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

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Robin Müller 2022-05-12 20:11:45 +02:00
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92 changed files with 2242 additions and 386 deletions
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30
CHANGELOG.md
View File

@ -25,6 +25,20 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Devicehandlers: Periodic printout is run-time configurable now
- `oneShotAction` flag in the `TestTask` class is not static anymore
- Major update for version handling, using `git describe` to fetch version information with git.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
- Place `Version` class outside of `fsfw` namespace. It is generic
- Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
manually now. Those should not change too often and only a small subset is needed
- Separate folder for easier update and for distinction
- LICENSE file included
- use `int` for version numbers to allow unset or uninitialized version
- Initialize Version object with numbers set to -1
- Instead of hardcoding the git hash, it is now retrieved from git
- `Version` now allows specifying additional version information like the git SHA1 hash and the
versions since the last tag
- Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
- Version still need to be hand-updated if the FSFW is not included as a submodule for now.
- IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
creation call. It allows passing context information and an arbitrary user argument into
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
@ -32,6 +46,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
### HAL
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
@ -69,6 +85,7 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
## Additions
<<<<<<< HEAD
- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
can make good use of it and it usually makes the code faster and/or smaller.
@ -84,6 +101,8 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
Easiest solution for now: Keep this option OFF by default.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
=======
>>>>>>> origin/develop
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
@ -95,6 +114,17 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- `Subsystem`: New API to add table and sequence entries
## HAL
- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
lot more sense because each ComIF should be responsible for one SPI bus.
- SPI: Move the empty transfer to update the line polarity to separate function. This means
it is not automatically called when calling the setter function for SPI speed and mode.
The user should call this function after locking the CS mutex if multiple SPI devices with
differing speeds and modes are attached to one bus.
- SPI: Getter functions for SPI speed and mode.
- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
## Fixed
- TCP TMTC Server: `MutexGuard` was not created properly in

79
CMakeLists.txt
View File

@ -1,5 +1,4 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME})
@ -10,12 +9,14 @@ elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
endif()
set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0)
set(FSFW_VERSION_IF_GIT_FAILS 4)
set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
set(FSFW_REVISION_IF_GIT_FAILS 0)
# Add the cmake folder so the FindSphinx module is found
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
set(MSG_PREFIX "fsfw |")
set(FSFW_ETL_LIB_NAME etl)
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
@ -85,13 +86,45 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
endif()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
# Version handling
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
message(STATUS "${MSG_PREFIX} Determining version information with git")
include(FsfwHelpers)
determine_version_with_git("--exclude" "docker_*")
if(GIT_INFO)
set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
if(NOT FSFW_VERSION)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_SUBVERSION)
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_REVISION)
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(FSFW_GIT_VER_HANDLING_OK TRUE)
else()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
endif()
endif()
if(NOT FSFW_GIT_VER_HANDLING_OK)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
if(FSFW_BUILD_UNITTESTS)
message(STATUS "Building the FSFW unittests in addition to the static library")
message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
# Check whether the user has already installed Catch2 first
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent")
message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
include(FetchContent)
FetchContent_Declare(
@ -114,26 +147,19 @@ if(FSFW_BUILD_UNITTESTS)
endif()
if(FSFW_TESTS_GEN_COV)
message(STATUS "Generating coverage data for the library")
message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
"will be compiled with coverage data as well"
)
include(FetchContent)
FetchContent_Declare(
cmake-modules
GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
)
FetchContent_MakeAvailable(cmake-modules)
set(CMAKE_BUILD_TYPE "Debug")
list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
include(CodeCoverage)
endif()
endif()
message(STATUS "Finding and/or providing ETL library")
message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")
# Check whether the user has already installed ETL first
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
# Not installed, so use FetchContent to download and provide etl
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
message(STATUS
@ -141,13 +167,11 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
"etl with FindPackage"
)
include(FetchContent)
FetchContent_Declare(
${FSFW_ETL_LIB_NAME}
GIT_REPOSITORY https://github.com/ETLCPP/etl
GIT_TAG ${FSFW_ETL_LIB_VERSION}
)
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
endif()
@ -178,15 +202,14 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR}
)
# Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL)
message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
set(FSFW_OSAL OS_FSFW)
endif()
if(NOT FSFW_OSAL)
message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW
if(UNIX)
set(FSFW_OSAL "linux"
@ -220,7 +243,7 @@ elseif(FSFW_OSAL STREQUAL rtems)
set(FSFW_OSAL_RTEMS ON)
else()
message(WARNING
"Invalid operating system for FSFW specified! Setting to host.."
"${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
)
set(FSFW_OS_NAME "Host")
set(OS_FSFW "host")
@ -229,7 +252,7 @@ endif()
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
add_subdirectory(src)
add_subdirectory(tests)
@ -313,8 +336,8 @@ endif()
if(NOT FSFW_CONFIG_PATH)
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
if(NOT FSFW_BUILD_DOCS)
message(WARNING "Flight Software Framework configuration path not set!")
message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
endif()
add_subdirectory(${DEF_CONF_PATH})
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})

28
cmake/FsfwHelpers.cmake Normal file
View File

@ -0,0 +1,28 @@
# Determines the git version with git describe and returns it by setting
# the GIT_INFO list in the parent scope. The list has the following entries
# 1. Full version string
# 2. Major version
# 3. Minor version
# 4. Revision
# 5. git SHA hash and commits since tag
function(determine_version_with_git)
include(GetGitRevisionDescription)
git_describe(VERSION ${ARGN})
string(FIND ${VERSION} "." VALID_VERSION)
if(VALID_VERSION EQUAL -1)
message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
return()
endif()
# Parse the version information into pieces.
string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" _VERSION_MAJOR "${VERSION}")
string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
set(GIT_INFO ${VERSION})
list(APPEND GIT_INFO ${_VERSION_MAJOR})
list(APPEND GIT_INFO ${_VERSION_MINOR})
list(APPEND GIT_INFO ${_VERSION_PATCH})
list(APPEND GIT_INFO ${VERSION_SHA1})
set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
endfunction()

719
cmake/cmake-modules/CodeCoverage.cmake Normal file
View File

@ -0,0 +1,719 @@
# Copyright (c) 2012 - 2017, Lars Bilke
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification,
# are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its contributors
# may be used to endorse or promote products derived from this software without
# specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# CHANGES:
#
# 2012-01-31, Lars Bilke
# - Enable Code Coverage
#
# 2013-09-17, Joakim Söderberg
# - Added support for Clang.
# - Some additional usage instructions.
#
# 2016-02-03, Lars Bilke
# - Refactored functions to use named parameters
#
# 2017-06-02, Lars Bilke
# - Merged with modified version from github.com/ufz/ogs
#
# 2019-05-06, Anatolii Kurotych
# - Remove unnecessary --coverage flag
#
# 2019-12-13, FeRD (Frank Dana)
# - Deprecate COVERAGE_LCOVR_EXCLUDES and COVERAGE_GCOVR_EXCLUDES lists in favor
# of tool-agnostic COVERAGE_EXCLUDES variable, or EXCLUDE setup arguments.
# - CMake 3.4+: All excludes can be specified relative to BASE_DIRECTORY
# - All setup functions: accept BASE_DIRECTORY, EXCLUDE list
# - Set lcov basedir with -b argument
# - Add automatic --demangle-cpp in lcovr, if 'c++filt' is available (can be
# overridden with NO_DEMANGLE option in setup_target_for_coverage_lcovr().)
# - Delete output dir, .info file on 'make clean'
# - Remove Python detection, since version mismatches will break gcovr
# - Minor cleanup (lowercase function names, update examples...)
#
# 2019-12-19, FeRD (Frank Dana)
# - Rename Lcov outputs, make filtered file canonical, fix cleanup for targets
#
# 2020-01-19, Bob Apthorpe
# - Added gfortran support
#
# 2020-02-17, FeRD (Frank Dana)
# - Make all add_custom_target()s VERBATIM to auto-escape wildcard characters
# in EXCLUDEs, and remove manual escaping from gcovr targets
#
# 2021-01-19, Robin Mueller
# - Add CODE_COVERAGE_VERBOSE option which will allow to print out commands which are run
# - Added the option for users to set the GCOVR_ADDITIONAL_ARGS variable to supply additional
# flags to the gcovr command
#
# 2020-05-04, Mihchael Davis
# - Add -fprofile-abs-path to make gcno files contain absolute paths
# - Fix BASE_DIRECTORY not working when defined
# - Change BYPRODUCT from folder to index.html to stop ninja from complaining about double defines
#
# 2021-05-10, Martin Stump
# - Check if the generator is multi-config before warning about non-Debug builds
#
# 2022-02-22, Marko Wehle
# - Change gcovr output from -o <filename> for --xml <filename> and --html <filename> output respectively.
# This will allow for Multiple Output Formats at the same time by making use of GCOVR_ADDITIONAL_ARGS, e.g. GCOVR_ADDITIONAL_ARGS "--txt".
#
# USAGE:
#
# 1. Copy this file into your cmake modules path.
#
# 2. Add the following line to your CMakeLists.txt (best inside an if-condition
# using a CMake option() to enable it just optionally):
# include(CodeCoverage)
#
# 3. Append necessary compiler flags for all supported source files:
# append_coverage_compiler_flags()
# Or for specific target:
# append_coverage_compiler_flags_to_target(YOUR_TARGET_NAME)
#
# 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og
#
# 4. If you need to exclude additional directories from the report, specify them
# using full paths in the COVERAGE_EXCLUDES variable before calling
# setup_target_for_coverage_*().
# Example:
# set(COVERAGE_EXCLUDES
# '${PROJECT_SOURCE_DIR}/src/dir1/*'
# '/path/to/my/src/dir2/*')
# Or, use the EXCLUDE argument to setup_target_for_coverage_*().
# Example:
# setup_target_for_coverage_lcov(
# NAME coverage
# EXECUTABLE testrunner
# EXCLUDE "${PROJECT_SOURCE_DIR}/src/dir1/*" "/path/to/my/src/dir2/*")
#
# 4.a NOTE: With CMake 3.4+, COVERAGE_EXCLUDES or EXCLUDE can also be set
# relative to the BASE_DIRECTORY (default: PROJECT_SOURCE_DIR)
# Example:
# set(COVERAGE_EXCLUDES "dir1/*")
# setup_target_for_coverage_gcovr_html(
# NAME coverage
# EXECUTABLE testrunner
# BASE_DIRECTORY "${PROJECT_SOURCE_DIR}/src"
# EXCLUDE "dir2/*")
#
# 5. Use the functions described below to create a custom make target which
# runs your test executable and produces a code coverage report.
#
# 6. Build a Debug build:
# cmake -DCMAKE_BUILD_TYPE=Debug ..
# make
# make my_coverage_target
#
include(CMakeParseArguments)
option(CODE_COVERAGE_VERBOSE "Verbose information" FALSE)
# Check prereqs
find_program( GCOV_PATH gcov )
find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl)
find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
find_program( CPPFILT_PATH NAMES c++filt )
if(NOT GCOV_PATH)
message(FATAL_ERROR "gcov not found! Aborting...")
endif() # NOT GCOV_PATH
get_property(LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
list(GET LANGUAGES 0 LANG)
if("${CMAKE_${LANG}_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
if("${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS 3)
message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
endif()
elseif(NOT CMAKE_COMPILER_IS_GNUCXX)
if("${CMAKE_Fortran_COMPILER_ID}" MATCHES "[Ff]lang")
# Do nothing; exit conditional without error if true
elseif("${CMAKE_Fortran_COMPILER_ID}" MATCHES "GNU")
# Do nothing; exit conditional without error if true
else()
message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
endif()
endif()
set(COVERAGE_COMPILER_FLAGS "-g -fprofile-arcs -ftest-coverage"
CACHE INTERNAL "")
if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag(-fprofile-abs-path HAVE_fprofile_abs_path)
if(HAVE_fprofile_abs_path)
set(COVERAGE_COMPILER_FLAGS "${COVERAGE_COMPILER_FLAGS} -fprofile-abs-path")
endif()
endif()
set(CMAKE_Fortran_FLAGS_COVERAGE
${COVERAGE_COMPILER_FLAGS}
CACHE STRING "Flags used by the Fortran compiler during coverage builds."
FORCE )
set(CMAKE_CXX_FLAGS_COVERAGE
${COVERAGE_COMPILER_FLAGS}
CACHE STRING "Flags used by the C++ compiler during coverage builds."
FORCE )
set(CMAKE_C_FLAGS_COVERAGE
${COVERAGE_COMPILER_FLAGS}
CACHE STRING "Flags used by the C compiler during coverage builds."
FORCE )
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
""
CACHE STRING "Flags used for linking binaries during coverage builds."
FORCE )
set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
""
CACHE STRING "Flags used by the shared libraries linker during coverage builds."
FORCE )
mark_as_advanced(
CMAKE_Fortran_FLAGS_COVERAGE
CMAKE_CXX_FLAGS_COVERAGE
CMAKE_C_FLAGS_COVERAGE
CMAKE_EXE_LINKER_FLAGS_COVERAGE
CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG))
message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading")
endif() # NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG)
if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_Fortran_COMPILER_ID STREQUAL "GNU")
link_libraries(gcov)
endif()
# Defines a target for running and collection code coverage information
# Builds dependencies, runs the given executable and outputs reports.
# NOTE! The executable should always have a ZERO as exit code otherwise
# the coverage generation will not complete.
#
# setup_target_for_coverage_lcov(
# NAME testrunner_coverage # New target name
# EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
# DEPENDENCIES testrunner # Dependencies to build first
# BASE_DIRECTORY "../" # Base directory for report
# # (defaults to PROJECT_SOURCE_DIR)
# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative
# # to BASE_DIRECTORY, with CMake 3.4+)
# NO_DEMANGLE # Don't demangle C++ symbols
# # even if c++filt is found
# )
function(setup_target_for_coverage_lcov)
set(options NO_DEMANGLE)
set(oneValueArgs BASE_DIRECTORY NAME)
set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS)
cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
if(NOT LCOV_PATH)
message(FATAL_ERROR "lcov not found! Aborting...")
endif() # NOT LCOV_PATH
if(NOT GENHTML_PATH)
message(FATAL_ERROR "genhtml not found! Aborting...")
endif() # NOT GENHTML_PATH
# Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
if(DEFINED Coverage_BASE_DIRECTORY)
get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
else()
set(BASEDIR ${PROJECT_SOURCE_DIR})
endif()
# Collect excludes (CMake 3.4+: Also compute absolute paths)
set(LCOV_EXCLUDES "")
foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_LCOV_EXCLUDES})
if(CMAKE_VERSION VERSION_GREATER 3.4)
get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
endif()
list(APPEND LCOV_EXCLUDES "${EXCLUDE}")
endforeach()
list(REMOVE_DUPLICATES LCOV_EXCLUDES)
# Conditional arguments
if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
set(GENHTML_EXTRA_ARGS "--demangle-cpp")
endif()
# Setting up commands which will be run to generate coverage data.
# Cleanup lcov
set(LCOV_CLEAN_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory .
-b ${BASEDIR} --zerocounters
)
# Create baseline to make sure untouched files show up in the report
set(LCOV_BASELINE_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -b
${BASEDIR} -o ${Coverage_NAME}.base
)
# Run tests
set(LCOV_EXEC_TESTS_CMD
${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
)
# Capturing lcov counters and generating report
set(LCOV_CAPTURE_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . -b
${BASEDIR} --capture --output-file ${Coverage_NAME}.capture
)
# add baseline counters
set(LCOV_BASELINE_COUNT_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base
-a ${Coverage_NAME}.capture --output-file ${Coverage_NAME}.total
)
# filter collected data to final coverage report
set(LCOV_FILTER_CMD
${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove
${Coverage_NAME}.total ${LCOV_EXCLUDES} --output-file ${Coverage_NAME}.info
)
# Generate HTML output
set(LCOV_GEN_HTML_CMD
${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} -o
${Coverage_NAME} ${Coverage_NAME}.info
)
if(CODE_COVERAGE_VERBOSE)
message(STATUS "Executed command report")
message(STATUS "Command to clean up lcov: ")
string(REPLACE ";" " " LCOV_CLEAN_CMD_SPACED "${LCOV_CLEAN_CMD}")
message(STATUS "${LCOV_CLEAN_CMD_SPACED}")
message(STATUS "Command to create baseline: ")
string(REPLACE ";" " " LCOV_BASELINE_CMD_SPACED "${LCOV_BASELINE_CMD}")
message(STATUS "${LCOV_BASELINE_CMD_SPACED}")
message(STATUS "Command to run the tests: ")
string(REPLACE ";" " " LCOV_EXEC_TESTS_CMD_SPACED "${LCOV_EXEC_TESTS_CMD}")
message(STATUS "${LCOV_EXEC_TESTS_CMD_SPACED}")
message(STATUS "Command to capture counters and generate report: ")
string(REPLACE ";" " " LCOV_CAPTURE_CMD_SPACED "${LCOV_CAPTURE_CMD}")
message(STATUS "${LCOV_CAPTURE_CMD_SPACED}")
message(STATUS "Command to add baseline counters: ")
string(REPLACE ";" " " LCOV_BASELINE_COUNT_CMD_SPACED "${LCOV_BASELINE_COUNT_CMD}")
message(STATUS "${LCOV_BASELINE_COUNT_CMD_SPACED}")
message(STATUS "Command to filter collected data: ")
string(REPLACE ";" " " LCOV_FILTER_CMD_SPACED "${LCOV_FILTER_CMD}")
message(STATUS "${LCOV_FILTER_CMD_SPACED}")
message(STATUS "Command to generate lcov HTML output: ")
string(REPLACE ";" " " LCOV_GEN_HTML_CMD_SPACED "${LCOV_GEN_HTML_CMD}")
message(STATUS "${LCOV_GEN_HTML_CMD_SPACED}")
endif()
# Setup target
add_custom_target(${Coverage_NAME}
COMMAND ${LCOV_CLEAN_CMD}
COMMAND ${LCOV_BASELINE_CMD}
COMMAND ${LCOV_EXEC_TESTS_CMD}
COMMAND ${LCOV_CAPTURE_CMD}
COMMAND ${LCOV_BASELINE_COUNT_CMD}
COMMAND ${LCOV_FILTER_CMD}
COMMAND ${LCOV_GEN_HTML_CMD}
# Set output files as GENERATED (will be removed on 'make clean')
BYPRODUCTS
${Coverage_NAME}.base
${Coverage_NAME}.capture
${Coverage_NAME}.total
${Coverage_NAME}.info
${Coverage_NAME}/index.html
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
DEPENDS ${Coverage_DEPENDENCIES}
VERBATIM # Protect arguments to commands
COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
)
# Show where to find the lcov info report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ;
COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info."
)
# Show info where to find the report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ;
COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
)
endfunction() # setup_target_for_coverage_lcov
# Defines a target for running and collection code coverage information
# Builds dependencies, runs the given executable and outputs reports.
# NOTE! The executable should always have a ZERO as exit code otherwise
# the coverage generation will not complete.
#
# setup_target_for_coverage_gcovr_xml(
# NAME ctest_coverage # New target name
# EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
# DEPENDENCIES executable_target # Dependencies to build first
# BASE_DIRECTORY "../" # Base directory for report
# # (defaults to PROJECT_SOURCE_DIR)
# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative
# # to BASE_DIRECTORY, with CMake 3.4+)
# )
# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
# GCVOR command.
function(setup_target_for_coverage_gcovr_xml)
set(options NONE)
set(oneValueArgs BASE_DIRECTORY NAME)
set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
if(NOT GCOVR_PATH)
message(FATAL_ERROR "gcovr not found! Aborting...")
endif() # NOT GCOVR_PATH
# Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
if(DEFINED Coverage_BASE_DIRECTORY)
get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
else()
set(BASEDIR ${PROJECT_SOURCE_DIR})
endif()
# Collect excludes (CMake 3.4+: Also compute absolute paths)
set(GCOVR_EXCLUDES "")
foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
if(CMAKE_VERSION VERSION_GREATER 3.4)
get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
endif()
list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
endforeach()
list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
# Combine excludes to several -e arguments
set(GCOVR_EXCLUDE_ARGS "")
foreach(EXCLUDE ${GCOVR_EXCLUDES})
list(APPEND GCOVR_EXCLUDE_ARGS "-e")
list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
endforeach()
# Set up commands which will be run to generate coverage data
# Run tests
set(GCOVR_XML_EXEC_TESTS_CMD
${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
)
# Running gcovr
set(GCOVR_XML_CMD
${GCOVR_PATH} --xml ${Coverage_NAME}.xml -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
)
if(CODE_COVERAGE_VERBOSE)
message(STATUS "Executed command report")
message(STATUS "Command to run tests: ")
string(REPLACE ";" " " GCOVR_XML_EXEC_TESTS_CMD_SPACED "${GCOVR_XML_EXEC_TESTS_CMD}")
message(STATUS "${GCOVR_XML_EXEC_TESTS_CMD_SPACED}")
message(STATUS "Command to generate gcovr XML coverage data: ")
string(REPLACE ";" " " GCOVR_XML_CMD_SPACED "${GCOVR_XML_CMD}")
message(STATUS "${GCOVR_XML_CMD_SPACED}")
endif()
add_custom_target(${Coverage_NAME}
COMMAND ${GCOVR_XML_EXEC_TESTS_CMD}
COMMAND ${GCOVR_XML_CMD}
BYPRODUCTS ${Coverage_NAME}.xml
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
DEPENDS ${Coverage_DEPENDENCIES}
VERBATIM # Protect arguments to commands
COMMENT "Running gcovr to produce Cobertura code coverage report."
)
# Show info where to find the report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ;
COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml."
)
endfunction() # setup_target_for_coverage_gcovr_xml
# Defines a target for running and collection code coverage information
# Builds dependencies, runs the given executable and outputs reports.
# NOTE! The executable should always have a ZERO as exit code otherwise
# the coverage generation will not complete.
#
# setup_target_for_coverage_gcovr_html(
# NAME ctest_coverage # New target name
# EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
# DEPENDENCIES executable_target # Dependencies to build first
# BASE_DIRECTORY "../" # Base directory for report
# # (defaults to PROJECT_SOURCE_DIR)
# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative
# # to BASE_DIRECTORY, with CMake 3.4+)
# )
# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
# GCVOR command.
function(setup_target_for_coverage_gcovr_html)
set(options NONE)
set(oneValueArgs BASE_DIRECTORY NAME)
set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
if(NOT GCOVR_PATH)
message(FATAL_ERROR "gcovr not found! Aborting...")
endif() # NOT GCOVR_PATH
# Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
if(DEFINED Coverage_BASE_DIRECTORY)
get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
else()
set(BASEDIR ${PROJECT_SOURCE_DIR})
endif()
# Collect excludes (CMake 3.4+: Also compute absolute paths)
set(GCOVR_EXCLUDES "")
foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
if(CMAKE_VERSION VERSION_GREATER 3.4)
get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
endif()
list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
endforeach()
list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
# Combine excludes to several -e arguments
set(GCOVR_EXCLUDE_ARGS "")
foreach(EXCLUDE ${GCOVR_EXCLUDES})
list(APPEND GCOVR_EXCLUDE_ARGS "-e")
list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
endforeach()
# Set up commands which will be run to generate coverage data
# Run tests
set(GCOVR_HTML_EXEC_TESTS_CMD
${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
)
# Create folder
set(GCOVR_HTML_FOLDER_CMD
${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME}
)
# Running gcovr
set(GCOVR_HTML_CMD
${GCOVR_PATH} --html ${Coverage_NAME}/index.html --html-details -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
)
if(CODE_COVERAGE_VERBOSE)
message(STATUS "Executed command report")
message(STATUS "Command to run tests: ")
string(REPLACE ";" " " GCOVR_HTML_EXEC_TESTS_CMD_SPACED "${GCOVR_HTML_EXEC_TESTS_CMD}")
message(STATUS "${GCOVR_HTML_EXEC_TESTS_CMD_SPACED}")
message(STATUS "Command to create a folder: ")
string(REPLACE ";" " " GCOVR_HTML_FOLDER_CMD_SPACED "${GCOVR_HTML_FOLDER_CMD}")
message(STATUS "${GCOVR_HTML_FOLDER_CMD_SPACED}")
message(STATUS "Command to generate gcovr HTML coverage data: ")
string(REPLACE ";" " " GCOVR_HTML_CMD_SPACED "${GCOVR_HTML_CMD}")
message(STATUS "${GCOVR_HTML_CMD_SPACED}")
endif()
add_custom_target(${Coverage_NAME}
COMMAND ${GCOVR_HTML_EXEC_TESTS_CMD}
COMMAND ${GCOVR_HTML_FOLDER_CMD}
COMMAND ${GCOVR_HTML_CMD}
BYPRODUCTS ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html # report directory
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
DEPENDS ${Coverage_DEPENDENCIES}
VERBATIM # Protect arguments to commands
COMMENT "Running gcovr to produce HTML code coverage report."
)
# Show info where to find the report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ;
COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
)
endfunction() # setup_target_for_coverage_gcovr_html
# Defines a target for running and collection code coverage information
# Builds dependencies, runs the given executable and outputs reports.
# NOTE! The executable should always have a ZERO as exit code otherwise
# the coverage generation will not complete.
#
# setup_target_for_coverage_fastcov(
# NAME testrunner_coverage # New target name
# EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
# DEPENDENCIES testrunner # Dependencies to build first
# BASE_DIRECTORY "../" # Base directory for report
# # (defaults to PROJECT_SOURCE_DIR)
# EXCLUDE "src/dir1/" "src/dir2/" # Patterns to exclude.
# NO_DEMANGLE # Don't demangle C++ symbols
# # even if c++filt is found
# SKIP_HTML # Don't create html report
# POST_CMD perl -i -pe s!${PROJECT_SOURCE_DIR}/!!g ctest_coverage.json # E.g. for stripping source dir from file paths
# )
function(setup_target_for_coverage_fastcov)
set(options NO_DEMANGLE SKIP_HTML)
set(oneValueArgs BASE_DIRECTORY NAME)
set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES FASTCOV_ARGS GENHTML_ARGS POST_CMD)
cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
if(NOT FASTCOV_PATH)
message(FATAL_ERROR "fastcov not found! Aborting...")
endif()
if(NOT Coverage_SKIP_HTML AND NOT GENHTML_PATH)
message(FATAL_ERROR "genhtml not found! Aborting...")
endif()
# Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
if(Coverage_BASE_DIRECTORY)
get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
else()
set(BASEDIR ${PROJECT_SOURCE_DIR})
endif()
# Collect excludes (Patterns, not paths, for fastcov)
set(FASTCOV_EXCLUDES "")
foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_FASTCOV_EXCLUDES})
list(APPEND FASTCOV_EXCLUDES "${EXCLUDE}")
endforeach()
list(REMOVE_DUPLICATES FASTCOV_EXCLUDES)
# Conditional arguments
if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
set(GENHTML_EXTRA_ARGS "--demangle-cpp")
endif()
# Set up commands which will be run to generate coverage data
set(FASTCOV_EXEC_TESTS_CMD ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS})
set(FASTCOV_CAPTURE_CMD ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
--search-directory ${BASEDIR}
--process-gcno
--output ${Coverage_NAME}.json
--exclude ${FASTCOV_EXCLUDES}
--exclude ${FASTCOV_EXCLUDES}
)
set(FASTCOV_CONVERT_CMD ${FASTCOV_PATH}
-C ${Coverage_NAME}.json --lcov --output ${Coverage_NAME}.info
)
if(Coverage_SKIP_HTML)
set(FASTCOV_HTML_CMD ";")
else()
set(FASTCOV_HTML_CMD ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS}
-o ${Coverage_NAME} ${Coverage_NAME}.info
)
endif()
set(FASTCOV_POST_CMD ";")
if(Coverage_POST_CMD)
set(FASTCOV_POST_CMD ${Coverage_POST_CMD})
endif()
if(CODE_COVERAGE_VERBOSE)
message(STATUS "Code coverage commands for target ${Coverage_NAME} (fastcov):")
message(" Running tests:")
string(REPLACE ";" " " FASTCOV_EXEC_TESTS_CMD_SPACED "${FASTCOV_EXEC_TESTS_CMD}")
message(" ${FASTCOV_EXEC_TESTS_CMD_SPACED}")
message(" Capturing fastcov counters and generating report:")
string(REPLACE ";" " " FASTCOV_CAPTURE_CMD_SPACED "${FASTCOV_CAPTURE_CMD}")
message(" ${FASTCOV_CAPTURE_CMD_SPACED}")
message(" Converting fastcov .json to lcov .info:")
string(REPLACE ";" " " FASTCOV_CONVERT_CMD_SPACED "${FASTCOV_CONVERT_CMD}")
message(" ${FASTCOV_CONVERT_CMD_SPACED}")
if(NOT Coverage_SKIP_HTML)
message(" Generating HTML report: ")
string(REPLACE ";" " " FASTCOV_HTML_CMD_SPACED "${FASTCOV_HTML_CMD}")
message(" ${FASTCOV_HTML_CMD_SPACED}")
endif()
if(Coverage_POST_CMD)
message(" Running post command: ")
string(REPLACE ";" " " FASTCOV_POST_CMD_SPACED "${FASTCOV_POST_CMD}")
message(" ${FASTCOV_POST_CMD_SPACED}")
endif()
endif()
# Setup target
add_custom_target(${Coverage_NAME}
# Cleanup fastcov
COMMAND ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
--search-directory ${BASEDIR}
--zerocounters
COMMAND ${FASTCOV_EXEC_TESTS_CMD}
COMMAND ${FASTCOV_CAPTURE_CMD}
COMMAND ${FASTCOV_CONVERT_CMD}
COMMAND ${FASTCOV_HTML_CMD}
COMMAND ${FASTCOV_POST_CMD}
# Set output files as GENERATED (will be removed on 'make clean')
BYPRODUCTS
${Coverage_NAME}.info
${Coverage_NAME}.json
${Coverage_NAME}/index.html # report directory
WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
DEPENDS ${Coverage_DEPENDENCIES}
VERBATIM # Protect arguments to commands
COMMENT "Resetting code coverage counters to zero. Processing code coverage counters and generating report."
)
set(INFO_MSG "fastcov code coverage info report saved in ${Coverage_NAME}.info and ${Coverage_NAME}.json.")
if(NOT Coverage_SKIP_HTML)
string(APPEND INFO_MSG " Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report.")
endif()
# Show where to find the fastcov info report
add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E echo ${INFO_MSG}
)
endfunction() # setup_target_for_coverage_fastcov
function(append_coverage_compiler_flags)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
endfunction() # append_coverage_compiler_flags
# Setup coverage for specific library
function(append_coverage_compiler_flags_to_target name)
target_compile_options(${name}
PRIVATE ${COVERAGE_COMPILER_FLAGS})
endfunction()

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# - Returns a version string from Git
#
# These functions force a re-configure on each git commit so that you can
# trust the values of the variables in your build system.
#
# get_git_head_revision(<refspecvar> <hashvar> [<additional arguments to git describe> ...])
#
# Returns the refspec and sha hash of the current head revision
#
# git_describe(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the source tree, and adjusting
# the output so that it tests false if an error occurs.
#
# git_get_exact_tag(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe --exact-match on the source tree,
# and adjusting the output so that it tests false if there was no exact
# matching tag.
#
# Requires CMake 2.6 or newer (uses the 'function' command)
#
# Original Author:
# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
# http://academic.cleardefinition.com
# Iowa State University HCI Graduate Program/VRAC
#
# Copyright Iowa State University 2009-2010.
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
if(__get_git_revision_description)
return()
endif()
set(__get_git_revision_description YES)
# We must run the following at "include" time, not at function call time,
# to find the path to this module rather than the path to a calling list file
get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
function(get_git_head_revision _refspecvar _hashvar)
set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(GIT_DIR "${GIT_PARENT_DIR}/.git")
while(NOT EXISTS "${GIT_DIR}") # .git dir not found, search parent directories
set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
# We have reached the root directory, we are not in git
set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
return()
endif()
set(GIT_DIR "${GIT_PARENT_DIR}/.git")
endwhile()
# check if this is a submodule
if(NOT IS_DIRECTORY ${GIT_DIR})
file(READ ${GIT_DIR} submodule)
string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
set(GIT_DIR ${GIT_DIR_RELATIVE})
else()
get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
endif()
endif()
set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
if(NOT EXISTS "${GIT_DATA}")
file(MAKE_DIRECTORY "${GIT_DATA}")
endif()
if(NOT EXISTS "${GIT_DIR}/HEAD")
return()
endif()
set(HEAD_FILE "${GIT_DATA}/HEAD")
configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
"${GIT_DATA}/grabRef.cmake"
@ONLY)
include("${GIT_DATA}/grabRef.cmake")
set(${_refspecvar} "${HEAD_REF}" PARENT_SCOPE)
set(${_hashvar} "${HEAD_HASH}" PARENT_SCOPE)
endfunction()
function(git_describe _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var} "GIT-NOTFOUND" PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var} "HEAD-HASH-NOTFOUND" PARENT_SCOPE)
return()
endif()
# TODO sanitize
#if((${ARGN}" MATCHES "&&") OR
# (ARGN MATCHES "||") OR
# (ARGN MATCHES "\\;"))
# message("Please report the following error to the project!")
# message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
#endif()
#message(STATUS "Arguments to execute_process: ${ARGN}")
execute_process(COMMAND
${GIT_EXECUTABLE}
describe
${hash}
${ARGN}
WORKING_DIRECTORY
"${CMAKE_SOURCE_DIR}"
RESULT_VARIABLE
res
OUTPUT_VARIABLE
out
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var} "${out}" PARENT_SCOPE)
endfunction()
function(git_get_exact_tag _var)
git_describe(out --exact-match ${ARGN})
set(${_var} "${out}" PARENT_SCOPE)
endfunction()
function(git_get_tag _var)
git_describe(out --tags ${ARGN})
set(${_var} "${out}" PARENT_SCOPE)
endfunction()

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#
# Internal file for GetGitRevisionDescription.cmake
#
# Requires CMake 2.6 or newer (uses the 'function' command)
#
# Original Author:
# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
# http://academic.cleardefinition.com
# Iowa State University HCI Graduate Program/VRAC
#
# Copyright Iowa State University 2009-2010.
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
set(HEAD_HASH)
file(READ "@HEAD_FILE@" HEAD_CONTENTS LIMIT 1024)
string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
if(HEAD_CONTENTS MATCHES "ref")
# named branch
string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
if(EXISTS "@GIT_DIR@/${HEAD_REF}")
configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
set(HEAD_HASH "${HEAD_REF}")
endif()
else()
# detached HEAD
configure_file("@GIT_DIR@/HEAD" "@GIT_DATA@/head-ref" COPYONLY)
endif()
if(NOT HEAD_HASH)
file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
string(STRIP "${HEAD_HASH}" HEAD_HASH)
endif()

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cmake/cmake-modules/LICENSE_1_0.txt Normal file
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Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

5
cmake/cmake-modules/README.md Normal file
View File

@ -0,0 +1,5 @@
The files in these folder were manually copy and pasted from the
[cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
this because only a small subset of its provided functions are needed.
The license file in included here as well.

4
hal/src/fsfw_hal/common/gpio/GpioIF.h
View File

@ -46,9 +46,9 @@ class GpioIF : public HasReturnvaluesIF {
* an ouput or input gpio.
*
* @param gpioId A unique number which specifies the GPIO to read.
* @param gpioState State of GPIO will be written to this pointer.
* @param gpioState State of GPIO will be written to this reference
*/
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0;
};
#endif /* COMMON_GPIO_GPIOIF_H_ */

2
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -9,7 +9,7 @@ using gpioId_t = uint16_t;
namespace gpio {
enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 };
enum class Direction : int { IN = 0, OUT = 1 };

5
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -375,13 +375,16 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
size_t commandDataLen) {
if (commandData == nullptr) {
return INVALID_COMMAND_PARAMETER;
}
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
uint32_t size = 2;
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
if (commandDataLen > 1) {
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
switch (*commandData) {
switch (commandData[0]) {
case (MGMLIS3MDL::ON): {
commandBuffer[1] = registers[0] | (1 << 7);
break;

2
hal/src/fsfw_hal/linux/UnixFileGuard.cpp
View File

@ -6,7 +6,7 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
UnixFileGuard::UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
std::string diagnosticPrefix)
: fileDescriptor(fileDescriptor) {
if (fileDescriptor == nullptr) {

2
hal/src/fsfw_hal/linux/UnixFileGuard.h
View File

@ -15,7 +15,7 @@ class UnixFileGuard {
static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
UnixFileGuard(std::string device, int* fileDescriptor, int flags,
UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
std::string diagnosticPrefix = "");
virtual ~UnixFileGuard();

27
hal/src/fsfw_hal/linux/gpio/Gpio.h Normal file
View File

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

7
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -280,7 +280,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -299,7 +299,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
if (gpioState == gpio::Levels::FAILED) {
return GPIO_GET_VALUE_FAILED;
}
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {

6
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -31,14 +31,16 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
static constexpr ReturnValue_t GPIO_INIT_FAILED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
// Will be returned if getting the line value failed. Error type will be set to errno in this case
static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7);
LinuxLibgpioIF(object_id_t objectId);
virtual ~LinuxLibgpioIF();
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
ReturnValue_t pullHigh(gpioId_t gpioId) override;
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
private:
static const size_t MAX_CHIPNAME_LENGTH = 11;

22
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
View File

@ -170,18 +170,20 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
int readLen = read(fd, replyBuffer, requestLen);
if (readLen != static_cast<int>(requestLen)) {
#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
<< "device failed with error code " << errno << ". Description"
<< " of error: " << strerror(errno) << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
<< " bytes" << std::endl;
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
if (readLen < 0) {
sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
<< "device failed with error code " << errno << " | " << strerror(errno)
<< std::endl;
} else {
sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
<< requestLen << " bytes" << std::endl;
}
#else
#endif
#endif
i2cDeviceMapIter->second.replyLen = 0;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}

54
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -15,8 +15,8 @@
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
: SystemObject(objectId), gpioComIF(gpioComIF) {
SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
: SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
if (gpioComIF == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -27,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
}
spiMutex = MutexFactory::instance()->createMutex();
csMutex = MutexFactory::instance()->createMutex();
}
ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
@ -85,8 +85,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
int fileDescriptor = 0;
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
@ -182,8 +181,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
int retval = 0;
/* Prepare transfer */
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
@ -199,7 +197,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
/* Pull SPI CS low. For now, no support for active high given */
if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
result = csMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -210,6 +208,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
#endif
return result;
}
updateLinePolarity(fileDescriptor);
ReturnValue_t result = gpioComIF->pullLow(gpioId);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
@ -221,6 +220,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
#endif
return result;
}
} else {
updateLinePolarity(fileDescriptor);
}
/* Execute transfer */
@ -250,7 +251,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
result = csMutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
@ -278,9 +279,8 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
@ -294,7 +294,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
gpioId_t gpioId = spiCookie->getChipSelectPin();
if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
result = csMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
@ -317,7 +317,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
result = csMutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
@ -353,7 +353,7 @@ MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeout
if (timeoutMs != nullptr) {
*timeoutMs = this->timeoutMs;
}
return spiMutex;
return csMutex;
}
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
@ -401,11 +401,29 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
// This updates the SPI clock default polarity. Only setting the mode does not update
// the line state, which can be an issue on mode switches because the clock line will
// switch the state after the chip select is pulled low
}
void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
uint8_t tmpMode = 0;
int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed");
}
mode = static_cast<spi::SpiModes>(tmpMode);
retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
}
}
const std::string& SpiComIF::getSpiDev() const {
return dev;
}
void SpiComIF::updateLinePolarity(int spiFd) {
clockUpdateTransfer.len = 0;
retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}

24
hal/src/fsfw_hal/linux/spi/SpiComIF.h
View File

@ -32,7 +32,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -59,6 +59,20 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
GpioIF* getGpioInterface();
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
/**
* This updates the SPI clock default polarity. Only setting the mode does not update
* the line state, which can be an issue on mode switches because the clock line will
* switch the state after the chip select is pulled low.
*
* It is recommended to call this function after #setSpiSpeedAndMode and after locking the
* CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
* @param spiFd
*/
void updateLinePolarity(int spiFd);
void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
const std::string& getSpiDev() const;
void performSpiWiretapping(SpiCookie* spiCookie);
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
@ -70,8 +84,12 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
};
GpioIF* gpioComIF = nullptr;
MutexIF* spiMutex = nullptr;
std::string dev = "";
/**
* Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
* pulled high
*/
MutexIF* csMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
spi_ioc_transfer clockUpdateTransfer = {};

29
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
View File

@ -1,26 +1,25 @@
#include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, nullptr, nullptr) {}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
: SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
nullptr, nullptr) {}
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
uint32_t spiSpeed)
: SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args)
: SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, callback, args) {}
: SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
callback, args) {}
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args)
: spiAddress(spiAddress),
chipSelectPin(chipSelect),
spiDevice(spiDev),
comIfMode(comIfMode),
maxSize(maxSize),
spiMode(spiMode),
@ -50,8 +49,6 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
address_t SpiCookie::getSpiAddress() const { return spiAddress; }
std::string SpiCookie::getSpiDevice() const { return spiDevice; }
void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }

17
hal/src/fsfw_hal/linux/spi/SpiCookie.h
View File

@ -29,23 +29,22 @@ class SpiCookie : public CookieIF {
* @param spiDev
* @param maxSize
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed);
SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
uint32_t spiSpeed);
/**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
* slave select or if CS logic is performed with decoders.
*/
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
spi::SpiModes spiMode, uint32_t spiSpeed);
SpiCookie(address_t spiAddress, const size_t maxReplySize, spi::SpiModes spiMode,
uint32_t spiSpeed);
/**
* Use the callback mode of the SPI communication interface. The user can pass the callback
* function here or by using the setter function #setCallbackMode
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
void* args);
SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
/**
* Get the callback function
@ -55,7 +54,6 @@ class SpiCookie : public CookieIF {
void getCallback(spi::send_callback_function_t* callback, void** args);
address_t getSpiAddress() const;
std::string getSpiDevice() const;
gpioId_t getChipSelectPin() const;
size_t getMaxBufferSize() const;
@ -154,12 +152,11 @@ class SpiCookie : public CookieIF {
* @param args
*/
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args);
address_t spiAddress;
gpioId_t chipSelectPin;
std::string spiDevice;
spi::SpiComIfModes comIfMode;

2
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -314,7 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
#endif // ! __APPLE__
#endif // ! __APPLE__
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

4
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -2,8 +2,8 @@
#include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
UartBaudRate baudrate, size_t maxReplyLen)
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
size_t maxReplyLen, UartModes uartMode)
: handlerId(handlerId),
deviceFile(deviceFile),
uartMode(uartMode),

4
hal/src/fsfw_hal/linux/uart/UartCookie.h
View File

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

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
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@ -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
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@ -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

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

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

12
tests/src/fsfw_tests/unit/version.cpp
View File

@ -10,12 +10,12 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") {
// Check that major version is non-zero
REQUIRE(fsfw::FSFW_VERSION.major > 0);
uint32_t fsfwMajor = fsfw::FSFW_VERSION.major;
REQUIRE(fsfw::Version(255, 0, 0) > fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(255, 0, 0) >= fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(0, 0, 0) < fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(0, 0, 0) <= fsfw::FSFW_VERSION);
fsfw::Version v1 = fsfw::Version(1, 1, 1);
fsfw::Version v2 = fsfw::Version(1, 1, 1);
REQUIRE(Version(255, 0, 0) > fsfw::FSFW_VERSION);
REQUIRE(Version(255, 0, 0) >= fsfw::FSFW_VERSION);
REQUIRE(Version(0, 0, 0) < fsfw::FSFW_VERSION);
REQUIRE(Version(0, 0, 0) <= fsfw::FSFW_VERSION);
Version v1 = Version(1, 1, 1);
Version v2 = Version(1, 1, 1);
REQUIRE(v1 == v2);
REQUIRE(not(v1 < v2));
REQUIRE(not(v1 > v2));