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Merge branch 'mueller/master' of https://egit.irs.uni-stuttgart.de/KSat/fsfw into mueller/master

This commit is contained in:
Robin Müller 2021-03-03 22:45:57 +01:00
parent bff8d103ba 6580aa73bf
commit 041461a066
9 changed files with 142 additions and 125 deletions
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6
action/ActionHelper.cpp
View File

@ -43,10 +43,10 @@ void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, result);
ActionMessage::setCompletionReply(success, &reply, commandId, result);
queueToUse->sendMessage(reportTo, &reply);
}
@ -69,7 +69,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, result);
ActionMessage::setCompletionReply(true, &reply, actionId, result);
queueToUse->sendMessage(commandedBy, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {

4
action/ActionHelper.h
View File

@ -62,12 +62,12 @@ public:
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner to send a action completion message
*
* @param success Specify whether action was completed successfully or not.
* @param reportTo MessageQueueId_t to report the action completion message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void finish(MessageQueueId_t reportTo, ActionId_t commandId,
void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner if an action does report data.

7
action/ActionMessage.cpp
View File

@ -53,11 +53,12 @@ void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
message->setParameter2(data.raw);
}
void ActionMessage::setCompletionReply(CommandMessage* message,
void ActionMessage::setCompletionReply(bool success, CommandMessage* message,
ActionId_t fid, ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) {
if (success) {
message->setCommand(COMPLETION_SUCCESS);
} else {
}
else {
message->setCommand(COMPLETION_FAILED);
}
message->setParameter(fid);

8
action/ActionMessage.h
View File

@ -24,19 +24,23 @@ public:
static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
virtual ~ActionMessage();
static void setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters);
static ActionId_t getActionId(const CommandMessage* message );
static store_address_t getStoreId(const CommandMessage* message );
static store_address_t getStoreId(const CommandMessage* message);
static void setStepReply(CommandMessage* message, ActionId_t fid,
uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message );
static ReturnValue_t getReturnCode(const CommandMessage* message );
static void setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid,
static void setCompletionReply(bool success, CommandMessage* message, ActionId_t fid,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message);
};

2
action/SimpleActionHelper.cpp
View File

@ -62,7 +62,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
stepCount++;
break;
case HasActionsIF::EXECUTION_FINISHED:
ActionMessage::setCompletionReply(&reply, actionId,
ActionMessage::setCompletionReply(true, &reply, actionId,
HasReturnvaluesIF::RETURN_OK);
queueToUse->sendMessage(commandedBy, &reply);
break;

8
devicehandlers/DeviceHandlerBase.cpp
View File

@ -558,7 +558,7 @@ void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
if (cookieInfo.pendingCommand->second.sendReplyTo != NO_COMMANDER) {
MessageQueueId_t queueId = cookieInfo.pendingCommand->second.sendReplyTo;
if (status == NO_REPLY_EXPECTED) {
actionHelper.finish(queueId, cookieInfo.pendingCommand->first,
actionHelper.finish(true, queueId, cookieInfo.pendingCommand->first,
RETURN_OK);
} else {
actionHelper.step(1, queueId, cookieInfo.pendingCommand->first,
@ -581,7 +581,11 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
// Check if it was transition or internal command.
// Don't send any replies in that case.
if (info->sendReplyTo != NO_COMMANDER) {
actionHelper.finish(info->sendReplyTo, iter->first, status);
bool success = false;
if(status == HasReturnvaluesIF::RETURN_OK) {
success = true;
}
actionHelper.finish(success, info->sendReplyTo, iter->first, status);
}
info->isExecuting = false;
}

214
osal/FreeRTOS/Clock.cpp
View File

@ -16,56 +16,56 @@ uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = nullptr;
uint32_t Clock::getTicksPerSecond(void) {
return 1000;
return 1000;
}
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
timeval time_timeval;
timeval time_timeval;
ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK){
return result;
}
ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK){
return result;
}
return setClock(&time_timeval);
return setClock(&time_timeval);
}
ReturnValue_t Clock::setClock(const timeval* time) {
timeval uptime = getUptime();
timeval uptime = getUptime();
timeval offset = *time - uptime;
timeval offset = *time - uptime;
Timekeeper::instance()->setOffset(offset);
Timekeeper::instance()->setOffset(offset);
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getClock_timeval(timeval* time) {
timeval uptime = getUptime();
timeval uptime = getUptime();
timeval offset = Timekeeper::instance()->getOffset();
timeval offset = Timekeeper::instance()->getOffset();
*time = offset + uptime;
*time = offset + uptime;
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getUptime(timeval* uptime) {
*uptime = getUptime();
*uptime = getUptime();
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
timeval Clock::getUptime() {
TickType_t ticksSinceStart = xTaskGetTickCount();
return Timekeeper::ticksToTimeval(ticksSinceStart);
TickType_t ticksSinceStart = xTaskGetTickCount();
return Timekeeper::ticksToTimeval(ticksSinceStart);
}
ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
timeval uptime = getUptime();
*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
return HasReturnvaluesIF::RETURN_OK;
timeval uptime = getUptime();
*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
return HasReturnvaluesIF::RETURN_OK;
}
@ -76,129 +76,129 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
return HasReturnvaluesIF::RETURN_OK;
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
struct tm time_tm;
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
struct tm time_tm;
gmtime_r(&time_timeval.tv_sec,&time_tm);
gmtime_r(&time_timeval.tv_sec,&time_tm);
time->year = time_tm.tm_year + 1900;
time->month = time_tm.tm_mon + 1;
time->day = time_tm.tm_mday;
time->year = time_tm.tm_year + 1900;
time->month = time_tm.tm_mon + 1;
time->day = time_tm.tm_mday;
time->hour = time_tm.tm_hour;
time->minute = time_tm.tm_min;
time->second = time_tm.tm_sec;
time->hour = time_tm.tm_hour;
time->minute = time_tm.tm_min;
time->second = time_tm.tm_sec;
time->usecond = time_timeval.tv_usec;
time->usecond = time_timeval.tv_usec;
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
timeval* to) {
struct tm time_tm;
timeval* to) {
struct tm time_tm;
time_tm.tm_year = from->year - 1900;
time_tm.tm_mon = from->month - 1;
time_tm.tm_mday = from->day;
time_tm.tm_year = from->year - 1900;
time_tm.tm_mon = from->month - 1;
time_tm.tm_mday = from->day;
time_tm.tm_hour = from->hour;
time_tm.tm_min = from->minute;
time_tm.tm_sec = from->second;
time_tm.tm_hour = from->hour;
time_tm.tm_min = from->minute;
time_tm.tm_sec = from->second;
time_t seconds = mktime(&time_tm);
time_t seconds = mktime(&time_tm);
to->tv_sec = seconds;
to->tv_usec = from->usecond;
//Fails in 2038..
return HasReturnvaluesIF::RETURN_OK;
to->tv_sec = seconds;
to->tv_usec = from->usecond;
//Fails in 2038..
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::TimeoutType::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == NULL) {
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
if (timeMutex == NULL) {
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

16
timemanager/CCSDSTime.cpp
View File

@ -396,12 +396,20 @@ ReturnValue_t CCSDSTime::convertToCcsds(OBT_FLP* to, const timeval* from) {
ReturnValue_t CCSDSTime::convertFromCcsds(timeval* to, const uint8_t* from,
size_t* foundLength, size_t maxLength) {
//We don't expect ascii here. SHOULDDO
if(maxLength >= 19) {
Clock::TimeOfDay_t timeOfDay;
/* Try to parse it as ASCII */
ReturnValue_t result = convertFromASCII(&timeOfDay, from, maxLength);
if (result == RETURN_OK) {
return Clock::convertTimeOfDayToTimeval(&timeOfDay, to);
}
}
uint8_t codeIdentification = (*from >> 4);
switch (codeIdentification) {
//unsupported, as Leap second correction would have to be applied
// case CUC_LEVEL1:
// return convertFromCUC(to, from, foundLength, maxLength);
/* Unsupported, as Leap second correction would have to be applied */
case CUC_LEVEL1:
return UNSUPPORTED_TIME_FORMAT;
case CDS:
return convertFromCDS(to, from, foundLength, maxLength);
case CCS:

2
unittest/tests/action/TestActionHelper.cpp
View File

@ -70,7 +70,7 @@ TEST_CASE( "Action Helper" , "[ActionHelper]") {
SECTION("Handle finish"){
CHECK(not testMqMock.wasMessageSent());
ReturnValue_t status = 0x9876;
actionHelper.finish(testMqMock.getId(), testActionId, status);
actionHelper.finish(true, testMqMock.getId(), testActionId, status);
CHECK(testMqMock.wasMessageSent());
CommandMessage testMessage;
REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));