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Merge branch 'mueller_framework' of https://egit.irs.uni-stuttgart.de/KSat/fsfw into mueller_framework

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This commit is contained in:
Robin Müller 2019-10-29 18:21:03 +01:00
commit 3f1d68542e
8 changed files with 121 additions and 32 deletions
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4
container/FIFO.h
View File

@ -21,7 +21,7 @@ public:
readIndex(0), writeIndex(0), currentSize(0) {
}
bool emtpy() {
bool empty() {
return (currentSize == 0);
}
@ -45,7 +45,7 @@ public:
}
ReturnValue_t retrieve(T *value) {
if (emtpy()) {
if (empty()) {
return EMPTY;
} else {
*value = data[readIndex];

11
devicehandlers/DeviceHandlerBase.cpp
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@ -11,6 +11,7 @@
#include <framework/thermal/ThermalComponentIF.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <mission/test/DummyCookie.h>
object_id_t DeviceHandlerBase::powerSwitcherId = 0;
object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
@ -452,7 +453,7 @@ void DeviceHandlerBase::doGetWrite() {
if (wiretappingMode == RAW) {
replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
}
//We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
// We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
result = enableReplyInReplyMap(cookieInfo.pendingCommand);
} else {
//always generate a failure event, so that FDIR knows what's up
@ -473,9 +474,9 @@ void DeviceHandlerBase::doSendRead() {
cookieInfo.state = COOKIE_READ_SENT;
} else {
triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
//We can't inform anyone, because we don't know which command was sent last.
//So, we need to wait for a timeout.
//but I think we can allow to ignore one missedReply.
// We can't inform anyone, because we don't know which command was sent last.
// So, we need to wait for a timeout.
// but I think we can allow to ignore one missedReply.
ignoreMissedRepliesCount++;
cookieInfo.state = COOKIE_UNUSED;
}
@ -1266,3 +1267,5 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_;
}

30
devicehandlers/DeviceHandlerBase.h
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@ -33,24 +33,29 @@ class StorageManagerIF;
* Contains all devices and the DeviceHandlerBase class.
*/
// Robin: We're not really using RMAP, right? Maybe we should adapt class description for that?
/**
* \brief This is the abstract base class for device handlers.
*
* Documentation: Dissertation Baetz p.138,139, p.141-149
* SpaceWire Remote Memory Access Protocol (RMAP)
*
* It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, the RMAP communication and the
* communication with commanding objects.
* It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, communication with
* physical devices, using the @link DeviceCommunicationIF, and communication with commanding objects.
*
* NOTE: RMAP is a legacy standard which is used for FLP.
* RMAP communication is not mandatory for projects implementing the FSFW.
* However, the communication principles are similar to RMAP as there are two write and two send calls involved.
*
* It inherits SystemObject and thus can be created by the ObjectManagerIF.
*
* This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
* For each step an RMAP action is selected and executed. If data has been received (eg in case of an RMAP Read), the data will be interpreted.
* The action for each step can be defined by the child class but as most device handlers share a 4-call (Read-getRead-write-getWrite) structure,
* a default implementation is provided.
* For each step an RMAP action is selected and executed. If data has been received (GET_READ), the data will be interpreted.
* The action for each step can be defined by the child class but as most device handlers share a 4-call
* (sendRead-getRead-sendWrite-getWrite) structure, a default implementation is provided.
*
* Device handler instances should extend this class and implement the abstract functions.
* Components and drivers can send so called cookies which are used for communication
* and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
*
* \ingroup devices
*/
@ -167,7 +172,7 @@ protected:
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5);
static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5); //!< This is used to specify for replies from a device which are not replies to requests
static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6);
// static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
// static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
@ -626,9 +631,9 @@ protected:
* @param[out] foundLen length of the packet found
* @return
* - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
* - @c NO_VALID_REPLY no reply could be found starting at @c start, implies @c foundLen is not valid, base class will call scanForReply() again with ++start
* - @c INVALID_REPLY a packet was found but it is invalid, eg checksum error, implies @c foundLen is valid, can be used to skip some bytes
* - @c TOO_SHORT @c len is too short for any valid packet
* - @c RETURN_FAILED no reply could be found starting at @c start, implies @c foundLen is not valid, base class will call scanForReply() again with ++start
* - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid, eg checksum error, implies @c foundLen is valid, can be used to skip some bytes
* - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
* - @c APERIODIC_REPLY if a valid reply is received that has not been requested by a command, but should be handled anyway (@see also fillCommandAndCookieMap() )
*/
virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
@ -954,6 +959,7 @@ private:
*
* This is called at the beginning of each cycle. It checks whether a reply has timed out (that means a reply was expected
* but not received).
* In case the reply is periodic, the counter is simply set back to a specified value.
*/
void decrementDeviceReplyMap(void);
@ -1053,6 +1059,8 @@ private:
ReturnValue_t switchCookieChannel(object_id_t newChannelId);
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
};
#endif /* DEVICEHANDLERBASE_H_ */

4
fdir/FailureIsolationBase.h
View File

@ -21,6 +21,10 @@ public:
uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
virtual ~FailureIsolationBase();
virtual ReturnValue_t initialize();
/**
* This is called by the DHB in performOperation()
*/
void checkForFailures();
MessageQueueId_t getEventReceptionQueue();
virtual void triggerEvent(Event event, uint32_t parameter1 = 0,

28
serialize/SerializeAdapter.h
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@ -20,11 +20,31 @@
*
* The AutoSerializeAdapter functions can also be used as an alternative to memcpy
* to retrieve data out of a buffer directly into a class variable with data type T while being able to specify endianness.
* The boolean bigEndian specifies the endiness of the data to serialize or deSerialize.
*
* In the SOURCE mission , the target architecture is little endian,
* so any buffers must be deSerialized with bool bigEndian = false if
* the parameters are used in the FSFW.
* When serializing for downlink, the packets are generally serialized into big endian for the network when using a TC/UDP client
* If the target architecture is little endian (ARM), any data types created might
* have the wrong endiness if they are to be used for the FSFW.
* there are three ways to retrieve data out of a buffer to be used in the FSFW to use regular aligned (big endian) data.
* This can also be applied to uint32_t and uint64_t:
*
* 1. Use the AutoSerializeAdapter::deSerialize function with bool bigEndian = true:
*
* uint16_t data;
* int32_t dataLen = sizeof(data);
* ReturnValue_t result = AutoSerializeAdapter::deSerialize(&data,&buffer,&dataLen,true);
*
* 2. Perform a bitshift operation:
*
* uint16_t data;
* data = buffer[targetByte1] >> 8 | buffer[targetByte2];
*
* 3. Memcpy can be used when data is little-endian. Otherwise, endian-swapper has to be used.
*
* uint16_t data;
* memcpy(&data,buffer + positionOfTargetByte1,sizeof(data));
* data = EndianSwapper::swap(data);
*
* When serializing for downlink, the packets are generally serialized assuming big endian data format
* like seen in TmPacketStored.cpp for example.
*
* \ingroup serialize

14
serialize/SerializeIF.h
View File

@ -11,10 +11,16 @@
/**
* An interface for alle classes which require translation of objects data into data streams and vice-versa.
*
* In the SOURCE mission , the target architecture is little endian,
* so any buffers must be deSerialized with bool bigEndian = false if
* the parameters are used in the FSFW.
* When serializing for downlink, the packets are generally serialized into big endian for the network when using a TC/UDP client
* If the target architecture is little endian (ARM), any data types created might
* have the wrong endiness if they are to be used for the FSFW.
* there are three ways to retrieve data out of a buffer to be used in the FSFW to use regular aligned (big endian) data.
* This can also be applied to uint32_t and uint64_t:
*
* 1. Use the @c AutoSerializeAdapter::deSerialize function with @c bigEndian = true
* 2. Perform a bitshift operation
* 3. @c memcpy can be used when data is little-endian. Otherwise, @c EndianSwapper has to be used.
*
* When serializing for downlink, the packets are generally serialized assuming big endian data format
* like seen in TmPacketStored.cpp for example.
*
* \ingroup serialize

58
tmtcservices/CommandingServiceBase.h
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@ -64,7 +64,7 @@ public:
virtual ~CommandingServiceBase();
/***
* This is the periodic called function
* This is the periodically called function.
* Handle request queue for external commands.
* Handle command Queue for internal commands.
* @param opCode is unused here at the moment
@ -180,20 +180,67 @@ protected:
*/
void sendTmPacket(uint8_t subservice, SerializeIF* content,
SerializeIF* header = NULL);
/**
* Check the target subservice
* @param subservice
* @return
*/
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
/**
* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
* The target message queue ID can then be acquired by using the target interface.
* @param subservice
* @param tcData Application Data of TC Packet
* @param tcDataLen
* @param id MessageQueue ID is stored here
* @param objectId
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED
* - @c CSB or implementation specific return codes
*/
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) = 0;
/**
* After the Message Queue and Object ID are determined,
* the command is prepared by using an implementation specific CommandMessage type which is sent to
* the target device. It contains all necessary information for the device to
* execute telecommands.
* @param message
* @param subservice
* @param tcData
* @param tcDataLen
* @param state
* @param objectId
* @return
*/
virtual ReturnValue_t prepareCommand(CommandMessage *message,
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0;
/**
* This function is responsible for the communication between the Command Service Base
* and the respective PUS Commanding Service once the execution has started.
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
* There are different translations of these replies to specify how the Command Service proceeds.
* @param reply Command Message which contains information about the command
* @param previousCommand
* @param state
* @param optionalNextCommand
* @param objectId
* @param isStep Flag value to mark steps of command execution
* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
* - @c INVALID_REPLY can handle unrequested replies
* - Anything else triggers a TC verification failure
*/
virtual ReturnValue_t handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0;
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) = 0;
virtual void handleUnrequestedReply(CommandMessage *reply);
@ -209,7 +256,8 @@ private:
* It handles replies generated by the devices and relayed by the specific service implementation.
* This means that it determines further course of action depending on the return values specified
* in the service implementation.
* This includes the generation of TC verification messages:
* This includes the generation of TC verification messages. Note that
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
* - TM[1,5] Step Successs
* - TM[1,6] Step Failure
* - TM[1,7] Completion Success

4
tmtcservices/PusServiceBase.h
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@ -68,8 +68,8 @@ public:
* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
* the TC requests afterwards.
* performService is always executed afterwards.
* @return - \c RETURN_OK if the periodic performService was successful.
* - \c RETURN_FAILED else.
* @return \c RETURN_OK if the periodic performService was successful.
* \c RETURN_FAILED else.
*/
ReturnValue_t performOperation(uint8_t opCode);
virtual uint16_t getIdentifier();