Merge remote-tracking branch 'upstream/development' into mueller/power-switcher-component-upstream
This commit is contained in:
commit
171c48495c
64
CHANGELOG.md
64
CHANGELOG.md
|
|
@ -25,18 +25,41 @@ 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
|
||||
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
|
||||
- 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
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
|
||||
- Clock:
|
||||
- `timeval` to `TimeOfDay_t`
|
||||
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
|
||||
- Moved the statics used by Clock in ClockCommon.cpp to this file
|
||||
- Better check for leap seconds
|
||||
- Added Unittests for Clock (only getter)
|
||||
|
||||
### HAL
|
||||
|
||||
- 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
|
||||
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
|
||||
name clashes with Windows defines.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
|
||||
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
|
||||
|
||||
### Time
|
||||
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
|
||||
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
|
||||
|
||||
- `timeval` to `TimeOfDay_t`
|
||||
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
|
||||
- Moved the statics used by Clock in ClockCommon.cpp to this file
|
||||
- Better check for leap seconds
|
||||
- Added Unittests for Clock (only getter)
|
||||
|
||||
### Power
|
||||
|
||||
- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
|
||||
also specify a `ReturnValue_t` return type
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
|
||||
- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
|
||||
`turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
|
||||
|
||||
## Removed
|
||||
|
||||
|
|
@ -46,15 +69,40 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
|||
|
||||
## Additions
|
||||
|
||||
- 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.
|
||||
After some more research:
|
||||
Enabling LTO will actually cause the compiler to only produce thin LTO by adding
|
||||
`-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
|
||||
because if an application linking against the FSFW does not use LTO, there can be compile
|
||||
issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
|
||||
can be seen in the multiple CMake issues for it:
|
||||
- https://gitlab.kitware.com/cmake/cmake/-/issues/22913,
|
||||
- https://gitlab.kitware.com/cmake/cmake/-/issues/16808,
|
||||
- https://gitlab.kitware.com/cmake/cmake/-/issues/21696
|
||||
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
|
||||
- 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
|
||||
- Added ETL dependency and improved library dependency management
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
|
||||
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
|
||||
- New typedef for switcher type
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
|
||||
- `Subsystem`: New API to add table and sequence entries
|
||||
|
||||
## Fixed
|
||||
|
||||
- TCP TMTC Server: `MutexGuard` was not created properly in
|
||||
`TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
|
||||
- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
|
||||
Is not currently used right now but might be used in the future
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
|
||||
- Move some CMake directives further up top so they are not ignored
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
|
||||
- Small bugfix in STM32 HAL for SPI
|
||||
|
|
|
|||
|
|
@ -17,11 +17,12 @@ set(FSFW_REVISION 0)
|
|||
# Add the cmake folder so the FindSphinx module is found
|
||||
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
|
||||
|
||||
set(FSFW_ETL_LIB_NAME etl)
|
||||
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
|
||||
"ETL library major version requirement"
|
||||
"ETL library major version requirement"
|
||||
)
|
||||
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
|
||||
"ETL library exact version requirement"
|
||||
"ETL library exact version requirement"
|
||||
)
|
||||
set(FSFW_ETL_LINK_TARGET etl::etl)
|
||||
|
||||
|
|
@ -32,19 +33,28 @@ set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE
|
|||
"Catch2 library exact version requirement"
|
||||
)
|
||||
|
||||
set(FSFW_ETL_LIB_NAME etl)
|
||||
# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
|
||||
# for information which keeping this on by default is problematic
|
||||
option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
|
||||
if(FSFW_ENABLE_IPO)
|
||||
include(CheckIPOSupported)
|
||||
check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
|
||||
if(NOT IPO_SUPPORTED)
|
||||
message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
option(FSFW_GENERATE_SECTIONS
|
||||
"Generate function and data sections. Required to remove unused code" ON
|
||||
"Generate function and data sections. Required to remove unused code" ON
|
||||
)
|
||||
if(FSFW_GENERATE_SECTIONS)
|
||||
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
|
||||
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
|
||||
endif()
|
||||
|
||||
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
|
||||
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
|
||||
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
|
||||
endif()
|
||||
|
||||
option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
|
|
@ -71,6 +81,10 @@ set(FSFW_DUMMY_TGT fsfw-dummy)
|
|||
|
||||
add_library(${LIB_FSFW_NAME})
|
||||
|
||||
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
|
||||
set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
message(STATUS "Building the FSFW unittests in addition to the static library")
|
||||
# Check whether the user has already installed Catch2 first
|
||||
|
|
@ -95,6 +109,9 @@ if(FSFW_BUILD_UNITTESTS)
|
|||
|
||||
project(${FSFW_TEST_TGT} CXX C)
|
||||
add_executable(${FSFW_TEST_TGT})
|
||||
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
|
||||
set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
|
||||
endif()
|
||||
|
||||
if(FSFW_TESTS_GEN_COV)
|
||||
message(STATUS "Generating coverage data for the library")
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
#define FIXEDARRAYLIST_H_
|
||||
|
||||
#include <cmath>
|
||||
#include <limits>
|
||||
|
||||
#include "ArrayList.h"
|
||||
/**
|
||||
|
|
@ -9,10 +10,8 @@
|
|||
*/
|
||||
template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
|
||||
class FixedArrayList : public ArrayList<T, count_t> {
|
||||
#if !defined(_MSC_VER) && !defined(__clang__)
|
||||
static_assert(MAX_SIZE <= (std::pow(2, sizeof(count_t) * 8) - 1),
|
||||
static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
|
||||
"count_t is not large enough to hold MAX_SIZE");
|
||||
#endif
|
||||
private:
|
||||
T data[MAX_SIZE];
|
||||
|
||||
|
|
|
|||
|
|
@ -19,6 +19,8 @@
|
|||
#include <ws2tcpip.h>
|
||||
#elif defined(PLATFORM_UNIX)
|
||||
#include <netdb.h>
|
||||
|
||||
#include <utility>
|
||||
#endif
|
||||
|
||||
const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
|
||||
|
|
@ -29,7 +31,7 @@ TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
|
|||
: SystemObject(objectId),
|
||||
tmtcBridgeId(tmtcTcpBridge),
|
||||
receptionMode(receptionMode),
|
||||
tcpConfig(customTcpServerPort),
|
||||
tcpConfig(std::move(customTcpServerPort)),
|
||||
receptionBuffer(receptionBufferSize),
|
||||
ringBuffer(ringBufferSize, true) {}
|
||||
|
||||
|
|
@ -103,7 +105,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
|
|||
|
||||
TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
|
||||
|
||||
ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
|
||||
[[noreturn]] ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
|
||||
using namespace tcpip;
|
||||
// If a connection is accepted, the corresponding socket will be assigned to the new socket
|
||||
socket_t connSocket = 0;
|
||||
|
|
@ -138,7 +140,6 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
|
|||
closeSocket(connSocket);
|
||||
connSocket = 0;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
|
||||
|
|
@ -159,7 +160,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
|
|||
#endif
|
||||
|
||||
while (true) {
|
||||
int retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
|
||||
ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
|
||||
receptionBuffer.capacity(), tcpConfig.tcpFlags);
|
||||
if (retval == 0) {
|
||||
size_t availableReadData = ringBuffer.getAvailableReadData();
|
||||
|
|
@ -252,17 +253,17 @@ ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t pack
|
|||
return result;
|
||||
}
|
||||
|
||||
std::string TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
|
||||
const std::string& TcpTmTcServer::getTcpPort() const { return tcpConfig.tcpPort; }
|
||||
|
||||
void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
|
||||
this->validPacketIds = validPacketIds;
|
||||
void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds_) {
|
||||
this->validPacketIds = std::move(validPacketIds_);
|
||||
}
|
||||
|
||||
TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() { return tcpConfig; }
|
||||
|
||||
ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
|
||||
// Access to the FIFO is mutex protected because it is filled by the bridge
|
||||
MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
|
||||
MutexGuard mg(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
|
||||
store_address_t storeId;
|
||||
while ((not tmtcBridge->tmFifo->empty()) and
|
||||
(tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
|
||||
|
|
@ -283,7 +284,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)
|
|||
#endif
|
||||
arrayprinter::print(storeAccessor.data(), storeAccessor.size());
|
||||
}
|
||||
int retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
|
||||
ssize_t retval = send(connSocket, reinterpret_cast<const char*>(storeAccessor.data()),
|
||||
storeAccessor.size(), tcpConfig.tcpTmFlags);
|
||||
if (retval == static_cast<int>(storeAccessor.size())) {
|
||||
// Packet sent, clear FIFO entry
|
||||
|
|
@ -339,6 +340,9 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
|
|||
size_t foundSize = 0;
|
||||
size_t readLen = 0;
|
||||
while (readLen < readAmount) {
|
||||
if(spacePacketParser == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
result =
|
||||
spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
|
||||
switch (result) {
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@
|
|||
#endif
|
||||
|
||||
#include <string>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
class TcpTmTcBridge;
|
||||
|
|
@ -44,7 +45,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
|
|||
|
||||
struct TcpConfig {
|
||||
public:
|
||||
TcpConfig(std::string tcpPort) : tcpPort(tcpPort) {}
|
||||
explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
|
||||
|
||||
/**
|
||||
* Passed to the recv call
|
||||
|
|
@ -84,7 +85,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
|
|||
size_t ringBufferSize = RING_BUFFER_SIZE,
|
||||
std::string customTcpServerPort = DEFAULT_SERVER_PORT,
|
||||
ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
|
||||
virtual ~TcpTmTcServer();
|
||||
~TcpTmTcServer() override;
|
||||
|
||||
void enableWiretapping(bool enable);
|
||||
|
||||
|
|
@ -97,10 +98,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
|
|||
void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
[[noreturn]] ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
ReturnValue_t initializeAfterTaskCreation() override;
|
||||
|
||||
std::string getTcpPort() const;
|
||||
[[nodiscard]] const std::string& getTcpPort() const;
|
||||
|
||||
protected:
|
||||
StorageManagerIF* tcStore = nullptr;
|
||||
|
|
@ -115,7 +116,7 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
|
|||
|
||||
ReceptionModes receptionMode;
|
||||
TcpConfig tcpConfig;
|
||||
struct sockaddr tcpAddress;
|
||||
struct sockaddr tcpAddress = {};
|
||||
socket_t listenerTcpSocket = 0;
|
||||
|
||||
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
|
||||
|
|
|
|||
|
|
@ -1,8 +1,9 @@
|
|||
#include "DummyPowerSwitcher.h"
|
||||
|
||||
DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
|
||||
size_t numberOfFuses, uint32_t switchDelayMs)
|
||||
: SystemObject(objectId),
|
||||
size_t numberOfFuses, bool registerGlobally,
|
||||
uint32_t switchDelayMs)
|
||||
: SystemObject(objectId, registerGlobally),
|
||||
switcherList(numberOfSwitches),
|
||||
fuseList(numberOfFuses),
|
||||
switchDelayMs(switchDelayMs) {}
|
||||
|
|
|
|||
|
|
@ -8,10 +8,17 @@
|
|||
#include "definitions.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
|
||||
/**
|
||||
* @brief This component can be used to simulate a power switcher like a
|
||||
* Power Control Distribution Unit (PCDU)
|
||||
* @details
|
||||
* The dummy switcher will simply cache the commanded fuse and switch states and return them
|
||||
* in the according switch getter functions. In that sense, it simulates an ideal PCDU.
|
||||
*/
|
||||
class DummyPowerSwitcher : public SystemObject, public PowerSwitchIF {
|
||||
public:
|
||||
DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches, size_t numberOfFuses,
|
||||
uint32_t switchDelayMs = 5000);
|
||||
bool registerGlobally = true, uint32_t switchDelayMs = 5000);
|
||||
|
||||
void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
|
||||
void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
|
||||
|
|
|
|||
|
|
@ -13,8 +13,6 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
|
|||
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
|
||||
}
|
||||
|
||||
CService201HealthCommanding::~CService201HealthCommanding() {}
|
||||
|
||||
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
|
||||
switch (subservice) {
|
||||
case (Subservice::COMMAND_SET_HEALTH):
|
||||
|
|
@ -43,8 +41,8 @@ ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subs
|
|||
}
|
||||
|
||||
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
|
||||
MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
|
||||
HasHealthIF *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
|
||||
MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
|
||||
auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
|
||||
if (destination == nullptr) {
|
||||
return CommandingServiceBase::INVALID_OBJECT;
|
||||
}
|
||||
|
|
@ -77,6 +75,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
|
|||
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
// Should never happen, subservice was already checked
|
||||
result = RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
|
@ -95,10 +97,9 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
|
|||
}
|
||||
|
||||
// Not used for now, health state already reported by event
|
||||
ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
|
||||
prepareHealthSetReply(reply);
|
||||
uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
|
||||
uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(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);
|
||||
return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
|
||||
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
|
||||
|
||||
#include "../tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
|
||||
/**
|
||||
* @brief Custom PUS service to set health of all objects
|
||||
|
|
@ -21,7 +21,7 @@ class CService201HealthCommanding : public CommandingServiceBase {
|
|||
public:
|
||||
CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
|
||||
uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
|
||||
virtual ~CService201HealthCommanding();
|
||||
~CService201HealthCommanding() override = default;
|
||||
|
||||
protected:
|
||||
/* CSB abstract function implementations */
|
||||
|
|
@ -38,12 +38,10 @@ class CService201HealthCommanding : public CommandingServiceBase {
|
|||
bool *isStep) override;
|
||||
|
||||
private:
|
||||
ReturnValue_t checkAndAcquireTargetID(object_id_t *objectIdToSet, const uint8_t *tcData,
|
||||
size_t tcDataLen);
|
||||
ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
|
||||
object_id_t *objectId);
|
||||
static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
|
||||
const object_id_t *objectId);
|
||||
|
||||
ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
|
||||
[[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
|
||||
|
||||
enum Subservice {
|
||||
//! [EXPORT] : [TC] Set health of target object
|
||||
|
|
|
|||
|
|
@ -307,6 +307,11 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
|
|||
}
|
||||
}
|
||||
|
||||
ReturnValue_t Subsystem::addSequence(SequenceEntry sequence) {
|
||||
return addSequence(sequence.table, sequence.mode, sequence.fallbackMode, sequence.inStore,
|
||||
sequence.preInit);
|
||||
}
|
||||
|
||||
ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id,
|
||||
Mode_t fallbackSequence, bool inStore, bool preInit) {
|
||||
ReturnValue_t result;
|
||||
|
|
@ -350,6 +355,10 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence, Mode_t
|
|||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t Subsystem::addTable(TableEntry table) {
|
||||
return addTable(table.table, table.mode, table.inStore, table.preInit);
|
||||
}
|
||||
|
||||
ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore,
|
||||
bool preInit) {
|
||||
ReturnValue_t result;
|
||||
|
|
@ -458,6 +467,7 @@ ReturnValue_t Subsystem::initialize() {
|
|||
}
|
||||
|
||||
mode = initialMode;
|
||||
submode = initSubmode;
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
|
@ -595,7 +605,10 @@ ReturnValue_t Subsystem::checkObjectConnections() {
|
|||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; }
|
||||
void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) {
|
||||
this->initialMode = mode;
|
||||
this->initSubmode = submode;
|
||||
}
|
||||
|
||||
void Subsystem::cantKeepMode() {
|
||||
ReturnValue_t result;
|
||||
|
|
|
|||
|
|
@ -10,6 +10,28 @@
|
|||
#include "fsfw/FSFW.h"
|
||||
#include "modes/ModeDefinitions.h"
|
||||
|
||||
struct TableSequenceBase {
|
||||
public:
|
||||
TableSequenceBase(Mode_t mode, ArrayList<ModeListEntry> *table) : mode(mode), table(table){};
|
||||
Mode_t mode;
|
||||
ArrayList<ModeListEntry> *table;
|
||||
bool inStore = false;
|
||||
bool preInit = true;
|
||||
};
|
||||
|
||||
struct TableEntry : public TableSequenceBase {
|
||||
public:
|
||||
TableEntry(Mode_t mode, ArrayList<ModeListEntry> *table) : TableSequenceBase(mode, table){};
|
||||
};
|
||||
|
||||
struct SequenceEntry : public TableSequenceBase {
|
||||
public:
|
||||
SequenceEntry(Mode_t mode, ArrayList<ModeListEntry> *table, Mode_t fallbackMode)
|
||||
: TableSequenceBase(mode, table), fallbackMode(fallbackMode) {}
|
||||
|
||||
Mode_t fallbackMode;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief TODO: documentation missing
|
||||
* @details
|
||||
|
|
@ -44,13 +66,15 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
|
|||
uint32_t maxNumberOfTables);
|
||||
virtual ~Subsystem();
|
||||
|
||||
ReturnValue_t addSequence(SequenceEntry sequence);
|
||||
ReturnValue_t addSequence(ArrayList<ModeListEntry> *sequence, Mode_t id, Mode_t fallbackSequence,
|
||||
bool inStore = true, bool preInit = true);
|
||||
|
||||
ReturnValue_t addTable(TableEntry table);
|
||||
ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id, bool inStore = true,
|
||||
bool preInit = true);
|
||||
|
||||
void setInitialMode(Mode_t mode);
|
||||
void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE);
|
||||
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
|
|
@ -89,6 +113,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF {
|
|||
Submode_t targetSubmode;
|
||||
|
||||
Mode_t initialMode = 0;
|
||||
Submode_t initSubmode = SUBMODE_NONE;
|
||||
|
||||
HybridIterator<ModeListEntry> currentSequenceIterator;
|
||||
|
||||
|
|
|
|||
|
|
@ -166,7 +166,7 @@ class CommandingServiceBase : public SystemObject,
|
|||
* @param objectId Target object ID
|
||||
* @return
|
||||
* - @c RETURN_OK to generate a verification start message
|
||||
* - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
|
||||
* - @c EXECUTION_COMPLETE Fire-and-forget command. Generate a completion
|
||||
* verification message.
|
||||
* - @c Anything else rejects the packets and generates a start failure
|
||||
* verification.
|
||||
|
|
|
|||
|
|
@ -11,7 +11,10 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
|
|||
)
|
||||
|
||||
add_subdirectory(testcfg)
|
||||
add_subdirectory(mocks)
|
||||
|
||||
add_subdirectory(action)
|
||||
add_subdirectory(power)
|
||||
add_subdirectory(container)
|
||||
add_subdirectory(osal)
|
||||
add_subdirectory(serialize)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,3 @@
|
|||
target_sources(${FSFW_TEST_TGT} PRIVATE
|
||||
PowerSwitcherMock.cpp
|
||||
)
|
||||
|
|
@ -0,0 +1,77 @@
|
|||
#include "PowerSwitcherMock.h"
|
||||
|
||||
static uint32_t SWITCH_REQUEST_UPDATE_VALUE = 0;
|
||||
|
||||
PowerSwitcherMock::PowerSwitcherMock() {}
|
||||
|
||||
ReturnValue_t PowerSwitcherMock::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
|
||||
if (switchMap.count(switchNr) == 0) {
|
||||
switchMap.emplace(switchNr, SwitchInfo(switchNr, onOff));
|
||||
} else {
|
||||
SwitchInfo& info = switchMap.at(switchNr);
|
||||
info.currentState = onOff;
|
||||
if (onOff == PowerSwitchIF::SWITCH_ON) {
|
||||
info.timesCalledOn++;
|
||||
} else {
|
||||
info.timesCalledOff++;
|
||||
}
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PowerSwitcherMock::sendFuseOnCommand(uint8_t fuseNr) {
|
||||
if (fuseMap.count(fuseNr) == 0) {
|
||||
fuseMap.emplace(fuseNr, FuseInfo(fuseNr));
|
||||
} else {
|
||||
FuseInfo& info = fuseMap.at(fuseNr);
|
||||
info.timesCalled++;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PowerSwitcherMock::getSwitchState(power::Switch_t switchNr) const {
|
||||
if (switchMap.count(switchNr) == 1) {
|
||||
auto& info = switchMap.at(switchNr);
|
||||
SWITCH_REQUEST_UPDATE_VALUE++;
|
||||
return info.currentState;
|
||||
}
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t PowerSwitcherMock::getFuseState(uint8_t fuseNr) const {
|
||||
if (fuseMap.count(fuseNr) == 1) {
|
||||
return FUSE_ON;
|
||||
} else {
|
||||
return FUSE_OFF;
|
||||
}
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint32_t PowerSwitcherMock::getSwitchDelayMs(void) const { return 5000; }
|
||||
|
||||
SwitchInfo::SwitchInfo() : switcher(0) {}
|
||||
|
||||
SwitchInfo::SwitchInfo(power::Switch_t switcher, ReturnValue_t initState)
|
||||
: switcher(switcher), currentState(initState) {}
|
||||
|
||||
FuseInfo::FuseInfo(uint8_t fuse) : fuse(fuse) {}
|
||||
|
||||
void PowerSwitcherMock::getSwitchInfo(power::Switch_t switcher, SwitchInfo& info) {
|
||||
if (switchMap.count(switcher) == 1) {
|
||||
info = switchMap.at(switcher);
|
||||
}
|
||||
}
|
||||
|
||||
void PowerSwitcherMock::getFuseInfo(uint8_t fuse, FuseInfo& info) {
|
||||
if (fuseMap.count(fuse) == 1) {
|
||||
info = fuseMap.at(fuse);
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t PowerSwitcherMock::getAmountSwitchStatWasRequested() {
|
||||
return SWITCH_REQUEST_UPDATE_VALUE;
|
||||
}
|
||||
|
||||
void PowerSwitcherMock::initSwitch(power::Switch_t switchNr) {
|
||||
switchMap.emplace(switchNr, SwitchInfo(switchNr, PowerSwitchIF::SWITCH_OFF));
|
||||
}
|
||||
|
|
@ -0,0 +1,52 @@
|
|||
#ifndef FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
|
||||
#define FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_
|
||||
|
||||
#include <fsfw/power/PowerSwitchIF.h>
|
||||
|
||||
#include <map>
|
||||
#include <utility>
|
||||
|
||||
struct SwitchInfo {
|
||||
public:
|
||||
SwitchInfo();
|
||||
SwitchInfo(power::Switch_t switcher, ReturnValue_t initState);
|
||||
|
||||
power::Switch_t switcher;
|
||||
ReturnValue_t currentState = PowerSwitchIF::SWITCH_OFF;
|
||||
uint32_t timesCalledOn = 0;
|
||||
uint32_t timesCalledOff = 0;
|
||||
uint32_t timesStatusRequested = 0;
|
||||
};
|
||||
|
||||
struct FuseInfo {
|
||||
public:
|
||||
FuseInfo(uint8_t fuse);
|
||||
uint8_t fuse;
|
||||
uint32_t timesCalled = 0;
|
||||
};
|
||||
|
||||
class PowerSwitcherMock : public PowerSwitchIF {
|
||||
public:
|
||||
PowerSwitcherMock();
|
||||
|
||||
ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
|
||||
ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
|
||||
ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
|
||||
ReturnValue_t getFuseState(uint8_t fuseNr) const override;
|
||||
uint32_t getSwitchDelayMs(void) const override;
|
||||
|
||||
void getSwitchInfo(power::Switch_t switcher, SwitchInfo& info);
|
||||
void getFuseInfo(uint8_t fuse, FuseInfo& info);
|
||||
|
||||
uint32_t getAmountSwitchStatWasRequested();
|
||||
|
||||
void initSwitch(power::Switch_t switchNr);
|
||||
|
||||
private:
|
||||
using SwitchOnOffPair = std::pair<power::Switch_t, ReturnValue_t>;
|
||||
using FuseOnOffPair = std::pair<uint8_t, ReturnValue_t>;
|
||||
std::map<power::Switch_t, SwitchInfo> switchMap;
|
||||
std::map<uint8_t, FuseInfo> fuseMap;
|
||||
};
|
||||
|
||||
#endif /* FSFW_TESTS_SRC_FSFW_TESTS_UNIT_MOCKS_POWERSWITCHERMOCK_H_ */
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
target_sources(${FSFW_TEST_TGT} PRIVATE
|
||||
testPowerSwitcher.cpp
|
||||
)
|
||||
|
|
@ -0,0 +1,73 @@
|
|||
#include <fsfw/power/DummyPowerSwitcher.h>
|
||||
#include <fsfw/power/PowerSwitcher.h>
|
||||
#include <fsfw_tests/unit/mocks/PowerSwitcherMock.h>
|
||||
|
||||
#include <catch2/catch_test_macros.hpp>
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
|
||||
TEST_CASE("Power Switcher", "[power-switcher]") {
|
||||
PowerSwitcherMock mock;
|
||||
PowerSwitcher switcher(&mock, 1);
|
||||
DummyPowerSwitcher dummySwitcher(objects::DUMMY_POWER_SWITCHER, 5, 5, false);
|
||||
PowerSwitcher switcherUsingDummy(&dummySwitcher, 1);
|
||||
SwitchInfo switchInfo;
|
||||
mock.initSwitch(1);
|
||||
|
||||
SECTION("Basic Tests") {
|
||||
REQUIRE(switcher.getFirstSwitch() == 1);
|
||||
REQUIRE(switcher.getSecondSwitch() == power::NO_SWITCH);
|
||||
// Default start state
|
||||
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
|
||||
switcher.turnOn(true);
|
||||
REQUIRE(mock.getAmountSwitchStatWasRequested() == 1);
|
||||
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_ON);
|
||||
REQUIRE(switcher.checkSwitchState() == PowerSwitcher::IN_POWER_TRANSITION);
|
||||
REQUIRE(switcher.active());
|
||||
switcher.doStateMachine();
|
||||
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_ON);
|
||||
mock.getSwitchInfo(1, switchInfo);
|
||||
REQUIRE(switchInfo.timesCalledOn == 1);
|
||||
REQUIRE(not switcher.active());
|
||||
REQUIRE(mock.getAmountSwitchStatWasRequested() == 2);
|
||||
REQUIRE(switcher.checkSwitchState() == HasReturnvaluesIF::RETURN_OK);
|
||||
REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
|
||||
switcher.turnOff(false);
|
||||
REQUIRE(mock.getAmountSwitchStatWasRequested() == 3);
|
||||
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
|
||||
REQUIRE(switcher.active());
|
||||
REQUIRE(switcher.getState() == PowerSwitcher::WAIT_OFF);
|
||||
switcher.doStateMachine();
|
||||
mock.getSwitchInfo(1, switchInfo);
|
||||
REQUIRE(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF);
|
||||
REQUIRE(switchInfo.timesCalledOn == 1);
|
||||
REQUIRE(switchInfo.timesCalledOff == 1);
|
||||
REQUIRE(not switcher.active());
|
||||
REQUIRE(mock.getAmountSwitchStatWasRequested() == 4);
|
||||
}
|
||||
|
||||
SECTION("Dummy Test") {
|
||||
// Same tests, but we can't really check the dummy
|
||||
REQUIRE(switcherUsingDummy.getFirstSwitch() == 1);
|
||||
REQUIRE(switcherUsingDummy.getSecondSwitch() == power::NO_SWITCH);
|
||||
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
|
||||
switcherUsingDummy.turnOn(true);
|
||||
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_ON);
|
||||
REQUIRE(switcherUsingDummy.active());
|
||||
switcherUsingDummy.doStateMachine();
|
||||
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_ON);
|
||||
REQUIRE(not switcherUsingDummy.active());
|
||||
|
||||
switcherUsingDummy.turnOff(false);
|
||||
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
|
||||
REQUIRE(switcherUsingDummy.active());
|
||||
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::WAIT_OFF);
|
||||
switcherUsingDummy.doStateMachine();
|
||||
REQUIRE(switcherUsingDummy.getState() == PowerSwitcher::SWITCH_IS_OFF);
|
||||
REQUIRE(not switcherUsingDummy.active());
|
||||
}
|
||||
|
||||
SECTION("More Dummy Tests") {
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -21,8 +21,9 @@ enum sourceObjects : uint32_t {
|
|||
HK_RECEIVER_MOCK = 22,
|
||||
TEST_LOCAL_POOL_OWNER_BASE = 25,
|
||||
|
||||
SHARED_SET_ID = 26
|
||||
SHARED_SET_ID = 26,
|
||||
|
||||
DUMMY_POWER_SWITCHER = 27
|
||||
};
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue