Merge branch 'development' into gaisser_unit_test_internal_error

CHANGELOG.md

@@ -8,6 +8,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+# [v5.0.0]
+
+## Removed
+
+- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
+  datapools have been implemented
+
+## Additions
+
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
+
 # [v4.0.0]
 
 ## Additions

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -1,4 +1,13 @@
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "I2cComIF.h"
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+#include "fsfw/globalfunctions/arrayprinter.h"
+#endif
 
 #include <errno.h>
 #include <fcntl.h>
@@ -8,11 +17,6 @@
 
 #include <cstring>
 
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
-#include "fsfw_hal/linux/utility.h"
-
 I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 I2cComIF::~I2cComIF() {}
@@ -112,6 +116,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(sendData, sendLen);
+#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -176,6 +185,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(replyBuffer, requestLen);
+#endif
+
   i2cDeviceMapIter->second.replyLen = requestLen;
   return HasReturnvaluesIF::RETURN_OK;
 }

scripts/helper.py

@@ -97,11 +97,11 @@ def handle_docs_type(args, build_dir_list: list):
         build_directory = determine_build_dir(build_dir_list)
     os.chdir(build_directory)
     if args.build:
-        os.system("cmake --build . -j")
+        cmd_runner("cmake --build . -j")
     if args.open:
         if not os.path.isfile("docs/sphinx/index.html"):
             # try again..
-            os.system("cmake --build . -j")
+            cmd_runner("cmake --build . -j")
             if not os.path.isfile("docs/sphinx/index.html"):
                 print(
                     "No Sphinx documentation file detected. "
@@ -143,21 +143,21 @@ def handle_tests_type(args, build_dir_list: list):
         if which("valgrind") is None:
             print("Please install valgrind first")
             sys.exit(1)
-        os.system("valgrind --leak-check=full ./fsfw-tests")
+        cmd_runner("valgrind --leak-check=full ./fsfw-tests")
         os.chdir("..")
 
 
 def create_tests_build_cfg():
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
     os.chdir("..")
 
 
 def create_docs_build_cfg():
     os.mkdir(DOCS_FOLDER_NAME)
     os.chdir(DOCS_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
+    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
     os.chdir("..")
 
 
@@ -180,7 +180,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
 def perform_lcov_operation(directory: str, chdir: bool):
     if chdir:
         os.chdir(directory)
-    os.system("cmake --build . -- fsfw-tests_coverage -j")
+    cmd_runner("cmake --build . -- fsfw-tests_coverage -j")
 
 
 def determine_build_dir(build_dir_list: List[str]):
@@ -202,5 +202,10 @@ def determine_build_dir(build_dir_list: List[str]):
     return build_directory
 
 
+def cmd_runner(cmd: str):
+    print(f"Executing command: {cmd}")
+    os.system(cmd)
+
+
 if __name__ == "__main__":
     main()

src/fsfw/FSFW.h.in

@@ -69,4 +69,9 @@
 #define FSFW_HAL_LIS3MDL_MGM_DEBUG          0
 #endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
 
+// Can be used for low-level debugging of the I2C bus
+#ifndef FSFW_HAL_I2C_WIRETAPPING
+#define FSFW_HAL_I2C_WIRETAPPING            0
+#endif
+
 #endif /* FSFW_FSFW_H_ */

src/fsfw/controller/ControllerBase.h

@@ -1,7 +1,6 @@
 #ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
 #define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
-#include "fsfw/datapool/HkSwitchHelper.h"
 #include "fsfw/health/HasHealthIF.h"
 #include "fsfw/health/HealthHelper.h"
 #include "fsfw/modes/HasModesIF.h"

src/fsfw/datapool/CMakeLists.txt

@@ -1,6 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE 
-		HkSwitchHelper.cpp
 	PoolDataSetBase.cpp
 	PoolEntry.cpp
 )

src/fsfw/datapool/HkSwitchHelper.cpp

@@ -1,67 +0,0 @@
-#include "fsfw/datapool/HkSwitchHelper.h"
-
-#include "fsfw/ipc/QueueFactory.h"
-
-HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy)
-    : commandActionHelper(this), eventProxy(eventProxy) {
-  actionQueue = QueueFactory::instance()->createMessageQueue();
-}
-
-HkSwitchHelper::~HkSwitchHelper() { QueueFactory::instance()->deleteMessageQueue(actionQueue); }
-
-ReturnValue_t HkSwitchHelper::initialize() {
-  ReturnValue_t result = commandActionHelper.initialize();
-
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-
-  return result;
-}
-
-ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
-  CommandMessage command;
-  while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
-    ReturnValue_t result = commandActionHelper.handleReply(&command);
-    if (result == HasReturnvaluesIF::RETURN_OK) {
-      continue;
-    }
-    command.setToUnknownCommand();
-    actionQueue->reply(&command);
-  }
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-void HkSwitchHelper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
-
-void HkSwitchHelper::stepFailedReceived(ActionId_t actionId, uint8_t step,
-                                        ReturnValue_t returnCode) {
-  eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
-}
-
-void HkSwitchHelper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
-
-void HkSwitchHelper::completionSuccessfulReceived(ActionId_t actionId) {}
-
-void HkSwitchHelper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
-  eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId);
-}
-
-ReturnValue_t HkSwitchHelper::switchHK(SerializeIF* sids, bool enable) {
-  //	ActionId_t action = HKService::DISABLE_HK;
-  //	if (enable) {
-  //		action = HKService::ENABLE_HK;
-  //	}
-  //
-  //	ReturnValue_t result = commandActionHelper.commandAction(
-  //			objects::PUS_HK_SERVICE, action, sids);
-  //
-  //	if (result != HasReturnvaluesIF::RETURN_OK) {
-  //		eventProxy->forwardEvent(SWITCHING_TM_FAILED, result);
-  //	}
-  //	return result;
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-MessageQueueIF* HkSwitchHelper::getCommandQueuePtr() { return actionQueue; }

src/fsfw/datapool/HkSwitchHelper.h

@@ -1,44 +0,0 @@
-#ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
-#define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
-
-#include "fsfw/action/CommandsActionsIF.h"
-#include "fsfw/events/EventReportingProxyIF.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-
-// TODO this class violations separation between mission and framework
-// but it is only a transitional solution until the Datapool is
-// implemented decentrally
-
-class HkSwitchHelper : public ExecutableObjectIF, public CommandsActionsIF {
- public:
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
-  static const Event SWITCHING_TM_FAILED =
-      MAKE_EVENT(1, severity::LOW);  //!< Commanding the HK Service failed, p1: error code, p2
-                                     //!< action: 0 disable / 1 enable
-
-  HkSwitchHelper(EventReportingProxyIF* eventProxy);
-  virtual ~HkSwitchHelper();
-
-  ReturnValue_t initialize();
-
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
-
-  ReturnValue_t switchHK(SerializeIF* sids, bool enable);
-
-  virtual void setTaskIF(PeriodicTaskIF* task_){};
-
- protected:
-  virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step);
-  virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode);
-  virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size);
-  virtual void completionSuccessfulReceived(ActionId_t actionId);
-  virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode);
-  virtual MessageQueueIF* getCommandQueuePtr();
-
- private:
-  CommandActionHelper commandActionHelper;
-  MessageQueueIF* actionQueue;
-  EventReportingProxyIF* eventProxy;
-};
-
-#endif /* FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ */