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Merge branch 'development' into mueller/host-cmake-improvements

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This commit is contained in:
Steffen Gaisser 2020-12-22 15:21:34 +01:00
commit 041aaf01db
32 changed files with 621 additions and 545 deletions
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5
datapool/PoolDataSetBase.cpp
View File

@ -59,6 +59,11 @@ uint16_t PoolDataSetBase::getFillCount() const {
ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(registeredVariables[count] == nullptr) {
// configuration error.
return HasReturnvaluesIF::RETURN_FAILED;
}
// These checks are often performed by the respective
// variable implementation too, but I guess a double check does not hurt.
if (registeredVariables[count]->getReadWriteMode() !=

2
datapoollocal/LocalDataPoolManager.h
View File

@ -48,7 +48,7 @@ class HousekeepingPacketUpdate;
* @author R. Mueller
*/
class LocalDataPoolManager {
template<typename T> friend class LocalPoolVar;
template<typename T> friend class LocalPoolVariable;
template<typename T, uint16_t vecSize> friend class LocalPoolVector;
friend class LocalPoolDataSetBase;
friend void (Factory::setStaticFrameworkObjectIds)();

50
datapoollocal/LocalPoolVariable.h
View File

@ -22,10 +22,10 @@
* @ingroup data_pool
*/
template<typename T>
class LocalPoolVar: public LocalPoolObjectBase {
class LocalPoolVariable: public LocalPoolObjectBase {
public:
//! Default ctor is forbidden.
LocalPoolVar() = delete;
LocalPoolVariable() = delete;
/**
* This constructor is used by the data creators to have pool variable
@ -43,7 +43,7 @@ public:
* If nullptr, the variable is not registered.
* @param setReadWriteMode Specify the read-write mode of the pool variable.
*/
LocalPoolVar(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
@ -64,7 +64,7 @@ public:
* @param setReadWriteMode Specify the read-write mode of the pool variable.
*
*/
LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
/**
@ -73,10 +73,10 @@ public:
* @param dataSet
* @param setReadWriteMode
*/
LocalPoolVar(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
virtual~ LocalPoolVar() {};
virtual~ LocalPoolVariable() {};
/**
* @brief This is the local copy of the data pool entry.
@ -118,23 +118,23 @@ public:
ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
LocalPoolVar<T> &operator=(const T& newValue);
LocalPoolVar<T> &operator=(const LocalPoolVar<T>& newPoolVariable);
LocalPoolVariable<T> &operator=(const T& newValue);
LocalPoolVariable<T> &operator=(const LocalPoolVariable<T>& newPoolVariable);
//! Explicit type conversion operator. Allows casting the class to
//! its template type to perform operations on value.
explicit operator T() const;
bool operator==(const LocalPoolVar<T>& other) const;
bool operator==(const LocalPoolVariable<T>& other) const;
bool operator==(const T& other) const;
bool operator!=(const LocalPoolVar<T>& other) const;
bool operator!=(const LocalPoolVariable<T>& other) const;
bool operator!=(const T& other) const;
bool operator<(const LocalPoolVar<T>& other) const;
bool operator<(const LocalPoolVariable<T>& other) const;
bool operator<(const T& other) const;
bool operator>(const LocalPoolVar<T>& other) const;
bool operator>(const LocalPoolVariable<T>& other) const;
bool operator>(const T& other) const;
protected:
@ -160,7 +160,7 @@ protected:
// std::ostream is the type for object std::cout
template <typename U>
friend std::ostream& operator<< (std::ostream &out,
const LocalPoolVar<U> &var);
const LocalPoolVariable<U> &var);
private:
};
@ -168,18 +168,18 @@ private:
#include "LocalPoolVariable.tpp"
template<class T>
using lp_var_t = LocalPoolVar<T>;
using lp_var_t = LocalPoolVariable<T>;
using lp_bool_t = LocalPoolVar<uint8_t>;
using lp_uint8_t = LocalPoolVar<uint8_t>;
using lp_uint16_t = LocalPoolVar<uint16_t>;
using lp_uint32_t = LocalPoolVar<uint32_t>;
using lp_uint64_t = LocalPoolVar<uint64_t>;
using lp_int8_t = LocalPoolVar<int8_t>;
using lp_int16_t = LocalPoolVar<int16_t>;
using lp_int32_t = LocalPoolVar<int32_t>;
using lp_int64_t = LocalPoolVar<int64_t>;
using lp_float_t = LocalPoolVar<float>;
using lp_double_t = LocalPoolVar<double>;
using lp_bool_t = LocalPoolVariable<uint8_t>;
using lp_uint8_t = LocalPoolVariable<uint8_t>;
using lp_uint16_t = LocalPoolVariable<uint16_t>;
using lp_uint32_t = LocalPoolVariable<uint32_t>;
using lp_uint64_t = LocalPoolVariable<uint64_t>;
using lp_int8_t = LocalPoolVariable<int8_t>;
using lp_int16_t = LocalPoolVariable<int16_t>;
using lp_int32_t = LocalPoolVariable<int32_t>;
using lp_int64_t = LocalPoolVariable<int64_t>;
using lp_float_t = LocalPoolVariable<float>;
using lp_double_t = LocalPoolVariable<double>;
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */

46
datapoollocal/LocalPoolVariable.tpp
View File

@ -6,32 +6,32 @@
#endif
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(HasLocalDataPoolIF* hkOwner,
inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T>
inline LocalPoolVar<T>::LocalPoolVar(gp_id_t globalPoolId, DataSetIF *dataSet,
inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF *dataSet,
pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode){}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
inline ReturnValue_t LocalPoolVariable<T>::read(dur_millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return readWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for read() call." << std::endl;
@ -53,14 +53,14 @@ inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
inline ReturnValue_t LocalPoolVariable<T>::commit(dur_millis_t lockTimeout) {
MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
lockTimeout);
return commitWithoutLock();
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
sif::debug << "LocalPoolVar: Invalid read write "
"mode for commit() call." << std::endl;
@ -81,88 +81,88 @@ inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer, size_t* size,
const size_t max_size, SerializeIF::Endianness streamEndianness) const {
return SerializeAdapter::serialize(&value,
buffer, size ,max_size, streamEndianness);
}
template<typename T>
inline size_t LocalPoolVar<T>::getSerializedSize() const {
inline size_t LocalPoolVariable<T>::getSerializedSize() const {
return SerializeAdapter::getSerializedSize(&value);
}
template<typename T>
inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
size_t* size, SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
}
template<typename T>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVar<T> &var) {
const LocalPoolVariable<T> &var) {
out << var.value;
return out;
}
template<typename T>
inline LocalPoolVar<T>::operator T() const {
inline LocalPoolVariable<T>::operator T() const {
return value;
}
template<typename T>
inline LocalPoolVar<T> & LocalPoolVar<T>::operator=(const T& newValue) {
inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(const T& newValue) {
value = newValue;
return *this;
}
template<typename T>
inline LocalPoolVar<T>& LocalPoolVar<T>::operator =(
const LocalPoolVar<T>& newPoolVariable) {
inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
const LocalPoolVariable<T>& newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
template<typename T>
inline bool LocalPoolVar<T>::operator ==(const LocalPoolVar<T> &other) const {
inline bool LocalPoolVariable<T>::operator ==(const LocalPoolVariable<T> &other) const {
return this->value == other.value;
}
template<typename T>
inline bool LocalPoolVar<T>::operator ==(const T &other) const {
inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
return this->value == other;
}
template<typename T>
inline bool LocalPoolVar<T>::operator !=(const LocalPoolVar<T> &other) const {
inline bool LocalPoolVariable<T>::operator !=(const LocalPoolVariable<T> &other) const {
return not (*this == other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator !=(const T &other) const {
inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
return not (*this == other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator <(const LocalPoolVar<T> &other) const {
inline bool LocalPoolVariable<T>::operator <(const LocalPoolVariable<T> &other) const {
return this->value < other.value;
}
template<typename T>
inline bool LocalPoolVar<T>::operator <(const T &other) const {
inline bool LocalPoolVariable<T>::operator <(const T &other) const {
return this->value < other;
}
template<typename T>
inline bool LocalPoolVar<T>::operator >(const LocalPoolVar<T> &other) const {
inline bool LocalPoolVariable<T>::operator >(const LocalPoolVariable<T> &other) const {
return not (*this < other);
}
template<typename T>
inline bool LocalPoolVar<T>::operator >(const T &other) const {
inline bool LocalPoolVariable<T>::operator >(const T &other) const {
return not (*this < other);
}

16
defaultcfg/fsfwconfig/FSFWConfig.h
View File

@ -15,12 +15,6 @@
//! Can be used to enable additional debugging printouts for developing the FSFW
#define FSFW_PRINT_VERBOSITY_LEVEL 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
@ -29,8 +23,8 @@
#if FSFW_OBJ_EVENT_TRANSLATION == 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#include "objects/translateObjects.h"
#include "events/translateEvents.h"
#else
#endif
@ -50,6 +44,12 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

4
defaultcfg/fsfwconfig/OBSWConfig.h
View File

@ -3,6 +3,10 @@
#include "OBSWVersion.h"
#include "objects/systemObjectList.h"
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
#ifdef __cplusplus
namespace config {
#endif

6
ipc/CommandMessageCleaner.cpp
View File

@ -1,4 +1,4 @@
#include "../ipc/CommandMessageCleaner.h"
#include "CommandMessageCleaner.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../health/HealthMessage.h"
@ -7,6 +7,7 @@
#include "../monitoring/MonitoringMessage.h"
#include "../subsystem/modes/ModeSequenceMessage.h"
#include "../tmstorage/TmStoreMessage.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../parameters/ParameterMessage.h"
void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
@ -38,6 +39,9 @@ void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
case messagetypes::PARAMETER:
ParameterMessage::clear(message);
break;
case messagetypes::HOUSEKEEPING:
HousekeepingMessage::clear(message);
break;
default:
messagetypes::clearMissionMessage(message);
break;

2
ipc/MessageQueueMessageIF.h
View File

@ -1,7 +1,7 @@
#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
#include "messageQueueDefinitions.h"
#include <cstddef>
#include <cstdint>

6
ipc/MutexFactory.h
View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_IPC_MUTEXFACTORY_H_
#define FRAMEWORK_IPC_MUTEXFACTORY_H_
#ifndef FSFW_IPC_MUTEXFACTORY_H_
#define FSFW_IPC_MUTEXFACTORY_H_
#include "MutexIF.h"
/**
@ -31,4 +31,4 @@ private:
#endif /* FRAMEWORK_IPC_MUTEXFACTORY_H_ */
#endif /* FSFW_IPC_MUTEXFACTORY_H_ */

4
ipc/MutexHelper.h
View File

@ -16,8 +16,8 @@ public:
<< timeoutMs << " milliseconds!" << std::endl;
}
else if(status != HasReturnvaluesIF::RETURN_OK){
sif::error << "MutexHelper: Lock of Mutex failed with code " <<
status << std::endl;
sif::error << "MutexHelper: Lock of Mutex failed with code "
<< status << std::endl;
}
}

2
monitoring/MonitorBase.h
View File

@ -72,7 +72,7 @@ protected:
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolVar<T> poolVariable;
LocalPoolVariable<T> poolVariable;
};
#endif /* FSFW_MONITORING_MONITORBASE_H_ */

2
osal/linux/BinarySemaphore.cpp
View File

@ -1,4 +1,4 @@
#include "../../osal/linux/BinarySemaphore.h"
#include "BinarySemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
extern "C" {

14
osal/linux/Clock.cpp
View File

@ -76,25 +76,25 @@ timeval Clock::getUptime() {
ReturnValue_t Clock::getUptime(timeval* uptime) {
//TODO This is not posix compatible and delivers only seconds precision
// is the OS not called Linux?
//Linux specific file read but more precise
// Linux specific file read but more precise.
double uptimeSeconds;
if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
uptime->tv_sec = uptimeSeconds;
uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
}
return HasReturnvaluesIF::RETURN_OK;
}
//TODO This is not posix compatible and delivers only seconds precision
// I suggest this is moved into another clock function which will
// deliver second precision later.
// Wait for new FSFW Clock function delivering seconds uptime.
//uint32_t Clock::getUptimeSeconds() {
// //TODO This is not posix compatible and delivers only seconds precision
// struct sysinfo sysInfo;
// int result = sysinfo(&sysInfo);
// if(result != 0){
// return HasReturnvaluesIF::RETURN_FAILED;
// }
// return sysInfo.uptime;
return HasReturnvaluesIF::RETURN_OK;
}
//}
ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
timeval uptime;

1
osal/linux/MessageQueue.cpp
View File

@ -3,6 +3,7 @@
#include "../../objectmanager/ObjectManagerIF.h"
#include <fstream>
#include <fcntl.h> /* For O_* constants */
#include <sys/stat.h> /* For mode constants */
#include <cstring>

5
osal/linux/Mutex.h
View File

@ -1,10 +1,9 @@
#ifndef OS_LINUX_MUTEX_H_
#define OS_LINUX_MUTEX_H_
#ifndef FSFW_OSAL_LINUX_MUTEX_H_
#define FSFW_OSAL_LINUX_MUTEX_H_
#include "../../ipc/MutexIF.h"
#include <pthread.h>
class Mutex : public MutexIF {
public:
Mutex();

3
osal/linux/MutexFactory.cpp
View File

@ -1,6 +1,7 @@
#include "../../ipc/MutexFactory.h"
#include "Mutex.h"
#include "../../ipc/MutexFactory.h"
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
MutexFactory* MutexFactory::factoryInstance = new MutexFactory();

10
osal/linux/PosixThread.cpp
View File

@ -1,5 +1,7 @@
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "PosixThread.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
#include <errno.h>
@ -149,8 +151,10 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
if(status != 0){
sif::error << "Posix Thread attribute setStack failed with: " <<
strerror(status) << std::endl;
sif::error << "PosixThread::createTask: pthread_attr_setstack "
" failed with: " << strerror(status) << std::endl;
sif::error << "Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size." << std::endl;
}
status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);

3
osal/linux/SemaphoreFactory.cpp
View File

@ -1,6 +1,7 @@
#include "../../tasks/SemaphoreFactory.h"
#include "BinarySemaphore.h"
#include "CountingSemaphore.h"
#include "../../tasks/SemaphoreFactory.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;

1
osal/linux/TaskFactory.cpp
View File

@ -1,5 +1,6 @@
#include "FixedTimeslotTask.h"
#include "PeriodicPosixTask.h"
#include "../../tasks/TaskFactory.h"
#include "../../returnvalues/HasReturnvaluesIF.h"

3
osal/linux/Timer.cpp
View File

@ -1,6 +1,7 @@
#include "Timer.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <errno.h>
#include "Timer.h"
Timer::Timer() {
sigevent sigEvent;

295
pus/Service3Housekeeping.cpp Normal file
View File

@ -0,0 +1,295 @@
#include "Service3Housekeeping.h"
#include "servicepackets/Service3Packets.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid,
uint8_t serviceId):
CommandingServiceBase(objectId, apid, serviceId,
NUM_OF_PARALLEL_COMMANDS, COMMAND_TIMEOUT_SECONDS) {}
Service3Housekeeping::~Service3Housekeeping() {}
ReturnValue_t Service3Housekeeping::isValidSubservice(uint8_t subservice) {
switch(static_cast<Subservice>(subservice)) {
case Subservice::ENABLE_PERIODIC_HK_REPORT_GENERATION:
case Subservice::DISABLE_PERIODIC_HK_REPORT_GENERATION:
case Subservice::ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
case Subservice::DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
case Subservice::REPORT_HK_REPORT_STRUCTURES:
case Subservice::REPORT_DIAGNOSTICS_REPORT_STRUCTURES :
case Subservice::GENERATE_ONE_PARAMETER_REPORT:
case Subservice::GENERATE_ONE_DIAGNOSTICS_REPORT:
case Subservice::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL:
case Subservice::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL:
return HasReturnvaluesIF::RETURN_OK;
// Telemetry or invalid subservice.
case Subservice::HK_DEFINITIONS_REPORT:
case Subservice::DIAGNOSTICS_DEFINITION_REPORT:
case Subservice::HK_REPORT:
case Subservice::DIAGNOSTICS_REPORT:
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service3Housekeeping::getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen,
MessageQueueId_t *id, object_id_t *objectId) {
ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
if(result != RETURN_OK) {
return result;
}
return checkInterfaceAndAcquireMessageQueue(id,objectId);
}
ReturnValue_t Service3Housekeeping::checkAndAcquireTargetID(
object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
if(SerializeAdapter::deSerialize(objectIdToSet, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG) != HasReturnvaluesIF::RETURN_OK) {
return CommandingServiceBase::INVALID_TC;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check HasLocalDataPoolIF property of target
HasLocalDataPoolIF* possibleTarget =
objectManager->get<HasLocalDataPoolIF>(*objectId);
if(possibleTarget == nullptr){
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) {
switch(static_cast<Subservice>(subservice)) {
case Subservice::ENABLE_PERIODIC_HK_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, true, false,
tcData, tcDataLen);
case Subservice::DISABLE_PERIODIC_HK_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, false, false,
tcData, tcDataLen);
case Subservice::ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, true, true,
tcData, tcDataLen);
case Subservice::DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, false, true,
tcData, tcDataLen);
case Subservice::REPORT_HK_REPORT_STRUCTURES:
return prepareStructureReportingCommand(message, objectId, false, tcData,
tcDataLen);
case Subservice::REPORT_DIAGNOSTICS_REPORT_STRUCTURES:
return prepareStructureReportingCommand(message, objectId, true, tcData,
tcDataLen);
case Subservice::GENERATE_ONE_PARAMETER_REPORT:
return prepareOneShotReportCommand(message, objectId, false,
tcData, tcDataLen);
case Subservice::GENERATE_ONE_DIAGNOSTICS_REPORT:
return prepareOneShotReportCommand(message, objectId, true,
tcData, tcDataLen);
case Subservice::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL:
return prepareCollectionIntervalModificationCommand(message, objectId,
false, tcData, tcDataLen);
case Subservice::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL:
return prepareCollectionIntervalModificationCommand(message, objectId,
true, tcData, tcDataLen);
case Subservice::HK_DEFINITIONS_REPORT:
case Subservice::DIAGNOSTICS_DEFINITION_REPORT:
case Subservice::HK_REPORT:
case Subservice::DIAGNOSTICS_REPORT:
// Those are telemetry packets.
return CommandingServiceBase::INVALID_TC;
default:
// should never happen, subservice was already checked.
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareReportingTogglingCommand(
CommandMessage *command, object_id_t objectId,
bool enableReporting, bool isDiagnostics,
const uint8_t* tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setToggleReportingCommand(command, targetSid,
enableReporting, isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareStructureReportingCommand(
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t* tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setStructureReportingCommand(command, targetSid,
isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareOneShotReportCommand(
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t *tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setOneShotReportCommand(command, targetSid,
isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareCollectionIntervalModificationCommand(
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t *tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t) + sizeof(float)) {
// SID plus the size of the new collection intervL.
return CommandingServiceBase::INVALID_TC;
}
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
float newCollectionInterval = 0;
SerializeAdapter::deSerialize(&newCollectionInterval, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
HousekeepingMessage::setCollectionIntervalModificationCommand(command,
targetSid, newCollectionInterval, isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) {
Command_t command = reply->getCommand();
switch(command) {
case(HousekeepingMessage::HK_REPORT): {
ReturnValue_t result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::HK_REPORT));
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::DIAGNOSTICS_REPORT): {
ReturnValue_t result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::DIAGNOSTICS_REPORT));
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::HK_DEFINITIONS_REPORT): {
return generateHkReply(reply, static_cast<uint8_t>(
Subservice::HK_DEFINITIONS_REPORT));
break;
}
case(HousekeepingMessage::DIAGNOSTICS_DEFINITION_REPORT): {
return generateHkReply(reply, static_cast<uint8_t>(
Subservice::DIAGNOSTICS_DEFINITION_REPORT));
break;
}
case(HousekeepingMessage::HK_REQUEST_SUCCESS): {
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::HK_REQUEST_FAILURE): {
failureParameter1 = objectId;
ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED;
HousekeepingMessage::getHkRequestFailureReply(reply,&error);
failureParameter2 = error;
return CommandingServiceBase::EXECUTION_COMPLETE;
}
default:
sif::error << "Service3Housekeeping::handleReply: Invalid reply with "
<< "reply command " << command << "!" << std::endl;
return CommandingServiceBase::INVALID_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
}
void Service3Housekeeping::handleUnrequestedReply(
CommandMessage* reply) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
Command_t command = reply->getCommand();
switch(command) {
case(HousekeepingMessage::DIAGNOSTICS_REPORT): {
result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::DIAGNOSTICS_REPORT));
break;
}
case(HousekeepingMessage::HK_REPORT): {
result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::HK_REPORT));
break;
}
default:
sif::error << "Service3Housekeeping::handleUnrequestedReply: Invalid "
<< "reply with " << "reply command " << command << "!"
<< std::endl;
return;
}
if(result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
sif::debug << "Service3Housekeeping::handleUnrequestedReply:"
<< "Could not generate reply!" << std::endl;
}
}
MessageQueueId_t Service3Housekeeping::getHkQueue() const {
return commandQueue->getId();
}
ReturnValue_t Service3Housekeeping::generateHkReply(
const CommandMessage* hkMessage, uint8_t subserviceId) {
store_address_t storeId;
sid_t sid = HousekeepingMessage::getHkDataReply(hkMessage, &storeId);
auto resultPair = IPCStore->getData(storeId);
if(resultPair.first != HasReturnvaluesIF::RETURN_OK) {
return resultPair.first;
}
HkPacket hkPacket(sid, resultPair.second.data(), resultPair.second.size());
return sendTmPacket(static_cast<uint8_t>(subserviceId),
hkPacket.hkData, hkPacket.hkSize, nullptr, 0);
}
sid_t Service3Housekeeping::buildSid(object_id_t objectId,
const uint8_t** tcData, size_t* tcDataLen) {
sid_t targetSid;
targetSid.objectId = objectId;
// skip deserialization of object ID, was already done.
*tcData += sizeof(object_id_t);
*tcDataLen -= sizeof(object_id_t);
// size check is expected to be performed beforehand!
SerializeAdapter::deSerialize(&targetSid.ownerSetId, tcData, tcDataLen,
SerializeIF::Endianness::BIG);
return targetSid;
}

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#ifndef FSFW_PUS_SERVICE3HOUSEKEEPINGSERVICE_H_
#define FSFW_PUS_SERVICE3HOUSEKEEPINGSERVICE_H_
#include "../housekeeping/AcceptsHkPacketsIF.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../tmtcservices/CommandingServiceBase.h"
/**
* @brief Manges spacecraft housekeeping reports and
* sends pool variables (temperature, GPS data ...) to ground.
*
* @details Full Documentation: ECSS-E70-41A or ECSS-E-ST-70-41C.
* Implementation based on PUS-C
*
* The housekeeping service type provides means to control and adapt the
* spacecraft reporting plan according to the mission phases.
* The housekeeping service type provides the visibility of any
* on-board parameters assembled in housekeeping parameter report structures
* or diagnostic parameter report structures as required for the mission.
* The parameter report structures used by the housekeeping service can
* be predefined on-board or created when needed.
*
* @author R. Mueller
* @ingroup pus_services
*/
class Service3Housekeeping: public CommandingServiceBase,
public AcceptsHkPacketsIF {
public:
static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId);
virtual~ Service3Housekeeping();
protected:
/* CSB abstract functions implementation . See CSB documentation. */
ReturnValue_t isValidSubservice(uint8_t subservice) override;
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) override;
ReturnValue_t prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) override;
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
virtual MessageQueueId_t getHkQueue() const;
private:
enum class Subservice {
ENABLE_PERIODIC_HK_REPORT_GENERATION = 5, //!< [EXPORT] : [TC]
DISABLE_PERIODIC_HK_REPORT_GENERATION = 6, //!< [EXPORT] : [TC]
ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION = 7, //!< [EXPORT] : [TC]
DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION = 8, //!< [EXPORT] : [TC]
//! [EXPORT] : [TC] Report HK structure by supplying SID
REPORT_HK_REPORT_STRUCTURES = 9,
//! [EXPORT] : [TC] Report Diagnostics structure by supplying SID
REPORT_DIAGNOSTICS_REPORT_STRUCTURES = 11,
//! [EXPORT] : [TM] Report corresponding to Subservice 9 TC
HK_DEFINITIONS_REPORT = 10,
//! [EXPORT] : [TM] Report corresponding to Subservice 11 TC
DIAGNOSTICS_DEFINITION_REPORT = 12,
//! [EXPORT] : [TM] Core packet. Contains Housekeeping data
HK_REPORT = 25,
//! [EXPORT] : [TM] Core packet. Contains diagnostics data
DIAGNOSTICS_REPORT = 26,
/* PUS-C */
GENERATE_ONE_PARAMETER_REPORT = 27, //!< [EXPORT] : [TC]
GENERATE_ONE_DIAGNOSTICS_REPORT = 28, //!< [EXPORT] : [TC]
MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL = 31, //!< [EXPORT] : [TC]
MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL = 32, //!< [EXPORT] : [TC]
};
ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
ReturnValue_t generateHkReply(const CommandMessage* hkMessage,
uint8_t subserviceId);
ReturnValue_t prepareReportingTogglingCommand(CommandMessage* command,
object_id_t objectId, bool enableReporting, bool isDiagnostics,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t prepareStructureReportingCommand(CommandMessage* command,
object_id_t objectId, bool isDiagnostics, const uint8_t* tcData,
size_t tcDataLen);
ReturnValue_t prepareOneShotReportCommand(CommandMessage* command,
object_id_t objectId, bool isDiagnostics, const uint8_t* tcData,
size_t tcDataLen);
ReturnValue_t prepareCollectionIntervalModificationCommand(
CommandMessage* command, object_id_t objectId, bool isDiagnostics,
const uint8_t* tcData, size_t tcDataLen);
void handleUnrequestedReply(CommandMessage* reply) override;
sid_t buildSid(object_id_t objectId, const uint8_t** tcData,
size_t* tcDataLen);
};
#endif /* FSFW_PUS_SERVICE3HOUSEKEEPINGSERVICE_H_ */

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#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE3PACKETS_H_
#define FSFW_PUS_SERVICEPACKETS_SERVICE3PACKETS_H_
#include <fsfw/housekeeping/HousekeepingMessage.h>
#include <cstdint>
/**
* @brief Subservices 25 and 26: TM packets
* @ingroup spacepackets
*/
class HkPacket { //!< [EXPORT] : [SUBSERVICE] 25, 26
public:
sid_t sid; //!< [EXPORT] : [COMMENT] Structure ID (SID) of housekeeping data.
const uint8_t* hkData; //!< [EXPORT] : [MAXSIZE] Deduced size
size_t hkSize; //!< [EXPORT] : [IGNORE]
HkPacket(sid_t sid, const uint8_t* data, size_t size):
sid(sid), hkData(data), hkSize(size) {}
};
#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE3PACKETS_H_ */

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#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
#define FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
#error Include LocalPool.h before LocalPool.tpp!
#endif
template<uint8_t NUMBER_OF_POOLS>
inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
const uint16_t element_sizes[NUMBER_OF_POOLS],
const uint16_t n_elements[NUMBER_OF_POOLS], bool registered,
bool spillsToHigherPools) :
SystemObject(setObjectId, registered), internalErrorReporter(nullptr),
spillsToHigherPools(spillsToHigherPools)
{
for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
this->element_sizes[n] = element_sizes[n];
this->n_elements[n] = n_elements[n];
store[n] = new uint8_t[n_elements[n] * element_sizes[n]];
size_list[n] = new uint32_t[n_elements[n]];
memset(store[n], 0x00, (n_elements[n] * element_sizes[n]));
//TODO checkme
memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
}
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::findEmpty(uint16_t pool_index,
uint16_t* element) {
ReturnValue_t status = DATA_STORAGE_FULL;
for (uint16_t foundElement = 0; foundElement < n_elements[pool_index];
foundElement++) {
if (size_list[pool_index][foundElement] == STORAGE_FREE) {
*element = foundElement;
status = RETURN_OK;
break;
}
}
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline void LocalPool<NUMBER_OF_POOLS>::write(store_address_t packet_id,
const uint8_t* data, size_t size) {
uint8_t* ptr;
uint32_t packet_position = getRawPosition(packet_id);
//check size? -> Not necessary, because size is checked before calling this function.
ptr = &store[packet_id.pool_index][packet_position];
memcpy(ptr, data, size);
size_list[packet_id.pool_index][packet_id.packet_index] = size;
}
//Returns page size of 0 in case store_index is illegal
template<uint8_t NUMBER_OF_POOLS>
inline uint32_t LocalPool<NUMBER_OF_POOLS>::getPageSize(uint16_t pool_index) {
if (pool_index < NUMBER_OF_POOLS) {
return element_sizes[pool_index];
} else {
return 0;
}
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getPoolIndex(
size_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex) {
for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
//debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " <<
// n << ", Element Size: " << element_sizes[n] << std::endl;
if (element_sizes[n] >= packet_size) {
*poolIndex = n;
return RETURN_OK;
}
}
return DATA_TOO_LARGE;
}
template<uint8_t NUMBER_OF_POOLS>
inline uint32_t LocalPool<NUMBER_OF_POOLS>::getRawPosition(
store_address_t packet_id) {
return packet_id.packet_index * element_sizes[packet_id.pool_index];
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
const uint32_t size, store_address_t* address, bool ignoreFault) {
ReturnValue_t status = getPoolIndex(size, &address->pool_index);
if (status != RETURN_OK) {
sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
<< " )::reserveSpace: Packet too large." << std::endl;
return status;
}
status = findEmpty(address->pool_index, &address->packet_index);
while (status != RETURN_OK && spillsToHigherPools) {
status = getPoolIndex(size, &address->pool_index, address->pool_index + 1);
if (status != RETURN_OK) {
//We don't find any fitting pool anymore.
break;
}
status = findEmpty(address->pool_index, &address->packet_index);
}
if (status == RETURN_OK) {
// if (getObjectId() == objects::IPC_STORE && address->pool_index >= 3) {
// debug << "Reserve: Pool: " << std::dec << address->pool_index <<
// " Index: " << address->packet_index << std::endl;
// }
size_list[address->pool_index][address->packet_index] = size;
} else {
if (!ignoreFault and internalErrorReporter != nullptr) {
internalErrorReporter->storeFull();
}
// error << "LocalPool( " << std::hex << getObjectId() << std::dec
// << " )::reserveSpace: Packet store is full." << std::endl;
}
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
delete[] store[n];
delete[] size_list[n];
}
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
store_address_t* storageId, const uint8_t* data, size_t size,
bool ignoreFault) {
ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
if (status == RETURN_OK) {
write(*storageId, data, size);
}
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
store_address_t* storageId, const size_t size,
uint8_t** p_data, bool ignoreFault) {
ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
if (status == RETURN_OK) {
*p_data = &store[storageId->pool_index][getRawPosition(*storageId)];
} else {
*p_data = NULL;
}
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ConstAccessorPair LocalPool<NUMBER_OF_POOLS>::getData(
store_address_t storeId) {
uint8_t* tempData = nullptr;
ConstStorageAccessor constAccessor(storeId, this);
ReturnValue_t status = modifyData(storeId, &tempData, &constAccessor.size_);
constAccessor.constDataPointer = tempData;
return ConstAccessorPair(status, std::move(constAccessor));
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(store_address_t storeId,
ConstStorageAccessor& storeAccessor) {
uint8_t* tempData = nullptr;
ReturnValue_t status = modifyData(storeId, &tempData, &storeAccessor.size_);
storeAccessor.assignStore(this);
storeAccessor.constDataPointer = tempData;
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
uint8_t* tempData = nullptr;
ReturnValue_t status = modifyData(packet_id, &tempData, size);
*packet_ptr = tempData;
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline AccessorPair LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t storeId) {
StorageAccessor accessor(storeId, this);
ReturnValue_t status = modifyData(storeId, &accessor.dataPointer,
&accessor.size_);
accessor.assignConstPointer();
return AccessorPair(status, std::move(accessor));
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t storeId, StorageAccessor& storeAccessor) {
storeAccessor.assignStore(this);
ReturnValue_t status = modifyData(storeId, &storeAccessor.dataPointer,
&storeAccessor.size_);
storeAccessor.assignConstPointer();
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
ReturnValue_t status = RETURN_FAILED;
if (packet_id.pool_index >= NUMBER_OF_POOLS) {
return ILLEGAL_STORAGE_ID;
}
if ((packet_id.packet_index >= n_elements[packet_id.pool_index])) {
return ILLEGAL_STORAGE_ID;
}
if (size_list[packet_id.pool_index][packet_id.packet_index]
!= STORAGE_FREE) {
uint32_t packet_position = getRawPosition(packet_id);
*packet_ptr = &store[packet_id.pool_index][packet_position];
*size = size_list[packet_id.pool_index][packet_id.packet_index];
status = RETURN_OK;
} else {
status = DATA_DOES_NOT_EXIST;
}
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
store_address_t packet_id) {
//if (getObjectId() == objects::IPC_STORE && packet_id.pool_index >= 3) {
// debug << "Delete: Pool: " << std::dec << packet_id.pool_index << " Index: "
// << packet_id.packet_index << std::endl;
//}
ReturnValue_t status = RETURN_OK;
uint32_t page_size = getPageSize(packet_id.pool_index);
if ((page_size != 0)
&& (packet_id.packet_index < n_elements[packet_id.pool_index])) {
uint16_t packet_position = getRawPosition(packet_id);
uint8_t* ptr = &store[packet_id.pool_index][packet_position];
memset(ptr, 0, page_size);
//Set free list
size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
} else {
//pool_index or packet_index is too large
sif::error << "LocalPool:deleteData failed." << std::endl;
status = ILLEGAL_STORAGE_ID;
}
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline void LocalPool<NUMBER_OF_POOLS>::clearStore() {
for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
//TODO checkme
memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
}
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(uint8_t* ptr,
size_t size, store_address_t* storeId) {
store_address_t localId;
ReturnValue_t result = ILLEGAL_ADDRESS;
for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
//Not sure if new allocates all stores in order. so better be careful.
if ((store[n] <= ptr) && (&store[n][n_elements[n]*element_sizes[n]]) > ptr) {
localId.pool_index = n;
uint32_t deltaAddress = ptr - store[n];
// Getting any data from the right "block" is ok.
// This is necessary, as IF's sometimes don't point to the first
// element of an object.
localId.packet_index = deltaAddress / element_sizes[n];
result = deleteData(localId);
//if (deltaAddress % element_sizes[n] != 0) {
// error << "Pool::deleteData: address not aligned!" << std::endl;
//}
break;
}
}
if (storeId != NULL) {
*storeId = localId;
}
return result;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter == nullptr){
return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;
}
//Check if any pool size is large than the maximum allowed.
for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
if (element_sizes[count] >= STORAGE_FREE) {
sif::error << "LocalPool::initialize: Pool is too large! "
"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
return StorageManagerIF::POOL_TOO_LARGE;
}
}
return RETURN_OK;
}
#endif /* FSFW_STORAGEMANAGER_LOCALPOOL_TPP_ */

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#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
#error Include PoolManager.h before PoolManager.tpp!
#endif
template<uint8_t NUMBER_OF_POOLS>
inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
const uint16_t element_sizes[NUMBER_OF_POOLS],
const uint16_t n_elements[NUMBER_OF_POOLS]) :
LocalPool<NUMBER_OF_POOLS>(setObjectId, element_sizes, n_elements, true) {
mutex = MutexFactory::instance()->createMutex();
}
template<uint8_t NUMBER_OF_POOLS>
inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
MutexFactory::instance()->deleteMutex(mutex);
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
const uint32_t size, store_address_t* address, bool ignoreFault) {
MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
address,ignoreFault);
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
store_address_t packet_id) {
// debug << "PoolManager( " << translateObject(getObjectId()) <<
// " )::deleteData from store " << packet_id.pool_index <<
// ". id is "<< packet_id.packet_index << std::endl;
MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
size_t size, store_address_t* storeId) {
MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
size, storeId);
return status;
}
template<uint8_t NUMBER_OF_POOLS>
inline void PoolManager<NUMBER_OF_POOLS>::setMutexTimeout(
uint32_t mutexTimeoutMs) {
this->mutexTimeout = mutexTimeoutMs;
}
#endif /* FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ */

56
unittest/core/CatchFactory.cpp Normal file
View File

@ -0,0 +1,56 @@
#include "CatchFactory.h"
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw/storagemanager/PoolManager.h>
/**
* @brief Produces system objects.
* @details
* Build tasks by using SystemObject Interface (Interface).
* Header files of all tasks must be included
* Please note that an object has to implement the system object interface
* if the interface validity is checked or retrieved later by using the
* get<TargetInterface>(object_id) function from the ObjectManagerIF.
*
* Framework objects are created first.
*
* @ingroup init
*/
void Factory::produce(void) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
{
PoolManager::LocalPoolConfig poolCfg = {
{100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
};
new PoolManager(objects::TC_STORE, poolCfg);
}
{
PoolManager::LocalPoolConfig poolCfg = {
{100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
};
new PoolManager(objects::TM_STORE, poolCfg);
}
{
PoolManager::LocalPoolConfig poolCfg = {
{100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
};
new PoolManager(objects::IPC_STORE, poolCfg);
}
}
void Factory::setStaticFrameworkObjectIds() {
}

6
unittest/testcfg/CatchFactory.h → unittest/core/CatchFactory.h
View File

@ -1,5 +1,5 @@
#ifndef FACTORY_H_
#define FACTORY_H_
#ifndef FSFW_CATCHFACTORY_H_
#define FSFW_CATCHFACTORY_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
@ -13,4 +13,4 @@ namespace Factory {
}
#endif /* FACTORY_H_ */
#endif /* FSFW_CATCHFACTORY_H_ */

7
unittest/core/CatchSetup.cpp
View File

@ -1,6 +1,5 @@
#include <fsfw/unittest/core/CatchFactory.h>
#include "CatchDefinitions.h"
#include "CatchFactory.h"
#include <testcfg/cdatapool/dataPoolInit.h>
#ifdef GCOV
@ -10,15 +9,11 @@
#include "../../objectmanager/ObjectManager.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../storagemanager/StorageManagerIF.h"
#include "../../datapool/DataPool.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
/* Global instantiations normally done in main.cpp */
/* Initialize Data Pool */
//namespace glob {
DataPool dataPool(datapool::dataPoolInit);
//}
namespace sif {

60
unittest/testcfg/CatchFactory.cpp
View File

@ -1,60 +0,0 @@
#include "CatchFactory.h"
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw/storagemanager/PoolManager.h>
/**
* @brief Produces system objects.
* @details
* Build tasks by using SystemObject Interface (Interface).
* Header files of all tasks must be included
* Please note that an object has to implement the system object interface
* if the interface validity is checked or retrieved later by using the
* get<TargetInterface>(object_id) function from the ObjectManagerIF.
*
* Framework objects are created first.
*
* @ingroup init
*/
void Factory::produce(void) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
{
static constexpr uint8_t NUMBER_OF_POOLS = 5;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
n_elements);
}
{
static constexpr uint8_t NUMBER_OF_POOLS = 5;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
n_elements);
}
{
static constexpr uint8_t NUMBER_OF_POOLS = 6;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
1024, 2048, 4096};
const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
n_elements);
}
}
void Factory::setStaticFrameworkObjectIds() {
}

43
unittest/testcfg/FSFWConfig.h
View File

@ -1,38 +1,30 @@
#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef>
#include <cstdint>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! Reduced printout to further decrease code size
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
#define FSFW_ENHANCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! Can be used to enable additional debugging printouts for developing the FSFW
#define FSFW_PRINT_VERBOSITY_LEVEL 0
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 0
//! If -DDEBUG is supplied in the build defines, there will be
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiles source files)
#if FSFW_OBJ_EVENT_TRANSLATION == 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#include "objects/translateObjects.h"
#include "events/translateEvents.h"
#else
#endif
@ -40,5 +32,24 @@
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
//! short timestamp.
static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 3;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

13
unittest/testcfg/Makefile-FSFW-Tests
View File

@ -15,7 +15,7 @@ SHELL = /bin/sh
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
# Unit Test can only be run on host machine for now (Linux)
FRAMEWORK_PATH = fsfw
FILE_ROOT = $(FRAMEWORK_PATH)/unittest
TEST_FILE_ROOT = $(FRAMEWORK_PATH)/unittest
BOARD = unittest
LINUX = 1
OS_FSFW = linux
@ -58,9 +58,10 @@ endif
UNIT_TEST = 1
# General folder paths
CONFIG_PATH = $(FILE_ROOT)/config
UNIT_TEST_PATH = $(FILE_ROOT)/tests
CORE_PATH = $(FILE_ROOT)/core
CONFIG_PATH = testcfg
# Core copy has to be copied as well.
CORE_PATH = core
UNIT_TEST_PATH = $(TEST_FILE_ROOT)/tests
# Output file basename
BASENAME = fsfw
@ -154,8 +155,8 @@ include $(S)/$(notdir $S).mk
endef
$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))
INCLUDES += $(FILE_ROOT)
INCLUDES += $(FILE_ROOT)/catch2/
INCLUDES += $(TEST_FILE_ROOT)
INCLUDES += $(TEST_FILE_ROOT)/catch2/
#-------------------------------------------------------------------------------
# Source Files

8
unittest/testcfg/testcfg.mk
View File

@ -6,11 +6,3 @@ CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
INCLUDES += $(CURRENTPATH)
INCLUDES += $(CURRENTPATH)/objects
INCLUDES += $(CURRENTPATH)/ipc
INCLUDES += $(CURRENTPATH)/pollingsequence
INCLUDES += $(CURRENTPATH)/returnvalues
INCLUDES += $(CURRENTPATH)/tmtc
INCLUDES += $(CURRENTPATH)/events
INCLUDES += $(CURRENTPATH)/devices
INCLUDES += $(CURRENTPATH)/cdatapool