of y-axis */ +static const uint8_t Y_HIGHBYTE_IDX = 12; +static const uint8_t Y_HIGHBYTE = 0b00101011; +/* Register adress to access low byte of z-axis */ +static const uint8_t Z_LOWBYTE_IDX = 13; +static const uint8_t Z_LOWBYTE = 0b00101100; +/* Register adress to access high byte of z-axis */ +static const uint8_t Z_HIGHBYTE_IDX = 14; +static const uint8_t Z_HIGHBYTE = 0b00101101; + +/* Register adress to access low byte of temperature sensor */ +static const uint8_t TEMP_LOWBYTE = 0b00101110; +/* Register adress to access high byte of temperature sensor */ +static const uint8_t TEMP_HIGHBYTE = 0b00101111; + +/*------------------------------------------------------------------------*/ +/* Initialize Setup Register set bits */ +/*------------------------------------------------------------------------*/ +/* General transfer bits */ +// Read=1 / Write=0 Bit +static const uint8_t RW_BIT = 7; +// Continous Read/Write Bit, increment adress +static const uint8_t MS_BIT = 6; + +/* CTRL_REG1 bits */ +static const uint8_t ST = 0; // Self test enable bit, enabled = 1 +// Enable rates higher than 80 Hz enabled = 1 +static const uint8_t FAST_ODR = 1; +static const uint8_t DO0 = 2; // Output data rate bit 2 +static const uint8_t DO1 = 3; // Output data rate bit 3 +static const uint8_t DO2 = 4; // Output data rate bit 4 +static const uint8_t OM0 = 5; // XY operating mode bit 5 +static const uint8_t OM1 = 6; // XY operating mode bit 6 +static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1 +static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) | + (1 << DO0) | (1 << DO1) | (1 << DO2); + +/* CTRL_REG2 bits */ +//reset configuration registers and user registers +static const uint8_t SOFT_RST = 2; +static const uint8_t REBOOT = 3; //reboot memory content +static const uint8_t FSO = 5; //full-scale selection bit 5 +static const uint8_t FS1 = 6; //full-scale selection bit 6 +static const uint8_t CTRL_REG2_DEFAULT = 0; + +/* CTRL_REG3 bits */ +static const uint8_t MD0 = 0; //Operating mode bit 0 +static const uint8_t MD1 = 1; //Operating mode bit 1 +//SPI serial interface mode selection enabled = 3-wire-mode +static const uint8_t SIM = 2; +static const uint8_t LP = 5; //low-power mode +static const uint8_t CTRL_REG3_DEFAULT = 0; + +/* CTRL_REG4 bits */ +//big/little endian data selection enabled = MSb at lower adress +static const uint8_t BLE = 1; +static const uint8_t OMZ0 = 2; //Z operating mode bit 2 +static const uint8_t OMZ1 = 3; //Z operating mode bit 3 +static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1); + +/* CTRL_REG5 bits */ +static const uint8_t BDU = 6; //Block data update +static const uint8_t FAST_READ = 7; //Fast read enabled = 1 +static const uint8_t CTRL_REG5_DEFAULT = 0; + +static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA; + +enum MgmPoolIds: lp_id_t { + FIELD_STRENGTH_X, + FIELD_STRENGTH_Y, + FIELD_STRENGTH_Z, + TEMPERATURE_CELCIUS +}; + +class MgmPrimaryDataset: public StaticLocalDataSet<5> { +public: + MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner): + StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {} + + MgmPrimaryDataset(object_id_t mgmId): + StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {} + + lp_var_t fieldStrengthX = lp_var_t(sid.objectId, + FIELD_STRENGTH_X, this); + lp_var_t fieldStrengthY = lp_var_t(sid.objectId, + FIELD_STRENGTH_Y, this); + lp_var_t fieldStrengthZ = lp_var_t(sid.objectId, + FIELD_STRENGTH_Z, this); + lp_var_t temperature = lp_var_t(sid.objectId, + TEMPERATURE_CELCIUS, this); +}; + +} + + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */ diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h new file mode 100644 index 00000000..08f80dd9 --- /dev/null +++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h @@ -0,0 +1,132 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ + +#include +#include +#include +#include +#include + +namespace RM3100 { + +/* Actually 10, we round up a little bit */ +static constexpr size_t MAX_BUFFER_SIZE = 12; + +static constexpr uint8_t READ_MASK = 0x80; + +/*----------------------------------------------------------------------------*/ +/* CMM Register */ +/*----------------------------------------------------------------------------*/ +static constexpr uint8_t SET_CMM_CMZ = 1 << 6; +static constexpr uint8_t SET_CMM_CMY = 1 << 5; +static constexpr uint8_t SET_CMM_CMX = 1 << 4; +static constexpr uint8_t SET_CMM_DRDM = 1 << 2; +static constexpr uint8_t SET_CMM_START = 1; +static constexpr uint8_t CMM_REGISTER = 0x01; + +static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | + SET_CMM_DRDM | SET_CMM_START; + +/*----------------------------------------------------------------------------*/ +/* Cycle count register */ +/*----------------------------------------------------------------------------*/ +// Default value (200) +static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8; + +static constexpr float DEFAULT_GAIN = static_cast(CYCLE_COUNT_VALUE) / + 100 * 38; +static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04; + +/*----------------------------------------------------------------------------*/ +/* TMRC register */ +/*----------------------------------------------------------------------------*/ +static constexpr uint8_t TMRC_150HZ_VALUE = 0x94; +static constexpr uint8_t TMRC_75HZ_VALUE = 0x95; +static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96; + +static constexpr uint8_t TMRC_REGISTER = 0x0B; +static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE; + +static constexpr uint8_t MEASUREMENT_REG_START = 0x24; +static constexpr uint8_t BIST_REGISTER = 0x33; +static constexpr uint8_t DATA_READY_VAL = 0b1000'0000; +static constexpr uint8_t STATUS_REGISTER = 0x34; +static constexpr uint8_t REVID_REGISTER = 0x36; + +// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM) +static constexpr uint16_t RANGE = 800; + +static constexpr DeviceCommandId_t READ_DATA = 0; + +static constexpr DeviceCommandId_t CONFIGURE_CMM = 1; +static constexpr DeviceCommandId_t READ_CMM = 2; + +static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3; +static constexpr DeviceCommandId_t READ_TMRC = 4; + +static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5; +static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6; + +class CycleCountCommand: public SerialLinkedListAdapter { +public: + CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) { + setLinks(oneCycleCount); + } + + ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, + Endianness streamEndianness) override { + ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, + size, streamEndianness); + if(oneCycleCount) { + cycleCountY = cycleCountX; + cycleCountZ = cycleCountX; + } + return result; + } + + SerializeElement cycleCountX; + SerializeElement cycleCountY; + SerializeElement cycleCountZ; + +private: + void setLinks(bool oneCycleCount) { + setStart(&cycleCountX); + if(not oneCycleCount) { + cycleCountX.setNext(&cycleCountY); + cycleCountY.setNext(&cycleCountZ); + } + } + + bool oneCycleCount; +}; + +static constexpr uint32_t MGM_DATASET_ID = READ_DATA; + +enum MgmPoolIds: lp_id_t { + FIELD_STRENGTH_X, + FIELD_STRENGTH_Y, + FIELD_STRENGTH_Z, +}; + +class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> { +public: + Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner): + StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {} + + Rm3100PrimaryDataset(object_id_t mgmId): + StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {} + + // Field strengths in micro Tesla. + lp_var_t fieldStrengthX = lp_var_t(sid.objectId, + FIELD_STRENGTH_X, this); + lp_var_t fieldStrengthY = lp_var_t(sid.objectId, + FIELD_STRENGTH_Y, this); + lp_var_t fieldStrengthZ = lp_var_t(sid.objectId, + FIELD_STRENGTH_Z, this); +}; + +} + + + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */ From a6bd7c0d6ea035c5acb38139ed9bac78228ab1ac Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 23 Sep 2021 18:13:51 +0200 Subject: [PATCH 31/34] added missing defines for debug output --- src/fsfw/FSFW.h.in | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in index f0eb9365..f124e647 100644 --- a/src/fsfw/FSFW.h.in +++ b/src/fsfw/FSFW.h.in @@ -17,7 +17,15 @@ #cmakedefine FSFW_ADD_SGP4_PROPAGATOR #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG -#define FSFW_HAL_L3GD20_GYRO_DEBUG 0 +#define FSFW_HAL_L3GD20_GYRO_DEBUG 0 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */ +#ifndef FSFW_HAL_RM3100_MGM_DEBUG +#define FSFW_HAL_RM3100_MGM_DEBUG 0 +#endif /* FSFW_HAL_RM3100_MGM_DEBUG */ + +#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG +#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0 +#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */ + #endif /* FSFW_FSFW_H_ */ From f6b03dee6ab7755df53d415fe75802a30fd2c435 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Fri, 24 Sep 2021 12:11:12 +0200 Subject: [PATCH 32/34] removed unused variable switchId from GyroL3GD20Handler class --- hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h | 1 - 1 file changed, 1 deletion(-) diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h index 870f551d..e73d2fbb 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h @@ -59,7 +59,6 @@ protected: LocalDataPoolManager &poolManager) override; private: - uint8_t switchId = 0; uint32_t transitionDelayMs = 0; GyroPrimaryDataset dataset; From a37b6184fcddf7792aaa5b70b5882a6d838a65ab Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 25 Sep 2021 16:40:22 +0200 Subject: [PATCH 33/34] fix dataset sizes --- .../devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h | 2 +- .../devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h index b6f3fd84..9d65aae2 100644 --- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h +++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h @@ -154,7 +154,7 @@ enum MgmPoolIds: lp_id_t { TEMPERATURE_CELCIUS }; -class MgmPrimaryDataset: public StaticLocalDataSet<5> { +class MgmPrimaryDataset: public StaticLocalDataSet<4> { public: MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner): StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {} diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h index 08f80dd9..0ee2c7f6 100644 --- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h +++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h @@ -108,7 +108,7 @@ enum MgmPoolIds: lp_id_t { FIELD_STRENGTH_Z, }; -class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> { +class Rm3100PrimaryDataset: public StaticLocalDataSet<3> { public: Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner): StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {} From a84e60a37a6fef4147837bd6732d74722d4708c1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 26 Sep 2021 22:22:55 +0200 Subject: [PATCH 34/34] Added missing devicehandlers These devicehandlers were missing from the last PR --- .../devicehandlers/MgmLIS3MDLHandler.cpp | 518 ++++++++++++++++++ .../devicehandlers/MgmLIS3MDLHandler.h | 186 +++++++ .../devicehandlers/MgmRM3100Handler.cpp | 363 ++++++++++++ .../devicehandlers/MgmRM3100Handler.h | 111 ++++ 4 files changed, 1178 insertions(+) create mode 100644 hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp create mode 100644 hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h create mode 100644 hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp create mode 100644 hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp new file mode 100644 index 00000000..891d6fdc --- /dev/null +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -0,0 +1,518 @@ +#include "MgmLIS3MDLHandler.h" + +#include "fsfw/datapool/PoolReadGuard.h" +#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 +#include "fsfw/globalfunctions/PeriodicOperationDivider.h" +#endif + +MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, + CookieIF* comCookie, uint32_t transitionDelay): + DeviceHandlerBase(objectId, deviceCommunication, comCookie), + dataset(this), transitionDelay(transitionDelay) { +#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 + debugDivider = new PeriodicOperationDivider(3); +#endif + // Set to default values right away + registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; + registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; + registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; + registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; + registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; + +} + +MgmLIS3MDLHandler::~MgmLIS3MDLHandler() { +} + + +void MgmLIS3MDLHandler::doStartUp() { + switch (internalState) { + case(InternalState::STATE_NONE): { + internalState = InternalState::STATE_FIRST_CONTACT; + break; + } + case(InternalState::STATE_FIRST_CONTACT): { + /* Will be set by checking device ID (WHO AM I register) */ + if(commandExecuted) { + commandExecuted = false; + internalState = InternalState::STATE_SETUP; + } + break; + } + case(InternalState::STATE_SETUP): { + internalState = InternalState::STATE_CHECK_REGISTERS; + break; + } + case(InternalState::STATE_CHECK_REGISTERS): { + /* Set up cached registers which will be used to configure the MGM. */ + if(commandExecuted) { + commandExecuted = false; + if(goToNormalMode) { + setMode(MODE_NORMAL); + } + else { + setMode(_MODE_TO_ON); + } + } + break; + } + default: + break; + } + +} + +void MgmLIS3MDLHandler::doShutDown() { + setMode(_MODE_POWER_DOWN); +} + +ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand( + DeviceCommandId_t *id) { + switch (internalState) { + case(InternalState::STATE_NONE): + case(InternalState::STATE_NORMAL): { + return HasReturnvaluesIF::RETURN_OK; + } + case(InternalState::STATE_FIRST_CONTACT): { + *id = MGMLIS3MDL::IDENTIFY_DEVICE; + break; + } + case(InternalState::STATE_SETUP): { + *id = MGMLIS3MDL::SETUP_MGM; + break; + } + case(InternalState::STATE_CHECK_REGISTERS): { + *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; + break; + } + default: { + /* might be a configuration error. */ +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" << + std::endl; +#else + sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n"); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ + return HasReturnvaluesIF::RETURN_OK; + } + + } + return buildCommandFromCommand(*id, NULL, 0); +} + +uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) { + command |= (1 << MGMLIS3MDL::RW_BIT); + if (continuousCom == true) { + command |= (1 << MGMLIS3MDL::MS_BIT); + } + return command; +} + +uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) { + command &= ~(1 << MGMLIS3MDL::RW_BIT); + if (continuousCom == true) { + command |= (1 << MGMLIS3MDL::MS_BIT); + } + return command; +} + +void MgmLIS3MDLHandler::setupMgm() { + + registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; + registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; + registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; + registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; + registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; + + prepareCtrlRegisterWrite(); +} + +ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand( + DeviceCommandId_t *id) { + // Data/config register will be read in an alternating manner. + if(communicationStep == CommunicationStep::DATA) { + *id = MGMLIS3MDL::READ_CONFIG_AND_DATA; + communicationStep = CommunicationStep::TEMPERATURE; + return buildCommandFromCommand(*id, NULL, 0); + } + else { + *id = MGMLIS3MDL::READ_TEMPERATURE; + communicationStep = CommunicationStep::DATA; + return buildCommandFromCommand(*id, NULL, 0); + } + +} + +ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(MGMLIS3MDL::READ_CONFIG_AND_DATA): { + std::memset(commandBuffer, 0, sizeof(commandBuffer)); + commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true); + + rawPacket = commandBuffer; + rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1; + return RETURN_OK; + } + case(MGMLIS3MDL::READ_TEMPERATURE): { + std::memset(commandBuffer, 0, 3); + commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true); + + rawPacket = commandBuffer; + rawPacketLen = 3; + return RETURN_OK; + } + case(MGMLIS3MDL::IDENTIFY_DEVICE): { + return identifyDevice(); + } + case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): { + return enableTemperatureSensor(commandData, commandDataLen); + } + case(MGMLIS3MDL::SETUP_MGM): { + setupMgm(); + return HasReturnvaluesIF::RETURN_OK; + } + case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { + return setOperatingMode(commandData, commandDataLen); + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; +} + +ReturnValue_t MgmLIS3MDLHandler::identifyDevice() { + uint32_t size = 2; + commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR); + commandBuffer[1] = 0x00; + + rawPacket = commandBuffer; + rawPacketLen = size; + + return RETURN_OK; +} + +ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, + size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { + *foundLen = len; + if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { + *foundLen = len; + *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; + // Check validity by checking config registers + if (start[1] != registers[0] or start[2] != registers[1] or + start[3] != registers[2] or start[4] != registers[3] or + start[5] != registers[4]) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl; +#else + sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n"); +#endif +#endif + return DeviceHandlerIF::INVALID_DATA; + } + if(mode == _MODE_START_UP) { + commandExecuted = true; + } + + } + else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) { + *foundLen = len; + *foundId = MGMLIS3MDL::READ_TEMPERATURE; + } + else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) { + *foundLen = len; + *foundId = MGMLIS3MDL::SETUP_MGM; + } + else if (len == SINGLE_COMMAND_ANSWER_LEN) { + *foundLen = len; + *foundId = getPendingCommand(); + if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) { + if(start[1] != MGMLIS3MDL::DEVICE_ID) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "MGMHandlerLIS3MDL::scanForReply: " + "Device identification failed!" << std::endl; +#else + sif::printWarning("MGMHandlerLIS3MDL::scanForReply: " + "Device identification failed!\n"); +#endif +#endif + return DeviceHandlerIF::INVALID_DATA; + } + + if(mode == _MODE_START_UP) { + commandExecuted = true; + } + } + } + else { + return DeviceHandlerIF::INVALID_DATA; + } + + /* Data with SPI Interface always has this answer */ + if (start[0] == 0b11111111) { + return RETURN_OK; + } + else { + return DeviceHandlerIF::INVALID_DATA; + } + +} +ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + + switch (id) { + case MGMLIS3MDL::IDENTIFY_DEVICE: { + break; + } + case MGMLIS3MDL::SETUP_MGM: { + break; + } + case MGMLIS3MDL::READ_CONFIG_AND_DATA: { + // TODO: Store configuration in new local datasets. + float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2])); + + int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ; + int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 + | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ; + + /* Target value in microtesla */ + float mgmX = static_cast(mgmMeasurementRawX) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + float mgmY = static_cast(mgmMeasurementRawY) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor + * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; + +#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 + if(debugDivider->checkAndIncrement()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "MGMHandlerLIS3: Magnetic field strength in" + " microtesla:" << std::endl; + sif::info << "X: " << mgmX << " uT" << std::endl; + sif::info << "Y: " << mgmY << " uT" << std::endl; + sif::info << "Z: " << mgmZ << " uT" << std::endl; +#else + sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); + sif::printInfo("X: %f uT\n", mgmX); + sif::printInfo("Y: %f uT\n", mgmY); + sif::printInfo("Z: %f uT\n", mgmZ); +#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ + } +#endif /* OBSW_VERBOSE_LEVEL >= 1 */ + PoolReadGuard readHelper(&dataset); + if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { + if(std::abs(mgmX) < absLimitX) { + dataset.fieldStrengthX = mgmX; + dataset.fieldStrengthX.setValid(true); + } + else { + dataset.fieldStrengthX.setValid(false); + } + + if(std::abs(mgmY) < absLimitY) { + dataset.fieldStrengthY = mgmY; + dataset.fieldStrengthY.setValid(true); + } + else { + dataset.fieldStrengthY.setValid(false); + } + + if(std::abs(mgmZ) < absLimitZ) { + dataset.fieldStrengthZ = mgmZ; + dataset.fieldStrengthZ.setValid(true); + } + else { + dataset.fieldStrengthZ.setValid(false); + } + } + break; + } + + case MGMLIS3MDL::READ_TEMPERATURE: { + int16_t tempValueRaw = packet[2] << 8 | packet[1]; + float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0); + #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 + if(debugDivider->check()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << + std::endl; +#else + sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); +#endif + } +#endif + ReturnValue_t result = dataset.read(); + if(result == HasReturnvaluesIF::RETURN_OK) { + dataset.temperature = tempValue; + dataset.commit(); + } + break; + } + + default: { + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + + } + return RETURN_OK; +} + +MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) { + bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set + bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set + + if (fs0Set && fs1Set) + return MGMLIS3MDL::Sensitivies::GAUSS_16; + else if (!fs0Set && fs1Set) + return MGMLIS3MDL::Sensitivies::GAUSS_12; + else if (fs0Set && !fs1Set) + return MGMLIS3MDL::Sensitivies::GAUSS_8; + else + return MGMLIS3MDL::Sensitivies::GAUSS_4; +} + +float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) { + switch(sens) { + case(MGMLIS3MDL::GAUSS_4): { + return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS; + } + case(MGMLIS3MDL::GAUSS_8): { + return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS; + } + case(MGMLIS3MDL::GAUSS_12): { + return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS; + } + case(MGMLIS3MDL::GAUSS_16): { + return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS; + } + default: { + // Should never happen + return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS; + } + } +} + + +ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor( + const uint8_t *commandData, size_t commandDataLen) { + triggerEvent(CHANGE_OF_SETUP_PARAMETER); + uint32_t size = 2; + commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1); + if (commandDataLen > 1) { + return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; + } + switch (*commandData) { + case (MGMLIS3MDL::ON): { + commandBuffer[1] = registers[0] | (1 << 7); + break; + } + case (MGMLIS3MDL::OFF): { + commandBuffer[1] = registers[0] & ~(1 << 7); + break; + } + default: + return INVALID_COMMAND_PARAMETER; + } + registers[0] = commandBuffer[1]; + + rawPacket = commandBuffer; + rawPacketLen = size; + + return RETURN_OK; +} + +ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData, + size_t commandDataLen) { + triggerEvent(CHANGE_OF_SETUP_PARAMETER); + if (commandDataLen != 1) { + return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; + } + + switch (commandData[0]) { + case MGMLIS3MDL::LOW: + registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0)); + registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0)); + break; + case MGMLIS3MDL::MEDIUM: + registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0); + registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0); + break; + + case MGMLIS3MDL::HIGH: + registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0)); + registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0)); + break; + + case MGMLIS3MDL::ULTRA: + registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0); + registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0); + break; + default: + break; + } + + return prepareCtrlRegisterWrite(); +} + +void MgmLIS3MDLHandler::fillCommandAndReplyMap() { + insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset); + insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1); + insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1); +} + +void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { + this->goToNormalMode = enable; +} + +ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() { + commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true); + + for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) { + commandBuffer[i + 1] = registers[i]; + } + rawPacket = commandBuffer; + rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1; + + // We dont have to check if this is working because we just did i + return RETURN_OK; +} + +void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { + +} + +uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { + return transitionDelay; +} + +void MgmLIS3MDLHandler::modeChanged(void) { + internalState = InternalState::STATE_NONE; +} + +ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, + new PoolEntry({0.0})); + localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, + new PoolEntry({0.0})); + return HasReturnvaluesIF::RETURN_OK; +} + +void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) { + this->absLimitX = xLimit; + this->absLimitY = yLimit; + this->absLimitZ = zLimit; +} diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h new file mode 100644 index 00000000..6bf89a49 --- /dev/null +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h @@ -0,0 +1,186 @@ +#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ +#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ + +#include "fsfw/FSFW.h" +#include "events/subsystemIdRanges.h" +#include "devicedefinitions/MgmLIS3HandlerDefs.h" + +#include "fsfw/devicehandlers/DeviceHandlerBase.h" + +class PeriodicOperationDivider; + +/** + * @brief Device handler object for the LIS3MDL 3-axis magnetometer + * by STMicroeletronics + * @details + * Datasheet can be found online by googling LIS3MDL. + * Flight manual: + * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM + * @author L. Loidold, R. Mueller + */ +class MgmLIS3MDLHandler: public DeviceHandlerBase { +public: + enum class CommunicationStep { + DATA, + TEMPERATURE + }; + + static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL; + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL; + //Notifies a command to change the setup parameters + static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW); + + MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie, + uint32_t transitionDelay); + virtual ~MgmLIS3MDLHandler(); + + /** + * Set the absolute limit for the values on the axis in microtesla. The dataset values will + * be marked as invalid if that limit is exceeded + * @param xLimit + * @param yLimit + * @param zLimit + */ + void setAbsoluteLimits(float xLimit, float yLimit, float zLimit); + void setToGoToNormalMode(bool enable); + +protected: + + /** DeviceHandlerBase overrides */ + void doShutDown() override; + void doStartUp() override; + void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; + virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; + ReturnValue_t buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t *commandData, + size_t commandDataLen) override; + ReturnValue_t buildTransitionDeviceCommand( + DeviceCommandId_t *id) override; + ReturnValue_t buildNormalDeviceCommand( + DeviceCommandId_t *id) override; + ReturnValue_t scanForReply(const uint8_t *start, size_t len, + DeviceCommandId_t *foundId, size_t *foundLen) override; + /** + * This implementation is tailored towards space applications and will flag values larger + * than 100 microtesla on X,Y and 150 microtesla on Z as invalid + * @param id + * @param packet + * @return + */ + virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) override; + void fillCommandAndReplyMap() override; + void modeChanged(void) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) override; + +private: + MGMLIS3MDL::MgmPrimaryDataset dataset; + //Length a single command SPI answer + static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; + + uint32_t transitionDelay; + // Single SPI command has 2 bytes, first for adress, second for content + size_t singleComandSize = 2; + // Has the size for all adresses of the lis3mdl + the continous write bit + uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1]; + + float absLimitX = 100; + float absLimitY = 100; + float absLimitZ = 150; + + /** + * We want to save the registers we set, so we dont have to read the + * registers when we want to change something. + * --> everytime we change set a register we have to save it + */ + uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS]; + + uint8_t statusRegister = 0; + bool goToNormalMode = false; + + enum class InternalState { + STATE_NONE, + STATE_FIRST_CONTACT, + STATE_SETUP, + STATE_CHECK_REGISTERS, + STATE_NORMAL + }; + + InternalState internalState = InternalState::STATE_NONE; + CommunicationStep communicationStep = CommunicationStep::DATA; + bool commandExecuted = false; + + /*------------------------------------------------------------------------*/ + /* Device specific commands and variables */ + /*------------------------------------------------------------------------*/ + /** + * Sets the read bit for the command + * @param single command to set the read-bit at + * @param boolean to select a continuous read bit, default = false + */ + uint8_t readCommand(uint8_t command, bool continuousCom = false); + + /** + * Sets the write bit for the command + * @param single command to set the write-bit at + * @param boolean to select a continuous write bit, default = false + */ + uint8_t writeCommand(uint8_t command, bool continuousCom = false); + + /** + * This Method gets the full scale for the measurement range + * e.g.: +- 4 gauss. See p.25 datasheet. + * @return The ReturnValue does not contain the sign of the value + */ + MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2); + + /** + * The 16 bit value needs to be multiplied with a sensitivity factor + * which depends on the sensitivity configuration + * + * @param sens Configured sensitivity of the LIS3 device + * @return Multiplication factor to get the sensor value from raw data. + */ + float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens); + + /** + * This Command detects the device ID + */ + ReturnValue_t identifyDevice(); + + virtual void setupMgm(); + + /*------------------------------------------------------------------------*/ + /* Non normal commands */ + /*------------------------------------------------------------------------*/ + /** + * Enables/Disables the integrated Temperaturesensor + * @param commandData On or Off + * @param length of the commandData: has to be 1 + */ + virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, + size_t commandDataLen); + + /** + * Sets the accuracy of the measurement of the axis. The noise is changing. + * @param commandData LOW, MEDIUM, HIGH, ULTRA + * @param length of the command, has to be 1 + */ + virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, + size_t commandDataLen); + + /** + * We always update all registers together, so this method updates + * the rawpacket and rawpacketLen, so we just manipulate the local + * saved register + * + */ + ReturnValue_t prepareCtrlRegisterWrite(); + +#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 + PeriodicOperationDivider* debugDivider; +#endif +}; + +#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */ diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp new file mode 100644 index 00000000..20cf95d2 --- /dev/null +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -0,0 +1,363 @@ +#include "MgmRM3100Handler.h" + +#include "fsfw/datapool/PoolReadGuard.h" +#include "fsfw/globalfunctions/bitutility.h" +#include "fsfw/devicehandlers/DeviceHandlerMessage.h" +#include "fsfw/objectmanager/SystemObjectIF.h" +#include "fsfw/returnvalues/HasReturnvaluesIF.h" + + +MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, + object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay): + DeviceHandlerBase(objectId, deviceCommunication, comCookie), + primaryDataset(this), transitionDelay(transitionDelay) { +#if FSFW_HAL_RM3100_MGM_DEBUG == 1 + debugDivider = new PeriodicOperationDivider(3); +#endif +} + +MgmRM3100Handler::~MgmRM3100Handler() {} + +void MgmRM3100Handler::doStartUp() { + switch(internalState) { + case(InternalState::NONE): { + internalState = InternalState::CONFIGURE_CMM; + break; + } + case(InternalState::CONFIGURE_CMM): { + internalState = InternalState::READ_CMM; + break; + } + case(InternalState::READ_CMM): { + if(commandExecuted) { + internalState = InternalState::STATE_CONFIGURE_TMRC; + } + break; + } + case(InternalState::STATE_CONFIGURE_TMRC): { + if(commandExecuted) { + internalState = InternalState::STATE_READ_TMRC; + } + break; + } + case(InternalState::STATE_READ_TMRC): { + if(commandExecuted) { + internalState = InternalState::NORMAL; + if(goToNormalModeAtStartup) { + setMode(MODE_NORMAL); + } + else { + setMode(_MODE_TO_ON); + } + } + break; + } + default: { + break; + } + } +} + +void MgmRM3100Handler::doShutDown() { + setMode(_MODE_POWER_DOWN); +} + +ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand( + DeviceCommandId_t *id) { + size_t commandLen = 0; + switch(internalState) { + case(InternalState::NONE): + case(InternalState::NORMAL): { + return NOTHING_TO_SEND; + } + case(InternalState::CONFIGURE_CMM): { + *id = RM3100::CONFIGURE_CMM; + break; + } + case(InternalState::READ_CMM): { + *id = RM3100::READ_CMM; + break; + } + case(InternalState::STATE_CONFIGURE_TMRC): { + commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE; + commandLen = 1; + *id = RM3100::CONFIGURE_TMRC; + break; + } + case(InternalState::STATE_READ_TMRC): { + *id = RM3100::READ_TMRC; + break; + } + default: + // Might be a configuration error + sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" << + std::endl; + return HasReturnvaluesIF::RETURN_OK; + } + + return buildCommandFromCommand(*id, commandBuffer, commandLen); +} + +ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t *commandData, size_t commandDataLen) { + switch(deviceCommand) { + case(RM3100::CONFIGURE_CMM): { + commandBuffer[0] = RM3100::CMM_REGISTER; + commandBuffer[1] = RM3100::CMM_VALUE; + rawPacket = commandBuffer; + rawPacketLen = 2; + break; + } + case(RM3100::READ_CMM): { + commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK; + commandBuffer[1] = 0; + rawPacket = commandBuffer; + rawPacketLen = 2; + break; + } + case(RM3100::CONFIGURE_TMRC): { + return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen); + } + case(RM3100::READ_TMRC): { + commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK; + commandBuffer[1] = 0; + rawPacket = commandBuffer; + rawPacketLen = 2; + break; + } + case(RM3100::CONFIGURE_CYCLE_COUNT): { + return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen); + } + case(RM3100::READ_CYCLE_COUNT): { + commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK; + std::memset(commandBuffer + 1, 0, 6); + rawPacket = commandBuffer; + rawPacketLen = 7; + break; + } + case(RM3100::READ_DATA): { + commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK; + std::memset(commandBuffer + 1, 0, 9); + rawPacketLen = 10; + break; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return RETURN_OK; +} + +ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand( + DeviceCommandId_t *id) { + *id = RM3100::READ_DATA; + return buildCommandFromCommand(*id, nullptr, 0); +} + +ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, + size_t len, DeviceCommandId_t *foundId, + size_t *foundLen) { + + // For SPI, ID will always be the one of the last sent command + *foundId = this->getPendingCommand(); + *foundLen = len; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + switch(id) { + case(RM3100::CONFIGURE_CMM): + case(RM3100::CONFIGURE_CYCLE_COUNT): + case(RM3100::CONFIGURE_TMRC): { + // We can only check whether write was successful with read operation + if(mode == _MODE_START_UP) { + commandExecuted = true; + } + break; + } + case(RM3100::READ_CMM): { + uint8_t cmmValue = packet[1]; + // We clear the seventh bit in any case + // because this one is zero sometimes for some reason + bitutil::bitClear(&cmmValue, 6); + if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) { + commandExecuted = true; + } + else { + // Attempt reconfiguration + internalState = InternalState::CONFIGURE_CMM; + return DeviceHandlerIF::DEVICE_REPLY_INVALID; + } + break; + } + case(RM3100::READ_TMRC): { + if(packet[1] == tmrcRegValue) { + commandExecuted = true; + // Reading TMRC was commanded. Trigger event to inform ground + if(mode != _MODE_START_UP) { + triggerEvent(tmrcSet, tmrcRegValue, 0); + } + } + else { + // Attempt reconfiguration + internalState = InternalState::STATE_CONFIGURE_TMRC; + return DeviceHandlerIF::DEVICE_REPLY_INVALID; + } + break; + } + case(RM3100::READ_CYCLE_COUNT): { + uint16_t cycleCountX = packet[1] << 8 | packet[2]; + uint16_t cycleCountY = packet[3] << 8 | packet[4]; + uint16_t cycleCountZ = packet[5] << 8 | packet[6]; + if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or + cycleCountZ != cycleCountRegValueZ) { + return DeviceHandlerIF::DEVICE_REPLY_INVALID; + } + // Reading TMRC was commanded. Trigger event to inform ground + if(mode != _MODE_START_UP) { + uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY; + triggerEvent(cycleCountersSet, eventParam1, cycleCountZ); + } + break; + } + case(RM3100::READ_DATA): { + result = handleDataReadout(packet); + break; + } + default: + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + + return result; +} + +ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, + const uint8_t *commandData, size_t commandDataLen) { + if(commandData == nullptr) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + // Set cycle count + if(commandDataLen == 2) { + handleCycleCommand(true, commandData, commandDataLen); + } + else if(commandDataLen == 6) { + handleCycleCommand(false, commandData, commandDataLen); + } + else { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE; + std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2); + std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2); + std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2); + rawPacketLen = 7; + rawPacket = commandBuffer; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, + const uint8_t *commandData, size_t commandDataLen) { + RM3100::CycleCountCommand command(oneCycleValue); + ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen, + SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + + // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." + if(command.cycleCountX > 450 ) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + cycleCountRegValueX = command.cycleCountX; + cycleCountRegValueY = command.cycleCountY; + cycleCountRegValueZ = command.cycleCountZ; + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, + const uint8_t *commandData, size_t commandDataLen) { + if(commandData == nullptr or commandDataLen != 1) { + return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; + } + + commandBuffer[0] = RM3100::TMRC_REGISTER; + commandBuffer[1] = commandData[0]; + tmrcRegValue = commandData[0]; + rawPacketLen = 2; + rawPacket = commandBuffer; + return HasReturnvaluesIF::RETURN_OK; +} + +void MgmRM3100Handler::fillCommandAndReplyMap() { + insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3); + insertInCommandAndReplyMap(RM3100::READ_CMM, 3); + + insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3); + insertInCommandAndReplyMap(RM3100::READ_TMRC, 3); + + insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3); + insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3); + + insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset); +} + +void MgmRM3100Handler::modeChanged(void) { + internalState = InternalState::NONE; +} + +ReturnValue_t MgmRM3100Handler::initializeLocalDataPool( + localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry({0.0})); + localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry({0.0})); + localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry({0.0})); + return HasReturnvaluesIF::RETURN_OK; +} + +uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) { + return this->transitionDelay; +} + +void MgmRM3100Handler::setToGoToNormalMode(bool enable) { + goToNormalModeAtStartup = enable; +} + +ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { + // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift + // trickery here to calculate the raw values first + int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8; + int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8; + int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8; + + // Now scale to physical value in microtesla + float fieldStrengthX = fieldStrengthRawX * scaleFactorX; + float fieldStrengthY = fieldStrengthRawY * scaleFactorX; + float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; + +#if FSFW_HAL_RM3100_MGM_DEBUG == 1 + if(debugDivider->checkAndIncrement()) { + sif::info << "MgmRM3100Handler: Magnetic field strength in" + " microtesla:" << std::endl; + /* Set terminal to utf-8 if there is an issue with micro printout. */ + sif::info << "X: " << fieldStrengthX << " uT" << std::endl; + sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; + sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; + } +#endif + + // TODO: Sanity check on values? + PoolReadGuard readGuard(&primaryDataset); + if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) { + primaryDataset.fieldStrengthX = fieldStrengthX; + primaryDataset.fieldStrengthY = fieldStrengthY; + primaryDataset.fieldStrengthZ = fieldStrengthZ; + primaryDataset.setValidity(true, true); + } + return RETURN_OK; +} diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h new file mode 100644 index 00000000..1ba680cb --- /dev/null +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h @@ -0,0 +1,111 @@ +#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_ +#define MISSION_DEVICES_MGMRM3100HANDLER_H_ + +#include "fsfw/FSFW.h" +#include "devices/powerSwitcherList.h" +#include "devicedefinitions/MgmRM3100HandlerDefs.h" +#include "fsfw/devicehandlers/DeviceHandlerBase.h" + +#if FSFW_HAL_RM3100_MGM_DEBUG == 1 +#include "fsfw/globalfunctions/PeriodicOperationDivider.h" +#endif + +/** + * @brief Device Handler for the RM3100 geomagnetic magnetometer sensor + * (https://www.pnicorp.com/rm3100/) + * @details + * Flight manual: + * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM + */ +class MgmRM3100Handler: public DeviceHandlerBase { +public: + static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100; + + //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0 + static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, + 0x00, severity::INFO); + + //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X + //! P1: Second two bytes new Cycle Count Y + //! P2: New cycle count Z + static constexpr Event cycleCountersSet = event::makeEvent( + SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO); + + MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, + CookieIF* comCookie, uint32_t transitionDelay); + virtual ~MgmRM3100Handler(); + + /** + * Configure device handler to go to normal mode after startup immediately + * @param enable + */ + void setToGoToNormalMode(bool enable); + +protected: + + /* DeviceHandlerBase overrides */ + ReturnValue_t buildTransitionDeviceCommand( + DeviceCommandId_t *id) override; + void doStartUp() override; + void doShutDown() override; + ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override; + ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t *commandData, size_t commandDataLen) override; + ReturnValue_t scanForReply(const uint8_t *start, size_t len, + DeviceCommandId_t *foundId, size_t *foundLen) override; + ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override; + + void fillCommandAndReplyMap() override; + void modeChanged(void) override; + virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, + LocalDataPoolManager &poolManager) override; + +private: + + enum class InternalState { + NONE, + CONFIGURE_CMM, + READ_CMM, + // The cycle count states are propably not going to be used because + // the default cycle count will be used. + STATE_CONFIGURE_CYCLE_COUNT, + STATE_READ_CYCLE_COUNT, + STATE_CONFIGURE_TMRC, + STATE_READ_TMRC, + NORMAL + }; + InternalState internalState = InternalState::NONE; + bool commandExecuted = false; + RM3100::Rm3100PrimaryDataset primaryDataset; + + uint8_t commandBuffer[10]; + uint8_t commandBufferLen = 0; + + uint8_t cmmRegValue = RM3100::CMM_VALUE; + uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE; + uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE; + uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE; + uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE; + float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN; + float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN; + float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN; + + bool goToNormalModeAtStartup = false; + uint32_t transitionDelay; + + ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, + const uint8_t *commandData,size_t commandDataLen); + ReturnValue_t handleCycleCommand(bool oneCycleValue, + const uint8_t *commandData, size_t commandDataLen); + + ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, + const uint8_t *commandData,size_t commandDataLen); + + ReturnValue_t handleDataReadout(const uint8_t* packet); +#if FSFW_HAL_RM3100_MGM_DEBUG == 1 + PeriodicOperationDivider* debugDivider; +#endif +}; + +#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */