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

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

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@ -11,6 +11,7 @@
#include <framework/thermal/ThermalComponentIF.h> #include <framework/thermal/ThermalComponentIF.h>
#include <framework/ipc/QueueFactory.h> #include <framework/ipc/QueueFactory.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <mission/test/DummyCookie.h>
object_id_t DeviceHandlerBase::powerSwitcherId = 0; object_id_t DeviceHandlerBase::powerSwitcherId = 0;
object_id_t DeviceHandlerBase::rawDataReceiverId = 0; object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
@ -1266,3 +1267,5 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_; executingTask = task_;
} }

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@ -33,24 +33,29 @@ class StorageManagerIF;
* Contains all devices and the DeviceHandlerBase class. * 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. * \brief This is the abstract base class for device handlers.
* *
* Documentation: Dissertation Baetz p.138,139, p.141-149 * 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 * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, communication with
* communication with commanding objects. * 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. * It inherits SystemObject and thus can be created by the ObjectManagerIF.
* *
* This class uses the opcode of ExecutableObjectIF to perform a step-wise execution. * 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. * 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 (Read-getRead-write-getWrite) structure, * The action for each step can be defined by the child class but as most device handlers share a 4-call
* a default implementation is provided. * (sendRead-getRead-sendWrite-getWrite) structure, a default implementation is provided.
* *
* Device handler instances should extend this class and implement the abstract functions. * 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 * 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 * \ingroup devices
*/ */
@ -167,7 +172,7 @@ protected:
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE; 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 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 IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6);
// static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8); // static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
// static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9); // static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
@ -626,9 +631,9 @@ protected:
* @param[out] foundLen length of the packet found * @param[out] foundLen length of the packet found
* @return * @return
* - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid * - @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 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 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 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 TOO_SHORT @c len is too short for any valid packet * - @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() ) * - @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, 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 * 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). * but not received).
* In case the reply is periodic, the counter is simply set back to a specified value.
*/ */
void decrementDeviceReplyMap(void); void decrementDeviceReplyMap(void);
@ -1053,6 +1059,8 @@ private:
ReturnValue_t switchCookieChannel(object_id_t newChannelId); ReturnValue_t switchCookieChannel(object_id_t newChannelId);
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message); ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
}; };
#endif /* DEVICEHANDLERBASE_H_ */ #endif /* DEVICEHANDLERBASE_H_ */

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

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@ -20,11 +20,31 @@
* *
* The AutoSerializeAdapter functions can also be used as an alternative to memcpy * 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. * 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, * If the target architecture is little endian (ARM), any data types created might
* so any buffers must be deSerialized with bool bigEndian = false if * have the wrong endiness if they are to be used for the FSFW.
* the parameters are used in 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.
* When serializing for downlink, the packets are generally serialized into big endian for the network when using a TC/UDP client * 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. * like seen in TmPacketStored.cpp for example.
* *
* \ingroup serialize * \ingroup serialize

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@ -11,10 +11,16 @@
/** /**
* An interface for alle classes which require translation of objects data into data streams and vice-versa. * 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, * If the target architecture is little endian (ARM), any data types created might
* so any buffers must be deSerialized with bool bigEndian = false if * have the wrong endiness if they are to be used for the FSFW.
* the parameters are used in 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.
* When serializing for downlink, the packets are generally serialized into big endian for the network when using a TC/UDP client * 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. * like seen in TmPacketStored.cpp for example.
* *
* \ingroup serialize * \ingroup serialize

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@ -64,7 +64,7 @@ public:
virtual ~CommandingServiceBase(); virtual ~CommandingServiceBase();
/*** /***
* This is the periodic called function * This is the periodically called function.
* Handle request queue for external commands. * Handle request queue for external commands.
* Handle command Queue for internal commands. * Handle command Queue for internal commands.
* @param opCode is unused here at the moment * @param opCode is unused here at the moment
@ -180,20 +180,67 @@ protected:
*/ */
void sendTmPacket(uint8_t subservice, SerializeIF* content, void sendTmPacket(uint8_t subservice, SerializeIF* content,
SerializeIF* header = NULL); SerializeIF* header = NULL);
/**
* Check the target subservice
* @param subservice
* @return
*/
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0; 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, virtual ReturnValue_t prepareCommand(CommandMessage *message,
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen, uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0; 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, virtual ReturnValue_t handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state, Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId, CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0; 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); virtual void handleUnrequestedReply(CommandMessage *reply);
@ -209,7 +256,8 @@ private:
* It handles replies generated by the devices and relayed by the specific service implementation. * 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 * This means that it determines further course of action depending on the return values specified
* in the service implementation. * 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[1,5] Step Successs
* - TM[1,6] Step Failure * - TM[1,6] Step Failure
* - TM[1,7] Completion Success * - TM[1,7] Completion Success

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