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Merge remote-tracking branch 'origin/develop' into mueller/health-if-extension-eive

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This commit is contained in:
Robin Müller
2022-05-12 20:11:45 +02:00
parent ab45aa1296 c0ff84bb9d
commit 02473a0cd7
92 changed files with 2242 additions and 386 deletions
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10
src/fsfw/FSFWVersion.h.in
View File

@ -1,9 +1,11 @@
#ifndef FSFW_VERSION_H_
#define FSFW_VERSION_H_
// Versioning is kept in project CMakeLists.txt file
#define FSFW_VERSION_MAJOR @FSFW_VERSION@
#define FSFW_VERSION_MINOR @FSFW_SUBVERSION@
#define FSFW_VERSION_REVISION @FSFW_REVISION@
// Versioning is managed in project CMakeLists.txt file
static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
// Also contains CST (Commits since tag) information
static const char FSFW_VERSION_CST_GIT_SHA1[] = "@FSFW_VERSION_CST_GIT_SHA1@";
#endif /* FSFW_VERSION_H_ */

4
src/fsfw/action/CommandActionHelper.h
View File

@ -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
View File

@ -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;
}

1
src/fsfw/container/FixedArrayList.h
View File

@ -12,6 +12,7 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList : public ArrayList<T, count_t> {
static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
"count_t is not large enough to hold MAX_SIZE");
private:
T data[MAX_SIZE];

4
src/fsfw/controller/ControllerBase.cpp
View File

@ -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
View File

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

24
src/fsfw/datapool/PoolEntry.cpp
View File

@ -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)
PoolEntry<T>::PoolEntry(const 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());
}
}

7
src/fsfw/datapool/PoolEntry.h
View File

@ -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
@ -62,7 +65,7 @@ class PoolEntry : public PoolEntryIF {
* @param setValid
* Sets the initialization flag. It is invalid by default.
*/
PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false);
//! Explicitely deleted copy ctor, copying is not allowed.
PoolEntry(const PoolEntry&) = delete;

2
src/fsfw/datapoollocal/LocalPoolDataSetBase.h
View File

@ -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
View File

@ -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
View File

@ -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_ */

108
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -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);
@ -233,17 +243,28 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
bool timedOut = false;
for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
if (replyPair.second.delayCycles != 0) {
if (replyPair.second.countdown != nullptr && replyPair.second.active) {
if (replyPair.second.countdown->hasTimedOut()) {
timedOut = true;
}
}
if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
replyPair.second.delayCycles--;
if (replyPair.second.delayCycles == 0) {
if (replyPair.second.periodic) {
replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
}
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first);
timedOut = true;
}
}
if (timedOut) {
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first);
timedOut = false;
replyPair.second.active = false;
}
}
}
@ -352,14 +373,12 @@ 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);
@ -408,20 +427,22 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId,
Countdown* countdown) {
// No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
if (hasDifferentReplyId) {
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown);
} else {
return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic);
return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic,
countdown);
}
}
ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
uint16_t maxDelayCycles,
LocalPoolDataSetBase* dataSet, size_t replyLen,
bool periodic) {
bool periodic, Countdown* countdown) {
DeviceReplyInfo info;
info.maxDelayCycles = maxDelayCycles;
info.periodic = periodic;
@ -429,6 +450,10 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
info.replyLen = replyLen;
info.dataSet = dataSet;
info.command = deviceCommandMap.end();
info.countdown = countdown;
if (info.periodic) {
info.active = true;
}
auto resultPair = deviceReplyMap.emplace(replyId, info);
if (resultPair.second) {
return RETURN_OK;
@ -464,7 +489,8 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
}
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles != 0) {
if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
(iter->second.active && iter->second.countdown != nullptr)) {
return iter->second.replyLen;
}
}
@ -808,17 +834,18 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
DeviceReplyInfo* info = &(iter->second);
if (info->delayCycles != 0) {
if ((info->delayCycles != 0 && info->countdown == nullptr) ||
(info->active && info->countdown != nullptr)) {
result = interpretDeviceReply(foundId, receivedData);
if (result == IGNORE_REPLY_DATA) {
return;
}
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
} else {
info->delayCycles = 0;
if (info->active && info->countdown != nullptr) {
disableTimeoutControlledReply(info);
} else if (info->delayCycles != 0) {
disableDelayCyclesControlledReply(info);
}
if (result != RETURN_OK) {
@ -837,6 +864,24 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
}
}
void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
if (info->periodic) {
info->countdown->resetTimer();
} else {
info->active = false;
info->countdown->timeOut();
}
}
void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) {
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
} else {
info->delayCycles = 0;
info->active = false;
}
}
ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
size_t* len) {
size_t lenTmp;
@ -962,6 +1007,10 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
info->delayCycles = info->maxDelayCycles;
info->command = command;
command->second.expectedReplies = expectedReplies;
if (info->countdown != nullptr) {
info->countdown->resetTimer();
}
info->active = true;
return RETURN_OK;
} else {
return NO_REPLY_EXPECTED;
@ -1196,7 +1245,8 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
bool DeviceHandlerBase::isAwaitingReply() {
std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
if (iter->second.delayCycles != 0) {
if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
(iter->second.active && iter->second.countdown != nullptr)) {
return true;
}
}
@ -1351,6 +1401,8 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
if (iter == deviceReplyMap.end()) {
return 0;
} else if (iter->second.countdown != nullptr) {
return 0;
}
return iter->second.delayCycles;
}
@ -1399,6 +1451,8 @@ 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,
@ -1421,7 +1475,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
this->poolManager.initializeAfterTaskCreation();
if (setStartupImmediately) {
startTransition(MODE_ON, SUBMODE_NONE);
startTransition(MODE_ON, getInitialSubmode());
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -1505,3 +1559,11 @@ 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;
}

40
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);
/**
@ -448,6 +451,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* by the device repeatedly without request) or not. Default is aperiodic (0).
* Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
* to provide a pointer to a Countdown object which will signal the timeout
* when expired
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
@ -455,7 +461,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
LocalPoolDataSetBase *replyDataSet = nullptr,
size_t replyLen = 0, bool periodic = false,
bool hasDifferentReplyId = false,
DeviceCommandId_t replyId = 0);
DeviceCommandId_t replyId = 0,
Countdown *countdown = nullptr);
/**
* @brief This is a helper method to insert replies in the reply map.
* @param deviceCommand Identifier of the reply to add.
@ -465,12 +472,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* by the device repeatedly without request) or not. Default is aperiodic (0).
* Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
* to provide a pointer to a Countdown object which will signal the timeout
* when expired
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0,
bool periodic = false);
bool periodic = false, Countdown *countdown = nullptr);
/**
* @brief A simple command to add a command to the commandList.
@ -649,6 +659,12 @@ 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;
@ -783,6 +799,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
LocalPoolDataSetBase *dataSet = nullptr;
//! The command that expects this reply.
DeviceCommandMap::iterator command;
//! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
//! is also possible specify a countdown
Countdown *countdown = nullptr;
//! will be set to true when reply is enabled
bool active = false;
};
using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo>;
@ -822,6 +843,7 @@ 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;
@ -1062,7 +1084,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
/**
* Same as triggerEvent, but for forwarding if object is used as proxy.
*/
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0) const override;
/**
* Checks if current mode is transitional mode.
@ -1243,6 +1266,17 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
void doGetRead(void);
/**
* @brief Handles disabling of replies which use a timeout to detect missed replies.
*/
void disableTimeoutControlledReply(DeviceReplyInfo *info);
/**
* @brief Handles disabling of replies which use a number of maximum delay cycles to detect
* missed replies.
*/
void disableDelayCyclesControlledReply(DeviceReplyInfo *info);
/**
* Retrive data from the #IPCStore.
*

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
View File

@ -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);

20
src/fsfw/globalfunctions/CMakeLists.txt
View File

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

231
src/fsfw/globalfunctions/DleParser.cpp Normal file
View File

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

127
src/fsfw/globalfunctions/DleParser.h Normal file
View File

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

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

@ -28,19 +28,15 @@ 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
}
}

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++;
}

3
src/fsfw/objectmanager/SystemObject.h
View File

@ -50,7 +50,8 @@ class SystemObject : public SystemObjectIF {
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t checkObjectConnections() override;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override;
virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0) const override;
};
#endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

6
src/fsfw/osal/common/TcpTmTcServer.cpp
View File

@ -161,7 +161,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
while (true) {
ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
receptionBuffer.capacity(), tcpConfig.tcpFlags);
receptionBuffer.capacity(), tcpConfig.tcpFlags);
if (retval == 0) {
size_t availableReadData = ringBuffer.getAvailableReadData();
if (availableReadData > lastRingBufferSize) {
@ -285,7 +285,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
arrayprinter::print(storeAccessor.data(), storeAccessor.size());
}
ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
storeAccessor.size(), tcpConfig.tcpTmFlags);
storeAccessor.size(), tcpConfig.tcpTmFlags);
if (retval == static_cast<int>(storeAccessor.size())) {
// Packet sent, clear FIFO entry
tmtcBridge->tmFifo->pop();
@ -340,7 +340,7 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
size_t foundSize = 0;
size_t readLen = 0;
while (readLen < readAmount) {
if(spacePacketParser == nullptr) {
if (spacePacketParser == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
result =

2
src/fsfw/osal/common/UdpTcPollingTask.cpp
View File

@ -154,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
#endif
}
#elif defined(PLATFORM_UNIX)
timeval tval {};
timeval tval{};
tval = timevalOperations::toTimeval(timeoutSeconds);
int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout));
if (result == -1) {

4
src/fsfw/osal/common/UdpTmTcBridge.cpp
View File

@ -20,7 +20,7 @@
const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
const std::string& udpServerPort_, object_id_t tmStoreId,
const std::string &udpServerPort_, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
if (udpServerPort_.empty()) {
@ -118,7 +118,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
#endif
ssize_t bytesSent = sendto(serverSocket, reinterpret_cast<const char *>(data), dataLen, flags,
&clientAddress, clientAddressLen);
&clientAddress, clientAddressLen);
if (bytesSent == SOCKET_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl;

4
src/fsfw/osal/common/UdpTmTcBridge.h
View File

@ -29,8 +29,8 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase {
/* The ports chosen here should not be used by any other process. */
static const std::string DEFAULT_SERVER_PORT;
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, const std::string& udpServerPort = "",
object_id_t tmStoreId = objects::TM_STORE,
UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
object_id_t tcStoreId = objects::TC_STORE);
~UdpTmTcBridge() override;

4
src/fsfw/osal/freertos/FixedTimeslotTask.cpp
View File

@ -46,8 +46,8 @@ void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
<< std::endl;
sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
<< std::endl;
#endif
}
}

4
src/fsfw/osal/linux/FixedTimeslotTask.cpp
View File

@ -87,8 +87,8 @@ void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
<< std::endl;
sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
<< std::endl;
#endif
}
}

4
src/fsfw/osal/rtems/FixedTimeslotTask.cpp
View File

@ -50,8 +50,8 @@ void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
<< std::endl;
sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
<< std::endl;
#endif
}
}

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;

1
src/fsfw/power/CMakeLists.txt
View File

@ -4,4 +4,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
PowerSensor.cpp
PowerSwitcher.cpp
DummyPowerSwitcher.cpp
PowerSwitcherComponent.cpp
)

5
src/fsfw/power/PowerSensor.cpp
View File

@ -15,8 +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(3, MessageQueueMessage::MAX_MESSAGE_SIZE);
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

107
src/fsfw/power/PowerSwitcherComponent.cpp Normal file
View File

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

62
src/fsfw/power/PowerSwitcherComponent.h Normal file
View File

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

3
src/fsfw/pus/CService201HealthCommanding.cpp
View File

@ -97,7 +97,8 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
}
// Not used for now, health state already reported by event
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
const CommandMessage *reply) {
auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
HealthSetReply healthSetReply(health, oldHealth);

2
src/fsfw/pus/CService201HealthCommanding.h
View File

@ -39,7 +39,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
private:
static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
const object_id_t *objectId);
const object_id_t *objectId);
[[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);

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

@ -33,8 +33,12 @@ struct SequenceEntry : public TableSequenceBase {
};
/**
* @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;

10
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
*/

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); }

8
src/fsfw/timemanager/Countdown.cpp
View File

@ -1,7 +1,11 @@
#include "fsfw/timemanager/Countdown.h"
Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {
setTimeout(initialTimeout);
Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) {
if (startImmediately) {
setTimeout(initialTimeout);
} else {
timeout = initialTimeout;
}
}
Countdown::~Countdown() {}

3
src/fsfw/timemanager/Countdown.h
View File

@ -26,8 +26,9 @@ class Countdown {
* Otherwise a call to hasTimedOut might return True.
*
* @param initialTimeout Countdown duration in milliseconds
* @param startImmediately Set to false if countdown should not be started immediately
*/
Countdown(uint32_t initialTimeout = 0);
Countdown(uint32_t initialTimeout = 0, bool startImmediately = true);
~Countdown();
/**
* Call to set a new countdown duration.

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() {}

2
src/fsfw/tmtcpacket/SpacePacket.h
View File

@ -25,7 +25,7 @@ class SpacePacket : public SpacePacketBase {
* @param apid Sets the packet's APID field. The default value describes an idle packet.
* @param sequenceCount ets the packet's Source Sequence Count field.
*/
SpacePacket(uint16_t packetDataLength, bool isTelecommand = false,
SpacePacket(uint16_t packetDataLength = 0, bool isTelecommand = false,
uint16_t apid = APID_IDLE_PACKET, uint16_t sequenceCount = 0);
/**
* The class's default destructor.

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); }

18
src/fsfw/tmtcservices/SourceSequenceCounter.h
View File

@ -5,10 +5,10 @@
class SourceSequenceCounter {
private:
uint16_t sequenceCount;
uint16_t sequenceCount = 0;
public:
SourceSequenceCounter() : sequenceCount(0) {}
SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
void increment() {
sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
}
@ -19,6 +19,20 @@ 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;

25
src/fsfw/version.cpp
View File

@ -12,12 +12,25 @@
#undef minor
#endif
const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
FSFW_VERSION_REVISION};
const Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, FSFW_VERSION_REVISION,
FSFW_VERSION_CST_GIT_SHA1};
fsfw::Version::Version(uint32_t major, uint32_t minor, uint32_t revision)
: major(major), minor(minor), revision(revision) {}
Version::Version(int major, int minor, int revision, const char* addInfo)
: major(major), minor(minor), revision(revision), addInfo(addInfo) {}
void fsfw::Version::getVersion(char* str, size_t maxLen) const {
snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
void Version::getVersion(char* str, size_t maxLen) const {
size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
if (addInfo != nullptr) {
snprintf(str + len, maxLen - len, "-%s", addInfo);
}
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
std::ostream& operator<<(std::ostream& os, const Version& v) {
os << v.major << "." << v.minor << "." << v.revision;
if (v.addInfo != nullptr) {
os << "-" << v.addInfo;
}
return os;
}
#endif

22
src/fsfw/version.h
View File

@ -8,14 +8,15 @@
#endif
#include <cstdint>
namespace fsfw {
class Version {
public:
Version(uint32_t major, uint32_t minor, uint32_t revision);
uint32_t major = 0;
uint32_t minor = 0;
uint32_t revision = 0;
Version(int major, int minor, int revision, const char* addInfo = nullptr);
int major = -1;
int minor = -1;
int revision = -1;
// Additional information, e.g. a git SHA hash
const char* addInfo = nullptr;
friend bool operator==(const Version& v1, const Version& v2) {
return (v1.major == v2.major and v1.minor == v2.minor and v1.revision == v2.revision);
@ -43,10 +44,7 @@ class Version {
* @param v
* @return
*/
friend std::ostream& operator<<(std::ostream& os, const Version& v) {
os << v.major << "." << v.minor << "." << v.revision;
return os;
}
friend std::ostream& operator<<(std::ostream& os, const Version& v);
#endif
/**
@ -57,7 +55,9 @@ class Version {
void getVersion(char* str, size_t maxLen) const;
};
extern const fsfw::Version FSFW_VERSION;
namespace fsfw {
extern const Version FSFW_VERSION;
} // namespace fsfw