Merge pull request 'Update FSFW' (#33) from mueller/master into eive/develop

Reviewed-on: #33
This commit is contained in:
Jakob Meier 2022-02-21 11:00:17 +01:00
commit 19f8e41c7f
53 changed files with 631 additions and 183 deletions

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@ -1,4 +1,214 @@
# Changed from ASTP 1.1.0 to 1.2.0 Change Log
=======
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v4.0.0]
## Additions
- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
allow sending of CFDP packets to the CCSDS handlers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
- added virtual function to print datasets
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
- doSendRead Hook
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
- Dockumentation for DHB
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
### HAL additions
- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
- uio Mapper
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
## Changes
- Applied the `clang-format` auto-formatter to all source code
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
- Updated Catch2 to v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
- Changed CI to use prebuilt docker image
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
## Bugfix
- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
- Fix for build regression in Catch2 v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
- Fix in unittest which failed on CI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
- Fix in helper script
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
## API Changes
- Aforementioned changes to existing TMTC stack
## Known bugs
-
# [v3.0.1]
## API Changes
*
## Bugfixes
* Version number was not updated for v3.0.0 #542
## Enhancement
*
## Known bugs
*
# [v3.0.0]
## API Changes
#### TCP Socket Changes
* Keep Open TCP Implementation #496
* The socket will now kept open after disconnect. This allows reconnecting.
* Only one connection is allowed
* No internal influence but clients need to change their Code.
### GPIO IF
* Add feature to open GPIO by line name #506
### Bitutil
* Unittests for Op Divider and Bitutility #510
### Filesystem IF changed
* Filesystem Base Interface: Use IF instead of void pointer #511
### STM32
* STM32 SPI Updates #518
## Bugfixes
* Small bugfix for LIS3 handler #504
* Spelling fixed for function names #509
* CMakeLists fixes #517
* Out of bound reads and writes in unittests #519
* Bug in TmPacketStoredPusC (#478)
* Windows ifdef fixed #529
## Enhancement
* FSFW.h.in more default values #491
* Minor updates for PUS services #498
* HasReturnvaluesIF naming for parameter #499
* Tests can now be built as part of FSFW and versioning moved to CMake #500
* Added integration test code #508
* More printouts for rejected TC packets #505
* Arrayprinter format improvements #514
* Adding code for CI with docker and jenkins #520
* Added new function in SerializeAdapter #513
* Enables simple deSerialize if you keep track of the buffer position yourself
* `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser #525
* ``'-o', '--open', Open coverage data in webbrowser``
* Documentation updated. Sphinx Documentation can now be build with python script #526
## Known bugs
* Version number was not updated for v3.0.0 #542
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
# [v2.0.0]
## API Changes
### File Structure changed to fit more common structure
* See pull request (#445)
* HAL is now part of the main project
* **See Instructions below:**
#### Instruction how to update existing / user code
* Changes in `#include`:
* Rename `internalError` in includes to `internalerror`
* Rename `fsfw/hal` to `fsfw_hal`
* Rename `fsfw/tests` to `fsfw_tests`
* Rename `osal/FreeRTOS` to `osal/freertos`
* Changes in `CMakeLists.txt`:
* Rename `OS_FSFW` to `FSFW_OSAL`
* Changes in `DleEncoder.cpp`
* Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
### Removed osal/linux/Timer (#486)
* Was redundant to timemanager/Countdown
#### Instruction how to update existing / user code
* Use timemanager/Countdown instead
## Bugfixes
### TM Stack
* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
#### Host OSAL / FreeRTOS
* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
#### Events
* Event output is now consistent (#447)
#### DLE Encoder
* Fixed possible out of bounds access in DLE Encoder (#492)
## Enhancment
* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
* Linux HAL updates (#456)
* FreeRTOS Header cleaning update and Cmake tweaks (#442)
* Printer updates (#453)
* New returnvalue for for empty PST (#485)
* TMTC Bridge: Increase limit of packets stored (#484)
## Known bugs
* Bug in TmPacketStoredPusC (#478)
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
# [v1.2.0]
## API Changes ## API Changes
@ -27,7 +237,7 @@
- See API changes chapter. This change will keep the internal API consistent in the future - See API changes chapter. This change will keep the internal API consistent in the future
# Changes from ASTP 1.0.0 to 1.1.0 # [v1.1.0]
## API Changes ## API Changes

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@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 3.13) cmake_minimum_required(VERSION 3.13)
set(FSFW_VERSION 2) set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0) set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0) set(FSFW_REVISION 0)
@ -60,6 +60,8 @@ if(FSFW_BUILD_UNITTESTS)
) )
FetchContent_MakeAvailable(Catch2) FetchContent_MakeAvailable(Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif() endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)

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@ -107,6 +107,42 @@ cmake --build . -- fsfw-tests_coverage -j
The `coverage.py` script located in the `script` folder can also be used to do this conveniently. The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
## Building the documentations
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
```sh
sudo apt-get install doxygen graphviz
```
And the following Python packages
```sh
python3 -m pip install sphinx breathe
```
You can set up a documentation build system using the following commands
```sh
mkdir build-docs && cd build-docs
cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
```
Then you can generate the documentation using
```sh
cmake --build . -j
```
You can find the generated documentation inside the `docs/sphinx` folder inside the build
folder. Simply open the `index.html` in the webbrowser of your choice.
The `helper.py` script located in the script` folder can also be used to create, build
and open the documentation conveniently. Try `helper.py -h for more information.
## Formatting the sources ## Formatting the sources
The formatting is done by the `clang-format` tool. The configuration is contained within the The formatting is done by the `clang-format` tool. The configuration is contained within the

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@ -6,9 +6,3 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise #tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
RUN git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout v3.0.0-preview4 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install

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@ -3,13 +3,7 @@ pipeline {
BUILDDIR = 'build-tests' BUILDDIR = 'build-tests'
} }
agent { agent {
dockerfile { docker { image 'fsfw-ci:d1'}
dir 'automation'
//force docker to redownload base image and rebuild all steps instead of caching them
//this way, we always get an up to date docker image one each build
additionalBuildArgs '--no-cache --pull'
reuseNode true
}
} }
stages { stages {
stage('Clean') { stage('Clean') {

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@ -1,3 +1,110 @@
.. _dhb-prim-doc:
Device Handlers Device Handlers
================== ==================
Device handler components represent, control and monitor equipment, for example sensors or actuators
of a spacecraft or the payload.
Most device handlers have the same common functionality or
requirements, which are fulfilled by implementing certain interfaces:
- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
- The handler needs to communicate with the physical device via a dedicated
communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
- The handler has housekeeping data which has to be exposed to the operator and/or other software
components: :cpp:class:`HasLocalDataPoolIF`
- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
also implements :cpp:class:`HasParametersIF`
- The handler has health states, for example to indicate a broken device:
:cpp:class:`HasHealthIF`
- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
but that it is not periodically polling data from the
physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
The device handler base therefore provides abstractions for a lot of common
functionality, which can potentially avoid high amounts or logic and code duplication.
Template Device Handler Base File
----------------------------------
This is an example template device handler header file with all necessary
functions implemented:
.. code-block:: cpp
#ifndef __TESTDEVICEHANDLER_H_
#define __TESTDEVICEHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class TestDeviceHandler: DeviceHandlerBase {
public:
TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
private:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
};
#endif /* __TESTDEVICEHANDLER_H_ */
and the respective source file with sensible default return values:
.. code-block:: cpp
#include "TestDeviceHandler.h"
TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
: DeviceHandlerBase(objectId, comIF, cookie) {}
void TestDeviceHandler::doStartUp() {}
void TestDeviceHandler::doShutDown() {}
ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
void TestDeviceHandler::fillCommandAndReplyMap() {}
ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 10000;
}
ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}

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@ -90,8 +90,21 @@ Building the documentation
---------------------------- ----------------------------
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
documentation build system using the following commands want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
.. code-block:: console
sudo apt-get install doxygen graphviz
And the following Python packages
.. code-block:: console
python3 -m pip install sphinx breathe
You can set up a documentation build system using the following commands
.. code-block:: bash .. code-block:: bash
@ -110,6 +123,14 @@ folder. Simply open the ``index.html`` in the webbrowser of your choice.
The ``helper.py`` script located in the ``script`` folder can also be used to create, build The ``helper.py`` script located in the ``script`` folder can also be used to create, build
and open the documentation conveniently. Try ``helper.py -h`` for more information. and open the documentation conveniently. Try ``helper.py -h`` for more information.
Formatting the source
-----------------------
The formatting is done by the ``clang-format`` tool. The configuration is contained within the
``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted .. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
.. _`Catch2 library`: https://github.com/catchorg/Catch2 .. _`Catch2 library`: https://github.com/catchorg/Catch2
.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master .. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

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@ -118,7 +118,7 @@ The DH has mechanisms to monitor the communication with the physical device whic
for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``. for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``.
A standard FDIR component for the DH will be created automatically but can A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the be overwritten by the user. More information on DeviceHandlers can be found in the
related [documentation section](doc/README-devicehandlers.md#top). related :ref:`documentation section <dhb-prim-doc>`.
Modes and Health Modes and Health
-------------------- --------------------

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@ -9,9 +9,6 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
: DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs), transitionDelayMs(transitionDelayMs),
dataset(this) { dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(10);
#endif
} }
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {} GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
@ -193,22 +190,23 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset; float temperature = 25.0 + temperaturOffset;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 if(periodicPrintout) {
if (debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */ /* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
sif::info << "X: " << angVelocX << std::endl; sif::info << "X: " << angVelocX << std::endl;
sif::info << "Y: " << angVelocY << std::endl; sif::info << "Y: " << angVelocY << std::endl;
sif::info << "Z: " << angVelocZ << std::endl; sif::info << "Z: " << angVelocZ << std::endl;
#else #else
sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
sif::printInfo("X: %f\n", angVelocX); sif::printInfo("X: %f\n", angVelocX);
sif::printInfo("Y: %f\n", angVelocY); sif::printInfo("Y: %f\n", angVelocY);
sif::printInfo("Z: %f\n", angVelocZ); sif::printInfo("Z: %f\n", angVelocZ);
#endif #endif
}
} }
#endif
PoolReadGuard readSet(&dataset); PoolReadGuard readSet(&dataset);
if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
@ -272,3 +270,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
this->absLimitY = limitY; this->absLimitY = limitY;
this->absLimitZ = limitZ; this->absLimitZ = limitZ;
} }
void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

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@ -1,12 +1,11 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_ #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_ #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h> #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include "fsfw/FSFW.h"
/** /**
* @brief Device Handler for the L3GD20H gyroscope sensor * @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html) * (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@ -22,6 +21,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint32_t transitionDelayMs); uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H(); virtual ~GyroHandlerL3GD20H();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Set the absolute limit for the values on the axis in degrees per second. * Set the absolute limit for the values on the axis in degrees per second.
* The dataset values will be marked as invalid if that limit is exceeded * The dataset values will be marked as invalid if that limit is exceeded
@ -58,6 +59,7 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint32_t transitionDelayMs = 0; uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset; GyroPrimaryDataset dataset;
float absLimitX = L3GD20H::RANGE_DPS_00; float absLimitX = L3GD20H::RANGE_DPS_00;
float absLimitY = L3GD20H::RANGE_DPS_00; float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00; float absLimitZ = L3GD20H::RANGE_DPS_00;
@ -80,9 +82,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
// Set default value // Set default value
float sensitivity = L3GD20H::SENSITIVITY_00; float sensitivity = L3GD20H::SENSITIVITY_00;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 bool periodicPrintout = false;
PeriodicOperationDivider *debugDivider = nullptr; PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
#endif
}; };
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */ #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

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@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
: DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this), dataset(this),
transitionDelay(transitionDelay) { transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(10);
#endif
// Set to default values right away // Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
@ -272,23 +269,25 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor * float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 if(periodicPrintout) {
if (debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Magnetic field strength in" sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" " microtesla:"
<< std::endl; << std::endl;
sif::info << "X: " << mgmX << " uT" << std::endl; sif::info << "X: " << mgmX << " uT" << std::endl;
sif::info << "Y: " << mgmY << " uT" << std::endl; sif::info << "Y: " << mgmY << " uT" << std::endl;
sif::info << "Z: " << mgmZ << " uT" << std::endl; sif::info << "Z: " << mgmZ << " uT" << std::endl;
#else #else
sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", mgmX); sif::printInfo("X: %f uT\n", mgmX);
sif::printInfo("Y: %f uT\n", mgmY); sif::printInfo("Y: %f uT\n", mgmY);
sif::printInfo("Z: %f uT\n", mgmZ); sif::printInfo("Z: %f uT\n", mgmZ);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
}
} }
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
PoolReadGuard readHelper(&dataset); PoolReadGuard readHelper(&dataset);
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(mgmX) < absLimitX) { if (std::abs(mgmX) < absLimitX) {
@ -318,15 +317,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
case MGMLIS3MDL::READ_TEMPERATURE: { case MGMLIS3MDL::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1]; int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0); float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 if(periodicPrintout) {
if (debugDivider->check()) { if (debugDivider.check()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl; sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
#else #else
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
#endif #endif
}
} }
#endif
ReturnValue_t result = dataset.read(); ReturnValue_t result = dataset.read();
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue; dataset.temperature = tempValue;
@ -484,3 +484,9 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
this->absLimitY = yLimit; this->absLimitY = yLimit;
this->absLimitZ = zLimit; this->absLimitZ = zLimit;
} }
void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

View File

@ -1,9 +1,10 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "devicedefinitions/MgmLIS3HandlerDefs.h" #include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include "events/subsystemIdRanges.h" #include "events/subsystemIdRanges.h"
#include "fsfw/FSFW.h" #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
class PeriodicOperationDivider; class PeriodicOperationDivider;
@ -30,6 +31,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
uint32_t transitionDelay); uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler(); virtual ~MgmLIS3MDLHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Set the absolute limit for the values on the axis in microtesla. The dataset values will * Set the absolute limit for the values on the axis in microtesla. The dataset values will
* be marked as invalid if that limit is exceeded * be marked as invalid if that limit is exceeded
@ -167,9 +169,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
*/ */
ReturnValue_t prepareCtrlRegisterWrite(); ReturnValue_t prepareCtrlRegisterWrite();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 bool periodicPrintout = false;
PeriodicOperationDivider *debugDivider; PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
#endif
}; };
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */ #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

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@ -11,9 +11,6 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
: DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this), primaryDataset(this),
transitionDelay(transitionDelay) { transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(10);
#endif
} }
MgmRM3100Handler::~MgmRM3100Handler() {} MgmRM3100Handler::~MgmRM3100Handler() {}
@ -337,23 +334,24 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 if(periodicPrintout) {
if (debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in" sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" " microtesla:"
<< std::endl; << std::endl;
sif::info << "X: " << fieldStrengthX << " uT" << std::endl; sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
#else #else
sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n"); sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", fieldStrengthX); sif::printInfo("X: %f uT\n", fieldStrengthX);
sif::printInfo("Y: %f uT\n", fieldStrengthY); sif::printInfo("Y: %f uT\n", fieldStrengthY);
sif::printInfo("Z: %f uT\n", fieldStrengthZ); sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif #endif
}
} }
#endif
// TODO: Sanity check on values? // TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset); PoolReadGuard readGuard(&primaryDataset);
@ -365,3 +363,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
} }
return RETURN_OK; return RETURN_OK;
} }
void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

View File

@ -2,12 +2,8 @@
#define MISSION_DEVICES_MGMRM3100HANDLER_H_ #define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "devicedefinitions/MgmRM3100HandlerDefs.h" #include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h" #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
/** /**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor * @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
uint32_t transitionDelay); uint32_t transitionDelay);
virtual ~MgmRM3100Handler(); virtual ~MgmRM3100Handler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Configure device handler to go to normal mode after startup immediately * Configure device handler to go to normal mode after startup immediately
* @param enable * @param enable
@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
size_t commandDataLen); size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t *packet); ReturnValue_t handleDataReadout(const uint8_t *packet);
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
PeriodicOperationDivider *debugDivider; bool periodicPrintout = false;
#endif PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
}; };
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */ #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

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@ -22,7 +22,7 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
int fd = open(uioFile.c_str(), O_RDWR); int fd = open(uioFile.c_str(), O_RDWR);
if (fd < 1) { if (fd < 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl; sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -36,8 +36,8 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
if (*address == MAP_FAILED) { if (*address == MAP_FAILED) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device " sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
<< uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl; << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -52,7 +52,7 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
fp = fopen(namestream.str().c_str(), "r"); fp = fopen(namestream.str().c_str(), "r");
if (fp == nullptr) { if (fp == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl; sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -60,11 +60,12 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
int items = fscanf(fp, "%s", hexstring); int items = fscanf(fp, "%s", hexstring);
if (items != 1) { if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UioMapper::getMapSize: Failed with error code " << errno sif::error << "UioMapper::getMapSize: Failed with error code " << errno
<< " to read size " << " to read size "
"string from file " "string from file "
<< namestream.str() << std::endl; << namestream.str() << std::endl;
#endif #endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
uint32_t sizeTmp = 0; uint32_t sizeTmp = 0;
@ -74,9 +75,10 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
} }
if (items != 1) { if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert " sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
<< "size of map" << mapNum << " to integer" << std::endl; << "size of map" << mapNum << " to integer" << std::endl;
#endif #endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
fclose(fp); fclose(fp);

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@ -143,7 +143,10 @@ def handle_tests_type(args, build_dir_list: list):
if which("valgrind") is None: if which("valgrind") is None:
print("Please install valgrind first") print("Please install valgrind first")
sys.exit(1) sys.exit(1)
os.chdir(UNITTEST_FOLDER_NAME) if os.path.split(os.getcwd())[1] != UNITTEST_FOLDER_NAME:
# If we are in a different directory we try to switch into it but
# this might fail
os.chdir(UNITTEST_FOLDER_NAME)
os.system("valgrind --leak-check=full ./fsfw-tests") os.system("valgrind --leak-check=full ./fsfw-tests")
os.chdir("..") os.chdir("..")

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@ -62,16 +62,4 @@
#define FSFW_HAL_I2C_WIRETAPPING 0 #define FSFW_HAL_I2C_WIRETAPPING 0
#endif #endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
#ifndef FSFW_HAL_RM3100_MGM_DEBUG
#define FSFW_HAL_RM3100_MGM_DEBUG 0
#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
#endif /* FSFW_FSFW_H_ */ #endif /* FSFW_FSFW_H_ */

View File

@ -12,7 +12,9 @@ object_id_t CFDPHandler::packetDestination = 0;
CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist) CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
: SystemObject(setObjectId) { : SystemObject(setObjectId) {
requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION,
MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
distributor = dist; distributor = dist;
} }

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@ -13,7 +13,9 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
submode(SUBMODE_NONE), submode(SUBMODE_NONE),
modeHelper(this), modeHelper(this),
healthHelper(this, setObjectId) { healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

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@ -39,8 +39,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
childTransitionDelay(5000), childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN), transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) { transitionSourceSubMode(SUBMODE_NONE) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue( commandQueue = QueueFactory::instance()->createMessageQueue(
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE); cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
insertInCommandMap(RAW_COMMAND_ID); insertInCommandMap(RAW_COMMAND_ID);
cookieInfo.state = COOKIE_UNUSED; cookieInfo.state = COOKIE_UNUSED;
cookieInfo.pendingCommand = deviceCommandMap.end(); cookieInfo.pendingCommand = deviceCommandMap.end();

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@ -8,7 +8,8 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue
parentQueue(parentQueue), parentQueue(parentQueue),
commandQueue(), commandQueue(),
healthHelper(this, setObjectId) { healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(3); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

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@ -18,8 +18,10 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = {
EventManager::EventManager(object_id_t setObjectId) EventManager::EventManager(object_id_t setObjectId)
: SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) { : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) {
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE, eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE,
EventMessage::EVENT_MESSAGE_SIZE); EventMessage::EVENT_MESSAGE_SIZE,
&mqArgs);
} }
EventManager::~EventManager() { EventManager::~EventManager() {
@ -46,9 +48,20 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
void EventManager::notifyListeners(EventMessage* message) { void EventManager::notifyListeners(EventMessage* message) {
lockMutex(); lockMutex();
for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) { for (auto& listener : listenerList) {
if (iter->second.match(message)) { if (listener.second.match(message)) {
MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender()); ReturnValue_t result =
MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender());
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0')
<< std::setw(8) << listener.first << " failed with result 0x" << std::setw(4)
<< result << std::setfill(' ') << std::endl;
#else
sif::printError("Sending message to listener 0x%08x failed with result %04x\n",
listener.first, result);
#endif
}
} }
} }
unlockMutex(); unlockMutex();
@ -189,4 +202,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag
} }
} }
void EventManager::printListeners() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl;
for (auto& listener : listenerList) {
sif::info << "0x" << std::setw(8) << listener.first << std::endl;
}
sif::info << std::dec << std::setfill(' ');
#else
sif::printInfo("Event manager listener MQ IDs:\n");
for (auto& listener : listenerList) {
sif::printInfo("0x%08x\n", listener.first);
}
#endif
}
#endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */ #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

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@ -42,6 +42,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
object_id_t reporterFrom = 0, object_id_t reporterTo = 0, object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
bool reporterInverted = false); bool reporterInverted = false);
ReturnValue_t performOperation(uint8_t opCode); ReturnValue_t performOperation(uint8_t opCode);
void printListeners();
protected: protected:
MessageQueueIF* eventReportQueue = nullptr; MessageQueueIF* eventReportQueue = nullptr;

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@ -9,8 +9,9 @@
FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent,
uint8_t messageDepth, uint8_t parameterDomainBase) uint8_t messageDepth, uint8_t parameterDomainBase)
: ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) { : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
auto mqArgs = MqArgs(owner, static_cast<void*>(this));
eventQueue = eventQueue =
QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE); QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
} }
FailureIsolationBase::~FailureIsolationBase() { FailureIsolationBase::~FailureIsolationBase() {

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@ -7,11 +7,12 @@
InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth) InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
: SystemObject(setObjectId), : SystemObject(setObjectId),
commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
poolManager(this, commandQueue), poolManager(this, commandQueue),
internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
internalErrorDataset(this) { internalErrorDataset(this) {
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); } InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
@ -36,15 +37,14 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) { if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "InternalErrorReporter::performOperation: Errors " sif::debug << "InternalErrorReporter::performOperation: Errors "
<< "occured!" << std::endl; << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | "
sif::debug << "Queue errors: " << newQueueHits << std::endl; << newStoreHits << std::endl;
sif::debug << "TM errors: " << newTmHits << std::endl;
sif::debug << "Store errors: " << newStoreHits << std::endl;
#else #else
sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n"); sif::printDebug(
sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits)); "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu "
sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits)); "| %lu\n",
sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits)); static_cast<unsigned int>(newQueueHits), static_cast<unsigned int>(newTmHits),
static_cast<unsigned int>(newStoreHits));
#endif #endif
} }
} }

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@ -5,6 +5,7 @@
#include "MessageQueueIF.h" #include "MessageQueueIF.h"
#include "MessageQueueMessage.h" #include "MessageQueueMessage.h"
#include "definitions.h"
/** /**
* Creates message queues. * Creates message queues.
@ -22,7 +23,8 @@ class QueueFactory {
static QueueFactory* instance(); static QueueFactory* instance();
MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3, MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
void deleteMessageQueue(MessageQueueIF* queue); void deleteMessageQueue(MessageQueueIF* queue);

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@ -0,0 +1,12 @@
#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
struct MqArgs {
MqArgs(){};
MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {}
object_id_t objectId = 0;
void* args = nullptr;
};
#endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */

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@ -4,7 +4,7 @@
#include "fsfw/osal/freertos/QueueMapManager.h" #include "fsfw/osal/freertos/QueueMapManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
: maxMessageSize(maxMessageSize) { : maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize); handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) { if (handle == nullptr) {

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@ -7,6 +7,7 @@
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/MessageQueueMessageIF.h" #include "fsfw/ipc/MessageQueueMessageIF.h"
#include "fsfw/ipc/definitions.h"
#include "queue.h" #include "queue.h"
/** /**
@ -53,7 +54,8 @@ class MessageQueue : public MessageQueueIF {
* This should be left default. * This should be left default.
*/ */
MessageQueue(size_t messageDepth = 3, MessageQueue(size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** Copying message queues forbidden */ /** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete; MessageQueue(const MessageQueue&) = delete;

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@ -22,8 +22,9 @@ QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {} QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
return new MessageQueue(messageDepth, maxMessageSize); MqArgs* args) {
return new MessageQueue(messageDepth, maxMessageSize, args);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

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@ -8,7 +8,7 @@
#include "fsfw/osal/host/QueueMapManager.h" #include "fsfw/osal/host/QueueMapManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args)
: messageSize(maxMessageSize), messageDepth(messageDepth) { : messageSize(maxMessageSize), messageDepth(messageDepth) {
queueLock = MutexFactory::instance()->createMutex(); queueLock = MutexFactory::instance()->createMutex();
auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId); auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);

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@ -8,6 +8,7 @@
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/MutexIF.h" #include "fsfw/ipc/MutexIF.h"
#include "fsfw/ipc/definitions.h"
#include "fsfw/timemanager/Clock.h" #include "fsfw/timemanager/Clock.h"
/** /**
@ -54,7 +55,8 @@ class MessageQueue : public MessageQueueIF {
* This should be left default. * This should be left default.
*/ */
MessageQueue(size_t messageDepth = 3, MessageQueue(size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** Copying message queues forbidden */ /** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete; MessageQueue(const MessageQueue&) = delete;

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@ -27,12 +27,13 @@ QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {} QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
MqArgs* args) {
// A thread-safe queue can be implemented by using a combination // A thread-safe queue can be implemented by using a combination
// of std::queue and std::mutex. This uses dynamic memory allocation // of std::queue and std::mutex. This uses dynamic memory allocation
// which could be alleviated by using a custom allocator, external library // which could be alleviated by using a custom allocator, external library
// (etl::queue) or simply using std::queue, we're on a host machine anyway. // (etl::queue) or simply using std::queue, we're on a host machine anyway.
return new MessageQueue(messageDepth, maxMessageSize); return new MessageQueue(messageDepth, maxMessageSize, args);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

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@ -11,7 +11,7 @@
#include "fsfw/osal/linux/unixUtility.h" #include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize) MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args)
: id(MessageQueueIF::NO_QUEUE), : id(MessageQueueIF::NO_QUEUE),
lastPartner(MessageQueueIF::NO_QUEUE), lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE), defaultDestination(MessageQueueIF::NO_QUEUE),
@ -37,6 +37,9 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
// Successful mq_open call // Successful mq_open call
this->id = tempId; this->id = tempId;
} }
if (args != nullptr) {
this->mqArgs = *args;
}
} }
MessageQueue::~MessageQueue() { MessageQueue::~MessageQueue() {
@ -240,9 +243,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
bool ignoreFault) { bool ignoreFault) {
if (message == nullptr) { if (message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl; sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr" << std::endl;
#else #else
sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n"); sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n");
#endif #endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -256,7 +259,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
if (!ignoreFault) { if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = InternalErrorReporterIF* internalErrorReporter =
ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER); ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) { if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent(); internalErrorReporter->queueMessageNotSent();
} }
} }

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@ -6,6 +6,7 @@
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/definitions.h"
/** /**
* @brief This class manages sending and receiving of message queue messages. * @brief This class manages sending and receiving of message queue messages.
* *
@ -42,7 +43,8 @@ class MessageQueue : public MessageQueueIF {
* This should be left default. * This should be left default.
*/ */
MessageQueue(uint32_t messageDepth = 3, MessageQueue(uint32_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** /**
* @brief The destructor deletes the formerly created message queue. * @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system. * @details This is accomplished by using the delete call provided by the operating system.
@ -184,6 +186,8 @@ class MessageQueue : public MessageQueueIF {
*/ */
char name[16]; char name[16];
MqArgs mqArgs = {};
static uint16_t queueCounter; static uint16_t queueCounter;
const size_t maxMessageSize; const size_t maxMessageSize;

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@ -28,8 +28,9 @@ QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {} QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
return new MessageQueue(messageDepth, maxMessageSize); MqArgs* args) {
return new MessageQueue(messageDepth, maxMessageSize, args);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

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@ -6,7 +6,7 @@
#include "fsfw/osal/rtems/RtemsBasic.h" #include "fsfw/osal/rtems/RtemsBasic.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args)
: id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) { : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
rtems_name name = ('Q' << 24) + (queueCounter++ << 8); rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
rtems_status_code status = rtems_status_code status =

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@ -5,6 +5,7 @@
#include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessage.h"
#include "fsfw/ipc/definitions.h"
/** /**
* @brief This class manages sending and receiving of message queue messages. * @brief This class manages sending and receiving of message queue messages.
@ -34,7 +35,8 @@ class MessageQueue : public MessageQueueIF {
* This should be left default. * This should be left default.
*/ */
MessageQueue(size_t message_depth = 3, MessageQueue(size_t message_depth = 3,
size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE); size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** /**
* @brief The destructor deletes the formerly created message queue. * @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system. * @details This is accomplished by using the delete call provided by the operating system.

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@ -49,8 +49,9 @@ QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {} QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
return new MessageQueue(messageDepth, maxMessageSize); MqArgs* args) {
return new MessageQueue(messageDepth, maxMessageSize, args);
} }
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

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@ -15,7 +15,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh), limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount, voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) { limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
commandQueue = QueueFactory::instance()->createMessageQueue(); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

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@ -16,7 +16,8 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj
apid(apid), apid(apid),
serviceId(serviceId), serviceId(serviceId),
targetDestination(targetDestination) { targetDestination(targetDestination) {
tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
Service1TelecommandVerification::~Service1TelecommandVerification() { Service1TelecommandVerification::~Service1TelecommandVerification() {

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@ -12,7 +12,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap
uint32_t messageQueueDepth) uint32_t messageQueueDepth)
: PusServiceBase(objectId, apid, serviceId), : PusServiceBase(objectId, apid, serviceId),
maxNumberReportsPerCycle(maxNumberReportsPerCycle) { maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
sif::info << eventQueue->getId() << std::endl;
} }
Service5EventReporting::~Service5EventReporting() { Service5EventReporting::~Service5EventReporting() {

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@ -8,11 +8,13 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t
uint16_t commandQueueDepth) uint16_t commandQueueDepth)
: SystemObject(setObjectId), : SystemObject(setObjectId),
mode(initialMode), mode(initialMode),
commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth,
CommandMessage::MAX_MESSAGE_SIZE)),
healthHelper(this, setObjectId), healthHelper(this, setObjectId),
modeHelper(this), modeHelper(this),
parentId(parent) {} parentId(parent) {
auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

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@ -5,7 +5,8 @@
#include "fsfw/tmtcservices/TmTcMessage.h" #include "fsfw/tmtcservices/TmTcMessage.h"
TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) { TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS); auto mqArgs = MqArgs(objectId);
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); } TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }

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@ -5,13 +5,13 @@
AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid, AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
ThermalModuleIF *thermalModule) ThermalModuleIF *thermalModule)
: SystemObject(setObjectid), : SystemObject(setObjectid),
commandQueue(NULL),
healthHelper(this, setObjectid), healthHelper(this, setObjectid),
parameterHelper(this) { parameterHelper(this) {
if (thermalModule != NULL) { if (thermalModule != nullptr) {
thermalModule->registerSensor(this); thermalModule->registerSensor(this);
} }
commandQueue = QueueFactory::instance()->createMessageQueue(); auto mqArgs = MqArgs(setObjectid, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
AbstractTemperatureSensor::~AbstractTemperatureSensor() { AbstractTemperatureSensor::~AbstractTemperatureSensor() {

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@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF,
HasHealthIF::HealthState getHealth(); HasHealthIF::HealthState getHealth();
protected: protected:
MessageQueueIF* commandQueue; MessageQueueIF* commandQueue = nullptr;
HealthHelper healthHelper; HealthHelper healthHelper;
ParameterHelper parameterHelper; ParameterHelper parameterHelper;

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@ -12,7 +12,8 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1)
switch1(switch1), switch1(switch1),
heaterOnCountdown(10800000) /*about two orbits*/, heaterOnCountdown(10800000) /*about two orbits*/,
parameterHelper(this) { parameterHelper(this) {
eventQueue = QueueFactory::instance()->createMessageQueue(); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); } Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); }

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@ -20,8 +20,10 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
service(service), service(service),
timeoutSeconds(commandTimeoutSeconds), timeoutSeconds(commandTimeoutSeconds),
commandMap(numberOfParallelCommands) { commandMap(numberOfParallelCommands) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE;
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs);
} }
void CommandingServiceBase::setPacketSource(object_id_t packetSource) { void CommandingServiceBase::setPacketSource(object_id_t packetSource) {

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@ -13,7 +13,8 @@ object_id_t PusServiceBase::packetDestination = 0;
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId)
: SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) { : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION); auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); } PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); }

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@ -15,7 +15,8 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i
tcDestination(tcDestination) tcDestination(tcDestination)
{ {
tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); } TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }

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@ -3,7 +3,6 @@
#include <fsfw/objectmanager/ObjectManager.h> #include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
bool TestTask::oneShotAction = true;
MutexIF* TestTask::testLock = nullptr; MutexIF* TestTask::testLock = nullptr;
TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(testModes::A) { TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(testModes::A) {

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@ -29,7 +29,7 @@ class TestTask : public SystemObject, public ExecutableObjectIF, public HasRetur
bool testFlag = false; bool testFlag = false;
private: private:
static bool oneShotAction; bool oneShotAction = true;
static MutexIF* testLock; static MutexIF* testLock;
StorageManagerIF* IPCStore; StorageManagerIF* IPCStore;
}; };

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@ -45,7 +45,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
result = cmdExecutor.check(bytesHaveBeenRead); result = cmdExecutor.check(bytesHaveBeenRead);
REQUIRE(result != CommandExecutor::COMMAND_ERROR); REQUIRE(result != CommandExecutor::COMMAND_ERROR);
usleep(500); usleep(500);
REQUIRE(limitIdx < 5); REQUIRE(limitIdx < 500);
} }
limitIdx = 0; limitIdx = 0;
@ -71,8 +71,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
limitIdx++; limitIdx++;
result = cmdExecutor.check(bytesHaveBeenRead); result = cmdExecutor.check(bytesHaveBeenRead);
REQUIRE(result != CommandExecutor::COMMAND_ERROR); REQUIRE(result != CommandExecutor::COMMAND_ERROR);
// This ensures that the tests do not block indefinitely
usleep(500); usleep(500);
REQUIRE(limitIdx < 20); REQUIRE(limitIdx < 500);
} }
limitIdx = 0; limitIdx = 0;
CHECK(bytesHaveBeenRead == true); CHECK(bytesHaveBeenRead == true);
@ -89,7 +90,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer)); std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer));
// I am just going to assume that this string is the same across ping implementations // I am just going to assume that this string is the same across ping implementations
// of different Linux systems // of different Linux systems
REQUIRE(allTheReply.find("localhost ping statistics") != std::string::npos); REQUIRE(allTheReply.find("PING localhost") != std::string::npos);
// Now check failing command // Now check failing command
result = cmdExecutor.load("false", false, false); result = cmdExecutor.load("false", false, false);
@ -101,8 +102,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
limitIdx++; limitIdx++;
result = cmdExecutor.check(bytesHaveBeenRead); result = cmdExecutor.check(bytesHaveBeenRead);
REQUIRE(result != CommandExecutor::COMMAND_ERROR); REQUIRE(result != CommandExecutor::COMMAND_ERROR);
// This ensures that the tests do not block indefinitely
usleep(500); usleep(500);
REQUIRE(limitIdx < 20); REQUIRE(limitIdx < 500);
} }
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED); REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
REQUIRE(cmdExecutor.getLastError() == 1); REQUIRE(cmdExecutor.getLastError() == 1);