Merge branch 'merge-upstream' into mueller/lis3-handler-nullptr-check

This commit is contained in:
Robin Müller 2022-04-21 10:38:43 +02:00
commit f0d7eaf35a
93 changed files with 1497 additions and 1040 deletions

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@ -1,9 +1,9 @@
#include "MgmLIS3MDLHandler.h" #include "MgmLIS3MDLHandler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath> #include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelay) CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),

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@ -0,0 +1,27 @@
#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
#define FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
/**
* @brief Additional abstraction layer for handling GPIOs.
*
* @author J. Meier
*/
class Gpio {
public:
Gpio(gpioId_t gpioId, GpioIF* gpioIF) : gpioId(gpioId), gpioIF(gpioIF) {
if (gpioIF == nullptr) {
sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl;
}
}
ReturnValue_t pullHigh() { return gpioIF->pullHigh(gpioId); }
ReturnValue_t pullLow() { return gpioIF->pullLow(gpioId); }
private:
gpioId_t gpioId = gpio::NO_GPIO;
GpioIF* gpioIF = nullptr;
};
#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ */

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@ -2,8 +2,8 @@
#include <fsfw/serviceinterface.h> #include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
UartBaudRate baudrate, size_t maxReplyLen) size_t maxReplyLen, UartModes uartMode)
: handlerId(handlerId), : handlerId(handlerId),
deviceFile(deviceFile), deviceFile(deviceFile),
uartMode(uartMode), uartMode(uartMode),
@ -24,9 +24,7 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
Parity UartCookie::getParity() const { return parity; } Parity UartCookie::getParity() const { return parity; }
void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
bitsPerWord = bitsPerWord_;
}
BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; } BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }

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@ -69,8 +69,8 @@ class UartCookie : public CookieIF {
* 8 databits (number of bits transfered with one uart frame) * 8 databits (number of bits transfered with one uart frame)
* One stop bit * One stop bit
*/ */
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
UartBaudRate baudrate, size_t maxReplyLen); size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
virtual ~UartCookie(); virtual ~UartCookie();

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@ -16,8 +16,8 @@ class CommandActionHelper {
public: public:
CommandActionHelper(CommandsActionsIF* owner); CommandActionHelper(CommandsActionsIF* owner);
virtual ~CommandActionHelper(); virtual ~CommandActionHelper();
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data, ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
uint32_t size); const uint8_t* data = nullptr, uint32_t size = 0);
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data); ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
ReturnValue_t initialize(); ReturnValue_t initialize();
ReturnValue_t handleReply(CommandMessage* reply); ReturnValue_t handleReply(CommandMessage* reply);

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@ -12,7 +12,9 @@ object_id_t CFDPHandler::packetDestination = 0;
CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist) CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
: SystemObject(setObjectId) { : SystemObject(setObjectId) {
requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(
CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
distributor = dist; distributor = dist;
} }

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@ -10,16 +10,23 @@ class HybridIterator : public LinkedElement<T>::Iterator, public ArrayList<T, co
HybridIterator() {} HybridIterator() {}
HybridIterator(typename LinkedElement<T>::Iterator *iter) HybridIterator(typename LinkedElement<T>::Iterator *iter)
: LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {} : LinkedElement<T>::Iterator(*iter), value(iter->value), linked(true) {
if (iter != nullptr) {
value = iter->value;
}
}
HybridIterator(LinkedElement<T> *start) HybridIterator(LinkedElement<T> *start) : LinkedElement<T>::Iterator(start), linked(true) {
: LinkedElement<T>::Iterator(start), value(start->value), linked(true) {} if (start != nullptr) {
value = start->value;
}
}
HybridIterator(typename ArrayList<T, count_t>::Iterator start, HybridIterator(typename ArrayList<T, count_t>::Iterator start,
typename ArrayList<T, count_t>::Iterator end) typename ArrayList<T, count_t>::Iterator end)
: ArrayList<T, count_t>::Iterator(start), value(start.value), linked(false), end(end.value) { : ArrayList<T, count_t>::Iterator(start), value(start.value), linked(false), end(end.value) {
if (value == this->end) { if (value == this->end) {
value = NULL; value = nullptr;
} }
} }

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@ -13,7 +13,9 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
submode(SUBMODE_NONE), submode(SUBMODE_NONE),
modeHelper(this), modeHelper(this),
healthHelper(this, setObjectId) { healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

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@ -1,4 +1,4 @@
target_sources(${LIB_FSFW_NAME} PRIVATE target_sources(${LIB_FSFW_NAME} PRIVATE
PoolDataSetBase.cpp PoolDataSetBase.cpp
PoolEntry.cpp PoolEntry.cpp
) )

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@ -7,24 +7,26 @@
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
template <typename T> template <typename T>
PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid) PoolEntry<T>::PoolEntry(uint8_t len, bool setValid) : length(len), valid(setValid) {
: length(static_cast<uint8_t>(initValue.size())), valid(setValid) { this->address = new T[this->length]();
this->address = new T[this->length]; std::memset(this->address, 0, this->getByteSize());
if (initValue.size() == 0) { }
std::memset(this->address, 0, this->getByteSize());
} else { template <typename T>
std::copy(initValue.begin(), initValue.end(), this->address); PoolEntry<T>::PoolEntry(std::initializer_list<T> initValues, bool setValid)
: length(static_cast<uint8_t>(initValues.size())), valid(setValid) {
this->address = new T[this->length]();
if (initValues.size() > 0) {
std::copy(initValues.begin(), initValues.end(), this->address);
} }
} }
template <typename T> template <typename T>
PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid) PoolEntry<T>::PoolEntry(const T* initValue, uint8_t setLength, bool setValid)
: length(setLength), valid(setValid) { : length(setLength), valid(setValid) {
this->address = new T[this->length]; this->address = new T[this->length]();
if (initValue != nullptr) { if (initValue != nullptr) {
std::memcpy(this->address, initValue, this->getByteSize()); std::memcpy(this->address, initValue, this->getByteSize());
} else {
std::memset(this->address, 0, this->getByteSize());
} }
} }

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@ -33,6 +33,9 @@ class PoolEntry : public PoolEntryIF {
"instead! The ECSS standard defines a boolean as a one bit " "instead! The ECSS standard defines a boolean as a one bit "
"field. Therefore it is preferred to store a boolean as an " "field. Therefore it is preferred to store a boolean as an "
"uint8_t"); "uint8_t");
PoolEntry(uint8_t len = 1, bool setValid = false);
/** /**
* @brief In the classe's constructor, space is allocated on the heap and * @brief In the classe's constructor, space is allocated on the heap and
* potential initialization values are copied to that space. * potential initialization values are copied to that space.
@ -49,7 +52,7 @@ class PoolEntry : public PoolEntryIF {
* @param setValid * @param setValid
* Sets the initialization flag. It is invalid by default. * Sets the initialization flag. It is invalid by default.
*/ */
PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false); PoolEntry(std::initializer_list<T> initValue, bool setValid = false);
/** /**
* @brief In the classe's constructor, space is allocated on the heap and * @brief In the classe's constructor, space is allocated on the heap and
@ -62,7 +65,7 @@ class PoolEntry : public PoolEntryIF {
* @param setValid * @param setValid
* Sets the initialization flag. It is invalid by default. * Sets the initialization flag. It is invalid by default.
*/ */
PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false); PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false);
//! Explicitely deleted copy ctor, copying is not allowed. //! Explicitely deleted copy ctor, copying is not allowed.
PoolEntry(const PoolEntry&) = delete; PoolEntry(const PoolEntry&) = delete;

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@ -787,9 +787,9 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
// Serialize set packet into store. // Serialize set packet into store.
size_t size = 0; size_t size = 0;
result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG); result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId); ipcStore->deleteData(storeId);
return result; return result;
} }
if (expectedSize != size) { if (expectedSize != size) {
printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket", printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket",
@ -806,8 +806,8 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i
} }
result = hkQueue->reply(&reply); result = hkQueue->reply(&reply);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId); ipcStore->deleteData(storeId);
} }
return result; return result;
} }

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@ -162,6 +162,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
object_id_t getCreatorObjectId(); object_id_t getCreatorObjectId();
bool getReportingEnabled() const; bool getReportingEnabled() const;
void setReportingEnabled(bool enabled);
/** /**
* Returns the current periodic HK generation interval this set * Returns the current periodic HK generation interval this set
@ -189,7 +190,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
* Used for periodic generation. * Used for periodic generation.
*/ */
bool reportingEnabled = false; bool reportingEnabled = false;
void setReportingEnabled(bool enabled);
void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval, void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
uint8_t nonDiagIntervalFactor = 5); uint8_t nonDiagIntervalFactor = 5);

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@ -26,11 +26,7 @@ void AssemblyBase::performChildOperation() {
void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) { void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
doStartTransition(mode, submode); doStartTransition(mode, submode);
if (modeHelper.isForced()) { triggerModeHelperEvents(mode, submode);
triggerEvent(FORCING_MODE, mode, submode);
} else {
triggerEvent(CHANGING_MODE, mode, submode);
}
} }
void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) { void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@ -77,9 +73,10 @@ bool AssemblyBase::handleChildrenChangedHealth() {
} }
HealthState healthState = healthHelper.healthTable->getHealth(iter->first); HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
if (healthState == HasHealthIF::NEEDS_RECOVERY) { if (healthState == HasHealthIF::NEEDS_RECOVERY) {
triggerEvent(TRYING_RECOVERY); triggerEvent(TRYING_RECOVERY, iter->first, 0);
recoveryState = RECOVERY_STARTED; recoveryState = RECOVERY_STARTED;
recoveringDevice = iter; recoveringDevice = iter;
// The user needs to take care of commanding the children off in commandChildren
doStartTransition(targetMode, targetSubmode); doStartTransition(targetMode, targetSubmode);
} else { } else {
triggerEvent(CHILD_CHANGED_HEALTH); triggerEvent(CHILD_CHANGED_HEALTH);
@ -228,6 +225,9 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
bool AssemblyBase::checkAndHandleRecovery() { bool AssemblyBase::checkAndHandleRecovery() {
switch (recoveryState) { switch (recoveryState) {
case RECOVERY_STARTED: case RECOVERY_STARTED:
// The recovery was already start in #handleChildrenChangedHealth and we just need
// to wait for an off time period.
// TODO: make time period configurable
recoveryState = RECOVERY_WAIT; recoveryState = RECOVERY_WAIT;
recoveryOffTimer.resetTimer(); recoveryOffTimer.resetTimer();
return true; return true;
@ -266,3 +266,11 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
modeHelper.setForced(true); modeHelper.setForced(true);
sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL); sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
} }
void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
if (modeHelper.isForced()) {
triggerEvent(FORCING_MODE, mode, submode);
} else {
triggerEvent(CHANGING_MODE, mode, submode);
}
}

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@ -12,7 +12,8 @@
* Documentation: Dissertation Baetz p.156, 157. * Documentation: Dissertation Baetz p.156, 157.
* *
* This class reduces the complexity of controller components which would * This class reduces the complexity of controller components which would
* otherwise be needed for the handling of redundant devices. * otherwise be needed for the handling of redundant devices. However, it can also be used to
* manage the mode keeping and recovery of non-redundant devices
* *
* The template class monitors mode and health state of its children * The template class monitors mode and health state of its children
* and checks availability of devices on every detected change. * and checks availability of devices on every detected change.
@ -26,11 +27,9 @@
* *
* Important: * Important:
* *
* The implementation must call registerChild(object_id_t child) * The implementation must call #registerChild for all commanded children during initialization.
* for all commanded children during initialization.
* The implementation must call the initialization function of the base class. * The implementation must call the initialization function of the base class.
* (This will call the function in SubsystemBase) * (This will call the function in SubsystemBase)
*
*/ */
class AssemblyBase : public SubsystemBase { class AssemblyBase : public SubsystemBase {
public: public:
@ -47,13 +46,14 @@ class AssemblyBase : public SubsystemBase {
protected: protected:
/** /**
* Command children to reach [mode,submode] combination * Command children to reach [mode,submode] combination. Can be done by setting
* Can be done by setting #commandsOutstanding correctly, * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
* or using executeTable() * the user needs to ensure that the target devices are healthy. If a device is not healthy,
* a recovery might be on-going and the device needs to be commanded to off first.
* @param mode * @param mode
* @param submode * @param submode
* @return * @return
* - @c RETURN_OK if ok * - @c RETURN_OK if OK
* - @c NEED_SECOND_STEP if children need to be commanded again * - @c NEED_SECOND_STEP if children need to be commanded again
*/ */
virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0; virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
@ -120,8 +120,19 @@ class AssemblyBase : public SubsystemBase {
virtual ReturnValue_t handleHealthReply(CommandMessage *message); virtual ReturnValue_t handleHealthReply(CommandMessage *message);
virtual void performChildOperation(); /**
* @brief Default periodic handler
* @details
* This is the default periodic handler which will be called by the SubsystemBase
* performOperation. It performs the child transitions or reacts to changed health/mode states
* of children objects
*/
virtual void performChildOperation() override;
/**
* This function handles changed mode or health states of children
* @return
*/
bool handleChildrenChanged(); bool handleChildrenChanged();
/** /**
@ -134,12 +145,37 @@ class AssemblyBase : public SubsystemBase {
bool handleChildrenChangedHealth(); bool handleChildrenChangedHealth();
/**
* Core transition handler. The default implementation will only do something if
* #commandsOutstanding is smaller or equal to zero, which means that all mode commands
* from the #doPerformTransition call were executed successfully.
*
* Unless a second step was requested, the function will then use #checkChildrenState to
* determine whether the target mode was reached.
*
* There is some special handling for certain (internal) modes:
* - A second step is necessary. #commandChildren will be performed again
* - The device health was overwritten. #commandChildren will be called
* - A recovery is ongoing. #checkAndHandleRecovery will be called.
*/
virtual void handleChildrenTransition(); virtual void handleChildrenTransition();
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode); ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
/**
* Calls #doStartTransition and triggers an informative event as well that the mode will
* change
* @param mode
* @param submode
*/
virtual void startTransition(Mode_t mode, Submode_t submode); virtual void startTransition(Mode_t mode, Submode_t submode);
/**
* This function starts the transition by setting the internal #targetSubmode and #targetMode
* variables and then calling the #commandChildren function.
* @param mode
* @param submode
*/
virtual void doStartTransition(Mode_t mode, Submode_t submode); virtual void doStartTransition(Mode_t mode, Submode_t submode);
virtual bool isInTransition(); virtual bool isInTransition();
@ -160,7 +196,7 @@ class AssemblyBase : public SubsystemBase {
* Manages recovery of a device * Manages recovery of a device
* @return true if recovery is still ongoing, false else. * @return true if recovery is still ongoing, false else.
*/ */
bool checkAndHandleRecovery(); virtual bool checkAndHandleRecovery();
/** /**
* Helper method to overwrite health state of one of the children. * Helper method to overwrite health state of one of the children.
@ -168,6 +204,8 @@ class AssemblyBase : public SubsystemBase {
* @param objectId Must be a registered child. * @param objectId Must be a registered child.
*/ */
void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth); void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
}; };
#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */ #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

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@ -39,8 +39,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
childTransitionDelay(5000), childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN), transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) { transitionSourceSubMode(SUBMODE_NONE) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue( commandQueue = QueueFactory::instance()->createMessageQueue(
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE); cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
insertInCommandMap(RAW_COMMAND_ID); insertInCommandMap(RAW_COMMAND_ID);
cookieInfo.state = COOKIE_UNUSED; cookieInfo.state = COOKIE_UNUSED;
cookieInfo.pendingCommand = deviceCommandMap.end(); cookieInfo.pendingCommand = deviceCommandMap.end();
@ -48,9 +49,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie"); HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
} }
if (this->fdirInstance == nullptr) {
this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
}
} }
void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) { void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@ -126,6 +124,18 @@ ReturnValue_t DeviceHandlerBase::initialize() {
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
if (this->fdirInstance == nullptr) {
this->fdirInstance =
new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
}
if (this->parent != objects::NO_OBJECT) {
HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
if (modeIF != nullptr and healthIF != nullptr) {
setParentQueue(modeIF->getCommandQueue());
}
}
communicationInterface = communicationInterface =
ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId); ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@ -352,14 +362,12 @@ void DeviceHandlerBase::doStateMachine() {
} }
} break; } break;
case _MODE_WAIT_OFF: { case _MODE_WAIT_OFF: {
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if (powerSwitcher == nullptr) { if (powerSwitcher == nullptr) {
setMode(MODE_OFF); setMode(MODE_OFF);
break; break;
} }
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) { if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0); triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(MODE_ERROR_ON); setMode(MODE_ERROR_ON);
@ -458,16 +466,15 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
DeviceCommandId_t replyId = NO_COMMAND_ID; DeviceCommandId_t replyId = NO_COMMAND_ID;
DeviceCommandMap::iterator command = cookieInfo.pendingCommand; DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
if (command->second.useAlternativeReplyId) { if (command->second.useAlternativeReplyId) {
replyId = command->second.alternativeReplyId; replyId = command->second.alternativeReplyId;
} } else {
else { replyId = commandId;
replyId = commandId;
} }
DeviceReplyIter iter = deviceReplyMap.find(replyId); DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter != deviceReplyMap.end()) { if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles != 0) { if (iter->second.delayCycles != 0) {
return iter->second.replyLen; return iter->second.replyLen;
} }
} }
return 0; return 0;
} }
@ -1400,6 +1407,8 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId, void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
uint32_t parameter) {} uint32_t parameter) {}
Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
void DeviceHandlerBase::performOperationHook() {} void DeviceHandlerBase::performOperationHook() {}
ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -1422,7 +1431,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
this->poolManager.initializeAfterTaskCreation(); this->poolManager.initializeAfterTaskCreation();
if (setStartupImmediately) { if (setStartupImmediately) {
startTransition(MODE_ON, SUBMODE_NONE); startTransition(MODE_ON, getInitialSubmode());
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -1506,3 +1515,11 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
} }
return commandIter->second.sendReplyTo; return commandIter->second.sendReplyTo;
} }
void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
this->powerSwitcher = switcher;
}

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@ -103,6 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie, DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20); FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
void setCustomFdir(FailureIsolationBase *fdir);
void setParent(object_id_t parent);
void setPowerSwitcher(PowerSwitchIF *switcher);
void setHkDestination(object_id_t hkDestination); void setHkDestination(object_id_t hkDestination);
/** /**
@ -649,6 +652,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0, virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
uint32_t parameter = 0); uint32_t parameter = 0);
/**
* @brief Can be overwritten by a child to specify the initial submode when device has been set
* to startup immediately.
*/
virtual Submode_t getInitialSubmode();
protected: protected:
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE; static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
@ -822,6 +831,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
/** Pointer to the used FDIR instance. If not provided by child, /** Pointer to the used FDIR instance. If not provided by child,
* default class is instantiated. */ * default class is instantiated. */
FailureIsolationBase *fdirInstance; FailureIsolationBase *fdirInstance;
object_id_t parent = objects::NO_OBJECT;
//! To correctly delete the default instance. //! To correctly delete the default instance.
bool defaultFDIRUsed; bool defaultFDIRUsed;

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@ -29,6 +29,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
switch (event->getEvent()) { switch (event->getEvent()) {
case HasModesIF::MODE_TRANSITION_FAILED: case HasModesIF::MODE_TRANSITION_FAILED:
case HasModesIF::OBJECT_IN_INVALID_MODE: case HasModesIF::OBJECT_IN_INVALID_MODE:
case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
// We'll try a recovery as long as defined in MAX_REBOOT. // We'll try a recovery as long as defined in MAX_REBOOT.
// Might cause some AssemblyBase cycles, so keep number low. // Might cause some AssemblyBase cycles, so keep number low.
handleRecovery(event->getEvent()); handleRecovery(event->getEvent());

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@ -109,6 +109,7 @@ class DeviceHandlerIF {
static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW);
static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW); static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH); static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH);
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF; static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;

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@ -8,7 +8,9 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
parentQueue(parentQueue), parentQueue(parentQueue),
commandQueue(), commandQueue(),
healthHelper(this, setObjectId) { healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(3); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

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@ -18,8 +18,9 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
EventManager::EventManager(object_id_t setObjectId) EventManager::EventManager(object_id_t setObjectId)
: SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) { : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE, auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
EventMessage::EVENT_MESSAGE_SIZE); eventReportQueue = QueueFactory::instance()->createMessageQueue(
MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
} }
EventManager::~EventManager() { EventManager::~EventManager() {
@ -46,9 +47,20 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
void EventManager::notifyListeners(EventMessage* message) { void EventManager::notifyListeners(EventMessage* message) {
lockMutex(); lockMutex();
for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) { for (auto& listener : listenerList) {
if (iter->second.match(message)) { if (listener.second.match(message)) {
MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender()); ReturnValue_t result =
MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
<< std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
<< result << std::setfill(' ') << std::endl;
#else
sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
listener.first, result);
#endif
}
} }
} }
unlockMutex(); unlockMutex();
@ -189,4 +201,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
} }
} }
void EventManager::printListeners() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
for (auto& listener : listenerList) {
sif::info << "0x" << std::setw(8) << listener.first << std::endl;
}
sif::info << std::dec << std::setfill(' ');
#else
sif::printInfo("Event manager listener MQ IDs:\n");
for (auto& listener : listenerList) {
sif::printInfo("0x%08x\n", listener.first);
}
#endif
}
#endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */ #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

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@ -42,6 +42,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
object_id_t reporterFrom = 0, object_id_t reporterTo = 0, object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
bool reporterInverted = false); bool reporterInverted = false);
ReturnValue_t performOperation(uint8_t opCode); ReturnValue_t performOperation(uint8_t opCode);
void printListeners();
protected: protected:
MessageQueueIF* eventReportQueue = nullptr; MessageQueueIF* eventReportQueue = nullptr;

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@ -9,8 +9,9 @@
FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
uint8_t messageDepth, uint8_t parameterDomainBase) uint8_t messageDepth, uint8_t parameterDomainBase)
: ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) { : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
eventQueue = auto mqArgs = MqArgs(owner, static_cast<void*>(this));
QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE); eventQueue = QueueFactory::instance()->createMessageQueue(
messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
} }
FailureIsolationBase::~FailureIsolationBase() { FailureIsolationBase::~FailureIsolationBase() {
@ -51,11 +52,12 @@ ReturnValue_t FailureIsolationBase::initialize() {
ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent); ObjectManager::instance()->get<ConfirmsFailuresIF>(faultTreeParent);
if (parentIF == nullptr) { if (parentIF == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FailureIsolationBase::intialize: Parent object" sif::error << "FailureIsolationBase::intialize: Parent object "
<< "invalid." << std::endl; << "invalid" << std::endl;
#endif sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1 #else
sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl; sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
sif::printError("Make sure it implements ConfirmsFailuresIF\n");
#endif #endif
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
return RETURN_FAILED; return RETURN_FAILED;

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@ -14,13 +14,12 @@ class FailureIsolationBase : public HasReturnvaluesIF,
public HasParametersIF { public HasParametersIF {
public: public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
static const Event FDIR_CHANGED_STATE = //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
MAKE_EVENT(1, severity::INFO); //!< FDIR has an internal state, which changed from par2 static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO);
//!< (oldState) to par1 (newState). //! FDIR tries to restart device. Par1: event that caused recovery.
static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT( static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM);
2, severity::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery. //! FDIR turns off device. Par1: event that caused recovery.
static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT( static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM);
3, severity::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT, FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT,
uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0); uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);

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@ -1,13 +1,13 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME} PRIVATE
PRIVATE arrayprinter.cpp
arrayprinter.cpp AsciiConverter.cpp
AsciiConverter.cpp CRC.cpp
CRC.cpp DleEncoder.cpp
DleEncoder.cpp DleParser.cpp
PeriodicOperationDivider.cpp PeriodicOperationDivider.cpp
timevalOperations.cpp timevalOperations.cpp
Type.cpp Type.cpp
bitutility.cpp bitutility.cpp
) )
add_subdirectory(math) add_subdirectory(math)

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@ -0,0 +1,231 @@
#include "DleParser.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <cstdio>
DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
BufPair decodedBuf, UserHandler handler, void* args)
: decodeRingBuf(decodeRingBuf),
decoder(decoder),
encodedBuf(encodedBuf),
decodedBuf(decodedBuf),
handler(handler),
ctx(args) {
if (handler == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
#else
sif::printError("DleParser::DleParser: Invalid user handler\n");
#endif
}
}
ReturnValue_t DleParser::passData(uint8_t* data, size_t len) {
if (data == nullptr or len == 0 or handler == nullptr) {
return RETURN_FAILED;
}
size_t copyIntoRingBufFromHere = 0;
size_t copyAmount = len;
size_t startIdx = 0;
ReturnValue_t result = RETURN_OK;
bool startFoundInThisPacket = false;
for (size_t idx = 0; idx < len; idx++) {
if (data[idx] == DleEncoder::STX_CHAR) {
if (not startFound and not startFoundInThisPacket) {
startIdx = idx;
copyIntoRingBufFromHere = idx;
copyAmount = len - idx;
} else {
// Maybe print warning, should not happen
decodeRingBuf.clear();
ErrorInfo info;
info.len = idx;
prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
handler(ctx);
copyIntoRingBufFromHere = idx;
copyAmount = len - idx;
}
startFound = true;
startFoundInThisPacket = true;
} else if (data[idx] == DleEncoder::ETX_CHAR) {
if (startFoundInThisPacket) {
size_t readLen = 0;
size_t decodedLen = 0;
result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first,
decodedBuf.second, &decodedLen);
if (result == HasReturnvaluesIF::RETURN_OK) {
ctx.setType(ContextType::PACKET_FOUND);
ctx.decodedPacket.first = decodedBuf.first;
ctx.decodedPacket.second = decodedLen;
this->handler(ctx);
} else if (result == DleEncoder::STREAM_TOO_SHORT) {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
handler(ctx);
} else {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
handler(ctx);
}
decodeRingBuf.clear();
if ((idx + 1) < len) {
copyIntoRingBufFromHere = idx + 1;
copyAmount = len - idx - 1;
} else {
copyAmount = 0;
}
} else if (startFound) {
// ETX found but STX was found in another mini packet. Reconstruct the full packet
// to decode it
result = decodeRingBuf.writeData(data, idx + 1);
if (result != HasReturnvaluesIF::RETURN_OK) {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
handler(ctx);
}
size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
if (fullEncodedLen > encodedBuf.second) {
ErrorInfo info;
info.len = fullEncodedLen;
prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
handler(ctx);
decodeRingBuf.clear();
} else {
size_t decodedLen = 0;
size_t readLen = 0;
decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
decodedBuf.second, &decodedLen);
if (result == HasReturnvaluesIF::RETURN_OK) {
if (this->handler != nullptr) {
ctx.setType(ContextType::PACKET_FOUND);
ctx.decodedPacket.first = decodedBuf.first;
ctx.decodedPacket.second = decodedLen;
this->handler(ctx);
}
} else if (result == DleEncoder::STREAM_TOO_SHORT) {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
handler(ctx);
} else {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
handler(ctx);
}
decodeRingBuf.clear();
startFound = false;
startFoundInThisPacket = false;
if ((idx + 1) < len) {
copyIntoRingBufFromHere = idx + 1;
copyAmount = len - idx - 1;
} else {
copyAmount = 0;
}
}
} else {
// End data without preceeding STX
ErrorInfo info;
info.len = idx + 1;
prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
handler(ctx);
decodeRingBuf.clear();
if ((idx + 1) < len) {
copyIntoRingBufFromHere = idx + 1;
copyAmount = len - idx - 1;
} else {
copyAmount = 0;
}
}
startFoundInThisPacket = false;
startFound = false;
}
}
if (copyAmount > 0) {
result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
if (result != HasReturnvaluesIF::RETURN_OK) {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
handler(ctx);
}
}
return RETURN_OK;
}
void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes"
<< std::endl;
#else
sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len);
#endif
#endif
}
void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
switch (err) {
case (ErrorTypes::NONE): {
errorPrinter("No error");
break;
}
case (ErrorTypes::DECODE_ERROR): {
errorPrinter("Decode Error");
break;
}
case (ErrorTypes::RING_BUF_ERROR): {
errorPrinter("Ring Buffer Error");
break;
}
case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
char opt[64];
snprintf(opt, sizeof(opt), ": Too small for packet with length %d", ctx.len);
if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
errorPrinter("Encoded buf too small", opt);
} else {
errorPrinter("Decoding buf too small", opt);
}
break;
}
case (ErrorTypes::CONSECUTIVE_STX_CHARS): {
errorPrinter("Consecutive STX chars detected");
break;
}
case (ErrorTypes::CONSECUTIVE_ETX_CHARS): {
errorPrinter("Consecutive ETX chars detected");
break;
}
}
}
void DleParser::errorPrinter(const char* str, const char* opt) {
if (opt == nullptr) {
opt = "";
}
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl;
#else
sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt);
#endif
#endif
}
void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) {
ctx.setType(ContextType::ERROR);
ctx.error.first = err;
ctx.error.second = info;
}
void DleParser::reset() {
startFound = false;
decodeRingBuf.clear();
}

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@ -0,0 +1,127 @@
#ifndef MISSION_DEVICES_DLEPARSER_H_
#define MISSION_DEVICES_DLEPARSER_H_
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <cstddef>
#include <utility>
/**
* @brief This base helper class can be used to extract DLE encoded packets from a data stream
* @details
* The core API of the parser takes received packets which can contains DLE packets. The parser
* can deal with DLE packets split across multiple packets. It does so by using a dedicated
* decoding ring buffer. The user can process received packets and detect errors by
* overriding two provided virtual methods. This also allows detecting multiple DLE packets
* inside one passed packet.
*/
class DleParser : public HasReturnvaluesIF {
public:
using BufPair = std::pair<uint8_t*, size_t>;
enum class ContextType { PACKET_FOUND, ERROR };
enum class ErrorTypes {
NONE,
ENCODED_BUF_TOO_SMALL,
DECODING_BUF_TOO_SMALL,
DECODE_ERROR,
RING_BUF_ERROR,
CONSECUTIVE_STX_CHARS,
CONSECUTIVE_ETX_CHARS
};
union ErrorInfo {
size_t len;
ReturnValue_t res;
};
using ErrorPair = std::pair<ErrorTypes, ErrorInfo>;
struct Context {
public:
Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); }
void setType(ContextType type) {
if (type == ContextType::PACKET_FOUND) {
error.first = ErrorTypes::NONE;
error.second.len = 0;
} else {
decodedPacket.first = nullptr;
decodedPacket.second = 0;
}
}
ContextType getType() const { return type; }
BufPair decodedPacket = {};
ErrorPair error;
void* userArgs;
private:
ContextType type;
};
using UserHandler = void (*)(const Context& ctx);
/**
* Base class constructor
* @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
* split across multiple packets
* @param decoder Decoder instance
* @param encodedBuf Buffer used to store encoded packets. It has to be large enough to hold
* the largest expected encoded DLE packet size
* @param decodedBuf Buffer used to store decoded packets. It has to be large enough to hold the
* largest expected decoded DLE packet size
* @param handler Function which will be called on a found packet
* @param args Arbitrary user argument
*/
DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
BufPair decodedBuf, UserHandler handler, void* args);
/**
* This function allows to pass new data into the parser. It then scans for DLE packets
* automatically and inserts (part of) the packet into a ring buffer if necessary.
* @param data
* @param len
* @return
*/
ReturnValue_t passData(uint8_t* data, size_t len);
/**
* Example found packet handler
* function call
* @param packet Decoded packet
* @param len Length of detected packet
*/
void defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args);
/**
* Will be called if an error occured in the #passData call
* @param err
* @param ctx Context information depending on the error type
* - For buffer length errors, will be set to the detected packet length which is too large
* - For decode or ring buffer errors, will be set to the result returned from the failed call
*/
static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx);
static void errorPrinter(const char* str, const char* opt = nullptr);
void prepareErrorContext(ErrorTypes err, ErrorInfo ctx);
/**
* Resets the parser by resetting the internal states and clearing the decoding ring buffer
*/
void reset();
private:
SimpleRingBuffer& decodeRingBuf;
DleEncoder& decoder;
BufPair encodedBuf;
BufPair decodedBuf;
UserHandler handler = nullptr;
Context ctx;
bool startFound = false;
};
#endif /* MISSION_DEVICES_DLEPARSER_H_ */

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@ -179,6 +179,9 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
virtual ReturnValue_t cleanUpElement(iterator position) { return HasReturnvaluesIF::RETURN_OK; } virtual ReturnValue_t cleanUpElement(iterator position) { return HasReturnvaluesIF::RETURN_OK; }
bool matchSubtree(iterator iter, T number) { bool matchSubtree(iterator iter, T number) {
if (iter == nullptr) {
return false;
}
bool isMatch = iter->match(number); bool isMatch = iter->match(number);
if (isMatch) { if (isMatch) {
if (iter.left() == this->end()) { if (iter.left() == this->end()) {

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@ -23,19 +23,15 @@ class HasHealthIF {
static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO); static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO); static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW); static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
static const Event OVERWRITING_HEALTH = //! Assembly overwrites health information of children to keep satellite alive.
MAKE_EVENT(9, severity::LOW); //!< Assembly overwrites health information of children to keep static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
//!< satellite alive. //! Someone starts a recovery of a component (typically power-cycle). No parameters.
static const Event TRYING_RECOVERY = static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
MAKE_EVENT(10, severity::MEDIUM); //!< Someone starts a recovery of a component (typically //! Recovery is ongoing. Comes twice during recovery.
//!< power-cycle). No parameters. //! P1: 0 for the first, 1 for the second event. P2: 0
static const Event RECOVERY_STEP = static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
MAKE_EVENT(11, severity::MEDIUM); //!< Recovery is ongoing. Comes twice during recovery. P1: //! Recovery was completed. Not necessarily successful. No parameters.
//!< 0 for the first, 1 for the second event. P2: 0 static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
static const Event RECOVERY_DONE = MAKE_EVENT(
12,
severity::MEDIUM); //!< Recovery was completed. Not necessarily successful. No parameters.
virtual ~HasHealthIF() {} virtual ~HasHealthIF() {}
virtual MessageQueueId_t getCommandQueue() const = 0; virtual MessageQueueId_t getCommandQueue() const = 0;

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@ -7,11 +7,13 @@
InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth) InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
: SystemObject(setObjectId), : SystemObject(setObjectId),
commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
poolManager(this, commandQueue), poolManager(this, commandQueue),
internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
internalErrorDataset(this) { internalErrorDataset(this) {
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); } InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@ -36,15 +38,14 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) { if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "InternalErrorReporter::performOperation: Errors " sif::debug << "InternalErrorReporter::performOperation: Errors "
<< "occured!" << std::endl; << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
sif::debug << "Queue errors: " << newQueueHits << std::endl; << newStoreHits << std::endl;
sif::debug << "TM errors: " << newTmHits << std::endl;
sif::debug << "Store errors: " << newStoreHits << std::endl;
#else #else
sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n"); sif::printDebug(
sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits)); "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits)); "| %lu\n",
sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits)); static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
static_cast<unsigned int>(newStoreHits));
#endif #endif
} }
} }

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@ -1,6 +1,6 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME} PRIVATE
PRIVATE CommandMessage.cpp
CommandMessage.cpp CommandMessageCleaner.cpp
CommandMessageCleaner.cpp MessageQueueMessage.cpp
MessageQueueMessage.cpp MessageQueueBase.cpp
) )

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@ -0,0 +1,54 @@
#include "MessageQueueBase.h"
MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* args)
: id(id) {
this->defaultDest = defaultDest;
if (args != nullptr) {
this->args = *args;
}
}
MessageQueueBase::~MessageQueueBase() {}
ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId(), false);
}
ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) {
if (this->last != MessageQueueIF::NO_QUEUE) {
return sendMessageFrom(this->last, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->last;
return status;
}
MessageQueueId_t MessageQueueBase::getLastPartner() const { return last; }
MessageQueueId_t MessageQueueBase::getId() const { return id; }
MqArgs& MessageQueueBase::getMqArgs() { return args; }
void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDest = defaultDestination;
}
MessageQueueId_t MessageQueueBase::getDefaultDestination() const { return defaultDest; }
bool MessageQueueBase::isDefaultDestinationSet() const { return (defaultDest != NO_QUEUE); }
ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueueBase::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDest, message, sentFrom, ignoreFault);
}

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@ -0,0 +1,40 @@
#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/ipc/definitions.h>
class MessageQueueBase : public MessageQueueIF {
public:
MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
virtual ~MessageQueueBase();
// Default implementations for MessageQueueIF where possible
virtual MessageQueueId_t getLastPartner() const override;
virtual MessageQueueId_t getId() const override;
virtual MqArgs& getMqArgs() override;
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
virtual MessageQueueId_t getDefaultDestination() const override;
virtual bool isDefaultDestinationSet() const override;
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) override;
virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false) override;
// OSAL specific, forward the abstract function
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
protected:
MessageQueueId_t id = MessageQueueIF::NO_QUEUE;
MessageQueueId_t last = MessageQueueIF::NO_QUEUE;
MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE;
MqArgs args = {};
};
#endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */

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@ -1,6 +1,8 @@
#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_ #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FSFW_IPC_MESSAGEQUEUEIF_H_ #define FSFW_IPC_MESSAGEQUEUEIF_H_
#include <fsfw/ipc/definitions.h>
#include <cstdint> #include <cstdint>
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
@ -44,8 +46,8 @@ class MessageQueueIF {
virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0; virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
/** /**
* @brief This function reads available messages from the message queue * @brief This function reads available messages from the message queue and returns the
* and returns the sender. * sender.
* @details * @details
* It works identically to the other receiveMessage call, but in addition * It works identically to the other receiveMessage call, but in addition
* returns the sender's queue id. * returns the sender's queue id.
@ -78,19 +80,16 @@ class MessageQueueIF {
*/ */
virtual ReturnValue_t flush(uint32_t* count) = 0; virtual ReturnValue_t flush(uint32_t* count) = 0;
/** /**
* @brief This method returns the message queue * @brief This method returns the message queue ID of the last communication partner.
* id of the last communication partner.
*/ */
virtual MessageQueueId_t getLastPartner() const = 0; virtual MessageQueueId_t getLastPartner() const = 0;
/** /**
* @brief This method returns the message queue * @brief This method returns the message queue ID of this class's message queue.
* id of this class's message queue.
*/ */
virtual MessageQueueId_t getId() const = 0; virtual MessageQueueId_t getId() const = 0;
/** /**
* @brief With the sendMessage call, a queue message * @brief With the sendMessage call, a queue message is sent to a receiving queue.
* is sent to a receiving queue.
* @details * @details
* This method takes the message provided, adds the sentFrom information * This method takes the message provided, adds the sentFrom information
* and passes it on to the destination provided with an operating system * and passes it on to the destination provided with an operating system
@ -129,8 +128,7 @@ class MessageQueueIF {
bool ignoreFault = false) = 0; bool ignoreFault = false) = 0;
/** /**
* @brief The sendToDefaultFrom method sends a queue message * @brief The sendToDefaultFrom method sends a queue message to the default destination.
* to the default destination.
* @details * @details
* In all other aspects, it works identical to the sendMessage method. * In all other aspects, it works identical to the sendMessage method.
* @param message * @param message
@ -164,6 +162,8 @@ class MessageQueueIF {
virtual MessageQueueId_t getDefaultDestination() const = 0; virtual MessageQueueId_t getDefaultDestination() const = 0;
virtual bool isDefaultDestinationSet() const = 0; virtual bool isDefaultDestinationSet() const = 0;
virtual MqArgs& getMqArgs() = 0;
}; };
#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */ #endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

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@ -5,6 +5,7 @@
#include "MessageQueueIF.h" #include "MessageQueueIF.h"
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "definitions.h"
/** /**
* Creates message queues. * Creates message queues.
@ -22,7 +23,8 @@ class QueueFactory {
static QueueFactory* instance(); static QueueFactory* instance();
MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3, MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
void deleteMessageQueue(MessageQueueIF* queue); void deleteMessageQueue(MessageQueueIF* queue);

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@ -0,0 +1,14 @@
#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/objectmanager/frameworkObjects.h>
struct MqArgs {
MqArgs(){};
MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
object_id_t objectId = objects::NO_OBJECT;
void* args = nullptr;
};
#endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */

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@ -19,32 +19,33 @@ class HasModesIF {
static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04); static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
static const Event CHANGING_MODE = //! An object announces changing the mode. p1: target mode. p2: target submode
MAKE_EVENT(0, severity::INFO); //!< An object announces changing the mode. p1: target mode. static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
//!< p2: target submode //! An Object announces its mode; parameter1 is mode, parameter2 is submode
static const Event MODE_INFO = MAKE_EVENT( static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
1,
severity::INFO); //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH); static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW); static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH); static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
static const Event OBJECT_IN_INVALID_MODE = //! Indicates a bug or configuration failure: Object is in a mode it should never be in.
MAKE_EVENT(5, severity::LOW); //!< Indicates a bug or configuration failure: Object is in a static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
//!< mode it should never be in. //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
static const Event FORCING_MODE = MAKE_EVENT( //! p1: target mode. p2: target submode
6, severity::MEDIUM); //!< The mode is changed, but for some reason, the change is forced, static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
//!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
static const Event MODE_CMD_REJECTED = static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
MAKE_EVENT(7, severity::LOW); //!< A mode command was rejected by the called object. Par1:
//!< called object id, Par2: return code.
static const Mode_t MODE_ON = //! The device is powered and ready to perform operations. In this mode, no commands are
1; //!< The device is powered and ready to perform operations. In this mode, no commands are //! sent by the device handler itself, but direct commands van be commanded and will be
//!< sent by the device handler itself, but direct commands van be commanded and will be //! interpreted
//!< interpreted static constexpr Mode_t MODE_ON = 1;
static const Mode_t MODE_OFF = 0; //!< The device is powered off. The only command accepted in //! The device is powered off. The only command accepted in this mode is a mode change to on.
//!< this mode is a mode change to on. static constexpr Mode_t MODE_OFF = 0;
static const Submode_t SUBMODE_NONE = 0; //!< To avoid checks against magic number "0".
static constexpr Mode_t MODE_INVALID = -1;
static constexpr Mode_t MODE_UNDEFINED = -2;
//! To avoid checks against magic number "0".
static const Submode_t SUBMODE_NONE = 0;
virtual ~HasModesIF() {} virtual ~HasModesIF() {}
virtual MessageQueueId_t getCommandQueue() const = 0; virtual MessageQueueId_t getCommandQueue() const = 0;

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@ -95,13 +95,16 @@ void ObjectManager::initialize() {
for (auto const& it : objectList) { for (auto const& it : objectList) {
result = it.second->initialize(); result = it.second->initialize();
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
object_id_t var = it.first;
sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8) sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
<< std::setfill('0') << var << std::setfill('0') << it.first << " failed to initialize with code 0x" << result
<< " failed to " << std::dec << std::setfill(' ') << std::endl;
"initialize with code 0x" #else
<< result << std::dec << std::setfill(' ') << std::endl; sif::printError(
"ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var,
it.first);
#endif
#endif #endif
errorCount++; errorCount++;
} }

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@ -4,8 +4,9 @@
#include "fsfw/osal/freertos/QueueMapManager.h" #include "fsfw/osal/freertos/QueueMapManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
: maxMessageSize(maxMessageSize) { : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize); handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) { if (handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -15,10 +16,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
#else #else
sif::printError("MessageQueue::MessageQueue: Creation failed\n"); sif::printError("MessageQueue::MessageQueue: Creation failed\n");
sif::printError("Specified Message Depth: %d\n", messageDepth); sif::printError("Specified Message Depth: %d\n", messageDepth);
sif::printError("Specified MAximum Message Size: %d\n", maxMessageSize); sif::printError("Specified Maximum Message Size: %d\n", maxMessageSize);
#endif #endif
} }
QueueMapManager::instance()->addMessageQueue(handle, &queueId); QueueMapManager::instance()->addMessageQueue(handle, &id);
} }
MessageQueue::~MessageQueue() { MessageQueue::~MessageQueue() {
@ -29,28 +30,6 @@ MessageQueue::~MessageQueue() {
void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; } void MessageQueue::switchSystemContext(CallContext callContext) { this->callContext = callContext; }
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
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::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) { MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext); return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext);
@ -72,27 +51,16 @@ ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if (status == HasReturnvaluesIF::RETURN_OK) {
*receivedFrom = this->lastPartner;
}
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0); BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0);
if (result == pdPASS) { if (result == pdPASS) {
this->lastPartner = message->getSender(); this->last = message->getSender();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
} }
} }
MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) { ReturnValue_t MessageQueue::flush(uint32_t* count) {
// TODO FreeRTOS does not support flushing partially // TODO FreeRTOS does not support flushing partially
// Is always successful // Is always successful
@ -100,17 +68,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueId_t MessageQueue::getId() const { return queueId; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
defaultDestinationSet = true;
this->defaultDestination = defaultDestination;
}
MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
// static core function to send messages. // static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueMessageIF* message,

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@ -1,12 +1,15 @@
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "TaskManagement.h" #include "TaskManagement.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/MessageQueueMessageIF.h" #include "fsfw/ipc/MessageQueueMessageIF.h"
#include "fsfw/ipc/definitions.h"
#include "queue.h" #include "queue.h"
/** /**
@ -32,7 +35,7 @@
* @ingroup osal * @ingroup osal
* @ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueue : public MessageQueueIF { class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF; friend class MessageQueueSenderIF;
public: public:
@ -53,7 +56,8 @@ class MessageQueue : public MessageQueueIF {
* This should be left default. * This should be left default.
*/ */
MessageQueue(size_t messageDepth = 3, MessageQueue(size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** Copying message queues forbidden */ /** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete; MessageQueue(const MessageQueue&) = delete;
@ -73,40 +77,15 @@ class MessageQueue : public MessageQueueIF {
*/ */
void switchSystemContext(CallContext callContext); void switchSystemContext(CallContext callContext);
/** MessageQueueIF implementation */ QueueHandle_t getNativeQueueHandle();
ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false) override;
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override; // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override; 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 receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) 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;
QueueHandle_t getNativeQueueHandle();
protected: protected:
/** /**
* @brief Implementation to be called from any send Call within * @brief Implementation to be called from any send Call within
@ -136,12 +115,8 @@ class MessageQueue : public MessageQueueIF {
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault); static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private: private:
bool defaultDestinationSet = false;
QueueHandle_t handle; QueueHandle_t handle;
MessageQueueId_t queueId = MessageQueueIF::NO_QUEUE;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
const size_t maxMessageSize; const size_t maxMessageSize;
//! Stores the current system context //! Stores the current system context
CallContext callContext = CallContext::TASK; CallContext callContext = CallContext::TASK;

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@ -22,8 +22,9 @@ QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {} QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
return new MessageQueue(messageDepth, maxMessageSize); MqArgs* args) {
return new MessageQueue(messageDepth, maxMessageSize, args);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

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@ -8,10 +8,12 @@
#include "fsfw/osal/host/QueueMapManager.h" #include "fsfw/osal/host/QueueMapManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
: messageSize(maxMessageSize), messageDepth(messageDepth) { : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
messageSize(maxMessageSize),
messageDepth(messageDepth) {
queueLock = MutexFactory::instance()->createMutex(); queueLock = MutexFactory::instance()->createMutex();
auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId); auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl; sif::error << "MessageQueue::MessageQueue: Could not be created" << std::endl;
@ -23,42 +25,11 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
MessageQueue::~MessageQueue() { MutexFactory::instance()->deleteMutex(queueLock); } MessageQueue::~MessageQueue() { MutexFactory::instance()->deleteMutex(queueLock); }
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
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 MessageQueueIF::NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) { MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault); return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
} }
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if (status == HasReturnvaluesIF::RETURN_OK) {
*receivedFrom = this->lastPartner;
}
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if (messageQueue.empty()) { if (messageQueue.empty()) {
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
@ -68,12 +39,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
message->getBuffer()); message->getBuffer());
messageQueue.pop(); messageQueue.pop();
// The last partner is the first uint32_t field in the message // The last partner is the first uint32_t field in the message
this->lastPartner = message->getSender(); this->last = message->getSender();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) { ReturnValue_t MessageQueue::flush(uint32_t* count) {
*count = messageQueue.size(); *count = messageQueue.size();
// Clears the queue. // Clears the queue.
@ -81,17 +50,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueId_t MessageQueue::getId() const { return mqId; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
defaultDestinationSet = true;
this->defaultDestination = defaultDestination;
}
MessageQueueId_t MessageQueue::getDefaultDestination() const { return defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const { return defaultDestinationSet; }
// static core function to send messages. // static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueMessageIF* message,

View File

@ -5,9 +5,11 @@
#include <queue> #include <queue>
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/MutexIF.h" #include "fsfw/ipc/MutexIF.h"
#include "fsfw/ipc/definitions.h"
#include "fsfw/timemanager/Clock.h" #include "fsfw/timemanager/Clock.h"
/** /**
@ -33,7 +35,7 @@
* @ingroup osal * @ingroup osal
* @ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueue : public MessageQueueIF { class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF; friend class MessageQueueSenderIF;
public: public:
@ -54,7 +56,8 @@ class MessageQueue : public MessageQueueIF {
* This should be left default. * This should be left default.
*/ */
MessageQueue(size_t messageDepth = 3, MessageQueue(size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** Copying message queues forbidden */ /** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete; MessageQueue(const MessageQueue&) = delete;
@ -67,121 +70,12 @@ class MessageQueue : public MessageQueueIF {
*/ */
virtual ~MessageQueue(); virtual ~MessageQueue();
/** // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
* @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.
*/
ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false) override;
/**
* @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(MessageQueueMessageIF* message) override;
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using
* the stored lastPartner 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(MessageQueueMessageIF* message) override;
/**
* @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, MessageQueueMessageIF* message, virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override; bool ignoreFault = false) override;
/**
* @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(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
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(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) 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(MessageQueueMessageIF* message) override; ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
/**
* 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) override; ReturnValue_t flush(uint32_t* count) override;
/**
* @brief This method returns the message queue id of the last
* communication partner.
*/
MessageQueueId_t getLastPartner() const override;
/**
* @brief This method returns the message queue id of this class's
* message queue.
*/
MessageQueueId_t getId() const override;
/**
* @brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
/**
* @brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout); ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType, dur_millis_t lockTimeout);
ReturnValue_t unlockQueue(); ReturnValue_t unlockQueue();
@ -211,23 +105,14 @@ class MessageQueue : public MessageQueueIF {
MessageQueueId_t sentFrom = NO_QUEUE, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false); bool ignoreFault = false);
// static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private: private:
std::queue<std::vector<uint8_t>> messageQueue; std::queue<std::vector<uint8_t>> messageQueue;
/**
* @brief The class stores the queue id it got assigned.
* If initialization fails, the queue id is set to zero.
*/
MessageQueueId_t mqId = MessageQueueIF::NO_QUEUE;
size_t messageSize = 0; size_t messageSize = 0;
size_t messageDepth = 0; size_t messageDepth = 0;
MutexIF* queueLock; MutexIF* queueLock;
bool defaultDestinationSet = false;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE; MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
}; };
#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */ #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

View File

@ -27,12 +27,13 @@ QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {} QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
MqArgs* args) {
// A thread-safe queue can be implemented by using a combination // A thread-safe queue can be implemented by using a combination
// of std::queue and std::mutex. This uses dynamic memory allocation // of std::queue and std::mutex. This uses dynamic memory allocation
// which could be alleviated by using a custom allocator, external library // which could be alleviated by using a custom allocator, external library
// (etl::queue) or simply using std::queue, we're on a host machine anyway. // (etl::queue) or simply using std::queue, we're on a host machine anyway.
return new MessageQueue(messageDepth, maxMessageSize); return new MessageQueue(messageDepth, maxMessageSize, args);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

View File

@ -1,29 +1,29 @@
target_sources(${LIB_FSFW_NAME} PRIVATE target_sources(${LIB_FSFW_NAME} PRIVATE
Clock.cpp Clock.cpp
BinarySemaphore.cpp BinarySemaphore.cpp
CountingSemaphore.cpp CountingSemaphore.cpp
FixedTimeslotTask.cpp FixedTimeslotTask.cpp
InternalErrorCodes.cpp InternalErrorCodes.cpp
MessageQueue.cpp MessageQueue.cpp
Mutex.cpp Mutex.cpp
MutexFactory.cpp MutexFactory.cpp
PeriodicPosixTask.cpp PeriodicPosixTask.cpp
PosixThread.cpp PosixThread.cpp
QueueFactory.cpp QueueFactory.cpp
SemaphoreFactory.cpp SemaphoreFactory.cpp
TaskFactory.cpp TaskFactory.cpp
tcpipHelpers.cpp tcpipHelpers.cpp
unixUtility.cpp unixUtility.cpp
) )
find_package(Threads REQUIRED) find_package(Threads REQUIRED)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_THREAD_LIBS_INIT}
rt rt
) )
target_link_libraries(${LIB_FSFW_NAME} INTERFACE target_link_libraries(${LIB_FSFW_NAME} INTERFACE
${CMAKE_THREAD_LIBS_INIT} ${CMAKE_THREAD_LIBS_INIT}
) )

View File

@ -6,6 +6,7 @@
#include <time.h> #include <time.h>
#include <unistd.h> #include <unistd.h>
#include <cstring>
#include <fstream> #include <fstream>
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
@ -13,6 +14,8 @@
uint16_t Clock::leapSeconds = 0; uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = NULL; MutexIF* Clock::timeMutex = NULL;
void handleClockError(const char* func);
uint32_t Clock::getTicksPerSecond(void) { uint32_t Clock::getTicksPerSecond(void) {
uint32_t ticks = sysconf(_SC_CLK_TCK); uint32_t ticks = sysconf(_SC_CLK_TCK);
return ticks; return ticks;
@ -27,7 +30,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
int status = clock_settime(CLOCK_REALTIME, &timeUnix); int status = clock_settime(CLOCK_REALTIME, &timeUnix);
if (status != 0) { if (status != 0) {
// TODO errno handleClockError("setClock");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -39,7 +42,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000; timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000;
int status = clock_settime(CLOCK_REALTIME, &timeUnix); int status = clock_settime(CLOCK_REALTIME, &timeUnix);
if (status != 0) { if (status != 0) {
// TODO errno handleClockError("setClock");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -49,6 +52,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
timespec timeUnix; timespec timeUnix;
int status = clock_gettime(CLOCK_REALTIME, &timeUnix); int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
if (status != 0) { if (status != 0) {
handleClockError("getClock_timeval");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
time->tv_sec = timeUnix.tv_sec; time->tv_sec = timeUnix.tv_sec;
@ -151,3 +155,14 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.; *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void handleClockError(const char* func) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Clock::" << func << ": Failed with code " << errno << ": " << strerror(errno)
<< std::endl;
#else
sif::printWarning("Clock::%s: Failed with code %d: %s\n", func, errno, strerror(errno));
#endif
#endif
}

View File

@ -11,13 +11,10 @@
#include "fsfw/osal/linux/unixUtility.h" #include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize) MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
: id(MessageQueueIF::NO_QUEUE), : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE),
maxMessageSize(maxMessageSize) { maxMessageSize(maxMessageSize) {
mq_attr attributes; mq_attr attributes;
this->id = 0;
// Set attributes // Set attributes
attributes.mq_curmsgs = 0; attributes.mq_curmsgs = 0;
attributes.mq_maxmsg = messageDepth; attributes.mq_maxmsg = messageDepth;
@ -50,30 +47,6 @@ MessageQueue::~MessageQueue() {
} }
} }
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if (message == nullptr) { if (message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -96,7 +69,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()), int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()),
message->getMaximumMessageSize(), &messagePriority); message->getMaximumMessageSize(), &messagePriority);
if (status > 0) { if (status > 0) {
this->lastPartner = message->getSender(); this->last = message->getSender();
// Check size of incoming message. // Check size of incoming message.
if (message->getMessageSize() < message->getMinimumMessageSize()) { if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -164,8 +137,6 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
} }
} }
MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) { ReturnValue_t MessageQueue::flush(uint32_t* count) {
mq_attr attrib; mq_attr attrib;
int status = mq_getattr(id, &attrib); int status = mq_getattr(id, &attrib);
@ -212,26 +183,11 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MessageQueueId_t MessageQueue::getId() const { return this->id; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
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, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) { MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault); return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
} }
MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
uint16_t MessageQueue::queueCounter = 0; uint16_t MessageQueue::queueCounter = 0;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
@ -240,9 +196,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
bool ignoreFault) { bool ignoreFault) {
if (message == nullptr) { if (message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl; sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr" << std::endl;
#else #else
sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n"); sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n");
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -256,7 +212,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
if (!ignoreFault) { if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = InternalErrorReporterIF* internalErrorReporter =
ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER); ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) { if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent(); internalErrorReporter->queueMessageNotSent();
} }
} }

View File

@ -1,11 +1,13 @@
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ #ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ #define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include <mqueue.h> #include <mqueue.h>
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/definitions.h"
/** /**
* @brief This class manages sending and receiving of message queue messages. * @brief This class manages sending and receiving of message queue messages.
* *
@ -25,7 +27,7 @@
* makes use of the operating system calls provided. * makes use of the operating system calls provided.
* @ingroup message_queue * @ingroup message_queue
*/ */
class MessageQueue : public MessageQueueIF { class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF; friend class MessageQueueSenderIF;
public: public:
@ -42,104 +44,24 @@ class MessageQueue : public MessageQueueIF {
* This should be left default. * This should be left default.
*/ */
MessageQueue(uint32_t messageDepth = 3, MessageQueue(uint32_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/** /**
* @brief The destructor deletes the formerly created message queue. * @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(); 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.
*/
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, 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(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
* 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(MessageQueueMessageIF* message);
/** // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
* @brief This function reads available messages from the message queue and returns the ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
* sender. ReturnValue_t flush(uint32_t* count) override;
* @details It works identically to the other receiveMessage call, but in addition returns the ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
* sender's queue id. MessageQueueId_t sentFrom, bool ignoreFault = false) override;
* @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(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
/**
* @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(MessageQueueMessageIF* 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.
* \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, 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.
* \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(MessageQueueMessageIF* 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;
bool isDefaultDestinationSet() const;
protected: protected:
/** /**
@ -158,31 +80,10 @@ class MessageQueue : public MessageQueueIF {
bool ignoreFault = false); bool ignoreFault = false);
private: private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this
* attribute. If initialization fails, the queue id is set to zero.
*/
MessageQueueId_t id;
/**
* @brief In this attribute, the queue id of the last communication partner is stored
* to allow for replying.
*/
MessageQueueId_t lastPartner;
/**
* @brief The message queue's name -a user specific information for the operating system- is
* generated automatically with the help of this static counter.
*/
/**
* \brief This attribute stores a default destination to send messages to.
* \details It is stored to simplify sending to always-the-same receiver. The attribute may
* be set in the constructor or by a setter call to setDefaultDestination.
*/
MessageQueueId_t defaultDestination;
/** /**
* The name of the message queue, stored for unlinking * The name of the message queue, stored for unlinking
*/ */
char name[16]; char name[16] = {};
static uint16_t queueCounter; static uint16_t queueCounter;
const size_t maxMessageSize; const size_t maxMessageSize;

View File

@ -28,8 +28,9 @@ QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {} QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
return new MessageQueue(messageDepth, maxMessageSize); MqArgs* args) {
return new MessageQueue(messageDepth, maxMessageSize, args);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

View File

@ -6,8 +6,9 @@
#include "fsfw/osal/rtems/RtemsBasic.h" #include "fsfw/osal/rtems/RtemsBasic.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
: id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) { : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
internalErrorReporter(nullptr) {
rtems_name name = ('Q' << 24) + (queueCounter++ << 8); rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
rtems_status_code status = rtems_status_code status =
rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id)); rtems_message_queue_create(name, message_depth, max_message_size, 0, &(this->id));
@ -16,43 +17,19 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size)
sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec
<< " failed with status:" << (uint32_t)status << std::endl; << " failed with status:" << (uint32_t)status << std::endl;
#endif #endif
this->id = 0; this->id = MessageQueueIF::NO_QUEUE;
} }
} }
MessageQueue::~MessageQueue() { rtems_message_queue_delete(id); } MessageQueue::~MessageQueue() { rtems_message_queue_delete(id); }
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessage(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
size_t size = 0; size_t size = 0;
rtems_status_code status = rtems_status_code status =
rtems_message_queue_receive(id, message->getBuffer(), &size, RTEMS_NO_WAIT, 1); rtems_message_queue_receive(id, message->getBuffer(), &size, RTEMS_NO_WAIT, 1);
if (status == RTEMS_SUCCESSFUL) { if (status == RTEMS_SUCCESSFUL) {
message->setMessageSize(size); message->setMessageSize(size);
this->lastPartner = message->getSender(); this->last = message->getSender();
// Check size of incoming message. // Check size of incoming message.
if (message->getMessageSize() < message->getMinimumMessageSize()) { if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -65,19 +42,11 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
return convertReturnCode(status); return convertReturnCode(status);
} }
MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) { ReturnValue_t MessageQueue::flush(uint32_t* count) {
rtems_status_code status = rtems_message_queue_flush(id, count); rtems_status_code status = rtems_message_queue_flush(id, count);
return convertReturnCode(status); return convertReturnCode(status);
} }
MessageQueueId_t MessageQueue::getId() const { return this->id; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) { MessageQueueId_t sentFrom, bool ignoreFault) {
message->setSender(sentFrom); message->setSender(sentFrom);
@ -103,15 +72,6 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
return returnCode; return returnCode;
} }
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue) { ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue) {
switch (inValue) { switch (inValue) {
case RTEMS_SUCCESSFUL: case RTEMS_SUCCESSFUL:

View File

@ -1,10 +1,13 @@
#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ #ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "RtemsBasic.h" #include "RtemsBasic.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/definitions.h"
/** /**
* @brief This class manages sending and receiving of message queue messages. * @brief This class manages sending and receiving of message queue messages.
@ -19,7 +22,7 @@
*as well as sending and receiving messages, the class makes use of the operating system calls *as well as sending and receiving messages, the class makes use of the operating system calls
*provided. \ingroup message_queue *provided. \ingroup message_queue
*/ */
class MessageQueue : public MessageQueueIF { class MessageQueue : public MessageQueueBase {
public: public:
/** /**
* @brief The constructor initializes and configures the message queue. * @brief The constructor initializes and configures the message queue.
@ -34,131 +37,26 @@ class MessageQueue : public MessageQueueIF {
* This should be left default. * This should be left default.
*/ */
MessageQueue(size_t message_depth = 3, MessageQueue(size_t message_depth = 3,
size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/** /**
* @brief The destructor deletes the formerly created message queue. * @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(); 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.
*/
ReturnValue_t sendMessage(MessageQueueId_t sendTo, 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.
*/
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
* 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(MessageQueueMessageIF* message);
/** // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
* @brief This function reads available messages from the message queue and returns the ReturnValue_t flush(uint32_t* count) override;
* sender. ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
* @details It works identically to the other receiveMessage call, but in addition returns the MessageQueueId_t sentFrom = NO_QUEUE,
* sender's queue id. bool ignoreFault = false) override;
* @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(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
/**
* @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(MessageQueueMessageIF* 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, MessageQueueMessageIF* 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(MessageQueueMessageIF* 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;
bool isDefaultDestinationSet() const;
private: private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this
* attribute. If initialization fails, the queue id is set to zero.
*/
MessageQueueId_t id;
/**
* @brief In this attribute, the queue id of the last communication partner is stored
* to allow for replying.
*/
MessageQueueId_t lastPartner;
/**
* @brief The message queue's name -a user specific information for the operating system- is
* generated automatically with the help of this static counter.
*/
/**
* \brief This attribute stores a default destination to send messages to.
* \details It is stored to simplify sending to always-the-same receiver. The attribute may
* be set in the constructor or by a setter call to setDefaultDestination.
*/
MessageQueueId_t defaultDestination;
/** /**
* \brief This attribute stores a reference to the internal error reporter for reporting full * \brief This attribute stores a reference to the internal error reporter for reporting full
* queues. \details In the event of a full destination queue, the reporter will be notified. The * queues. \details In the event of a full destination queue, the reporter will be notified. The

View File

@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
*/ */
ReturnValue_t addComponent(object_id_t object) override; ReturnValue_t addComponent(object_id_t object) override;
/** /**
* Adds an object to the list of objects to be executed. * Adds an object to the list of objects to be executed.
* The objects are executed in the order added. * The objects are executed in the order added.
* @param object pointer to the object to add. * @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/ */
ReturnValue_t addComponent(ExecutableObjectIF* object) override; ReturnValue_t addComponent(ExecutableObjectIF *object) override;
uint32_t getPeriodMs() const override; uint32_t getPeriodMs() const override;

View File

@ -49,8 +49,9 @@ QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {} QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
return new MessageQueue(messageDepth, maxMessageSize); MqArgs* args) {
return new MessageQueue(messageDepth, maxMessageSize, args);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

View File

@ -66,7 +66,7 @@ class HasParametersIF {
* @param newValues * @param newValues
* @param startAtIndex Linear index, runs left to right, top to bottom for * @param startAtIndex Linear index, runs left to right, top to bottom for
* matrix indexes. * matrix indexes.
* @return * @return RETURN_OK if parameter is valid and a set function of the parameter wrapper was called.
*/ */
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier, virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper,

View File

@ -211,9 +211,13 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
if (data == nullptr) { if (data == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl; sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable or "
"data pointer not set"
<< std::endl;
#else #else
sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n"); sif::printWarning(
"ParameterWrapper::copyFrom: Called on read-only variable "
"or data pointer not set\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return READONLY; return READONLY;
@ -222,9 +226,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
if (from->readonlyData == nullptr) { if (from->readonlyData == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl; sif::warning << "ParameterWrapper::copyFrom: Source not set" << std::endl;
#else #else
sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n"); sif::printWarning("ParameterWrapper::copyFrom: Source not set\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return SOURCE_NOT_SET; return SOURCE_NOT_SET;
@ -233,9 +237,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
if (type != from->type) { if (type != from->type) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl; sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch" << std::endl;
#else #else
sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n"); sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return DATATYPE_MISSMATCH; return DATATYPE_MISSMATCH;
@ -245,9 +249,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
if (rows == 0 or columns == 0) { if (rows == 0 or columns == 0) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl; sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero" << std::endl;
#else #else
sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n"); sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return COLUMN_OR_ROWS_ZERO; return COLUMN_OR_ROWS_ZERO;

View File

@ -1,7 +1,8 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME} PRIVATE
PRIVATE Fuse.cpp
Fuse.cpp PowerComponent.cpp
PowerComponent.cpp PowerSensor.cpp
PowerSensor.cpp PowerSwitcher.cpp
PowerSwitcher.cpp DummyPowerSwitcher.cpp
PowerSwitcherComponent.cpp
) )

View File

@ -0,0 +1,46 @@
#include "DummyPowerSwitcher.h"
DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
size_t numberOfFuses, uint32_t switchDelayMs)
: SystemObject(objectId),
switcherList(numberOfSwitches),
fuseList(numberOfFuses),
switchDelayMs(switchDelayMs) {}
void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
this->switcherList = switcherList;
}
void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
this->fuseList = fuseList;
}
ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
if (switchNr < switcherList.capacity()) {
switcherList[switchNr] = onOff;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
if (fuseNr < fuseList.capacity()) {
fuseList[fuseNr] = FUSE_ON;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
if (switchNr < switcherList.capacity()) {
return switcherList[switchNr];
}
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
if (fuseNr < fuseList.capacity()) {
return fuseList[fuseNr];
}
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return switchDelayMs; }

View File

@ -0,0 +1,31 @@
#ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
#define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
#include <cstddef>
#include <vector>
#include "PowerSwitchIF.h"
#include "definitions.h"
#include "fsfw/objectmanager/SystemObject.h"
class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
public:
DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
uint32_t switchDelayMs = 5000);
void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
virtual uint32_t getSwitchDelayMs(void) const override;
private:
std::vector<ReturnValue_t> switcherList;
std::vector<ReturnValue_t> fuseList;
uint32_t switchDelayMs = 5000;
};
#endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */

View File

@ -34,14 +34,14 @@ class Fuse : public SystemObject,
}; };
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
static const Event FUSE_CURRENT_HIGH = MAKE_EVENT( //! PSS detected that current on a fuse is totally out of bounds.
1, severity::LOW); //!< PSS detected that current on a fuse is totally out of bounds. static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
static const Event FUSE_WENT_OFF = //! PSS detected a fuse that went off.
MAKE_EVENT(2, severity::LOW); //!< PSS detected a fuse that went off. static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW);
static const Event POWER_ABOVE_HIGH_LIMIT = //! PSS detected a fuse that violates its limits.
MAKE_EVENT(4, severity::LOW); //!< PSS detected a fuse that violates its limits. static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW);
static const Event POWER_BELOW_LOW_LIMIT = //! PSS detected a fuse that violates its limits.
MAKE_EVENT(5, severity::LOW); //!< PSS detected a fuse that violates its limits. static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW);
typedef std::list<PowerComponentIF *> DeviceList; typedef std::list<PowerComponentIF *> DeviceList;
Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids, Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids,

View File

@ -15,7 +15,9 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh), limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount, voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) { limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
commandQueue = QueueFactory::instance()->createMessageQueue(); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

View File

@ -3,6 +3,7 @@
#include "../events/Event.h" #include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
#include "definitions.h"
/** /**
* *
* @brief This interface defines a connection to a device that is capable of * @brief This interface defines a connection to a device that is capable of
@ -37,11 +38,11 @@ class PowerSwitchIF : public HasReturnvaluesIF {
* @param switchNr * @param switchNr
* @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
*/ */
virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0; virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) = 0;
/** /**
* Sends a command to the Power Unit to enable a certain fuse. * Sends a command to the Power Unit to enable a certain fuse.
*/ */
virtual void sendFuseOnCommand(uint8_t fuseNr) const = 0; virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) = 0;
/** /**
* get the state of the Switches. * get the state of the Switches.
@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
* - @c SWITCH_OFF if the specified switch is off. * - @c SWITCH_OFF if the specified switch is off.
* - @c RETURN_FAILED if an error occured * - @c RETURN_FAILED if an error occured
*/ */
virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0; virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
/** /**
* get state of a fuse. * get state of a fuse.
* @param fuseNr * @param fuseNr

View File

@ -1,19 +1,12 @@
#include "fsfw/power/PowerSwitcher.h" #include "fsfw/power/PowerSwitcher.h"
#include "definitions.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2, PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
PowerSwitcher::State_t setStartState) power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
: state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {} : power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
if (power == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PowerSwitcher::getStateOfSwitches() { ReturnValue_t PowerSwitcher::getStateOfSwitches() {
SwitchReturn_t result = howManySwitches(); SwitchReturn_t result = howManySwitches();
@ -52,18 +45,37 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
return; return;
} }
void PowerSwitcher::turnOn() { void PowerSwitcher::turnOn(bool checkCurrentState) {
if (checkCurrentState) {
if (getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
state = SWITCH_IS_ON;
return;
}
}
commandSwitches(PowerSwitchIF::SWITCH_ON); commandSwitches(PowerSwitchIF::SWITCH_ON);
state = WAIT_ON; state = WAIT_ON;
} }
void PowerSwitcher::turnOff() { void PowerSwitcher::turnOff(bool checkCurrentState) {
if (checkCurrentState) {
if (getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
state = SWITCH_IS_OFF;
return;
}
}
commandSwitches(PowerSwitchIF::SWITCH_OFF); commandSwitches(PowerSwitchIF::SWITCH_OFF);
state = WAIT_OFF; state = WAIT_OFF;
} }
bool PowerSwitcher::active() {
if (state == WAIT_OFF or state == WAIT_ON) {
return true;
}
return false;
}
PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() { PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
if (secondSwitch == NO_SWITCH) { if (secondSwitch == power::NO_SWITCH) {
return ONE_SWITCH; return ONE_SWITCH;
} else { } else {
return TWO_SWITCHES; return TWO_SWITCHES;

View File

@ -14,28 +14,28 @@ class PowerSwitcher : public HasReturnvaluesIF {
SWITCH_IS_OFF, SWITCH_IS_OFF,
SWITCH_IS_ON, SWITCH_IS_ON,
}; };
State_t state;
static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER; static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1); static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2); static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH, PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
State_t setStartState = SWITCH_IS_OFF); State_t setStartState = SWITCH_IS_OFF);
ReturnValue_t initialize(object_id_t powerSwitchId); void turnOn(bool checkCurrentState = true);
void turnOn(); void turnOff(bool checkCurrentState = true);
void turnOff(); bool active();
void doStateMachine(); void doStateMachine();
State_t getState(); State_t getState();
ReturnValue_t checkSwitchState(); ReturnValue_t checkSwitchState();
uint32_t getSwitchDelay(); uint32_t getSwitchDelay();
uint8_t getFirstSwitch() const; power::Switch_t getFirstSwitch() const;
uint8_t getSecondSwitch() const; power::Switch_t getSecondSwitch() const;
private: private:
uint8_t firstSwitch;
uint8_t secondSwitch;
PowerSwitchIF* power = nullptr; PowerSwitchIF* power = nullptr;
State_t state;
power::Switch_t firstSwitch = power::NO_SWITCH;
power::Switch_t secondSwitch = power::NO_SWITCH;
static const uint8_t NO_SWITCH = 0xFF;
enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 }; enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 };
ReturnValue_t getStateOfSwitches(); ReturnValue_t getStateOfSwitches();
void commandSwitches(ReturnValue_t onOff); void commandSwitches(ReturnValue_t onOff);

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@ -0,0 +1,107 @@
#include "PowerSwitcherComponent.h"
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/power/PowerSwitchIF.h>
PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
power::Switch_t pwrSwitch)
: SystemObject(objectId),
switcher(pwrSwitcher, pwrSwitch),
modeHelper(this),
healthHelper(this, objectId) {
queue = QueueFactory::instance()->createMessageQueue();
}
ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
ReturnValue_t result;
CommandMessage command;
for (result = queue->receiveMessage(&command); result == RETURN_OK;
result = queue->receiveMessage(&command)) {
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
}
if (switcher.active()) {
switcher.doStateMachine();
auto currState = switcher.getState();
if (currState == PowerSwitcher::SWITCH_IS_OFF) {
setMode(MODE_OFF, 0);
} else if (currState == PowerSwitcher::SWITCH_IS_ON) {
setMode(MODE_ON, 0);
}
}
return RETURN_OK;
}
ReturnValue_t PowerSwitcherComponent::initialize() {
ReturnValue_t result = modeHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = healthHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return SystemObject::initialize();
}
MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { return queue->getId(); }
void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
*mode = this->mode;
*submode = this->submode;
}
ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
healthHelper.setHealth(health);
return RETURN_OK;
}
ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
*msToReachTheMode = 5000;
if (mode != MODE_ON and mode != MODE_OFF) {
return TRANS_NOT_ALLOWED;
}
return RETURN_OK;
}
void PowerSwitcherComponent::startTransition(Mode_t mode, Submode_t submode) {
if (mode == MODE_OFF) {
switcher.turnOff(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
setMode(MODE_OFF, 0);
}
} else if (mode == MODE_ON) {
switcher.turnOn(true);
switcher.doStateMachine();
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
setMode(MODE_ON, 0);
}
}
}
void PowerSwitcherComponent::setToExternalControl() {
healthHelper.setHealth(HasHealthIF::EXTERNAL_CONTROL);
}
void PowerSwitcherComponent::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
}
void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
this->mode = newMode;
this->submode = newSubmode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
}
HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { return healthHelper.getHealth(); }

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@ -0,0 +1,62 @@
#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
#include <fsfw/health/HasHealthIF.h>
#include <fsfw/health/HealthHelper.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/modes/ModeHelper.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/power/PowerSwitcher.h>
#include <fsfw/power/definitions.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
class PowerSwitchIF;
/**
* @brief Allows to create an power switch object with its own mode and health
* @details
* This basic component allows to create an object which is solely responsible for managing a
* switch. It also has a mode and a health by implementing the respective interface components
* which allows integrating this component into a system mode tree.
*
* Commanding this component to MODE_OFF will cause the switcher to turn the switch off while
* commanding in to MODE_ON will cause the switcher to turn the switch on.
*/
class PowerSwitcherComponent : public SystemObject,
public HasReturnvaluesIF,
public ExecutableObjectIF,
public HasModesIF,
public HasHealthIF {
public:
PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF *pwrSwitcher,
power::Switch_t pwrSwitch);
private:
MessageQueueIF *queue = nullptr;
PowerSwitcher switcher;
Mode_t mode = MODE_OFF;
Submode_t submode = 0;
ModeHelper modeHelper;
HealthHelper healthHelper;
void setMode(Mode_t newMode, Submode_t newSubmode);
virtual ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initialize() override;
MessageQueueId_t getCommandQueue() const override;
void getMode(Mode_t *mode, Submode_t *submode) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override;
void startTransition(Mode_t mode, Submode_t submode) override;
void setToExternalControl() override;
void announceMode(bool recursive) override;
ReturnValue_t setHealth(HealthState health) override;
HasHealthIF::HealthState getHealth() override;
};
#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

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@ -0,0 +1,13 @@
#ifndef FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
#define FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
#include <cstdint>
namespace power {
using Switch_t = uint8_t;
static constexpr Switch_t NO_SWITCH = 0xFF;
} // namespace power
#endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */

View File

@ -16,7 +16,9 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
apid(apid), apid(apid),
serviceId(serviceId), serviceId(serviceId),
targetDestination(targetDestination) { targetDestination(targetDestination) {
tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
tmQueue = QueueFactory::instance()->createMessageQueue(
messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
Service1TelecommandVerification::~Service1TelecommandVerification() { Service1TelecommandVerification::~Service1TelecommandVerification() {

View File

@ -214,11 +214,11 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
default: default:
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service3Housekeeping::handleReply: Invalid reply with " sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
<< "reply command " << command << "!" << std::endl; << "reply command " << command << std::endl;
#else #else
sif::printWarning( sif::printWarning(
"Service3Housekeeping::handleReply: Invalid reply with " "Service3Housekeeping::handleReply: Invalid reply with "
"reply command %hu!\n", "reply command %hu\n",
command); command);
#endif #endif
return CommandingServiceBase::INVALID_REPLY; return CommandingServiceBase::INVALID_REPLY;

View File

@ -12,7 +12,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
uint32_t messageQueueDepth) uint32_t messageQueueDepth)
: PusServiceBase(objectId, apid, serviceId), : PusServiceBase(objectId, apid, serviceId),
maxNumberReportsPerCycle(maxNumberReportsPerCycle) { maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue = QueueFactory::instance()->createMessageQueue(
messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
Service5EventReporting::~Service5EventReporting() { Service5EventReporting::~Service5EventReporting() {
@ -36,9 +38,6 @@ ReturnValue_t Service5EventReporting::performService() {
} }
} }
} }
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -87,7 +86,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
// to be registered to the event manager to listen for events. // to be registered to the event manager to listen for events.
ReturnValue_t Service5EventReporting::initialize() { ReturnValue_t Service5EventReporting::initialize() {
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER); EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == NULL) { if (manager == nullptr) {
return RETURN_FAILED; return RETURN_FAILED;
} }
// register Service 5 as listener for events // register Service 5 as listener for events

View File

@ -41,7 +41,7 @@
class Service5EventReporting : public PusServiceBase { class Service5EventReporting : public PusServiceBase {
public: public:
Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId, Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10); size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth);
virtual ~Service5EventReporting(); virtual ~Service5EventReporting();
/*** /***

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@ -6,10 +6,10 @@
class Service9TimeManagement : public PusServiceBase { class Service9TimeManagement : public PusServiceBase {
public: public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
static constexpr Event CLOCK_SET = //!< Clock has been set. P1: New Uptime. P2: Old Uptime
MAKE_EVENT(0, severity::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
static constexpr Event CLOCK_SET_FAILURE = //!< Clock could not be set. P1: Returncode.
MAKE_EVENT(1, severity::LOW); //!< Clock could not be set. P1: Returncode. static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW);
static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;

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@ -30,11 +30,11 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
return FALLBACK_SEQUENCE_DOES_NOT_EXIST; return FALLBACK_SEQUENCE_DOES_NOT_EXIST;
} }
if (iter.value == NULL) { if (iter.value == nullptr) {
return NO_TARGET_TABLE; return NO_TARGET_TABLE;
} }
for (; iter.value != NULL; ++iter) { for (; iter.value != nullptr; ++iter) {
if (!existsModeTable(iter->getTableId())) { if (!existsModeTable(iter->getTableId())) {
return TABLE_DOES_NOT_EXIST; return TABLE_DOES_NOT_EXIST;
} else { } else {
@ -66,13 +66,18 @@ HybridIterator<ModeListEntry> Subsystem::getCurrentTable() {
void Subsystem::performChildOperation() { void Subsystem::performChildOperation() {
if (isInTransition) { if (isInTransition) {
if (commandsOutstanding <= 0) { // all children of the current table were commanded and replied if (commandsOutstanding <= 0) { // all children of the current table were commanded and replied
if (currentSequenceIterator.value == NULL) { // we're through with this sequence if (currentSequenceIterator.value == nullptr) { // we're through with this sequence
if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) { if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
setMode(targetMode, targetSubmode); setMode(targetMode, targetSubmode);
isInTransition = false; isInTransition = false;
return; return;
} else { } else {
transitionFailed(TARGET_TABLE_NOT_REACHED, getSequence(targetMode)->getTableId()); Mode_t tableId = 0;
auto seq = getSequence(targetMode);
if (seq.value != nullptr) {
tableId = seq->getTableId();
}
transitionFailed(TARGET_TABLE_NOT_REACHED, tableId);
return; return;
} }
} }
@ -248,10 +253,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
case ModeSequenceMessage::READ_TABLE: { case ModeSequenceMessage::READ_TABLE: {
ReturnValue_t result; ReturnValue_t result;
Mode_t table = ModeSequenceMessage::getSequenceId(message); Mode_t table = ModeSequenceMessage::getSequenceId(message);
EntryPointer *entry = NULL; EntryPointer *entry = nullptr;
result = modeTables.find(table, &entry); result = modeTables.find(table, &entry);
if (result != RETURN_OK) { if (result != RETURN_OK or entry == nullptr) {
replyToCommand(result, 0); replyToCommand(result, 0);
if (entry == nullptr) {
return result;
}
} }
SerializeIF *elements[2]; SerializeIF *elements[2];

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@ -1,19 +1,22 @@
#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_ #ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
#define FSFW_SUBSYSTEM_SUBSYSTEM_H_ #define FSFW_SUBSYSTEM_SUBSYSTEM_H_
#include <FSFWConfig.h>
#include "../container/FixedArrayList.h" #include "../container/FixedArrayList.h"
#include "../container/FixedMap.h" #include "../container/FixedMap.h"
#include "../container/HybridIterator.h" #include "../container/HybridIterator.h"
#include "../container/SinglyLinkedList.h" #include "../container/SinglyLinkedList.h"
#include "../serialize/SerialArrayListAdapter.h" #include "../serialize/SerialArrayListAdapter.h"
#include "SubsystemBase.h" #include "SubsystemBase.h"
#include "fsfw/FSFW.h"
#include "modes/ModeDefinitions.h" #include "modes/ModeDefinitions.h"
/** /**
* @brief TODO: documentation missing * @brief This class extends the SubsystemBase to perform the management of mode tables
* and mode sequences
* @details * @details
* This class is able to use mode tables and sequences to command all its children into the
* right mode. Fallback sequences can be used to handle failed transitions or have a fallback
* in case a component can't keep its current mode.
*/ */
class Subsystem : public SubsystemBase, public HasModeSequenceIF { class Subsystem : public SubsystemBase, public HasModeSequenceIF {
public: public:

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@ -8,11 +8,13 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
uint16_t commandQueueDepth) uint16_t commandQueueDepth)
: SystemObject(setObjectId), : SystemObject(setObjectId),
mode(initialMode), mode(initialMode),
commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
CommandMessage::MAX_MESSAGE_SIZE)),
healthHelper(this, setObjectId), healthHelper(this, setObjectId),
modeHelper(this), modeHelper(this),
parentId(parent) {} parentId(parent) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
@ -31,8 +33,9 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
info.mode = MODE_OFF; info.mode = MODE_OFF;
} }
} else { } else {
// intentional to force an initial command during system startup
info.commandQueue = child->getCommandQueue(); info.commandQueue = child->getCommandQueue();
info.mode = -1; // intentional to force an initial command during system startup info.mode = HasModesIF::MODE_UNDEFINED;
} }
info.submode = SUBMODE_NONE; info.submode = SUBMODE_NONE;

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@ -15,7 +15,14 @@
/** /**
* @defgroup subsystems Subsystem Objects * @defgroup subsystems Subsystem Objects
* Contains all Subsystem and Assemblies * All Subsystem and Assemblies can derive from this class. It contains helper classes to
* perform mode and health handling, which allows OBSW developers to build a mode tree for
* the whole satellite.
*
* Aside from setting up a mode tree and being able to executing mode tables, this class does not
* provide an implementation on what to do with the features. To build a mode tree, helper classes
* like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base
* class.
*/ */
class SubsystemBase : public SystemObject, class SubsystemBase : public SystemObject,
public HasModesIF, public HasModesIF,
@ -96,6 +103,7 @@ class SubsystemBase : public SystemObject,
Submode_t targetSubmode); Submode_t targetSubmode);
/** /**
* This function takes care of sending all according mode commands specified inside a mode table.
* We need to know the target Submode, as children are able to inherit the submode * We need to know the target Submode, as children are able to inherit the submode
* Still, we have a default for all child implementations which do not use submode inheritance * Still, we have a default for all child implementations which do not use submode inheritance
*/ */
@ -123,11 +131,11 @@ class SubsystemBase : public SystemObject,
virtual void performChildOperation() = 0; virtual void performChildOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0; uint32_t *msToReachTheMode) override = 0;
virtual void startTransition(Mode_t mode, Submode_t submode) = 0; virtual void startTransition(Mode_t mode, Submode_t submode) override = 0;
virtual void getMode(Mode_t *mode, Submode_t *submode); virtual void getMode(Mode_t *mode, Submode_t *submode) override;
virtual void setToExternalControl(); virtual void setToExternalControl();

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@ -5,7 +5,9 @@
#include "fsfw/tmtcservices/TmTcMessage.h" #include "fsfw/tmtcservices/TmTcMessage.h"
TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) { TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS); auto mqArgs = MqArgs(objectId);
tcQueue = QueueFactory::instance()->createMessageQueue(
DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); } TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }

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@ -4,14 +4,13 @@
AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid, AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
ThermalModuleIF *thermalModule) ThermalModuleIF *thermalModule)
: SystemObject(setObjectid), : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
commandQueue(NULL), if (thermalModule != nullptr) {
healthHelper(this, setObjectid),
parameterHelper(this) {
if (thermalModule != NULL) {
thermalModule->registerSensor(this); thermalModule->registerSensor(this);
} }
commandQueue = QueueFactory::instance()->createMessageQueue(); auto mqArgs = MqArgs(setObjectid, static_cast<void *>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
AbstractTemperatureSensor::~AbstractTemperatureSensor() { AbstractTemperatureSensor::~AbstractTemperatureSensor() {

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@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
HasHealthIF::HealthState getHealth(); HasHealthIF::HealthState getHealth();
protected: protected:
MessageQueueIF* commandQueue; MessageQueueIF* commandQueue = nullptr;
HealthHelper healthHelper; HealthHelper healthHelper;
ParameterHelper parameterHelper; ParameterHelper parameterHelper;

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@ -12,7 +12,9 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
switch1(switch1), switch1(switch1),
heaterOnCountdown(10800000) /*about two orbits*/, heaterOnCountdown(10800000) /*about two orbits*/,
parameterHelper(this) { parameterHelper(this) {
eventQueue = QueueFactory::instance()->createMessageQueue(); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); } Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }

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@ -99,6 +99,13 @@ class Clock {
*/ */
static ReturnValue_t getDateAndTime(TimeOfDay_t *time); static ReturnValue_t getDateAndTime(TimeOfDay_t *time);
/**
* Convert to time of day struct given the POSIX timeval struct
* @param from
* @param to
* @return
*/
static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to);
/** /**
* Converts a time of day struct to POSIX seconds. * Converts a time of day struct to POSIX seconds.
* @param time The time of day as input * @param time The time of day as input

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@ -1,7 +1,9 @@
#include <ctime>
#include "fsfw/ipc/MutexGuard.h" #include "fsfw/ipc/MutexGuard.h"
#include "fsfw/timemanager/Clock.h" #include "fsfw/timemanager/Clock.h"
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval *tt) { ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
uint16_t leapSeconds; uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds); ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
@ -31,7 +33,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) { ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == nullptr) { if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -42,9 +44,22 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) {
struct tm* timeInfo;
timeInfo = gmtime(&from->tv_sec);
to->year = timeInfo->tm_year + 1900;
to->month = timeInfo->tm_mon + 1;
to->day = timeInfo->tm_mday;
to->hour = timeInfo->tm_hour;
to->minute = timeInfo->tm_min;
to->second = timeInfo->tm_sec;
to->usecond = from->tv_usec;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::checkOrCreateClockMutex() { ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == nullptr) { if (timeMutex == nullptr) {
MutexFactory *mutexFactory = MutexFactory::instance(); MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) { if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }

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@ -33,50 +33,47 @@ class TmStoreBackendIF : public HasParametersIF {
static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15); static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY;
static const Event STORE_SEND_WRITE_FAILED = //! Initiating sending data to store failed. Low, par1:
MAKE_EVENT(0, severity::LOW); //!< Initiating sending data to store failed. Low, par1: //! returnCode, par2: integer (debug info)
//!< returnCode, par2: integer (debug info) static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
static const Event STORE_WRITE_FAILED = MAKE_EVENT( //! Data was sent, but writing failed. Low, par1: returnCode, par2: 0
1, severity::LOW); //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0 static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW);
static const Event STORE_SEND_READ_FAILED = //! Initiating reading data from store failed. Low, par1: returnCode, par2: 0
MAKE_EVENT(2, severity::LOW); //!< Initiating reading data from store failed. Low, par1: static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW);
//!< returnCode, par2: 0 //! Data was requested, but access failed. Low, par1: returnCode, par2: 0
static const Event STORE_READ_FAILED = MAKE_EVENT( static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW);
3, severity::LOW); //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0 //! An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
static const Event UNEXPECTED_MSG = static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW);
MAKE_EVENT(4, severity::LOW); //!< An unexpected TM packet or data message occurred. Low, //! Storing data failed. May simply be a full store. Low, par1: returnCode,
//!< par1: 0, par2: integer (debug info) //! par2: integer (sequence count of failed packet).
static const Event STORING_FAILED = MAKE_EVENT( static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW);
5, severity::LOW); //!< Storing data failed. May simply be a full store. Low, par1: //! Dumping retrieved data failed. Low, par1: returnCode,
//!< returnCode, par2: integer (sequence count of failed packet). //! par2: integer (sequence count of failed packet).
static const Event TM_DUMP_FAILED = static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW);
MAKE_EVENT(6, severity::LOW); //!< Dumping retrieved data failed. Low, par1: returnCode, //! Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
//!< par2: integer (sequence count of failed packet). //! Store was not initialized. Starts empty. Info, parameters both zero.
static const Event STORE_INIT_FAILED = static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW);
MAKE_EVENT(7, severity::LOW); //!< Corrupted init data or read error. Low, par1: returnCode, //! Data was read out, but it is inconsistent. Low par1:
//!< par2: integer (debug info) //! Memory address of corruption, par2: integer (debug info)
static const Event STORE_INIT_EMPTY = MAKE_EVENT( static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO);
8, severity::INFO); //!< Store was not initialized. Starts empty. Info, parameters both zero.
static const Event STORE_CONTENT_CORRUPTED = static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW);
MAKE_EVENT(9, severity::LOW); //!< Data was read out, but it is inconsistent. Low par1: //! Info event indicating the store will be initialized, either at boot or after IOB switch.
//!< Memory address of corruption, par2: integer (debug info) //! Info. pars: 0
static const Event STORE_INITIALIZE = static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO);
MAKE_EVENT(10, severity::INFO); //!< Info event indicating the store will be initialized, //! Info event indicating the store was successfully initialized, either at boot or after
//!< either at boot or after IOB switch. Info. pars: 0 //! IOB switch. Info. pars: 0
static const Event INIT_DONE = MAKE_EVENT( static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO);
11, severity::INFO); //!< Info event indicating the store was successfully initialized, //! Info event indicating that dumping finished successfully.
//!< either at boot or after IOB switch. Info. pars: 0 //! par1: Number of dumped packets. par2: APID/SSC (16bits each)
static const Event DUMP_FINISHED = MAKE_EVENT( static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO);
12, severity::INFO); //!< Info event indicating that dumping finished successfully. par1: //! Info event indicating that deletion finished successfully.
//!< Number of dumped packets. par2: APID/SSC (16bits each) //! par1:Number of deleted packets. par2: APID/SSC (16bits each)
static const Event DELETION_FINISHED = MAKE_EVENT( static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO);
13, severity::INFO); //!< Info event indicating that deletion finished successfully. par1: //! Info event indicating that something went wrong during deletion. pars: 0
//!< Number of deleted packets. par2: APID/SSC (16bits each) static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW);
static const Event DELETION_FAILED = MAKE_EVENT( //! Info that the a auto catalog report failed
14, static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);
severity::LOW); //!< Info event indicating that something went wrong during deletion. pars: 0
static const Event AUTO_CATALOGS_SENDING_FAILED =
MAKE_EVENT(15, severity::INFO); //!< Info that the a auto catalog report failed
virtual ~TmStoreBackendIF() {} virtual ~TmStoreBackendIF() {}

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@ -20,8 +20,10 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
service(service), service(service),
timeoutSeconds(commandTimeoutSeconds), timeoutSeconds(commandTimeoutSeconds),
commandMap(numberOfParallelCommands) { commandMap(numberOfParallelCommands) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
} }
void CommandingServiceBase::setPacketSource(object_id_t packetSource) { void CommandingServiceBase::setPacketSource(object_id_t packetSource) {

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@ -13,7 +13,9 @@ object_id_t PusServiceBase::packetDestination = 0;
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
: SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) { : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(
PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); } PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }

View File

@ -19,6 +19,19 @@ class SourceSequenceCounter {
void reset(uint16_t toValue = 0) { void reset(uint16_t toValue = 0) {
sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT); sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
} }
SourceSequenceCounter& operator++(int) {
this->increment();
return *this;
}
SourceSequenceCounter& operator--(int) {
this->decrement();
return *this;
}
SourceSequenceCounter& operator=(const uint16_t& newCount) {
sequenceCount = newCount;
return *this;
}
operator uint16_t() { return this->get(); }
}; };
#endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */ #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */

View File

@ -15,7 +15,9 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
tcDestination(tcDestination) tcDestination(tcDestination)
{ {
tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); } TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@ -172,15 +174,18 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
} }
if (tmFifo->full()) { if (tmFifo->full()) {
if (warningSwitch) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
"of stored packet IDs reached!" "of stored packet IDs reached!"
<< std::endl; << std::endl;
#else #else
sif::printWarning( sif::printWarning(
"TmTcBridge::storeDownlinkData: TM downlink max. number " "TmTcBridge::storeDownlinkData: TM downlink max. number "
"of stored packet IDs reached!\n"); "of stored packet IDs reached!\n");
#endif #endif
warningSwitch = true;
}
if (overwriteOld) { if (overwriteOld) {
tmFifo->retrieve(&storeId); tmFifo->retrieve(&storeId);
tmStore->deleteData(storeId); tmStore->deleteData(storeId);

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@ -72,6 +72,8 @@ class TmTcBridge : public AcceptsTelemetryIF,
virtual uint16_t getIdentifier() override; virtual uint16_t getIdentifier() override;
virtual MessageQueueId_t getRequestQueue() override; virtual MessageQueueId_t getRequestQueue() override;
bool warningSwitch = true;
protected: protected:
//! Cached for initialize function. //! Cached for initialize function.
object_id_t tmStoreId = objects::NO_OBJECT; object_id_t tmStoreId = objects::NO_OBJECT;

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@ -1,8 +1,9 @@
#include "version.h" #include "version.h"
#include "fsfw/FSFWVersion.h"
#include <cstdio> #include <cstdio>
#include "fsfw/FSFWVersion.h"
#ifdef major #ifdef major
#undef major #undef major
#endif #endif

View File

@ -29,7 +29,7 @@ class Version {
} }
friend bool operator>(const Version& v1, const Version& v2) { friend bool operator>(const Version& v1, const Version& v2) {
return not (v1 < v2) and not (v1 == v2); return not(v1 < v2) and not(v1 == v2);
} }
friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); } friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); }

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@ -21,8 +21,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK); REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK); REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK);
MessageQueueMockBase* mqMock = poolOwner->getMockQueueHandle(); MessageQueueMockBase* poolOwnerMock = poolOwner->getMockQueueHandle();
REQUIRE(mqMock != nullptr); REQUIRE(poolOwnerMock != nullptr);
// MessageQueueIF* hkCommander = QueueFactory::instance()->createMessageQueue();
CommandMessage messageSent; CommandMessage messageSent;
uint8_t messagesSent = 0; uint8_t messagesSent = 0;
@ -41,9 +43,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
/* Now the update message should be generated. */ /* Now the update message should be generated. */
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent() == true); REQUIRE(poolOwnerMock->wasMessageSent() == true);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
@ -53,9 +55,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
@ -63,15 +65,15 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK); REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK);
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 2); CHECK(messagesSent == 2);
/* first message sent should be the update notification, considering /* first message sent should be the update notification, considering
the internal list is a vector checked in insertion order. */ the internal list is a vector checked in insertion order. */
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT)); CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
/* Clear message to avoid memory leak, our mock won't do it for us (yet) */ /* Clear message to avoid memory leak, our mock won't do it for us (yet) */
CommandMessageCleaner::clearCommandMessage(&messageSent); CommandMessageCleaner::clearCommandMessage(&messageSent);
@ -99,9 +101,9 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
/* Trigger generation of snapshot */ /* Trigger generation of snapshot */
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
/* Check that snapshot was generated */ /* Check that snapshot was generated */
CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_SET)); CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_SET));
/* Now we deserialize the snapshot into a new dataset instance */ /* Now we deserialize the snapshot into a new dataset instance */
@ -162,12 +164,12 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Check update snapshot was sent. */ /* Check update snapshot was sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
/* Should have been reset. */ /* Should have been reset. */
CHECK(poolVar->hasChanged() == false); CHECK(poolVar->hasChanged() == false);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE)); static_cast<int>(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE));
/* Now we deserialize the snapshot into a new dataset instance */ /* Now we deserialize the snapshot into a new dataset instance */
@ -209,11 +211,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Check update notification was sent. */ /* Check update notification was sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
/* Should have been reset. */ /* Should have been reset. */
CHECK(poolVar->hasChanged() == false); CHECK(poolVar->hasChanged() == false);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
/* Now subscribe for the dataset update (HK and update) again with subscription interface */ /* Now subscribe for the dataset update (HK and update) again with subscription interface */
@ -225,26 +227,26 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Now two messages should be sent. */ /* Now two messages should be sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 2); CHECK(messagesSent == 2);
mqMock->clearMessages(true); poolOwnerMock->clearMessages(true);
poolOwner->dataset.setChanged(true); poolOwner->dataset.setChanged(true);
poolVar->setChanged(true); poolVar->setChanged(true);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Now three messages should be sent. */ /* Now three messages should be sent. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 3); CHECK(messagesSent == 3);
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == CHECK(messageSent.getCommand() ==
static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET)); static_cast<int>(HousekeepingMessage::UPDATE_NOTIFICATION_SET));
REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == retval::CATCH_OK);
CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT)); CHECK(messageSent.getCommand() == static_cast<int>(HousekeepingMessage::HK_REPORT));
CommandMessageCleaner::clearCommandMessage(&messageSent); CommandMessageCleaner::clearCommandMessage(&messageSent);
REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY)); REQUIRE(poolOwnerMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
} }
SECTION("PeriodicHKAndMessaging") { SECTION("PeriodicHKAndMessaging") {
@ -255,38 +257,38 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK); REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
/* Now HK packet should be sent as message immediately. */ /* Now HK packet should be sent as message immediately. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid); LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid);
REQUIRE(setHandle != nullptr); REQUIRE(setHandle != nullptr);
CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid, setHandle, false) == CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid, setHandle, false) ==
retval::CATCH_OK); retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
CHECK(setHandle->getReportingEnabled() == true); CHECK(setHandle->getReportingEnabled() == true);
CommandMessage hkCmd; CommandMessage hkCmd;
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
CHECK(setHandle->getReportingEnabled() == false); CHECK(setHandle->getReportingEnabled() == false);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
CHECK(setHandle->getReportingEnabled() == true); CHECK(setHandle->getReportingEnabled() == true);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
CHECK(setHandle->getReportingEnabled() == false); CHECK(setHandle->getReportingEnabled() == false);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4, HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
false); false);
@ -294,23 +296,23 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
/* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the /* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the
resulting collection interval should be 1.0 second */ resulting collection interval should be 1.0 second */
CHECK(poolOwner->dataset.getCollectionInterval() == 1.0); CHECK(poolOwner->dataset.getCollectionInterval() == 1.0);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false); HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK); REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
/* Now HK packet should be sent as message. */ /* Now HK packet should be sent as message. */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false); HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid); HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid);
sid_t sidToCheck; sid_t sidToCheck;
@ -326,62 +328,62 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
/* We still expect a failure message being sent */ /* We still expect a failure message being sent */
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4, HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
false); false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false); HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true); HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4, HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
true); true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true); HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false); HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE)); static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true); HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true);
CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK); CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
REQUIRE(mqMock->wasMessageSent(&messagesSent) == true); REQUIRE(poolOwnerMock->wasMessageSent(&messagesSent) == true);
CHECK(messagesSent == 1); CHECK(messagesSent == 1);
CHECK(mqMock->popMessage() == retval::CATCH_OK); CHECK(poolOwnerMock->popMessage() == retval::CATCH_OK);
HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid); HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid);
gp_id_t gpidToCheck; gp_id_t gpidToCheck;
@ -407,5 +409,5 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
/* we need to reset the subscription list because the pool owner /* we need to reset the subscription list because the pool owner
is a global object. */ is a global object. */
CHECK(poolOwner->reset() == retval::CATCH_OK); CHECK(poolOwner->reset() == retval::CATCH_OK);
mqMock->clearMessages(true); poolOwnerMock->clearMessages(true);
} }

View File

@ -73,7 +73,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
REQUIRE(result != CommandExecutor::COMMAND_ERROR); REQUIRE(result != CommandExecutor::COMMAND_ERROR);
// This ensures that the tests do not block indefinitely // This ensures that the tests do not block indefinitely
usleep(500); usleep(500);
REQUIRE(limitIdx < 500); REQUIRE(limitIdx < 50000);
} }
limitIdx = 0; limitIdx = 0;
CHECK(bytesHaveBeenRead == true); CHECK(bytesHaveBeenRead == true);

View File

@ -5,15 +5,17 @@
#include <queue> #include <queue>
#include "fsfw/ipc/CommandMessage.h" #include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw_tests/unit/CatchDefinitions.h" #include "fsfw_tests/unit/CatchDefinitions.h"
class MessageQueueMockBase : public MessageQueueIF { class MessageQueueMockBase : public MessageQueueBase {
public: public:
MessageQueueId_t myQueueId = tconst::testQueueId; MessageQueueMockBase()
: MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {}
uint8_t messageSentCounter = 0; uint8_t messageSentCounter = 0;
bool defaultDestSet = false;
bool messageSent = false; bool messageSent = false;
bool wasMessageSent(uint8_t* messageSentCounter = nullptr, bool resetCounter = true) { bool wasMessageSent(uint8_t* messageSentCounter = nullptr, bool resetCounter = true) {
@ -38,53 +40,30 @@ class MessageQueueMockBase : public MessageQueueIF {
return receiveMessage(&message); return receiveMessage(&message);
} }
virtual ReturnValue_t reply(MessageQueueMessageIF* message) { virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override {
return sendMessage(myQueueId, message);
};
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
return receiveMessage(message);
}
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
if (messagesSentQueue.empty()) { if (messagesSentQueue.empty()) {
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
} }
this->last = message->getSender();
std::memcpy(message->getBuffer(), messagesSentQueue.front().getBuffer(), std::memcpy(message->getBuffer(), messagesSentQueue.front().getBuffer(),
message->getMessageSize()); message->getMessageSize());
messagesSentQueue.pop(); messagesSentQueue.pop();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
virtual ReturnValue_t flush(uint32_t* count) { return HasReturnvaluesIF::RETURN_OK; } virtual ReturnValue_t flush(uint32_t* count) { return HasReturnvaluesIF::RETURN_OK; }
virtual MessageQueueId_t getLastPartner() const { return myQueueId; }
virtual MessageQueueId_t getId() const { return myQueueId; }
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false) { MessageQueueId_t sentFrom,
return sendMessage(sendTo, message); bool ignoreFault = false) override {
}
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false) {
return sendMessage(myQueueId, message);
}
virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) {
return sendMessage(myQueueId, message);
}
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false) override {
messageSent = true; messageSent = true;
messageSentCounter++; messageSentCounter++;
MessageQueueMessage& messageRef = *(dynamic_cast<MessageQueueMessage*>(message)); MessageQueueMessage& messageRef = *(dynamic_cast<MessageQueueMessage*>(message));
messagesSentQueue.push(messageRef); messagesSentQueue.push(messageRef);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
myQueueId = defaultDestination;
defaultDestSet = true;
}
virtual MessageQueueId_t getDefaultDestination() const { return myQueueId; } virtual ReturnValue_t reply(MessageQueueMessageIF* message) override {
virtual bool isDefaultDestinationSet() const { return defaultDestSet; } return sendMessageFrom(MessageQueueIF::NO_QUEUE, message, this->getId(), false);
}
void clearMessages(bool clearCommandMessages = true) { void clearMessages(bool clearCommandMessages = true) {
while (not messagesSentQueue.empty()) { while (not messagesSentQueue.empty()) {

View File

@ -17,15 +17,15 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") {
fsfw::Version v1 = fsfw::Version(1, 1, 1); fsfw::Version v1 = fsfw::Version(1, 1, 1);
fsfw::Version v2 = fsfw::Version(1, 1, 1); fsfw::Version v2 = fsfw::Version(1, 1, 1);
REQUIRE(v1 == v2); REQUIRE(v1 == v2);
REQUIRE(not (v1 < v2)); REQUIRE(not(v1 < v2));
REQUIRE(not (v1 > v2)); REQUIRE(not(v1 > v2));
REQUIRE(v1 <= v2); REQUIRE(v1 <= v2);
REQUIRE(v1 >= v2); REQUIRE(v1 >= v2);
v1.revision -= 1; v1.revision -= 1;
REQUIRE(v1 != v2); REQUIRE(v1 != v2);
REQUIRE(not (v1 == v2)); REQUIRE(not(v1 == v2));
REQUIRE(not (v1 > v2)); REQUIRE(not(v1 > v2));
REQUIRE(not (v1 >= v2)); REQUIRE(not(v1 >= v2));
REQUIRE(v1 < v2); REQUIRE(v1 < v2);
REQUIRE(v1 <= v2); REQUIRE(v1 <= v2);
v1.revision += 1; v1.revision += 1;
@ -33,60 +33,60 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") {
REQUIRE(v1 != v2); REQUIRE(v1 != v2);
REQUIRE(v1 < v2); REQUIRE(v1 < v2);
REQUIRE(v1 <= v2); REQUIRE(v1 <= v2);
REQUIRE(not (v1 == v2)); REQUIRE(not(v1 == v2));
REQUIRE(not (v1 > v2)); REQUIRE(not(v1 > v2));
REQUIRE(not (v1 >= v2)); REQUIRE(not(v1 >= v2));
v1.minor += 1; v1.minor += 1;
v1.major -= 1; v1.major -= 1;
REQUIRE(v1 != v2); REQUIRE(v1 != v2);
REQUIRE(v1 < v2); REQUIRE(v1 < v2);
REQUIRE(v1 <= v2); REQUIRE(v1 <= v2);
REQUIRE(not (v1 == v2)); REQUIRE(not(v1 == v2));
REQUIRE(not (v1 > v2)); REQUIRE(not(v1 > v2));
REQUIRE(not (v1 >= v2)); REQUIRE(not(v1 >= v2));
v1.major += 1; v1.major += 1;
REQUIRE(v1 == v2); REQUIRE(v1 == v2);
REQUIRE(v1 <= v2); REQUIRE(v1 <= v2);
REQUIRE(v1 >= v2); REQUIRE(v1 >= v2);
REQUIRE(not (v1 != v2)); REQUIRE(not(v1 != v2));
REQUIRE(not (v1 > v2)); REQUIRE(not(v1 > v2));
REQUIRE(not (v1 < v2)); REQUIRE(not(v1 < v2));
v1.major += 1; v1.major += 1;
v1.minor -= 1; v1.minor -= 1;
REQUIRE(v1 != v2); REQUIRE(v1 != v2);
REQUIRE(v1 > v2); REQUIRE(v1 > v2);
REQUIRE(v1 >= v2); REQUIRE(v1 >= v2);
REQUIRE(not (v1 == v2)); REQUIRE(not(v1 == v2));
REQUIRE(not (v1 < v2)); REQUIRE(not(v1 < v2));
REQUIRE(not (v1 <= v2)); REQUIRE(not(v1 <= v2));
v1.major -= 1; v1.major -= 1;
v1.minor += 2; v1.minor += 2;
v1.revision -= 1; v1.revision -= 1;
REQUIRE(v1 != v2); REQUIRE(v1 != v2);
REQUIRE(v1 > v2); REQUIRE(v1 > v2);
REQUIRE(v1 >= v2); REQUIRE(v1 >= v2);
REQUIRE(not (v1 == v2)); REQUIRE(not(v1 == v2));
REQUIRE(not (v1 < v2)); REQUIRE(not(v1 < v2));
REQUIRE(not (v1 <= v2)); REQUIRE(not(v1 <= v2));
v1.minor -= 1; v1.minor -= 1;
v1.revision += 2; v1.revision += 2;
REQUIRE(v1 != v2); REQUIRE(v1 != v2);
REQUIRE(v1 > v2); REQUIRE(v1 > v2);
REQUIRE(v1 >= v2); REQUIRE(v1 >= v2);
REQUIRE(not (v1 == v2)); REQUIRE(not(v1 == v2));
REQUIRE(not (v1 < v2)); REQUIRE(not(v1 < v2));
REQUIRE(not (v1 <= v2)); REQUIRE(not(v1 <= v2));
v1.revision -= 1; v1.revision -= 1;
REQUIRE(v1 == v2); REQUIRE(v1 == v2);
REQUIRE(v1 <= v2); REQUIRE(v1 <= v2);
REQUIRE(v1 >= v2); REQUIRE(v1 >= v2);
REQUIRE(not (v1 != v2)); REQUIRE(not(v1 != v2));
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "v" << fsfw::FSFW_VERSION << std::endl; sif::info << "v" << fsfw::FSFW_VERSION << std::endl;
#endif #endif
char verString[10] = {}; char verString[10] = {};
fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString)); fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString));
#if FSFW_DISABLE_PRINTOUT == 0 #if FSFW_DISABLE_PRINTOUT == 0
printf("v%s\n",verString); printf("v%s\n", verString);
#endif #endif
} }