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Merge branch 'mueller/refactor-tmtc-stack' into mueller/cfdp-routers

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This commit is contained in:
Robin Müller 2022-08-30 11:12:53 +02:00
commit 32c53b932d
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GPG Key ID: 71B58F8A3CDFA9AC
14 changed files with 85 additions and 175 deletions
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2
misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
View File

@ -35,7 +35,7 @@ void Factory::produceFsfwObjects(void) {
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::NO_OBJECT;
PusServiceBase::PUS_DISTRIBUTOR = objects::NO_OBJECT;
PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;
CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;

11
scripts/auto-formatter.sh
View File

@ -3,6 +3,11 @@ if [[ ! -f README.md ]]; then
cd ..
fi
folder_list=(
"./src"
"./unittests"
)
cmake_fmt="cmake-format"
file_selectors="-iname CMakeLists.txt"
if command -v ${cmake_fmt} &> /dev/null; then
@ -16,8 +21,10 @@ fi
cpp_format="clang-format"
file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
if command -v ${cpp_format} &> /dev/null; then
find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
find ./unittests ${file_selectors} | xargs ${cpp_format} --style=file -i
for dir in ${folder_list[@]}; do
echo "Auto-formatting ${dir} recursively"
find ${dir} ${file_selectors} | xargs clang-format --style=file -i
done
else
echo "No ${cpp_format} tool found, not formatting C++/C files"
fi

67
src/fsfw/datapoollocal/LocalDataPoolManager.cpp
View File

@ -14,7 +14,6 @@
#include "internal/HasLocalDpIFManagerAttorney.h"
#include "internal/LocalPoolDataSetAttorney.h"
// TODO: Get rid of this. This should be a constructor argument, not something hardcoded in any way
object_id_t LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
@ -326,32 +325,28 @@ void LocalDataPoolManager::resetHkUpdateResetHelper() {
}
}
ReturnValue_t LocalDataPoolManager::subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams params) {
return subscribeForPeriodicPacket(params);
}
ReturnValue_t LocalDataPoolManager::subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams params) {
return subscribeForPeriodicPacket(params);
}
ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase& params) {
ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
float collectionInterval,
bool isDiagnostics,
object_id_t packetDestination) {
struct HkReceiver hkReceiver;
hkReceiver.dataId.sid = params.sid;
hkReceiver.dataId.sid = sid;
hkReceiver.reportingType = ReportingType::PERIODIC;
hkReceiver.dataType = DataType::DATA_SET;
if (params.receiver == MessageQueueIF::NO_QUEUE) {
hkReceiver.destinationQueue = hkDestinationId;
} else {
hkReceiver.destinationQueue = params.receiver;
if (packetDestination != objects::NO_OBJECT) {
auto* receivedHkIF = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
if (receivedHkIF->getHkQueue() == MessageQueueIF::NO_QUEUE) {
hkReceiver.destinationQueue = hkDestinationId;
} else {
hkReceiver.destinationQueue = receivedHkIF->getHkQueue();
}
}
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
if (dataSet != nullptr) {
LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, params.enableReporting);
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, params.collectionInterval,
LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting);
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, collectionInterval,
owner->getPeriodicOperationFrequency());
}
@ -359,30 +354,26 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase
return returnvalue::OK;
}
ReturnValue_t LocalDataPoolManager::subscribeForRegularUpdatePacket(
subdp::RegularHkUpdateParams params) {
return subscribeForUpdatePacket(params);
}
ReturnValue_t LocalDataPoolManager::subscribeForDiagUpdatePacket(
subdp::DiagnosticsHkUpdateParams params) {
return subscribeForUpdatePacket(params);
}
ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(subdp::ParamsBase& params) {
ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
bool isDiagnostics,
object_id_t packetDestination) {
struct HkReceiver hkReceiver;
hkReceiver.dataId.sid = params.sid;
hkReceiver.dataId.sid = sid;
hkReceiver.reportingType = ReportingType::UPDATE_HK;
hkReceiver.dataType = DataType::DATA_SET;
if (params.receiver == MessageQueueIF::NO_QUEUE) {
hkReceiver.destinationQueue = hkDestinationId;
} else {
hkReceiver.destinationQueue = params.receiver;
if (packetDestination != objects::NO_OBJECT) {
auto* receivedHkIF = ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
if (receivedHkIF->getHkQueue() == MessageQueueIF::NO_QUEUE) {
hkReceiver.destinationQueue = hkDestinationId;
} else {
hkReceiver.destinationQueue = receivedHkIF->getHkQueue();
}
}
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
if (dataSet != nullptr) {
LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, true);
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
}
hkReceivers.push_back(hkReceiver);

12
src/fsfw/datapoollocal/LocalDataPoolManager.h
View File

@ -241,13 +241,13 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
MutexIF* getMutexHandle();
LocalDataPoolManager* getPoolManagerHandle() override;
ReturnValue_t subscribeForRegularPeriodicPacket(subdp::RegularHkPeriodicParams params) override;
ReturnValue_t subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams params) override;
ReturnValue_t subscribeForPeriodicPacket(subdp::ParamsBase& params);
ReturnValue_t subscribeForPeriodicPacket(
sid_t sid, bool enableReporting, float collectionInterval, bool isDiagnostics,
object_id_t packetDestination = objects::NO_OBJECT) override;
ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) override;
ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) override;
ReturnValue_t subscribeForUpdatePacket(subdp::ParamsBase& params);
ReturnValue_t subscribeForUpdatePacket(
sid_t sid, bool reportingEnabled, bool isDiagnostics,
object_id_t packetDestination = objects::NO_OBJECT) override;
protected:
/** Core data structure for the actual pool data */

112
src/fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h
View File

@ -1,90 +1,24 @@
#ifndef FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
#define FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "../ipc/messageQueueDefinitions.h"
#include "../returnvalues/returnvalue.h"
#include "localPoolDefinitions.h"
namespace subdp {
struct ParamsBase {
ParamsBase(sid_t sid, bool enableReporting, float collectionInterval, bool diagnostics)
: sid(sid),
enableReporting(enableReporting),
collectionInterval(collectionInterval),
diagnostics(diagnostics) {}
[[nodiscard]] bool isDiagnostics() const { return diagnostics; }
sid_t sid;
bool enableReporting;
float collectionInterval;
MessageQueueId_t receiver = MessageQueueIF::NO_QUEUE;
protected:
bool diagnostics;
};
struct RegularHkPeriodicParams : public ParamsBase {
RegularHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
: ParamsBase(sid, enableReporting, collectionInterval, false) {}
};
struct DiagnosticsHkPeriodicParams : public ParamsBase {
DiagnosticsHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
: ParamsBase(sid, enableReporting, collectionInterval, true) {}
};
struct RegularHkUpdateParams : public ParamsBase {
RegularHkUpdateParams(sid_t sid, bool enableReporting)
: ParamsBase(sid, enableReporting, 0.0, false) {}
};
struct DiagnosticsHkUpdateParams : public ParamsBase {
DiagnosticsHkUpdateParams(sid_t sid, bool enableReporting)
: ParamsBase(sid, enableReporting, 0.0, true) {}
};
} // namespace subdp
class ProvidesDataPoolSubscriptionIF {
public:
virtual ~ProvidesDataPoolSubscriptionIF() = default;
virtual ~ProvidesDataPoolSubscriptionIF(){};
/**
* @brief Subscribe for the generation of periodic packets. Used for regular HK packets
* @brief Subscribe for the generation of periodic packets.
* @details
* This subscription mechanism will generally be used by the data creator
* to generate housekeeping packets which are downlinked directly.
* @return
*/
virtual ReturnValue_t subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams params) = 0;
/**
* @brief Subscribe for the generation of periodic packets. Used for diagnostic packets
* @details
* This subscription mechanism will generally be used by the data creator
* to generate housekeeping packets which are downlinked directly.
* @return
*/
virtual ReturnValue_t subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams params) = 0;
[[deprecated(
"Please use the new API which takes all arguments as one wrapper "
"struct")]] virtual ReturnValue_t
subscribeForPeriodicPacket(sid_t sid, bool enableReporting, float collectionInterval,
bool isDiagnostics,
object_id_t packetDestination = objects::NO_OBJECT) {
if (isDiagnostics) {
subdp::DiagnosticsHkPeriodicParams params(sid, enableReporting, collectionInterval);
return subscribeForDiagPeriodicPacket(params);
} else {
subdp::RegularHkPeriodicParams params(sid, enableReporting, collectionInterval);
return subscribeForRegularPeriodicPacket(params);
}
}
virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
float collectionInterval, bool isDiagnostics,
object_id_t packetDestination) = 0;
/**
* @brief Subscribe for the generation of packets if the dataset
* is marked as changed.
@ -95,28 +29,9 @@ class ProvidesDataPoolSubscriptionIF {
* @param packetDestination
* @return
*/
virtual ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) = 0;
virtual ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) = 0;
// virtual ReturnValue_t
// subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
// return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
// }
[[deprecated(
"Please use the new API which takes all arguments as one wrapper "
"struct")]] virtual ReturnValue_t
subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics,
object_id_t packetDestination = objects::NO_OBJECT) {
if (isDiagnostics) {
subdp::DiagnosticsHkUpdateParams params(sid, reportingEnabled);
return subscribeForDiagUpdatePacket(params);
} else {
subdp::RegularHkUpdateParams params(sid, reportingEnabled);
return subscribeForRegularUpdatePacket(params);
}
}
virtual ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
bool isDiagnostics,
object_id_t packetDestination) = 0;
/**
* @brief Subscribe for a notification message which will be sent
* if a dataset has changed.
@ -131,7 +46,8 @@ class ProvidesDataPoolSubscriptionIF {
* Otherwise, only an notification message is sent.
* @return
*/
virtual ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
virtual ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot) = 0;
/**
@ -148,7 +64,7 @@ class ProvidesDataPoolSubscriptionIF {
* only an notification message is sent.
* @return
*/
virtual ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
virtual ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
bool generateSnapshot) = 0;

4
src/fsfw/internalerror/InternalErrorReporter.cpp
View File

@ -129,9 +129,9 @@ ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool
localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
poolManager.subscribeForPeriodicPacket(
internalErrorSid, false,
static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0), true);
internalErrorDataset.setValidity(true, true);
return returnvalue::OK;
}

2
src/fsfw/ipc/MessageQueueMessage.cpp
View File

@ -12,7 +12,7 @@ MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()
MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
: messageSize(MessageQueueMessage::HEADER_SIZE + size) {
if (size <= MessageQueueMessage::MAX_DATA_SIZE) {
std::memcpy(internalBuffer + MessageQueueMessage::HEADER_SIZE, data, size);
std::memcpy(MessageQueueMessage::getData(), data, size);
this->messageSize = MessageQueueMessage::HEADER_SIZE + size;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1

5
src/fsfw/pus/Service11TelecommandScheduling.tpp
View File

@ -583,10 +583,11 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
}
// additional security check, this should never be true
if (itBegin->first > itEnd->first) {
if (itBegin > itEnd) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "11::getMapFilterFromData: itBegin > itEnd\n" << std::endl;
#else
sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
sif::printError("11::getMapFilterFromData: itBegin > itEnd\n");
#endif
return returnvalue::FAILED;
}

14
src/fsfw/timemanager/CCSDSTime.h
View File

@ -39,13 +39,13 @@ class CCSDSTime {
* Struct for CDS day-segmented format.
*/
struct CDS_short {
uint8_t pField;
uint8_t dayMSB;
uint8_t dayLSB;
uint8_t msDay_hh;
uint8_t msDay_h;
uint8_t msDay_l;
uint8_t msDay_ll;
uint8_t pField = P_FIELD_CDS_SHORT;
uint8_t dayMSB = 0;
uint8_t dayLSB = 0;
uint8_t msDay_hh = 0;
uint8_t msDay_h = 0;
uint8_t msDay_l = 0;
uint8_t msDay_ll = 0;
};
/**
* Struct for the CCS fromat in day of month variation with max resolution

2
src/fsfw/tmtcservices/VerificationCodes.h
View File

@ -5,7 +5,7 @@
namespace tcverif {
enum VerifFlags : uint8_t {
enum VerificationFlags : uint8_t {
NONE = 0b0000,
ACCEPTANCE = 0b0001,
START = 0b0010,

2
src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -466,7 +466,7 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &lo
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
return returnvalue::OK;
}

2
src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -310,7 +310,7 @@ void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
return returnvalue::OK;
}

9
unittests/datapoollocal/CMakeLists.txt
View File

@ -1,3 +1,6 @@
target_sources(
${FSFW_TEST_TGT} PRIVATE testLocalPoolVariable.cpp testLocalPoolVector.cpp
testDataSet.cpp testLocalPoolManager.cpp)
target_sources(${FSFW_TEST_TGT} PRIVATE
testLocalPoolVariable.cpp
testLocalPoolVector.cpp
testDataSet.cpp
testLocalPoolManager.cpp
)

16
unittests/mocks/LocalPoolOwnerBase.h
View File

@ -11,6 +11,7 @@
#include <fsfw/objectmanager/SystemObject.h>
#include "fsfw/datapool/PoolEntry.h"
#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
#include "mocks/MessageQueueMock.h"
#include "tests/TestsConfig.h"
@ -104,8 +105,7 @@ class LocalPoolOwnerBase : public SystemObject, public HasLocalDataPoolIF {
}
ReturnValue_t subscribePeriodicHk(bool enableReporting) {
return poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(lpool::testSid, enableReporting, 0.2));
return poolManager.subscribeForPeriodicPacket(lpool::testSid, enableReporting, 0.2, false);
}
ReturnValue_t subscribeWrapperSetUpdate(MessageQueueId_t receiverId) {
@ -121,17 +121,9 @@ class LocalPoolOwnerBase : public SystemObject, public HasLocalDataPoolIF {
ReturnValue_t subscribeWrapperSetUpdateHk(bool diagnostics = false,
AcceptsHkPacketsIF* receiver = nullptr) {
if (diagnostics) {
auto params = subdp::DiagnosticsHkUpdateParams(lpool::testSid, true);
if (receiver != nullptr) {
params.receiver = receiver->getHkQueue();
}
return poolManager.subscribeForDiagUpdatePacket(params);
return poolManager.subscribeForUpdatePacket(lpool::testSid, true, true);
} else {
auto params = subdp::RegularHkUpdateParams(lpool::testSid, true);
if (receiver != nullptr) {
params.receiver = receiver->getHkQueue();
}
return poolManager.subscribeForRegularUpdatePacket(params);
return poolManager.subscribeForUpdatePacket(lpool::testSid, true, false);
}
}