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Merge remote-tracking branch 'upstream/development' into mueller/update-cmd-reply-maps-refactoring

This commit is contained in:
Robin Müller 2022-07-08 17:29:21 +02:00
parent bb640f8758 541f563683
commit 4789200750
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91 changed files with 2053 additions and 1089 deletions
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8
.gitignore vendored
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@ -1,6 +1,14 @@
# PyCharm and CLion
/.idea/*
!/.idea/runConfigurations
!/.idea/cmake.xml
!/.idea/codeStyles
# Eclipse
.cproject
.project
.settings
.metadata
/build*
/cmake-build*

14
.idea/codeStyles/Project.xml Normal file
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@ -0,0 +1,14 @@
<component name="ProjectCodeStyleConfiguration">
<code_scheme name="Project" version="173">
<clangFormatSettings>
<option name="ENABLED" value="true" />
</clangFormatSettings>
<codeStyleSettings language="CMake">
<indentOptions>
<option name="INDENT_SIZE" value="2" />
<option name="CONTINUATION_INDENT_SIZE" value="0" />
<option name="TAB_SIZE" value="2" />
</indentOptions>
</codeStyleSettings>
</code_scheme>
</component>

5
.idea/codeStyles/codeStyleConfig.xml Normal file
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@ -0,0 +1,5 @@
<component name="ProjectCodeStyleConfiguration">
<state>
<option name="USE_PER_PROJECT_SETTINGS" value="true" />
</state>
</component>

7
.run/fsfw-tests_coverage.run.xml Normal file
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@ -0,0 +1,7 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
<method v="2">
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
</method>
</configuration>
</component>

7
.run/fsfw.run.xml Normal file
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@ -0,0 +1,7 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
<method v="2">
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
</method>
</configuration>
</component>

57
CHANGELOG.md
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@ -12,6 +12,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes
- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
compiler supports it
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
@ -27,7 +31,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- `oneShotAction` flag in the `TestTask` class is not static anymore
- Major update for version handling, using `git describe` to fetch version information with git.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
- Place `Version` class outside of `fsfw` namespace. It is generic
- Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
manually now. Those should not change too often and only a small subset is needed
- Separate folder for easier update and for distinction
@ -44,6 +47,38 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
### Task Module Refactoring
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
**Refactoring general task code**
- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
**Refactor PeriodicTaskIF**
- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
`virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
the operation code passed to `performOperation`. Updated API taking
an `ExecutableObjectIF` accordingly
**Refactor FixedTimeslotTaskIF**
- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
**Refactor FixedSequenceSlot**
- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
`ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
for the custom checker
**Linux Task Module**
- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
member of the class
### HAL
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
@ -85,6 +120,11 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
## Additions
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
whether it is running in CI/CD
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
- Basic `clion` support: Update `.gitignore` and add some basic run configurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
can make good use of it and it usually makes the code faster and/or smaller.
@ -99,9 +139,13 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
- https://gitlab.kitware.com/cmake/cmake/-/issues/21696
Easiest solution for now: Keep this option OFF by default.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
(ETL) dependency.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
- Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
@ -110,17 +154,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- `Subsystem`: New API to add table and sequence entries
## HAL
- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
lot more sense because each ComIF should be responsible for one SPI bus.
- SPI: Move the empty transfer to update the line polarity to separate function. This means
it is not automatically called when calling the setter function for SPI speed and mode.
The user should call this function after locking the CS mutex if multiple SPI devices with
differing speeds and modes are attached to one bus.
- SPI: Getter functions for SPI speed and mode.
- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
## Fixed
- TCP TMTC Server: `MutexGuard` was not created properly in

123
CMakeLists.txt
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@ -1,29 +1,77 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME})
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
endif()
set(MSG_PREFIX "fsfw |")
# Add the cmake folder so the FindSphinx module is found
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
list(APPEND CMAKE_MODULE_PATH
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
# ##############################################################################
# Version file handling #
# ##############################################################################
set(FSFW_VERSION_IF_GIT_FAILS 4)
set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
set(FSFW_REVISION_IF_GIT_FAILS 0)
# Add the cmake folder so the FindSphinx module is found
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
set(MSG_PREFIX "fsfw |")
set(FSFW_GIT_VER_HANDLING_OK FALSE)
# Version handling
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
message(STATUS "${MSG_PREFIX} Determining version information with git")
include(FsfwHelpers)
determine_version_with_git("--exclude" "docker_*")
if(GIT_INFO)
set(FSFW_GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
if(NOT FSFW_VERSION)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_SUBVERSION)
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_REVISION)
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(FSFW_GIT_VER_HANDLING_OK TRUE)
else()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
endif()
endif()
if(NOT FSFW_GIT_VER_HANDLING_OK)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME}
VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(
FATAL_ERROR
"${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
endif()
set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
set(FSFW_ETL_LIB_NAME etl)
set(FSFW_ETL_LIB_MAJOR_VERSION
20
CACHE STRING "ETL library major version requirement")
set(FSFW_ETL_LIB_VERSION
${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
CACHE STRING "ETL library exact version requirement")
set(FSFW_ETL_LINK_TARGET etl::etl)
@ -57,6 +105,7 @@ endif()
option(FSFW_BUILD_UNITTESTS
"Build unittest binary in addition to static library" OFF)
option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@ -90,47 +139,13 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
TRUE)
endif()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
# Version handling
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
message(STATUS "${MSG_PREFIX} Determining version information with git")
include(FsfwHelpers)
determine_version_with_git("--exclude" "docker_*")
if(GIT_INFO)
set(FSFW_GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
if(NOT FSFW_VERSION)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_SUBVERSION)
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_REVISION)
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(FSFW_GIT_VER_HANDLING_OK TRUE)
else()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
endif()
endif()
if(NOT FSFW_GIT_VER_HANDLING_OK)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
if(FSFW_BUILD_UNITTESTS)
message(
STATUS
"${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
)
# Check whether the user has already installed Catch2 first
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
message(
@ -168,13 +183,10 @@ if(FSFW_BUILD_UNITTESTS)
endif()
endif()
message(
STATUS
"Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
)
message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
# Check whether the user has already installed ETL first
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
# Not installed, so use FetchContent to download and provide etl
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
message(
@ -217,7 +229,9 @@ target_include_directories(${LIB_FSFW_NAME}
# Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL)
message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
message(
WARNING
"${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
set(FSFW_OSAL OS_FSFW)
endif()
@ -233,7 +247,6 @@ if(NOT FSFW_OSAL)
"host"
CACHE STRING "OS abstraction layer used in the FSFW")
endif()
endif()
set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)

0
FSFWVersion.h.in Normal file
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4
README.md
View File

@ -99,7 +99,7 @@ add and link against the FSFW library in general.
4. Link against the FSFW library
```cmake
```sh
target_link_libraries(${YourProjectName} PRIVATE fsfw)
```
@ -131,7 +131,7 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
You can use the following commands inside the `fsfw` folder to set up the build system
```sh
mkdir build-Unittest && cd build-Unittest
mkdir build-tests && cd build-tests
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
```

2
automation/Jenkinsfile vendored
View File

@ -14,7 +14,7 @@ pipeline {
stage('Configure') {
steps {
dir(BUILDDIR) {
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
}
}
}

141
cmake/cmake-modules/GetGitRevisionDescription.cmake
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@ -1,141 +0,0 @@
# - Returns a version string from Git
#
# These functions force a re-configure on each git commit so that you can
# trust the values of the variables in your build system.
#
# get_git_head_revision(<refspecvar> <hashvar> [<additional arguments to git describe> ...])
#
# Returns the refspec and sha hash of the current head revision
#
# git_describe(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the source tree, and adjusting
# the output so that it tests false if an error occurs.
#
# git_get_exact_tag(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe --exact-match on the source tree,
# and adjusting the output so that it tests false if there was no exact
# matching tag.
#
# Requires CMake 2.6 or newer (uses the 'function' command)
#
# Original Author:
# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
# http://academic.cleardefinition.com
# Iowa State University HCI Graduate Program/VRAC
#
# Copyright Iowa State University 2009-2010.
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
if(__get_git_revision_description)
return()
endif()
set(__get_git_revision_description YES)
# We must run the following at "include" time, not at function call time,
# to find the path to this module rather than the path to a calling list file
get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
function(get_git_head_revision _refspecvar _hashvar)
set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(GIT_DIR "${GIT_PARENT_DIR}/.git")
while(NOT EXISTS "${GIT_DIR}") # .git dir not found, search parent directories
set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
# We have reached the root directory, we are not in git
set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
return()
endif()
set(GIT_DIR "${GIT_PARENT_DIR}/.git")
endwhile()
# check if this is a submodule
if(NOT IS_DIRECTORY ${GIT_DIR})
file(READ ${GIT_DIR} submodule)
string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
set(GIT_DIR ${GIT_DIR_RELATIVE})
else()
get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
endif()
endif()
set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
if(NOT EXISTS "${GIT_DATA}")
file(MAKE_DIRECTORY "${GIT_DATA}")
endif()
if(NOT EXISTS "${GIT_DIR}/HEAD")
return()
endif()
set(HEAD_FILE "${GIT_DATA}/HEAD")
configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
"${GIT_DATA}/grabRef.cmake"
@ONLY)
include("${GIT_DATA}/grabRef.cmake")
set(${_refspecvar} "${HEAD_REF}" PARENT_SCOPE)
set(${_hashvar} "${HEAD_HASH}" PARENT_SCOPE)
endfunction()
function(git_describe _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var} "GIT-NOTFOUND" PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var} "HEAD-HASH-NOTFOUND" PARENT_SCOPE)
return()
endif()
# TODO sanitize
#if((${ARGN}" MATCHES "&&") OR
# (ARGN MATCHES "||") OR
# (ARGN MATCHES "\\;"))
# message("Please report the following error to the project!")
# message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
#endif()
#message(STATUS "Arguments to execute_process: ${ARGN}")
execute_process(COMMAND
${GIT_EXECUTABLE}
describe
${hash}
${ARGN}
WORKING_DIRECTORY
"${CMAKE_SOURCE_DIR}"
RESULT_VARIABLE
res
OUTPUT_VARIABLE
out
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var} "${out}" PARENT_SCOPE)
endfunction()
function(git_get_exact_tag _var)
git_describe(out --exact-match ${ARGN})
set(${_var} "${out}" PARENT_SCOPE)
endfunction()
function(git_get_tag _var)
git_describe(out --tags ${ARGN})
set(${_var} "${out}" PARENT_SCOPE)
endfunction()

6
cmake/cmake-modules/README.md
View File

@ -1,5 +1,7 @@
The files in these folder were manually copy and pasted from the
The files in the `bilke` folder were manually copy and pasted from the
[cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
this because only a small subset of its provided functions are needed.
The license file in included here as well.
The files in the `rpavlik` folder were manually copy and pasted from the
[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
this because only a small subset of its provided functions are needed.

0
cmake/cmake-modules/CodeCoverage.cmake → cmake/cmake-modules/bilke/CodeCoverage.cmake
View File

0
cmake/cmake-modules/LICENSE_1_0.txt → cmake/cmake-modules/bilke/LICENSE_1_0.txt
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284
cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake Normal file
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@ -0,0 +1,284 @@
# - Returns a version string from Git
#
# These functions force a re-configure on each git commit so that you can
# trust the values of the variables in your build system.
#
# get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
#
# Returns the refspec and sha hash of the current head revision
#
# git_describe(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the source tree, and adjusting
# the output so that it tests false if an error occurs.
#
# git_describe_working_tree(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the working tree (--dirty option),
# and adjusting the output so that it tests false if an error occurs.
#
# git_get_exact_tag(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe --exact-match on the source tree,
# and adjusting the output so that it tests false if there was no exact
# matching tag.
#
# git_local_changes(<var>)
#
# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
# Uses the return code of "git diff-index --quiet HEAD --".
# Does not regard untracked files.
#
# Requires CMake 2.6 or newer (uses the 'function' command)
#
# Original Author:
# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
# http://academic.cleardefinition.com
#
# Copyright 2009-2013, Iowa State University.
# Copyright 2013-2020, Ryan Pavlik
# Copyright 2013-2020, Contributors
# SPDX-License-Identifier: BSL-1.0
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
if(__get_git_revision_description)
return()
endif()
set(__get_git_revision_description YES)
# We must run the following at "include" time, not at function call time,
# to find the path to this module rather than the path to a calling list file
get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
# Function _git_find_closest_git_dir finds the next closest .git directory
# that is part of any directory in the path defined by _start_dir.
# The result is returned in the parent scope variable whose name is passed
# as variable _git_dir_var. If no .git directory can be found, the
# function returns an empty string via _git_dir_var.
#
# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
# neither foo nor bar contain a file/directory .git. This wil return
# C:/bla/.git
#
function(_git_find_closest_git_dir _start_dir _git_dir_var)
set(cur_dir "${_start_dir}")
set(git_dir "${_start_dir}/.git")
while(NOT EXISTS "${git_dir}")
# .git dir not found, search parent directories
set(git_previous_parent "${cur_dir}")
get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
if(cur_dir STREQUAL git_previous_parent)
# We have reached the root directory, we are not in git
set(${_git_dir_var}
""
PARENT_SCOPE)
return()
endif()
set(git_dir "${cur_dir}/.git")
endwhile()
set(${_git_dir_var}
"${git_dir}"
PARENT_SCOPE)
endfunction()
function(get_git_head_revision _refspecvar _hashvar)
_git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
else()
set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
endif()
if(NOT "${GIT_DIR}" STREQUAL "")
file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
"${GIT_DIR}")
if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
# We've gone above the CMake root dir.
set(GIT_DIR "")
endif()
endif()
if("${GIT_DIR}" STREQUAL "")
set(${_refspecvar}
"GITDIR-NOTFOUND"
PARENT_SCOPE)
set(${_hashvar}
"GITDIR-NOTFOUND"
PARENT_SCOPE)
return()
endif()
# Check if the current source dir is a git submodule or a worktree.
# In both cases .git is a file instead of a directory.
#
if(NOT IS_DIRECTORY ${GIT_DIR})
# The following git command will return a non empty string that
# points to the super project working tree if the current
# source dir is inside a git submodule.
# Otherwise the command will return an empty string.
#
execute_process(
COMMAND "${GIT_EXECUTABLE}" rev-parse
--show-superproject-working-tree
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT "${out}" STREQUAL "")
# If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
file(READ ${GIT_DIR} submodule)
string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
${submodule})
string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
ABSOLUTE)
set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
else()
# GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
file(READ ${GIT_DIR} worktree_ref)
# The .git directory contains a path to the worktree information directory
# inside the parent git repo of the worktree.
#
string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
${worktree_ref})
string(STRIP ${git_worktree_dir} git_worktree_dir)
_git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
endif()
else()
set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
endif()
set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
if(NOT EXISTS "${GIT_DATA}")
file(MAKE_DIRECTORY "${GIT_DATA}")
endif()
if(NOT EXISTS "${HEAD_SOURCE_FILE}")
return()
endif()
set(HEAD_FILE "${GIT_DATA}/HEAD")
configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
"${GIT_DATA}/grabRef.cmake" @ONLY)
include("${GIT_DATA}/grabRef.cmake")
set(${_refspecvar}
"${HEAD_REF}"
PARENT_SCOPE)
set(${_hashvar}
"${HEAD_HASH}"
PARENT_SCOPE)
endfunction()
function(git_describe _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var}
"HEAD-HASH-NOTFOUND"
PARENT_SCOPE)
return()
endif()
# TODO sanitize
#if((${ARGN}" MATCHES "&&") OR
# (ARGN MATCHES "||") OR
# (ARGN MATCHES "\\;"))
# message("Please report the following error to the project!")
# message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
#endif()
#message(STATUS "Arguments to execute_process: ${ARGN}")
execute_process(
COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_describe_working_tree _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
execute_process(
COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_get_exact_tag _var)
git_describe(out --exact-match ${ARGN})
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_local_changes _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var}
"HEAD-HASH-NOTFOUND"
PARENT_SCOPE)
return()
endif()
execute_process(
COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(res EQUAL 0)
set(${_var}
"CLEAN"
PARENT_SCOPE)
else()
set(${_var}
"DIRTY"
PARENT_SCOPE)
endif()
endfunction()

21
cmake/cmake-modules/GetGitRevisionDescription.cmake.in → cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in
View File

@ -1,4 +1,4 @@
#
#
# Internal file for GetGitRevisionDescription.cmake
#
# Requires CMake 2.6 or newer (uses the 'function' command)
@ -8,10 +8,12 @@
# http://academic.cleardefinition.com
# Iowa State University HCI Graduate Program/VRAC
#
# Copyright Iowa State University 2009-2010.
# Copyright 2009-2012, Iowa State University
# Copyright 2011-2015, Contributors
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
# SPDX-License-Identifier: BSL-1.0
set(HEAD_HASH)
@ -22,10 +24,13 @@ if(HEAD_CONTENTS MATCHES "ref")
# named branch
string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
if(EXISTS "@GIT_DIR@/${HEAD_REF}")
configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
set(HEAD_HASH "${HEAD_REF}")
configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
else()
configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
set(HEAD_HASH "${CMAKE_MATCH_1}")
endif()
endif()
else()
# detached HEAD
@ -33,6 +38,6 @@ else()
endif()
if(NOT HEAD_HASH)
file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
string(STRIP "${HEAD_HASH}" HEAD_HASH)
file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
string(STRIP "${HEAD_HASH}" HEAD_HASH)
endif()

26
cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt Normal file
View File

@ -0,0 +1,26 @@
Copyright (c) <year> <owner>. All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

23
cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt Normal file
View File

@ -0,0 +1,23 @@
Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute, execute,
and transmit the Software, and to prepare derivative works of the Software,
and to permit third-parties to whom the Software is furnished to do so, all
subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer, must
be included in all copies of the Software, in whole or in part, and all derivative
works of the Software, unless such copies or derivative works are solely in
the form of machine-executable object code generated by a source language
processor.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

23
cmake/cmake-modules/rpavlik/LICENSE_1_0.txt Normal file
View File

@ -0,0 +1,23 @@
Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

2
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -209,7 +209,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
return result;
}
updateLinePolarity(fileDescriptor);
ReturnValue_t result = gpioComIF->pullLow(gpioId);
result = gpioComIF->pullLow(gpioId);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1

4
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
View File

@ -10,6 +10,10 @@
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
#endif
enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
class GyroL3GD20H {

2
src/fsfw/FSFWVersion.h.in
View File

@ -6,6 +6,6 @@ static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
// Also contains CST (Commits since tag) information
static const char FSFW_VERSION_CST_GIT_SHA1[] = "@FSFW_VERSION_CST_GIT_SHA1@";
static const char FSFW_VCS_INFO[] = "@FSFW_VCS_INFO@";
#endif /* FSFW_VERSION_H_ */

4
src/fsfw/datapoollocal/LocalDataPoolManager.cpp
View File

@ -696,9 +696,9 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
if (result != HasReturnvaluesIF::RETURN_OK) {
/* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl;
sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
#else
sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
#endif
}
}

1
src/fsfw/events/fwSubsystemIdRanges.h
View File

@ -27,6 +27,7 @@ enum : uint8_t {
PUS_SERVICE_6 = 86,
PUS_SERVICE_8 = 88,
PUS_SERVICE_9 = 89,
PUS_SERVICE_11 = 91,
PUS_SERVICE_17 = 97,
PUS_SERVICE_23 = 103,
MGM_LIS3MDL = 106,

1
src/fsfw/objectmanager/frameworkObjects.h
View File

@ -14,6 +14,7 @@ enum framework_objects : object_id_t {
PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
PUS_SERVICE_9_TIME_MGMT = 0x53000009,
PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
PUS_SERVICE_17_TEST = 0x53000017,
PUS_SERVICE_20_PARAMETERS = 0x53000020,
PUS_SERVICE_200_MODE_MGMT = 0x53000200,

8
src/fsfw/osal/common/TcpTmTcServer.cpp
View File

@ -109,8 +109,8 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
using namespace tcpip;
// If a connection is accepted, the corresponding socket will be assigned to the new socket
socket_t connSocket = 0;
// sockaddr clientSockAddr = {};
// socklen_t connectorSockAddrLen = 0;
sockaddr clientSockAddr = {};
socklen_t connectorSockAddrLen = 0;
int retval = 0;
// Listen for connection requests permanently for lifetime of program
@ -121,8 +121,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
continue;
}
// connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
connSocket = accept(listenerTcpSocket, nullptr, nullptr);
connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
if (connSocket == INVALID_SOCKET) {
handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
@ -137,6 +136,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
if (retval != 0) {
handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
}
closeSocket(connSocket);
connSocket = 0;
}

65
src/fsfw/osal/freertos/FixedTimeslotTask.cpp
View File

@ -1,27 +1,23 @@
#include "fsfw/osal/freertos/FixedTimeslotTask.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface.h"
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)())
: started(false), handle(nullptr), pst(overallPeriod * 1000) {
TaskStackSize setStack, TaskPeriod period,
TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
FixedTimeslotTask::~FixedTimeslotTask() {}
FixedTimeslotTask::~FixedTimeslotTask() = default;
void FixedTimeslotTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as FixedTimeslotTask. The Task object is
// global, so it is found from any place.
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
@ -32,26 +28,18 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
vTaskSuspend(nullptr);
}
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
<< std::endl;
#else
sif::printDebug("Polling task returned from taskFunctionality\n");
#endif
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
<< std::endl;
#endif
}
}
ReturnValue_t FixedTimeslotTask::startTask() {
started = true;
@ -63,31 +51,12 @@ ReturnValue_t FixedTimeslotTask::startTask() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry.
auto slotListIter = pst.current;
auto slotListIter = pollingSeqTable.current;
pst.intializeSequenceAfterTaskCreation();
pollingSeqTable.intializeSequenceAfterTaskCreation();
// The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;
@ -108,10 +77,10 @@ void FixedTimeslotTask::taskFunctionality() {
/* Enter the loop that defines the task behavior. */
for (;;) {
// The component for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
if (not pst.slotFollowsImmediately()) {
this->pollingSeqTable.executeAndAdvance();
if (not pollingSeqTable.slotFollowsImmediately()) {
// Get the interval till execution of the next slot.
intervalMs = this->pst.getIntervalToPreviousSlotMs();
intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@ -132,8 +101,8 @@ void FixedTimeslotTask::taskFunctionality() {
}
void FixedTimeslotTask::handleMissedDeadline() {
if (deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}

42
src/fsfw/osal/freertos/FixedTimeslotTask.h
View File

@ -4,11 +4,11 @@
#include "FreeRTOS.h"
#include "FreeRTOSTaskIF.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
#include "fsfw/tasks/definitions.h"
#include "task.h"
class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
class FixedTimeslotTask : public FixedTimeslotTaskBase, public FreeRTOSTaskIF {
public:
/**
* Keep in mind that you need to call before vTaskStartScheduler()!
@ -23,7 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* @return Pointer to the newly created task.
*/
FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief The destructor of the class.
@ -32,26 +32,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* initialization for the PST and the device handlers. This is done by
* calling the PST's destructor.
*/
virtual ~FixedTimeslotTask(void);
~FixedTimeslotTask() override;
ReturnValue_t startTask(void);
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines
* every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
uint32_t getPeriodMs() const override;
ReturnValue_t checkSequence() const override;
ReturnValue_t startTask() override;
ReturnValue_t sleepFor(uint32_t ms) override;
@ -61,17 +44,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
bool started;
TaskHandle_t handle;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when
* a deadline was missed.
* @details
* Another function may be announced to determine the actions to perform
* when a deadline was missed. Currently, only one function for missing
* any deadline is allowed. If not used, it shall be declared NULL.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the entry point for a new task.
* @details
@ -88,7 +60,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
void handleMissedDeadline();
};

4
src/fsfw/osal/freertos/FreeRTOSTaskIF.h
View File

@ -6,11 +6,11 @@
class FreeRTOSTaskIF {
public:
virtual ~FreeRTOSTaskIF() {}
virtual ~FreeRTOSTaskIF() = default;
virtual TaskHandle_t getTaskHandle() = 0;
protected:
bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */

55
src/fsfw/osal/freertos/PeriodicTask.cpp
View File

@ -5,27 +5,28 @@
#include "fsfw/tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc)
: started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(deadlineMissedFunc) {
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(setPeriod, dlmFunc_), started(false), handle(nullptr) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
if (status != pdPASS) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: "
sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: "
<< status << std::endl;
#else
sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n",
status);
#endif
}
}
PeriodicTask::~PeriodicTask(void) {
// Do not delete objects, we were responsible for ptrs only.
}
// Do not delete objects, we were responsible for ptrs only.
PeriodicTask::~PeriodicTask() = default;
void PeriodicTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as PeriodicTask. The Task object is
// global, so it is found from any place.
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
@ -36,7 +37,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
vTaskSuspend(nullptr);
}
originalTask->taskFunctionality();
@ -62,13 +63,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicTask::taskFunctionality() {
[[noreturn]] void PeriodicTask::taskFunctionality() {
TickType_t xLastWakeTime;
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
for (auto const& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
/* The xLastWakeTime variable needs to be initialized with the current tick
count. Note that this is the only time the variable is written to
@ -77,8 +76,8 @@ void PeriodicTask::taskFunctionality() {
xLastWakeTime = xTaskGetTickCount();
/* Enter the loop that defines the task behavior. */
for (;;) {
for (auto const& object : objectList) {
object->performOperation();
for (auto const& objectPair : objectList) {
objectPair.first->performOperation(objectPair.second);
}
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@ -95,32 +94,10 @@ void PeriodicTask::taskFunctionality() {
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implement ExecutableObjectIF"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
void PeriodicTask::handleMissedDeadline() {
if (deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}

53
src/fsfw/osal/freertos/PeriodicTask.h
View File

@ -6,8 +6,8 @@
#include "FreeRTOS.h"
#include "FreeRTOSTaskIF.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/definitions.h"
#include "task.h"
class ExecutableObjectIF;
@ -17,7 +17,7 @@ class ExecutableObjectIF;
* periodic activities of multiple objects.
* @ingroup task_handling
*/
class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
public:
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
@ -43,7 +43,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
~PeriodicTask() override;
/**
* @brief The method to start the task.
@ -53,27 +53,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* to the system call.
*/
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
@ -83,28 +62,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
bool started;
TaskHandle_t handle;
//! Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief The period of the task.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed so each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
@ -125,7 +82,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
void handleMissedDeadline();
};

50
src/fsfw/osal/host/FixedTimeslotTask.cpp
View File

@ -3,9 +3,7 @@
#include <chrono>
#include <thread>
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/osal/host/FixedTimeslotTask.h"
#include "fsfw/osal/host/Mutex.h"
#include "fsfw/osal/host/taskHelpers.h"
#include "fsfw/platform.h"
@ -22,12 +20,8 @@
FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)())
: started(false),
pollingSeqTable(setPeriod * 1000),
taskName(name),
period(setPeriod),
deadlineMissedFunc(setDeadlineMissedFunc) {
TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
// It is propably possible to set task priorities by using the native
// task handles for Windows / Linux
mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
@ -39,7 +33,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
tasks::insertTaskName(mainThread.get_id(), taskName);
}
FixedTimeslotTask::~FixedTimeslotTask(void) {
FixedTimeslotTask::~FixedTimeslotTask() {
// Do not delete objects, we were responsible for ptrs only.
terminateThread = true;
if (mainThread.joinable()) {
@ -48,7 +42,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
}
void FixedTimeslotTask::taskEntryPoint(void* argument) {
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
if (not originalTask->started) {
// we have to suspend/block here until the task is started.
@ -81,7 +75,9 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
}
void FixedTimeslotTask::taskFunctionality() {
pollingSeqTable.intializeSequenceAfterTaskCreation();
ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
// Ignore returnvalue for now
static_cast<void>(result);
// A local iterator for the Polling Sequence Table is created to
// find the start time for the first entry.
@ -106,37 +102,15 @@ void FixedTimeslotTask::taskFunctionality() {
// we need to wait before executing the current slot
// this gives us the time to wait:
interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
delayForInterval(&currentStartTime, interval);
// TODO deadline missed check
if (not delayForInterval(&currentStartTime, interval)) {
if (dlmFunc != nullptr) {
dlmFunc();
}
}
}
}
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF* executableObject =
ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << "0x" << componentId
<< "not found, "
"not adding it to PST.."
<< std::dec << std::endl;
#else
sif::printError("Component 0x%08x not found, not adding it to PST..\n",
static_cast<unsigned int>(componentId));
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
bool shouldDelay = false;
// Get current wakeup time

56
src/fsfw/osal/host/FixedTimeslotTask.h
View File

@ -6,10 +6,10 @@
#include <thread>
#include <vector>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/Typedef.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
#include "fsfw/tasks/definitions.h"
class ExecutableObjectIF;
@ -19,7 +19,7 @@ class ExecutableObjectIF;
* @details
* @ingroup task_handling
*/
class FixedTimeslotTask : public FixedTimeslotTaskIF {
class FixedTimeslotTask : public FixedTimeslotTaskBase {
public:
/**
* @brief Standard constructor of the class.
@ -39,7 +39,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~FixedTimeslotTask(void);
~FixedTimeslotTask() override;
/**
* @brief The method to start the task.
@ -48,56 +48,22 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask(void);
ReturnValue_t startTask() override;
/**
* Add timeslot to the polling sequence table.
* @param componentId
* @param slotTimeMs
* @param executionStep
* @return
*/
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
ReturnValue_t checkSequence() const override;
uint32_t getPeriodMs() const;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
using chron_ms = std::chrono::milliseconds;
bool started;
//!< Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
std::thread mainThread;
std::atomic<bool> terminateThread{false};
//! Polling sequence table which contains the object to execute
//! and information like the timeslots and the passed execution step.
FixedSlotSequence pollingSeqTable;
std::condition_variable initCondition;
std::mutex initMutex;
std::string taskName;
/**
* @brief The period of the task.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed. So, each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
@ -117,9 +83,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
* the checkAndRestartPeriod system call blocks the task until the next
* period. On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
void taskFunctionality();
bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
};
#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */

41
src/fsfw/osal/host/PeriodicTask.cpp
View File

@ -3,13 +3,10 @@
#include <chrono>
#include <thread>
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/osal/host/Mutex.h"
#include "fsfw/osal/host/taskHelpers.h"
#include "fsfw/platform.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#if defined(PLATFORM_WIN)
#include <processthreadsapi.h>
@ -20,8 +17,8 @@
#endif
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
: started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
// It is probably possible to set task priorities by using the native
// task handles for Windows / Linux
mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
@ -33,7 +30,7 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
tasks::insertTaskName(mainThread.get_id(), taskName);
}
PeriodicTask::~PeriodicTask(void) {
PeriodicTask::~PeriodicTask() {
// Do not delete objects, we were responsible for ptrs only.
terminateThread = true;
if (mainThread.joinable()) {
@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) {
}
void PeriodicTask::taskEntryPoint(void* argument) {
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
if (not originalTask->started) {
// we have to suspend/block here until the task is started.
@ -75,47 +72,27 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
}
void PeriodicTask::taskFunctionality() {
for (const auto& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch())};
auto nextStartTime{currentStartTime};
/* Enter the loop that defines the task behavior. */
for (;;) {
if (terminateThread.load()) {
break;
}
for (const auto& object : objectList) {
object->performOperation();
for (const auto& objectPair : objectList) {
objectPair.first->performOperation(objectPair.second);
}
if (not delayForInterval(&currentStartTime, periodChrono)) {
if (deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
this->dlmFunc();
}
}
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
object->setTaskIF(this);
objectList.push_back(object);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
bool shouldDelay = false;
// Get current wakeup time

67
src/fsfw/osal/host/PeriodicTask.h
View File

@ -6,9 +6,9 @@
#include <thread>
#include <vector>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "../../tasks/Typedef.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/definitions.h"
class ExecutableObjectIF;
@ -19,7 +19,7 @@ class ExecutableObjectIF;
*
* @ingroup task_handling
*/
class PeriodicTask : public PeriodicTaskIF {
class PeriodicTask : public PeriodicTaskBase {
public:
/**
* @brief Standard constructor of the class.
@ -34,12 +34,12 @@ class PeriodicTask : public PeriodicTaskIF {
* assigned.
*/
PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod setPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
~PeriodicTask() override;
/**
* @brief The method to start the task.
@ -48,63 +48,20 @@ class PeriodicTask : public PeriodicTaskIF {
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask(void);
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object);
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object);
uint32_t getPeriodMs() const;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
using chron_ms = std::chrono::milliseconds;
bool started;
//!< Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
std::thread mainThread;
std::atomic<bool> terminateThread{false};
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
std::condition_variable initCondition;
std::mutex initMutex;
std::string taskName;
/**
* @brief The period of the task.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed. So, each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
@ -124,9 +81,9 @@ class PeriodicTask : public PeriodicTaskIF {
* the checkAndRestartPeriod system call blocks the task until the next
* period. On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
void taskFunctionality();
bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
};
#endif /* PERIODICTASK_H_ */
#endif /* FRAMEWORK_OSAL_HOST_PERIODICTASK_H_ */

4
src/fsfw/osal/host/TaskFactory.cpp
View File

@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
// Not used for the host implementation for now because C++ thread abstraction is used
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
TaskFactory::TaskFactory() {}
TaskFactory::TaskFactory() = default;
TaskFactory::~TaskFactory() {}
TaskFactory::~TaskFactory() = default;
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }

2
src/fsfw/osal/host/taskHelpers.cpp
View File

@ -6,7 +6,7 @@
std::mutex nameMapLock;
std::map<std::thread::id, std::string> taskNameMap;
ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
ReturnValue_t tasks::insertTaskName(std::thread::id threadId, const std::string& taskName) {
std::lock_guard<std::mutex> lg(nameMapLock);
auto returnPair = taskNameMap.emplace(threadId, taskName);
if (not returnPair.second) {

2
src/fsfw/osal/host/taskHelpers.h
View File

@ -7,7 +7,7 @@
namespace tasks {
ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
ReturnValue_t insertTaskName(std::thread::id threadId, const std::string& taskName);
std::string getTaskName(std::thread::id threadId);
} // namespace tasks

71
src/fsfw/osal/linux/FixedTimeslotTask.cpp
View File

@ -1,22 +1,20 @@
#include "fsfw/osal/linux/FixedTimeslotTask.h"
#include <limits.h>
#include <climits>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
uint32_t periodMs_)
: PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
FixedTimeslotTask::~FixedTimeslotTask() {}
FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
posixThread(name_, priority_, stackSize_),
started(false) {}
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
// The argument is re-interpreted as PollingTask.
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
// The task's functionality is called.
originalTask->taskFunctionality();
return nullptr;
@ -24,7 +22,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
ReturnValue_t FixedTimeslotTask::startTask() {
started = true;
createTask(&taskEntryPoint, this);
posixThread.createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
}
@ -32,63 +30,36 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
return PosixThread::sleep((uint64_t)ms * 1000000);
}
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF* executableObject =
ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
<< std::dec << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
// Like FreeRTOS pthreads are running as soon as they are created
if (!started) {
suspend();
posixThread.suspend();
}
pst.intializeSequenceAfterTaskCreation();
// Returnvalue ignored for now
static_cast<void>(pollingSeqTable.intializeSequenceAfterTaskCreation());
// The start time for the first entry is read.
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t interval = pst.getIntervalToNextSlotMs();
uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
uint32_t interval = 0;
// The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
while (true) {
if (pollingSeqTable.slotFollowsImmediately()) {
// Do nothing
} else {
// The interval for the next polling slot is selected.
interval = this->pst.getIntervalToPreviousSlotMs();
interval = pollingSeqTable.getIntervalToPreviousSlotMs();
// The period is checked and restarted with the new interval.
// If the deadline was missed, the deadlineMissedFunc is called.
if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
// No time left on timer -> we missed the deadline
missedDeadlineCounter();
if(dlmFunc != nullptr){
dlmFunc();
}
}
}
// The device handler for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
}
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
<< std::endl;
#endif
pollingSeqTable.executeAndAdvance();
}
}

41
src/fsfw/osal/linux/FixedTimeslotTask.h
View File

@ -3,11 +3,12 @@
#include <pthread.h>
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "PosixThread.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
#include "fsfw/tasks/definitions.h"
class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
class FixedTimeslotTask : public FixedTimeslotTaskBase {
public:
/**
* Create a generic periodic task.
@ -21,29 +22,13 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
* @param period_
* @param deadlineMissedFunc_
*/
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
virtual ~FixedTimeslotTask();
FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
~FixedTimeslotTask() override = default;
virtual ReturnValue_t startTask();
ReturnValue_t startTask() override;
virtual ReturnValue_t sleepFor(uint32_t ms);
virtual uint32_t getPeriodMs() const;
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
virtual ReturnValue_t checkSequence() const;
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
/**
@ -53,9 +38,12 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
virtual void taskFunctionality();
[[noreturn]] virtual void taskFunctionality();
private:
PosixThread posixThread;
bool started;
/**
* @brief This is the entry point in a new thread.
*
@ -68,9 +56,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
* arbitrary data.
*/
static void* taskEntryPoint(void* arg);
FixedSlotSequence pst;
bool started;
};
#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

80
src/fsfw/osal/linux/PeriodicPosixTask.cpp
View File

@ -1,86 +1,54 @@
#include "fsfw/osal/linux/PeriodicPosixTask.h"
#include "PeriodicPosixTask.h"
#include <errno.h>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
uint32_t period_, void(deadlineMissedFunc_)())
: PosixThread(name_, priority_, stackSize_),
objectList(),
started(false),
periodMs(period_),
deadlineMissedFunc(deadlineMissedFunc_) {}
PeriodicPosixTask::~PeriodicPosixTask() {
// Not Implemented
}
TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(period_, dlmFunc_),
posixThread(name_, priority_, stackSize_),
started(false) {}
void* PeriodicPosixTask::taskEntryPoint(void* arg) {
// The argument is re-interpreted as PollingTask.
PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
auto* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
// The task's functionality is called.
originalTask->taskFunctionality();
return NULL;
}
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
#else
sif::printError(
"PeriodicTask::addComponent: Invalid object. Make sure it "
"implements ExecutableObjectIF!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
return nullptr;
}
ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
return PosixThread::sleep((uint64_t)ms * 1000000);
return PosixThread::sleep(static_cast<uint64_t>(ms) * 1000000);
}
ReturnValue_t PeriodicPosixTask::startTask(void) {
ReturnValue_t PeriodicPosixTask::startTask() {
if (isEmpty()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
started = true;
PosixThread::createTask(&taskEntryPoint, this);
posixThread.createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicPosixTask::taskFunctionality(void) {
[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
if (not started) {
suspend();
posixThread.suspend();
}
for (auto const& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
uint64_t periodMs = getPeriodMs();
// The task's "infinite" inner loop is entered.
while (1) {
for (auto const& object : objectList) {
object->performOperation();
while (true) {
for (auto const& objOpCodePair : objectList) {
objOpCodePair.first->performOperation(objOpCodePair.second);
}
if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}
}
}
uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }

52
src/fsfw/osal/linux/PeriodicPosixTask.h
View File

@ -3,12 +3,13 @@
#include <vector>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "PosixThread.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
class PeriodicPosixTask : public PeriodicTaskBase {
public:
/**
* Create a generic periodic task.
@ -22,9 +23,9 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* @param period_
* @param deadlineMissedFunc_
*/
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
void (*deadlineMissedFunc_)());
virtual ~PeriodicPosixTask();
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
TaskDeadlineMissedFunction dlmFunc_);
~PeriodicPosixTask() override = default;
/**
* @brief The method to start the task.
@ -34,42 +35,17 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* to the system call.
*/
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
private:
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
PosixThread posixThread;
/**
* @brief Flag to indicate that the task was started and is allowed to run
*/
bool started;
/**
* @brief Period of the task in milliseconds
*/
uint32_t periodMs;
/**
* @brief The function containing the actual functionality of the task.
* @details The method sets and starts
@ -78,7 +54,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
* executed.
*/
virtual void taskFunctionality(void);
[[noreturn]] virtual void taskFunctionality();
/**
* @brief This is the entry point in a new thread.
*
@ -86,14 +62,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* of the child class. Needs a valid pointer to the derived class.
*/
static void* taskEntryPoint(void* arg);
/**
* @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed.
* So, each may react individually on a timing failure. The pointer may be
* NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
* of the periodic task.
*/
void (*deadlineMissedFunc)();
};
#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */

30
src/fsfw/osal/linux/PosixThread.h
View File

@ -35,6 +35,21 @@ class PosixThread {
*/
void resume();
/**
* @brief Function that has to be called by derived class because the
* derived class pointer has to be valid as argument.
* @details
* This function creates a pthread with the given parameters. As the
* function requires a pointer to the derived object it has to be called
* after the this pointer of the derived object is valid.
* Sets the taskEntryPoint as function to be called by new a thread.
* @param fnc_ Function which will be executed by the thread.
* @param arg_
* argument of the taskEntryPoint function, needs to be this pointer
* of derived class
*/
void createTask(void* (*fnc_)(void*), void* arg_);
/**
* Delay function similar to FreeRtos delayUntil function
*
@ -55,21 +70,6 @@ class PosixThread {
protected:
pthread_t thread;
/**
* @brief Function that has to be called by derived class because the
* derived class pointer has to be valid as argument.
* @details
* This function creates a pthread with the given parameters. As the
* function requires a pointer to the derived object it has to be called
* after the this pointer of the derived object is valid.
* Sets the taskEntryPoint as function to be called by new a thread.
* @param fnc_ Function which will be executed by the thread.
* @param arg_
* argument of the taskEntryPoint function, needs to be this pointer
* of derived class
*/
void createTask(void* (*fnc_)(void*), void* arg_);
private:
char name[PTHREAD_MAX_NAMELEN];
int priority;

7
src/fsfw/osal/linux/TaskFactory.cpp
View File

@ -8,21 +8,22 @@
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
TaskFactory::~TaskFactory() {}
TaskFactory::~TaskFactory() = default;
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
PeriodicTaskIF* TaskFactory::createPeriodicTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
deadLineMissedFunction_);
}
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
deadLineMissedFunction_);
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

71
src/fsfw/osal/rtems/FixedTimeslotTask.cpp
View File

@ -1,42 +1,32 @@
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
#include <rtems/bspIo.h>
#include <rtems/io.h>
#include <rtems/rtems/ratemon.h>
#include <rtems/rtems/status.h>
#include <rtems/rtems/tasks.h>
#include <rtems/rtems/types.h>
#include <sys/_stdint.h>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/osal/rtems/RtemsBasic.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/FixedSequenceSlot.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iostream>
#endif
#include <cstddef>
#include <list>
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
size_t setStack, uint32_t setOverallPeriod,
void (*setDeadlineMissedFunc)(void))
: RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
size_t setStack, TaskPeriod setOverallPeriod,
TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(setOverallPeriod, dlmFunc_),
RTEMSTaskBase(setPriority, setStack, name),
periodId(0) {}
FixedTimeslotTask::~FixedTimeslotTask() {}
FixedTimeslotTask::~FixedTimeslotTask() = default;
rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as a FixedTimeslotTask */
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
auto *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
/* The task's functionality is called. */
return originalTask->taskFunctionality();
/* Should never be reached */
@ -46,16 +36,6 @@ rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
#endif
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
<< std::endl;
#endif
}
}
ReturnValue_t FixedTimeslotTask::startTask() {
rtems_status_code status =
rtems_task_start(id, FixedTimeslotTask::taskEntryPoint, rtems_task_argument((void *)this));
@ -79,54 +59,35 @@ ReturnValue_t FixedTimeslotTask::startTask() {
}
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF *object = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (object != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
/* A local iterator for the Polling Sequence Table is created to find the start time for
the first entry. */
FixedSlotSequence::SlotListIter it = pst.current;
auto it = pollingSeqTable.current;
/* Initialize the PST with the correct calling task */
pst.intializeSequenceAfterTaskCreation();
pollingSeqTable.intializeSequenceAfterTaskCreation();
/* The start time for the first entry is read. */
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
RTEMSTaskBase::setAndStartPeriod(interval, &periodId);
// The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
while (true) {
if (pollingSeqTable.slotFollowsImmediately()) {
/* Do nothing */
} else {
/* The interval for the next polling slot is selected. */
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
interval = RtemsBasic::convertMsToTicks(pollingSeqTable.getIntervalToNextSlotMs());
/* The period is checked and restarted with the new interval.
If the deadline was missed, the deadlineMissedFunc is called. */
rtems_status_code status = RTEMSTaskBase::restartPeriod(interval, periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}
}
/* The device handler for this slot is executed and the next one is chosen. */
this->pst.executeAndAdvance();
this->pollingSeqTable.executeAndAdvance();
}
}

41
src/fsfw/osal/rtems/FixedTimeslotTask.h
View File

@ -1,11 +1,11 @@
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "RTEMSTaskBase.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
class FixedTimeslotTask : public FixedTimeslotTaskBase, public RTEMSTaskBase {
public:
/**
* @brief The standard constructor of the class.
@ -17,7 +17,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
* @param getPst The object id of the completely initialized polling sequence.
*/
FixedTimeslotTask(const char *name, rtems_task_priority setPriority, size_t setStackSize,
uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief The destructor of the class.
@ -25,44 +25,17 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
* The destructor frees all heap memory that was allocated on thread initialization
* for the PST andthe device handlers. This is done by calling the PST's destructor.
*/
virtual ~FixedTimeslotTask(void);
~FixedTimeslotTask() override;
ReturnValue_t startTask(void);
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
*
* @details
* Another function may be announced to determine the actions to perform when a deadline
* was missed. Currently, only one function for missing any deadline is allowed.
* If not used, it shall be declared NULL.
*/
void (*deadlineMissedFunc)(void) = nullptr;
/**
* @brief This is the entry point in a new polling thread.
* @details This method is the entry point in the new thread
@ -76,7 +49,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
* keep the timing of the periods.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
};
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */

2
src/fsfw/osal/rtems/MessageQueue.cpp
View File

@ -65,7 +65,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
}
ReturnValue_t returnCode = convertReturnCode(result);
if (result == MessageQueueIF::EMPTY) {
if (returnCode == MessageQueueIF::EMPTY) {
return HasReturnvaluesIF::RETURN_FAILED;
}

17
src/fsfw/osal/rtems/MessageQueue.h
View File

@ -36,9 +36,9 @@ class MessageQueue : public MessageQueueBase {
* @param max_message_size With this parameter, the maximum message size can be adjusted.
* This should be left default.
*/
MessageQueue(size_t message_depth = 3,
size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
explicit MessageQueue(size_t message_depth = 3,
size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
@ -48,18 +48,19 @@ class MessageQueue : public MessageQueueBase {
* @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system.
*/
virtual ~MessageQueue();
~MessageQueue() override;
// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
ReturnValue_t flush(uint32_t* count) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
MessageQueueId_t sentFrom, bool ignoreFault) override;
private:
/**
* \brief This attribute stores a reference to the internal error reporter for reporting full
* queues. \details In the event of a full destination queue, the reporter will be notified. The
* @brief This attribute stores a reference to the internal error reporter for reporting full
* queues. @details In the event of a full destination queue, the reporter will be notified. The
* reference is set by lazy loading
*/
InternalErrorReporterIF* internalErrorReporter;

52
src/fsfw/osal/rtems/PeriodicTask.cpp
View File

@ -5,12 +5,12 @@
#include "fsfw/tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char* name, rtems_task_priority setPriority, size_t setStack,
rtems_interval setPeriod, void (*setDeadlineMissedFunc)())
: RTEMSTaskBase(setPriority, setStack, name),
periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
deadlineMissedFunc(setDeadlineMissedFunc) {}
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(setPeriod, dlmFunc_),
RTEMSTaskBase(setPriority, setStack, name),
periodTicks(RtemsBasic::convertMsToTicks(static_cast<uint32_t>(setPeriod * 1000.0))) {}
PeriodicTask::~PeriodicTask(void) {
PeriodicTask::~PeriodicTask() {
/* Do not delete objects, we were responsible for pointers only. */
rtems_rate_monotonic_delete(periodId);
}
@ -18,7 +18,7 @@ PeriodicTask::~PeriodicTask(void) {
rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
so it is found from any place. */
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
return originalTask->taskFunctionality();
;
}
@ -28,8 +28,10 @@ ReturnValue_t PeriodicTask::startTask() {
rtems_task_start(id, PeriodicTask::taskEntryPoint, rtems_task_argument((void*)this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec
<< " failed." << std::endl;
sif::error << "PeriodicTask::startTask for " << std::hex << this->getId() << std::dec
<< " failed" << std::endl;
#else
sif::printError("PeriodicTask::startTask for 0x%08x failed\n", getId());
#endif
}
switch (status) {
@ -47,38 +49,20 @@ ReturnValue_t PeriodicTask::startTask() {
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); }
void PeriodicTask::taskFunctionality() {
[[noreturn]] void PeriodicTask::taskFunctionality() {
RTEMSTaskBase::setAndStartPeriod(periodTicks, &periodId);
for (const auto& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
/* The task's "infinite" inner loop is entered. */
while (1) {
for (const auto& object : objectList) {
object->performOperation();
while (true) {
for (const auto& objectPair : objectList) {
objectPair.first->performOperation(objectPair.second);
}
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks, periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const { return RtemsBasic::convertTicksToMs(periodTicks); }

46
src/fsfw/osal/rtems/PeriodicTask.h
View File

@ -3,9 +3,10 @@
#include <vector>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "RTEMSTaskBase.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
class ExecutableObjectIF;
@ -18,7 +19,7 @@ class ExecutableObjectIF;
* @author baetz
* @ingroup task_handling
*/
class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
class PeriodicTask : public PeriodicTaskBase, public RTEMSTaskBase {
public:
/**
* @brief Standard constructor of the class.
@ -36,12 +37,12 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
* that shall be assigned.
*/
PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief Currently, the executed object's lifetime is not coupled with the task object's
* lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
~PeriodicTask() override;
/**
* @brief The method to start the task.
@ -50,33 +51,11 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask(void);
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF *object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t startTask() override;
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
typedef std::vector<ExecutableObjectIF *> ObjectList; //!< Typedef for the List of objects.
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief The period of the task.
* @details The period determines the frequency of the task's execution. It is expressed in
@ -87,14 +66,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
* @brief id of the associated OS period
*/
rtems_id periodId = 0;
/**
* @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed.
* So, each may react individually on a timing failure. The pointer may be
* nullptr, then nothing happens on missing the deadline. The deadline is equal to the next
* execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details It converts the argument back to the thread object type and copies the class
@ -110,7 +82,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
* are called. Afterwards the checkAndRestartPeriod system call blocks the task until the next
* period. On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
};
#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

4
src/fsfw/osal/rtems/QueueFactory.cpp
View File

@ -45,9 +45,9 @@ QueueFactory* QueueFactory::instance() {
return factoryInstance;
}
QueueFactory::QueueFactory() {}
QueueFactory::QueueFactory() = default;
QueueFactory::~QueueFactory() {}
QueueFactory::~QueueFactory() = default;
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
MqArgs* args) {

2
src/fsfw/osal/rtems/RTEMSTaskBase.cpp
View File

@ -32,7 +32,7 @@ RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size
RTEMSTaskBase::~RTEMSTaskBase() { rtems_task_delete(id); }
rtems_id RTEMSTaskBase::getId() { return this->id; }
rtems_id RTEMSTaskBase::getId() const { return this->id; }
ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));

4
src/fsfw/osal/rtems/RTEMSTaskBase.h
View File

@ -36,9 +36,9 @@ class RTEMSTaskBase {
/**
* @brief This method returns the task id of this class.
*/
rtems_id getId();
rtems_id getId() const;
ReturnValue_t sleepFor(uint32_t ms);
static ReturnValue_t sleepFor(uint32_t ms);
static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);

21
src/fsfw/osal/rtems/TaskFactory.cpp
View File

@ -1,7 +1,6 @@
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
#include "fsfw/osal/rtems/InitTask.h"
#include "fsfw/osal/rtems/PeriodicTask.h"
#include "fsfw/osal/rtems/RtemsBasic.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
@ -9,29 +8,29 @@
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
TaskFactory::~TaskFactory() {}
TaskFactory::TaskFactory() = default;
TaskFactory::~TaskFactory() = default;
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
PeriodicTaskIF* TaskFactory::createPeriodicTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<PeriodicTaskIF*>(
new PeriodicTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
periodInSeconds_, deadLineMissedFunction_));
}
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<FixedTimeslotTaskIF*>(
new FixedTimeslotTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(
name_, taskPriority_, stackSize_, periodInSeconds_, deadLineMissedFunction_));
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
// TODO not implemented
// This should call the OS specific destructor
delete (dynamic_cast<PeriodicTask*>(task));
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -45,5 +44,3 @@ void TaskFactory::printMissedDeadline() {
/* TODO: Implement */
return;
}
TaskFactory::TaskFactory() {}

8
src/fsfw/power/DummyPowerSwitcher.cpp
View File

@ -17,28 +17,28 @@ void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList
}
ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
if (switchNr < switcherList.capacity()) {
if (switchNr < switcherList.size()) {
switcherList[switchNr] = onOff;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
if (fuseNr < fuseList.capacity()) {
if (fuseNr < fuseList.size()) {
fuseList[fuseNr] = FUSE_ON;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
if (switchNr < switcherList.capacity()) {
if (switchNr < switcherList.size()) {
return switcherList[switchNr];
}
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
if (fuseNr < fuseList.capacity()) {
if (fuseNr < fuseList.size()) {
return fuseList[fuseNr];
}
return HasReturnvaluesIF::RETURN_FAILED;

203
src/fsfw/pus/Service11TelecommandScheduling.h Normal file
View File

@ -0,0 +1,203 @@
#ifndef MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
#define MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
#include <etl/multimap.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/tmtcservices/TmTcMessage.h>
#include "fsfw/FSFW.h"
#include "fsfw/returnvalues/FwClassIds.h"
/**
* @brief: PUS-Service 11 - Telecommand scheduling.
* @details:
* PUS-Service 11 - Telecommand scheduling.
* Full documentation: ECSS-E-ST-70-41C, p. 168:
* ST[11] time-based scheduling
*
* This service provides the capability to command pre-loaded
* application processes (telecommands) by releasing them at their
* due-time.
* References to telecommands are stored together with their due-timepoints
* and are released at their corresponding due-time.
*
* Necessary subservice functionalities are implemented.
* Those are:
* TC[11,4] activity insertion
* TC[11,5] activity deletion
* TC[11,6] filter-based activity deletion
* TC[11,7] activity time-shift
* TC[11,8] filter-based activity time-shift
*
* Groups are not supported.
* This service remains always enabled. Sending a disable-request has no effect.
*/
template <size_t MAX_NUM_TCS>
class Service11TelecommandScheduling final : public PusServiceBase {
public:
static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_11;
static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
static constexpr ReturnValue_t INVALID_RELATIVE_TIME =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
//! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
//! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
// The types of PUS-11 subservices
enum Subservice : uint8_t {
ENABLE_SCHEDULING = 1,
DISABLE_SCHEDULING = 2,
RESET_SCHEDULING = 3,
INSERT_ACTIVITY = 4,
DELETE_ACTIVITY = 5,
FILTER_DELETE_ACTIVITY = 6,
TIMESHIFT_ACTIVITY = 7,
FILTER_TIMESHIFT_ACTIVITY = 8,
DETAIL_REPORT = 9,
TIMEBASE_SCHEDULE_DETAIL_REPORT = 10,
TIMESHIFT_ALL_SCHEDULE_ACTIVITIES = 15
};
// The types of time windows for TC[11,6] and TC[11,8], as defined in ECSS-E-ST-70-41C,
// requirement 8.11.3c (p. 507)
enum TypeOfTimeWindow : uint32_t {
SELECT_ALL = 0,
FROM_TIMETAG_TO_TIMETAG = 1,
FROM_TIMETAG = 2,
TO_TIMETAG = 3
};
Service11TelecommandScheduling(object_id_t objectId, uint16_t apid, uint8_t serviceId,
AcceptsTelecommandsIF* tcRecipient,
uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
bool debugMode = false);
~Service11TelecommandScheduling() override;
void enableExpiredTcDeletion();
void disableExpiredTcDeletion();
/** PusServiceBase overrides */
ReturnValue_t handleRequest(uint8_t subservice) override;
ReturnValue_t performService() override;
ReturnValue_t initialize() override;
private:
struct TelecommandStruct {
uint64_t requestId{};
uint32_t seconds{};
store_address_t storeAddr; // uint16
};
static constexpr uint16_t DEFAULT_RELEASE_TIME_MARGIN = 5;
// minimum release time offset to insert into schedule
const uint16_t RELEASE_TIME_MARGIN_SECONDS = 5;
/**
* By default, the scheduling will be disabled. This is a standard requirement
*/
bool schedulingEnabled = false;
bool deleteExpiredTcWhenDisabled = true;
bool debugMode = false;
StorageManagerIF* tcStore = nullptr;
AcceptsTelecommandsIF* tcRecipient = nullptr;
MessageQueueId_t recipientMsgQueueId = 0;
/**
* The telecommand map uses the exectution time as a Unix time stamp as
* the key. This is mapped to a generic telecommand struct.
*/
using TelecommandMap = etl::multimap<uint32_t, TelecommandStruct, MAX_NUM_TCS>;
using TcMapIter = typename TelecommandMap::iterator;
TelecommandMap telecommandMap;
ReturnValue_t handleResetCommand();
/**
* @brief Logic to be performed on an incoming TC[11,4].
* @return RETURN_OK if successful
*/
ReturnValue_t doInsertActivity(const uint8_t* data, size_t size);
/**
* @brief Logic to be performed on an incoming TC[11,5].
* @return RETURN_OK if successful
*/
ReturnValue_t doDeleteActivity(const uint8_t* data, size_t size);
/**
* @brief Logic to be performed on an incoming TC[11,6].
* @return RETURN_OK if successful
*/
ReturnValue_t doFilterDeleteActivity(const uint8_t* data, size_t size);
/**
* @brief Logic to be performed on an incoming TC[11,7].
* @return RETURN_OK if successful
*/
ReturnValue_t doTimeshiftActivity(const uint8_t* data, size_t size);
/**
* @brief Logic to be performed on an incoming TC[11,8].
* @return RETURN_OK if successful
*/
ReturnValue_t doFilterTimeshiftActivity(const uint8_t* data, size_t size);
/**
* @brief Extracts the Request ID from the Application Data of a TC by utilizing a ctor of the
* class TcPacketPus.
* NOTE: This only works if the payload data is a TC (e.g. not for TC[11,5] which does not
* send a TC as payload)!
* @param data The Application data of the TC (get via getApplicationData()).
* @return requestId
*/
uint64_t getRequestIdFromDataTC(const uint8_t* data) const;
/**
* @brief Extracts the Request ID from the Application Data directly, assuming it is packed
* as follows (acc. to ECSS): | source ID (uint32) | apid (uint32) | ssc (uint32) |.
* @param data Pointer to first byte described data
* @param dataSize Remaining size of data NOTE: non-const, this is modified by the function
* @param [out] requestId Request ID
* @return RETURN_OK if successful
*/
ReturnValue_t getRequestIdFromData(const uint8_t*& data, size_t& dataSize, uint64_t& requestId);
/**
* @brief Builds the Request ID from its three elements.
* @param sourceId Source ID
* @param apid Application Process ID (APID)
* @param ssc Source Sequence Count
* @return Request ID
*/
[[nodiscard]] uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
/**
* @brief Gets the filter range for filter TCs from a data packet
* @param data TC data
* @param dataSize TC data size
* @param [out] itBegin Begin of filter range
* @param [out] itEnd End of filter range
* @return RETURN_OK if successful
*/
ReturnValue_t getMapFilterFromData(const uint8_t*& data, size_t& size, TcMapIter& itBegin,
TcMapIter& itEnd);
ReturnValue_t handleInvalidData(const char* ctx);
/**
* @brief Prints content of multimap. Use for simple debugging only.
*/
void debugPrintMultimapContent() const;
};
#include "Service11TelecommandScheduling.tpp"
#endif /* MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ */

645
src/fsfw/pus/Service11TelecommandScheduling.tpp Normal file
View File

@ -0,0 +1,645 @@
#pragma once
#include <cstddef>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serviceinterface.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
template <size_t MAX_NUM_TCS>
inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduling(
object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient,
uint16_t releaseTimeMarginSeconds, bool debugMode)
: PusServiceBase(objectId, apid, serviceId),
RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
debugMode(debugMode),
tcRecipient(tcRecipient) {}
template <size_t MAX_NUM_TCS>
inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() = default;
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
uint8_t subservice) {
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::handleRequest: Handling request " << static_cast<int>(subservice);
#else
sif::printInfo("PUS11::handleRequest: Handling request %d\n", subservice);
#endif
}
// Get de-serialized Timestamp
const uint8_t *data = currentPacket.getApplicationData();
size_t size = currentPacket.getApplicationDataSize();
if (data == nullptr) {
return handleInvalidData("handleRequest");
}
switch (subservice) {
case Subservice::ENABLE_SCHEDULING: {
schedulingEnabled = true;
break;
}
case Subservice::DISABLE_SCHEDULING: {
schedulingEnabled = false;
break;
}
case Subservice::RESET_SCHEDULING: {
return handleResetCommand();
}
case Subservice::INSERT_ACTIVITY:
return doInsertActivity(data, size);
case Subservice::DELETE_ACTIVITY:
return doDeleteActivity(data, size);
case Subservice::FILTER_DELETE_ACTIVITY:
return doFilterDeleteActivity(data, size);
case Subservice::TIMESHIFT_ACTIVITY:
return doTimeshiftActivity(data, size);
case Subservice::FILTER_TIMESHIFT_ACTIVITY:
return doFilterTimeshiftActivity(data, size);
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService() {
if (not schedulingEnabled) {
return RETURN_OK;
}
// get current time as UNIX timestamp
timeval tNow = {};
Clock::getClock_timeval(&tNow);
// TODO: Optionally limit the max number of released TCs per cycle?
// NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
// does not work in this case as we are deleting the current element here.
for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
if (it->first <= tNow.tv_sec) {
if (schedulingEnabled) {
// release tc
TmTcMessage releaseMsg(it->second.storeAddr);
auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
if (sendRet != HasReturnvaluesIF::RETURN_OK) {
return sendRet;
}
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Released TC & erased it from TC map" << std::endl;
#else
sif::printInfo("Released TC & erased it from TC map\n");
#endif
}
telecommandMap.erase(it++);
} else if (deleteExpiredTcWhenDisabled) {
telecommandMap.erase(it++);
}
continue;
}
it++;
}
return HasReturnvaluesIF::RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::initialize() {
ReturnValue_t res = PusServiceBase::initialize();
if (res != HasReturnvaluesIF::RETURN_OK) {
return res;
}
tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (!tcStore) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if (tcRecipient == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
recipientMsgQueueId = tcRecipient->getRequestQueue();
return res;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleResetCommand() {
for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
ReturnValue_t result = tcStore->deleteData(it->second.storeAddr);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
// This should not happen
sif::warning << "Service11TelecommandScheduling::handleRequestDeleting: Deletion failed"
<< std::endl;
#else
sif::printWarning("Service11TelecommandScheduling::handleRequestDeleting: Deletion failed\n");
#endif
triggerEvent(TC_DELETION_FAILED, (it->second.requestId >> 32) & 0xffffffff,
it->second.requestId & 0xffffffff);
}
}
telecommandMap.clear();
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
const uint8_t *data, size_t size) {
uint32_t timestamp = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
if (result != RETURN_OK) {
return result;
}
// Insert possible if sched. time is above margin
// (See requirement for Time margin)
timeval tNow = {};
Clock::getClock_timeval(&tNow);
if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
"current time"
<< std::endl;
#else
sif::printWarning(
"Service11TelecommandScheduling::doInsertActivity: Release time too close to current "
"time\n");
#endif
return RETURN_FAILED;
}
// store currentPacket and receive the store address
store_address_t addr{};
if (tcStore->addData(&addr, data, size) != RETURN_OK ||
addr.raw == storeId::INVALID_STORE_ADDRESS) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
<< std::endl;
#else
sif::printError(
"Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed\n");
#endif
return RETURN_FAILED;
}
// insert into multimap with new store address
TelecommandStruct tc;
tc.seconds = timestamp;
tc.storeAddr = addr;
tc.requestId =
getRequestIdFromDataTC(data); // TODO: Missing sanity check of the returned request id
auto it = telecommandMap.insert(std::pair<uint32_t, TelecommandStruct>(timestamp, tc));
if (it == telecommandMap.end()) {
return RETURN_FAILED;
}
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doInsertActivity: Inserted into Multimap:" << std::endl;
#else
sif::printInfo("PUS11::doInsertActivity: Inserted into Multimap:\n");
#endif
debugPrintMultimapContent();
}
return HasReturnvaluesIF::RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doDeleteActivity(
const uint8_t *data, size_t size) {
// Get request ID
uint64_t requestId;
ReturnValue_t result = getRequestIdFromData(data, size, requestId);
if (result != RETURN_OK) {
return result;
}
// DEBUG
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doDeleteActivity: requestId: " << requestId << std::endl;
#else
sif::printInfo("PUS11::doDeleteActivity: requestId: %d\n", requestId);
#endif
}
TcMapIter tcToDelete; // handle to the TC to be deleted, can be used if counter is valid
int tcToDeleteCount = 0; // counter of all found TCs. Should be 1.
for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
if (it->second.requestId == requestId) {
tcToDelete = it;
tcToDeleteCount++;
}
}
// check if 1 explicit TC is found via request ID
if (tcToDeleteCount == 0 || tcToDeleteCount > 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
"Cannot explicitly delete TC"
<< std::endl;
#else
sif::printWarning(
"Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
"Cannot explicitly delete TC");
#endif
return RETURN_FAILED;
}
// delete packet from store
if (tcStore->deleteData(tcToDelete->second.storeAddr) != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store"
<< std::endl;
#else
sif::printError(
"Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store\n");
#endif
return RETURN_FAILED;
}
telecommandMap.erase(tcToDelete);
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doDeleteActivity: Deleted TC from map" << std::endl;
#else
sif::printInfo("PUS11::doDeleteActivity: Deleted TC from map\n");
#endif
}
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterDeleteActivity(
const uint8_t *data, size_t size) {
TcMapIter itBegin;
TcMapIter itEnd;
ReturnValue_t result = getMapFilterFromData(data, size, itBegin, itEnd);
// get the filter window as map range via dedicated method
if (result != RETURN_OK) {
return result;
}
int deletedTCs = 0;
for (TcMapIter it = itBegin; it != itEnd; it++) {
// delete packet from store
if (tcStore->deleteData(it->second.storeAddr) != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC "
"from Store"
<< std::endl;
#else
sif::printError(
"Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC from "
"Store\n");
#endif
continue;
}
deletedTCs++;
}
// NOTE: Spec says this function erases all elements including itBegin but not itEnd,
// see here: https://www.cplusplus.com/reference/map/multimap/erase/
// Therefore we need to increase itEnd by 1. (Note that end() returns the "past-the-end" iterator)
if (itEnd != telecommandMap.end()) {
itEnd++;
}
telecommandMap.erase(itBegin, itEnd);
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doFilterDeleteActivity: Deleted " << deletedTCs << " TCs" << std::endl;
#else
sif::printInfo("PUS11::doFilterDeleteActivity: Deleted %d TCs\n", deletedTCs);
#endif
}
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doTimeshiftActivity(
const uint8_t *data, size_t size) {
// Get relative time
uint32_t relativeTime = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
if (result != RETURN_OK) {
return result;
}
if (relativeTime == 0) {
return INVALID_RELATIVE_TIME;
}
// TODO further check sanity of the relative time?
// Get request ID
uint64_t requestId;
result = getRequestIdFromData(data, size, requestId);
if (result != RETURN_OK) {
return result;
}
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doTimeshiftActivity: requestId: " << requestId << std::endl;
#else
sif::printInfo("PUS11::doTimeshiftActivity: requestId: %d\n", requestId);
#endif
}
// NOTE: Despite having C++17 ETL multimap has no member function extract :(
TcMapIter tcToTimeshiftIt;
int tcToTimeshiftCount = 0;
for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
if (it->second.requestId == requestId) {
tcToTimeshiftIt = it;
tcToTimeshiftCount++;
}
}
if (tcToTimeshiftCount == 0 || tcToTimeshiftCount > 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 "
"TCs found. No explicit timeshifting "
"possible"
<< std::endl;
#else
sif::printWarning(
"Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 TCs found. "
"No explicit timeshifting possible\n");
#endif
return TIMESHIFTING_NOT_POSSIBLE;
}
// temporarily hold the item
TelecommandStruct tempTc(tcToTimeshiftIt->second);
uint32_t tempKey = tcToTimeshiftIt->first + relativeTime;
// delete old entry from the mm
telecommandMap.erase(tcToTimeshiftIt);
// and then insert it again as new entry
telecommandMap.insert(std::make_pair(tempKey, tempTc));
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doTimeshiftActivity: Shifted TC" << std::endl;
#else
sif::printDebug("PUS11::doTimeshiftActivity: Shifted TC\n");
#endif
debugPrintMultimapContent();
}
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimeshiftActivity(
const uint8_t *data, size_t size) {
// Get relative time
uint32_t relativeTime = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
if (result != RETURN_OK) {
return result;
}
if (relativeTime == 0) {
return INVALID_RELATIVE_TIME;
}
// Do time window
TcMapIter itBegin;
TcMapIter itEnd;
result = getMapFilterFromData(data, size, itBegin, itEnd);
if (result != RETURN_OK) {
return result;
}
int shiftedItemsCount = 0;
for (auto it = itBegin; it != itEnd;) {
// temporarily hold the item
TelecommandStruct tempTc(it->second);
uint32_t tempKey = it->first + relativeTime;
// delete the old entry from the mm
telecommandMap.erase(it++);
// and then insert it again as new entry
telecommandMap.insert(std::make_pair(tempKey, tempTc));
shiftedItemsCount++;
}
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doFilterTimeshiftActivity: shiftedItemsCount: " << shiftedItemsCount
<< std::endl;
#else
sif::printInfo("PUS11::doFilterTimeshiftActivity: shiftedItemsCount: %d\n", shiftedItemsCount);
#endif
debugPrintMultimapContent();
}
if (shiftedItemsCount > 0) {
return RETURN_OK;
}
return RETURN_FAILED;
}
template <size_t MAX_NUM_TCS>
inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromDataTC(
const uint8_t *data) const {
TcPacketPus mask(data);
uint32_t sourceId = mask.getSourceId();
uint16_t apid = mask.getAPID();
uint16_t sequenceCount = mask.getPacketSequenceCount();
return buildRequestId(sourceId, apid, sequenceCount);
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromData(
const uint8_t *&data, size_t &dataSize, uint64_t &requestId) {
uint32_t srcId = 0;
uint16_t apid = 0;
uint16_t ssc = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&srcId, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
result = SerializeAdapter::deSerialize(&apid, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
result = SerializeAdapter::deSerialize(&ssc, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
requestId = buildRequestId(srcId, apid, ssc);
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::buildRequestId(uint32_t sourceId,
uint16_t apid,
uint16_t ssc) const {
auto sourceId64 = static_cast<uint64_t>(sourceId);
auto apid64 = static_cast<uint64_t>(apid);
auto ssc64 = static_cast<uint64_t>(ssc);
return (sourceId64 << 32) | (apid64 << 16) | ssc64;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFromData(
const uint8_t *&data, size_t &dataSize, TcMapIter &itBegin, TcMapIter &itEnd) {
// get filter type first
uint32_t typeRaw = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&typeRaw, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
if (typeRaw > 3) {
return INVALID_TYPE_TIME_WINDOW;
}
auto type = static_cast<TypeOfTimeWindow>(typeRaw);
// we now have the type of delete activity - so now we set the range to delete,
// according to the type of time window.
// NOTE: Blocks are used in this switch-case statement so that timestamps can be
// cleanly redefined for each case.
switch (type) {
case TypeOfTimeWindow::SELECT_ALL: {
itBegin = telecommandMap.begin();
itEnd = telecommandMap.end();
break;
}
case TypeOfTimeWindow::FROM_TIMETAG: {
uint32_t fromTimestamp = 0;
result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
itBegin = telecommandMap.begin();
while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
itBegin++;
}
itEnd = telecommandMap.end();
break;
}
case TypeOfTimeWindow::TO_TIMETAG: {
uint32_t toTimestamp;
result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
itBegin = telecommandMap.begin();
itEnd = telecommandMap.begin();
while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
itEnd++;
}
break;
}
case TypeOfTimeWindow::FROM_TIMETAG_TO_TIMETAG: {
uint32_t fromTimestamp;
uint32_t toTimestamp;
result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
return result;
}
result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
return result;
}
itBegin = telecommandMap.begin();
itEnd = telecommandMap.begin();
while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
itBegin++;
}
while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
itEnd++;
}
break;
}
default:
return RETURN_FAILED;
}
// additional security check, this should never be true
if (itBegin->first > itEnd->first) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
#else
sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
#endif
return RETURN_FAILED;
}
// the map range should now be set according to the sent filter.
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidData(
const char *ctx) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling:: " << ctx << ": Invalid buffer" << std::endl;
#else
sif::printWarning("Service11TelecommandScheduling::%s: Invalid buffer\n", ctx);
#endif
#endif
return RETURN_FAILED;
}
template <size_t MAX_NUM_TCS>
inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent() const {
#if FSFW_DISABLE_PRINTOUT == 0
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
<< std::endl;
#else
sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
#endif
for (const auto &dit : telecommandMap) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "[" << dit.first << "]: Request ID: " << dit.second.requestId << " | "
<< "Store Address: " << dit.second.storeAddr.raw << std::endl;
#else
sif::printDebug("[%d]: Request ID: %d | Store Address: %d\n", dit.first, dit.second.requestId,
dit.second.storeAddr);
#endif
}
#endif
}
template <size_t MAX_NUM_TCS>
inline void Service11TelecommandScheduling<MAX_NUM_TCS>::enableExpiredTcDeletion() {
deleteExpiredTcWhenDisabled = true;
}
template <size_t MAX_NUM_TCS>
inline void Service11TelecommandScheduling<MAX_NUM_TCS>::disableExpiredTcDeletion() {
deleteExpiredTcWhenDisabled = false;
}

2
src/fsfw/pus/Service5EventReporting.cpp
View File

@ -85,7 +85,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
// In addition to the default PUSServiceBase initialization, this service needs
// to be registered to the event manager to listen for events.
ReturnValue_t Service5EventReporting::initialize() {
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
return RETURN_FAILED;
}

1
src/fsfw/returnvalues/FwClassIds.h
View File

@ -72,6 +72,7 @@ enum : uint8_t {
DLE_ENCODER, // DLEE
PUS_SERVICE_3, // PUS3
PUS_SERVICE_9, // PUS9
PUS_SERVICE_11, // PUS11
FILE_SYSTEM, // FILS
LINUX_OSAL, // UXOS
HAL_SPI, // HSPI

2
src/fsfw/storagemanager/StorageAccessor.cpp
View File

@ -13,7 +13,7 @@ StorageAccessor::StorageAccessor(store_address_t storeId, StorageManagerIF* stor
StorageAccessor& StorageAccessor::operator=(StorageAccessor&& other) {
// Call the parent move assignment and also assign own member.
dataPointer = other.dataPointer;
StorageAccessor::operator=(std::move(other));
ConstStorageAccessor::operator=(std::move(other));
return *this;
}

5
src/fsfw/tasks/CMakeLists.txt
View File

@ -1,2 +1,3 @@
target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
FixedSlotSequence.cpp)
target_sources(
${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp)

17
src/fsfw/tasks/FixedSlotSequence.cpp
View File

@ -29,7 +29,7 @@ void FixedSlotSequence::executeAndAdvance() {
uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
uint32_t oldTime;
SlotListIter slotListIter = current;
auto slotListIter = current;
// Get the pollingTimeMs of the current slot object.
oldTime = slotListIter->pollingTimeMs;
// Advance to the next object.
@ -51,7 +51,7 @@ uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
uint32_t currentTime;
SlotListIter slotListIter = current;
auto slotListIter = current;
// Get the pollingTimeMs of the current slot object.
currentTime = slotListIter->pollingTimeMs;
@ -67,7 +67,7 @@ uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
bool FixedSlotSequence::slotFollowsImmediately() {
uint32_t currentTime = current->pollingTimeMs;
SlotListIter fixedSequenceIter = this->current;
auto fixedSequenceIter = this->current;
// Get the pollingTimeMs of the current slot object.
if (fixedSequenceIter == slotList.begin()) return false;
fixedSequenceIter--;
@ -96,8 +96,8 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
}
if (customCheckFunction != nullptr) {
ReturnValue_t result = customCheckFunction(slotList);
if (customChecker != nullptr) {
ReturnValue_t result = customChecker(slotList, customCheckArgs);
if (result != HasReturnvaluesIF::RETURN_OK) {
// Continue for now but print error output.
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -161,6 +161,9 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
return HasReturnvaluesIF::RETURN_OK;
}
void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) {
this->customCheckFunction = customCheckFunction;
void FixedSlotSequence::addCustomCheck(CustomCheckFunc customChecker_, void* checkerArgs_) {
customChecker = customChecker_;
customCheckArgs = checkerArgs_;
}
bool FixedSlotSequence::isEmpty() const { return slotList.empty(); }

17
src/fsfw/tasks/FixedSlotSequence.h
View File

@ -30,12 +30,12 @@ class FixedSlotSequence {
public:
using SlotList = std::multiset<FixedSequenceSlot>;
using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
using CustomCheckFunc = ReturnValue_t (*)(const SlotList&, void* args);
/**
* @brief The constructor of the FixedSlotSequence object.
* @param setLength The period length, expressed in ms.
*/
FixedSlotSequence(uint32_t setLengthMs);
explicit FixedSlotSequence(uint32_t setLengthMs);
/**
* @brief The destructor of the FixedSlotSequence object.
@ -106,7 +106,7 @@ class FixedSlotSequence {
/**
* @brief This method returns the length of this FixedSlotSequence instance.
*/
uint32_t getLengthMs() const;
[[nodiscard]] uint32_t getLengthMs() const;
/**
* @brief The method to execute the device handler entered in the current
@ -137,7 +137,7 @@ class FixedSlotSequence {
* @return
* - SLOT_LIST_EMPTY if the slot list is empty
*/
ReturnValue_t checkSequence() const;
[[nodiscard]] ReturnValue_t checkSequence() const;
/**
* @brief A custom check can be injected for the respective slot list.
@ -149,7 +149,7 @@ class FixedSlotSequence {
* @param customCheckFunction
*
*/
void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&));
void addCustomCheck(CustomCheckFunc func, void* userArgs);
/**
* @brief Perform any initialization steps required after the executing
@ -157,7 +157,9 @@ class FixedSlotSequence {
* executing task!
* @return
*/
ReturnValue_t intializeSequenceAfterTaskCreation() const;
[[nodiscard]] ReturnValue_t intializeSequenceAfterTaskCreation() const;
[[nodiscard]] bool isEmpty() const;
protected:
/**
@ -173,7 +175,8 @@ class FixedSlotSequence {
*/
SlotList slotList;
ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
CustomCheckFunc customChecker = nullptr;
void* customCheckArgs = nullptr;
uint32_t lengthMs;
};

27
src/fsfw/tasks/FixedTimeslotTaskBase.cpp Normal file
View File

@ -0,0 +1,27 @@
#include "FixedTimeslotTaskBase.h"
#include "fsfw/objectmanager/ObjectManager.h"
FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_,
TaskDeadlineMissedFunction dlmFunc_)
: period(period_), pollingSeqTable(getPeriodMs()), dlmFunc(dlmFunc_) {}
uint32_t FixedTimeslotTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty(); }
ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); }
ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t execId, ExecutableObjectIF* execObj,
uint32_t slotTimeMs, int8_t executionStep) {
if (execObj == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << execObj
<< std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
#else
sif::printError("Component 0x%08x not found, not adding it to PST\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
pollingSeqTable.addSlot(execId, slotTimeMs, executionStep, execObj, this);
return HasReturnvaluesIF::RETURN_OK;
}

44
src/fsfw/tasks/FixedTimeslotTaskBase.h Normal file
View File

@ -0,0 +1,44 @@
#ifndef FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
#define FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
#include "FixedSlotSequence.h"
#include "FixedTimeslotTaskIF.h"
#include "definitions.h"
class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
public:
explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr);
~FixedTimeslotTaskBase() override = default;
;
protected:
/**
* @brief Period of task in floating point seconds
*/
TaskPeriod period;
//! Polling sequence table which contains the object to execute
//! and information like the timeslots and the passed execution step.
FixedSlotSequence pollingSeqTable;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed. So, each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
TaskDeadlineMissedFunction dlmFunc = nullptr;
ReturnValue_t checkSequence() override;
[[nodiscard]] uint32_t getPeriodMs() const override;
[[nodiscard]] bool isEmpty() const override;
ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
};
#endif // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H

32
src/fsfw/tasks/FixedTimeslotTaskIF.h
View File

@ -2,6 +2,7 @@
#define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
#include "PeriodicTaskIF.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/FwClassIds.h"
@ -11,10 +12,23 @@
*/
class FixedTimeslotTaskIF : public PeriodicTaskIF {
public:
virtual ~FixedTimeslotTaskIF() {}
~FixedTimeslotTaskIF() override = default;
static constexpr ReturnValue_t SLOT_LIST_EMPTY =
HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);
/**
* Add an object with a slot time and the execution step to the task.
* The execution step will be passed to the object (e.g. as an operation
* code in #performOperation)
* @param componentId
* @param slotTimeMs
* @param executionStep
* @return
*/
virtual ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* obj, uint32_t slotTimeMs,
int8_t executionStep) = 0;
/**
* Add an object with a slot time and the execution step to the task.
* The execution step will be passed to the object (e.g. as an operation
@ -25,12 +39,24 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
* @return
*/
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) = 0;
int8_t executionStep) {
auto* execObj = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
return addSlot(componentId, execObj, slotTimeMs, executionStep);
}
/**
* Check whether the sequence is valid and perform all other required
* initialization steps which are needed after task creation
*/
virtual ReturnValue_t checkSequence() const = 0;
virtual ReturnValue_t checkSequence() = 0;
ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
};
#endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

71
src/fsfw/tasks/PeriodicTaskBase.cpp Normal file
View File

@ -0,0 +1,71 @@
#include "PeriodicTaskBase.h"
#include <set>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface.h"
PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
: period(period_), dlmFunc(dlmFunc_) {
// Hints at configuration error
if (PeriodicTaskBase::getPeriodMs() <= 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Passed task period 0 or smaller than 1 ms" << std::endl;
#else
sif::printWarning("Passed task period 0 or smaller than 1ms\n");
#endif
}
}
uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); }
ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object) { return addComponent(object, 0); }
ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object) {
return addComponent(object, 0);
}
ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
std::set<ExecutableObjectIF*> uniqueObjects;
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
uint32_t count = 0;
for (const auto& obj : objectList) {
// Ensure that each unique object is initialized once.
if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
ReturnValue_t result = obj.first->initializeAfterTaskCreation();
if (result != HasReturnvaluesIF::RETURN_OK) {
count++;
status = result;
}
uniqueObjects.emplace(obj.first);
}
}
if (count > 0) {
}
return status;
}
ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
auto* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject, opCode);
}
ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
#else
sif::printError(
"PeriodicTask::addComponent: Invalid object. Make sure it "
"implements ExecutableObjectIF!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back({object, opCode});
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}

54
src/fsfw/tasks/PeriodicTaskBase.h Normal file
View File

@ -0,0 +1,54 @@
#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
#include <cstdint>
#include <vector>
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/definitions.h"
class ExecutableObjectIF;
class PeriodicTaskBase : public PeriodicTaskIF {
public:
explicit PeriodicTaskBase(TaskPeriod period,
TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
ReturnValue_t addComponent(object_id_t object) override;
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
[[nodiscard]] uint32_t getPeriodMs() const override;
[[nodiscard]] bool isEmpty() const override;
ReturnValue_t initObjsAfterTaskCreation();
protected:
//! Typedef for the List of objects. Will contain the objects to execute and their respective
//! operation codes
using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief Period of task in floating point seconds
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed. So, each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
TaskDeadlineMissedFunction dlmFunc = nullptr;
};
#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */

40
src/fsfw/tasks/PeriodicTaskIF.h
View File

@ -3,9 +3,8 @@
#include <cstddef>
#include "../objectmanager/SystemObjectIF.h"
#include "../timemanager/Clock.h"
class ExecutableObjectIF;
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
/**
* New version of TaskIF
@ -18,7 +17,7 @@ class PeriodicTaskIF {
/**
* @brief A virtual destructor as it is mandatory for interfaces.
*/
virtual ~PeriodicTaskIF() {}
virtual ~PeriodicTaskIF() = default;
/**
* @brief With the startTask method, a created task can be started
* for the first time.
@ -26,28 +25,29 @@ class PeriodicTaskIF {
virtual ReturnValue_t startTask() = 0;
/**
* Add a component (object) to a periodic task.
* @param object
* Add an object to the task. The object needs to implement ExecutableObjectIF
* @return
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added. The object needs to implement
* ExecutableObjectIF
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
virtual ReturnValue_t addComponent(object_id_t object) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode) = 0;
virtual ReturnValue_t addComponent(object_id_t object) { return addComponent(object, 0); };
/**
* Add an object to a periodic task.
* @param object
* Add an object to the task.
* @return
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) = 0;
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { return addComponent(object, 0); }
virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
virtual uint32_t getPeriodMs() const = 0;
[[nodiscard]] virtual uint32_t getPeriodMs() const = 0;
[[nodiscard]] virtual bool isEmpty() const = 0;
};
#endif /* PERIODICTASKIF_H_ */
#endif /* FRAMEWORK_TASK_PERIODICTASKIF_H_ */

2
src/fsfw/tasks/TaskFactory.h
View File

@ -4,7 +4,7 @@
#include <cstdlib>
#include "FixedTimeslotTaskIF.h"
#include "Typedef.h"
#include "definitions.h"
/**
* Singleton Class that produces Tasks.

13
src/fsfw/tasks/Typedef.h
View File

@ -1,13 +0,0 @@
#ifndef FSFW_TASKS_TYPEDEF_H_
#define FSFW_TASKS_TYPEDEF_H_
#include <cstddef>
#include <cstdint>
typedef const char* TaskName;
typedef uint32_t TaskPriority;
typedef size_t TaskStackSize;
typedef double TaskPeriod;
typedef void (*TaskDeadlineMissedFunction)();
#endif /* FSFW_TASKS_TYPEDEF_H_ */

13
src/fsfw/tasks/definitions.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef FSFW_TASKS_TYPEDEF_H_
#define FSFW_TASKS_TYPEDEF_H_
#include <cstddef>
#include <cstdint>
using TaskName = const char*;
using TaskPriority = int;
using TaskStackSize = size_t;
using TaskPeriod = double;
using TaskDeadlineMissedFunction = void (*)();
#endif /* FSFW_TASKS_TYPEDEF_H_ */

5
src/fsfw/tcdistribution/CCSDSDistributor.cpp
View File

@ -9,7 +9,7 @@
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId)
: TcDistributor(setObjectId), defaultApid(setDefaultApid) {}
CCSDSDistributor::~CCSDSDistributor() {}
CCSDSDistributor::~CCSDSDistributor() = default;
TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
#if CCSDS_DISTRIBUTOR_DEBUGGING == 1
@ -38,6 +38,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
" store failed!\n");
#endif
#endif
return queueMap.end();
}
SpacePacketBase currentPacket(packet);
@ -45,7 +46,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex
<< currentPacket.getAPID() << std::dec << std::endl;
#endif
TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
auto position = this->queueMap.find(currentPacket.getAPID());
if (position != this->queueMap.end()) {
return position;
} else {

13
src/fsfw/tcdistribution/PUSDistributor.cpp
View File

@ -15,7 +15,7 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
tcStatus(RETURN_FAILED),
packetSource(setPacketSource) {}
PUSDistributor::~PUSDistributor() {}
PUSDistributor::~PUSDistributor() = default;
PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
@ -23,7 +23,7 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
sif::debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", "
<< storeId.packetIndex << std::endl;
#endif
TcMqMapIter queueMapIt = this->queueMap.end();
auto queueMapIt = this->queueMap.end();
if (this->currentPacket == nullptr) {
return queueMapIt;
}
@ -48,10 +48,8 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword
<< " error" << std::endl;
#else
sif::printWarning(
"PUSDistributor::handlePacket: Packet format invalid, "
"%s error\n",
keyword);
sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n",
keyword);
#endif
#endif
}
@ -133,8 +131,7 @@ ReturnValue_t PUSDistributor::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
CCSDSDistributorIF* ccsdsDistributor =
ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
auto* ccsdsDistributor = ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
if (ccsdsDistributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;

22
src/fsfw/tmtcpacket/pus/tc/TcPacketStoredBase.cpp
View File

@ -6,20 +6,20 @@
#include "fsfw/objectmanager/frameworkObjects.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
StorageManagerIF* TcPacketStoredBase::store = nullptr;
StorageManagerIF* TcPacketStoredBase::STORE = nullptr;
TcPacketStoredBase::TcPacketStoredBase() {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->checkAndSetStore();
TcPacketStoredBase::checkAndSetStore();
}
TcPacketStoredBase::~TcPacketStoredBase() {}
TcPacketStoredBase::~TcPacketStoredBase() = default;
ReturnValue_t TcPacketStoredBase::getData(const uint8_t** dataPtr, size_t* dataSize) {
auto result = this->store->getData(storeAddress, dataPtr, dataSize);
auto result = TcPacketStoredBase::STORE->getData(storeAddress, dataPtr, dataSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcPacketStoredBase: Could not get data!" << std::endl;
sif::warning << "TcPacketStoredBase: Could not get data" << std::endl;
#else
sif::printWarning("TcPacketStoredBase: Could not get data!\n");
#endif
@ -28,11 +28,13 @@ ReturnValue_t TcPacketStoredBase::getData(const uint8_t** dataPtr, size_t* dataS
}
bool TcPacketStoredBase::checkAndSetStore() {
if (this->store == nullptr) {
this->store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (this->store == nullptr) {
if (TcPacketStoredBase::STORE == nullptr) {
TcPacketStoredBase::STORE = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (TcPacketStoredBase::STORE == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcPacketStoredBase::TcPacketStoredBase: TC Store not found!" << std::endl;
sif::error << "TcPacketStoredBase::TcPacketStoredBase: TC Store not found" << std::endl;
#else
sif::printError("TcPacketStoredBase::TcPacketStoredBase: TC Store not found\n");
#endif
return false;
}
@ -47,7 +49,7 @@ void TcPacketStoredBase::setStoreAddress(store_address_t setAddress,
size_t tempSize;
ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
if (this->checkAndSetStore()) {
status = this->store->getData(this->storeAddress, &tempData, &tempSize);
status = TcPacketStoredBase::STORE->getData(this->storeAddress, &tempData, &tempSize);
}
if (status == StorageManagerIF::RETURN_OK) {

6
src/fsfw/tmtcpacket/pus/tc/TcPacketStoredBase.h
View File

@ -65,7 +65,7 @@ class TcPacketStoredBase : public TcPacketStoredIF {
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
static StorageManagerIF* STORE;
/**
* The address where the packet data of the object instance is stored.
*/
@ -77,7 +77,7 @@ class TcPacketStoredBase : public TcPacketStoredIF {
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
static bool checkAndSetStore();
};
#endif /* TMTCPACKET_PUS_TcPacketStoredBase_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */

3
src/fsfw/tmtcpacket/pus/tc/TcPacketStoredIF.h
View File

@ -9,7 +9,8 @@
class TcPacketStoredIF {
public:
virtual ~TcPacketStoredIF(){};
virtual ~TcPacketStoredIF() = default;
;
/**
* With this call, the stored packet can be set to another packet in a store. This is useful

12
src/fsfw/tmtcpacket/pus/tc/TcPacketStoredPus.cpp
View File

@ -14,8 +14,8 @@ TcPacketStoredPus::TcPacketStoredPus(uint16_t apid, uint8_t service, uint8_t sub
}
uint8_t* pData = nullptr;
ReturnValue_t returnValue =
this->store->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &pData);
if (returnValue != this->store->RETURN_OK) {
this->STORE->getFreeElement(&this->storeAddress, (TC_PACKET_MIN_SIZE + size), &pData);
if (returnValue != this->STORE->RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcPacketStoredBase: Could not get free element from store!" << std::endl;
#endif
@ -44,19 +44,19 @@ TcPacketStoredPus::TcPacketStoredPus(const uint8_t* data, size_t size) : TcPacke
return;
}
if (this->checkAndSetStore()) {
ReturnValue_t status = store->addData(&storeAddress, data, size);
ReturnValue_t status = STORE->addData(&storeAddress, data, size);
if (status != HasReturnvaluesIF::RETURN_OK) {
this->setData(nullptr, size);
}
const uint8_t* storePtr = nullptr;
// Repoint base data pointer to the data in the store.
store->getData(storeAddress, &storePtr, &size);
STORE->getData(storeAddress, &storePtr, &size);
this->setData(const_cast<uint8_t*>(storePtr), size);
}
}
ReturnValue_t TcPacketStoredPus::deletePacket() {
ReturnValue_t result = this->store->deleteData(this->storeAddress);
ReturnValue_t result = this->STORE->deleteData(this->storeAddress);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
// To circumvent size checks
this->setData(nullptr, -1);
@ -68,7 +68,7 @@ TcPacketPusBase* TcPacketStoredPus::getPacketBase() { return this; }
bool TcPacketStoredPus::isSizeCorrect() {
const uint8_t* temp_data = nullptr;
size_t temp_size;
ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data, &temp_size);
ReturnValue_t status = this->STORE->getData(this->storeAddress, &temp_data, &temp_size);
if (status == StorageManagerIF::RETURN_OK) {
if (this->getFullSize() == temp_size) {
return true;

4
src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
View File

@ -1,7 +1,7 @@
#ifndef FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
#define FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
#include "../ipc/MessageQueueSenderIF.h"
#include "fsfw/ipc/MessageQueueSenderIF.h"
/**
* @brief This interface is implemented by classes that are sinks for
@ -20,7 +20,7 @@ class AcceptsTelecommandsIF {
/**
* @brief The virtual destructor as it is mandatory for C++ interfaces.
*/
virtual ~AcceptsTelecommandsIF() {}
virtual ~AcceptsTelecommandsIF() = default;
/**
* @brief Getter for the service id.
* @details Any receiving service (at least any PUS service) shall have a

12
src/fsfw/version.cpp
View File

@ -12,19 +12,21 @@
#undef minor
#endif
const Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, FSFW_VERSION_REVISION,
FSFW_VERSION_CST_GIT_SHA1};
const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
FSFW_VERSION_REVISION, FSFW_VCS_INFO};
Version::Version(int major, int minor, int revision, const char* addInfo)
fsfw::Version::Version(int major, int minor, int revision, const char* addInfo)
: major(major), minor(minor), revision(revision), addInfo(addInfo) {}
void Version::getVersion(char* str, size_t maxLen) const {
void fsfw::Version::getVersion(char* str, size_t maxLen) const {
size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
if (addInfo != nullptr) {
snprintf(str + len, maxLen - len, "-%s", addInfo);
}
}
namespace fsfw {
#if FSFW_CPP_OSTREAM_ENABLED == 1
std::ostream& operator<<(std::ostream& os, const Version& v) {
os << v.major << "." << v.minor << "." << v.revision;
@ -34,3 +36,5 @@ std::ostream& operator<<(std::ostream& os, const Version& v) {
return os;
}
#endif
} // namespace fsfw

4
src/fsfw/version.h
View File

@ -8,6 +8,8 @@
#endif
#include <cstdint>
namespace fsfw {
class Version {
public:
Version(int major, int minor, int revision, const char* addInfo = nullptr);
@ -55,8 +57,6 @@ class Version {
void getVersion(char* str, size_t maxLen) const;
};
namespace fsfw {
extern const Version FSFW_VERSION;
} // namespace fsfw

4
tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
View File

@ -13,14 +13,14 @@ TestDevice::TestDevice(object_id_t objectId, object_id_t comIF, CookieIF* cookie
dataset(this),
fullInfoPrintout(fullInfoPrintout) {}
TestDevice::~TestDevice() {}
TestDevice::~TestDevice() = default;
void TestDevice::performOperationHook() {
if (periodicPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
#else
sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
sif::printInfo("TestDevice%d::performOperationHook: Alive!\n", deviceIdx);
#endif
}

2
tests/src/fsfw_tests/integration/task/TestTask.cpp
View File

@ -12,7 +12,7 @@ TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(test
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
}
TestTask::~TestTask() {}
TestTask::~TestTask() = default;
ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;

6
tests/src/fsfw_tests/integration/task/TestTask.h
View File

@ -13,9 +13,9 @@
*/
class TestTask : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
TestTask(object_id_t objectId);
virtual ~TestTask();
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
explicit TestTask(object_id_t objectId);
~TestTask() override;
ReturnValue_t performOperation(uint8_t operationCode) override;
protected:
virtual ReturnValue_t performOneShotAction();

22
tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
View File

@ -2,7 +2,9 @@
#include <catch2/catch_test_macros.hpp>
#include <fstream>
#include <iostream>
#include "tests/TestsConfig.h"
#include "fsfw/container/DynamicFIFO.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/platform.h"
@ -61,6 +63,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
std::string cmpString = "Hello World\n";
CHECK(readString == cmpString);
outputBuffer.deleteData(12, true);
// Issues with CI/CD
#if FSFW_CICD_BUILD == 0
// Test more complex command
result = cmdExecutor.load("ping -c 1 localhost", false, false);
REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::COMMAND_LOADED);
@ -81,16 +86,27 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
readBytes = 0;
sizesFifo.retrieve(&readBytes);
// That's about the size of the reply
bool beTrue = (readBytes > 200) and (readBytes < 300);
REQUIRE(beTrue);
uint8_t largerReadBuffer[1024] = {};
// That's about the size of the reply
bool beTrue = (readBytes > 100) and (readBytes < 400);
if (not beTrue) {
size_t readLen = outputBuffer.getAvailableReadData();
if (readLen > sizeof(largerReadBuffer) - 1) {
readLen = sizeof(largerReadBuffer) - 1;
}
outputBuffer.readData(largerReadBuffer, readLen);
std::string readString(reinterpret_cast<char*>(largerReadBuffer));
std::cerr << "Catch2 tag cmd-exec: Read " << readBytes << ": " << std::endl;
std::cerr << readString << std::endl;
}
REQUIRE(beTrue);
outputBuffer.readData(largerReadBuffer, readBytes);
// You can also check this output in the debugger
std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer));
// I am just going to assume that this string is the same across ping implementations
// of different Linux systems
REQUIRE(allTheReply.find("PING localhost") != std::string::npos);
#endif
// Now check failing command
result = cmdExecutor.load("false", false, false);

6
tests/src/fsfw_tests/unit/internalerror/TestInternalErrorReporter.cpp
View File

@ -16,7 +16,7 @@
#include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
PeriodicTaskMock task(10);
PeriodicTaskMock task(10, nullptr);
ObjectManagerIF* manager = ObjectManager::instance();
if (manager == nullptr) {
FAIL();
@ -27,6 +27,8 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
FAIL();
}
task.addComponent(objects::INTERNAL_ERROR_REPORTER);
// This calls the initializeAfterTaskCreation function
task.startTask();
MessageQueueIF* testQueue = QueueFactory::instance()->createMessageQueue(1);
MessageQueueIF* hkQueue = QueueFactory::instance()->createMessageQueue(1);
internalErrorReporter->getSubscriptionInterface()->subscribeForSetUpdateMessage(
@ -115,4 +117,4 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
}
QueueFactory::instance()->deleteMessageQueue(testQueue);
QueueFactory::instance()->deleteMessageQueue(hkQueue);
}
}

28
tests/src/fsfw_tests/unit/mocks/PeriodicTaskIFMock.h
View File

@ -2,36 +2,24 @@
#define FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/PeriodicTaskBase.h>
class PeriodicTaskMock : public PeriodicTaskIF {
class PeriodicTaskMock : public PeriodicTaskBase {
public:
PeriodicTaskMock(uint32_t period = 5) : period(period) {}
/**
* @brief A virtual destructor as it is mandatory for interfaces.
*/
PeriodicTaskMock(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc)
: PeriodicTaskBase(period, dlmFunc) {}
virtual ~PeriodicTaskMock() {}
/**
* @brief With the startTask method, a created task can be started
* for the first time.
*/
virtual ReturnValue_t startTask() override { return HasReturnvaluesIF::RETURN_OK; };
virtual ReturnValue_t addComponent(object_id_t object) override {
ExecutableObjectIF* executableObject =
ObjectManager::instance()->get<ExecutableObjectIF>(objects::INTERNAL_ERROR_REPORTER);
if (executableObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
executableObject->setTaskIF(this);
executableObject->initializeAfterTaskCreation();
virtual ReturnValue_t startTask() override {
initObjsAfterTaskCreation();
return HasReturnvaluesIF::RETURN_OK;
};
virtual ReturnValue_t sleepFor(uint32_t ms) override { return HasReturnvaluesIF::RETURN_OK; };
virtual uint32_t getPeriodMs() const override { return period; };
uint32_t period;
};
#endif // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
#endif // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_

27
tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp
View File

@ -156,4 +156,31 @@ TEST_CASE("New Accessor", "[NewAccessor]") {
CHECK(receptionArray[i] == 42);
}
}
SECTION("Operators"){
result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
REQUIRE(result == retval::CATCH_OK);
{
StorageAccessor accessor(testStoreId);
StorageAccessor accessor2(0);
accessor2 = std::move(accessor);
REQUIRE(accessor.data() == nullptr);
std::array<uint8_t, 6> data;
size_t size = 6;
result = accessor.write(data.data(), data.size());
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
result = SimplePool.modifyData(testStoreId, accessor2);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
CHECK(accessor2.getId() == testStoreId);
CHECK(accessor2.size() == 10);
std::array<uint8_t, 10> newData;
// Expect data to be invalid so this must return RETURN_FAILED
result = accessor.getDataCopy(newData.data(),newData.size());
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
// Expect data to be too small
result = accessor2.getDataCopy(data.data(),data.size());
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
}
}
}

1
tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp
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@ -3,6 +3,7 @@
#include <catch2/catch_test_macros.hpp>
#include <cstring>
#include <array>
#include "fsfw_tests/unit/CatchDefinitions.h"

2
tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
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@ -1,6 +1,8 @@
#ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
#define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
#cmakedefine01 FSFW_CICD_BUILD
#define FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS 1
#ifdef __cplusplus

12
tests/src/fsfw_tests/unit/version.cpp
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@ -10,12 +10,12 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") {
// Check that major version is non-zero
REQUIRE(fsfw::FSFW_VERSION.major > 0);
uint32_t fsfwMajor = fsfw::FSFW_VERSION.major;
REQUIRE(Version(255, 0, 0) > fsfw::FSFW_VERSION);
REQUIRE(Version(255, 0, 0) >= fsfw::FSFW_VERSION);
REQUIRE(Version(0, 0, 0) < fsfw::FSFW_VERSION);
REQUIRE(Version(0, 0, 0) <= fsfw::FSFW_VERSION);
Version v1 = Version(1, 1, 1);
Version v2 = Version(1, 1, 1);
REQUIRE(fsfw::Version(255, 0, 0) > fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(255, 0, 0) >= fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(0, 0, 0) < fsfw::FSFW_VERSION);
REQUIRE(fsfw::Version(0, 0, 0) <= fsfw::FSFW_VERSION);
auto v1 = fsfw::Version(1, 1, 1);
auto v2 = fsfw::Version(1, 1, 1);
REQUIRE(v1 == v2);
REQUIRE(not(v1 < v2));
REQUIRE(not(v1 > v2));