From 1fb87db82e5e5cac6e1933f2fed5cf7066a0822e Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 15 May 2020 19:44:14 +0200 Subject: [PATCH 01/94] bugfix and additional functions --- tmtcpacket/SpacePacketBase.cpp | 3 ++- tmtcpacket/pus/TcPacketBase.cpp | 22 +++++++++++++++++----- tmtcpacket/pus/TcPacketBase.h | 20 +++++++++++++++++--- 3 files changed, 36 insertions(+), 9 deletions(-) diff --git a/tmtcpacket/SpacePacketBase.cpp b/tmtcpacket/SpacePacketBase.cpp index 13c062d8..a06c3a33 100644 --- a/tmtcpacket/SpacePacketBase.cpp +++ b/tmtcpacket/SpacePacketBase.cpp @@ -14,7 +14,8 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) { return (this->data->header.packet_id_h & 0b11100000) >> 5; } -void SpacePacketBase::initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) { +void SpacePacketBase::initSpacePacketHeader(bool isTelecommand, + bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) { //reset header to zero: memset(data,0, sizeof(this->data->header) ); //Set TC/TM bit. diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp index 0f3bd52e..b98cf136 100644 --- a/tmtcpacket/pus/TcPacketBase.cpp +++ b/tmtcpacket/pus/TcPacketBase.cpp @@ -28,7 +28,7 @@ const uint8_t* TcPacketBase::getApplicationData() const { return &tcData->data; } -uint16_t TcPacketBase::getApplicationDataSize() { +size_t TcPacketBase::getApplicationDataSize() { return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1; } @@ -46,9 +46,16 @@ void TcPacketBase::setErrorControl() { (&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL } -void TcPacketBase::setData(const uint8_t* p_Data) { - SpacePacketBase::setData(p_Data); - tcData = (TcPacketPointer*) p_Data; +void TcPacketBase::setData(const uint8_t* pData) { + SpacePacketBase::setData(pData); + tcData = (TcPacketPointer*) pData; +} + +void TcPacketBase::setApplicationData(const uint8_t * pData, size_t dataLen) { + SpacePacketBase::setData(pData); + tcData = (TcPacketPointer*) pData; + SpacePacketBase::setPacketDataLength(dataLen + + sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE-1); } uint8_t TcPacketBase::getSecondaryHeaderFlag() { @@ -72,7 +79,7 @@ void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice) { initSpacePacketHeader(true, true, apid, sequenceCount); memset(&tcData->data_field, 0, sizeof(tcData->data_field)); - setPacketDataLength(sizeof(tcData->data_field) + CRC_SIZE); + setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1); //Data Field Header: //Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000 tcData->data_field.version_type_ack = 0b00010000; @@ -80,3 +87,8 @@ void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount, tcData->data_field.service_type = service; tcData->data_field.service_subtype = subservice; } + +size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) { + return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) + + appDataLen + TcPacketBase::CRC_SIZE; +} diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h index e6e6bdad..69c64b87 100644 --- a/tmtcpacket/pus/TcPacketBase.h +++ b/tmtcpacket/pus/TcPacketBase.h @@ -2,6 +2,7 @@ #define TCPACKETBASE_H_ #include +#include /** * This struct defines a byte-wise structured PUS TC Data Field Header. @@ -99,7 +100,8 @@ public: * @param service PUS Service * @param subservice PUS Subservice */ - void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice); + void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, + uint8_t service, uint8_t subservice); /** * This command returns the CCSDS Secondary Header Flag. * It shall always be zero for PUS Packets. This is the @@ -151,7 +153,7 @@ public: * @return The size of the PUS Application Data (without Error Control * field) */ - uint16_t getApplicationDataSize(); + size_t getApplicationDataSize(); /** * This getter returns the Error Control Field of the packet. * @@ -175,12 +177,24 @@ public: * * @param p_data A pointer to another PUS Telecommand Packet. */ - void setData( const uint8_t* p_data ); + void setData( const uint8_t* pData ); + /** + * Set application data and corresponding length field. + * @param pData + * @param dataLen + */ + void setApplicationData(const uint8_t * pData, size_t dataLen); /** * This is a debugging helper method that prints the whole packet content * to the screen. */ void print(); + /** + * Calculate full packet length from application data length. + * @param appDataLen + * @return + */ + static size_t calculateFullPacketLength(size_t appDataLen); }; From eb5832180b18b5c789ba66c309e5aa5d3771dbc0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 15 May 2020 19:51:39 +0200 Subject: [PATCH 02/94] size_t uint16_t corrections --- tmtcpacket/SpacePacketBase.cpp | 2 +- tmtcpacket/SpacePacketBase.h | 5 +++-- tmtcpacket/pus/TcPacketBase.cpp | 2 +- tmtcpacket/pus/TcPacketBase.h | 2 +- 4 files changed, 6 insertions(+), 5 deletions(-) diff --git a/tmtcpacket/SpacePacketBase.cpp b/tmtcpacket/SpacePacketBase.cpp index a06c3a33..b9ae0684 100644 --- a/tmtcpacket/SpacePacketBase.cpp +++ b/tmtcpacket/SpacePacketBase.cpp @@ -82,7 +82,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) { this->data->header.packet_length_l = ( new_length & 0x00FF ); } -uint32_t SpacePacketBase::getFullSize() { +size_t SpacePacketBase::getFullSize() { //+1 is done because size in packet data length field is: size of data field -1 return this->getPacketDataLength() + sizeof(this->data->header) + 1; } diff --git a/tmtcpacket/SpacePacketBase.h b/tmtcpacket/SpacePacketBase.h index cc68f714..57a5df9c 100644 --- a/tmtcpacket/SpacePacketBase.h +++ b/tmtcpacket/SpacePacketBase.h @@ -2,9 +2,10 @@ #define SPACEPACKETBASE_H_ #include +#include /** - * \defgroup tmtcpackets Space Packets + * @defgroup tmtcpackets Space Packets * This is the group, where all classes associated with Telecommand and * Telemetry packets belong to. * The class hierarchy resembles the dependency between the different standards @@ -167,7 +168,7 @@ public: * This method returns the full raw packet size. * @return The full size of the packet in bytes. */ - uint32_t getFullSize(); + size_t getFullSize(); uint32_t getApidAndSequenceCount() const; diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp index b98cf136..4ef50c0d 100644 --- a/tmtcpacket/pus/TcPacketBase.cpp +++ b/tmtcpacket/pus/TcPacketBase.cpp @@ -51,7 +51,7 @@ void TcPacketBase::setData(const uint8_t* pData) { tcData = (TcPacketPointer*) pData; } -void TcPacketBase::setApplicationData(const uint8_t * pData, size_t dataLen) { +void TcPacketBase::setApplicationData(const uint8_t * pData, uint16_t dataLen) { SpacePacketBase::setData(pData); tcData = (TcPacketPointer*) pData; SpacePacketBase::setPacketDataLength(dataLen + diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h index 69c64b87..c8342896 100644 --- a/tmtcpacket/pus/TcPacketBase.h +++ b/tmtcpacket/pus/TcPacketBase.h @@ -183,7 +183,7 @@ public: * @param pData * @param dataLen */ - void setApplicationData(const uint8_t * pData, size_t dataLen); + void setApplicationData(const uint8_t * pData, uint16_t dataLen); /** * This is a debugging helper method that prints the whole packet content * to the screen. From 1c967d473933a3262ac9f74a0bdc1914d54b6aeb Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 15 May 2020 19:56:21 +0200 Subject: [PATCH 03/94] app data size uint16_t --- tmtcpacket/pus/TcPacketBase.cpp | 2 +- tmtcpacket/pus/TcPacketBase.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp index 4ef50c0d..f8dba79f 100644 --- a/tmtcpacket/pus/TcPacketBase.cpp +++ b/tmtcpacket/pus/TcPacketBase.cpp @@ -28,7 +28,7 @@ const uint8_t* TcPacketBase::getApplicationData() const { return &tcData->data; } -size_t TcPacketBase::getApplicationDataSize() { +uint16_t TcPacketBase::getApplicationDataSize() { return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1; } diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h index c8342896..136aaa0b 100644 --- a/tmtcpacket/pus/TcPacketBase.h +++ b/tmtcpacket/pus/TcPacketBase.h @@ -153,7 +153,7 @@ public: * @return The size of the PUS Application Data (without Error Control * field) */ - size_t getApplicationDataSize(); + uint16_t getApplicationDataSize(); /** * This getter returns the Error Control Field of the packet. * From 4819bad402e7a6b1c596aeff89c630e60bfeeaf1 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 15 May 2020 20:01:11 +0200 Subject: [PATCH 04/94] addtional comment --- tmtcpacket/pus/TcPacketBase.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp index f8dba79f..0972ffff 100644 --- a/tmtcpacket/pus/TcPacketBase.cpp +++ b/tmtcpacket/pus/TcPacketBase.cpp @@ -52,10 +52,10 @@ void TcPacketBase::setData(const uint8_t* pData) { } void TcPacketBase::setApplicationData(const uint8_t * pData, uint16_t dataLen) { - SpacePacketBase::setData(pData); - tcData = (TcPacketPointer*) pData; + setData(pData); + // packet data length is actual size of data field minus 1 SpacePacketBase::setPacketDataLength(dataLen + - sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE-1); + sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE - 1); } uint8_t TcPacketBase::getSecondaryHeaderFlag() { From 7bc7e06277b95a3ee39ecc6339daa359b1cdfb4b Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 18 May 2020 16:41:37 +0200 Subject: [PATCH 05/94] added reordering of ctor arguments --- tmtcpacket/pus/TcPacketStored.cpp | 18 +++++++++--------- tmtcpacket/pus/TcPacketStored.h | 4 +++- 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp index 81eb7f99..57b90bcc 100644 --- a/tmtcpacket/pus/TcPacketStored.cpp +++ b/tmtcpacket/pus/TcPacketStored.cpp @@ -1,22 +1,22 @@ #include #include #include -#include +#include TcPacketStored::TcPacketStored(store_address_t setAddress) : - TcPacketBase(NULL), storeAddress(setAddress) { + TcPacketBase(nullptr), storeAddress(setAddress) { this->setStoreAddress(this->storeAddress); } -TcPacketStored::TcPacketStored(uint16_t apid, uint8_t ack, uint8_t service, - uint8_t subservice, uint8_t sequence_count, const uint8_t* data, - uint32_t size) : - TcPacketBase(NULL) { +TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice, + uint16_t apid, uint8_t sequence_count, const uint8_t* data, + size_t size, uint8_t ack ) : + TcPacketBase(nullptr) { this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; if (!this->checkAndSetStore()) { return; } - uint8_t* p_data = NULL; + uint8_t* p_data = nullptr; ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &p_data); if (returnValue != this->store->RETURN_OK) { @@ -59,7 +59,7 @@ bool TcPacketStored::checkAndSetStore() { void TcPacketStored::setStoreAddress(store_address_t setAddress) { this->storeAddress = setAddress; const uint8_t* temp_data = NULL; - uint32_t temp_size; + size_t temp_size; ReturnValue_t status = StorageManagerIF::RETURN_FAILED; if (this->checkAndSetStore()) { status = this->store->getData(this->storeAddress, &temp_data, @@ -79,7 +79,7 @@ store_address_t TcPacketStored::getStoreAddress() { bool TcPacketStored::isSizeCorrect() { const uint8_t* temp_data = NULL; - uint32_t temp_size; + size_t temp_size; ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data, &temp_size); if (status == StorageManagerIF::RETURN_OK) { diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h index c57f0e0f..a9c49c2e 100644 --- a/tmtcpacket/pus/TcPacketStored.h +++ b/tmtcpacket/pus/TcPacketStored.h @@ -64,7 +64,9 @@ public: * @param data The data to be copied to the Application Data Field. * @param size The amount of data to be copied. */ - TcPacketStored( uint16_t apid, uint8_t ack, uint8_t service, uint8_t subservice, uint8_t sequence_count = 0, const uint8_t* data = NULL, uint32_t size = 0 ); + TcPacketStored( uint8_t service, uint8_t subservice, uint16_t apid, + uint8_t sequence_count = 0, const uint8_t* data = nullptr, + size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL ); /** * Another constructor to create a TcPacket from a raw packet stream. * Takes the data and adds it unchecked to the TcStore. From 483a47d353219a4a6af1fd36c08ddd55a2bcf3d4 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 19 May 2020 18:55:13 +0200 Subject: [PATCH 06/94] some renamings --- tmtcpacket/pus/TcPacketBase.cpp | 30 +++++++++++++++--------------- tmtcpacket/pus/TcPacketBase.h | 4 ++-- tmtcpacket/pus/TcPacketStored.cpp | 2 +- 3 files changed, 18 insertions(+), 18 deletions(-) diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp index 0972ffff..32caf5bb 100644 --- a/tmtcpacket/pus/TcPacketBase.cpp +++ b/tmtcpacket/pus/TcPacketBase.cpp @@ -13,28 +13,28 @@ TcPacketBase::~TcPacketBase() { } uint8_t TcPacketBase::getService() { - return tcData->data_field.service_type; + return tcData->dataField.service_type; } uint8_t TcPacketBase::getSubService() { - return tcData->data_field.service_subtype; + return tcData->dataField.service_subtype; } uint8_t TcPacketBase::getAcknowledgeFlags() { - return tcData->data_field.version_type_ack & 0b00001111; + return tcData->dataField.version_type_ack & 0b00001111; } const uint8_t* TcPacketBase::getApplicationData() const { - return &tcData->data; + return &tcData->appData; } uint16_t TcPacketBase::getApplicationDataSize() { - return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1; + return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1; } uint16_t TcPacketBase::getErrorControl() { uint16_t size = getApplicationDataSize() + CRC_SIZE; - uint8_t* p_to_buffer = &tcData->data; + uint8_t* p_to_buffer = &tcData->appData; return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1]; } @@ -42,8 +42,8 @@ void TcPacketBase::setErrorControl() { uint32_t full_size = getFullSize(); uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE); uint32_t size = getApplicationDataSize(); - (&tcData->data)[size] = (crc & 0XFF00) >> 8; // CRCH - (&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL + (&tcData->appData)[size] = (crc & 0XFF00) >> 8; // CRCH + (&tcData->appData)[size + 1] = (crc) & 0X00FF; // CRCL } void TcPacketBase::setData(const uint8_t* pData) { @@ -59,11 +59,11 @@ void TcPacketBase::setApplicationData(const uint8_t * pData, uint16_t dataLen) { } uint8_t TcPacketBase::getSecondaryHeaderFlag() { - return (tcData->data_field.version_type_ack & 0b10000000) >> 7; + return (tcData->dataField.version_type_ack & 0b10000000) >> 7; } uint8_t TcPacketBase::getPusVersionNumber() { - return (tcData->data_field.version_type_ack & 0b01110000) >> 4; + return (tcData->dataField.version_type_ack & 0b01110000) >> 4; } void TcPacketBase::print() { @@ -78,14 +78,14 @@ void TcPacketBase::print() { void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice) { initSpacePacketHeader(true, true, apid, sequenceCount); - memset(&tcData->data_field, 0, sizeof(tcData->data_field)); + memset(&tcData->dataField, 0, sizeof(tcData->dataField)); setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1); //Data Field Header: //Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000 - tcData->data_field.version_type_ack = 0b00010000; - tcData->data_field.version_type_ack |= (ack & 0x0F); - tcData->data_field.service_type = service; - tcData->data_field.service_subtype = subservice; + tcData->dataField.version_type_ack = 0b00010000; + tcData->dataField.version_type_ack |= (ack & 0x0F); + tcData->dataField.service_type = service; + tcData->dataField.service_subtype = subservice; } size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) { diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h index 136aaa0b..9b858bd9 100644 --- a/tmtcpacket/pus/TcPacketBase.h +++ b/tmtcpacket/pus/TcPacketBase.h @@ -24,8 +24,8 @@ struct PUSTcDataFieldHeader { */ struct TcPacketPointer { CCSDSPrimaryHeader primary; - PUSTcDataFieldHeader data_field; - uint8_t data; + PUSTcDataFieldHeader dataField; + uint8_t appData; }; /** diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp index 57b90bcc..47cf2ecd 100644 --- a/tmtcpacket/pus/TcPacketStored.cpp +++ b/tmtcpacket/pus/TcPacketStored.cpp @@ -24,7 +24,7 @@ TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice, } this->setData(p_data); initializeTcPacket(apid, sequence_count, ack, service, subservice); - memcpy(&tcData->data, data, size); + memcpy(&tcData->appData, data, size); this->setPacketDataLength( size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1); this->setErrorControl(); From 7bc29fc2d5c90e3f2ce9888e39cb4fcf7f380771 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 19 May 2020 19:00:33 +0200 Subject: [PATCH 07/94] souce data setter function --- tmtcpacket/pus/TmPacketBase.cpp | 5 +++++ tmtcpacket/pus/TmPacketBase.h | 7 +++++++ 2 files changed, 12 insertions(+) diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp index a7bda5af..a2c27ce1 100644 --- a/tmtcpacket/pus/TmPacketBase.cpp +++ b/tmtcpacket/pus/TmPacketBase.cpp @@ -102,6 +102,11 @@ void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t su } } +void TmPacketBase::setSourceData(uint8_t* sourceData, size_t sourceSize) { + memcpy(getSourceData(), sourceData, sourceSize); + setSourceDataSize(sourceSize); +} + void TmPacketBase::setSourceDataSize(uint16_t size) { setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1); } diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h index d03beba5..583a5495 100644 --- a/tmtcpacket/pus/TmPacketBase.h +++ b/tmtcpacket/pus/TmPacketBase.h @@ -125,6 +125,13 @@ public: * current content of the packet. */ void setErrorControl(); + /** + * This sets the source data. It copies the provided data to + * the internal TmPacketPointer. + * @param sourceData + * @param sourceSize + */ + void setSourceData(uint8_t* sourceData, size_t sourceSize); /** * With this method, the packet data pointer can be redirected to another * location. From 730c7151202160afceac06792d151cc10a698ee4 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 19 May 2020 19:01:25 +0200 Subject: [PATCH 08/94] doc improved --- tmtcpacket/pus/TmPacketBase.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h index 583a5495..6f3c4b59 100644 --- a/tmtcpacket/pus/TmPacketBase.h +++ b/tmtcpacket/pus/TmPacketBase.h @@ -127,7 +127,7 @@ public: void setErrorControl(); /** * This sets the source data. It copies the provided data to - * the internal TmPacketPointer. + * the internal TmPacketPointer source data location. * @param sourceData * @param sourceSize */ From 331b36fe18024698912910d13bf2a3d6c3580889 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 19 May 2020 19:05:17 +0200 Subject: [PATCH 09/94] fixed setAppData function --- tmtcpacket/pus/TcPacketBase.cpp | 7 +++---- tmtcpacket/pus/TcPacketBase.h | 15 +++++++++------ 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp index 32caf5bb..733c36df 100644 --- a/tmtcpacket/pus/TcPacketBase.cpp +++ b/tmtcpacket/pus/TcPacketBase.cpp @@ -51,11 +51,10 @@ void TcPacketBase::setData(const uint8_t* pData) { tcData = (TcPacketPointer*) pData; } -void TcPacketBase::setApplicationData(const uint8_t * pData, uint16_t dataLen) { - setData(pData); - // packet data length is actual size of data field minus 1 +void TcPacketBase::setAppData(uint8_t * appData, uint16_t dataLen) { + memcpy(&tcData->appData, appData, dataLen); SpacePacketBase::setPacketDataLength(dataLen + - sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE - 1); + sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE - 1); } uint8_t TcPacketBase::getSecondaryHeaderFlag() { diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h index 9b858bd9..73076176 100644 --- a/tmtcpacket/pus/TcPacketBase.h +++ b/tmtcpacket/pus/TcPacketBase.h @@ -168,6 +168,14 @@ public: * current content of the packet. */ void setErrorControl(); + + /** + * Copies the supplied data to the internal TC application data field. + * @param pData + * @param dataLen + */ + void setAppData(uint8_t * appData, uint16_t dataLen); + /** * With this method, the packet data pointer can be redirected to another * location. @@ -178,12 +186,7 @@ public: * @param p_data A pointer to another PUS Telecommand Packet. */ void setData( const uint8_t* pData ); - /** - * Set application data and corresponding length field. - * @param pData - * @param dataLen - */ - void setApplicationData(const uint8_t * pData, uint16_t dataLen); + /** * This is a debugging helper method that prints the whole packet content * to the screen. From ca10020f190783821077ee281d7f1c56284fa6ab Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 19 May 2020 20:29:37 +0200 Subject: [PATCH 10/94] added getter function for tc packet stored --- tmtcpacket/pus/TcPacketStored.cpp | 12 ++++++++++++ tmtcpacket/pus/TcPacketStored.h | 13 +++++++++++-- 2 files changed, 23 insertions(+), 2 deletions(-) diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp index 47cf2ecd..64aa74dc 100644 --- a/tmtcpacket/pus/TcPacketStored.cpp +++ b/tmtcpacket/pus/TcPacketStored.cpp @@ -1,6 +1,7 @@ #include #include #include + #include TcPacketStored::TcPacketStored(store_address_t setAddress) : @@ -20,6 +21,8 @@ TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice, ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &p_data); if (returnValue != this->store->RETURN_OK) { + sif::warning << "TcPacketStored: Could not get free element from store!" + << std::endl; return; } this->setData(p_data); @@ -30,6 +33,15 @@ TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice, this->setErrorControl(); } +ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr, + size_t* dataSize) { + auto result = this->store->getData(storeAddress, dataPtr, dataSize); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::warning << "TcPacketStored: Could not get data!" << std::endl; + } + return result; +} + TcPacketStored::TcPacketStored() : TcPacketBase(NULL) { this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS; diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h index a9c49c2e..4ce95ddd 100644 --- a/tmtcpacket/pus/TcPacketStored.h +++ b/tmtcpacket/pus/TcPacketStored.h @@ -74,10 +74,19 @@ public: * @param Size size of the packet. */ TcPacketStored( const uint8_t* data, uint32_t size); + + /** + * Getter function for the raw data. + * @param dataPtr [out] Pointer to the data pointer to set + * @param dataSize [out] Address of size to set. + * @return -@c RETURN_OK if data was retrieved successfully. + */ + ReturnValue_t getData(const uint8_t ** dataPtr, + size_t* dataSize); /** * This is a getter for the current store address of the packet. - * @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if - * the packet is not linked. + * @return The current store address. The (raw) value is + * @c StorageManagerIF::INVALID_ADDRESS if the packet is not linked. */ store_address_t getStoreAddress(); /** From a9975f5aefe3698149b5f9b47e0b193007fb399a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sun, 6 Sep 2020 15:46:49 +0200 Subject: [PATCH 11/94] added new windows udp bridge --- fsfw.mk | 16 +++ osal/windows/TcWinUdpPollingTask.cpp | 148 ++++++++++++++++++++++ osal/windows/TcWinUdpPollingTask.h | 67 ++++++++++ osal/windows/TmTcWinUdpBridge.cpp | 176 +++++++++++++++++++++++++++ osal/windows/TmTcWinUdpBridge.h | 49 ++++++++ 5 files changed, 456 insertions(+) create mode 100644 osal/windows/TcWinUdpPollingTask.cpp create mode 100644 osal/windows/TcWinUdpPollingTask.h create mode 100644 osal/windows/TmTcWinUdpBridge.cpp create mode 100644 osal/windows/TmTcWinUdpBridge.h diff --git a/fsfw.mk b/fsfw.mk index c2c6e747..c5847554 100644 --- a/fsfw.mk +++ b/fsfw.mk @@ -9,6 +9,9 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) @@ -28,12 +31,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp) # select the OS ifeq ($(OS_FSFW),rtems) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp) + else ifeq ($(OS_FSFW),linux) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp) + else ifeq ($(OS_FSFW),freeRTOS) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp) + else ifeq ($(OS_FSFW),host) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp) +ifeq ($(OS),Windows_NT) +CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp) +else +# For now, the linux UDP bridge sources needs to be included manually by upper makefile +# for host OS because we can't be sure the OS is linux. +# Following lines can be used to do this: +# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp +# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp +endif + else $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host) endif diff --git a/osal/windows/TcWinUdpPollingTask.cpp b/osal/windows/TcWinUdpPollingTask.cpp new file mode 100644 index 00000000..7b54bb2c --- /dev/null +++ b/osal/windows/TcWinUdpPollingTask.cpp @@ -0,0 +1,148 @@ +#include "TcWinUdpPollingTask.h" +#include "../../globalfunctions/arrayprinter.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" + +#include +#include + +TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId, + object_id_t tmtcUnixUdpBridge, size_t frameSize, + double timeoutSeconds): SystemObject(objectId), + tmtcBridgeId(tmtcUnixUdpBridge) { + if(frameSize > 0) { + this->frameSize = frameSize; + } + else { + this->frameSize = DEFAULT_MAX_FRAME_SIZE; + } + + // Set up reception buffer with specified frame size. + // For now, it is assumed that only one frame is held in the buffer! + receptionBuffer.reserve(this->frameSize); + receptionBuffer.resize(this->frameSize); + + if(timeoutSeconds == -1) { + receptionTimeout = DEFAULT_TIMEOUT; + } + else { + receptionTimeout = timevalOperations::toTimeval(timeoutSeconds); + } +} + +TcWinUdpPollingTask::~TcWinUdpPollingTask() {} + +ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) { + // Poll for new UDP datagrams in permanent loop. + while(true) { + //! Sender Address is cached here. + struct sockaddr_in senderAddress; + int senderAddressSize = sizeof(senderAddress); + ssize_t bytesReceived = recvfrom(serverUdpSocket, + reinterpret_cast(receptionBuffer.data()), frameSize, + receptionFlags, reinterpret_cast(&senderAddress), + &senderAddressSize); + if(bytesReceived == SOCKET_ERROR) { + // handle error + sif::error << "TcWinUdpPollingTask::performOperation: Reception" + " error." << std::endl; + handleReadError(); + continue; + } + //sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived + // << " bytes received" << std::endl; + + ReturnValue_t result = handleSuccessfullTcRead(bytesReceived); + if(result != HasReturnvaluesIF::RETURN_FAILED) { + + } + tmtcBridge->registerCommConnect(); + tmtcBridge->checkAndSetClientAddress(senderAddress); + } + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) { + store_address_t storeId; + ReturnValue_t result = tcStore->addData(&storeId, + receptionBuffer.data(), bytesRead); + // arrayprinter::print(receptionBuffer.data(), bytesRead); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data " + "storage failed" << std::endl; + sif::error << "Packet size: " << bytesRead << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + TmTcMessage message(storeId); + + result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Serial Polling: Sending message to queue failed" + << std::endl; + tcStore->deleteData(storeId); + } + return result; +} + +ReturnValue_t TcWinUdpPollingTask::initialize() { + tcStore = objectManager->get(objects::TC_STORE); + if (tcStore == nullptr) { + sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!" + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + tmtcBridge = objectManager->get(tmtcBridgeId); + if(tmtcBridge == nullptr) { + sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid" + " TMTC bridge object!" << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + serverUdpSocket = tmtcBridge->serverSocket; + //sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket " + // << serverUdpSocket << std::endl; + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() { + // Initialize the destination after task creation. This ensures + // that the destination has already been set in the TMTC bridge. + targetTcDestination = tmtcBridge->getRequestQueue(); + return HasReturnvaluesIF::RETURN_OK; +} + +void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) { + DWORD timeoutMs = timeoutSeconds * 1000.0; + int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO, + reinterpret_cast(&timeoutMs), sizeof(DWORD)); + if(result == -1) { + sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting " + "receive timeout failed with " << strerror(errno) << std::endl; + } +} + +void TcWinUdpPollingTask::handleReadError() { + int error = WSAGetLastError(); + switch(error) { + case(WSANOTINITIALISED): { + sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: " + << "WSAStartup(...) call " << "necessary" << std::endl; + break; + } + case(WSAEFAULT): { + sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: " + << "Bad address " << std::endl; + break; + } + default: { + sif::info << "TmTcWinUdpBridge::handleReadError: Error code: " + << error << std::endl; + break; + } + } + // to prevent spam. + Sleep(1000); +} diff --git a/osal/windows/TcWinUdpPollingTask.h b/osal/windows/TcWinUdpPollingTask.h new file mode 100644 index 00000000..50d39d25 --- /dev/null +++ b/osal/windows/TcWinUdpPollingTask.h @@ -0,0 +1,67 @@ +#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_ +#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_ + +#include "TmTcWinUdpBridge.h" +#include "../../objectmanager/SystemObject.h" +#include "../../tasks/ExecutableObjectIF.h" +#include "../../storagemanager/StorageManagerIF.h" + +#include + +/** + * @brief This class can be used to implement the polling of a Unix socket, + * using UDP for now. + * @details + * The task will be blocked while the specified number of bytes has not been + * received, so TC reception is handled inside a separate task. + * This class caches the IP address of the sender. It is assumed there + * is only one sender for now. + */ +class TcWinUdpPollingTask: public SystemObject, + public ExecutableObjectIF { + friend class TmTcWinUdpBridge; +public: + static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048; + //! 0.5 default milliseconds timeout for now. + static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500}; + + TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge, + size_t frameSize = 0, double timeoutSeconds = -1); + virtual~ TcWinUdpPollingTask(); + + /** + * Turn on optional timeout for UDP polling. In the default mode, + * the receive function will block until a packet is received. + * @param timeoutSeconds + */ + void setTimeout(double timeoutSeconds); + + virtual ReturnValue_t performOperation(uint8_t opCode) override; + virtual ReturnValue_t initialize() override; + virtual ReturnValue_t initializeAfterTaskCreation() override; + +protected: + StorageManagerIF* tcStore = nullptr; + +private: + //! TMTC bridge is cached. + object_id_t tmtcBridgeId = objects::NO_OBJECT; + TmTcWinUdpBridge* tmtcBridge = nullptr; + MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE; + //! Reception flags: https://linux.die.net/man/2/recvfrom. + int receptionFlags = 0; + + //! Server socket, which is member of TMTC bridge and is assigned in + //! constructor + SOCKET serverUdpSocket = 0; + + std::vector receptionBuffer; + + size_t frameSize = 0; + timeval receptionTimeout; + + ReturnValue_t handleSuccessfullTcRead(size_t bytesRead); + void handleReadError(); +}; + +#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */ diff --git a/osal/windows/TmTcWinUdpBridge.cpp b/osal/windows/TmTcWinUdpBridge.cpp new file mode 100644 index 00000000..7e283c2a --- /dev/null +++ b/osal/windows/TmTcWinUdpBridge.cpp @@ -0,0 +1,176 @@ +#include +#include "TmTcWinUdpBridge.h" + +TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, + object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId, + uint16_t serverPort, uint16_t clientPort): + TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { + mutex = MutexFactory::instance()->createMutex(); + + // Initiates Winsock DLL. + WSAData wsaData; + WORD wVersionRequested = MAKEWORD(2, 2); + int err = WSAStartup(wVersionRequested, &wsaData); + if (err != 0) { + /* Tell the user that we could not find a usable */ + /* Winsock DLL. */ + sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:" + "WSAStartup failed with error: " << err << std::endl; + return; + } + + uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT; + if(serverPort != 0xFFFF) { + setServerPort = serverPort; + } + + uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT; + if(clientPort != 0xFFFF) { + setClientPort = clientPort; + } + + // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html + //clientSocket = socket(AF_INET, SOCK_DGRAM, 0); + serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); + if(serverSocket == INVALID_SOCKET) { + sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open" + " UDP socket!" << std::endl; + handleSocketError(); + return; + } + + serverAddress.sin_family = AF_INET; + + // Accept packets from any interface. (potentially insecure). + serverAddress.sin_addr.s_addr = htonl(INADDR_ANY); + serverAddress.sin_port = htons(setServerPort); + serverAddressLen = sizeof(serverAddress); + setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, + reinterpret_cast(&serverSocketOptions), + sizeof(serverSocketOptions)); + + clientAddress.sin_family = AF_INET; + clientAddress.sin_addr.s_addr = htonl(INADDR_ANY); + clientAddress.sin_port = htons(setClientPort); + clientAddressLen = sizeof(clientAddress); + + int result = bind(serverSocket, + reinterpret_cast(&serverAddress), + serverAddressLen); + if(result != 0) { + sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind " + "local port " << setServerPort << " to server socket!" + << std::endl; + handleBindError(); + } +} + +TmTcWinUdpBridge::~TmTcWinUdpBridge() { + WSACleanup(); +} + +ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) { + int flags = 0; + + //clientAddress.sin_addr.s_addr = htons(INADDR_ANY); + //clientAddressLen = sizeof(serverAddress); + +// char ipAddress [15]; +// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, +// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; + + ssize_t bytesSent = sendto(serverSocket, + reinterpret_cast(data), dataLen, flags, + reinterpret_cast(&clientAddress), clientAddressLen); + if(bytesSent == SOCKET_ERROR) { + sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed." + << std::endl; + handleSendError(); + } +// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were" +// " sent." << std::endl; + return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; +} + +void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) { + MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10); + +// char ipAddress [15]; +// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, +// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +// sif::debug << "IP Address Old: " << inet_ntop(AF_INET, +// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; + + // Set new IP address if it has changed. + if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) { + clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr; + clientAddressLen = sizeof(clientAddress); + } +} + +void TmTcWinUdpBridge::handleSocketError() { + int errCode = WSAGetLastError(); + switch(errCode) { + case(WSANOTINITIALISED): { + sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: " + << "WSAStartup(...) call " << "necessary" << std::endl; + break; + } + default: { + /* + https://docs.microsoft.com/en-us/windows/win32/winsock/ + windows-sockets-error-codes-2 + */ + sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: " + << errCode << std::endl; + break; + } + } +} + +void TmTcWinUdpBridge::handleBindError() { + int errCode = WSAGetLastError(); + switch(errCode) { + case(WSANOTINITIALISED): { + sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: " + << "WSAStartup(...) call " << "necessary" << std::endl; + break; + } + default: { + /* + https://docs.microsoft.com/en-us/windows/win32/winsock/ + windows-sockets-error-codes-2 + */ + sif::info << "TmTcWinUdpBridge::handleBindError: Error code: " + << errCode << std::endl; + break; + } + } +} + +void TmTcWinUdpBridge::handleSendError() { + int errCode = WSAGetLastError(); + switch(errCode) { + case(WSANOTINITIALISED): { + sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: " + << "WSAStartup(...) call " << "necessary" << std::endl; + break; + } + case(WSAEADDRNOTAVAIL): { + sif::info << "TmTcWinUdpBridge::handleReadError: WSAEADDRNOTAVAIL: " + << "Check target address. " << std::endl; + break; + } + default: { + /* + https://docs.microsoft.com/en-us/windows/win32/winsock/ + windows-sockets-error-codes-2 + */ + sif::info << "TmTcWinUdpBridge::handleSendError: Error code: " + << errCode << std::endl; + break; + } + } +} + diff --git a/osal/windows/TmTcWinUdpBridge.h b/osal/windows/TmTcWinUdpBridge.h new file mode 100644 index 00000000..8188039c --- /dev/null +++ b/osal/windows/TmTcWinUdpBridge.h @@ -0,0 +1,49 @@ +#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_ +#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_ + +#include "../../tmtcservices/TmTcBridge.h" + +#include +#include + +class TmTcWinUdpBridge: public TmTcBridge { + friend class TcWinUdpPollingTask; +public: + // The ports chosen here should not be used by any other process. + static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301; + static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302; + + TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId, + uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF); + virtual~ TmTcWinUdpBridge(); + + void checkAndSetClientAddress(sockaddr_in clientAddress); + +protected: + virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override; + +private: + SOCKET serverSocket = 0; + + const int serverSocketOptions = 0; + + struct sockaddr_in clientAddress; + int clientAddressLen = 0; + + struct sockaddr_in serverAddress; + int serverAddressLen = 0; + + //! Access to the client address is mutex protected as it is set + //! by another task. + MutexIF* mutex; + + void handleSocketError(); + void handleBindError(); + void handleSendError(); +}; + + + +#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */ + From 1635f16bc03d13edb09144eb5ed5e4575cbe88ac Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 10 Sep 2020 15:26:33 +0200 Subject: [PATCH 12/94] removed changes from datapool separation --- fsfw.mk | 2 -- 1 file changed, 2 deletions(-) diff --git a/fsfw.mk b/fsfw.mk index c5847554..bf95727c 100644 --- a/fsfw.mk +++ b/fsfw.mk @@ -9,8 +9,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) From cea748676ea2f99343ec0f0dcbd5face9e114fe8 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 15:47:29 +0200 Subject: [PATCH 13/94] linux message queue update --- osal/linux/MessageQueue.cpp | 106 +++++++++++++++++++++++------------- osal/linux/MessageQueue.h | 30 ++++++---- 2 files changed, 87 insertions(+), 49 deletions(-) diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index e5c61cae..cfadb793 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -1,5 +1,6 @@ -#include "../../serviceinterface/ServiceInterfaceStream.h" #include "MessageQueue.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../objectmanager/ObjectManagerIF.h" #include @@ -9,9 +10,11 @@ #include + MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE), - defaultDestination(MessageQueueIF::NO_QUEUE) { + defaultDestination(MessageQueueIF::NO_QUEUE), + maxMessageSize(maxMessageSize) { //debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl; mq_attr attributes; this->id = 0; @@ -46,7 +49,7 @@ MessageQueue::~MessageQueue() { status = mq_unlink(name); if(status != 0){ sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: " - << strerror(errno) <> defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) { - // See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html - // This happens if the msg_max value is not large enough - // It is ignored if the executable is run in privileged mode. - // Run the unlockRealtime script or grant the mode manually by using: - // sudo setcap 'CAP_SYS_RESOURCE=+ep' + /* + See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html + This happens if the msg_max value is not large enough + It is ignored if the executable is run in privileged mode. + Run the unlockRealtime script or grant the mode manually by using: + sudo setcap 'CAP_SYS_RESOURCE=+ep' - // Persistent solution for session: - // echo | sudo tee /proc/sys/fs/mqueue/msg_max + Persistent solution for session: + echo | sudo tee /proc/sys/fs/mqueue/msg_max - // Permanent solution: - // sudo nano /etc/sysctl.conf - // Append at end: fs/mqueue/msg_max = - // Apply changes with: sudo sysctl -p + Permanent solution: + sudo nano /etc/sysctl.conf + Append at end: fs/mqueue/msg_max = + Apply changes with: sudo sysctl -p + */ sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg << " is too small for requested size " << messageDepth << std::endl; + sif::error << "This error can be fixed by setting the maximum " + "allowed message size higher!" << std::endl; + } break; } @@ -118,15 +126,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes, } ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault) { + MessageQueueMessageIF* message, bool ignoreFault) { return sendMessageFrom(sendTo, message, this->getId(), false); } -ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) { return sendToDefaultFrom(message, this->getId()); } -ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) { if (this->lastPartner != 0) { return sendMessageFrom(this->lastPartner, message, this->getId()); } else { @@ -134,21 +142,34 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) { } } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom) { ReturnValue_t status = this->receiveMessage(message); *receivedFrom = this->lastPartner; return status; } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { + if(message == nullptr) { + sif::error << "MessageQueue::receiveMessage: Message is " + "nullptr!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + if(message->getMaximumMessageSize() < maxMessageSize) { + sif::error << "MessageQueue::receiveMessage: Message size " + << message->getMaximumMessageSize() + << " too small to receive data!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + unsigned int messagePriority = 0; int status = mq_receive(id,reinterpret_cast(message->getBuffer()), - message->MAX_MESSAGE_SIZE,&messagePriority); + message->getMaximumMessageSize(),&messagePriority); if (status > 0) { this->lastPartner = message->getSender(); //Check size of incoming message. - if (message->messageSize < message->getMinimumMessageSize()) { + if (message->getMessageSize() < message->getMinimumMessageSize()) { return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; @@ -158,7 +179,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { } else { //No message was received. Keep lastPartner anyway, I might send //something later. But still, delete packet content. - memset(message->getData(), 0, message->MAX_DATA_SIZE); + memset(message->getData(), 0, message->getMaximumMessageSize()); switch(errno){ case EAGAIN: //O_NONBLOCK or MQ_NONBLOCK was set and there are no messages @@ -258,18 +279,19 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) { this->defaultDestination = defaultDestination; } -ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom, - bool ignoreFault) { - return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault); - -} - -ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message, +ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault); } + +ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault) { + return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault); + +} + MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; } @@ -281,11 +303,18 @@ bool MessageQueue::isDefaultDestinationSet() const { uint16_t MessageQueue::queueCounter = 0; ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, - MessageQueueMessage *message, MessageQueueId_t sentFrom, + MessageQueueMessageIF *message, MessageQueueId_t sentFrom, bool ignoreFault) { + if(message == nullptr) { + sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is " + "nullptr!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + message->setSender(sentFrom); int result = mq_send(sendTo, - reinterpret_cast(message->getBuffer()), message->messageSize,0); + reinterpret_cast(message->getBuffer()), + message->getMessageSize(),0); //TODO: Check if we're in ISR. if (result != 0) { @@ -303,13 +332,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, //MQ_NONBLOCK flag was set in its attributes, and the //specified queue is full. return MessageQueueIF::FULL; - case EBADF: + case EBADF: { //mq_des doesn't represent a valid message queue descriptor, //or mq_des wasn't opened for writing. - sif::error << "MessageQueue::sendMessage: Configuration error " - << strerror(errno) << " in mq_send mqSendTo: " << sendTo - << " sent from " << sentFrom << std::endl; - /*NO BREAK*/ + sif::error << "MessageQueue::sendMessage: Configuration error, MQ" + << " destination invalid." << std::endl; + sif::error << strerror(errno) << " in " + <<"mq_send to: " << sendTo << " sent from " + << sentFrom << std::endl; + return DESTINVATION_INVALID; + } case EINTR: //The call was interrupted by a signal. case EINVAL: diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h index 31cdca11..239bbbdb 100644 --- a/osal/linux/MessageQueue.h +++ b/osal/linux/MessageQueue.h @@ -1,5 +1,5 @@ -#ifndef MESSAGEQUEUE_H_ -#define MESSAGEQUEUE_H_ +#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ +#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ #include "../../internalError/InternalErrorReporterIF.h" #include "../../ipc/MessageQueueIF.h" @@ -56,14 +56,14 @@ public: * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. */ virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault = false ); + MessageQueueMessageIF* message, bool ignoreFault = false ); /** * @brief This operation sends a message to the default destination. * @details As in the sendMessage method, this function uses the sendToDefault call of the * MessageQueueSender parent class and adds its queue id as "sentFrom" information. * @param message A pointer to a previously created message, which is sent. */ - virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ); + virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ); /** * @brief This operation sends a message to the last communication partner. * @details This operation simplifies answering an incoming message by using the stored @@ -71,7 +71,7 @@ public: * (i.e. lastPartner is zero), an error code is returned. * @param message A pointer to a previously created message, which is sent. */ - ReturnValue_t reply( MessageQueueMessage* message ); + ReturnValue_t reply( MessageQueueMessageIF* message ); /** * @brief This function reads available messages from the message queue and returns the sender. @@ -80,7 +80,7 @@ public: * @param message A pointer to a message in which the received data is stored. * @param receivedFrom A pointer to a queue id in which the sender's id is stored. */ - ReturnValue_t receiveMessage(MessageQueueMessage* message, + ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t *receivedFrom); /** @@ -91,7 +91,7 @@ public: * message's content is cleared and the function returns immediately. * @param message A pointer to a message in which the received data is stored. */ - ReturnValue_t receiveMessage(MessageQueueMessage* message); + ReturnValue_t receiveMessage(MessageQueueMessageIF* message); /** * Deletes all pending messages in the queue. * @param count The number of flushed messages. @@ -114,7 +114,9 @@ public: * This variable is set to zero by default. * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ); + virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault = false ); /** * \brief The sendToDefault method sends a queue message to the default destination. * \details In all other aspects, it works identical to the sendMessage method. @@ -122,7 +124,8 @@ public: * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. * This variable is set to zero by default. */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, + MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); /** * \brief This method is a simple setter for the default destination. */ @@ -145,7 +148,9 @@ protected: * This variable is set to zero by default. * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. */ - static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false); + static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault=false); private: /** * @brief The class stores the queue id it got assigned from the operating system in this attribute. @@ -171,11 +176,12 @@ private: /** * The name of the message queue, stored for unlinking */ - char name[5]; + char name[16]; static uint16_t queueCounter; + const size_t maxMessageSize; ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth); }; -#endif /* MESSAGEQUEUE_H_ */ +#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */ From 8652f2f13f1ff7e358e6d0b803a04772b9b83e58 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 15:50:10 +0200 Subject: [PATCH 14/94] message queue IF update --- ipc/MessageQueueIF.h | 178 +++++++++++++++++++++++++++---------------- 1 file changed, 113 insertions(+), 65 deletions(-) diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index b0347db9..44b6f4c0 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -1,61 +1,77 @@ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_ -// COULDDO: We could support blocking calls - -#include "messageQueueDefinitions.h" -#include "MessageQueueMessage.h" +#include +#include "MessageQueueMessageIF.h" #include "../returnvalues/HasReturnvaluesIF.h" +#include + + +// COULDDO: We could support blocking calls +// semaphores are being implemented, which makes this idea even more iteresting. + +/** + * @defgroup message_queue Message Queue + * @brief Message Queue related software components + */ class MessageQueueIF { public: static const MessageQueueId_t NO_QUEUE = 0; static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF; - /** - * No new messages on the queue - */ + //! No new messages on the queue static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1); - /** - * No space left for more messages - */ + //! No space left for more messages static const ReturnValue_t FULL = MAKE_RETURN_CODE(2); - /** - * Returned if a reply method was called without partner - */ + //! Returned if a reply method was called without partner static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3); + //! Returned if the target destination is invalid. + static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4); virtual ~MessageQueueIF() {} /** * @brief This operation sends a message to the last communication partner. - * @details This operation simplifies answering an incoming message by using the stored - * lastParnter information as destination. If there was no message received yet - * (i.e. lastPartner is zero), an error code is returned. - * @param message A pointer to a previously created message, which is sent. - * \return RETURN_OK if ok - * \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found + * @details + * This operation simplifies answering an incoming message by using the + * stored lastParnter information as destination. If there was no message + * received yet (i.e. lastPartner is zero), an error code is returned. + * @param message + * A pointer to a previously created message, which is sent. + * @return + * -@c RETURN_OK if ok + * -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found. */ - virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0; + virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0; /** - * @brief This function reads available messages from the message queue and returns the sender. - * @details It works identically to the other receiveMessage call, but in addition returns the - * sender's queue id. - * @param message A pointer to a message in which the received data is stored. - * @param receivedFrom A pointer to a queue id in which the sender's id is stored. + * @brief This function reads available messages from the message queue + * and returns the sender. + * @details + * It works identically to the other receiveMessage call, but in addition + * returns the sender's queue id. + * @param message + * A pointer to a message in which the received data is stored. + * @param receivedFrom + * A pointer to a queue id in which the sender's id is stored. */ - virtual ReturnValue_t receiveMessage(MessageQueueMessage* message, + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t *receivedFrom) = 0; /** * @brief This function reads available messages from the message queue. - * @details If data is available it is stored in the passed message pointer. The message's - * original content is overwritten and the sendFrom information is stored in the - * lastPartner attribute. Else, the lastPartner information remains untouched, the - * message's content is cleared and the function returns immediately. - * @param message A pointer to a message in which the received data is stored. + * @details + * If data is available it is stored in the passed message pointer. + * The message's original content is overwritten and the sendFrom + * information is stored in theblastPartner attribute. Else, the lastPartner + * information remains untouched, the message's content is cleared and the + * function returns immediately. + * @param message + * A pointer to a message in which the received data is stored. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::EMPTY if queue is empty */ - virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0; + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0; /** * Deletes all pending messages in the queue. * @param count The number of flushed messages. @@ -63,57 +79,89 @@ public: */ virtual ReturnValue_t flush(uint32_t* count) = 0; /** - * @brief This method returns the message queue id of the last communication partner. + * @brief This method returns the message queue + * id of the last communication partner. */ virtual MessageQueueId_t getLastPartner() const = 0; /** - * @brief This method returns the message queue id of this class's message queue. + * @brief This method returns the message queue + * id of this class's message queue. */ virtual MessageQueueId_t getId() const = 0; /** - * \brief With the sendMessage call, a queue message is sent to a receiving queue. - * \details This method takes the message provided, adds the sentFrom information and passes - * it on to the destination provided with an operating system call. The OS's return - * value is returned. - * \param sendTo This parameter specifies the message queue id to send the message to. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. - * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full (if implemented). + * @brief With the sendMessage call, a queue message + * is sent to a receiving queue. + * @details + * This method takes the message provided, adds the sentFrom information + * and passes it on to the destination provided with an operating system + * call. The OS's returnvalue is returned. + * @param sendTo + * This parameter specifies the message queue id to send the message to. + * @param message + * This is a pointer to a previously created message, which is sent. + * @param sentFrom + * The sentFrom information can be set to inject the sender's queue id + * into the message. This variable is set to zero by default. + * @param ignoreFault + * If set to true, the internal software fault counter is not incremented + * if queue is full (if implemented). + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; - /** - * @brief This operation sends a message to the given destination. - * @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its - * queue id as "sentFrom" parameter. - * @param sendTo This parameter specifies the message queue id of the destination message queue. - * @param message A pointer to a previously created message, which is sent. - * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. - */ - virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0; + virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault = false ) = 0; /** - * \brief The sendToDefaultFrom method sends a queue message to the default destination. - * \details In all other aspects, it works identical to the sendMessage method. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. + * @brief This operation sends a message to the given destination. + * @details + * It directly uses the sendMessage call of the MessageQueueSender parent, + * but passes its queue id as "sentFrom" parameter. + * @param sendTo + * This parameter specifies the message queue id of the destination + * message queue. + * @param message + * A pointer to a previously created message, which is sent. + * @param ignoreFault + * If set to true, the internal software fault counter is not incremented + * if queue is full. */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; + virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, bool ignoreFault = false ) = 0; + + /** + * @brief The sendToDefaultFrom method sends a queue message + * to the default destination. + * @details + * In all other aspects, it works identical to the sendMessage method. + * @param message + * This is a pointer to a previously created message, which is sent. + * @param sentFrom + * The sentFrom information can be set to inject the sender's queue id + * into the message. This variable is set to zero by default. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full + */ + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, + MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; /** * @brief This operation sends a message to the default destination. - * @details As in the sendMessage method, this function uses the sendToDefault call of the - * Implementation class and adds its queue id as "sentFrom" information. + * @details + * As in the sendMessage method, this function uses the sendToDefault + * call of the Implementation class and adds its queue id as + * "sentFrom" information. * @param message A pointer to a previously created message, which is sent. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full */ - virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) = 0; + virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) = 0; /** - * \brief This method is a simple setter for the default destination. + * @brief This method is a simple setter for the default destination. */ virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0; /** - * \brief This method is a simple getter for the default destination. + * @brief This method is a simple getter for the default destination. */ virtual MessageQueueId_t getDefaultDestination() const = 0; @@ -122,4 +170,4 @@ public: -#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */ +#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */ From 87fb17f39a4320eb8b40517ae79e170950b1b3a5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 15:52:26 +0200 Subject: [PATCH 15/94] IF replacements --- ipc/MessageQueueSenderIF.h | 2 +- osal/FreeRTOS/QueueFactory.cpp | 2 +- osal/linux/Clock.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h index 7eea5146..42d4078f 100644 --- a/ipc/MessageQueueSenderIF.h +++ b/ipc/MessageQueueSenderIF.h @@ -15,7 +15,7 @@ public: * Not sure whether this is actually a good idea. */ static ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE, bool ignoreFault = false); private: diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index 153d9b51..493ec925 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -8,7 +8,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr; ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { return MessageQueue::sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault); diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp index b14f2a97..4de18f83 100644 --- a/osal/linux/Clock.cpp +++ b/osal/linux/Clock.cpp @@ -6,8 +6,8 @@ #include #include #include +#include -//#include uint16_t Clock::leapSeconds = 0; MutexIF* Clock::timeMutex = NULL; From de840dcf8df69d5b734951fa7128257fa472cd46 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 16:10:43 +0200 Subject: [PATCH 16/94] last fixes for linux --- ipc/QueueFactory.h | 8 +++++--- osal/linux/QueueFactory.cpp | 2 +- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h index 4f4d72c7..0310e534 100644 --- a/ipc/QueueFactory.h +++ b/ipc/QueueFactory.h @@ -1,7 +1,9 @@ -#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_ -#define FRAMEWORK_IPC_QUEUEFACTORY_H_ +#ifndef FSFW_IPC_QUEUEFACTORY_H_ +#define FSFW_IPC_QUEUEFACTORY_H_ + #include "MessageQueueIF.h" +#include "../ipc/MessageQueueMessage.h" #include /** * Creates message queues. @@ -30,4 +32,4 @@ private: static QueueFactory* factoryInstance; }; -#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */ +#endif /* FSFW_IPC_QUEUEFACTORY_H_ */ diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp index 0860950c..44def48a 100644 --- a/osal/linux/QueueFactory.cpp +++ b/osal/linux/QueueFactory.cpp @@ -15,7 +15,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr; ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { return MessageQueue::sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault); From 0bc3807c18d9ec2b254a53a4d62d8da22626ad10 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 16:22:37 +0200 Subject: [PATCH 17/94] added FIFO --- container/SharedRingBuffer.cpp | 25 +++++++++++++++++++++++++ container/SharedRingBuffer.h | 16 ++++++++++++++++ 2 files changed, 41 insertions(+) diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp index 800e75d3..48bdb9df 100644 --- a/container/SharedRingBuffer.cpp +++ b/container/SharedRingBuffer.cpp @@ -9,6 +9,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size, mutex = MutexFactory::instance()->createMutex(); } + SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer, const size_t size, bool overwriteOld, size_t maxExcessBytes): SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld, @@ -16,6 +17,11 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer, mutex = MutexFactory::instance()->createMutex(); } + +void SharedRingBuffer::setToUseReceiveSizeFIFO(uint32_t fifoDepth) { + this->fifoDepth = fifoDepth; +} + ReturnValue_t SharedRingBuffer::lockRingBufferMutex( MutexIF::TimeoutType timeoutType, dur_millis_t timeout) { return mutex->lockMutex(timeoutType, timeout); @@ -25,6 +31,25 @@ ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() { return mutex->unlockMutex(); } + + MutexIF* SharedRingBuffer::getMutexHandle() const { return mutex; } + +ReturnValue_t SharedRingBuffer::initialize() { + if(fifoDepth > 0) { + receiveSizesFIFO = new DynamicFIFO(fifoDepth); + } + return SystemObject::initialize(); +} + +DynamicFIFO* SharedRingBuffer::getReceiveSizesFIFO() { + if(receiveSizesFIFO == nullptr) { + // Configuration error. + sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer" + << " was not configured to have sizes FIFO, returning nullptr!" + << std::endl; + } + return receiveSizesFIFO; +} diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h index 80c068b3..c9e0ae3f 100644 --- a/container/SharedRingBuffer.h +++ b/container/SharedRingBuffer.h @@ -1,6 +1,7 @@ #ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_ #define FSFW_CONTAINER_SHAREDRINGBUFFER_H_ +#include #include "SimpleRingBuffer.h" #include "../ipc/MutexIF.h" #include "../objectmanager/SystemObject.h" @@ -26,6 +27,8 @@ public: SharedRingBuffer(object_id_t objectId, const size_t size, bool overwriteOld, size_t maxExcessBytes); + void setToUseReceiveSizeFIFO(uint32_t fifoDepth); + /** * This constructor takes an external buffer with the specified size. * @param buffer @@ -59,8 +62,21 @@ public: * @return */ MutexIF* getMutexHandle() const; + + ReturnValue_t initialize() override; + + /** + * If the shared ring buffer was configured to have a sizes FIFO, a handle + * to that FIFO can be retrieved with this function. + * Do not forget to protect access with a lock if required! + * @return + */ + DynamicFIFO* getReceiveSizesFIFO(); private: MutexIF* mutex = nullptr; + + size_t fifoDepth = 0; + DynamicFIFO* receiveSizesFIFO = nullptr; }; From 2f73841580339d39d0e784b60a4bc49867eff112 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 16:24:40 +0200 Subject: [PATCH 18/94] include fix --- container/SharedRingBuffer.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h index c9e0ae3f..fdc9d626 100644 --- a/container/SharedRingBuffer.h +++ b/container/SharedRingBuffer.h @@ -1,8 +1,8 @@ #ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_ #define FSFW_CONTAINER_SHAREDRINGBUFFER_H_ -#include #include "SimpleRingBuffer.h" +#include "DynamicFIFO.h" #include "../ipc/MutexIF.h" #include "../objectmanager/SystemObject.h" #include "../timemanager/Clock.h" From 978d7514a486482869a31852c571ea0009f0ffa0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 22 Sep 2020 16:32:59 +0200 Subject: [PATCH 19/94] added doc, changed type --- container/SharedRingBuffer.cpp | 2 +- container/SharedRingBuffer.h | 10 +++++++++- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp index 48bdb9df..6ddb3d3e 100644 --- a/container/SharedRingBuffer.cpp +++ b/container/SharedRingBuffer.cpp @@ -18,7 +18,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer, } -void SharedRingBuffer::setToUseReceiveSizeFIFO(uint32_t fifoDepth) { +void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) { this->fifoDepth = fifoDepth; } diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h index fdc9d626..64d7ee29 100644 --- a/container/SharedRingBuffer.h +++ b/container/SharedRingBuffer.h @@ -27,7 +27,15 @@ public: SharedRingBuffer(object_id_t objectId, const size_t size, bool overwriteOld, size_t maxExcessBytes); - void setToUseReceiveSizeFIFO(uint32_t fifoDepth); + /** + * @brief This function can be used to add an optional FIFO to the class + * @details + * This FIFO will be allocated in the initialize function (and will + * have a fixed maximum size after that). It can be used to store + * values like packet sizes, for example for a shared ring buffer + * used by producer/consumer tasks. + */ + void setToUseReceiveSizeFIFO(size_t fifoDepth); /** * This constructor takes an external buffer with the specified size. From 13b68f10a017adb82e5f9158af72a13eff3cf5cb Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 26 Sep 2020 14:24:09 +0200 Subject: [PATCH 20/94] added usage of new interface --- osal/FreeRTOS/MessageQueue.cpp | 131 ++++++++++++------ osal/FreeRTOS/MessageQueue.h | 243 ++++++++++++++++----------------- osal/FreeRTOS/QueueFactory.cpp | 17 ++- 3 files changed, 213 insertions(+), 178 deletions(-) diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index 3bbd4d9d..2dfe5ab6 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -1,41 +1,76 @@ #include "MessageQueue.h" - +#include "../../objectmanager/ObjectManagerIF.h" #include "../../serviceinterface/ServiceInterfaceStream.h" -// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls - -MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : -defaultDestination(0),lastPartner(0) { - handle = xQueueCreate(message_depth, max_message_size); - if (handle == NULL) { - sif::error << "MessageQueue creation failed" << std::endl; +// TODO I guess we should have a way of checking if we are in an ISR and then +// use the "fromISR" versions of all calls +// As a first step towards this, introduces system context variable which needs +// to be switched manually +// Haven't found function to find system context. +MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): + maxMessageSize(maxMessageSize) { + handle = xQueueCreate(messageDepth, maxMessageSize); + if (handle == nullptr) { + sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl; } } MessageQueue::~MessageQueue() { - if (handle != NULL) { + if (handle != nullptr) { vQueueDelete(handle); } } +void MessageQueue::switchSystemContext(CallContext callContext) { + this->callContext = callContext; +} + ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault) { + MessageQueueMessageIF* message, bool ignoreFault) { return sendMessageFrom(sendTo, message, this->getId(), ignoreFault); } -ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) { +ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) { return sendToDefaultFrom(message, this->getId()); } -ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) { - if (this->lastPartner != 0) { +ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message, + MessageQueueId_t sentFrom, bool ignoreFault) { + return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault); +} + +ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) { + if (this->lastPartner != MessageQueueIF::NO_QUEUE) { return sendMessageFrom(this->lastPartner, message, this->getId()); } else { return NO_REPLY_PARTNER; } } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, +ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault) { + return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, + callContext); +} + + +ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) { + if (result != pdPASS) { + if (not ignoreFault) { + InternalErrorReporterIF* internalErrorReporter = objectManager-> + get( + objects::INTERNAL_ERROR_REPORTER); + if (internalErrorReporter != nullptr) { + internalErrorReporter->queueMessageNotSent(); + } + } + return MessageQueueIF::FULL; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom) { ReturnValue_t status = this->receiveMessage(message); if(status == HasReturnvaluesIF::RETURN_OK) { @@ -44,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, return status; } -ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { - BaseType_t result = xQueueReceive(handle,reinterpret_cast(message->getBuffer()), 0); +ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { + BaseType_t result = xQueueReceive(handle,reinterpret_cast( + message->getBuffer()), 0); if (result == pdPASS){ this->lastPartner = message->getSender(); return HasReturnvaluesIF::RETURN_OK; @@ -66,50 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) { } MessageQueueId_t MessageQueue::getId() const { - return (MessageQueueId_t) handle; + return reinterpret_cast(handle); } void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) { + defaultDestinationSet = true; this->defaultDestination = defaultDestination; } -ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom, - bool ignoreFault) { - return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault); -} - -ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message, - MessageQueueId_t sentFrom, bool ignoreFault) { - return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault); -} - MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; } bool MessageQueue::isDefaultDestinationSet() const { - return 0; + return defaultDestinationSet; } + +// static core function to send messages. ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, - MessageQueueMessage *message, MessageQueueId_t sentFrom, - bool ignoreFault) { - message->setSender(sentFrom); + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault, CallContext callContext) { + BaseType_t result = pdFALSE; + QueueHandle_t destination = nullptr; - BaseType_t result = xQueueSendToBack(reinterpret_cast(sendTo), - reinterpret_cast(message->getBuffer()), 0); - if (result != pdPASS) { - if (!ignoreFault) { - InternalErrorReporterIF* internalErrorReporter = objectManager->get( - objects::INTERNAL_ERROR_REPORTER); - if (internalErrorReporter != NULL) { - internalErrorReporter->queueMessageNotSent(); - } - } - return MessageQueueIF::FULL; + if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) { + return MessageQueueIF::DESTINVATION_INVALID; + } + else { + destination = reinterpret_cast(sendTo); } - return HasReturnvaluesIF::RETURN_OK; + message->setSender(sentFrom); + + + if(callContext == CallContext::TASK) { + result = xQueueSendToBack(destination, + static_cast(message->getBuffer()), 0); + } + else { + /* If the call context is from an interrupt, + * request a context switch if a higher priority task + * was blocked by the interrupt. */ + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + result = xQueueSendFromISR(reinterpret_cast(sendTo), + static_cast(message->getBuffer()), + &xHigherPriorityTaskWoken); + if(xHigherPriorityTaskWoken == pdTRUE) { + TaskManagement::requestContextSwitch(callContext); + } + } + return handleSendResult(result, ignoreFault); } - diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h index aa3d54c1..b99bf7c8 100644 --- a/osal/FreeRTOS/MessageQueue.h +++ b/osal/FreeRTOS/MessageQueue.h @@ -1,159 +1,150 @@ -#ifndef MESSAGEQUEUE_H_ -#define MESSAGEQUEUE_H_ +#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ +#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #include "../../internalError/InternalErrorReporterIF.h" #include "../../ipc/MessageQueueIF.h" -#include "../../ipc/MessageQueueMessage.h" +#include "../../ipc/MessageQueueMessageIF.h" +#include "../../osal/FreeRTOS/TaskManagement.h" -#include -#include +#include +#include +#include -//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution +// TODO: this class assumes that MessageQueueId_t is the same size as void* +// (the FreeRTOS handle type), compiler will catch this but it might be nice +// to have something checking or even an always working solution // https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/ /** - * @brief This class manages sending and receiving of message queue messages. + * @brief This class manages sending and receiving of + * message queue messages. + * @details + * Message queues are used to pass asynchronous messages between processes. + * They work like post boxes, where all incoming messages are stored in FIFO + * order. This class creates a new receiving queue and provides methods to fetch + * received messages. Being a child of MessageQueueSender, this class also + * provides methods to send a message to a user-defined or a default destination. + * In addition it also provides a reply method to answer to the queue it + * received its last message from. * - * @details Message queues are used to pass asynchronous messages between processes. - * They work like post boxes, where all incoming messages are stored in FIFO - * order. This class creates a new receiving queue and provides methods to fetch - * received messages. Being a child of MessageQueueSender, this class also provides - * methods to send a message to a user-defined or a default destination. In addition - * it also provides a reply method to answer to the queue it received its last message - * from. - * The MessageQueue should be used as "post box" for a single owning object. So all - * message queue communication is "n-to-one". - * For creating the queue, as well as sending and receiving messages, the class makes - * use of the operating system calls provided. - * \ingroup message_queue + * The MessageQueue should be used as "post box" for a single owning object. + * So all message queue communication is "n-to-one". + * For creating the queue, as well as sending and receiving messages, the class + * makes use of the operating system calls provided. + * + * Please keep in mind that FreeRTOS offers different calls for message queue + * operations if called from an ISR. + * For now, the system context needs to be switched manually. + * @ingroup osal + * @ingroup message_queue */ class MessageQueue : public MessageQueueIF { friend class MessageQueueSenderIF; public: /** * @brief The constructor initializes and configures the message queue. - * @details By making use of the according operating system call, a message queue is created - * and initialized. The message depth - the maximum number of messages to be - * buffered - may be set with the help of a parameter, whereas the message size is - * automatically set to the maximum message queue message size. The operating system - * sets the message queue id, or i case of failure, it is set to zero. - * @param message_depth The number of messages to be buffered before passing an error to the - * sender. Default is three. - * @param max_message_size With this parameter, the maximum message size can be adjusted. - * This should be left default. + * @details + * By making use of the according operating system call, a message queue + * is created and initialized. The message depth - the maximum number of + * messages to be buffered - may be set with the help of a parameter, + * whereas the message size is automatically set to the maximum message + * queue message size. The operating system sets the message queue id, or + * in case of failure, it is set to zero. + * @param message_depth + * The number of messages to be buffered before passing an error to the + * sender. Default is three. + * @param max_message_size + * With this parameter, the maximum message size can be adjusted. + * This should be left default. */ - MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE ); + MessageQueue( size_t messageDepth = 3, + size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE ); + + /** Copying message queues forbidden */ + MessageQueue(const MessageQueue&) = delete; + MessageQueue& operator=(const MessageQueue&) = delete; + /** * @brief The destructor deletes the formerly created message queue. - * @details This is accomplished by using the delete call provided by the operating system. + * @details This is accomplished by using the delete call provided + * by the operating system. */ virtual ~MessageQueue(); + /** - * @brief This operation sends a message to the given destination. - * @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its - * queue id as "sentFrom" parameter. - * @param sendTo This parameter specifies the message queue id of the destination message queue. - * @param message A pointer to a previously created message, which is sent. - * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. + * This function is used to switch the call context. This has to be called + * if a message is sent or received from an ISR! + * @param callContext */ + void switchSystemContext(CallContext callContext); + + /** MessageQueueIF implementation */ ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, bool ignoreFault = false ); - /** - * @brief This operation sends a message to the default destination. - * @details As in the sendMessage method, this function uses the sendToDefault call of the - * MessageQueueSender parent class and adds its queue id as "sentFrom" information. - * @param message A pointer to a previously created message, which is sent. - */ - ReturnValue_t sendToDefault( MessageQueueMessage* message ); - /** - * @brief This operation sends a message to the last communication partner. - * @details This operation simplifies answering an incoming message by using the stored - * lastParnter information as destination. If there was no message received yet - * (i.e. lastPartner is zero), an error code is returned. - * @param message A pointer to a previously created message, which is sent. - */ - ReturnValue_t reply( MessageQueueMessage* message ); + MessageQueueMessageIF* message, bool ignoreFault = false) override; - /** - * @brief This function reads available messages from the message queue and returns the sender. - * @details It works identically to the other receiveMessage call, but in addition returns the - * sender's queue id. - * @param message A pointer to a message in which the received data is stored. - * @param receivedFrom A pointer to a queue id in which the sender's id is stored. - */ - ReturnValue_t receiveMessage(MessageQueueMessage* message, - MessageQueueId_t *receivedFrom); + ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override; - /** - * @brief This function reads available messages from the message queue. - * @details If data is available it is stored in the passed message pointer. The message's - * original content is overwritten and the sendFrom information is stored in the - * lastPartner attribute. Else, the lastPartner information remains untouched, the - * message's content is cleared and the function returns immediately. - * @param message A pointer to a message in which the received data is stored. - */ - ReturnValue_t receiveMessage(MessageQueueMessage* message); - /** - * Deletes all pending messages in the queue. - * @param count The number of flushed messages. - * @return RETURN_OK on success. - */ - ReturnValue_t flush(uint32_t* count); - /** - * @brief This method returns the message queue id of the last communication partner. - */ - MessageQueueId_t getLastPartner() const; - /** - * @brief This method returns the message queue id of this class's message queue. - */ - MessageQueueId_t getId() const; - /** - * \brief With the sendMessage call, a queue message is sent to a receiving queue. - * \details This method takes the message provided, adds the sentFrom information and passes - * it on to the destination provided with an operating system call. The OS's return - * value is returned. - * \param sendTo This parameter specifies the message queue id to send the message to. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. - * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. - */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); - /** - * \brief The sendToDefault method sends a queue message to the default destination. - * \details In all other aspects, it works identical to the sendMessage method. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. - */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ); - /** - * \brief This method is a simple setter for the default destination. - */ - void setDefaultDestination(MessageQueueId_t defaultDestination); - /** - * \brief This method is a simple getter for the default destination. - */ - MessageQueueId_t getDefaultDestination() const; + ReturnValue_t reply(MessageQueueMessageIF* message) override; + virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, + MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault = false) override; + + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, + MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault = false) override; + + ReturnValue_t receiveMessage(MessageQueueMessageIF* message, + MessageQueueId_t *receivedFrom) override; + + ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override; + + ReturnValue_t flush(uint32_t* count) override; + + MessageQueueId_t getLastPartner() const override; + + MessageQueueId_t getId() const override; + + void setDefaultDestination(MessageQueueId_t defaultDestination) override; + + MessageQueueId_t getDefaultDestination() const override; + + bool isDefaultDestinationSet() const override; - bool isDefaultDestinationSet() const; protected: /** - * Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF - * \details This method takes the message provided, adds the sentFrom information and passes - * it on to the destination provided with an operating system call. The OS's return - * value is returned. - * \param sendTo This parameter specifies the message queue id to send the message to. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. - * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. + * @brief Implementation to be called from any send Call within + * MessageQueue and MessageQueueSenderIF. + * @details + * This method takes the message provided, adds the sentFrom information and + * passes it on to the destination provided with an operating system call. + * The OS's return value is returned. + * @param sendTo + * This parameter specifies the message queue id to send the message to. + * @param message + * This is a pointer to a previously created message, which is sent. + * @param sentFrom + * The sentFrom information can be set to inject the sender's queue id into + * the message. This variable is set to zero by default. + * @param ignoreFault + * If set to true, the internal software fault counter is not incremented + * if queue is full. + * @param context Specify whether call is made from task or from an ISR. */ - static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false); + static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault=false, CallContext callContext = CallContext::TASK); + + static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault); + private: + bool defaultDestinationSet = false; QueueHandle_t handle; - MessageQueueId_t defaultDestination; - MessageQueueId_t lastPartner; + MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE; + MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE; + const size_t maxMessageSize; + //! Stores the current system context + CallContext callContext = CallContext::TASK; }; -#endif /* MESSAGEQUEUE_H_ */ +#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */ diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index e639179a..5b3c73dc 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,18 +1,21 @@ +#include "../../ipc/MessageQueueSenderIF.h" #include "../../ipc/QueueFactory.h" -#include "MessageQueue.h" +#include "../../osal/FreeRTOS/MessageQueue.h" -QueueFactory* QueueFactory::factoryInstance = NULL; +QueueFactory* QueueFactory::factoryInstance = nullptr; ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) { - return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault); + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault) { + return MessageQueue::sendMessageFromMessageQueue(sendTo,message, + sentFrom,ignoreFault); } QueueFactory* QueueFactory::instance() { - if (factoryInstance == NULL) { + if (factoryInstance == nullptr) { factoryInstance = new QueueFactory; } return factoryInstance; @@ -24,9 +27,9 @@ QueueFactory::QueueFactory() { QueueFactory::~QueueFactory() { } -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth, +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { - return new MessageQueue(message_depth, maxMessageSize); + return new MessageQueue(messageDepth, maxMessageSize); } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { From a0bc6b3c1fb3a5f8ef268b2b71d731786d51b3c2 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 26 Sep 2020 14:34:49 +0200 Subject: [PATCH 21/94] MQM IF update --- ipc/MessageQueueIF.h | 176 +++++++++++++++++++++++++++---------------- 1 file changed, 112 insertions(+), 64 deletions(-) diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index b0347db9..1c06521c 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -1,61 +1,77 @@ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_ -// COULDDO: We could support blocking calls - #include "messageQueueDefinitions.h" -#include "MessageQueueMessage.h" +#include "MessageQueueMessageIF.h" #include "../returnvalues/HasReturnvaluesIF.h" +#include + + +// COULDDO: We could support blocking calls +// semaphores are being implemented, which makes this idea even more iteresting. + +/** + * @defgroup message_queue Message Queue + * @brief Message Queue related software components + */ class MessageQueueIF { public: static const MessageQueueId_t NO_QUEUE = 0; static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF; - /** - * No new messages on the queue - */ + //! No new messages on the queue static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1); - /** - * No space left for more messages - */ + //! No space left for more messages static const ReturnValue_t FULL = MAKE_RETURN_CODE(2); - /** - * Returned if a reply method was called without partner - */ + //! Returned if a reply method was called without partner static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3); + //! Returned if the target destination is invalid. + static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4); virtual ~MessageQueueIF() {} /** * @brief This operation sends a message to the last communication partner. - * @details This operation simplifies answering an incoming message by using the stored - * lastParnter information as destination. If there was no message received yet - * (i.e. lastPartner is zero), an error code is returned. - * @param message A pointer to a previously created message, which is sent. - * \return RETURN_OK if ok - * \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found + * @details + * This operation simplifies answering an incoming message by using the + * stored lastParnter information as destination. If there was no message + * received yet (i.e. lastPartner is zero), an error code is returned. + * @param message + * A pointer to a previously created message, which is sent. + * @return + * -@c RETURN_OK if ok + * -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found. */ - virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0; + virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0; /** - * @brief This function reads available messages from the message queue and returns the sender. - * @details It works identically to the other receiveMessage call, but in addition returns the - * sender's queue id. - * @param message A pointer to a message in which the received data is stored. - * @param receivedFrom A pointer to a queue id in which the sender's id is stored. + * @brief This function reads available messages from the message queue + * and returns the sender. + * @details + * It works identically to the other receiveMessage call, but in addition + * returns the sender's queue id. + * @param message + * A pointer to a message in which the received data is stored. + * @param receivedFrom + * A pointer to a queue id in which the sender's id is stored. */ - virtual ReturnValue_t receiveMessage(MessageQueueMessage* message, + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t *receivedFrom) = 0; /** * @brief This function reads available messages from the message queue. - * @details If data is available it is stored in the passed message pointer. The message's - * original content is overwritten and the sendFrom information is stored in the - * lastPartner attribute. Else, the lastPartner information remains untouched, the - * message's content is cleared and the function returns immediately. - * @param message A pointer to a message in which the received data is stored. + * @details + * If data is available it is stored in the passed message pointer. + * The message's original content is overwritten and the sendFrom + * information is stored in theblastPartner attribute. Else, the lastPartner + * information remains untouched, the message's content is cleared and the + * function returns immediately. + * @param message + * A pointer to a message in which the received data is stored. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::EMPTY if queue is empty */ - virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0; + virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0; /** * Deletes all pending messages in the queue. * @param count The number of flushed messages. @@ -63,57 +79,89 @@ public: */ virtual ReturnValue_t flush(uint32_t* count) = 0; /** - * @brief This method returns the message queue id of the last communication partner. + * @brief This method returns the message queue + * id of the last communication partner. */ virtual MessageQueueId_t getLastPartner() const = 0; /** - * @brief This method returns the message queue id of this class's message queue. + * @brief This method returns the message queue + * id of this class's message queue. */ virtual MessageQueueId_t getId() const = 0; /** - * \brief With the sendMessage call, a queue message is sent to a receiving queue. - * \details This method takes the message provided, adds the sentFrom information and passes - * it on to the destination provided with an operating system call. The OS's return - * value is returned. - * \param sendTo This parameter specifies the message queue id to send the message to. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. - * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full (if implemented). + * @brief With the sendMessage call, a queue message + * is sent to a receiving queue. + * @details + * This method takes the message provided, adds the sentFrom information + * and passes it on to the destination provided with an operating system + * call. The OS's returnvalue is returned. + * @param sendTo + * This parameter specifies the message queue id to send the message to. + * @param message + * This is a pointer to a previously created message, which is sent. + * @param sentFrom + * The sentFrom information can be set to inject the sender's queue id + * into the message. This variable is set to zero by default. + * @param ignoreFault + * If set to true, the internal software fault counter is not incremented + * if queue is full (if implemented). + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full */ - virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; - /** - * @brief This operation sends a message to the given destination. - * @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its - * queue id as "sentFrom" parameter. - * @param sendTo This parameter specifies the message queue id of the destination message queue. - * @param message A pointer to a previously created message, which is sent. - * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full. - */ - virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0; + virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault = false ) = 0; /** - * \brief The sendToDefaultFrom method sends a queue message to the default destination. - * \details In all other aspects, it works identical to the sendMessage method. - * \param message This is a pointer to a previously created message, which is sent. - * \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message. - * This variable is set to zero by default. + * @brief This operation sends a message to the given destination. + * @details + * It directly uses the sendMessage call of the MessageQueueSender parent, + * but passes its queue id as "sentFrom" parameter. + * @param sendTo + * This parameter specifies the message queue id of the destination + * message queue. + * @param message + * A pointer to a previously created message, which is sent. + * @param ignoreFault + * If set to true, the internal software fault counter is not incremented + * if queue is full. */ - virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; + virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, + MessageQueueMessageIF* message, bool ignoreFault = false ) = 0; + + /** + * @brief The sendToDefaultFrom method sends a queue message + * to the default destination. + * @details + * In all other aspects, it works identical to the sendMessage method. + * @param message + * This is a pointer to a previously created message, which is sent. + * @param sentFrom + * The sentFrom information can be set to inject the sender's queue id + * into the message. This variable is set to zero by default. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full + */ + virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, + MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0; /** * @brief This operation sends a message to the default destination. - * @details As in the sendMessage method, this function uses the sendToDefault call of the - * Implementation class and adds its queue id as "sentFrom" information. + * @details + * As in the sendMessage method, this function uses the sendToDefault + * call of the Implementation class and adds its queue id as + * "sentFrom" information. * @param message A pointer to a previously created message, which is sent. + * @return -@c RETURN_OK on success + * -@c MessageQueueIF::FULL if queue is full */ - virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) = 0; + virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) = 0; /** - * \brief This method is a simple setter for the default destination. + * @brief This method is a simple setter for the default destination. */ virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0; /** - * \brief This method is a simple getter for the default destination. + * @brief This method is a simple getter for the default destination. */ virtual MessageQueueId_t getDefaultDestination() const = 0; @@ -122,4 +170,4 @@ public: -#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */ +#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */ From bf5688c8d8399817d276b58ff22768c54d311df9 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 26 Sep 2020 14:36:56 +0200 Subject: [PATCH 22/94] last fixes --- ipc/MessageQueueSenderIF.h | 6 +++--- ipc/QueueFactory.h | 10 ++++++---- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h index 7eea5146..683c2908 100644 --- a/ipc/MessageQueueSenderIF.h +++ b/ipc/MessageQueueSenderIF.h @@ -1,8 +1,8 @@ #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_ #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_ -#include "../ipc/MessageQueueIF.h" -#include "../ipc/MessageQueueMessageIF.h" +#include "MessageQueueIF.h" +#include "MessageQueueMessageIF.h" #include "../objectmanager/ObjectManagerIF.h" class MessageQueueSenderIF { @@ -15,7 +15,7 @@ public: * Not sure whether this is actually a good idea. */ static ReturnValue_t sendMessage(MessageQueueId_t sendTo, - MessageQueueMessage* message, + MessageQueueMessageIF* message, MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE, bool ignoreFault = false); private: diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h index 4f4d72c7..9853d256 100644 --- a/ipc/QueueFactory.h +++ b/ipc/QueueFactory.h @@ -1,8 +1,10 @@ -#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_ -#define FRAMEWORK_IPC_QUEUEFACTORY_H_ +#ifndef FSFW_IPC_QUEUEFACTORY_H_ +#define FSFW_IPC_QUEUEFACTORY_H_ #include "MessageQueueIF.h" -#include +#include "MessageQueueMessage.h" +#include + /** * Creates message queues. * This class is a "singleton" interface, i.e. it provides an @@ -30,4 +32,4 @@ private: static QueueFactory* factoryInstance; }; -#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */ +#endif /* FSFW_IPC_QUEUEFACTORY_H_ */ From 6879045ef3866e5631e617b2400ce1e8ce381573 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 29 Sep 2020 15:21:33 +0200 Subject: [PATCH 23/94] include fix --- ipc/MessageQueueIF.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index 44b6f4c0..1c06521c 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -1,7 +1,7 @@ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_ -#include +#include "messageQueueDefinitions.h" #include "MessageQueueMessageIF.h" #include "../returnvalues/HasReturnvaluesIF.h" From 47c21cfc6c693614c1ed0627d94643d08aeeba0a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 29 Sep 2020 15:22:38 +0200 Subject: [PATCH 24/94] include fix --- ipc/QueueFactory.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h index 0310e534..9853d256 100644 --- a/ipc/QueueFactory.h +++ b/ipc/QueueFactory.h @@ -1,10 +1,10 @@ #ifndef FSFW_IPC_QUEUEFACTORY_H_ #define FSFW_IPC_QUEUEFACTORY_H_ - #include "MessageQueueIF.h" -#include "../ipc/MessageQueueMessage.h" -#include +#include "MessageQueueMessage.h" +#include + /** * Creates message queues. * This class is a "singleton" interface, i.e. it provides an From 72f924813d337bc60d415b2a641afdf132a57f80 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 29 Sep 2020 15:36:54 +0200 Subject: [PATCH 25/94] .mk fix --- fsfw.mk | 1 - 1 file changed, 1 deletion(-) diff --git a/fsfw.mk b/fsfw.mk index bf95727c..3639717b 100644 --- a/fsfw.mk +++ b/fsfw.mk @@ -9,7 +9,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp) -CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp) CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp) From 89c4370d91859eed6e4f5513b9aa03c3864d77e7 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 1 Oct 2020 13:23:06 +0200 Subject: [PATCH 26/94] tc distribution improvements --- tcdistribution/CCSDSDistributor.cpp | 59 +++++++----- tcdistribution/CCSDSDistributor.h | 99 +++++++++++--------- tcdistribution/CCSDSDistributorIF.h | 36 ++++---- tcdistribution/PUSDistributor.cpp | 118 +++++++++++++----------- tcdistribution/PUSDistributor.h | 60 +++++++----- tcdistribution/PUSDistributorIF.h | 13 +-- tcdistribution/TcDistributor.cpp | 28 +++--- tcdistribution/TcDistributor.h | 136 +++++++++++++++------------- tcdistribution/TcPacketCheck.cpp | 24 ++--- tcdistribution/TcPacketCheck.h | 25 ++--- 10 files changed, 331 insertions(+), 267 deletions(-) diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp index 1ebb3185..ddd63308 100644 --- a/tcdistribution/CCSDSDistributor.cpp +++ b/tcdistribution/CCSDSDistributor.cpp @@ -1,31 +1,39 @@ -#include "../serviceinterface/ServiceInterfaceStream.h" #include "CCSDSDistributor.h" + +#include "../serviceinterface/ServiceInterfaceStream.h" #include "../tmtcpacket/SpacePacketBase.h" -CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) : - TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) { +CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, + object_id_t setObjectId): + TcDistributor(setObjectId), defaultApid( setDefaultApid ) { } -CCSDSDistributor::~CCSDSDistributor() { +CCSDSDistributor::~CCSDSDistributor() {} -} - -iterator_t CCSDSDistributor::selectDestination() { -// debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl; - const uint8_t* p_packet = NULL; +TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() { +// sif::debug << "CCSDSDistributor::selectDestination received: " << +// this->currentMessage.getStorageId().pool_index << ", " << +// this->currentMessage.getStorageId().packet_index << std::endl; + const uint8_t* packet = nullptr; size_t size = 0; - //TODO check returncode? - this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size ); - SpacePacketBase current_packet( p_packet ); -// info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl; - iterator_t position = this->queueMap.find( current_packet.getAPID() ); + ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(), + &packet, &size ); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "CCSDSDistributor::selectDestination: Getting data from" + " store failed!" << std::endl; + } + SpacePacketBase currentPacket(packet); + +// sif:: info << "CCSDSDistributor::selectDestination has packet with APID " +// << std::hex << currentPacket.getAPID() << std::dec << std::endl; + TcMqMapIter position = this->queueMap.find(currentPacket.getAPID()); if ( position != this->queueMap.end() ) { return position; } else { - //The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report. - return this->queueMap.find( this->default_apid ); + //The APID was not found. Forward packet to main SW-APID anyway to + // create acceptance failure report. + return this->queueMap.find( this->defaultApid ); } - } MessageQueueId_t CCSDSDistributor::getRequestQueue() { @@ -35,9 +43,9 @@ MessageQueueId_t CCSDSDistributor::getRequestQueue() { ReturnValue_t CCSDSDistributor::registerApplication( AcceptsTelecommandsIF* application) { ReturnValue_t returnValue = RETURN_OK; - bool errorCode = true; - errorCode = this->queueMap.insert( std::pair( application->getIdentifier(), application->getRequestQueue() ) ).second; - if( errorCode == false ) { + auto insertPair = this->queueMap.emplace(application->getIdentifier(), + application->getRequestQueue()); + if(not insertPair.second) { returnValue = RETURN_FAILED; } return returnValue; @@ -46,9 +54,8 @@ ReturnValue_t CCSDSDistributor::registerApplication( ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid, MessageQueueId_t id) { ReturnValue_t returnValue = RETURN_OK; - bool errorCode = true; - errorCode = this->queueMap.insert( std::pair( apid, id ) ).second; - if( errorCode == false ) { + auto insertPair = this->queueMap.emplace(apid, id); + if(not insertPair.second) { returnValue = RETURN_FAILED; } return returnValue; @@ -62,7 +69,11 @@ uint16_t CCSDSDistributor::getIdentifier() { ReturnValue_t CCSDSDistributor::initialize() { ReturnValue_t status = this->TcDistributor::initialize(); this->tcStore = objectManager->get( objects::TC_STORE ); - if (this->tcStore == NULL) status = RETURN_FAILED; + if (this->tcStore == nullptr) { + sif::error << "CCSDSDistributor::initialize: Could not initialize" + " TC store!" << std::endl; + status = RETURN_FAILED; + } return status; } diff --git a/tcdistribution/CCSDSDistributor.h b/tcdistribution/CCSDSDistributor.h index bff72092..e8d54c9c 100644 --- a/tcdistribution/CCSDSDistributor.h +++ b/tcdistribution/CCSDSDistributor.h @@ -1,58 +1,71 @@ -#ifndef CCSDSDISTRIBUTOR_H_ -#define CCSDSDISTRIBUTOR_H_ +#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ +#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ #include "../objectmanager/ObjectManagerIF.h" #include "../storagemanager/StorageManagerIF.h" -#include "CCSDSDistributorIF.h" -#include "TcDistributor.h" +#include "../tcdistribution/CCSDSDistributorIF.h" +#include "../tcdistribution/TcDistributor.h" #include "../tmtcservices/AcceptsTelecommandsIF.h" + /** - * An instantiation of the CCSDSDistributorIF. - * It receives Space Packets, and selects a destination depending on the APID of the telecommands. + * @brief An instantiation of the CCSDSDistributorIF. + * @details + * It receives Space Packets, and selects a destination depending on the + * APID of the telecommands. * The Secondary Header (with Service/Subservice) is ignored. - * \ingroup tc_distribution + * @ingroup tc_distribution */ -class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF { -protected: - /** - * This implementation checks if an Application with fitting APID has registered and forwards the - * packet to the according message queue. - * If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure - * message should be generated. - * @return Iterator to map entry of found APID or iterator to default APID. - */ - iterator_t selectDestination(); - /** - * The default APID, where packets with unknown APID are sent to. - */ - uint16_t default_apid; - /** - * A reference to the TC storage must be maintained, as this class handles pure Space Packets and there - * exists no SpacePacketStored class. - */ - StorageManagerIF* tcStore; - /** - * The callback here handles the generation of acceptance success/failure messages. - */ - ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ); +class CCSDSDistributor : public TcDistributor, + public CCSDSDistributorIF, + public AcceptsTelecommandsIF { public: /** - * The constructor sets the default APID and calls the TcDistributor ctor with a certain object id. - * \c tcStore is set in the \c initialize method. - * @param set_default_apid The default APID, where packets with unknown destination are sent to. + * @brief The constructor sets the default APID and calls the + * TcDistributor ctor with a certain object id. + * @details + * @c tcStore is set in the @c initialize method. + * @param setDefaultApid The default APID, where packets with unknown + * destination are sent to. */ - CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ); + CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId); /** * The destructor is empty. */ - ~CCSDSDistributor(); - MessageQueueId_t getRequestQueue(); - ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id ); - ReturnValue_t registerApplication( AcceptsTelecommandsIF* application ); - uint16_t getIdentifier(); - ReturnValue_t initialize(); + virtual ~CCSDSDistributor(); + + MessageQueueId_t getRequestQueue() override; + ReturnValue_t registerApplication( uint16_t apid, + MessageQueueId_t id) override; + ReturnValue_t registerApplication( + AcceptsTelecommandsIF* application) override; + uint16_t getIdentifier() override; + ReturnValue_t initialize() override; + +protected: + /** + * This implementation checks if an application with fitting APID has + * registered and forwards the packet to the according message queue. + * If the packet is not found, it returns the queue to @c defaultApid, + * where a Acceptance Failure message should be generated. + * @return Iterator to map entry of found APID or iterator to default APID. + */ + TcMqMapIter selectDestination() override; + /** + * The callback here handles the generation of acceptance + * success/failure messages. + */ + ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ) override; + + /** + * The default APID, where packets with unknown APID are sent to. + */ + uint16_t defaultApid; + /** + * A reference to the TC storage must be maintained, as this class handles + * pure Space Packets and there exists no SpacePacketStored class. + */ + StorageManagerIF* tcStore = nullptr; + }; - - -#endif /* CCSDSDISTRIBUTOR_H_ */ +#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */ diff --git a/tcdistribution/CCSDSDistributorIF.h b/tcdistribution/CCSDSDistributorIF.h index be3c2811..6334a35a 100644 --- a/tcdistribution/CCSDSDistributorIF.h +++ b/tcdistribution/CCSDSDistributorIF.h @@ -1,34 +1,38 @@ -#ifndef CCSDSDISTRIBUTORIF_H_ -#define CCSDSDISTRIBUTORIF_H_ +#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ +#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ #include "../tmtcservices/AcceptsTelecommandsIF.h" #include "../ipc/MessageQueueSenderIF.h" /** * This is the Interface to a CCSDS Distributor. - * On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves, - * either by passing a pointer to themselves (and implementing the CCSDSApplicationIF, - * or by explicitly passing an APID and a MessageQueueId to route the TC's to. - * \ingroup tc_distribution + * On a CCSDS Distributor, Applications (in terms of CCSDS) may register + * themselves, either by passing a pointer to themselves (and implementing the + * CCSDSApplicationIF), or by explicitly passing an APID and a MessageQueueId + * to route the TC's to. + * @ingroup tc_distribution */ class CCSDSDistributorIF { public: /** - * With this call, a class implementing the CCSDSApplicationIF can register at the - * distributor. + * With this call, a class implementing the CCSDSApplicationIF can register + * at the distributor. * @param application A pointer to the Application to register. - * @return - \c RETURN_OK on success, - * - \c RETURN_FAILED on failure. + * @return - @c RETURN_OK on success, + * - @c RETURN_FAILED on failure. */ - virtual ReturnValue_t registerApplication( AcceptsTelecommandsIF* application ) = 0; + virtual ReturnValue_t registerApplication( + AcceptsTelecommandsIF* application) = 0; /** * With this call, other Applications can register to the CCSDS distributor. * This is done by passing an APID and a MessageQueueId to the method. * @param apid The APID to register. - * @param id The MessageQueueId of the message queue to send the TC Packets to. - * @return - \c RETURN_OK on success, - * - \c RETURN_FAILED on failure. + * @param id The MessageQueueId of the message queue to send the + * TC Packets to. + * @return - @c RETURN_OK on success, + * - @c RETURN_FAILED on failure. */ - virtual ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id ) = 0; + virtual ReturnValue_t registerApplication( uint16_t apid, + MessageQueueId_t id) = 0; /** * The empty virtual destructor. */ @@ -37,4 +41,4 @@ public: }; -#endif /* CCSDSDISTRIBUTORIF_H_ */ +#endif /* FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ */ diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp index f77eb99d..3baef7d1 100644 --- a/tcdistribution/PUSDistributor.cpp +++ b/tcdistribution/PUSDistributor.cpp @@ -1,61 +1,68 @@ -#include "../serviceinterface/ServiceInterfaceStream.h" #include "CCSDSDistributorIF.h" #include "PUSDistributor.h" + +#include "../serviceinterface/ServiceInterfaceStream.h" #include "../tmtcpacket/pus/TcPacketStored.h" #include "../tmtcservices/PusVerificationReport.h" -PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) : - TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus( - RETURN_FAILED), packetSource(setPacketSource) { +PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, + object_id_t setPacketSource) : + TcDistributor(setObjectId), checker(setApid), verifyChannel(), + tcStatus(RETURN_FAILED), packetSource(setPacketSource) {} + +PUSDistributor::~PUSDistributor() {} + +PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { + // sif:: debug << "PUSDistributor::handlePacket received: " + // << this->current_packet_id.store_index << ", " + // << this->current_packet_id.packet_index << std::endl; + TcMqMapIter queueMapIt = this->queueMap.end(); + this->currentPacket->setStoreAddress(this->currentMessage.getStorageId()); + if (currentPacket->getWholeData() != NULL) { + tcStatus = checker.checkPacket(currentPacket); +#ifdef DEBUG + if(tcStatus != HasReturnvaluesIF::RETURN_OK) { + sif::debug << "PUSDistributor::handlePacket: Packet format " + << "invalid, code "<< static_cast(tcStatus) + << std::endl; + } +#endif + uint32_t queue_id = currentPacket->getService(); + queueMapIt = this->queueMap.find(queue_id); + } + else { + tcStatus = PACKET_LOST; + } + + if (queueMapIt == this->queueMap.end()) { + tcStatus = DESTINATION_NOT_FOUND; +#ifdef DEBUG + sif::debug << "PUSDistributor::handlePacket: Destination not found, " + << "code "<< static_cast(tcStatus) << std::endl; +#endif + } + + if (tcStatus != RETURN_OK) { + return this->queueMap.end(); + } + else { + return queueMapIt; + } } -PUSDistributor::~PUSDistributor() { - -} - -iterator_t PUSDistributor::selectDestination() { -// debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl; - iterator_t queueMapIt = this->queueMap.end(); - this->currentPacket.setStoreAddress(this->currentMessage.getStorageId()); - if (currentPacket.getWholeData() != NULL) { - tcStatus = checker.checkPacket(¤tPacket); -// info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl; - uint32_t queue_id = currentPacket.getService(); - queueMapIt = this->queueMap.find(queue_id); - } else { - tcStatus = PACKET_LOST; - } - if (queueMapIt == this->queueMap.end()) { - tcStatus = DESTINATION_NOT_FOUND; - } - - if (tcStatus != RETURN_OK) { - sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus - << std::endl; - return this->queueMap.end(); - } else { - return queueMapIt; - } - -} - -//uint16_t PUSDistributor::createDestination( uint8_t service_id, uint8_t subservice_id ) { -// return ( service_id << 8 ) + subservice_id; -//} ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) { - ReturnValue_t returnValue = RETURN_OK; - bool errorCode = true; uint16_t serviceId = service->getIdentifier(); + // sif::info << "Service ID: " << (int)serviceId << std::endl; MessageQueueId_t queue = service->getRequestQueue(); - errorCode = this->queueMap.insert( - std::pair(serviceId, queue)).second; - if (errorCode == false) { - //TODO Return Code - returnValue = MessageQueueIF::NO_QUEUE; + auto returnPair = queueMap.emplace(serviceId, queue); + if (not returnPair.second) { + sif::error << "PUSDistributor::registerService: Service ID already" + " exists in map." << std::endl; + return SERVICE_ID_ALREADY_EXISTS; } - return returnValue; + return HasReturnvaluesIF::RETURN_OK; } MessageQueueId_t PUSDistributor::getRequestQueue() { @@ -68,13 +75,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) { } if (tcStatus != RETURN_OK) { this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE, - ¤tPacket, tcStatus); - //A failed packet is deleted immediately after reporting, otherwise it will block memory. - currentPacket.deletePacket(); + currentPacket, tcStatus); + // A failed packet is deleted immediately after reporting, + // otherwise it will block memory. + currentPacket->deletePacket(); return RETURN_FAILED; } else { this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS, - ¤tPacket); + currentPacket); return RETURN_OK; } } @@ -86,9 +94,15 @@ uint16_t PUSDistributor::getIdentifier() { ReturnValue_t PUSDistributor::initialize() { CCSDSDistributorIF* ccsdsDistributor = objectManager->get(packetSource); - if (ccsdsDistributor == NULL) { - return RETURN_FAILED; - } else { + if (ccsdsDistributor == nullptr) { + sif::error << "PUSDistributor::initialize: Packet source invalid." + << " Make sure it exists and implements CCSDSDistributorIF!" + << std::endl; + return RETURN_FAILED; + } + else { return ccsdsDistributor->registerApplication(this); } + + currentPacket = new TcPacketStored(); } diff --git a/tcdistribution/PUSDistributor.h b/tcdistribution/PUSDistributor.h index e9d4be8c..be3804ef 100644 --- a/tcdistribution/PUSDistributor.h +++ b/tcdistribution/PUSDistributor.h @@ -1,67 +1,79 @@ -#ifndef PUSDISTRIBUTOR_H_ -#define PUSDISTRIBUTOR_H_ +#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ +#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ -#include "../returnvalues/HasReturnvaluesIF.h" #include "PUSDistributorIF.h" #include "TcDistributor.h" #include "TcPacketCheck.h" + +#include "../returnvalues/HasReturnvaluesIF.h" #include "../tmtcservices/AcceptsTelecommandsIF.h" #include "../tmtcservices/VerificationReporter.h" /** - * This class accepts PUS Telecommands and forwards them to Application services. - * In addition, the class performs a formal packet check and sends acceptance success - * or failure messages. - * \ingroup tc_distribution + * This class accepts PUS Telecommands and forwards them to Application + * services. In addition, the class performs a formal packet check and + * sends acceptance success or failure messages. + * @ingroup tc_distribution */ class PUSDistributor: public TcDistributor, public PUSDistributorIF, public AcceptsTelecommandsIF { public: /** - * The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id. + * The ctor passes @c set_apid to the checker class and calls the + * TcDistribution ctor with a certain object id. * @param setApid The APID of this receiving Application. * @param setObjectId Object ID of the distributor itself - * @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF. + * @param setPacketSource Object ID of the source of TC packets. + * Must implement CCSDSDistributorIF. */ - PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource); + PUSDistributor(uint16_t setApid, object_id_t setObjectId, + object_id_t setPacketSource); /** * The destructor is empty. */ virtual ~PUSDistributor(); - ReturnValue_t registerService(AcceptsTelecommandsIF* service); - MessageQueueId_t getRequestQueue(); - uint16_t getIdentifier(); - ReturnValue_t initialize(); + ReturnValue_t registerService(AcceptsTelecommandsIF* service) override; + MessageQueueId_t getRequestQueue() override; + ReturnValue_t initialize() override; + uint16_t getIdentifier() override; + protected: /** * This attribute contains the class, that performs a formal packet check. */ TcPacketCheck checker; /** - * With this class, verification messages are sent to the TC Verification service. + * With this class, verification messages are sent to the + * TC Verification service. */ VerificationReporter verifyChannel; /** * The currently handled packet is stored here. */ - TcPacketStored currentPacket; + TcPacketStored* currentPacket = nullptr; /** - * With this variable, the current check status is stored to generate acceptance messages later. + * With this variable, the current check status is stored to generate + * acceptance messages later. */ ReturnValue_t tcStatus; const object_id_t packetSource; + /** - * This method reads the packet service, checks if such a service is registered and forwards the packet to the destination. - * It also initiates the formal packet check and sending of verification messages. - * @return Iterator to map entry of found service id or iterator to \c map.end(). + * This method reads the packet service, checks if such a service is + * registered and forwards the packet to the destination. + * It also initiates the formal packet check and sending of verification + * messages. + * @return Iterator to map entry of found service id + * or iterator to @c map.end(). */ - iterator_t selectDestination(); + TcMqMapIter selectDestination() override; /** - * The callback here handles the generation of acceptance success/failure messages. + * The callback here handles the generation of acceptance + * success/failure messages. */ - ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus); + ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override; }; -#endif /* PUSDISTRIBUTOR_H_ */ +#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */ diff --git a/tcdistribution/PUSDistributorIF.h b/tcdistribution/PUSDistributorIF.h index 5e27b35c..0125c08f 100644 --- a/tcdistribution/PUSDistributorIF.h +++ b/tcdistribution/PUSDistributorIF.h @@ -1,11 +1,12 @@ -#ifndef PUSDISTRIBUTORIF_H_ -#define PUSDISTRIBUTORIF_H_ +#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ +#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ #include "../tmtcservices/AcceptsTelecommandsIF.h" #include "../ipc/MessageQueueSenderIF.h" + /** * This interface allows PUS Services to register themselves at a PUS Distributor. - * \ingroup tc_distribution + * @ingroup tc_distribution */ class PUSDistributorIF { public: @@ -17,10 +18,10 @@ public: /** * With this method, Services can register themselves at the PUS Distributor. * @param service A pointer to the registering Service. - * @return - \c RETURN_OK on success, - * - \c RETURN_FAILED on failure. + * @return - @c RETURN_OK on success, + * - @c RETURN_FAILED on failure. */ virtual ReturnValue_t registerService( AcceptsTelecommandsIF* service ) = 0; }; -#endif /* PUSDISTRIBUTORIF_H_ */ +#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */ diff --git a/tcdistribution/TcDistributor.cpp b/tcdistribution/TcDistributor.cpp index 49a996d9..06e1817f 100644 --- a/tcdistribution/TcDistributor.cpp +++ b/tcdistribution/TcDistributor.cpp @@ -1,12 +1,13 @@ -#include "../serviceinterface/ServiceInterfaceStream.h" -#include "../serviceinterface/ServiceInterfaceStream.h" #include "TcDistributor.h" + +#include "../serviceinterface/ServiceInterfaceStream.h" #include "../tmtcservices/TmTcMessage.h" #include "../ipc/QueueFactory.h" -TcDistributor::TcDistributor(object_id_t set_object_id) : - SystemObject(set_object_id), tcQueue(NULL) { - tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS); +TcDistributor::TcDistributor(object_id_t objectId) : + SystemObject(objectId) { + tcQueue = QueueFactory::instance()-> + createMessageQueue(DISTRIBUTER_MAX_PACKETS); } TcDistributor::~TcDistributor() { @@ -15,7 +16,6 @@ TcDistributor::~TcDistributor() { ReturnValue_t TcDistributor::performOperation(uint8_t opCode) { ReturnValue_t status = RETURN_OK; -// debug << "TcDistributor: performing Operation." << std::endl; for (status = tcQueue->receiveMessage(¤tMessage); status == RETURN_OK; status = tcQueue->receiveMessage(¤tMessage)) { status = handlePacket(); @@ -29,7 +29,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) { ReturnValue_t TcDistributor::handlePacket() { - iterator_t queueMapIt = this->selectDestination(); + TcMqMapIter queueMapIt = this->selectDestination(); ReturnValue_t returnValue = RETURN_FAILED; if (queueMapIt != this->queueMap.end()) { returnValue = this->tcQueue->sendMessage(queueMapIt->second, @@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() { } void TcDistributor::print() { - sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id" - << std::endl; - for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end(); - it++) { - sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec - << std::endl; + sif::debug << "Distributor content is: " << std::endl + << "ID\t| Message Queue ID" << std::endl; + sif::debug << std::setfill('0') << std::setw(8) << std::hex; + for (const auto& queueMapIter: queueMap) { + sif::debug << queueMapIter.first << "\t| 0x" << queueMapIter.second + << std::endl; } - sif::debug << std::dec; + sif::debug << std::setfill(' ') << std::dec; } diff --git a/tcdistribution/TcDistributor.h b/tcdistribution/TcDistributor.h index fed1cb3e..5d0ca45d 100644 --- a/tcdistribution/TcDistributor.h +++ b/tcdistribution/TcDistributor.h @@ -1,5 +1,6 @@ -#ifndef TCDISTRIBUTOR_H_ -#define TCDISTRIBUTOR_H_ +#ifndef FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ +#define FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ + #include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/SystemObject.h" #include "../returnvalues/HasReturnvaluesIF.h" @@ -9,16 +10,12 @@ #include "../ipc/MessageQueueIF.h" #include - /** - * \defgroup tc_distribution Telecommand Distribution - * All classes associated with Routing and Distribution of Telecommands belong to this group. + * @defgroup tc_distribution Telecommand Distribution + * All classes associated with Routing and Distribution of Telecommands + * belong to this group. */ -/** - * This typedef simplifies writing down the \c map iterator. - */ -typedef std::map::iterator iterator_t; /** * This is the base class to implement distributors for Space Packets. @@ -28,62 +25,19 @@ typedef std::map::iterator iterator_t; * message queue ids to some identifier. The process of unpacking the * destination information from the packet is handled by the child class * implementations. - * \ingroup tc_distribution + * @ingroup tc_distribution */ -class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF { -private: - /** - * This constant sets the maximum number of packets distributed per call. - */ - static const uint8_t DISTRIBUTER_MAX_PACKETS = 128; -protected: - /** - * This is the receiving queue for incoming Telecommands. - * The child classes must make its queue id public. - */ - MessageQueueIF* tcQueue; - /** - * The last received incoming packet information is stored in this - * member. - * As different child classes unpack the incoming packet differently - * (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it - * is not tried to unpack the packet information within this class. - */ - TmTcMessage currentMessage; - /** - * The map that links certain packet information to a destination. - * The packet information may be the APID of the packet or the service - * identifier. Filling of the map is under control of the different child - * classes. - */ - std::map queueMap; - /** - * This method shall unpack the routing information from the incoming - * packet and select the map entry which represents the packet's target. - * @return An iterator to the map element to forward to or queuMap.end(). - */ - virtual iterator_t selectDestination() = 0; - /** - * The handlePacket method calls the child class's selectDestination method - * and forwards the packet to its destination, if found. - * @return The message queue return value or \c RETURN_FAILED, in case no - * destination was found. - */ - ReturnValue_t handlePacket(); - /** - * This method gives the child class a chance to perform some kind of operation - * after the parent tried to forward the message. - * A typically application would be sending success/failure messages. - * The default implementation just returns \c RETURN_OK. - * @param queueStatus The status of the message queue after an attempt to send the TC. - * @return - \c RETURN_OK on success - * - \c RETURN_FAILED on failure - */ - virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ); +class TcDistributor : public SystemObject, + public ExecutableObjectIF, + public HasReturnvaluesIF { public: - static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION; - static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 ); - static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 ); + using TcMessageQueueMap = std::map; + using TcMqMapIter = std::map::iterator; + + static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION; + static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 ); + static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 ); + static constexpr ReturnValue_t SERVICE_ID_ALREADY_EXISTS = MAKE_RETURN_CODE(3); /** * Within the default constructor, the SystemObject id is set and the * message queue is initialized. @@ -91,7 +45,7 @@ public: * @param set_object_id This id is assigned to the distributor * implementation. */ - TcDistributor( object_id_t set_object_id ); + TcDistributor(object_id_t objectId); /** * The destructor is empty, the message queues are not in the vicinity of * this class. @@ -110,7 +64,59 @@ public: * queueMap. */ void print(); + +protected: + /** + * This is the receiving queue for incoming Telecommands. + * The child classes must make its queue id public. + */ + MessageQueueIF* tcQueue = nullptr; + /** + * The last received incoming packet information is stored in this + * member. + * As different child classes unpack the incoming packet differently + * (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it + * is not tried to unpack the packet information within this class. + */ + TmTcMessage currentMessage; + /** + * The map that links certain packet information to a destination. + * The packet information may be the APID of the packet or the service + * identifier. Filling of the map is under control of the different child + * classes. + */ + TcMessageQueueMap queueMap; + /** + * This method shall unpack the routing information from the incoming + * packet and select the map entry which represents the packet's target. + * @return An iterator to the map element to forward to or queuMap.end(). + */ + virtual TcMqMapIter selectDestination() = 0; + /** + * The handlePacket method calls the child class's selectDestination method + * and forwards the packet to its destination, if found. + * @return The message queue return value or @c RETURN_FAILED, in case no + * destination was found. + */ + ReturnValue_t handlePacket(); + /** + * This method gives the child class a chance to perform some kind of + * operation after the parent tried to forward the message. + * A typically application would be sending success/failure messages. + * The default implementation just returns @c RETURN_OK. + * @param queueStatus The status of the message queue after an attempt + * to send the TC. + * @return - @c RETURN_OK on success + * - @c RETURN_FAILED on failure + */ + virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ); + +private: + /** + * This constant sets the maximum number of packets distributed per call. + */ + static constexpr uint8_t DISTRIBUTER_MAX_PACKETS = 128; }; -#endif /* TCDISTRIBUTOR_H_ */ +#endif /* FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ */ diff --git a/tcdistribution/TcPacketCheck.cpp b/tcdistribution/TcPacketCheck.cpp index b5881083..38ed04aa 100644 --- a/tcdistribution/TcPacketCheck.cpp +++ b/tcdistribution/TcPacketCheck.cpp @@ -1,31 +1,33 @@ +#include "TcPacketCheck.h" + #include "../globalfunctions/CRC.h" #include "../serviceinterface/ServiceInterfaceStream.h" #include "../storagemanager/StorageManagerIF.h" -#include "TcPacketCheck.h" #include "../tmtcservices/VerificationCodes.h" -TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) { +TcPacketCheck::TcPacketCheck( uint16_t setApid ) : apid(setApid) { } -ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) { - uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() ); +ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) { + uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(), + currentPacket->getFullSize() ); if ( calculated_crc != 0 ) { return INCORRECT_CHECKSUM; } - bool condition = !(current_packet->hasSecondaryHeader()) || - current_packet->getPacketVersionNumber() != CCSDS_VERSION_NUMBER || - !(current_packet->isTelecommand()); + bool condition = (not currentPacket->hasSecondaryHeader()) or + (currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or + (not currentPacket->isTelecommand()); if ( condition ) { return INCORRECT_PRIMARY_HEADER; } - if ( current_packet->getAPID() != this->apid ) + if ( currentPacket->getAPID() != this->apid ) return ILLEGAL_APID; - if ( !current_packet->isSizeCorrect() ) { + if ( not currentPacket->isSizeCorrect() ) { return INCOMPLETE_PACKET; } - condition = (current_packet->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) || - (current_packet->getPusVersionNumber() != PUS_VERSION_NUMBER); + condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) || + (currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER); if ( condition ) { return INCORRECT_SECONDARY_HEADER; } diff --git a/tcdistribution/TcPacketCheck.h b/tcdistribution/TcPacketCheck.h index 4ba269f5..703bb1bb 100644 --- a/tcdistribution/TcPacketCheck.h +++ b/tcdistribution/TcPacketCheck.h @@ -1,28 +1,29 @@ -#ifndef TCPACKETCHECK_H_ -#define TCPACKETCHECK_H_ +#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ +#define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ #include "../returnvalues/HasReturnvaluesIF.h" #include "../tmtcpacket/pus/TcPacketStored.h" #include "../tmtcservices/PusVerificationReport.h" + /** * This class performs a formal packet check for incoming PUS Telecommand Packets. * Currently, it only checks if the APID and CRC are correct. - * \ingroup tc_distribution + * @ingroup tc_distribution */ class TcPacketCheck : public HasReturnvaluesIF { protected: /** * Describes the version number a packet must have to pass. */ - static const uint8_t CCSDS_VERSION_NUMBER = 0; + static constexpr uint8_t CCSDS_VERSION_NUMBER = 0; /** * Describes the secondary header a packet must have to pass. */ - static const uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0; + static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0; /** * Describes the TC Packet PUS Version Number a packet must have to pass. */ - static const uint8_t PUS_VERSION_NUMBER = 1; + static constexpr uint8_t PUS_VERSION_NUMBER = 1; /** * The packet id each correct packet should have. * It is composed of the APID and some static fields. @@ -41,19 +42,19 @@ public: * The constructor only sets the APID attribute. * @param set_apid The APID to set. */ - TcPacketCheck( uint16_t set_apid ); + TcPacketCheck( uint16_t setApid ); /** * This is the actual method to formally check a certain Telecommand Packet. * The packet's Application Data can not be checked here. * @param current_packet The packt to check - * @return - \c RETURN_OK on success. - * - \c INCORRECT_CHECKSUM if checksum is invalid. - * - \c ILLEGAL_APID if APID does not match. + * @return - @c RETURN_OK on success. + * - @c INCORRECT_CHECKSUM if checksum is invalid. + * - @c ILLEGAL_APID if APID does not match. */ - ReturnValue_t checkPacket( TcPacketStored* current_packet ); + ReturnValue_t checkPacket( TcPacketStored* currentPacket ); uint16_t getApid() const; }; -#endif /* TCPACKETCHECK_H_ */ +#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */ From ea8ef8b874248e8ef19667a25a20b63aa646af1e Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 3 Oct 2020 14:19:42 +0200 Subject: [PATCH 27/94] important bugfix --- tcdistribution/PUSDistributor.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp index 3baef7d1..63d1dcde 100644 --- a/tcdistribution/PUSDistributor.cpp +++ b/tcdistribution/PUSDistributor.cpp @@ -17,8 +17,11 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { // << this->current_packet_id.store_index << ", " // << this->current_packet_id.packet_index << std::endl; TcMqMapIter queueMapIt = this->queueMap.end(); + if(this->currentPacket == nullptr) { + return queueMapIt; + } this->currentPacket->setStoreAddress(this->currentMessage.getStorageId()); - if (currentPacket->getWholeData() != NULL) { + if (currentPacket->getWholeData() != nullptr) { tcStatus = checker.checkPacket(currentPacket); #ifdef DEBUG if(tcStatus != HasReturnvaluesIF::RETURN_OK) { @@ -94,6 +97,7 @@ uint16_t PUSDistributor::getIdentifier() { ReturnValue_t PUSDistributor::initialize() { CCSDSDistributorIF* ccsdsDistributor = objectManager->get(packetSource); + currentPacket = new TcPacketStored(); if (ccsdsDistributor == nullptr) { sif::error << "PUSDistributor::initialize: Packet source invalid." << " Make sure it exists and implements CCSDSDistributorIF!" @@ -103,6 +107,4 @@ ReturnValue_t PUSDistributor::initialize() { else { return ccsdsDistributor->registerApplication(this); } - - currentPacket = new TcPacketStored(); } From 17ea3127a79f7c0d575cb857cd9197de741ff5ac Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 10 Oct 2020 17:04:43 +0200 Subject: [PATCH 28/94] minor form improvements, include guards --- action/ActionHelper.cpp | 15 +++++---- action/ActionHelper.h | 74 ++++++++++++++++++++++++++--------------- 2 files changed, 56 insertions(+), 33 deletions(-) diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index 361f7dc3..ab986c6c 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -3,8 +3,9 @@ #include "../ipc/MessageQueueSenderIF.h" #include "../objectmanager/ObjectManagerIF.h" -ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) : - owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) { +ActionHelper::ActionHelper(HasActionsIF* setOwner, + MessageQueueIF* useThisQueue) : + owner(setOwner), queueToUse(useThisQueue) { } ActionHelper::~ActionHelper() { @@ -33,13 +34,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { return HasReturnvaluesIF::RETURN_OK; } -void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) { +void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, + ActionId_t commandId, ReturnValue_t result) { CommandMessage reply; ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); queueToUse->sendMessage(reportTo, &reply); } -void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) { +void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, + ReturnValue_t result) { CommandMessage reply; ActionMessage::setCompletionReply(&reply, commandId, result); queueToUse->sendMessage(reportTo, &reply); @@ -49,8 +52,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; } -void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, - store_address_t dataAddress) { +void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, + ActionId_t actionId, store_address_t dataAddress) { const uint8_t* dataPtr = NULL; size_t size = 0; ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); diff --git a/action/ActionHelper.h b/action/ActionHelper.h index bbc6d114..a20f286a 100644 --- a/action/ActionHelper.h +++ b/action/ActionHelper.h @@ -1,15 +1,18 @@ -#ifndef ACTIONHELPER_H_ -#define ACTIONHELPER_H_ +#ifndef FSFW_ACTION_ACTIONHELPER_H_ +#define FSFW_ACTION_ACTIONHELPER_H_ #include "ActionMessage.h" #include "../serialize/SerializeIF.h" #include "../ipc/MessageQueueIF.h" /** - * \brief Action Helper is a helper class which handles action messages + * @brief Action Helper is a helper class which handles action messages * - * Components which use the HasActionIF this helper can be used to handle the action messages. - * It does handle step messages as well as other answers to action calls. It uses the executeAction function - * of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer! + * Components which use the HasActionIF this helper can be used to handle + * the action messages. + * It does handle step messages as well as other answers to action calls. + * It uses the executeAction function of its owner as callback. + * The call of the initialize function is mandatory and needs a + * valid MessageQueueIF pointer! */ class HasActionsIF; @@ -18,7 +21,8 @@ public: /** * Constructor of the action helper * @param setOwner Pointer to the owner of the interface - * @param useThisQueue messageQueue to be used, can be set during initialize function as well. + * @param useThisQueue messageQueue to be used, can be set during + * initialize function as well. */ ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); @@ -26,28 +30,35 @@ public: /** * Function to be called from the owner with a new command message * - * If the message is a valid action message the helper will use the executeAction function from HasActionsIF. - * If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically. + * If the message is a valid action message the helper will use the + * executeAction function from HasActionsIF. + * If the message is invalid or the callback fails a message reply will be + * send to the sender of the message automatically. * * @param command Pointer to a command message received by the owner - * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown + * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, + * CommandMessage::UNKNOW_COMMAND if this message ID is unkown */ ReturnValue_t handleActionMessage(CommandMessage* command); /** - * Helper initialize function. Must be called before use of any other helper function - * @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor + * Helper initialize function. Must be called before use of any other + * helper function + * @param queueToUse_ Pointer to the messageQueue to be used, optional + * if queue was set in constructor * @return Returns RETURN_OK if successful */ ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); /** - * Function to be called from the owner to send a step message. Success or failure will be determined by the result value. + * Function to be called from the owner to send a step message. + * Success or failure will be determined by the result value. * * @param step Number of steps already done * @param reportTo The messageQueueId to report the step message to * @param commandId ID of the executed command * @param result Result of the execution */ - void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); /** * Function to be called by the owner to send a action completion message * @@ -55,39 +66,48 @@ public: * @param commandId ID of the executed command * @param result Result of the execution */ - void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); + void finish(MessageQueueId_t reportTo, ActionId_t commandId, + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); /** * Function to be called by the owner if an action does report data * - * @param reportTo MessageQueueId_t to report the action completion message to + * @param reportTo MessageQueueId_t to report the action completion + * message to * @param replyId ID of the executed command * @param data Pointer to the data * @return Returns RETURN_OK if successful, otherwise failure code */ - ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false); + ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, + SerializeIF* data, bool hideSender = false); /** - * Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if - * message queue is unavailable at construction and initialize but must be setup before first call of other functions. + * Function to setup the MessageQueueIF* of the helper. Can be used to + * set the MessageQueueIF* if message queue is unavailable at construction + * and initialize but must be setup before first call of other functions. * @param queue Queue to be used by the helper */ void setQueueToUse(MessageQueueIF *queue); protected: - static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step + //!< Increase of value of this per step + static const uint8_t STEP_OFFSET = 1; HasActionsIF* owner;//!< Pointer to the owner - MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with - StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue) + //! Queue to be used as response sender, has to be set in ctor or with + //! setQueueToUse + MessageQueueIF* queueToUse; + //! Pointer to an IPC Store, initialized during construction or + StorageManagerIF* ipcStore = nullptr; + /** - *Internal function called by handleActionMessage(CommandMessage* command) - * + * Internal function called by handleActionMessage * @param commandedBy MessageQueueID of Commander * @param actionId ID of action to be done * @param dataAddress Address of additional data in IPC Store */ - virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress); + virtual void prepareExecution(MessageQueueId_t commandedBy, + ActionId_t actionId, store_address_t dataAddress); /** - * + * @brief Default implementation is empty. */ virtual void resetHelper(); }; -#endif /* ACTIONHELPER_H_ */ +#endif /* FSFW_ACTION_ACTIONHELPER_H_ */ From 829be0f08298c8aea79eccfff9403a2c23e381c8 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 12 Oct 2020 16:58:04 +0200 Subject: [PATCH 29/94] doc correction, action helper new helper function --- action/ActionHelper.cpp | 56 +++++++++++++++++++++++++++++++++++------ action/ActionHelper.h | 15 +++++++++-- action/HasActionsIF.h | 7 +++--- 3 files changed, 65 insertions(+), 13 deletions(-) diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index ab986c6c..8122885b 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -89,22 +89,28 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG); + result = data->serialize(&dataPtr, &size, maxSize, + SerializeIF::Endianness::BIG); if (result != HasReturnvaluesIF::RETURN_OK) { ipcStore->deleteData(storeAddress); return result; } - //We don't need to report the objectId, as we receive REQUESTED data before the completion success message. - //True aperiodic replies need to be reported with another dedicated message. + // We don't need to report the objectId, as we receive REQUESTED data + // before the completion success message. + // True aperiodic replies need to be reported with + // another dedicated message. ActionMessage::setDataReply(&reply, replyId, storeAddress); - //TODO Service Implementation sucks at the moment - if (hideSender){ + // TODO: Service Implementation sucks at the moment + // TODO: why does it suck and why would someone need to hide the sender? + if (hideSender) { result = MessageQueueSenderIF::sendMessage(reportTo, &reply); - } else { + } + else { result = queueToUse->sendMessage(reportTo, &reply); } - if ( result != HasReturnvaluesIF::RETURN_OK){ + + if (result != HasReturnvaluesIF::RETURN_OK){ ipcStore->deleteData(storeAddress); } return result; @@ -112,3 +118,39 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, void ActionHelper::resetHelper() { } + +ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, + ActionId_t replyId, const uint8_t *data, size_t dataSize, + bool hideSender) { + CommandMessage reply; + store_address_t storeAddress; + ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeAddress); + return result; + } + + // We don't need to report the objectId, as we receive REQUESTED data + // before the completion success message. + // True aperiodic replies need to be reported with + // another dedicated message. + ActionMessage::setDataReply(&reply, replyId, storeAddress); + + // TODO: Service Implementation sucks at the moment + // TODO: why does it suck and why would someone need to hide the sender? + if (hideSender) { + result = MessageQueueSenderIF::sendMessage(reportTo, &reply); + } + else { + result = queueToUse->sendMessage(reportTo, &reply); + } + + if (result != HasReturnvaluesIF::RETURN_OK){ + ipcStore->deleteData(storeAddress); + } + return result; +} diff --git a/action/ActionHelper.h b/action/ActionHelper.h index a20f286a..17ca3ebd 100644 --- a/action/ActionHelper.h +++ b/action/ActionHelper.h @@ -69,8 +69,8 @@ public: void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); /** - * Function to be called by the owner if an action does report data - * + * Function to be called by the owner if an action does report data. + * Takes a SerializeIF* pointer and serializes it into the IPC store. * @param reportTo MessageQueueId_t to report the action completion * message to * @param replyId ID of the executed command @@ -79,6 +79,17 @@ public: */ ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false); + /** + * Function to be called by the owner if an action does report data. + * Takes the raw data and writes it into the IPC store. + * @param reportTo MessageQueueId_t to report the action completion + * message to + * @param replyId ID of the executed command + * @param data Pointer to the data + * @return Returns RETURN_OK if successful, otherwise failure code + */ + ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, + const uint8_t* data, size_t dataSize, bool hideSender = false); /** * Function to setup the MessageQueueIF* of the helper. Can be used to * set the MessageQueueIF* if message queue is unavailable at construction diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h index 886d0837..a26ed588 100644 --- a/action/HasActionsIF.h +++ b/action/HasActionsIF.h @@ -47,10 +47,9 @@ public: virtual MessageQueueId_t getCommandQueue() const = 0; /** * Execute or initialize the execution of a certain function. - * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to - * be done. When needing more steps, return RETURN_OK and issue steps and - * completion manually. - * One "step failed" or completion report must be issued! + * When used in conjunction with the ActionHelper class, returning + * a return code which is not equal to RETURN_OK will trigger a step reply + * with step 0. */ virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; From 8cea7b05db428b80bc90abd1ae5440bd9e9562a7 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 20 Oct 2020 14:42:58 +0200 Subject: [PATCH 30/94] include improvement --- osal/FreeRTOS/QueueFactory.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index 5b3c73dc..ed29e10c 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,8 +1,8 @@ +#include "MessageQueue.h" + #include "../../ipc/MessageQueueSenderIF.h" #include "../../ipc/QueueFactory.h" -#include "../../osal/FreeRTOS/MessageQueue.h" - QueueFactory* QueueFactory::factoryInstance = nullptr; From fa67f8246206e7b5a76a235a14d2b63f888e4fe0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 20 Oct 2020 15:04:28 +0200 Subject: [PATCH 31/94] structure improved --- tcdistribution/PUSDistributor.cpp | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp index 63d1dcde..d964202f 100644 --- a/tcdistribution/PUSDistributor.cpp +++ b/tcdistribution/PUSDistributor.cpp @@ -95,16 +95,19 @@ uint16_t PUSDistributor::getIdentifier() { } ReturnValue_t PUSDistributor::initialize() { + currentPacket = new TcPacketStored(); + if(currentPacket == nullptr) { + // Should not happen, memory allocation failed! + return ObjectManagerIF::CHILD_INIT_FAILED; + } + CCSDSDistributorIF* ccsdsDistributor = objectManager->get(packetSource); - currentPacket = new TcPacketStored(); if (ccsdsDistributor == nullptr) { sif::error << "PUSDistributor::initialize: Packet source invalid." << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl; return RETURN_FAILED; } - else { - return ccsdsDistributor->registerApplication(this); - } + return ccsdsDistributor->registerApplication(this); } From 7821cc2870e4e74a6bd37542127bb9b637b7a6e4 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 20 Oct 2020 16:52:34 +0200 Subject: [PATCH 32/94] submodule added --- .gitmodules | 3 +++ unittest | 1 + 2 files changed, 4 insertions(+) create mode 100644 .gitmodules create mode 160000 unittest diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..a24e36e5 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "unittest"] + path = unittest + url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests.git diff --git a/unittest b/unittest new file mode 160000 index 00000000..b99077c7 --- /dev/null +++ b/unittest @@ -0,0 +1 @@ +Subproject commit b99077c7f94916b677f45a97ccb80613c0932f47 From c677358343551340d57396a6259fe026c3cf662b Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 20 Oct 2020 17:06:09 +0200 Subject: [PATCH 33/94] include adaption --- events/Event.h | 2 +- returnvalues/HasReturnvaluesIF.h | 2 +- unittest | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/events/Event.h b/events/Event.h index e22c9db1..f8410f32 100644 --- a/events/Event.h +++ b/events/Event.h @@ -4,7 +4,7 @@ #include #include "fwSubsystemIdRanges.h" //could be move to more suitable location -#include +#include typedef uint16_t EventId_t; typedef uint8_t EventSeverity_t; diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h index 5fef91dd..3d3e3208 100644 --- a/returnvalues/HasReturnvaluesIF.h +++ b/returnvalues/HasReturnvaluesIF.h @@ -2,7 +2,7 @@ #define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ #include "FwClassIds.h" -#include +#include #include #define MAKE_RETURN_CODE( number ) ((INTERFACE_ID << 8) + (number)) diff --git a/unittest b/unittest index b99077c7..76cbb97a 160000 --- a/unittest +++ b/unittest @@ -1 +1 @@ -Subproject commit b99077c7f94916b677f45a97ccb80613c0932f47 +Subproject commit 76cbb97ae410a7440d2b71eaecd4eea4a5cccaf3 From 865ea3386c91ed976166995cb4fd70cf2434dda7 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 20 Oct 2020 17:11:23 +0200 Subject: [PATCH 34/94] unittest now contained directly --- .gitmodules | 3 - unittest | 1 - unittest/Makefile-FSFW-Tests | 415 + unittest/README.md | 121 + unittest/catch2/LICENSE.txt | 23 + unittest/catch2/catch.hpp | 17618 ++++++++++++++++ unittest/catch2/catch_reporter_automake.hpp | 62 + unittest/catch2/catch_reporter_sonarqube.hpp | 181 + unittest/catch2/catch_reporter_tap.hpp | 253 + unittest/catch2/catch_reporter_teamcity.hpp | 219 + unittest/config/FSFWConfig.h | 32 + unittest/config/TestsConfig.h | 8 + unittest/config/cdatapool/dataPoolInit.cpp | 48 + unittest/config/cdatapool/dataPoolInit.h | 29 + unittest/config/config.mk | 15 + unittest/config/devices/logicalAddresses.cpp | 11 + unittest/config/devices/logicalAddresses.h | 15 + unittest/config/devices/powerSwitcherList.cpp | 10 + unittest/config/devices/powerSwitcherList.h | 22 + unittest/config/events/translateEvents.cpp | 20 + unittest/config/events/translateEvents.h | 16 + unittest/config/ipc/MissionMessageTypes.cpp | 11 + unittest/config/ipc/MissionMessageTypes.h | 22 + unittest/config/objects/Factory.cpp | 37 + unittest/config/objects/Factory.h | 16 + unittest/config/objects/systemObjectList.h | 30 + unittest/config/objects/translateObjects.cpp | 242 + unittest/config/objects/translateObjects.h | 16 + .../PollingSequenceFactory.cpp | 31 + .../pollingsequence/PollingSequenceFactory.h | 31 + unittest/config/returnvalues/classIds.h | 28 + unittest/config/tmtc/PusIds.hpp | 29 + unittest/config/tmtc/apid.h | 19 + unittest/config/tmtc/pusIds.h | 23 + unittest/config/tmtc/subsystemIdRanges.h | 34 + unittest/config/tmtc/tmTcSize.h | 10 + unittest/config/version.h | 7 + unittest/core/CatchDefinitions.cpp | 11 + unittest/core/CatchDefinitions.h | 19 + unittest/core/CatchRunner.cpp | 27 + unittest/core/CatchSetup.cpp | 41 + unittest/core/core.mk | 3 + unittest/core/printChar.cpp | 10 + unittest/core/printChar.h | 8 + unittest/internal/InternalUnitTester.cpp | 26 + unittest/internal/InternalUnitTester.h | 29 + unittest/internal/UnittDefinitions.cpp | 7 + unittest/internal/UnittDefinitions.h | 33 + unittest/internal/osal/IntTestMq.cpp | 52 + unittest/internal/osal/IntTestMq.h | 9 + unittest/internal/osal/IntTestMutex.cpp | 41 + unittest/internal/osal/IntTestMutex.h | 10 + unittest/internal/osal/IntTestSemaphore.cpp | 159 + unittest/internal/osal/IntTestSemaphore.h | 15 + .../serialize/IntTestSerialization.cpp | 230 + .../internal/serialize/IntTestSerialization.h | 15 + unittest/lcov.sh | 3 + unittest/tests/action/TestActionHelper.cpp | 105 + unittest/tests/action/TestActionHelper.h | 131 + unittest/tests/container/RingBufferTest.cpp | 327 + unittest/tests/container/TestArrayList.cpp | 90 + unittest/tests/container/TestDynamicFifo.cpp | 149 + unittest/tests/container/TestFifo.cpp | 138 + .../tests/container/TestFixedArrayList.cpp | 41 + unittest/tests/container/TestFixedMap.cpp | 172 + .../container/TestFixedOrderedMultimap.cpp | 203 + .../tests/container/TestPlacementFactory.cpp | 45 + unittest/tests/osal/TestMessageQueue.cpp | 40 + unittest/tests/osal/TestSemaphore.cpp | 46 + .../serialize/TestSerialBufferAdapter.cpp | 143 + .../serialize/TestSerialLinkedPacket.cpp | 73 + .../tests/serialize/TestSerialLinkedPacket.h | 61 + .../tests/serialize/TestSerialization.cpp | 129 + .../tests/storagemanager/TestNewAccessor.cpp | 161 + unittest/tests/storagemanager/TestPool.cpp | 105 + unittest/tests/tests.mk | 8 + unittest/testtemplate/TestTemplate.cpp | 31 + unittest/unlockRealtime.sh | 34 + 78 files changed, 22684 insertions(+), 4 deletions(-) delete mode 160000 unittest create mode 100644 unittest/Makefile-FSFW-Tests create mode 100644 unittest/README.md create mode 100644 unittest/catch2/LICENSE.txt create mode 100644 unittest/catch2/catch.hpp create mode 100644 unittest/catch2/catch_reporter_automake.hpp create mode 100644 unittest/catch2/catch_reporter_sonarqube.hpp create mode 100644 unittest/catch2/catch_reporter_tap.hpp create mode 100644 unittest/catch2/catch_reporter_teamcity.hpp create mode 100644 unittest/config/FSFWConfig.h create mode 100644 unittest/config/TestsConfig.h create mode 100644 unittest/config/cdatapool/dataPoolInit.cpp create mode 100644 unittest/config/cdatapool/dataPoolInit.h create mode 100644 unittest/config/config.mk create mode 100644 unittest/config/devices/logicalAddresses.cpp create mode 100644 unittest/config/devices/logicalAddresses.h create mode 100644 unittest/config/devices/powerSwitcherList.cpp create mode 100644 unittest/config/devices/powerSwitcherList.h create mode 100644 unittest/config/events/translateEvents.cpp create mode 100644 unittest/config/events/translateEvents.h create mode 100644 unittest/config/ipc/MissionMessageTypes.cpp create mode 100644 unittest/config/ipc/MissionMessageTypes.h create mode 100644 unittest/config/objects/Factory.cpp create mode 100644 unittest/config/objects/Factory.h create mode 100644 unittest/config/objects/systemObjectList.h create mode 100644 unittest/config/objects/translateObjects.cpp create mode 100644 unittest/config/objects/translateObjects.h create mode 100644 unittest/config/pollingsequence/PollingSequenceFactory.cpp create mode 100644 unittest/config/pollingsequence/PollingSequenceFactory.h create mode 100644 unittest/config/returnvalues/classIds.h create mode 100644 unittest/config/tmtc/PusIds.hpp create mode 100644 unittest/config/tmtc/apid.h create mode 100644 unittest/config/tmtc/pusIds.h create mode 100644 unittest/config/tmtc/subsystemIdRanges.h create mode 100644 unittest/config/tmtc/tmTcSize.h create mode 100644 unittest/config/version.h create mode 100644 unittest/core/CatchDefinitions.cpp create mode 100644 unittest/core/CatchDefinitions.h create mode 100644 unittest/core/CatchRunner.cpp create mode 100644 unittest/core/CatchSetup.cpp create mode 100644 unittest/core/core.mk create mode 100644 unittest/core/printChar.cpp create mode 100644 unittest/core/printChar.h create mode 100644 unittest/internal/InternalUnitTester.cpp create mode 100644 unittest/internal/InternalUnitTester.h create mode 100644 unittest/internal/UnittDefinitions.cpp create mode 100644 unittest/internal/UnittDefinitions.h create mode 100644 unittest/internal/osal/IntTestMq.cpp create mode 100644 unittest/internal/osal/IntTestMq.h create mode 100644 unittest/internal/osal/IntTestMutex.cpp create mode 100644 unittest/internal/osal/IntTestMutex.h create mode 100644 unittest/internal/osal/IntTestSemaphore.cpp create mode 100644 unittest/internal/osal/IntTestSemaphore.h create mode 100644 unittest/internal/serialize/IntTestSerialization.cpp create mode 100644 unittest/internal/serialize/IntTestSerialization.h create mode 100644 unittest/lcov.sh create mode 100644 unittest/tests/action/TestActionHelper.cpp create mode 100644 unittest/tests/action/TestActionHelper.h create mode 100644 unittest/tests/container/RingBufferTest.cpp create mode 100644 unittest/tests/container/TestArrayList.cpp create mode 100644 unittest/tests/container/TestDynamicFifo.cpp create mode 100644 unittest/tests/container/TestFifo.cpp create mode 100644 unittest/tests/container/TestFixedArrayList.cpp create mode 100644 unittest/tests/container/TestFixedMap.cpp create mode 100644 unittest/tests/container/TestFixedOrderedMultimap.cpp create mode 100644 unittest/tests/container/TestPlacementFactory.cpp create mode 100644 unittest/tests/osal/TestMessageQueue.cpp create mode 100644 unittest/tests/osal/TestSemaphore.cpp create mode 100644 unittest/tests/serialize/TestSerialBufferAdapter.cpp create mode 100644 unittest/tests/serialize/TestSerialLinkedPacket.cpp create mode 100644 unittest/tests/serialize/TestSerialLinkedPacket.h create mode 100644 unittest/tests/serialize/TestSerialization.cpp create mode 100644 unittest/tests/storagemanager/TestNewAccessor.cpp create mode 100644 unittest/tests/storagemanager/TestPool.cpp create mode 100644 unittest/tests/tests.mk create mode 100644 unittest/testtemplate/TestTemplate.cpp create mode 100644 unittest/unlockRealtime.sh diff --git a/.gitmodules b/.gitmodules index a24e36e5..e69de29b 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +0,0 @@ -[submodule "unittest"] - path = unittest - url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests.git diff --git a/unittest b/unittest deleted file mode 160000 index 76cbb97a..00000000 --- a/unittest +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 76cbb97ae410a7440d2b71eaecd4eea4a5cccaf3 diff --git a/unittest/Makefile-FSFW-Tests b/unittest/Makefile-FSFW-Tests new file mode 100644 index 00000000..d43a6edc --- /dev/null +++ b/unittest/Makefile-FSFW-Tests @@ -0,0 +1,415 @@ +#------------------------------------------------------------------------------- +# Makefile for FSFW Test +#------------------------------------------------------------------------------- +# User-modifiable options +#------------------------------------------------------------------------------- +# Fundamentals on the build process of C/C++ Software: +# https://www3.ntu.edu.sg/home/ehchua/programming/cpp/gcc_make.html + +# Make documentation: https://www.gnu.org/software/make/manual/make.pdf +# Online: https://www.gnu.org/software/make/manual/make.html +# General rules: http://make.mad-scientist.net/papers/rules-of-makefiles/#rule3 +SHELL = /bin/sh + +# Chip & board used for compilation +# (can be overriden by adding CHIP=chip and BOARD=board to the command-line) +# Unit Test can only be run on host machine for now (Linux) +FRAMEWORK_PATH = fsfw +FILE_ROOT = $(FRAMEWORK_PATH)/unittest +BOARD = unittest +LINUX = 1 +OS_FSFW = linux +CUSTOM_DEFINES += -D$(OS_FSFW) + +# Copied from stackoverflow, can be used to differentiate between Windows +# and Linux +ifeq ($(OS),Windows_NT) + CUSTOM_DEFINES += -DWIN32 + ifeq ($(PROCESSOR_ARCHITEW6432),AMD64) + CUSTOM_DEFINES += -DAMD64 + else + ifeq ($(PROCESSOR_ARCHITECTURE),AMD64) + CUSTOM_DEFINES += -DAMD64 + endif + ifeq ($(PROCESSOR_ARCHITECTURE),x86) + CUSTOM_DEFINES += -DIA32 + endif + endif +else + UNAME_S := $(shell uname -s) + ifeq ($(UNAME_S),Linux) + DETECTED_OS = LINUX + CUSTOM_DEFINES += -DLINUX + endif + ifeq ($(UNAME_S),Darwin) + CUSTOM_DEFINES += -DOSX + endif + UNAME_P := $(shell uname -p) + ifeq ($(UNAME_P),x86_64) + CUSTOM_DEFINES += -DAMD64 + endif + ifneq ($(filter %86,$(UNAME_P)),) + CUSTOM_DEFINES += -DIA32 + endif + ifneq ($(filter arm%,$(UNAME_P)),) + CUSTOM_DEFINES += -DARM + endif +endif + +UNIT_TEST = 1 +# General folder paths +CONFIG_PATH = $(FILE_ROOT)/config +UNIT_TEST_PATH = $(FILE_ROOT)/tests +CORE_PATH = $(FILE_ROOT)/core + +# Output file basename +BASENAME = fsfw +BINARY_NAME := $(BASENAME)-$(BOARD) +# Output files will be put in this directory inside +OUTPUT_FOLDER = $(OS) + +# Optimization level. Optimized for debugging. +OPTIMIZATION = -O0 + +# Default debug output. Optimized for debugging. +DEBUG_LEVEL = -g3 + +ifdef GCOV +CUSTOM_DEFINES += -DGCOV +endif + + +# Output directories +BUILDPATH = _bin +DEPENDPATH = _dep +OBJECTPATH = _obj + +ifeq ($(MAKECMDGOALS),mission) +BUILD_FOLDER = mission +else +BUILD_FOLDER = devel +endif + +DEPENDDIR = $(DEPENDPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER) +OBJDIR = $(OBJECTPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER) +BINDIR = $(BUILDPATH) + +CLEANDEP = $(DEPENDPATH)/$(OUTPUT_FOLDER) +CLEANOBJ = $(OBJECTPATH)/$(OUTPUT_FOLDER) +CLEANBIN = $(BUILDPATH) +#------------------------------------------------------------------------------- +# Tools and Includes +#------------------------------------------------------------------------------- + +# Tool suffix when cross-compiling +CROSS_COMPILE = + +# C Compiler +CC = $(CROSS_COMPILE)gcc + +# C++ compiler +CXX = $(CROSS_COMPILE)g++ + +# Additional Tools +SIZE = $(CROSS_COMPILE)size +STRIP = $(CROSS_COMPILE)strip +CP = $(CROSS_COMPILE)objcopy + +HEXCOPY = $(CP) -O ihex +BINCOPY = $(CP) -O binary +# files to be compiled, will be filled in by include makefiles +# := assignment is neccessary so we get all paths right +# https://www.gnu.org/software/make/manual/html_node/Flavors.html +CSRC := +CXXSRC := +ASRC := +INCLUDES := + +# Directories where $(directoryname).mk files should be included from +SUBDIRS := $(FRAMEWORK_PATH) $(TEST_PATH) $(UNIT_TEST_PATH) $(CONFIG_PATH) \ + $(CORE_PATH) + + +I_INCLUDES += $(addprefix -I, $(INCLUDES)) + +# This is a hack from http://make.mad-scientist.net/the-eval-function/ +# +# The problem is, that included makefiles should be aware of their relative path +# but not need to guess or hardcode it. So we set $(CURRENTPATH) for them. If +# we do this globally and the included makefiles want to include other makefiles as +# well, they would overwrite $(CURRENTPATH), screwing the include after them. +# +# By using a for-loop with an eval'd macro, we can generate the code to include all +# sub-makefiles (with the correct $(CURRENTPATH) set) before actually evaluating +# (and by this possibly changing $(CURRENTPATH)) them. +# +# This works recursively, if an included makefile wants to include, it can safely set +# $(SUBDIRS) (which has already been evaluated here) and do +# "$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))" +# $(SUBDIRS) must be relative to the project root, so to include subdir foo, set +# $(SUBDIRS) = $(CURRENTPATH)/foo. +define INCLUDE_FILE +CURRENTPATH := $S +include $(S)/$(notdir $S).mk +endef +$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE))) + +INCLUDES += $(FILE_ROOT) +INCLUDES += $(FILE_ROOT)/catch2/ + +#------------------------------------------------------------------------------- +# Source Files +#------------------------------------------------------------------------------- + +# All source files which are not includes by the .mk files are added here +# Please ensure that no files are included by both .mk file and here ! + +# if a target is not listed in the current directory, +# make searches in the directories specified with VPATH + +# All C Sources included by .mk files are assigned here +# Add the objects to sources so dependency handling works +C_OBJECTS += $(CSRC:.c=.o) + +# Objects built from Assembly source files +ASM_OBJECTS = $(ASRC:.S=.o) + +# Objects built from C++ source files +CXX_OBJECTS += $(CXXSRC:.cpp=.o) + +#------------------------------------------------------------------------------- +# Build Configuration + Output +#------------------------------------------------------------------------------- + +TARGET = Debug build. +DEBUG_MESSAGE = Off +OPTIMIZATION_MESSAGE = Off + +# Define Messages +MSG_INFO = Software: Hosted unittest \(Catch2\) for the FSFW. +MSG_OPTIMIZATION = Optimization: $(OPTIMIZATION), $(OPTIMIZATION_MESSAGE) +MSG_TARGET = Target Build: $(TARGET) +MSG_DEBUG = Debug level: $(DEBUG_LEVEL), FSFW Debugging: $(DEBUG_MESSAGE) + +MSG_LINKING = Linking: +MSG_COMPILING = Compiling: +MSG_ASSEMBLING = Assembling: +MSG_DEPENDENCY = Collecting dependencies for: +MSG_BINARY = Generate binary: + +# See https://stackoverflow.com/questions/6687630/how-to-remove-unused-c-c-symbols-with-gcc-and-ld +# Used to throw away unused code. Reduces code size significantly ! +# -Wl,--gc-sections: needs to be passed to the linker to throw aways unused code +ifdef KEEP_UNUSED_CODE +PROTOTYPE_OPTIMIZATION = +UNUSED_CODE_REMOVAL = +else +PROTOTYPE_OPTIMIZATION = -ffunction-sections -fdata-sections +UNUSED_CODE_REMOVAL = -Wl,--gc-sections +# Link time optimization +# See https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html for reference +# Link time is larger and size of object files can not be retrieved +# but resulting binary is smaller. Could be used in mission/deployment build +# Requires -ffunction-section in linker call +LINK_TIME_OPTIMIZATION = -flto +OPTIMIZATION += $(PROTOTYPE_OPTIMIZATION) +endif + +# Dependency Flags +# These flags tell the compiler to build dependencies +# See: https://www.gnu.org/software/make/manual/html_node/Automatic-Prerequisites.html +# Using following guide: http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/#combine +DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPENDDIR)/$*.d + +# Flags for the compiler call +# - std: Which C++ version to use. Common versions: c++11, c++14 and c++17 +# - Wall: enable all warnings +# - Wextra: enable extra warnings +# - g: defines debug level +# - fmessage-length: to control the formatting algorithm for diagnostic messages; +# =0 means no line-wrapping is done; each error message appears on a single line +# - fno-exceptions: stops generating extra code needed to propagate exceptions, +# which can produce significant data size overhead +CUSTOM_DEFINES += -DUNIT_TEST +WARNING_FLAGS = -Wall -Wshadow=local -Wextra -Wimplicit-fallthrough=1 \ + -Wno-unused-parameter + +CXXDEFINES := $(CUSTOM_DEFINES) +CFLAGS += +CXXFLAGS += -I. $(DEBUG_LEVEL) $(WARNING_FLAGS) $(DEPFLAGS) -fmessage-length=0 $(OPTIMIZATION)\ + $(I_INCLUDES) $(CXXDEFINES) +CPPFLAGS += -std=c++11 + +# Flags for the linker call +# LINK_INCLUDES specify the path to used libraries and the linker script +# LINK_LIBRARIES: Link real time support +LDFLAGS := $(DEBUG_LEVEL) $(UNUSED_CODE_REMOVAL) $(OPTIMIZATION) -pthread +LINK_INCLUDES := +LINK_LIBRARIES := + +ifdef LINUX +LINK_LIBRARIES += -lrt +endif + +ifeq ($(OS),Windows_NT) +LINK_LIBRARIES += -lwsock32 -lws2_32 +LDFLASGS += -fuse-ld=lld +endif + +# Gnu Coverage Tools Flags +ifdef GCOV +GCOV_CXXFLAGS = -fprofile-arcs -ftest-coverage --coverage -fno-inline \ + -fno-inline-small-functions -fno-default-inline +CXXFLAGS += $(GCOV_CXXFLAGS) +GCOV_LINKER_LIBS = -lgcov -fprofile-arcs -ftest-coverage +LINK_LIBRARIES += $(GCOV_LINKER_LIBS) +endif + +# $(info $${CXXFLAGS} is [${CXXFLAGS}]) + +#------------------------------------------------------------------------------- +# Rules +#------------------------------------------------------------------------------- +# the call function assigns parameters to temporary variables +# https://www.gnu.org/software/make/manual/make.html#Call-Function +# $(1) = Memory names +# Rules are called for each memory type +# Two Expansion Symbols $$ are to escape the dollar sign for eval. +# See: http://make.mad-scientist.net/the-eval-function/ + +default: all + +# Cleans all files +hardclean: + -rm -rf $(BUILDPATH) + -rm -rf $(OBJECTPATH) + -rm -rf $(DEPENDPATH) + +# Only clean files for current build +clean: + -rm -rf $(CLEANOBJ) + -rm -rf $(CLEANBIN) + -rm -rf $(CLEANDEP) + +# Only clean binaries. Useful for changing the binary type when object files +# are already compiled so complete rebuild is not necessary +cleanbin: + -rm -rf $(CLEANBIN) + +# In this section, the binaries are built for all selected memories +# notestfw: all +all: executable + +# Build target configuration +release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION) +release: LINK_TIME_OPTIMIZATION = -flto +release: TARGET = Mission build. +release: OPTIMIZATION_MESSAGE = On with Link Time Optimization + +debug: CXXDEFINES += -DDEBUG +debug: TARGET = Debug +debug: DEBUG_MESSAGE = On + +ifndef KEEP_UNUSED_CODE +debug release: OPTIMIZATION_MESSAGE += , no unused code removal +endif + +debug release notestfw: executable + +executable: $(BINDIR)/$(BINARY_NAME).elf + @echo + @echo $(MSG_INFO) + @echo $(MSG_TARGET) + @echo $(MSG_OPTIMIZATION) + @echo $(MSG_DEBUG) + +C_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(C_OBJECTS)) +CXX_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(CXX_OBJECTS)) +ASM_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(ASM_OBJECTS)) +ALL_OBJECTS = $(ASM_OBJECTS_PREFIXED) $(C_OBJECTS_PREFIXED) \ + $(CXX_OBJECTS_PREFIXED) + +# Useful for debugging the Makefile +# Also see: https://www.oreilly.com/openbook/make3/book/ch12.pdf +# $(info $${ALL_OBJECTS} is [${ALL_OBJECTS}]) +# $(info $${CXXSRC} is [${CXXSRC}]) + +# Automatic variables are used here extensively. Some of them +# are escaped($$) to suppress immediate evaluation. The most important ones are: +# $@: Name of Target (left side of rule) +# $<: Name of the first prerequisite (right side of rule) +# @^: List of all prerequisite, omitting duplicates +# @D: Directory and file-within-directory part of $@ + +# Generates binary and displays all build properties +# -p with mkdir ignores error and creates directory when needed. + +# SHOW_DETAILS = 1 + + +# Link with required libraries: HAL (Hardware Abstraction Layer) and +# HCC (File System Library) +$(BINDIR)/$(BINARY_NAME).elf: $(ALL_OBJECTS) + @echo + @echo $(MSG_LINKING) Target $@ + @mkdir -p $(@D) +ifdef SHOW_DETAILS + $(CXX) $(LDFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINK_LIBRARIES) +else + @$(CXX) $(LDFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINK_LIBRARIES) +endif +ifeq ($(BUILD_FOLDER), mission) +# With Link Time Optimization, section size is not available + $(SIZE) $@ +else + $(SIZE) $^ $@ +endif + +$(BINDIR)/$(BINARY_NAME).hex: $(BINDIR)/$(BINARY_NAME).elf + @echo + @echo $(MSG_BINARY) + @mkdir -p $(@D) + $(HEXCOPY) $< $@ + +# Build new objects for changed dependencies. +$(OBJDIR)/%.o: %.cpp +$(OBJDIR)/%.o: %.cpp $(DEPENDDIR)/%.d | $(DEPENDDIR) + @echo + @echo $(MSG_COMPILING) $< + @mkdir -p $(@D) +ifdef SHOW_DETAILS + $(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $< +else + @$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $< +endif + +$(OBJDIR)/%.o: %.c +$(OBJDIR)/%.o: %.c $(DEPENDDIR)/%.d | $(DEPENDDIR) + @echo + @echo $(MSG_COMPILING) $< + @mkdir -p $(@D) +ifdef SHOW_DETAILS + $(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $< +else + @$(CC) $(CXXFLAGS) $(CFLAGS) -c -o $@ $< +endif + +#------------------------------------------------------------------------------- +# Dependency Handling +#------------------------------------------------------------------------------- + +# Dependency Handling according to following guide: +# http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/ +$(DEPENDDIR): + @mkdir -p $(@D) +DEPENDENCY_RELATIVE = $(CSRC:.c=.d) $(CXXSRC:.cpp=.d) +# This is the list of all dependencies +DEPFILES = $(addprefix $(DEPENDDIR)/, $(DEPENDENCY_RELATIVE)) +# Create subdirectories for dependencies +$(DEPFILES): + @mkdir -p $(@D) +# Include all dependencies +include $(wildcard $(DEPFILES)) + +# .PHONY tells make that these targets aren't files +.PHONY: clean release debug all hardclean cleanbin diff --git a/unittest/README.md b/unittest/README.md new file mode 100644 index 00000000..091dd3cb --- /dev/null +++ b/unittest/README.md @@ -0,0 +1,121 @@ +## FSFW Testing +This repository contains testing and unit testing components. + +[Catch2](https://github.com/catchorg/Catch2) has been used as a framework, +and these unit tests can only be run on a linux host machine. +The makefile with default settings creates the unit test binary which can be +run in the terminal or in eclipse. + +### Instructions +Basic steps: + +1. Clone this branch + ```sh + git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests.git + ``` + +2. Inititate the framework submodule (need to only be done once) + ```sh + git submodule init + git submodule sync + git submodule update + ``` + +2. Run the makefile With + + ```sh + make all -j + ``` + This will build the debug version of the unit tests. + The release version can be built with the target `release` + +4. Run the binary located in the \_bin folder in the terminal or in eclipse. + + ```sh + _bin/.elf [--success] + ``` + The success parameter is optional. Leaving it out ommits the success messages. + +5. To clear the binary, object and dependency folder, run + + ```sh + make clean + ``` + +Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities used by the UNIX pthread module are restricted, which will lead to permission errors when creating these tasks. + +To solve this issues, try following steps: + +1. Edit the /etc/security/limits.conf + file and add following lines at the end (worked on Ubuntu 19.10): + ```sh + hard rtprio 99 + soft rtprio 99 + ``` + Then restart the computer.
+ The soft limit can also be set in the console with `ulimit -Sr` if the hard + limit has been increased, + but it is recommended to add it to the file as well for convenience. + If adding the second line is not desired for security reasons, + the soft limit needs to be set for each session. If using an IDE like eclipse + in that case, the IDE needs to be started from the console after setting + the soft limit higher there. +2. Run the shell script inside the linux folder (worked on Ubuntu 18.04) + ```sh + ./unlockRealtime + ``` + This script executes the `setcap` command on bash and on the binaries. + It also increases the soft real time limit of the current shell instance + to the maximum. If running the script before executing the binary does + not help, try the following step. + +### Eclipse CDT settings + +The default eclipse terminal has issues displaying the colors used +when running the unit test binary by catch2. To fix this issue, +install the ANSI Escape In Console package from the eclipse marketplace. + +### GCOV integration + +GCOV has been integrated as a code coverage tool. +It can be enabled by adding `GCOV=1` to the build process as an additional argument. +Coverage data will be provided in form of .gcno and .gcda files. +These can be displayed in eclipse by looking +for a .gcno or .gcda file in the \_obj folder, double-clicking it +and picking the right source-binary. This will generate +information about which lines of a file have run, provided it is open in +eclipse. + +### LCOV integration + +The files generated by GCOV can also be processed by the tool LCOV. +On ubuntu, the tool can be installed with the following command: + +```sh +sudo apt-get install lcov +```` + +After that, the tool can be run by building the unit tests with `GCOV=1`, +running them at least one time and then executing the `lcov.sh` script. + +### Adding unit tests + +The catch unit tests are located in unittest/testfw. To add new unit tests, +add them to the UnitTestCatch.cpp file or add a new source file which +includes catch.hpp. + +For writing basics tests, the [assertion documentation](https://github.com/catchorg/Catch2/blob/master/docs/assertions.md#top) +or the existing examples are a good guideliens. +For more advanced tests, refer to the [catch2 documentation](https://github.com/catchorg/Catch2/blob/master/docs/Readme.md#top). + +### Compile without test framework +Alternatively, the unit tests can also be run internally without +a framework. This can be used to perform unit tests on the real hardware. +To do this, run +```sh +make -j notestfw +``` +This will instruct the makefile to exclude the test framework main.cpp +and include our own. This will also create a binary which can be used +outside the host machine (a Makefile adaptions might be neccessary +if another OS than linux is required) diff --git a/unittest/catch2/LICENSE.txt b/unittest/catch2/LICENSE.txt new file mode 100644 index 00000000..36b7cd93 --- /dev/null +++ b/unittest/catch2/LICENSE.txt @@ -0,0 +1,23 @@ +Boost Software License - Version 1.0 - August 17th, 2003 + +Permission is hereby granted, free of charge, to any person or organization +obtaining a copy of the software and accompanying documentation covered by +this license (the "Software") to use, reproduce, display, distribute, +execute, and transmit the Software, and to prepare derivative works of the +Software, and to permit third-parties to whom the Software is furnished to +do so, all subject to the following: + +The copyright notices in the Software and this entire statement, including +the above license grant, this restriction and the following disclaimer, +must be included in all copies of the Software, in whole or in part, and +all derivative works of the Software, unless such copies or derivative +works are solely in the form of machine-executable object code generated by +a source language processor. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT +SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE +FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, +ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +DEALINGS IN THE SOFTWARE. diff --git a/unittest/catch2/catch.hpp b/unittest/catch2/catch.hpp new file mode 100644 index 00000000..51618b38 --- /dev/null +++ b/unittest/catch2/catch.hpp @@ -0,0 +1,17618 @@ +/* + * Catch v2.11.3 + * Generated: 2020-03-19 13:44:21.042491 + * ---------------------------------------------------------- + * This file has been merged from multiple headers. Please don't edit it directly + * Copyright (c) 2020 Two Blue Cubes Ltd. All rights reserved. + * + * Distributed under the Boost Software License, Version 1.0. (See accompanying + * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) + */ +#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED +#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED +// start catch.hpp + + +#define CATCH_VERSION_MAJOR 2 +#define CATCH_VERSION_MINOR 11 +#define CATCH_VERSION_PATCH 3 + +#ifdef __clang__ +# pragma clang system_header +#elif defined __GNUC__ +# pragma GCC system_header +#endif + +// start catch_suppress_warnings.h + +#ifdef __clang__ +# ifdef __ICC // icpc defines the __clang__ macro +# pragma warning(push) +# pragma warning(disable: 161 1682) +# else // __ICC +# pragma clang diagnostic push +# pragma clang diagnostic ignored "-Wpadded" +# pragma clang diagnostic ignored "-Wswitch-enum" +# pragma clang diagnostic ignored "-Wcovered-switch-default" +# endif +#elif defined __GNUC__ + // Because REQUIREs trigger GCC's -Wparentheses, and because still + // supported version of g++ have only buggy support for _Pragmas, + // Wparentheses have to be suppressed globally. +# pragma GCC diagnostic ignored "-Wparentheses" // See #674 for details + +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wunused-variable" +# pragma GCC diagnostic ignored "-Wpadded" +#endif +// end catch_suppress_warnings.h +#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER) +# define CATCH_IMPL +# define CATCH_CONFIG_ALL_PARTS +#endif + +// In the impl file, we want to have access to all parts of the headers +// Can also be used to sanely support PCHs +#if defined(CATCH_CONFIG_ALL_PARTS) +# define CATCH_CONFIG_EXTERNAL_INTERFACES +# if defined(CATCH_CONFIG_DISABLE_MATCHERS) +# undef CATCH_CONFIG_DISABLE_MATCHERS +# endif +# if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER) +# define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER +# endif +#endif + +#if !defined(CATCH_CONFIG_IMPL_ONLY) +// start catch_platform.h + +#ifdef __APPLE__ +# include +# if TARGET_OS_OSX == 1 +# define CATCH_PLATFORM_MAC +# elif TARGET_OS_IPHONE == 1 +# define CATCH_PLATFORM_IPHONE +# endif + +#elif defined(linux) || defined(__linux) || defined(__linux__) +# define CATCH_PLATFORM_LINUX + +#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) || defined(__MINGW32__) +# define CATCH_PLATFORM_WINDOWS +#endif + +// end catch_platform.h + +#ifdef CATCH_IMPL +# ifndef CLARA_CONFIG_MAIN +# define CLARA_CONFIG_MAIN_NOT_DEFINED +# define CLARA_CONFIG_MAIN +# endif +#endif + +// start catch_user_interfaces.h + +namespace Catch { + unsigned int rngSeed(); +} + +// end catch_user_interfaces.h +// start catch_tag_alias_autoregistrar.h + +// start catch_common.h + +// start catch_compiler_capabilities.h + +// Detect a number of compiler features - by compiler +// The following features are defined: +// +// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported? +// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported? +// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported? +// CATCH_CONFIG_DISABLE_EXCEPTIONS : Are exceptions enabled? +// **************** +// Note to maintainers: if new toggles are added please document them +// in configuration.md, too +// **************** + +// In general each macro has a _NO_ form +// (e.g. CATCH_CONFIG_NO_POSIX_SIGNALS) which disables the feature. +// Many features, at point of detection, define an _INTERNAL_ macro, so they +// can be combined, en-mass, with the _NO_ forms later. + +#ifdef __cplusplus + +# if (__cplusplus >= 201402L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201402L) +# define CATCH_CPP14_OR_GREATER +# endif + +# if (__cplusplus >= 201703L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) +# define CATCH_CPP17_OR_GREATER +# endif + +#endif + +#if defined(CATCH_CPP17_OR_GREATER) +# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +#endif + +// We have to avoid both ICC and Clang, because they try to mask themselves +// as gcc, and we want only GCC in this block +#if defined(__GNUC__) && !defined(__clang__) && !defined(__ICC) +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic push" ) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic pop" ) + +# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__) + +#endif + +#if defined(__clang__) + +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic push" ) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic pop" ) + +# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__) + +# define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \ + _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"") + +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wparentheses\"" ) + +# define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" ) + +# define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" ) + +# define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \ + _Pragma( "clang diagnostic ignored \"-Wunused-template\"" ) + +#endif // __clang__ + +//////////////////////////////////////////////////////////////////////////////// +// Assume that non-Windows platforms support posix signals by default +#if !defined(CATCH_PLATFORM_WINDOWS) + #define CATCH_INTERNAL_CONFIG_POSIX_SIGNALS +#endif + +//////////////////////////////////////////////////////////////////////////////// +// We know some environments not to support full POSIX signals +#if defined(__CYGWIN__) || defined(__QNX__) || defined(__EMSCRIPTEN__) || defined(__DJGPP__) + #define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS +#endif + +#ifdef __OS400__ +# define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS +# define CATCH_CONFIG_COLOUR_NONE +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Android somehow still does not support std::to_string +#if defined(__ANDROID__) +# define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING +# define CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Not all Windows environments support SEH properly +#if defined(__MINGW32__) +# define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH +#endif + +//////////////////////////////////////////////////////////////////////////////// +// PS4 +#if defined(__ORBIS__) +# define CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE +#endif + +//////////////////////////////////////////////////////////////////////////////// +// Cygwin +#ifdef __CYGWIN__ + +// Required for some versions of Cygwin to declare gettimeofday +// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin +# define _BSD_SOURCE +// some versions of cygwin (most) do not support std::to_string. Use the libstd check. +// https://gcc.gnu.org/onlinedocs/gcc-4.8.2/libstdc++/api/a01053_source.html line 2812-2813 +# if !((__cplusplus >= 201103L) && defined(_GLIBCXX_USE_C99) \ + && !defined(_GLIBCXX_HAVE_BROKEN_VSWPRINTF)) + +# define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING + +# endif +#endif // __CYGWIN__ + +//////////////////////////////////////////////////////////////////////////////// +// Visual C++ +#if defined(_MSC_VER) + +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION __pragma( warning(push) ) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION __pragma( warning(pop) ) + +# if _MSC_VER >= 1900 // Visual Studio 2015 or newer +# define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +# endif + +// Universal Windows platform does not support SEH +// Or console colours (or console at all...) +# if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP) +# define CATCH_CONFIG_COLOUR_NONE +# else +# define CATCH_INTERNAL_CONFIG_WINDOWS_SEH +# endif + +// MSVC traditional preprocessor needs some workaround for __VA_ARGS__ +// _MSVC_TRADITIONAL == 0 means new conformant preprocessor +// _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor +# if !defined(__clang__) // Handle Clang masquerading for msvc +# if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL) +# define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +# endif // MSVC_TRADITIONAL +# endif // __clang__ + +#endif // _MSC_VER + +#if defined(_REENTRANT) || defined(_MSC_VER) +// Enable async processing, as -pthread is specified or no additional linking is required +# define CATCH_INTERNAL_CONFIG_USE_ASYNC +#endif // _MSC_VER + +//////////////////////////////////////////////////////////////////////////////// +// Check if we are compiled with -fno-exceptions or equivalent +#if defined(__EXCEPTIONS) || defined(__cpp_exceptions) || defined(_CPPUNWIND) +# define CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED +#endif + +//////////////////////////////////////////////////////////////////////////////// +// DJGPP +#ifdef __DJGPP__ +# define CATCH_INTERNAL_CONFIG_NO_WCHAR +#endif // __DJGPP__ + +//////////////////////////////////////////////////////////////////////////////// +// Embarcadero C++Build +#if defined(__BORLANDC__) + #define CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN +#endif + +//////////////////////////////////////////////////////////////////////////////// + +// Use of __COUNTER__ is suppressed during code analysis in +// CLion/AppCode 2017.2.x and former, because __COUNTER__ is not properly +// handled by it. +// Otherwise all supported compilers support COUNTER macro, +// but user still might want to turn it off +#if ( !defined(__JETBRAINS_IDE__) || __JETBRAINS_IDE__ >= 20170300L ) + #define CATCH_INTERNAL_CONFIG_COUNTER +#endif + +//////////////////////////////////////////////////////////////////////////////// + +// RTX is a special version of Windows that is real time. +// This means that it is detected as Windows, but does not provide +// the same set of capabilities as real Windows does. +#if defined(UNDER_RTSS) || defined(RTX64_BUILD) + #define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH + #define CATCH_INTERNAL_CONFIG_NO_ASYNC + #define CATCH_CONFIG_COLOUR_NONE +#endif + +#if !defined(_GLIBCXX_USE_C99_MATH_TR1) +#define CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER +#endif + +// Various stdlib support checks that require __has_include +#if defined(__has_include) + // Check if string_view is available and usable + #if __has_include() && defined(CATCH_CPP17_OR_GREATER) + # define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW + #endif + + // Check if optional is available and usable + # if __has_include() && defined(CATCH_CPP17_OR_GREATER) + # define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL + # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) + + // Check if byte is available and usable + # if __has_include() && defined(CATCH_CPP17_OR_GREATER) + # define CATCH_INTERNAL_CONFIG_CPP17_BYTE + # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) + + // Check if variant is available and usable + # if __has_include() && defined(CATCH_CPP17_OR_GREATER) + # if defined(__clang__) && (__clang_major__ < 8) + // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852 + // fix should be in clang 8, workaround in libstdc++ 8.2 + # include + # if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) + # define CATCH_CONFIG_NO_CPP17_VARIANT + # else + # define CATCH_INTERNAL_CONFIG_CPP17_VARIANT + # endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) + # else + # define CATCH_INTERNAL_CONFIG_CPP17_VARIANT + # endif // defined(__clang__) && (__clang_major__ < 8) + # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) +#endif // defined(__has_include) + +#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) +# define CATCH_CONFIG_COUNTER +#endif +#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) && !defined(CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH) +# define CATCH_CONFIG_WINDOWS_SEH +#endif +// This is set by default, because we assume that unix compilers are posix-signal-compatible by default. +#if defined(CATCH_INTERNAL_CONFIG_POSIX_SIGNALS) && !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS) +# define CATCH_CONFIG_POSIX_SIGNALS +#endif +// This is set by default, because we assume that compilers with no wchar_t support are just rare exceptions. +#if !defined(CATCH_INTERNAL_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_WCHAR) +# define CATCH_CONFIG_WCHAR +#endif + +#if !defined(CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_CPP11_TO_STRING) +# define CATCH_CONFIG_CPP11_TO_STRING +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_NO_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_CPP17_OPTIONAL) +# define CATCH_CONFIG_CPP17_OPTIONAL +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) +# define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW) +# define CATCH_CONFIG_CPP17_STRING_VIEW +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_VARIANT) && !defined(CATCH_CONFIG_NO_CPP17_VARIANT) && !defined(CATCH_CONFIG_CPP17_VARIANT) +# define CATCH_CONFIG_CPP17_VARIANT +#endif + +#if defined(CATCH_INTERNAL_CONFIG_CPP17_BYTE) && !defined(CATCH_CONFIG_NO_CPP17_BYTE) && !defined(CATCH_CONFIG_CPP17_BYTE) +# define CATCH_CONFIG_CPP17_BYTE +#endif + +#if defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT) +# define CATCH_INTERNAL_CONFIG_NEW_CAPTURE +#endif + +#if defined(CATCH_INTERNAL_CONFIG_NEW_CAPTURE) && !defined(CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NEW_CAPTURE) +# define CATCH_CONFIG_NEW_CAPTURE +#endif + +#if !defined(CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) +# define CATCH_CONFIG_DISABLE_EXCEPTIONS +#endif + +#if defined(CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_NO_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_POLYFILL_ISNAN) +# define CATCH_CONFIG_POLYFILL_ISNAN +#endif + +#if defined(CATCH_INTERNAL_CONFIG_USE_ASYNC) && !defined(CATCH_INTERNAL_CONFIG_NO_ASYNC) && !defined(CATCH_CONFIG_NO_USE_ASYNC) && !defined(CATCH_CONFIG_USE_ASYNC) +# define CATCH_CONFIG_USE_ASYNC +#endif + +#if defined(CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_NO_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_ANDROID_LOGWRITE) +# define CATCH_CONFIG_ANDROID_LOGWRITE +#endif + +#if defined(CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_NO_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_GLOBAL_NEXTAFTER) +# define CATCH_CONFIG_GLOBAL_NEXTAFTER +#endif + +// Even if we do not think the compiler has that warning, we still have +// to provide a macro that can be used by the code. +#if !defined(CATCH_INTERNAL_START_WARNINGS_SUPPRESSION) +# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION +#endif +#if !defined(CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION) +# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION +#endif +#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS +#endif +#if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS +#endif +#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS +#endif +#if !defined(CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS +#endif + +// The goal of this macro is to avoid evaluation of the arguments, but +// still have the compiler warn on problems inside... +#if !defined(CATCH_INTERNAL_IGNORE_BUT_WARN) +# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) +#endif + +#if defined(__APPLE__) && defined(__apple_build_version__) && (__clang_major__ < 10) +# undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS +#elif defined(__clang__) && (__clang_major__ < 5) +# undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS +#endif + +#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS +#endif + +#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) +#define CATCH_TRY if ((true)) +#define CATCH_CATCH_ALL if ((false)) +#define CATCH_CATCH_ANON(type) if ((false)) +#else +#define CATCH_TRY try +#define CATCH_CATCH_ALL catch (...) +#define CATCH_CATCH_ANON(type) catch (type) +#endif + +#if defined(CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_NO_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) +#define CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +#endif + +// end catch_compiler_capabilities.h +#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line +#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) +#ifdef CATCH_CONFIG_COUNTER +# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ ) +#else +# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ ) +#endif + +#include +#include +#include + +// We need a dummy global operator<< so we can bring it into Catch namespace later +struct Catch_global_namespace_dummy {}; +std::ostream& operator<<(std::ostream&, Catch_global_namespace_dummy); + +namespace Catch { + + struct CaseSensitive { enum Choice { + Yes, + No + }; }; + + class NonCopyable { + NonCopyable( NonCopyable const& ) = delete; + NonCopyable( NonCopyable && ) = delete; + NonCopyable& operator = ( NonCopyable const& ) = delete; + NonCopyable& operator = ( NonCopyable && ) = delete; + + protected: + NonCopyable(); + virtual ~NonCopyable(); + }; + + struct SourceLineInfo { + + SourceLineInfo() = delete; + SourceLineInfo( char const* _file, std::size_t _line ) noexcept + : file( _file ), + line( _line ) + {} + + SourceLineInfo( SourceLineInfo const& other ) = default; + SourceLineInfo& operator = ( SourceLineInfo const& ) = default; + SourceLineInfo( SourceLineInfo&& ) noexcept = default; + SourceLineInfo& operator = ( SourceLineInfo&& ) noexcept = default; + + bool empty() const noexcept { return file[0] == '\0'; } + bool operator == ( SourceLineInfo const& other ) const noexcept; + bool operator < ( SourceLineInfo const& other ) const noexcept; + + char const* file; + std::size_t line; + }; + + std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ); + + // Bring in operator<< from global namespace into Catch namespace + // This is necessary because the overload of operator<< above makes + // lookup stop at namespace Catch + using ::operator<<; + + // Use this in variadic streaming macros to allow + // >> +StreamEndStop + // as well as + // >> stuff +StreamEndStop + struct StreamEndStop { + std::string operator+() const; + }; + template + T const& operator + ( T const& value, StreamEndStop ) { + return value; + } +} + +#define CATCH_INTERNAL_LINEINFO \ + ::Catch::SourceLineInfo( __FILE__, static_cast( __LINE__ ) ) + +// end catch_common.h +namespace Catch { + + struct RegistrarForTagAliases { + RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo ); + }; + +} // end namespace Catch + +#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \ + CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \ + CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ + namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \ + CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION + +// end catch_tag_alias_autoregistrar.h +// start catch_test_registry.h + +// start catch_interfaces_testcase.h + +#include + +namespace Catch { + + class TestSpec; + + struct ITestInvoker { + virtual void invoke () const = 0; + virtual ~ITestInvoker(); + }; + + class TestCase; + struct IConfig; + + struct ITestCaseRegistry { + virtual ~ITestCaseRegistry(); + virtual std::vector const& getAllTests() const = 0; + virtual std::vector const& getAllTestsSorted( IConfig const& config ) const = 0; + }; + + bool isThrowSafe( TestCase const& testCase, IConfig const& config ); + bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ); + std::vector filterTests( std::vector const& testCases, TestSpec const& testSpec, IConfig const& config ); + std::vector const& getAllTestCasesSorted( IConfig const& config ); + +} + +// end catch_interfaces_testcase.h +// start catch_stringref.h + +#include +#include +#include +#include + +namespace Catch { + + /// A non-owning string class (similar to the forthcoming std::string_view) + /// Note that, because a StringRef may be a substring of another string, + /// it may not be null terminated. + class StringRef { + public: + using size_type = std::size_t; + using const_iterator = const char*; + + private: + static constexpr char const* const s_empty = ""; + + char const* m_start = s_empty; + size_type m_size = 0; + + public: // construction + constexpr StringRef() noexcept = default; + + StringRef( char const* rawChars ) noexcept; + + constexpr StringRef( char const* rawChars, size_type size ) noexcept + : m_start( rawChars ), + m_size( size ) + {} + + StringRef( std::string const& stdString ) noexcept + : m_start( stdString.c_str() ), + m_size( stdString.size() ) + {} + + explicit operator std::string() const { + return std::string(m_start, m_size); + } + + public: // operators + auto operator == ( StringRef const& other ) const noexcept -> bool; + auto operator != (StringRef const& other) const noexcept -> bool { + return !(*this == other); + } + + auto operator[] ( size_type index ) const noexcept -> char { + assert(index < m_size); + return m_start[index]; + } + + public: // named queries + constexpr auto empty() const noexcept -> bool { + return m_size == 0; + } + constexpr auto size() const noexcept -> size_type { + return m_size; + } + + // Returns the current start pointer. If the StringRef is not + // null-terminated, throws std::domain_exception + auto c_str() const -> char const*; + + public: // substrings and searches + // Returns a substring of [start, start + length). + // If start + length > size(), then the substring is [start, size()). + // If start > size(), then the substring is empty. + auto substr( size_type start, size_type length ) const noexcept -> StringRef; + + // Returns the current start pointer. May not be null-terminated. + auto data() const noexcept -> char const*; + + constexpr auto isNullTerminated() const noexcept -> bool { + return m_start[m_size] == '\0'; + } + + public: // iterators + constexpr const_iterator begin() const { return m_start; } + constexpr const_iterator end() const { return m_start + m_size; } + }; + + auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&; + auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&; + + constexpr auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef { + return StringRef( rawChars, size ); + } +} // namespace Catch + +constexpr auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef { + return Catch::StringRef( rawChars, size ); +} + +// end catch_stringref.h +// start catch_preprocessor.hpp + + +#define CATCH_RECURSION_LEVEL0(...) __VA_ARGS__ +#define CATCH_RECURSION_LEVEL1(...) CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(__VA_ARGS__))) +#define CATCH_RECURSION_LEVEL2(...) CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(__VA_ARGS__))) +#define CATCH_RECURSION_LEVEL3(...) CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(__VA_ARGS__))) +#define CATCH_RECURSION_LEVEL4(...) CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(__VA_ARGS__))) +#define CATCH_RECURSION_LEVEL5(...) CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(__VA_ARGS__))) + +#ifdef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +#define INTERNAL_CATCH_EXPAND_VARGS(...) __VA_ARGS__ +// MSVC needs more evaluations +#define CATCH_RECURSION_LEVEL6(...) CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(__VA_ARGS__))) +#define CATCH_RECURSE(...) CATCH_RECURSION_LEVEL6(CATCH_RECURSION_LEVEL6(__VA_ARGS__)) +#else +#define CATCH_RECURSE(...) CATCH_RECURSION_LEVEL5(__VA_ARGS__) +#endif + +#define CATCH_REC_END(...) +#define CATCH_REC_OUT + +#define CATCH_EMPTY() +#define CATCH_DEFER(id) id CATCH_EMPTY() + +#define CATCH_REC_GET_END2() 0, CATCH_REC_END +#define CATCH_REC_GET_END1(...) CATCH_REC_GET_END2 +#define CATCH_REC_GET_END(...) CATCH_REC_GET_END1 +#define CATCH_REC_NEXT0(test, next, ...) next CATCH_REC_OUT +#define CATCH_REC_NEXT1(test, next) CATCH_DEFER ( CATCH_REC_NEXT0 ) ( test, next, 0) +#define CATCH_REC_NEXT(test, next) CATCH_REC_NEXT1(CATCH_REC_GET_END test, next) + +#define CATCH_REC_LIST0(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ ) +#define CATCH_REC_LIST1(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0) ) ( f, peek, __VA_ARGS__ ) +#define CATCH_REC_LIST2(f, x, peek, ...) f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ ) + +#define CATCH_REC_LIST0_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ ) +#define CATCH_REC_LIST1_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0_UD) ) ( f, userdata, peek, __VA_ARGS__ ) +#define CATCH_REC_LIST2_UD(f, userdata, x, peek, ...) f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ ) + +// Applies the function macro `f` to each of the remaining parameters, inserts commas between the results, +// and passes userdata as the first parameter to each invocation, +// e.g. CATCH_REC_LIST_UD(f, x, a, b, c) evaluates to f(x, a), f(x, b), f(x, c) +#define CATCH_REC_LIST_UD(f, userdata, ...) CATCH_RECURSE(CATCH_REC_LIST2_UD(f, userdata, __VA_ARGS__, ()()(), ()()(), ()()(), 0)) + +#define CATCH_REC_LIST(f, ...) CATCH_RECURSE(CATCH_REC_LIST2(f, __VA_ARGS__, ()()(), ()()(), ()()(), 0)) + +#define INTERNAL_CATCH_EXPAND1(param) INTERNAL_CATCH_EXPAND2(param) +#define INTERNAL_CATCH_EXPAND2(...) INTERNAL_CATCH_NO## __VA_ARGS__ +#define INTERNAL_CATCH_DEF(...) INTERNAL_CATCH_DEF __VA_ARGS__ +#define INTERNAL_CATCH_NOINTERNAL_CATCH_DEF +#define INTERNAL_CATCH_STRINGIZE(...) INTERNAL_CATCH_STRINGIZE2(__VA_ARGS__) +#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +#define INTERNAL_CATCH_STRINGIZE2(...) #__VA_ARGS__ +#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) +#else +// MSVC is adding extra space and needs another indirection to expand INTERNAL_CATCH_NOINTERNAL_CATCH_DEF +#define INTERNAL_CATCH_STRINGIZE2(...) INTERNAL_CATCH_STRINGIZE3(__VA_ARGS__) +#define INTERNAL_CATCH_STRINGIZE3(...) #__VA_ARGS__ +#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) (INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) + 1) +#endif + +#define INTERNAL_CATCH_MAKE_NAMESPACE2(...) ns_##__VA_ARGS__ +#define INTERNAL_CATCH_MAKE_NAMESPACE(name) INTERNAL_CATCH_MAKE_NAMESPACE2(name) + +#define INTERNAL_CATCH_REMOVE_PARENS(...) INTERNAL_CATCH_EXPAND1(INTERNAL_CATCH_DEF __VA_ARGS__) + +#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR +#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) decltype(get_wrapper()) +#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__)) +#else +#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) INTERNAL_CATCH_EXPAND_VARGS(decltype(get_wrapper())) +#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__))) +#endif + +#define INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(...)\ + CATCH_REC_LIST(INTERNAL_CATCH_MAKE_TYPE_LIST,__VA_ARGS__) + +#define INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_0) INTERNAL_CATCH_REMOVE_PARENS(_0) +#define INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_0, _1) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_1) +#define INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_0, _1, _2) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_1, _2) +#define INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_0, _1, _2, _3) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_1, _2, _3) +#define INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_0, _1, _2, _3, _4) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_1, _2, _3, _4) +#define INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_0, _1, _2, _3, _4, _5) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_1, _2, _3, _4, _5) +#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _4, _5, _6) +#define INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_0, _1, _2, _3, _4, _5, _6, _7) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_1, _2, _3, _4, _5, _6, _7) +#define INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_1, _2, _3, _4, _5, _6, _7, _8) +#define INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9) +#define INTERNAL_CATCH_REMOVE_PARENS_11_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10) + +#define INTERNAL_CATCH_VA_NARGS_IMPL(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N + +#define INTERNAL_CATCH_TYPE_GEN\ + template struct TypeList {};\ + template\ + constexpr auto get_wrapper() noexcept -> TypeList { return {}; }\ + template class...> struct TemplateTypeList{};\ + template class...Cs>\ + constexpr auto get_wrapper() noexcept -> TemplateTypeList { return {}; }\ + template\ + struct append;\ + template\ + struct rewrap;\ + template class, typename...>\ + struct create;\ + template class, typename>\ + struct convert;\ + \ + template \ + struct append { using type = T; };\ + template< template class L1, typename...E1, template class L2, typename...E2, typename...Rest>\ + struct append, L2, Rest...> { using type = typename append, Rest...>::type; };\ + template< template class L1, typename...E1, typename...Rest>\ + struct append, TypeList, Rest...> { using type = L1; };\ + \ + template< template class Container, template class List, typename...elems>\ + struct rewrap, List> { using type = TypeList>; };\ + template< template class Container, template class List, class...Elems, typename...Elements>\ + struct rewrap, List, Elements...> { using type = typename append>, typename rewrap, Elements...>::type>::type; };\ + \ + template