Robin Mueller
371ff931bf
The CommandExecutor helper class can execute shell commands in blocking and non-blocking mode This class is able to execute processes by using the Linux popen call. It also has the capability of writing the read output of a process into a provided ring buffer. The executor works by first loading the command which should be executed and specifying whether it should be executed blocking or non-blocking. After that, execution can be started with the execute call. Using non-blocking mode allows to execute commands which might take a longer time in the background, and allowing the user thread to check completion status with the check function Moved to HAL like requested in code review and unit tested with failing commands as well. Also, Linux HAL components are compiled by default now unless explicitely disabled.
130 lines
4.8 KiB
C++
130 lines
4.8 KiB
C++
#ifndef FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
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#define FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
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#include "CookieIF.h"
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#include "DeviceHandlerIF.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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/**
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* @defgroup interfaces Interfaces
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* @brief Interfaces for flight software objects
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*/
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/**
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* @defgroup comm Communication
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* @brief Communication software components.
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*/
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/**
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* @brief This is an interface to decouple device communication from
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* the device handler to allow reuse of these components.
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* @details
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* Documentation: Dissertation Baetz p.138.
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* It works with the assumption that received data is polled by a component.
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* There are four generic steps of device communication:
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*
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* 1. Send data to a device
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* 2. Get acknowledgement for sending
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* 3. Request reading data from a device
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* 4. Read received data
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*
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* To identify different connection over a single interface can return
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* so-called cookies to components.
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* The CommunicationMessage message type can be used to extend the
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* functionality of the ComIF if a separate polling task is required.
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* @ingroup interfaces
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* @ingroup comm
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*/
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class DeviceCommunicationIF: public HasReturnvaluesIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
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//! This is returned in readReceivedMessage() if no reply was reived.
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static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0x01);
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//! General protocol error. Define more concrete errors in child handler
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static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x02);
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//! If cookie is a null pointer
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static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x03);
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static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x04);
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// is this needed if there is no open/close call?
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static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
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static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
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virtual ~DeviceCommunicationIF() {}
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/**
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* @brief Device specific initialization, using the cookie.
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* @details
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* The cookie is already prepared in the factory. If the communication
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* interface needs to be set up in some way and requires cookie information,
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* this can be performed in this function, which is called on device handler
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* initialization.
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* @param cookie
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* @return
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* - @c RETURN_OK if initialization was successfull
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* - Everything else triggers failure event with returnvalue as parameter 1
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*/
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virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
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/**
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* Called by DHB in the SEND_WRITE doSendWrite().
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* This function is used to send data to the physical device
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* by implementing and calling related drivers or wrapper functions.
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* @param cookie
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* @param data
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* @param len If this is 0, nothing shall be sent.
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* @return
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* - @c RETURN_OK for successfull send
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* - Everything else triggers failure event with returnvalue as parameter 1
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*/
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virtual ReturnValue_t sendMessage(CookieIF *cookie,
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const uint8_t * sendData, size_t sendLen) = 0;
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/**
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* Called by DHB in the GET_WRITE doGetWrite().
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* Get send confirmation that the data in sendMessage() was sent successfully.
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* @param cookie
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* @return
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* - @c RETURN_OK if data was sent successfully but a reply is expected
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* - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
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* - Everything else to indicate failure
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*/
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virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
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/**
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* Called by DHB in the SEND_WRITE doSendRead().
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* It is assumed that it is always possible to request a reply
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* from a device. If a requestLen of 0 is supplied, no reply was enabled
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* and communication specific action should be taken (e.g. read nothing
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* or read everything).
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*
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* @param cookie
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* @param requestLen Size of data to read
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* @return - @c RETURN_OK to confirm the request for data has been sent.
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* - Everything else triggers failure event with
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* returnvalue as parameter 1
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*/
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virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) = 0;
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/**
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* Called by DHB in the GET_WRITE doGetRead().
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* This function is used to receive data from the physical device
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* by implementing and calling related drivers or wrapper functions.
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* @param cookie
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* @param buffer [out] Set reply here (by using *buffer = ...)
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* @param size [out] size pointer to set (by using *size = ...).
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* Set to 0 if no reply was received
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* @return - @c RETURN_OK for successfull receive
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* - @c NO_REPLY_RECEIVED if not reply was received. Setting size to
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* 0 has the same effect
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* - Everything else triggers failure event with
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* returnvalue as parameter 1
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*/
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virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
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uint8_t **buffer, size_t *size) = 0;
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};
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#endif /* FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_ */
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