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Linux CommandExecutor

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The CommandExecutor helper class can execute shell commands in blocking and non-blocking mode
This class is able to execute processes by using the Linux popen call. It also has the capability of writing
the read output of a process into a provided ring buffer.

The executor works by first loading the command which should be executed and specifying whether
it should be executed blocking or non-blocking. After that, execution can be started with the execute call.

Using non-blocking mode allows to execute commands which might take a longer time in the background,
and allowing the user thread to check completion status with the check function

Moved to HAL like requested in code review and unit tested with failing commands as well.
Also, Linux HAL components are compiled by default now unless explicitely disabled.
This commit is contained in:
Robin Müller
2022-01-26 12:11:52 +01:00
parent bd64a43819
commit 371ff931bf
22 changed files with 608 additions and 57 deletions
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46
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -1,8 +1,8 @@
#include "UartComIF.h"
#include "OBSWConfig.h"
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface.h"
#include <cstring>
#include <fcntl.h>
@ -26,7 +26,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
@ -42,14 +44,18 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
auto status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
deviceFile << "to UART device map" << std::endl;
#endif
return RETURN_FAILED;
}
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
" already in use" << std::endl;
#endif
return RETURN_FAILED;
}
@ -70,15 +76,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
int fd = open(deviceFile.c_str(), flags);
if (fd < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
"with error code " << errno << strerror(errno) << std::endl;
#endif
return fd;
}
/* Read in existing settings */
if(tcgetattr(fd, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
<< strerror(errno) << std::endl;
#endif
return fd;
}
@ -99,8 +109,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
errno << ": " << strerror(errno);
#endif
return fd;
}
return fd;
@ -152,7 +164,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
options->c_cflag |= CS8;
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
#endif
break;
}
}
@ -259,7 +273,9 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetospeed(options, B460800);
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
break;
}
}
@ -275,29 +291,37 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
}
if(sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
#endif
return RETURN_FAILED;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
"not in UART map" << std::endl;
#endif
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != (int)sendLen) {
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
errno << ": Error description: " << strerror(errno) << std::endl;
#endif
return RETURN_FAILED;
}
@ -314,7 +338,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
@ -327,8 +353,10 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
}
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
#endif
return RETURN_FAILED;
}
@ -425,8 +453,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
}
else if (bytesRead != static_cast<int>(requestLen)) {
if(uartCookie.isReplySizeFixed()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
" of " << requestLen << " bytes" << std::endl;
#endif
return RETURN_FAILED;
}
}
@ -442,15 +472,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
" not in uart map" << std::endl;
#endif
return RETURN_FAILED;
}
@ -468,7 +502,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
@ -486,7 +522,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
@ -504,7 +542,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();