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EIVE upstream #29

Merged
muellerr merged 693 commits from use-eive-upstream into develop 2023-06-30 15:44:39 +02:00
Conversation 0 Commits 693 Files Changed 188 +1119 -1004
82 changed files with 1119 additions and 1004 deletions
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Showing only changes of commit c45328b34d - Show all commits

27
hal/src/fsfw_hal/linux/gpio/Gpio.h Normal file
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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_ */

4
src/fsfw/action/CommandActionHelper.h
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@ -16,8 +16,8 @@ class CommandActionHelper {
public:
CommandActionHelper(CommandsActionsIF* owner);
virtual ~CommandActionHelper();
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
uint32_t size);
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
const uint8_t* data = nullptr, uint32_t size = 0);
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
ReturnValue_t initialize();
ReturnValue_t handleReply(CommandMessage* reply);

4
src/fsfw/cfdp/CFDPHandler.cpp
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@ -12,7 +12,9 @@ object_id_t CFDPHandler::packetDestination = 0;
CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
: 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;
}

4
src/fsfw/controller/ControllerBase.cpp
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@ -13,7 +13,9 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
submode(SUBMODE_NONE),
modeHelper(this),
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); }

6
src/fsfw/datapool/CMakeLists.txt
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@ -1,4 +1,4 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
PoolDataSetBase.cpp
PoolEntry.cpp
target_sources(${LIB_FSFW_NAME} PRIVATE
PoolDataSetBase.cpp
PoolEntry.cpp
)

22
src/fsfw/datapool/PoolEntry.cpp
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@ -7,24 +7,26 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
template <typename T>
PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid)
: length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
this->address = new T[this->length];
if (initValue.size() == 0) {
std::memset(this->address, 0, this->getByteSize());
} else {
std::copy(initValue.begin(), initValue.end(), this->address);
PoolEntry<T>::PoolEntry(uint8_t len, bool setValid): length(len), valid(setValid) {
this->address = new T[this->length]();
std::memset(this->address, 0, this->getByteSize());
}
template <typename T>
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>
PoolEntry<T>::PoolEntry(T* initValue, uint8_t setLength, bool setValid)
: length(setLength), valid(setValid) {
this->address = new T[this->length];
this->address = new T[this->length]();
if (initValue != nullptr) {
std::memcpy(this->address, initValue, this->getByteSize());
} else {
std::memset(this->address, 0, this->getByteSize());
}
}

5
src/fsfw/datapool/PoolEntry.h
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@ -33,6 +33,9 @@ class PoolEntry : public PoolEntryIF {
"instead! The ECSS standard defines a boolean as a one bit "
"field. Therefore it is preferred to store a boolean as an "
"uint8_t");
PoolEntry(uint8_t len = 1, bool setValid = false);
/**
* @brief In the classe's constructor, space is allocated on the heap and
* potential initialization values are copied to that space.
@ -49,7 +52,7 @@ class PoolEntry : public PoolEntryIF {
* @param setValid
* 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

2
src/fsfw/datapoollocal/LocalPoolDataSetBase.h
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@ -162,6 +162,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
object_id_t getCreatorObjectId();
bool getReportingEnabled() const;
void setReportingEnabled(bool enabled);
/**
* Returns the current periodic HK generation interval this set
@ -189,7 +190,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
* Used for periodic generation.
*/
bool reportingEnabled = false;
void setReportingEnabled(bool enabled);
void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
uint8_t nonDiagIntervalFactor = 5);

20
src/fsfw/devicehandlers/AssemblyBase.cpp
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@ -26,11 +26,7 @@ void AssemblyBase::performChildOperation() {
void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
doStartTransition(mode, submode);
if (modeHelper.isForced()) {
triggerEvent(FORCING_MODE, mode, submode);
} else {
triggerEvent(CHANGING_MODE, mode, submode);
}
triggerModeHelperEvents(mode, submode);
}
void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@ -77,9 +73,10 @@ bool AssemblyBase::handleChildrenChangedHealth() {
}
HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
if (healthState == HasHealthIF::NEEDS_RECOVERY) {
triggerEvent(TRYING_RECOVERY);
triggerEvent(TRYING_RECOVERY, iter->first, 0);
recoveryState = RECOVERY_STARTED;
recoveringDevice = iter;
// The user needs to take care of commanding the children off in commandChildren
doStartTransition(targetMode, targetSubmode);
} else {
triggerEvent(CHILD_CHANGED_HEALTH);
@ -228,6 +225,9 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
bool AssemblyBase::checkAndHandleRecovery() {
switch (recoveryState) {
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;
recoveryOffTimer.resetTimer();
return true;
@ -266,3 +266,11 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
modeHelper.setForced(true);
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);
}
}

58
src/fsfw/devicehandlers/AssemblyBase.h
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@ -12,7 +12,8 @@
* Documentation: Dissertation Baetz p.156, 157.
*
* 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
* and checks availability of devices on every detected change.
@ -26,11 +27,9 @@
*
* Important:
*
* The implementation must call registerChild(object_id_t child)
* for all commanded children during initialization.
* The implementation must call #registerChild for all commanded children during initialization.
* The implementation must call the initialization function of the base class.
* (This will call the function in SubsystemBase)
*
*/
class AssemblyBase : public SubsystemBase {
public:
@ -47,13 +46,14 @@ class AssemblyBase : public SubsystemBase {
protected:
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
* or using executeTable()
* Command children to reach [mode,submode] combination. Can be done by setting
* #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery,
* 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 submode
* @return
* - @c RETURN_OK if ok
* - @c RETURN_OK if OK
* - @c NEED_SECOND_STEP if children need to be commanded again
*/
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 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();
/**
@ -134,12 +145,37 @@ class AssemblyBase : public SubsystemBase {
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();
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);
/**
* 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 bool isInTransition();
@ -160,7 +196,7 @@ class AssemblyBase : public SubsystemBase {
* Manages recovery of a device
* @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.
@ -168,6 +204,8 @@ class AssemblyBase : public SubsystemBase {
* @param objectId Must be a registered child.
*/
void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
};
#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

64
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
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@ -39,8 +39,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
insertInCommandMap(RAW_COMMAND_ID);
cookieInfo.state = COOKIE_UNUSED;
cookieInfo.pendingCommand = deviceCommandMap.end();
@ -48,9 +49,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
}
if (this->fdirInstance == nullptr) {
this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
}
}
void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@ -126,6 +124,18 @@ ReturnValue_t DeviceHandlerBase::initialize() {
if (result != RETURN_OK) {
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 =
ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@ -352,14 +362,12 @@ void DeviceHandlerBase::doStateMachine() {
}
} break;
case _MODE_WAIT_OFF: {
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if (powerSwitcher == nullptr) {
setMode(MODE_OFF);
break;
}
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(MODE_ERROR_ON);
@ -410,7 +418,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
// No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand);
insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
if (hasDifferentReplyId) {
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
} else {
@ -437,11 +445,15 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand,
bool useAlternativeReply,
DeviceCommandId_t alternativeReplyId) {
DeviceCommandInfo info;
info.expectedReplies = 0;
info.isExecuting = false;
info.sendReplyTo = NO_COMMANDER;
info.useAlternativeReplyId = alternativeReplyId;
info.alternativeReplyId = alternativeReplyId;
auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
if (resultPair.second) {
return RETURN_OK;
@ -451,12 +463,20 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
}
size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
DeviceReplyIter iter = deviceReplyMap.find(commandId);
if (iter != deviceReplyMap.end()) {
return iter->second.replyLen;
DeviceCommandId_t replyId = NO_COMMAND_ID;
DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
if (command->second.useAlternativeReplyId) {
replyId = command->second.alternativeReplyId;
} else {
return 0;
replyId = commandId;
}
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles != 0) {
return iter->second.replyLen;
}
}
return 0;
}
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
@ -651,7 +671,9 @@ void DeviceHandlerBase::doGetWrite() {
// We need to distinguish here, because a raw command never expects a reply.
//(Could be done in eRIRM, but then child implementations need to be careful.
result = enableReplyInReplyMap(cookieInfo.pendingCommand);
DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
result = enableReplyInReplyMap(command, 1, command->second.useAlternativeReplyId,
command->second.alternativeReplyId);
} else {
// always generate a failure event, so that FDIR knows what's up
triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, cookieInfo.pendingCommand->first);
@ -1385,6 +1407,8 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task;
void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId,
uint32_t parameter) {}
Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; }
void DeviceHandlerBase::performOperationHook() {}
ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -1407,7 +1431,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
this->poolManager.initializeAfterTaskCreation();
if (setStartupImmediately) {
startTransition(MODE_ON, SUBMODE_NONE);
startTransition(MODE_ON, getInitialSubmode());
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -1491,3 +1515,11 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
}
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;
}

16
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -103,6 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
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);
/**
@ -478,7 +481,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand,
bool useAlternativeReply = false,
DeviceCommandId_t alternativeReplyId = 0);
/**
* Enables a periodic reply for a given command. It sets to delay cycles to the specified
@ -647,6 +652,12 @@ class DeviceHandlerBase : public DeviceHandlerIF,
virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 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:
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
@ -751,6 +762,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
//! if this is != NO_COMMANDER, DHB was commanded externally and shall
//! report everything to commander.
MessageQueueId_t sendReplyTo;
bool useAlternativeReplyId;
DeviceCommandId_t alternativeReplyId;
};
using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo>;
/**
@ -818,6 +831,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
/** Pointer to the used FDIR instance. If not provided by child,
* default class is instantiated. */
FailureIsolationBase *fdirInstance;
object_id_t parent = objects::NO_OBJECT;
//! To correctly delete the default instance.
bool defaultFDIRUsed;

1
src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp
View File

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

1
src/fsfw/devicehandlers/DeviceHandlerIF.h
View File

@ -109,6 +109,7 @@ class DeviceHandlerIF {
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_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;

4
src/fsfw/devicehandlers/HealthDevice.cpp
View File

@ -8,7 +8,9 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
parentQueue(parentQueue),
commandQueue(),
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); }

37
src/fsfw/events/EventManager.cpp
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@ -18,8 +18,9 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
EventManager::EventManager(object_id_t setObjectId)
: SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
mutex = MutexFactory::instance()->createMutex();
eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
EventMessage::EVENT_MESSAGE_SIZE);
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
eventReportQueue = QueueFactory::instance()->createMessageQueue(
MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
}
EventManager::~EventManager() {
@ -46,9 +47,20 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
void EventManager::notifyListeners(EventMessage* message) {
lockMutex();
for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
if (iter->second.match(message)) {
MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender());
for (auto& listener : listenerList) {
if (listener.second.match(message)) {
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();
@ -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 */

1
src/fsfw/events/EventManager.h
View File

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

16
src/fsfw/fdir/FailureIsolationBase.cpp
View File

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

13
src/fsfw/fdir/FailureIsolationBase.h
View File

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

22
src/fsfw/health/HasHealthIF.h
View File

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

19
src/fsfw/internalerror/InternalErrorReporter.cpp
View File

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

10
src/fsfw/ipc/CMakeLists.txt
View File

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

64
src/fsfw/ipc/MessageQueueBase.cpp Normal file
View File

@ -0,0 +1,64 @@
#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);
}

41
src/fsfw/ipc/MessageQueueBase.h Normal file
View File

@ -0,0 +1,41 @@
#ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_
#include <fsfw/ipc/definitions.h>
#include <fsfw/ipc/MessageQueueIF.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_ */

18
src/fsfw/ipc/MessageQueueIF.h
View File

@ -1,6 +1,7 @@
#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FSFW_IPC_MESSAGEQUEUEIF_H_
#include <fsfw/ipc/definitions.h>
#include <cstdint>
#include "../returnvalues/HasReturnvaluesIF.h"
@ -44,8 +45,7 @@ class MessageQueueIF {
virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
/**
* @brief This function reads available messages from the message queue
* and returns the sender.
* @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.
@ -78,19 +78,16 @@ class MessageQueueIF {
*/
virtual ReturnValue_t flush(uint32_t* count) = 0;
/**
* @brief This method returns the message queue
* id of the last communication partner.
* @brief This method returns the message queue ID of the last communication partner.
*/
virtual MessageQueueId_t getLastPartner() const = 0;
/**
* @brief This method returns the message queue
* id of this class's message queue.
* @brief This method returns the message queue ID of this class's message queue.
*/
virtual MessageQueueId_t getId() const = 0;
/**
* @brief With the sendMessage call, a queue message
* is sent to a receiving queue.
* @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
@ -129,8 +126,7 @@ class MessageQueueIF {
bool ignoreFault = false) = 0;
/**
* @brief The sendToDefaultFrom method sends a queue message
* to the default destination.
* @brief The sendToDefaultFrom method sends a queue message to the default destination.
* @details
* In all other aspects, it works identical to the sendMessage method.
* @param message
@ -164,6 +160,8 @@ class MessageQueueIF {
virtual MessageQueueId_t getDefaultDestination() const = 0;
virtual bool isDefaultDestinationSet() const = 0;
virtual MqArgs& getMqArgs() = 0;
};
#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

4
src/fsfw/ipc/QueueFactory.h
View File

@ -5,6 +5,7 @@
#include "MessageQueueIF.h"
#include "MessageQueueMessage.h"
#include "definitions.h"
/**
* Creates message queues.
@ -22,7 +23,8 @@ class QueueFactory {
static QueueFactory* instance();
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);

14
src/fsfw/ipc/definitions.h Normal file
View File

@ -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_ */

45
src/fsfw/modes/HasModesIF.h
View File

@ -19,32 +19,33 @@ class HasModesIF {
static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
static const Event CHANGING_MODE =
MAKE_EVENT(0, severity::INFO); //!< An object announces changing the mode. p1: target mode.
//!< p2: target submode
static const Event MODE_INFO = MAKE_EVENT(
1,
severity::INFO); //!< An Object announces its mode; parameter1 is mode, parameter2 is submode
//! An object announces changing the mode. p1: target mode. p2: target submode
static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO);
//! An Object announces its mode; parameter1 is mode, parameter2 is submode
static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO);
static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
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 OBJECT_IN_INVALID_MODE =
MAKE_EVENT(5, severity::LOW); //!< Indicates a bug or configuration failure: Object is in a
//!< mode it should never be in.
static const Event FORCING_MODE = MAKE_EVENT(
6, severity::MEDIUM); //!< The mode is changed, but for some reason, the change is forced,
//!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
static const Event MODE_CMD_REJECTED =
MAKE_EVENT(7, severity::LOW); //!< A mode command was rejected by the called object. Par1:
//!< called object id, Par2: return code.
//! Indicates a bug or configuration failure: Object is in a mode it should never be in.
static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW);
//! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored.
//! p1: target mode. p2: target submode
static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM);
//! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
static const Mode_t MODE_ON =
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
//!< interpreted
static const Mode_t MODE_OFF = 0; //!< The device is powered off. The only command accepted in
//!< this mode is a mode change to on.
static const Submode_t SUBMODE_NONE = 0; //!< To avoid checks against magic number "0".
//! 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
//! interpreted
static constexpr Mode_t MODE_ON = 1;
//! The device is powered off. The only command accepted in this mode is a mode change to on.
static constexpr Mode_t MODE_OFF = 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 MessageQueueId_t getCommandQueue() const = 0;

13
src/fsfw/objectmanager/ObjectManager.cpp
View File

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

55
src/fsfw/osal/freertos/MessageQueue.cpp
View File

@ -4,8 +4,9 @@
#include "fsfw/osal/freertos/QueueMapManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
: maxMessageSize(maxMessageSize) {
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
: MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -15,10 +16,10 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
#else
sif::printError("MessageQueue::MessageQueue: Creation failed\n");
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
}
QueueMapManager::instance()->addMessageQueue(handle, &queueId);
QueueMapManager::instance()->addMessageQueue(handle, &id);
}
MessageQueue::~MessageQueue() {
@ -29,28 +30,6 @@ MessageQueue::~MessageQueue() {
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,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault, callContext);
@ -72,27 +51,16 @@ ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault
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) {
BaseType_t result = xQueueReceive(handle, reinterpret_cast<void*>(message->getBuffer()), 0);
if (result == pdPASS) {
this->lastPartner = message->getSender();
this->last = message->getSender();
return HasReturnvaluesIF::RETURN_OK;
} else {
return MessageQueueIF::EMPTY;
}
}
MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) {
// TODO FreeRTOS does not support flushing partially
// Is always successful
@ -100,17 +68,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
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.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message,

40
src/fsfw/osal/freertos/MessageQueue.h
View File

@ -1,12 +1,14 @@
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "FreeRTOS.h"
#include "TaskManagement.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/MessageQueueMessageIF.h"
#include "fsfw/ipc/definitions.h"
#include "queue.h"
/**
@ -32,7 +34,7 @@
* @ingroup osal
* @ingroup message_queue
*/
class MessageQueue : public MessageQueueIF {
class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF;
public:
@ -53,7 +55,8 @@ class MessageQueue : public MessageQueueIF {
* This should be left default.
*/
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 */
MessageQueue(const MessageQueue&) = delete;
@ -73,40 +76,15 @@ class MessageQueue : public MessageQueueIF {
*/
void switchSystemContext(CallContext callContext);
/** MessageQueueIF implementation */
ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false) override;
QueueHandle_t getNativeQueueHandle();
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
ReturnValue_t reply(MessageQueueMessageIF* message) override;
// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
MessageQueueId_t getLastPartner() const override;
MessageQueueId_t getId() const override;
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
QueueHandle_t getNativeQueueHandle();
protected:
/**
* @brief Implementation to be called from any send Call within
@ -136,12 +114,8 @@ class MessageQueue : public MessageQueueIF {
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private:
bool defaultDestinationSet = false;
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;
//! Stores the current system context
CallContext callContext = CallContext::TASK;

5
src/fsfw/osal/freertos/QueueFactory.cpp
View File

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

54
src/fsfw/osal/host/MessageQueue.cpp
View File

@ -8,10 +8,12 @@
#include "fsfw/osal/host/QueueMapManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize)
: messageSize(maxMessageSize), messageDepth(messageDepth) {
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
: MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
messageSize(maxMessageSize),
messageDepth(messageDepth) {
queueLock = MutexFactory::instance()->createMutex();
auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
auto result = QueueMapManager::instance()->addMessageQueue(this, &id);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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); }
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,
MessageQueueId_t sentFrom, bool 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) {
if (messageQueue.empty()) {
return MessageQueueIF::EMPTY;
@ -68,12 +39,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
message->getBuffer());
messageQueue.pop();
// The last partner is the first uint32_t field in the message
this->lastPartner = message->getSender();
this->last = message->getSender();
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t MessageQueue::getLastPartner() const { return lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) {
*count = messageQueue.size();
// Clears the queue.
@ -81,17 +50,6 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
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.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message,

133
src/fsfw/osal/host/MessageQueue.h
View File

@ -1,15 +1,17 @@
#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
#include <memory>
#include <queue>
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/ipc/definitions.h"
#include "fsfw/timemanager/Clock.h"
#include <memory>
#include <queue>
/**
* @brief This class manages sending and receiving of
* message queue messages.
@ -33,7 +35,7 @@
* @ingroup osal
* @ingroup message_queue
*/
class MessageQueue : public MessageQueueIF {
class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF;
public:
@ -54,7 +56,8 @@ class MessageQueue : public MessageQueueIF {
* This should be left default.
*/
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 */
MessageQueue(const MessageQueue&) = delete;
@ -67,121 +70,12 @@ class MessageQueue : public MessageQueueIF {
*/
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) 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.
*/
// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
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;
/**
* 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;
/**
* @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 unlockQueue();
@ -211,23 +105,14 @@ class MessageQueue : public MessageQueueIF {
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false);
// static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private:
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 messageDepth = 0;
MutexIF* queueLock;
bool defaultDestinationSet = false;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
};
#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

5
src/fsfw/osal/host/QueueFactory.cpp
View File

@ -27,12 +27,13 @@ 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
// of std::queue and std::mutex. This uses dynamic memory allocation
// 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.
return new MessageQueue(messageDepth, maxMessageSize);
return new MessageQueue(messageDepth, maxMessageSize, args);
}
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

34
src/fsfw/osal/linux/CMakeLists.txt
View File

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

23
src/fsfw/osal/linux/Clock.cpp
View File

@ -1,4 +1,5 @@
#include "fsfw/timemanager/Clock.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <linux/sysinfo.h>
#include <sys/sysinfo.h>
@ -7,12 +8,13 @@
#include <unistd.h>
#include <fstream>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = NULL;
void handleClockError(const char* func);
uint32_t Clock::getTicksPerSecond(void) {
uint32_t ticks = sysconf(_SC_CLK_TCK);
return ticks;
@ -27,7 +29,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
int status = clock_settime(CLOCK_REALTIME, &timeUnix);
if (status != 0) {
// TODO errno
handleClockError("setClock");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
@ -39,7 +41,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000;
int status = clock_settime(CLOCK_REALTIME, &timeUnix);
if (status != 0) {
// TODO errno
handleClockError("setClock");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
@ -49,6 +51,7 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
timespec timeUnix;
int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
if (status != 0) {
handleClockError("getClock_timeval");
return HasReturnvaluesIF::RETURN_FAILED;
}
time->tv_sec = timeUnix.tv_sec;
@ -151,3 +154,15 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
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
}

56
src/fsfw/osal/linux/MessageQueue.cpp
View File

@ -11,13 +11,10 @@
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
: id(MessageQueueIF::NO_QUEUE),
lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE),
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
: MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, args),
maxMessageSize(maxMessageSize) {
mq_attr attributes;
this->id = 0;
// Set attributes
attributes.mq_curmsgs = 0;
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) {
if (message == nullptr) {
#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()),
message->getMaximumMessageSize(), &messagePriority);
if (status > 0) {
this->lastPartner = message->getSender();
this->last = message->getSender();
// Check size of incoming message.
if (message->getMessageSize() < message->getMinimumMessageSize()) {
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) {
mq_attr attrib;
int status = mq_getattr(id, &attrib);
@ -212,26 +183,11 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
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,
MessageQueueId_t sentFrom, bool 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;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
@ -240,9 +196,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
bool ignoreFault) {
if (message == nullptr) {
#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
sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -256,7 +212,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter =
ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent();
}
}

132
src/fsfw/osal/linux/MessageQueue.h
View File

@ -1,11 +1,13 @@
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include <mqueue.h>
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/definitions.h"
/**
* @brief This class manages sending and receiving of message queue messages.
*
@ -25,7 +27,7 @@
* makes use of the operating system calls provided.
* @ingroup message_queue
*/
class MessageQueue : public MessageQueueIF {
class MessageQueue : public MessageQueueBase {
friend class MessageQueueSenderIF;
public:
@ -42,104 +44,25 @@ class MessageQueue : public MessageQueueIF {
* This should be left default.
*/
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.
* @details This is accomplished by using the delete call provided by the operating system.
*/
virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes
* its queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message
* queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if
* queue is full.
*/
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);
/**
* @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);
/**
* @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;
// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom,
bool ignoreFault = false) override;
protected:
/**
@ -158,31 +81,10 @@ class MessageQueue : public MessageQueueIF {
bool ignoreFault = false);
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
*/
char name[16];
char name[16] = {};
static uint16_t queueCounter;
const size_t maxMessageSize;

5
src/fsfw/osal/linux/QueueFactory.cpp
View File

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

50
src/fsfw/osal/rtems/MessageQueue.cpp
View File

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

131
src/fsfw/osal/rtems/MessageQueue.h
View File

@ -1,10 +1,12 @@
#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
#include <fsfw/ipc/MessageQueueBase.h>
#include "RtemsBasic.h"
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/definitions.h"
/**
* @brief This class manages sending and receiving of message queue messages.
@ -19,7 +21,7 @@
*as well as sending and receiving messages, the class makes use of the operating system calls
*provided. \ingroup message_queue
*/
class MessageQueue : public MessageQueueIF {
class MessageQueue : public MessageQueueBase {
public:
/**
* @brief The constructor initializes and configures the message queue.
@ -34,131 +36,26 @@ class MessageQueue : public MessageQueueIF {
* This should be left default.
*/
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.
* @details This is accomplished by using the delete call provided by the operating system.
*/
virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes
* its queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message
* queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if
* queue is full.
*/
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);
/**
* @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);
/**
* @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,
// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
ReturnValue_t flush(uint32_t* count) override;
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;
bool ignoreFault = false) override;
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
* queues. \details In the event of a full destination queue, the reporter will be notified. The

5
src/fsfw/osal/rtems/QueueFactory.cpp
View File

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

2
src/fsfw/parameters/HasParametersIF.h
View File

@ -66,7 +66,7 @@ class HasParametersIF {
* @param newValues
* @param startAtIndex Linear index, runs left to right, top to bottom for
* 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,
ParameterWrapper *parameterWrapper,

20
src/fsfw/parameters/ParameterWrapper.cpp
View File

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

13
src/fsfw/power/CMakeLists.txt
View File

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

46
src/fsfw/power/DummyPowerSwitcher.cpp Normal file
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; }

31
src/fsfw/power/DummyPowerSwitcher.h Normal file
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_ */

16
src/fsfw/power/Fuse.h
View File

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

4
src/fsfw/power/PowerSensor.cpp
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),
voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
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); }

7
src/fsfw/power/PowerSwitchIF.h
View File

@ -3,6 +3,7 @@
#include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "definitions.h"
/**
*
* @brief This interface defines a connection to a device that is capable of
@ -37,11 +38,11 @@ class PowerSwitchIF : public HasReturnvaluesIF {
* @param switchNr
* @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.
*/
virtual void sendFuseOnCommand(uint8_t fuseNr) const = 0;
virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) = 0;
/**
* get the state of the Switches.
@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
* - @c SWITCH_OFF if the specified switch is off.
* - @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.
* @param fuseNr

40
src/fsfw/power/PowerSwitcher.cpp
View File

@ -1,19 +1,12 @@
#include "fsfw/power/PowerSwitcher.h"
#include "definitions.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
PowerSwitcher::State_t setStartState)
: 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;
}
PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
: power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
ReturnValue_t PowerSwitcher::getStateOfSwitches() {
SwitchReturn_t result = howManySwitches();
@ -52,18 +45,37 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
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);
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);
state = WAIT_OFF;
}
bool PowerSwitcher::active() {
if (state == WAIT_OFF or state == WAIT_ON) {
return true;
}
return false;
}
PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
if (secondSwitch == NO_SWITCH) {
if (secondSwitch == power::NO_SWITCH) {
return ONE_SWITCH;
} else {
return TWO_SWITCHES;

20
src/fsfw/power/PowerSwitcher.h
View File

@ -14,28 +14,28 @@ class PowerSwitcher : public HasReturnvaluesIF {
SWITCH_IS_OFF,
SWITCH_IS_ON,
};
State_t state;
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 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);
ReturnValue_t initialize(object_id_t powerSwitchId);
void turnOn();
void turnOff();
void turnOn(bool checkCurrentState = true);
void turnOff(bool checkCurrentState = true);
bool active();
void doStateMachine();
State_t getState();
ReturnValue_t checkSwitchState();
uint32_t getSwitchDelay();
uint8_t getFirstSwitch() const;
uint8_t getSecondSwitch() const;
power::Switch_t getFirstSwitch() const;
power::Switch_t getSecondSwitch() const;
private:
uint8_t firstSwitch;
uint8_t secondSwitch;
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 };
ReturnValue_t getStateOfSwitches();
void commandSwitches(ReturnValue_t onOff);

108
src/fsfw/power/PowerSwitcherComponent.cpp Normal file
View File

@ -0,0 +1,108 @@
#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();
}

64
src/fsfw/power/PowerSwitcherComponent.h Normal file
View File

@ -0,0 +1,64 @@
#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/definitions.h>
#include <fsfw/power/PowerSwitcher.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_ */

13
src/fsfw/power/definitions.h Normal file
View File

@ -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_ */

4
src/fsfw/pus/Service1TelecommandVerification.cpp
View File

@ -16,7 +16,9 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
apid(apid),
serviceId(serviceId),
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() {

4
src/fsfw/pus/Service3Housekeeping.cpp
View File

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

9
src/fsfw/pus/Service5EventReporting.cpp
View File

@ -12,7 +12,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
uint32_t messageQueueDepth)
: PusServiceBase(objectId, apid, serviceId),
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() {
@ -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;
}
@ -87,7 +86,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
// to be registered to the event manager to listen for events.
ReturnValue_t Service5EventReporting::initialize() {
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == NULL) {
if (manager == nullptr) {
return RETURN_FAILED;
}
// register Service 5 as listener for events

2
src/fsfw/pus/Service5EventReporting.h
View File

@ -41,7 +41,7 @@
class Service5EventReporting : public PusServiceBase {
public:
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();
/***

8
src/fsfw/pus/Service9TimeManagement.h
View File

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

6
src/fsfw/subsystem/Subsystem.h
View File

@ -12,8 +12,12 @@
#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
* 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 {
public:

11
src/fsfw/subsystem/SubsystemBase.cpp
View File

@ -8,11 +8,13 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
uint16_t commandQueueDepth)
: SystemObject(setObjectId),
mode(initialMode),
commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
CommandMessage::MAX_MESSAGE_SIZE)),
healthHelper(this, setObjectId),
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); }
@ -31,8 +33,9 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
info.mode = MODE_OFF;
}
} else {
// intentional to force an initial command during system startup
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;

16
src/fsfw/subsystem/SubsystemBase.h
View File

@ -15,7 +15,14 @@
/**
* @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,
public HasModesIF,
@ -96,6 +103,7 @@ class SubsystemBase : public SystemObject,
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
* 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 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();

4
src/fsfw/tcdistribution/TcDistributor.cpp
View File

@ -5,7 +5,9 @@
#include "fsfw/tmtcservices/TmTcMessage.h"
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); }

11
src/fsfw/thermal/AbstractTemperatureSensor.cpp
View File

@ -4,14 +4,13 @@
AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
ThermalModuleIF *thermalModule)
: SystemObject(setObjectid),
commandQueue(NULL),
healthHelper(this, setObjectid),
parameterHelper(this) {
if (thermalModule != NULL) {
: SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) {
if (thermalModule != nullptr) {
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() {

2
src/fsfw/thermal/AbstractTemperatureSensor.h
View File

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

4
src/fsfw/thermal/Heater.cpp
View File

@ -12,7 +12,9 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
switch1(switch1),
heaterOnCountdown(10800000) /*about two orbits*/,
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); }

7
src/fsfw/timemanager/Clock.h
View File

@ -99,6 +99,13 @@ class Clock {
*/
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.
* @param time The time of day as input

21
src/fsfw/timemanager/ClockCommon.cpp
View File

@ -1,7 +1,9 @@
#include <ctime>
#include "fsfw/ipc/MutexGuard.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;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
@ -31,7 +33,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -42,9 +44,22 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) {
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() {
if (timeMutex == nullptr) {
MutexFactory *mutexFactory = MutexFactory::instance();
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

85
src/fsfw/tmstorage/TmStoreBackendIF.h
View File

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

6
src/fsfw/tmtcservices/CommandingServiceBase.cpp
View File

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

4
src/fsfw/tmtcservices/PusServiceBase.cpp
View File

@ -13,7 +13,9 @@ object_id_t PusServiceBase::packetDestination = 0;
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t 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); }

13
src/fsfw/tmtcservices/SourceSequenceCounter.h
View File

@ -19,6 +19,19 @@ class SourceSequenceCounter {
void reset(uint16_t toValue = 0) {
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_ */

19
src/fsfw/tmtcservices/TmTcBridge.cpp
View File

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

2
src/fsfw/tmtcservices/TmTcBridge.h
View File

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

3
src/fsfw/version.cpp
View File

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

2
src/fsfw/version.h
View File

@ -29,7 +29,7 @@ class Version {
}
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)); }

116
tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp
View File

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

2
tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
View File

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

45
tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h
View File

@ -4,16 +4,18 @@
#include <cstring>
#include <queue>
#include "fsfw/ipc/MessageQueueBase.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw_tests/unit/CatchDefinitions.h"
class MessageQueueMockBase : public MessageQueueIF {
class MessageQueueMockBase : public MessageQueueBase {
public:
MessageQueueId_t myQueueId = tconst::testQueueId;
MessageQueueMockBase()
: MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {}
uint8_t messageSentCounter = 0;
bool defaultDestSet = false;
bool messageSent = false;
bool wasMessageSent(uint8_t* messageSentCounter = nullptr, bool resetCounter = true) {
@ -38,53 +40,30 @@ class MessageQueueMockBase : public MessageQueueIF {
return receiveMessage(&message);
}
virtual ReturnValue_t reply(MessageQueueMessageIF* message) {
return sendMessage(myQueueId, message);
};
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
return receiveMessage(message);
}
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override {
if (messagesSentQueue.empty()) {
return MessageQueueIF::EMPTY;
}
this->last = message->getSender();
std::memcpy(message->getBuffer(), messagesSentQueue.front().getBuffer(),
message->getMessageSize());
messagesSentQueue.pop();
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,
MessageQueueId_t sentFrom, bool ignoreFault = false) {
return sendMessage(sendTo, message);
}
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 {
MessageQueueId_t sentFrom,
bool ignoreFault = false) override {
messageSent = true;
messageSentCounter++;
MessageQueueMessage& messageRef = *(dynamic_cast<MessageQueueMessage*>(message));
messagesSentQueue.push(messageRef);
return HasReturnvaluesIF::RETURN_OK;
}
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
myQueueId = defaultDestination;
defaultDestSet = true;
}
virtual MessageQueueId_t getDefaultDestination() const { return myQueueId; }
virtual bool isDefaultDestinationSet() const { return defaultDestSet; }
virtual ReturnValue_t reply(MessageQueueMessageIF* message) override {
return sendMessageFrom(MessageQueueIF::NO_QUEUE, message, this->getId(), false);
}
void clearMessages(bool clearCommandMessages = true) {
while (not messagesSentQueue.empty()) {

50
tests/src/fsfw_tests/unit/version.cpp
View File

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