Merge remote-tracking branch 'upstream/development' into develop

This commit is contained in:
Robin Müller 2023-02-07 12:14:31 +01:00
commit 06e30684fe
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18 changed files with 239 additions and 80 deletions

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@ -12,8 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Fixes ## Fixes
- Bugfix for RM3100 MGM sensors. Z value was previously calculated - HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
with bytes of the X value. only the X scaling factor was used.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
to false correctly because the `read` and `write` calls were missing. to false correctly because the `read` and `write` calls were missing.
- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
@ -40,6 +41,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Added ## Added
- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice. - `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
option on the TCP server. CTOR prototype has changed and expects an explicit
TCP configuration struct to be passed.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
- `DleParser` helper class to parse DLE encoded packets from a byte stream. - `DleParser` helper class to parse DLE encoded packets from a byte stream.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
- `UioMapper` is able to resolve symlinks now. - `UioMapper` is able to resolve symlinks now.

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@ -1,48 +1,90 @@
pipeline { pipeline {
environment { environment {
BUILDDIR = 'cmake-build-tests' BUILDDIR_HOST = 'cmake-build-tests-host'
BUILDDIR_LINUX = 'cmake-build-tests-linux'
DOCDDIR = 'cmake-build-documentation' DOCDDIR = 'cmake-build-documentation'
} }
agent { agent {
docker { docker {
image 'fsfw-ci:d6' image 'fsfw-ci:d6'
args '--network host' args '--network host --sysctl fs.mqueue.msg_max=100'
} }
} }
stages { stages {
stage('Host') {
stages{
stage('Clean') { stage('Clean') {
steps { steps {
sh 'rm -rf $BUILDDIR' sh 'rm -rf $BUILDDIR_HOST'
} }
} }
stage('Configure') { stage('Configure') {
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR_HOST) {
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..' sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
} }
} }
} }
stage('Build') { stage('Build') {
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR_HOST) {
sh 'cmake --build . -j4' sh 'cmake --build . -j4'
} }
} }
} }
stage('Unittests') { stage('Unittests') {
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR_HOST) {
sh 'cmake --build . -- fsfw-tests_coverage -j4' sh 'cmake --build . -- fsfw-tests_coverage -j4'
} }
} }
} }
stage('Valgrind') { stage('Valgrind') {
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR_HOST) {
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
} }
} }
} }
}
}
stage('Linux') {
stages{
stage('Clean') {
steps {
sh 'rm -rf $BUILDDIR_LINUX'
}
}
stage('Configure') {
steps {
dir(BUILDDIR_LINUX) {
sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
}
}
}
stage('Build') {
steps {
dir(BUILDDIR_LINUX) {
sh 'cmake --build . -j4'
}
}
}
stage('Unittests') {
steps {
dir(BUILDDIR_LINUX) {
sh 'cmake --build . -- fsfw-tests_coverage -j4'
}
}
}
stage('Valgrind') {
steps {
dir(BUILDDIR_LINUX) {
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
}
}
}
}
}
stage('Documentation') { stage('Documentation') {
when { when {
branch 'development' branch 'development'

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@ -24,6 +24,7 @@ EventManager::EventManager(object_id_t setObjectId)
} }
EventManager::~EventManager() { EventManager::~EventManager() {
listenerList.clear();
QueueFactory::instance()->deleteMessageQueue(eventReportQueue); QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
MutexFactory::instance()->deleteMutex(mutex); MutexFactory::instance()->deleteMutex(mutex);
} }
@ -73,9 +74,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
if (!result.second) { if (!result.second) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
}
ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) { ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
return subscribeToEventRange(listener, event); return subscribeToEventRange(listener, event);
} }

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@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
MessageQueueId_t getEventReportQueue(); MessageQueueId_t getEventReportQueue();
ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false); ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event); ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object); ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0, ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,

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@ -18,6 +18,7 @@ class EventManagerIF {
virtual ReturnValue_t registerListener(MessageQueueId_t listener, virtual ReturnValue_t registerListener(MessageQueueId_t listener,
bool forwardAllButSelected = false) = 0; bool forwardAllButSelected = false) = 0;
virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0; virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0; virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0; virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;

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@ -24,7 +24,7 @@ FailureIsolationBase::~FailureIsolationBase() {
#endif #endif
return; return;
} }
manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId); manager->unregisterListener(eventQueue->getId());
QueueFactory::instance()->deleteMessageQueue(eventQueue); QueueFactory::instance()->deleteMessageQueue(eventQueue);
} }

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@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
MatchTree(iterator root, uint8_t maxDepth = -1) MatchTree(iterator root, uint8_t maxDepth = -1)
: BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {} : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {} MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
virtual ~MatchTree() {} virtual ~MatchTree() { clear(); }
virtual bool match(T number) override { return matchesTree(number); } virtual bool match(T number) override { return matchesTree(number); }
bool matchesTree(T number) { bool matchesTree(T number) {
iterator iter = this->begin(); iterator iter = this->begin();
@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
return cleanUpElement(position); return cleanUpElement(position);
} }
void clear() {
Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
if (localRoot == nullptr) {
return;
}
Node* node = localRoot->left;
while (true) {
if (node->left != nullptr) {
node = node->left;
continue;
}
if (node->right != nullptr) {
node = node->right;
continue;
}
if (node->parent == nullptr) {
// this is the root node with no children
if (node->value != nullptr) {
cleanUpElement(iterator(node));
}
return;
}
// leaf
{
Node* parent = node->parent;
if (parent->left == node) {
parent->left = nullptr;
} else {
parent->right = nullptr;
}
cleanUpElement(iterator(node));
node = parent;
}
}
}
virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; } virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }
bool matchSubtree(iterator iter, T number) { bool matchSubtree(iterator iter, T number) {

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@ -6,8 +6,6 @@
HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) { HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
;
mapIterator = healthMap.begin(); mapIterator = healthMap.begin();
} }

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@ -10,13 +10,17 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
poolManager(this, commandQueue), poolManager(this, commandQueue),
internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
internalErrorDataset(this) { internalErrorDataset(this) {
commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this)); auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
commandQueue = QueueFactory::instance()->createMessageQueue( commandQueue = QueueFactory::instance()->createMessageQueue(
messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); } InternalErrorReporter::~InternalErrorReporter() {
MutexFactory::instance()->deleteMutex(mutex);
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
void InternalErrorReporter::setDiagnosticPrintout(bool enable) { void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
this->diagnosticPrintout = enable; this->diagnosticPrintout = enable;

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@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
ObjectManager::ObjectManager() = default; ObjectManager::ObjectManager() = default;
void ObjectManager::clear() {
if (objManagerInstance != nullptr) {
delete objManagerInstance;
objManagerInstance = nullptr;
}
}
ObjectManager::~ObjectManager() { ObjectManager::~ObjectManager() {
for (auto const& iter : objectList) { teardown = true;
delete iter.second; for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
delete iter->second;
} }
} }
@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
} }
ReturnValue_t ObjectManager::remove(object_id_t id) { ReturnValue_t ObjectManager::remove(object_id_t id) {
// this function is called during destruction of System Objects
// disabeld for teardown to avoid iterator invalidation and
// double free
if (teardown) {
return returnvalue::OK;
}
if (this->getSystemObject(id) != nullptr) { if (this->getSystemObject(id) != nullptr) {
this->objectList.erase(id); this->objectList.erase(id);
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1

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@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
using produce_function_t = void (*)(void* args); using produce_function_t = void (*)(void* args);
/** /**
* Returns the single instance of TaskFactory. * Returns the single instance of ObjectManager.
* The implementation of #instance is found in its subclasses. * The implementation of #instance is found in its subclasses.
* Thus, we choose link-time variability of the instance. * Thus, we choose link-time variability of the instance.
*/ */
static ObjectManager* instance(); static ObjectManager* instance();
/**
* Deletes the single instance of ObjectManager
*/
static void clear();
void setObjectFactoryFunction(produce_function_t prodFunc, void* args); void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
template <typename T> template <typename T>
@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
*/ */
std::map<object_id_t, SystemObjectIF*> objectList; std::map<object_id_t, SystemObjectIF*> objectList;
static ObjectManager* objManagerInstance; static ObjectManager* objManagerInstance;
// used when the OM itself is deleted to modify behaviour of remove()
// to avoid iterator invalidation and double free
bool teardown = false;
}; };
// Documentation can be found in the class method declaration above // Documentation can be found in the class method declaration above

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@ -1,10 +1,13 @@
# Check the OS_FSFW variable # Check the OS_FSFW variable
if(FSFW_OSAL MATCHES "freertos") if(FSFW_OSAL MATCHES "freertos")
add_subdirectory(freertos) add_subdirectory(freertos)
set(FSFW_OSAL_FREERTOS 1)
elseif(FSFW_OSAL MATCHES "rtems") elseif(FSFW_OSAL MATCHES "rtems")
add_subdirectory(rtems) add_subdirectory(rtems)
set(FSFW_OSAL_RTEMS 1)
elseif(FSFW_OSAL MATCHES "linux") elseif(FSFW_OSAL MATCHES "linux")
add_subdirectory(linux) add_subdirectory(linux)
set(FSFW_OSAL_LINUX 1)
elseif(FSFW_OSAL MATCHES "host") elseif(FSFW_OSAL MATCHES "host")
add_subdirectory(host) add_subdirectory(host)
if(WIN32) if(WIN32)
@ -13,18 +16,20 @@ elseif(FSFW_OSAL MATCHES "host")
# We still need to pull in some Linux specific sources # We still need to pull in some Linux specific sources
target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp) target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
endif() endif()
set(FSFW_OSAL_HOST 1)
else() else()
message( message(
WARNING WARNING
"${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..") "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
# Not set. Assumuing this is a host build, try to determine host OS # Not set. Assumuing this is a host build, try to determine host OS
if(WIN32) if(WIN32)
add_subdirectory(host) add_subdirectory(host)
add_subdirectory(windows) add_subdirectory(windows)
set(FSFW_OSAL_HOST 1)
elseif(UNIX) elseif(UNIX)
add_subdirectory(linux) add_subdirectory(linux)
set(FSFW_OSAL_LINUX 1)
else() else()
# MacOS or other OSes have not been tested yet / are not supported. # MacOS or other OSes have not been tested yet / are not supported.
message(FATAL_ERROR "The host OS could not be determined! Aborting.") message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@ -33,3 +38,5 @@ else()
endif() endif()
add_subdirectory(common) add_subdirectory(common)
configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)

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@ -79,6 +79,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
*/ */
bool reusePort = false; bool reusePort = false;
}; };
enum class ReceptionModes { SPACE_PACKETS }; enum class ReceptionModes { SPACE_PACKETS };
static const std::string DEFAULT_SERVER_PORT; static const std::string DEFAULT_SERVER_PORT;

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@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
attributes.mq_msgsize = maxMessageSize; attributes.mq_msgsize = maxMessageSize;
attributes.mq_flags = 0; // Flags are ignored on Linux during mq_open attributes.mq_flags = 0; // Flags are ignored on Linux during mq_open
// Set the name of the queue. The slash is mandatory! // Set the name of the queue. The slash is mandatory!
sprintf(name, "/FSFW_MQ%u\n", queueCounter++); sprintf(name, "/FSFW_MQ%u", queueCounter++);
// Create a nonblocking queue if the name is available (the queue is read // Create a nonblocking queue if the name is available (the queue is read
// and writable for the owner as well as the group) // and writable for the owner as well as the group)

36
src/fsfw/osal/osal.h.in Normal file
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@ -0,0 +1,36 @@
#pragma once
namespace osal {
enum osalTarget{
HOST,
LINUX,
WINDOWS,
FREERTOS,
RTEMS,
};
#cmakedefine FSFW_OSAL_HOST
#cmakedefine FSFW_OSAL_LINUX
#cmakedefine FSFW_OSAL_WINDOWS
#cmakedefine FSFW_OSAL_FREERTOS
#cmakedefine FSFW_OSAL_RTEMS
constexpr osalTarget getTarget() {
#ifdef FSFW_OSAL_HOST
return HOST;
#endif
#ifdef FSFW_OSAL_LINUX
return LINUX;
#endif
#ifdef FSFW_OSAL_WINDOWS
return WINDOWS;
#endif
#ifdef FSFW_OSAL_FREERTOS
return FREERTOS;
#endif
#ifdef FSFW_OSAL_RTEMS
return RTEMS;
#endif
}
};

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@ -31,4 +31,7 @@ int customSetup() {
return 0; return 0;
} }
int customTeardown() { return 0; } int customTeardown() {
ObjectManager::clear();
return 0;
}

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@ -9,7 +9,9 @@ DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
DeviceHandlerCommander::~DeviceHandlerCommander() {} DeviceHandlerCommander::~DeviceHandlerCommander() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) { ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
readCommandQueue(); readCommandQueue();

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@ -1,32 +1,28 @@
#include <fsfw/osal/osal.h>
#ifdef LINUX
/*
#include <fsfw/tasks/SemaphoreFactory.h> #include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/timemanager/Stopwatch.h> #include <fsfw/timemanager/Stopwatch.h>
#include "catch.hpp" #include <catch2/catch_test_macros.hpp>
#include "core/CatchDefinitions.h"
TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") { // binary semaphores currently only supported on linux
//perform set-up here #ifdef FSFW_OSAL_LINUX
SemaphoreIF* binSemaph = SemaphoreFactory::instance()->
createBinarySemaphore(); TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
// perform set-up here
SemaphoreIF* binSemaph = SemaphoreFactory::instance()->createBinarySemaphore();
REQUIRE(binSemaph != nullptr); REQUIRE(binSemaph != nullptr);
SECTION("Simple Test") { SECTION("Simple Test") {
// set-up is run for each section // set-up is run for each section
REQUIRE(binSemaph->getSemaphoreCounter() == 1); REQUIRE(binSemaph->getSemaphoreCounter() == 1);
REQUIRE(binSemaph->release() == REQUIRE(binSemaph->release() == static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED)); REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == returnvalue::OK);
REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) ==
returnvalue::OK);
{ {
// not precise enough on linux.. should use clock instead.. // not precise enough on linux.. should use clock instead..
//Stopwatch stopwatch(false); // Stopwatch stopwatch(false);
//REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) == // REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
// SemaphoreIF::SEMAPHORE_TIMEOUT); // SemaphoreIF::SEMAPHORE_TIMEOUT);
//dur_millis_t time = stopwatch.stop(); // dur_millis_t time = stopwatch.stop();
//CHECK(time == 5); // CHECK(time == 5);
} }
REQUIRE(binSemaph->getSemaphoreCounter() == 0); REQUIRE(binSemaph->getSemaphoreCounter() == 0);
REQUIRE(binSemaph->release() == returnvalue::OK); REQUIRE(binSemaph->release() == returnvalue::OK);
@ -35,12 +31,8 @@ TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") {
// perform tear-down here // perform tear-down here
} }
TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") {
TEST_CASE("Counting Semaphore Test" , "[CountingSemaph]") { SECTION("Simple Test") {}
SECTION("Simple Test") {
}
} }
*/
#endif #endif