From 3429918f5e35ed9ed942c946fdf0d19ed6379f26 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 30 Mar 2021 00:25:22 +0200 Subject: [PATCH 01/32] fixed cmakelists for linux --- osal/CMakeLists.txt | 5 ----- 1 file changed, 5 deletions(-) diff --git a/osal/CMakeLists.txt b/osal/CMakeLists.txt index e4f1de7c..6cda0c88 100644 --- a/osal/CMakeLists.txt +++ b/osal/CMakeLists.txt @@ -10,11 +10,6 @@ elseif(${OS_FSFW} STREQUAL "host") if (WIN32) add_subdirectory(windows) elseif(UNIX) - target_sources(${LIB_FSFW_NAME} - PUBLIC - linux/TcUnixUdpPollingTask.cpp - linux/TmTcUnixUdpBridge.cpp - ) endif () else() From 435c6e641021ce450ba88b1cb57c960a5548f784 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 30 Mar 2021 00:37:10 +0200 Subject: [PATCH 02/32] bugfix for linux/host --- osal/CMakeLists.txt | 42 +++++++++++++++++++++++------------------- 1 file changed, 23 insertions(+), 19 deletions(-) diff --git a/osal/CMakeLists.txt b/osal/CMakeLists.txt index 6cda0c88..76b939b1 100644 --- a/osal/CMakeLists.txt +++ b/osal/CMakeLists.txt @@ -1,30 +1,34 @@ # Check the OS_FSFW variable if(${OS_FSFW} STREQUAL "freertos") - add_subdirectory(FreeRTOS) + add_subdirectory(FreeRTOS) elseif(${OS_FSFW} STREQUAL "rtems") - add_subdirectory(rtems) + add_subdirectory(rtems) elseif(${OS_FSFW} STREQUAL "linux") - add_subdirectory(linux) + add_subdirectory(linux) elseif(${OS_FSFW} STREQUAL "host") - add_subdirectory(host) - if (WIN32) - add_subdirectory(windows) - elseif(UNIX) - endif () + add_subdirectory(host) + if (WIN32) + add_subdirectory(windows) + elseif(UNIX) + # We still need to pull in some Linux specific sources + target_sources(${LIB_FSFW_NAME} PUBLIC + linux/tcpipHelpers.cpp + ) + endif () else() - message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") - # Not set. Assumuing this is a host build, try to determine host OS - if (WIN32) - add_subdirectory(host) - add_subdirectory(windows) - elseif (UNIX) - add_subdirectory(linux) - else () - # MacOS or other OSes have not been tested yet / are not supported. - message(FATAL_ERROR "The host OS could not be determined! Aborting.") - endif() + message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") + # Not set. Assumuing this is a host build, try to determine host OS + if (WIN32) + add_subdirectory(host) + add_subdirectory(windows) + elseif (UNIX) + add_subdirectory(linux) + else () + # MacOS or other OSes have not been tested yet / are not supported. + message(FATAL_ERROR "The host OS could not be determined! Aborting.") + endif() endif() From 6983ddc3e022bfcf1e78354998e4577b20e146b0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 8 Apr 2021 15:27:03 +0200 Subject: [PATCH 03/32] super evil bugfix --- osal/linux/MessageQueue.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index 60d15dee..b40ff29b 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -190,13 +190,14 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; - }else if(status==0){ + } + else if(status==0) { //Success but no message received return MessageQueueIF::EMPTY; } else { //No message was received. Keep lastPartner anyway, I might send //something later. But still, delete packet content. - memset(message->getData(), 0, message->getMaximumMessageSize()); + memset(message->getBuffer(), 0, message->getMaximumMessageSize()); switch(errno){ case EAGAIN: //O_NONBLOCK or MQ_NONBLOCK was set and there are no messages From 23e3f2f34f1b68998a8aad6c01691d2e9c97ed65 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 8 Apr 2021 15:39:23 +0200 Subject: [PATCH 04/32] now fixed properly --- ipc/MessageQueueMessage.cpp | 4 ++++ ipc/MessageQueueMessage.h | 1 + ipc/MessageQueueMessageIF.h | 1 + osal/linux/MessageQueue.cpp | 7 ++++--- 4 files changed, 10 insertions(+), 3 deletions(-) diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp index e97778c3..1958af54 100644 --- a/ipc/MessageQueueMessage.cpp +++ b/ipc/MessageQueueMessage.cpp @@ -86,3 +86,7 @@ size_t MessageQueueMessage::getMaximumMessageSize() const { return this->MAX_MESSAGE_SIZE; } +size_t MessageQueueMessage::getMaximumDataSize() const { + return this->MAX_DATA_SIZE; +} + diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h index 5234f64f..111056ca 100644 --- a/ipc/MessageQueueMessage.h +++ b/ipc/MessageQueueMessage.h @@ -139,6 +139,7 @@ public: virtual void setMessageSize(size_t messageSize) override; virtual size_t getMinimumMessageSize() const override; virtual size_t getMaximumMessageSize() const override; + virtual size_t getMaximumDataSize() const override; /** * @brief This is a debug method that prints the content. diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h index 33e01e7d..893c30b5 100644 --- a/ipc/MessageQueueMessageIF.h +++ b/ipc/MessageQueueMessageIF.h @@ -72,6 +72,7 @@ public: virtual void setMessageSize(size_t messageSize) = 0; virtual size_t getMinimumMessageSize() const = 0; virtual size_t getMaximumMessageSize() const = 0; + virtual size_t getMaximumDataSize() const = 0; }; diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index b40ff29b..8004c045 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -191,13 +191,14 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { } return HasReturnvaluesIF::RETURN_OK; } - else if(status==0) { + else if (status==0) { //Success but no message received return MessageQueueIF::EMPTY; - } else { + } + else { //No message was received. Keep lastPartner anyway, I might send //something later. But still, delete packet content. - memset(message->getBuffer(), 0, message->getMaximumMessageSize()); + memset(message->getData(), 0, message->getMaximumDataSize()); switch(errno){ case EAGAIN: //O_NONBLOCK or MQ_NONBLOCK was set and there are no messages From 10c3483fe51bfaac7f385332fb0fbc3d9ff1f57e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 8 Apr 2021 16:20:59 +0200 Subject: [PATCH 05/32] bugfix for RTEMS --- osal/rtems/MessageQueue.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp index bfaf3569..717b80dd 100644 --- a/osal/rtems/MessageQueue.cpp +++ b/osal/rtems/MessageQueue.cpp @@ -61,7 +61,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { } else { //No message was received. Keep lastPartner anyway, I might send something later. //But still, delete packet content. - memset(message->getData(), 0, message->getMaximumMessageSize()); + memset(message->getData(), 0, message->getMaximumDataSize()); } return convertReturnCode(status); } From 5676969fe368187507d7a3bf90b153719931fdf3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 11 Apr 2021 21:13:43 +0200 Subject: [PATCH 06/32] typo fix --- ipc/MessageQueueIF.h | 2 +- osal/FreeRTOS/MessageQueue.cpp | 2 +- osal/linux/MessageQueue.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h index 1c06521c..74ccb29a 100644 --- a/ipc/MessageQueueIF.h +++ b/ipc/MessageQueueIF.h @@ -27,7 +27,7 @@ public: //! Returned if a reply method was called without partner static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3); //! Returned if the target destination is invalid. - static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4); + static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4); virtual ~MessageQueueIF() {} /** diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index c0c82cf1..3a0f654e 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -135,7 +135,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, QueueHandle_t destination = nullptr; if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) { - return MessageQueueIF::DESTINVATION_INVALID; + return MessageQueueIF::DESTINATION_INVALID; } else { destination = reinterpret_cast(sendTo); diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index 8004c045..12774a58 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -373,7 +373,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, <<"mq_send to: " << sendTo << " sent from " << sentFrom << std::endl; #endif - return DESTINVATION_INVALID; + return DESTINATION_INVALID; } case EINTR: //The call was interrupted by a signal. From 01d0bd6c64c68d3a351573203945a35044e341f8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 11 Apr 2021 21:20:45 +0200 Subject: [PATCH 07/32] Small patch for CMakeLists file This adds the additional includes to the interface as well so libraries linking again fsfw get the additional includes as well. --- CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index ff060d7b..8ba6a187 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -184,6 +184,7 @@ endif() target_include_directories(${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE} + ${FSFW_ADD_INC_PATHS_ABS} ) # Includes path required to compile FSFW itself as well From e50d0738ab08f75f7284a5788b8d3174d1e2dac7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 11 Apr 2021 21:22:58 +0200 Subject: [PATCH 08/32] bumped version to 1.0.0 --- FSFWVersion.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/FSFWVersion.h b/FSFWVersion.h index 11a60891..df2d49a5 100644 --- a/FSFWVersion.h +++ b/FSFWVersion.h @@ -3,9 +3,9 @@ const char* const FSFW_VERSION_NAME = "ASTP"; -#define FSFW_VERSION 0 -#define FSFW_SUBVERSION 0 -#define FSFW_REVISION 1 +#define FSFW_VERSION 1 +#define FSFW_SUBVERSION 0 +#define FSFW_REVISION 0 From b786b53c35dc64fe0743aec68cb8ef9bcfe2fcfb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 11 Apr 2021 21:54:48 +0200 Subject: [PATCH 09/32] added all coverity fixes --- action/ActionHelper.cpp | 5 ----- container/SharedRingBuffer.cpp | 3 +++ container/SharedRingBuffer.h | 23 +++++++++++++---------- datapool/HkSwitchHelper.cpp | 2 +- datapoollocal/LocalDataPoolManager.cpp | 22 ++++++++++++---------- devicehandlers/DeviceHandlerBase.cpp | 9 ++++++--- events/EventMessage.cpp | 2 +- events/EventMessage.h | 2 +- globalfunctions/arrayprinter.cpp | 4 ++-- health/HealthTable.cpp | 24 ++++++++++++++++++++---- osal/FreeRTOS/Clock.cpp | 2 +- osal/common/TcpTmTcServer.cpp | 7 +++++-- osal/host/FixedTimeslotTask.cpp | 10 ++++++---- osal/host/PeriodicTask.cpp | 1 - osal/host/QueueMapManager.cpp | 4 ++++ osal/host/QueueMapManager.h | 2 ++ pus/CService200ModeCommanding.cpp | 3 +-- pus/Service1TelecommandVerification.cpp | 4 +++- pus/Service20ParameterManagement.cpp | 5 ++--- pus/Service5EventReporting.cpp | 4 +++- pus/Service8FunctionManagement.cpp | 6 ++++-- pus/servicepackets/Service8Packets.h | 4 ++-- tmtcservices/TmTcBridge.cpp | 4 +++- 23 files changed, 95 insertions(+), 57 deletions(-) diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp index 4b64a40c..b2374ed6 100644 --- a/action/ActionHelper.cpp +++ b/action/ActionHelper.cpp @@ -147,11 +147,6 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, return result; } - if (result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeAddress); - return result; - } - /* We don't need to report the objectId, as we receive REQUESTED data before the completion success message. True aperiodic replies need to be reported with another dedicated message. */ ActionMessage::setDataReply(&reply, replyId, storeAddress); diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp index 5e20bb6f..fe36341d 100644 --- a/container/SharedRingBuffer.cpp +++ b/container/SharedRingBuffer.cpp @@ -17,6 +17,9 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer, mutex = MutexFactory::instance()->createMutex(); } +SharedRingBuffer::~SharedRingBuffer() { + MutexFactory::instance()->deleteMutex(mutex); +} void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) { this->fifoDepth = fifoDepth; diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h index 66a119ab..9d6ea56c 100644 --- a/container/SharedRingBuffer.h +++ b/container/SharedRingBuffer.h @@ -26,6 +26,18 @@ public: */ SharedRingBuffer(object_id_t objectId, const size_t size, bool overwriteOld, size_t maxExcessBytes); + /** + * This constructor takes an external buffer with the specified size. + * @param buffer + * @param size + * @param overwriteOld + * If the ring buffer is overflowing at a write operartion, the oldest data + * will be overwritten. + */ + SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size, + bool overwriteOld, size_t maxExcessBytes); + + virtual~ SharedRingBuffer(); /** * @brief This function can be used to add an optional FIFO to the class @@ -37,16 +49,7 @@ public: */ void setToUseReceiveSizeFIFO(size_t fifoDepth); - /** - * This constructor takes an external buffer with the specified size. - * @param buffer - * @param size - * @param overwriteOld - * If the ring buffer is overflowing at a write operartion, the oldest data - * will be overwritten. - */ - SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size, - bool overwriteOld, size_t maxExcessBytes); + /** * Unless a read-only constant value is read, all operations on the diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp index 1a2a25eb..21e37f59 100644 --- a/datapool/HkSwitchHelper.cpp +++ b/datapool/HkSwitchHelper.cpp @@ -7,7 +7,7 @@ HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) : } HkSwitchHelper::~HkSwitchHelper() { - // TODO Auto-generated destructor stub + QueueFactory::instance()->deleteMessageQueue(actionQueue); } ReturnValue_t HkSwitchHelper::initialize() { diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp index 94ee9c26..dbe68ff1 100644 --- a/datapoollocal/LocalDataPoolManager.cpp +++ b/datapoollocal/LocalDataPoolManager.cpp @@ -909,27 +909,29 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType, errorPrint = "Unknown error"; } } + object_id_t objectId = 0xffffffff; + if(owner != nullptr) { + objectId = owner->getObjectId(); + } if(outputType == sif::OutputTypes::OUT_WARNING) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "LocalDataPoolManager::" << functionName - << ": Object ID 0x" << std::setw(8) << std::setfill('0') - << std::hex << owner->getObjectId() << " | " << errorPrint - << std::dec << std::setfill(' ') << std::endl; + sif::warning << "LocalDataPoolManager::" << functionName << ": Object ID 0x" << + std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint << + std::dec << std::setfill(' ') << std::endl; #else sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", - functionName, owner->getObjectId(), errorPrint); + functionName, objectId, errorPrint); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ } else if(outputType == sif::OutputTypes::OUT_ERROR) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "LocalDataPoolManager::" << functionName - << ": Object ID 0x" << std::setw(8) << std::setfill('0') - << std::hex << owner->getObjectId() << " | " << errorPrint - << std::dec << std::setfill(' ') << std::endl; + sif::error << "LocalDataPoolManager::" << functionName << ": Object ID 0x" << + std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint << + std::dec << std::setfill(' ') << std::endl; #else sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n", - functionName, owner->getObjectId(), errorPrint); + functionName, objectId, errorPrint); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ } #endif /* #if FSFW_VERBOSE_LEVEL >= 1 */ diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp index 15eac11f..531a0642 100644 --- a/devicehandlers/DeviceHandlerBase.cpp +++ b/devicehandlers/DeviceHandlerBase.cpp @@ -1483,7 +1483,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) { errorPrint = "Initialization error"; } - if(errorCode == HasReturnvaluesIF::RETURN_FAILED) { + else if(errorCode == HasReturnvaluesIF::RETURN_FAILED) { if(errorType == sif::OutputTypes::OUT_WARNING) { errorPrint = "Generic Warning"; } @@ -1495,6 +1495,9 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, errorPrint = "Unknown error"; } } + if(functionName == nullptr) { + functionName = "unknown function"; + } if(errorType == sif::OutputTypes::OUT_WARNING) { #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -1504,7 +1507,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, << std::setfill(' ') << std::endl; #else sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", - this->getObjectId(), errorPrint); + functionName, this->getObjectId(), errorPrint); #endif } else if(errorType == sif::OutputTypes::OUT_ERROR) { @@ -1515,7 +1518,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType, << std::setfill(' ') << std::endl; #else sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n", - this->getObjectId(), errorPrint); + functionName, this->getObjectId(), errorPrint); #endif } diff --git a/events/EventMessage.cpp b/events/EventMessage.cpp index bbc41e10..548b4f0f 100644 --- a/events/EventMessage.cpp +++ b/events/EventMessage.cpp @@ -109,6 +109,6 @@ bool EventMessage::isClearedEventMessage() { return getEvent() == INVALID_EVENT; } -size_t EventMessage::getMinimumMessageSize() { +size_t EventMessage::getMinimumMessageSize() const { return EVENT_MESSAGE_SIZE; } diff --git a/events/EventMessage.h b/events/EventMessage.h index 4d003bd7..f2f5ffb5 100644 --- a/events/EventMessage.h +++ b/events/EventMessage.h @@ -45,7 +45,7 @@ public: protected: static const Event INVALID_EVENT = 0; - virtual size_t getMinimumMessageSize(); + virtual size_t getMinimumMessageSize() const override; }; diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp index 20a64f5b..0423360b 100644 --- a/globalfunctions/arrayprinter.cpp +++ b/globalfunctions/arrayprinter.cpp @@ -51,7 +51,7 @@ void arrayprinter::printHex(const uint8_t *data, size_t size, #else // General format: 0x01, 0x02, 0x03 so it is number of chars times 6 // plus line break plus small safety margin. - char printBuffer[(size + 1) * 7 + 1]; + char printBuffer[(size + 1) * 7 + 1] = {}; size_t currentPos = 0; for(size_t i = 0; i < size; i++) { // To avoid buffer overflows. @@ -94,7 +94,7 @@ void arrayprinter::printDec(const uint8_t *data, size_t size, #else // General format: 32, 243, -12 so it is number of chars times 5 // plus line break plus small safety margin. - char printBuffer[(size + 1) * 5 + 1]; + char printBuffer[(size + 1) * 5 + 1] = {}; size_t currentPos = 0; for(size_t i = 0; i < size; i++) { // To avoid buffer overflows. diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp index 5d720b19..3fed1deb 100644 --- a/health/HealthTable.cpp +++ b/health/HealthTable.cpp @@ -68,14 +68,30 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) { MutexGuard(mutex, timeoutType, mutexTimeoutMs); size_t size = 0; uint16_t count = healthMap.size(); - SerializeAdapter::serialize(&count, + ReturnValue_t result = SerializeAdapter::serialize(&count, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "HealthTable::printAll: Serialization of health table failed" << std::endl; +#else + sif::printWarning("HealthTable::printAll: Serialization of health table failed\n"); +#endif +#endif /* FSFW_VERBOSE_LEVEL >= 1 */ + return; + } for (const auto& health: healthMap) { - SerializeAdapter::serialize(&health.first, + result = SerializeAdapter::serialize(&health.first, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { + return; + } uint8_t healthValue = health.second; - SerializeAdapter::serialize(&healthValue, &pointer, &size, + result = SerializeAdapter::serialize(&healthValue, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); + if(result != HasReturnvaluesIF::RETURN_OK) { + return; + } } } @@ -86,7 +102,7 @@ ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) { mapIterator = healthMap.begin(); } if (mapIterator == healthMap.end()) { - result = HasReturnvaluesIF::RETURN_FAILED; + return HasReturnvaluesIF::RETURN_FAILED; } *value = *mapIterator; mapIterator++; diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp index 806edcc7..c15971fe 100644 --- a/osal/FreeRTOS/Clock.cpp +++ b/osal/FreeRTOS/Clock.cpp @@ -111,7 +111,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) { ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) { - struct tm time_tm; + struct tm time_tm = {}; time_tm.tm_year = from->year - 1900; time_tm.tm_mon = from->month - 1; diff --git a/osal/common/TcpTmTcServer.cpp b/osal/common/TcpTmTcServer.cpp index 296afad8..08a62ffb 100644 --- a/osal/common/TcpTmTcServer.cpp +++ b/osal/common/TcpTmTcServer.cpp @@ -70,6 +70,7 @@ ReturnValue_t TcpTmTcServer::initialize() { #endif freeaddrinfo(addrResult); handleError(Protocol::TCP, ErrorSources::BIND_CALL); + return HasReturnvaluesIF::RETURN_FAILED; } freeaddrinfo(addrResult); @@ -84,8 +85,8 @@ TcpTmTcServer::~TcpTmTcServer() { ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) { using namespace tcpip; /* If a connection is accepted, the corresponding socket will be assigned to the new socket */ - socket_t clientSocket; - sockaddr clientSockAddr; + socket_t clientSocket = 0; + sockaddr clientSockAddr = {}; socklen_t connectorSockAddrLen = 0; int retval = 0; @@ -101,6 +102,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) { if(clientSocket == INVALID_SOCKET) { handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500); + closeSocket(clientSocket); continue; }; @@ -122,6 +124,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) { /* Done, shut down connection */ retval = shutdown(clientSocket, SHUT_SEND); + closeSocket(clientSocket); } return HasReturnvaluesIF::RETURN_OK; } diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp index 3b169b5a..89daa278 100644 --- a/osal/host/FixedTimeslotTask.cpp +++ b/osal/host/FixedTimeslotTask.cpp @@ -3,7 +3,7 @@ #include "../../ipc/MutexFactory.h" #include "../../osal/host/Mutex.h" #include "../../osal/host/FixedTimeslotTask.h" -#include "../../serviceinterface/ServiceInterfaceStream.h" +#include "../../serviceinterface/ServiceInterface.h" #include "../../tasks/ExecutableObjectIF.h" #include @@ -38,7 +38,6 @@ FixedTimeslotTask::~FixedTimeslotTask(void) { if(mainThread.joinable()) { mainThread.join(); } - delete this; } void FixedTimeslotTask::taskEntryPoint(void* argument) { @@ -119,8 +118,11 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, } #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Component " << std::hex << componentId << - " not found, not adding it to pst" << std::endl; + 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(componentId)); #endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp index d7abf9d0..631264b7 100644 --- a/osal/host/PeriodicTask.cpp +++ b/osal/host/PeriodicTask.cpp @@ -38,7 +38,6 @@ PeriodicTask::~PeriodicTask(void) { if(mainThread.joinable()) { mainThread.join(); } - delete this; } void PeriodicTask::taskEntryPoint(void* argument) { diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp index b50d62dc..c9100fe9 100644 --- a/osal/host/QueueMapManager.cpp +++ b/osal/host/QueueMapManager.cpp @@ -10,6 +10,10 @@ QueueMapManager::QueueMapManager() { mapLock = MutexFactory::instance()->createMutex(); } +QueueMapManager::~QueueMapManager() { + MutexFactory::instance()->deleteMutex(mapLock); +} + QueueMapManager* QueueMapManager::instance() { if (mqManagerInstance == nullptr){ mqManagerInstance = new QueueMapManager(); diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h index 3610ca63..90c39c2f 100644 --- a/osal/host/QueueMapManager.h +++ b/osal/host/QueueMapManager.h @@ -36,6 +36,8 @@ public: private: //! External instantiation is forbidden. QueueMapManager(); + ~QueueMapManager(); + uint32_t queueCounter = 0; MutexIF* mapLock; QueueMap queueMap; diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp index c4e99359..70caadd1 100644 --- a/pus/CService200ModeCommanding.cpp +++ b/pus/CService200ModeCommanding.cpp @@ -61,8 +61,7 @@ ReturnValue_t CService200ModeCommanding::prepareCommand( return result; } - ModeMessage::setModeMessage(dynamic_cast(message), - ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), + ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(), modeCommandPacket.getSubmode()); return result; } diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp index 9e86c752..7ce75478 100644 --- a/pus/Service1TelecommandVerification.cpp +++ b/pus/Service1TelecommandVerification.cpp @@ -15,7 +15,9 @@ Service1TelecommandVerification::Service1TelecommandVerification( tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); } -Service1TelecommandVerification::~Service1TelecommandVerification() {} +Service1TelecommandVerification::~Service1TelecommandVerification() { + QueueFactory::instance()->deleteMessageQueue(tmQueue); +} MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){ return tmQueue->getId(); diff --git a/pus/Service20ParameterManagement.cpp b/pus/Service20ParameterManagement.cpp index bc3a9119..90e96650 100644 --- a/pus/Service20ParameterManagement.cpp +++ b/pus/Service20ParameterManagement.cpp @@ -75,9 +75,8 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue #else sif::printError("Service20ParameterManagement::checkInterfaceAndAcquire" "MessageQueue: Can't access object\n"); - sif::printError("Object ID: 0x%08x\n", objectId); - sif::printError("Make sure it implements " - "ReceivesParameterMessagesIF!\n"); + sif::printError("Object ID: 0x%08x\n", *objectId); + sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n"); #endif return CommandingServiceBase::INVALID_OBJECT; diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp index 29eb7f20..965a27ad 100644 --- a/pus/Service5EventReporting.cpp +++ b/pus/Service5EventReporting.cpp @@ -15,7 +15,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); } -Service5EventReporting::~Service5EventReporting(){} +Service5EventReporting::~Service5EventReporting() { + QueueFactory::instance()->deleteMessageQueue(eventQueue); +} ReturnValue_t Service5EventReporting::performService() { EventMessage message; diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp index a2202abc..54187a82 100644 --- a/pus/Service8FunctionManagement.cpp +++ b/pus/Service8FunctionManagement.cpp @@ -53,12 +53,14 @@ ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue( ReturnValue_t Service8FunctionManagement::prepareCommand( CommandMessage* message, uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, uint32_t* state, object_id_t objectId) { - return prepareDirectCommand(dynamic_cast(message), - tcData, tcDataLen); + return prepareDirectCommand(message, tcData, tcDataLen); } ReturnValue_t Service8FunctionManagement::prepareDirectCommand( CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) { + if(message == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "Service8FunctionManagement::prepareDirectCommand:" diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h index b026edf5..a27cf8bb 100644 --- a/pus/servicepackets/Service8Packets.h +++ b/pus/servicepackets/Service8Packets.h @@ -43,8 +43,8 @@ public: private: DirectCommand(const DirectCommand &command); - object_id_t objectId; - ActionId_t actionId; + object_id_t objectId = 0; + ActionId_t actionId = 0; uint32_t parametersSize; //!< [EXPORT] : [IGNORE] const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index f99b9051..dcffac41 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -16,7 +16,9 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); } -TmTcBridge::~TmTcBridge() {} +TmTcBridge::~TmTcBridge() { + QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); +} ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( uint8_t sentPacketsPerCycle) { From 06d34efa749dab1e3b76b47a0fa28d7f52cfd0fb Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 12 Apr 2021 12:33:45 +0200 Subject: [PATCH 10/32] UDP and TCPIP smaller tweaks Using AI_PASSIVE now so the UDP server listens to all addresses (0.0.0.0) instead of just localhost. Also implemented address print function properly --- osal/common/TcpTmTcServer.cpp | 7 ++++-- osal/common/UdpTcPollingTask.cpp | 9 +++++--- osal/common/UdpTmTcBridge.cpp | 22 ++++++++++-------- osal/common/tcpipCommon.cpp | 39 ++++++++++++++++++++++++++++++++ osal/common/tcpipCommon.h | 11 +++++++-- 5 files changed, 71 insertions(+), 17 deletions(-) diff --git a/osal/common/TcpTmTcServer.cpp b/osal/common/TcpTmTcServer.cpp index 296afad8..08a62ffb 100644 --- a/osal/common/TcpTmTcServer.cpp +++ b/osal/common/TcpTmTcServer.cpp @@ -70,6 +70,7 @@ ReturnValue_t TcpTmTcServer::initialize() { #endif freeaddrinfo(addrResult); handleError(Protocol::TCP, ErrorSources::BIND_CALL); + return HasReturnvaluesIF::RETURN_FAILED; } freeaddrinfo(addrResult); @@ -84,8 +85,8 @@ TcpTmTcServer::~TcpTmTcServer() { ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) { using namespace tcpip; /* If a connection is accepted, the corresponding socket will be assigned to the new socket */ - socket_t clientSocket; - sockaddr clientSockAddr; + socket_t clientSocket = 0; + sockaddr clientSockAddr = {}; socklen_t connectorSockAddrLen = 0; int retval = 0; @@ -101,6 +102,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) { if(clientSocket == INVALID_SOCKET) { handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500); + closeSocket(clientSocket); continue; }; @@ -122,6 +124,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) { /* Done, shut down connection */ retval = shutdown(clientSocket, SHUT_SEND); + closeSocket(clientSocket); } return HasReturnvaluesIF::RETURN_OK; } diff --git a/osal/common/UdpTcPollingTask.cpp b/osal/common/UdpTcPollingTask.cpp index 759cee05..47f67b29 100644 --- a/osal/common/UdpTcPollingTask.cpp +++ b/osal/common/UdpTcPollingTask.cpp @@ -15,7 +15,7 @@ #endif //! Debugging preprocessor define. -#define FSFW_UDP_RCV_WIRETAPPING_ENABLED 0 +#define FSFW_UDP_RECV_WIRETAPPING_ENABLED 0 UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge, size_t maxRecvSize, @@ -66,10 +66,13 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000); continue; } -#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1 +#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived << " bytes received" << std::endl; +#else #endif +#endif /* FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1 */ ReturnValue_t result = handleSuccessfullTcRead(bytesReceived); if(result != HasReturnvaluesIF::RETURN_FAILED) { @@ -84,7 +87,7 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) { ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) { store_address_t storeId; -#if FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1 +#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1 arrayprinter::print(receptionBuffer.data(), bytesRead); #endif diff --git a/osal/common/UdpTmTcBridge.cpp b/osal/common/UdpTmTcBridge.cpp index 7f3dc929..ba23f521 100644 --- a/osal/common/UdpTmTcBridge.cpp +++ b/osal/common/UdpTmTcBridge.cpp @@ -70,6 +70,7 @@ ReturnValue_t UdpTmTcBridge::initialize() { hints.ai_family = AF_INET; hints.ai_socktype = SOCK_DGRAM; hints.ai_protocol = IPPROTO_UDP; + hints.ai_flags = AI_PASSIVE; /* Set up UDP socket: https://en.wikipedia.org/wiki/Getaddrinfo @@ -95,6 +96,10 @@ ReturnValue_t UdpTmTcBridge::initialize() { return HasReturnvaluesIF::RETURN_FAILED; } +#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 + tcpip::printAddress(addrResult->ai_addr); +#endif + retval = bind(serverSocket, addrResult->ai_addr, static_cast(addrResult->ai_addrlen)); if(retval != 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -103,6 +108,7 @@ ReturnValue_t UdpTmTcBridge::initialize() { #endif freeaddrinfo(addrResult); tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::BIND_CALL); + return HasReturnvaluesIF::RETURN_FAILED; } freeaddrinfo(addrResult); return HasReturnvaluesIF::RETURN_OK; @@ -120,10 +126,8 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) { /* The target address can be set by different threads so this lock ensures thread-safety */ MutexGuard lock(mutex, timeoutType, mutexTimeoutMs); -#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 - char ipAddress [15]; - sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, - &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 + tcpip::printAddress(&clientAddress); #endif int bytesSent = sendto( @@ -151,13 +155,11 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr& newAddress) { /* The target address can be set by different threads so this lock ensures thread-safety */ MutexGuard lock(mutex, timeoutType, mutexTimeoutMs); -#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 - char ipAddress [15]; - sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET, - &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; - sif::debug << "IP Address Old: " << inet_ntop(AF_INET, - &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl; +#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1 + tcpip::printAddress(&newAddress); + tcpip::printAddress(&clientAddress); #endif + registerCommConnect(); /* Set new IP address to reply to */ diff --git a/osal/common/tcpipCommon.cpp b/osal/common/tcpipCommon.cpp index 9a5e4647..551e2a42 100644 --- a/osal/common/tcpipCommon.cpp +++ b/osal/common/tcpipCommon.cpp @@ -1,4 +1,9 @@ #include "tcpipCommon.h" +#include + +#ifdef _WIN32 +#include +#endif void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string &protStr, std::string &srcString) { @@ -34,3 +39,37 @@ void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std: srcString = "unknown call"; } } + +void tcpip::printAddress(struct sockaddr* addr) { + char ipAddress[INET6_ADDRSTRLEN] = {}; + const char* stringPtr = NULL; + switch(addr->sa_family) { + case AF_INET: { + struct sockaddr_in *addrIn = reinterpret_cast(addr); + stringPtr = inet_ntop(AF_INET, &(addrIn->sin_addr), ipAddress, INET_ADDRSTRLEN); + break; + } + case AF_INET6: { + struct sockaddr_in6 *addrIn = reinterpret_cast(addr); + stringPtr = inet_ntop(AF_INET6, &(addrIn->sin6_addr), ipAddress, INET6_ADDRSTRLEN); + break; + } + } +#if FSFW_CPP_OSTREAM_ENABLED == 1 + if(stringPtr == NULL) { + sif::debug << "Could not convert IP address to text representation, error code " + << errno << std::endl; + } + else { + sif::debug << "IP Address Sender: " << ipAddress << std::endl; + } +#else + if(stringPtr == NULL) { + sif::printDebug("Could not convert IP address to text representation, error code %d\n", + errno); + } + else { + sif::printDebug("IP Address Sender: %s\n", ipAddress); + } +#endif +} diff --git a/osal/common/tcpipCommon.h b/osal/common/tcpipCommon.h index dc5ada52..22b914dc 100644 --- a/osal/common/tcpipCommon.h +++ b/osal/common/tcpipCommon.h @@ -4,6 +4,13 @@ #include "../../timemanager/clockDefinitions.h" #include +#ifdef _WIN32 +#include +#else +#include +#include +#endif + namespace tcpip { const char* const DEFAULT_SERVER_PORT = "7301"; @@ -28,8 +35,8 @@ enum class ErrorSources { void determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string& protStr, std::string& srcString); +void printAddress(struct sockaddr* addr); + } - - #endif /* FSFW_OSAL_COMMON_TCPIPCOMMON_H_ */ From 547538fbc5aa9b23d1128f01c100ad5a73b9a520 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 12 Apr 2021 12:38:56 +0200 Subject: [PATCH 11/32] proper MQ implementation --- osal/host/MessageQueue.cpp | 29 ++++++++++------------------- osal/host/MessageQueue.h | 2 +- 2 files changed, 11 insertions(+), 20 deletions(-) diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp index 18272a68..41c55a3d 100644 --- a/osal/host/MessageQueue.cpp +++ b/osal/host/MessageQueue.cpp @@ -64,9 +64,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) { return MessageQueueIF::EMPTY; } MutexGuard mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20); - MessageQueueMessage* currentMessage = &messageQueue.front(); - std::copy(currentMessage->getBuffer(), - currentMessage->getBuffer() + messageSize, message->getBuffer()); + std::copy(messageQueue.front().data(), messageQueue.front().data() + messageSize, + message->getBuffer()); messageQueue.pop(); // The last partner is the first uint32_t field in the message this->lastPartner = message->getSender(); @@ -80,7 +79,7 @@ MessageQueueId_t MessageQueue::getLastPartner() const { ReturnValue_t MessageQueue::flush(uint32_t* count) { *count = messageQueue.size(); // Clears the queue. - messageQueue = std::queue(); + messageQueue = std::queue>(); return HasReturnvaluesIF::RETURN_OK; } @@ -106,6 +105,9 @@ bool MessageQueue::isDefaultDestinationSet() const { ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault) { + if(message == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; + } message->setSender(sentFrom); if(message->getMessageSize() > message->getMaximumMessageSize()) { // Actually, this should never happen or an error will be emitted @@ -128,21 +130,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, return HasReturnvaluesIF::RETURN_FAILED; } if(targetQueue->messageQueue.size() < targetQueue->messageDepth) { - MutexGuard mutexLock(targetQueue->queueLock, - MutexIF::TimeoutType::WAITING, 20); - // not ideal, works for now though. - MessageQueueMessage* mqmMessage = - dynamic_cast(message); - if(message != nullptr) { - targetQueue->messageQueue.push(*mqmMessage); - } - else { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "MessageQueue::sendMessageFromMessageQueue: Message" - "is not MessageQueueMessage!" << std::endl; -#endif - } - + MutexGuard mutexLock(targetQueue->queueLock, MutexIF::TimeoutType::WAITING, 20); + targetQueue->messageQueue.push(std::vector(message->getMaximumMessageSize())); + memcpy(targetQueue->messageQueue.back().data(), message->getBuffer(), + message->getMaximumMessageSize()); } else { return MessageQueueIF::FULL; diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h index 97a9e491..e965123d 100644 --- a/osal/host/MessageQueue.h +++ b/osal/host/MessageQueue.h @@ -212,7 +212,7 @@ protected: //static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault); private: - std::queue messageQueue; + std::queue> messageQueue; /** * @brief The class stores the queue id it got assigned. * If initialization fails, the queue id is set to zero. From 4bb078c451ddf543e15e27073f5c8edf1642d38e Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 12 Apr 2021 12:40:59 +0200 Subject: [PATCH 12/32] thermal sensor update --- thermal/TemperatureSensor.h | 54 +++++++++++++++++++------------------ 1 file changed, 28 insertions(+), 26 deletions(-) diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index 2b1fb1f0..ceb8a861 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -1,11 +1,14 @@ #ifndef TEMPERATURESENSOR_H_ #define TEMPERATURESENSOR_H_ -#include "../thermal/AbstractTemperatureSensor.h" -#include "../datapoolglob/GlobalDataSet.h" -#include "../datapoolglob/GlobalPoolVariable.h" +#include "tcsDefinitions.h" +#include "AbstractTemperatureSensor.h" + +#include "../datapoollocal/LocalPoolDataSetBase.h" +#include "../datapoollocal/LocalPoolVariable.h" #include "../monitoring/LimitMonitor.h" + /** * @brief This building block handles non-linear value conversion and * range checks for analog temperature sensors. @@ -57,27 +60,26 @@ public: /** * Instantiate Temperature Sensor Object. - * @param setObjectid objectId of the sensor object - * @param inputValue Input value which is converted to a temperature - * @param poolVariable Pool Variable to store the temperature value - * @param vectorIndex Vector Index for the sensor monitor - * @param parameters Calculation parameters, temperature limits, gradient limit - * @param datapoolId Datapool ID of the output temperature - * @param outputSet Output dataset for the output temperature to fetch it with read() + * @param setObjectid objectId of the sensor object + * @param inputValue Pointer to input value which is converted to a temperature + * @param variableGpid Global Pool ID of the output value + * @param inputVariable Input variable handle + * @param vectorIndex Vector Index for the sensor monitor + * @param parameters Calculation parameters, temperature limits, gradient limit + * @param outputSet Output dataset for the output temperature to fetch it with read() * @param thermalModule respective thermal module, if it has one */ TemperatureSensor(object_id_t setObjectid, - inputType *inputValue, PoolVariableIF *poolVariable, - uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0}, - GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) : + inputType *inputValue, gp_id_t variableGpid, PoolVariableIF* inputVariable, + uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0}, + LocalPoolDataSetBase *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) : AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters), - inputValue(inputValue), poolVariable(poolVariable), - outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE), - sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, - GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex), + inputValue(inputValue), poolVariable(inputVariable), + outputTemperature(variableGpid, outputSet, PoolVariableIF::VAR_WRITE), + sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, poolVariable, DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), - oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) { + oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) { } @@ -98,7 +100,7 @@ protected: private: void setInvalid() { - outputTemperature = INVALID_TEMPERATURE; + outputTemperature = thermal::INVALID_TEMPERATURE; outputTemperature.setValid(false); uptimeOfOldTemperature.tv_sec = INVALID_UPTIME; sensorMonitor.setToInvalid(); @@ -108,11 +110,11 @@ protected: UsedParameters parameters; - inputType * inputValue; + inputType* inputValue; - PoolVariableIF *poolVariable; + PoolVariableIF* poolVariable; - gp_float_t outputTemperature; + lp_var_t outputTemperature; LimitMonitor sensorMonitor; @@ -120,8 +122,8 @@ protected: timeval uptimeOfOldTemperature; void doChildOperation() { - if (!poolVariable->isValid() - || !healthHelper.healthTable->isHealthy(getObjectId())) { + if ((not poolVariable->isValid()) or + (not healthHelper.healthTable->isHealthy(getObjectId()))) { setInvalid(); return; } @@ -152,13 +154,13 @@ protected: } } - //Check is done against raw limits. SHOULDDO: Why? Using �C would be more easy to handle. + //Check is done against raw limits. SHOULDDO: Why? Using C would be more easy to handle. sensorMonitor.doCheck(outputTemperature.value); if (sensorMonitor.isOutOfLimits()) { uptimeOfOldTemperature.tv_sec = INVALID_UPTIME; outputTemperature.setValid(PoolVariableIF::INVALID); - outputTemperature = INVALID_TEMPERATURE; + outputTemperature = thermal::INVALID_TEMPERATURE; } else { oldTemperature = outputTemperature; uptimeOfOldTemperature = uptime; From 5124f314f497bcfa8758c7124f63c68fb24eb88c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 12 Apr 2021 12:50:23 +0200 Subject: [PATCH 13/32] updated distributor modules --- tcdistribution/CCSDSDistributor.cpp | 31 +++++-- tcdistribution/PUSDistributor.cpp | 121 ++++++++++++++++------------ 2 files changed, 92 insertions(+), 60 deletions(-) diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp index b795854f..62cbfbf2 100644 --- a/tcdistribution/CCSDSDistributor.cpp +++ b/tcdistribution/CCSDSDistributor.cpp @@ -1,8 +1,10 @@ #include "CCSDSDistributor.h" -#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterface.h" #include "../tmtcpacket/SpacePacketBase.h" +#define CCSDS_DISTRIBUTOR_DEBUGGING 0 + CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId): TcDistributor(setObjectId), defaultApid( setDefaultApid ) { @@ -11,26 +13,36 @@ CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, CCSDSDistributor::~CCSDSDistributor() {} TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() { +#if CCSDS_DISTRIBUTOR_DEBUGGING == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 -// sif::debug << "CCSDSDistributor::selectDestination received: " << -// this->currentMessage.getStorageId().pool_index << ", " << -// this->currentMessage.getStorageId().packet_index << std::endl; + sif::debug << "CCSDSDistributor::selectDestination received: " << + this->currentMessage.getStorageId().poolIndex << ", " << + this->currentMessage.getStorageId().packetIndex << std::endl; +#else + sif::printDebug("CCSDSDistributor::selectDestination received: %d, %d\n", + currentMessage.getStorageId().poolIndex, currentMessage.getStorageId().packetIndex); +#endif #endif const uint8_t* packet = nullptr; size_t size = 0; ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(), &packet, &size ); if(result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CCSDSDistributor::selectDestination: Getting data from" " store failed!" << std::endl; +#else + sif::printError("CCSDSDistributor::selectDestination: Getting data from" + " store failed!\n"); +#endif #endif } SpacePacketBase currentPacket(packet); -#if FSFW_CPP_OSTREAM_ENABLED == 1 -// sif:: info << "CCSDSDistributor::selectDestination has packet with APID " -// << std::hex << currentPacket.getAPID() << std::dec << std::endl; +#if FSFW_CPP_OSTREAM_ENABLED == 1 && CCSDS_DISTRIBUTOR_DEBUGGING == 1 + sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << + currentPacket.getAPID() << std::dec << std::endl; #endif TcMqMapIter position = this->queueMap.find(currentPacket.getAPID()); if ( position != this->queueMap.end() ) { @@ -76,9 +88,14 @@ ReturnValue_t CCSDSDistributor::initialize() { ReturnValue_t status = this->TcDistributor::initialize(); this->tcStore = objectManager->get( objects::TC_STORE ); if (this->tcStore == nullptr) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "CCSDSDistributor::initialize: Could not initialize" " TC store!" << std::endl; +#else + sif::printError("CCSDSDistributor::initialize: Could not initialize" + " TC store!\n"); +#endif #endif status = RETURN_FAILED; } diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp index 00fd9029..abdd1f8d 100644 --- a/tcdistribution/PUSDistributor.cpp +++ b/tcdistribution/PUSDistributor.cpp @@ -1,22 +1,24 @@ #include "CCSDSDistributorIF.h" #include "PUSDistributor.h" -#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterface.h" #include "../tmtcpacket/pus/TcPacketStored.h" #include "../tmtcservices/PusVerificationReport.h" +#define PUS_DISTRIBUTOR_DEBUGGING 0 + PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, - object_id_t setPacketSource) : - TcDistributor(setObjectId), checker(setApid), verifyChannel(), - tcStatus(RETURN_FAILED), packetSource(setPacketSource) {} + object_id_t setPacketSource) : + TcDistributor(setObjectId), checker(setApid), verifyChannel(), + tcStatus(RETURN_FAILED), packetSource(setPacketSource) {} PUSDistributor::~PUSDistributor() {} PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - // sif:: debug << "PUSDistributor::handlePacket received: " - // << this->current_packet_id.store_index << ", " - // << this->current_packet_id.packet_index << std::endl; +#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1 + store_address_t storeId = this->currentMessage.getStorageId()); + sif:: debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", " << + storeId.packetIndex << std::endl; #endif TcMqMapIter queueMapIt = this->queueMap.end(); if(this->currentPacket == nullptr) { @@ -25,15 +27,17 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { this->currentPacket->setStoreAddress(this->currentMessage.getStorageId()); if (currentPacket->getWholeData() != nullptr) { tcStatus = checker.checkPacket(currentPacket); -#ifdef DEBUG if(tcStatus != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "PUSDistributor::handlePacket: Packet format " - << "invalid, code "<< static_cast(tcStatus) - << std::endl; + sif::debug << "PUSDistributor::handlePacket: Packet format invalid, code " << + static_cast(tcStatus) << std::endl; +#else + sif::printDebug("PUSDistributor::handlePacket: Packet format invalid, code %d\n", + static_cast(tcStatus)); +#endif #endif } -#endif uint32_t queue_id = currentPacket->getService(); queueMapIt = this->queueMap.find(queue_id); } @@ -43,11 +47,12 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { if (queueMapIt == this->queueMap.end()) { tcStatus = DESTINATION_NOT_FOUND; -#ifdef DEBUG +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "PUSDistributor::handlePacket: Destination not found, " - << "code "<< static_cast(tcStatus) << std::endl; -#endif + sif::debug << "PUSDistributor::handlePacket: Destination not found" << std::endl; +#else + sif::printDebug("PUSDistributor::handlePacket: Destination not found\n"); +#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif } @@ -62,46 +67,54 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() { ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) { - uint16_t serviceId = service->getIdentifier(); + uint16_t serviceId = service->getIdentifier(); +#if PUS_DISTRIBUTOR_DEBUGGING == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - // sif::info << "Service ID: " << (int)serviceId << std::endl; + sif::info << "Service ID: " << static_cast(serviceId) << std::endl; +#else + sif::printInfo("Service ID: %d\n", static_cast(serviceId)); #endif - MessageQueueId_t queue = service->getRequestQueue(); - auto returnPair = queueMap.emplace(serviceId, queue); - if (not returnPair.second) { +#endif + MessageQueueId_t queue = service->getRequestQueue(); + auto returnPair = queueMap.emplace(serviceId, queue); + if (not returnPair.second) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PUSDistributor::registerService: Service ID already" - " exists in map." << std::endl; + sif::error << "PUSDistributor::registerService: Service ID already" + " exists in map" << std::endl; +#else + sif::printError("PUSDistributor::registerService: Service ID already exists in map\n"); #endif - return SERVICE_ID_ALREADY_EXISTS; - } - return HasReturnvaluesIF::RETURN_OK; +#endif + return SERVICE_ID_ALREADY_EXISTS; + } + return HasReturnvaluesIF::RETURN_OK; } MessageQueueId_t PUSDistributor::getRequestQueue() { - return tcQueue->getId(); + return tcQueue->getId(); } ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) { - if (queueStatus != RETURN_OK) { - tcStatus = queueStatus; - } - if (tcStatus != RETURN_OK) { - this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE, - currentPacket, tcStatus); - // A failed packet is deleted immediately after reporting, - // otherwise it will block memory. - currentPacket->deletePacket(); - return RETURN_FAILED; - } else { - this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS, - currentPacket); - return RETURN_OK; - } + if (queueStatus != RETURN_OK) { + tcStatus = queueStatus; + } + if (tcStatus != RETURN_OK) { + this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE, + currentPacket, tcStatus); + // A failed packet is deleted immediately after reporting, + // otherwise it will block memory. + currentPacket->deletePacket(); + return RETURN_FAILED; + } else { + this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS, + currentPacket); + return RETURN_OK; + } } uint16_t PUSDistributor::getIdentifier() { - return checker.getApid(); + return checker.getApid(); } ReturnValue_t PUSDistributor::initialize() { @@ -111,15 +124,17 @@ ReturnValue_t PUSDistributor::initialize() { return ObjectManagerIF::CHILD_INIT_FAILED; } - CCSDSDistributorIF* ccsdsDistributor = - objectManager->get(packetSource); - if (ccsdsDistributor == nullptr) { + CCSDSDistributorIF* ccsdsDistributor = + objectManager->get(packetSource); + if (ccsdsDistributor == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PUSDistributor::initialize: Packet source invalid." - << " Make sure it exists and implements CCSDSDistributorIF!" - << std::endl; + sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl; + sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl; +#else + sif::printError("PUSDistributor::initialize: Packet source invalid\n"); + sif::printError("Make sure it exists and implements CCSDSDistributorIF\n"); #endif - return RETURN_FAILED; - } - return ccsdsDistributor->registerApplication(this); + return RETURN_FAILED; + } + return ccsdsDistributor->registerApplication(this); } From 98add88d143105f5c04d17629083d9bab2ee2916 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 20 Apr 2021 13:01:24 +0200 Subject: [PATCH 14/32] Makes linux realtime optional Adds new config variable FSFW_USE_REALTIME_FOR_LINUX --- defaultcfg/fsfwconfig/FSFWConfig.h | 4 ++++ osal/host/PeriodicTask.cpp | 2 +- osal/linux/PosixThread.cpp | 9 ++++++--- 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index ed86e6e1..385808fe 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -57,6 +57,10 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124; + +//! Defines if the real time scheduler for linux should be used. +//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run +#define FSFW_USE_REALTIME_FOR_LINUX 0 } #endif /* CONFIG_FSFWCONFIG_H_ */ diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp index 7663d522..0a99b03a 100644 --- a/osal/host/PeriodicTask.cpp +++ b/osal/host/PeriodicTask.cpp @@ -19,7 +19,7 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, void (*setDeadlineMissedFunc)()) : started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) { - // It is propably possible to set task priorities by using the native + // It is probably possible to set task priorities by using the native // task handles for Windows / Linux mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this); #if defined(WIN32) diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp index bd8e7258..ead32e87 100644 --- a/osal/linux/PosixThread.cpp +++ b/osal/linux/PosixThread.cpp @@ -184,8 +184,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { strerror(status) << std::endl; #endif } - - // TODO FIFO -> This needs root privileges for the process +#ifndef FSFW_USE_REALTIME_FOR_LINUX +#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1" +#endif +#if FSFW_USE_REALTIME_FOR_LINUX == 1 + // FIFO -> This needs root privileges for the process status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO); if(status != 0){ #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -203,7 +206,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { strerror(status) << std::endl; #endif } - +#endif //Set Signal Mask for suspend until startTask is called sigset_t waitSignal; sigemptyset(&waitSignal); From 03095776f16a216edc5d12c0dbc81b7205abb874 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 20 Apr 2021 13:31:15 +0200 Subject: [PATCH 15/32] Added a comment and corrected a mistake --- defaultcfg/fsfwconfig/FSFWConfig.h | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index 385808fe..8f82251b 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -52,15 +52,18 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; //! Defines the FIFO depth of each commanding service base which //! also determines how many commands a CSB service can handle in one cycle -//! simulataneously. This will increase the required RAM for +//! Simultaneously. This will increase the required RAM for //! each CSB service ! static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124; //! Defines if the real time scheduler for linux should be used. +//! If set to 0, this will also disable priority settings for linux +//! as most systems will not allow to set nice values without privileges +//! For embedded linux system set this to 1. //! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run -#define FSFW_USE_REALTIME_FOR_LINUX 0 +#define FSFW_USE_REALTIME_FOR_LINUX 1 } #endif /* CONFIG_FSFWCONFIG_H_ */ From 6873d2b8473469290a268149cb939a745e92e67f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 14:46:59 +0200 Subject: [PATCH 16/32] temp sensor update --- thermal/TemperatureSensor.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index ceb8a861..f1e17c55 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -122,6 +122,11 @@ protected: timeval uptimeOfOldTemperature; void doChildOperation() { + ReturnValue_t result = poolVariable->read(MutexIF::TimeoutType::WAITING, 20); + if(result != HasReturnvaluesIF::RETURN_OK) { + return; + } + if ((not poolVariable->isValid()) or (not healthHelper.healthTable->isHealthy(getObjectId()))) { setInvalid(); From 64efb8ec7f2cd64c188791043289e4a45d79ad87 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 14:58:35 +0200 Subject: [PATCH 17/32] temperature sensor update --- thermal/TemperatureSensor.h | 21 +++++++++------------ 1 file changed, 9 insertions(+), 12 deletions(-) diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index f1e17c55..abe446c0 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -69,14 +69,14 @@ public: * @param outputSet Output dataset for the output temperature to fetch it with read() * @param thermalModule respective thermal module, if it has one */ - TemperatureSensor(object_id_t setObjectid, - inputType *inputValue, gp_id_t variableGpid, PoolVariableIF* inputVariable, + TemperatureSensor(object_id_t setObjectid,lp_var_t* inputTemperature, + gp_id_t variableGpid, PoolVariableIF* inputVariable, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0}, - LocalPoolDataSetBase *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) : + LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) : AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters), - inputValue(inputValue), poolVariable(inputVariable), + inputTemperature(inputTemperature), outputTemperature(variableGpid, outputSet, PoolVariableIF::VAR_WRITE), - sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, poolVariable, + sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, variableGpid, DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) { @@ -110,10 +110,7 @@ protected: UsedParameters parameters; - inputType* inputValue; - - PoolVariableIF* poolVariable; - + lp_var_t* inputTemperature; lp_var_t outputTemperature; LimitMonitor sensorMonitor; @@ -122,18 +119,18 @@ protected: timeval uptimeOfOldTemperature; void doChildOperation() { - ReturnValue_t result = poolVariable->read(MutexIF::TimeoutType::WAITING, 20); + ReturnValue_t result = inputTemperature->read(MutexIF::TimeoutType::WAITING, 20); if(result != HasReturnvaluesIF::RETURN_OK) { return; } - if ((not poolVariable->isValid()) or + if ((not inputTemperature->isValid()) or (not healthHelper.healthTable->isHealthy(getObjectId()))) { setInvalid(); return; } - outputTemperature = calculateOutputTemperature(*inputValue); + outputTemperature = calculateOutputTemperature(inputTemperature->value); outputTemperature.setValid(PoolVariableIF::VALID); timeval uptime; From e6a8371d4a6a54ad4091eb3bf48da6aea96d522e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 15:00:59 +0200 Subject: [PATCH 18/32] temperature sensor update --- thermal/TemperatureSensor.h | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index abe446c0..55138cc3 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -137,9 +137,9 @@ protected: Clock::getUptime(&uptime); if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) { - //In theory, we could use an AbsValueMonitor to monitor the gradient. - //But this would require storing the maxGradient in DP and quite some overhead. - //The concept of delta limits is a bit strange anyway. + // In theory, we could use an AbsValueMonitor to monitor the gradient. + // But this would require storing the maxGradient in DP and quite some overhead. + // The concept of delta limits is a bit strange anyway. float deltaTime; float deltaTemp; @@ -152,11 +152,10 @@ protected: } if (parameters.gradient < deltaTemp / deltaTime) { triggerEvent(TEMP_SENSOR_GRADIENT); - //Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it + // Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it } } - //Check is done against raw limits. SHOULDDO: Why? Using C would be more easy to handle. sensorMonitor.doCheck(outputTemperature.value); if (sensorMonitor.isOutOfLimits()) { From 153c44601b484fef84795456fa32c8749e574d55 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 20 Apr 2021 15:04:42 +0200 Subject: [PATCH 19/32] refixed spelling --- defaultcfg/fsfwconfig/FSFWConfig.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index 8f82251b..e1e0ec64 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -52,7 +52,7 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120; //! Defines the FIFO depth of each commanding service base which //! also determines how many commands a CSB service can handle in one cycle -//! Simultaneously. This will increase the required RAM for +//! simultaneously. This will increase the required RAM for //! each CSB service ! static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; From 7b29583f8f34e96b23fd6202252f58146e17d978 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 15:32:12 +0200 Subject: [PATCH 20/32] small improvements --- defaultcfg/fsfwconfig/FSFWConfig.h | 13 +++++++------ osal/linux/PosixThread.cpp | 10 +++++++++- osal/linux/tcpipHelpers.cpp | 1 + 3 files changed, 17 insertions(+), 7 deletions(-) diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index e1e0ec64..fe18a2f4 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -40,6 +40,13 @@ //! Specify whether a special mode store is used for Subsystem components. #define FSFW_USE_MODESTORE 0 +//! Defines if the real time scheduler for linux should be used. +//! If set to 0, this will also disable priority settings for linux +//! as most systems will not allow to set nice values without privileges +//! For embedded linux system set this to 1. +//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run +#define FSFW_USE_REALTIME_FOR_LINUX 1 + namespace fsfwconfig { //! Default timestamp size. The default timestamp will be an eight byte CDC //! short timestamp. @@ -58,12 +65,6 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6; static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124; -//! Defines if the real time scheduler for linux should be used. -//! If set to 0, this will also disable priority settings for linux -//! as most systems will not allow to set nice values without privileges -//! For embedded linux system set this to 1. -//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run -#define FSFW_USE_REALTIME_FOR_LINUX 1 } #endif /* CONFIG_FSFWCONFIG_H_ */ diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp index f1cff992..72adfb14 100644 --- a/osal/linux/PosixThread.cpp +++ b/osal/linux/PosixThread.cpp @@ -223,8 +223,16 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { status = pthread_create(&thread,&attributes,fnc_,arg_); if(status != 0){ #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Posix Thread create failed with: " << + sif::error << "PosixThread::createTask: Failed with: " << strerror(status) << std::endl; + sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " << + "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set " + "/etc/security/limit.conf" << std::endl; +#else + sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status)); + sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " + "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set " + "/etc/security/limit.conf\n"); #endif } diff --git a/osal/linux/tcpipHelpers.cpp b/osal/linux/tcpipHelpers.cpp index 4c1b9a78..3e8f6009 100644 --- a/osal/linux/tcpipHelpers.cpp +++ b/osal/linux/tcpipHelpers.cpp @@ -1,5 +1,6 @@ #include "../common/tcpipHelpers.h" +#include "../../serviceinterface/ServiceInterface.h" #include "../../tasks/TaskFactory.h" #include From 524e50a6dd5649b9748c677b72e00bdb9e9a725e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 15:54:44 +0200 Subject: [PATCH 21/32] comment block corrected --- thermal/TemperatureSensor.h | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index 55138cc3..b4ea4504 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -60,18 +60,17 @@ public: /** * Instantiate Temperature Sensor Object. - * @param setObjectid objectId of the sensor object - * @param inputValue Pointer to input value which is converted to a temperature - * @param variableGpid Global Pool ID of the output value - * @param inputVariable Input variable handle - * @param vectorIndex Vector Index for the sensor monitor - * @param parameters Calculation parameters, temperature limits, gradient limit - * @param outputSet Output dataset for the output temperature to fetch it with read() - * @param thermalModule respective thermal module, if it has one + * @param setObjectid objectId of the sensor object + * @param inputTemperature Pointer to a raw input value which is converted to an floating + * point C output temperature + * @param variableGpid Global Pool ID of the output value + * @param vectorIndex Vector Index for the sensor monitor + * @param parameters Calculation parameters, temperature limits, gradient limit + * @param outputSet Output dataset for the output temperature to fetch it with read() + * @param thermalModule Respective thermal module, if it has one */ TemperatureSensor(object_id_t setObjectid,lp_var_t* inputTemperature, - gp_id_t variableGpid, PoolVariableIF* inputVariable, - uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0}, + gp_id_t variableGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0}, LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) : AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters), inputTemperature(inputTemperature), From 0c342ad7fcc715266a2562f65f2cec034d40e919 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 15:57:11 +0200 Subject: [PATCH 22/32] minor changes --- thermal/TemperatureSensor.h | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index b4ea4504..69c16c7f 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -1,5 +1,5 @@ -#ifndef TEMPERATURESENSOR_H_ -#define TEMPERATURESENSOR_H_ +#ifndef FSFW_THERMAL_TEMPERATURESENSOR_H_ +#define FSFW_THERMAL_TEMPERATURESENSOR_H_ #include "tcsDefinitions.h" #include "AbstractTemperatureSensor.h" @@ -151,7 +151,8 @@ protected: } if (parameters.gradient < deltaTemp / deltaTime) { triggerEvent(TEMP_SENSOR_GRADIENT); - // Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it + // Don't set invalid, as we did not recognize it as invalid with full authority, + // let FDIR handle it } } @@ -181,7 +182,10 @@ public: static const uint16_t ADDRESS_C = 2; static const uint16_t ADDRESS_GRADIENT = 3; - static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.) + //! Changed due to issue with later temperature checking even tough the sensor monitor was + //! confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. + //! Chosen rather large, should not be so bad for components and helps survive glitches.) + static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; static const uint8_t DOMAIN_ID_SENSOR = 1; @@ -221,4 +225,4 @@ public: }; -#endif /* TEMPERATURESENSOR_H_ */ +#endif /* FSFW_THERMAL_TEMPERATURESENSOR_H_ */ From 38a5e7e618ebb7a9190b894b2ba6d302049aa042 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 16:00:01 +0200 Subject: [PATCH 23/32] ctor variable better name --- thermal/TemperatureSensor.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h index 69c16c7f..c7b9d771 100644 --- a/thermal/TemperatureSensor.h +++ b/thermal/TemperatureSensor.h @@ -63,19 +63,19 @@ public: * @param setObjectid objectId of the sensor object * @param inputTemperature Pointer to a raw input value which is converted to an floating * point C output temperature - * @param variableGpid Global Pool ID of the output value + * @param outputGpid Global Pool ID of the output value * @param vectorIndex Vector Index for the sensor monitor * @param parameters Calculation parameters, temperature limits, gradient limit * @param outputSet Output dataset for the output temperature to fetch it with read() * @param thermalModule Respective thermal module, if it has one */ TemperatureSensor(object_id_t setObjectid,lp_var_t* inputTemperature, - gp_id_t variableGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0}, + gp_id_t outputGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0}, LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) : AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters), inputTemperature(inputTemperature), - outputTemperature(variableGpid, outputSet, PoolVariableIF::VAR_WRITE), - sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, variableGpid, + outputTemperature(outputGpid, outputSet, PoolVariableIF::VAR_WRITE), + sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, outputGpid, DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) { From d792679d49d6e3cc1cf323e046abc1baf7d11c1a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 16:09:50 +0200 Subject: [PATCH 24/32] calling empty ctor now (coverity) --- serialize/SerializeElement.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h index 47080292..db66f9cc 100644 --- a/serialize/SerializeElement.h +++ b/serialize/SerializeElement.h @@ -25,7 +25,7 @@ public: } SerializeElement() : - LinkedElement(this) { + LinkedElement(this), entry() { } ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize, From 54ff8f9341c4d7ea16296b9bd5c4167ddb19a2ee Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 16:12:50 +0200 Subject: [PATCH 25/32] heater tweaks + coverity fix --- thermal/Heater.cpp | 596 +++++++++++++++++++++++---------------------- thermal/Heater.h | 115 ++++----- 2 files changed, 359 insertions(+), 352 deletions(-) diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp index 782ce296..8bfa030b 100644 --- a/thermal/Heater.cpp +++ b/thermal/Heater.cpp @@ -1,350 +1,354 @@ -#include "../devicehandlers/DeviceHandlerFailureIsolation.h" #include "Heater.h" +#include "../devicehandlers/DeviceHandlerFailureIsolation.h" #include "../power/Fuse.h" #include "../ipc/QueueFactory.h" Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) : - HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher( - NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn( - false), timedOut(false), reactedToBeingFaulty(false), passive( - false), eventQueue(NULL), heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper( - this), lastAction(CLEAR) { - eventQueue = QueueFactory::instance()->createMessageQueue(); +HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher( + NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(false), timedOut(false), + reactedToBeingFaulty(false), passive(false), eventQueue(NULL), + heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(this), lastAction(CLEAR) { + eventQueue = QueueFactory::instance()->createMessageQueue(); } Heater::~Heater() { - QueueFactory::instance()->deleteMessageQueue(eventQueue); + QueueFactory::instance()->deleteMessageQueue(eventQueue); } ReturnValue_t Heater::set() { - passive = false; - //wait for clear before doing anything - if (internalState == STATE_WAIT) { - return HasReturnvaluesIF::RETURN_OK; - } - if (healthHelper.healthTable->isHealthy(getObjectId())) { - doAction(SET); - if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)){ - return HasReturnvaluesIF::RETURN_FAILED; - } else { - return HasReturnvaluesIF::RETURN_OK; - } - } else { - if (healthHelper.healthTable->isFaulty(getObjectId())) { - if (!reactedToBeingFaulty) { - reactedToBeingFaulty = true; - doAction(CLEAR); - } - } - return HasReturnvaluesIF::RETURN_FAILED; - } + passive = false; + //wait for clear before doing anything + if (internalState == STATE_WAIT) { + return HasReturnvaluesIF::RETURN_OK; + } + if (healthHelper.healthTable->isHealthy(getObjectId())) { + doAction(SET); + if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)){ + return HasReturnvaluesIF::RETURN_FAILED; + } else { + return HasReturnvaluesIF::RETURN_OK; + } + } else { + if (healthHelper.healthTable->isFaulty(getObjectId())) { + if (!reactedToBeingFaulty) { + reactedToBeingFaulty = true; + doAction(CLEAR); + } + } + return HasReturnvaluesIF::RETURN_FAILED; + } } void Heater::clear(bool passive) { - this->passive = passive; - //Force switching off - if (internalState == STATE_WAIT) { - internalState = STATE_ON; - } - if (healthHelper.healthTable->isHealthy(getObjectId())) { - doAction(CLEAR); - } else if (healthHelper.healthTable->isFaulty(getObjectId())) { - if (!reactedToBeingFaulty) { - reactedToBeingFaulty = true; - doAction(CLEAR); - } - } + this->passive = passive; + //Force switching off + if (internalState == STATE_WAIT) { + internalState = STATE_ON; + } + if (healthHelper.healthTable->isHealthy(getObjectId())) { + doAction(CLEAR); + } else if (healthHelper.healthTable->isFaulty(getObjectId())) { + if (!reactedToBeingFaulty) { + reactedToBeingFaulty = true; + doAction(CLEAR); + } + } } void Heater::doAction(Action action) { - //only act if we are not in the right state or in a transition - if (action == SET) { - if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE) - || (internalState == STATE_EXTERNAL_CONTROL)) { - switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); - internalState = STATE_WAIT_FOR_SWITCHES_ON; - powerSwitcher->sendSwitchCommand(switch0, PowerSwitchIF::SWITCH_ON); - powerSwitcher->sendSwitchCommand(switch1, PowerSwitchIF::SWITCH_ON); - } - } else { //clear - if ((internalState == STATE_ON) || (internalState == STATE_FAULTY) - || (internalState == STATE_EXTERNAL_CONTROL)) { - internalState = STATE_WAIT_FOR_SWITCHES_OFF; - switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); - powerSwitcher->sendSwitchCommand(switch0, - PowerSwitchIF::SWITCH_OFF); - powerSwitcher->sendSwitchCommand(switch1, - PowerSwitchIF::SWITCH_OFF); - } - } + //only act if we are not in the right state or in a transition + if (action == SET) { + if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE) + || (internalState == STATE_EXTERNAL_CONTROL)) { + switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); + internalState = STATE_WAIT_FOR_SWITCHES_ON; + powerSwitcher->sendSwitchCommand(switch0, PowerSwitchIF::SWITCH_ON); + powerSwitcher->sendSwitchCommand(switch1, PowerSwitchIF::SWITCH_ON); + } + } else { //clear + if ((internalState == STATE_ON) || (internalState == STATE_FAULTY) + || (internalState == STATE_EXTERNAL_CONTROL)) { + internalState = STATE_WAIT_FOR_SWITCHES_OFF; + switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); + powerSwitcher->sendSwitchCommand(switch0, + PowerSwitchIF::SWITCH_OFF); + powerSwitcher->sendSwitchCommand(switch1, + PowerSwitchIF::SWITCH_OFF); + } + } } void Heater::setPowerSwitcher(PowerSwitchIF* powerSwitch) { - this->powerSwitcher = powerSwitch; + this->powerSwitcher = powerSwitch; } ReturnValue_t Heater::performOperation(uint8_t opCode) { - handleQueue(); - handleEventQueue(); + handleQueue(); + handleEventQueue(); - if (!healthHelper.healthTable->isFaulty(getObjectId())) { - reactedToBeingFaulty = false; - } + if (!healthHelper.healthTable->isFaulty(getObjectId())) { + reactedToBeingFaulty = false; + } - switch (internalState) { - case STATE_ON: - if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_OFF) - || (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_OFF)) { - //switch went off on its own - //trigger event. FDIR can confirm if it is caused by MniOps and decide on the action - //do not trigger FD events when under external control - if (healthHelper.getHealth() != EXTERNAL_CONTROL) { - triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF); - } else { - internalState = STATE_EXTERNAL_CONTROL; - } - } - break; - case STATE_OFF: - //check if heater is on, ie both switches are on - //if so, just command it to off, to resolve the situation or force a switch stayed on event - //But, only do anything if not already faulty (state off is the stable point for being faulty) - if ((!healthHelper.healthTable->isFaulty(getObjectId())) - && (powerSwitcher->getSwitchState(switch0) - == PowerSwitchIF::SWITCH_ON) - && (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_ON)) { - //do not trigger FD events when under external control - if (healthHelper.getHealth() != EXTERNAL_CONTROL) { - internalState = STATE_WAIT_FOR_SWITCHES_OFF; - switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); - powerSwitcher->sendSwitchCommand(switch0, - PowerSwitchIF::SWITCH_OFF); - powerSwitcher->sendSwitchCommand(switch1, - PowerSwitchIF::SWITCH_OFF); - } else { - internalState = STATE_EXTERNAL_CONTROL; - } - } - break; - case STATE_PASSIVE: - break; - case STATE_WAIT_FOR_SWITCHES_ON: - if (switchCountdown.hasTimedOut()) { - if ((powerSwitcher->getSwitchState(switch0) - == PowerSwitchIF::SWITCH_OFF) - || (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_OFF)) { - triggerEvent(HEATER_STAYED_OFF); - internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything - } else { - triggerEvent(HEATER_ON); - internalState = STATE_ON; - } - } - break; - case STATE_WAIT_FOR_SWITCHES_OFF: - if (switchCountdown.hasTimedOut()) { - //only check for both being on (ie heater still on) - if ((powerSwitcher->getSwitchState(switch0) - == PowerSwitchIF::SWITCH_ON) - && (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_ON)) { - if (healthHelper.healthTable->isFaulty(getObjectId())) { - if (passive) { - internalState = STATE_PASSIVE; - } else { - internalState = STATE_OFF; //just accept it - } - triggerEvent(HEATER_ON); //but throw an event to make it more visible - break; - } - triggerEvent(HEATER_STAYED_ON); - internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything - } else { - triggerEvent(HEATER_OFF); - if (passive) { - internalState = STATE_PASSIVE; - } else { - internalState = STATE_OFF; - } - } - } - break; - default: - break; - } + switch (internalState) { + case STATE_ON: + if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_OFF) + || (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_OFF)) { + //switch went off on its own + //trigger event. FDIR can confirm if it is caused by MniOps and decide on the action + //do not trigger FD events when under external control + if (healthHelper.getHealth() != EXTERNAL_CONTROL) { + triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF); + } else { + internalState = STATE_EXTERNAL_CONTROL; + } + } + break; + case STATE_OFF: + //check if heater is on, ie both switches are on + //if so, just command it to off, to resolve the situation or force a switch stayed on event + //But, only do anything if not already faulty (state off is the stable point for being faulty) + if ((!healthHelper.healthTable->isFaulty(getObjectId())) + && (powerSwitcher->getSwitchState(switch0) + == PowerSwitchIF::SWITCH_ON) + && (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_ON)) { + //do not trigger FD events when under external control + if (healthHelper.getHealth() != EXTERNAL_CONTROL) { + internalState = STATE_WAIT_FOR_SWITCHES_OFF; + switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs()); + powerSwitcher->sendSwitchCommand(switch0, + PowerSwitchIF::SWITCH_OFF); + powerSwitcher->sendSwitchCommand(switch1, + PowerSwitchIF::SWITCH_OFF); + } else { + internalState = STATE_EXTERNAL_CONTROL; + } + } + break; + case STATE_PASSIVE: + break; + case STATE_WAIT_FOR_SWITCHES_ON: + if (switchCountdown.hasTimedOut()) { + if ((powerSwitcher->getSwitchState(switch0) + == PowerSwitchIF::SWITCH_OFF) + || (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_OFF)) { + triggerEvent(HEATER_STAYED_OFF); + internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything + } else { + triggerEvent(HEATER_ON); + internalState = STATE_ON; + } + } + break; + case STATE_WAIT_FOR_SWITCHES_OFF: + if (switchCountdown.hasTimedOut()) { + //only check for both being on (ie heater still on) + if ((powerSwitcher->getSwitchState(switch0) + == PowerSwitchIF::SWITCH_ON) + && (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_ON)) { + if (healthHelper.healthTable->isFaulty(getObjectId())) { + if (passive) { + internalState = STATE_PASSIVE; + } else { + internalState = STATE_OFF; //just accept it + } + triggerEvent(HEATER_ON); //but throw an event to make it more visible + break; + } + triggerEvent(HEATER_STAYED_ON); + internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything + } else { + triggerEvent(HEATER_OFF); + if (passive) { + internalState = STATE_PASSIVE; + } else { + internalState = STATE_OFF; + } + } + } + break; + default: + break; + } - if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_ON) - && (powerSwitcher->getSwitchState(switch1) - == PowerSwitchIF::SWITCH_ON)) { - if (wasOn) { - if (heaterOnCountdown.hasTimedOut()) { - //SHOULDDO this means if a heater fails in single mode, the timeout will start again - //I am not sure if this is a bug, but atm I have no idea how to fix this and think - //it will be ok. whatcouldpossiblygowrong™ - if (!timedOut) { - triggerEvent(HEATER_TIMEOUT); - timedOut = true; - } - } - } else { - wasOn = true; - heaterOnCountdown.resetTimer(); - timedOut = false; - } - } else { - wasOn = false; - } + if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_ON) + && (powerSwitcher->getSwitchState(switch1) + == PowerSwitchIF::SWITCH_ON)) { + if (wasOn) { + if (heaterOnCountdown.hasTimedOut()) { + //SHOULDDO this means if a heater fails in single mode, the timeout will start again + //I am not sure if this is a bug, but atm I have no idea how to fix this and think + //it will be ok. whatcouldpossiblygowrong™ + if (!timedOut) { + triggerEvent(HEATER_TIMEOUT); + timedOut = true; + } + } + } else { + wasOn = true; + heaterOnCountdown.resetTimer(); + timedOut = false; + } + } else { + wasOn = false; + } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; } void Heater::setSwitch(uint8_t number, ReturnValue_t state, - uint32_t* uptimeOfSwitching) { - if (powerSwitcher == NULL) { - return; - } - if (powerSwitcher->getSwitchState(number) == state) { - *uptimeOfSwitching = INVALID_UPTIME; - } else { - if ((*uptimeOfSwitching == INVALID_UPTIME)) { - powerSwitcher->sendSwitchCommand(number, state); - Clock::getUptime(uptimeOfSwitching); - } else { - uint32_t currentUptime; - Clock::getUptime(¤tUptime); - if (currentUptime - *uptimeOfSwitching - > powerSwitcher->getSwitchDelayMs()) { - *uptimeOfSwitching = INVALID_UPTIME; - if (healthHelper.healthTable->isHealthy(getObjectId())) { - if (state == PowerSwitchIF::SWITCH_ON) { - triggerEvent(HEATER_STAYED_OFF); - } else { - triggerEvent(HEATER_STAYED_ON); - } - } - //SHOULDDO MiniOps during switch timeout leads to a faulty switch - } - } - } + uint32_t* uptimeOfSwitching) { + if (powerSwitcher == NULL) { + return; + } + if (powerSwitcher->getSwitchState(number) == state) { + *uptimeOfSwitching = INVALID_UPTIME; + } else { + if ((*uptimeOfSwitching == INVALID_UPTIME)) { + powerSwitcher->sendSwitchCommand(number, state); + Clock::getUptime(uptimeOfSwitching); + } else { + uint32_t currentUptime; + Clock::getUptime(¤tUptime); + if (currentUptime - *uptimeOfSwitching + > powerSwitcher->getSwitchDelayMs()) { + *uptimeOfSwitching = INVALID_UPTIME; + if (healthHelper.healthTable->isHealthy(getObjectId())) { + if (state == PowerSwitchIF::SWITCH_ON) { + triggerEvent(HEATER_STAYED_OFF); + } else { + triggerEvent(HEATER_STAYED_ON); + } + } + //SHOULDDO MiniOps during switch timeout leads to a faulty switch + } + } + } } MessageQueueId_t Heater::getCommandQueue() const { - return commandQueue->getId(); + return commandQueue->getId(); } ReturnValue_t Heater::initialize() { - ReturnValue_t result = SystemObject::initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + ReturnValue_t result = SystemObject::initialize(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - EventManagerIF* manager = objectManager->get( - objects::EVENT_MANAGER); - if (manager == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } - result = manager->registerListener(eventQueue->getId()); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + EventManagerIF* manager = objectManager->get( + objects::EVENT_MANAGER); + if (manager == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } + result = manager->registerListener(eventQueue->getId()); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - ConfirmsFailuresIF* pcdu = objectManager->get( - DeviceHandlerFailureIsolation::powerConfirmationId); - if (pcdu == NULL) { - return HasReturnvaluesIF::RETURN_FAILED; - } - pcduQueueId = pcdu->getEventReceptionQueue(); + ConfirmsFailuresIF* pcdu = objectManager->get( + DeviceHandlerFailureIsolation::powerConfirmationId); + if (pcdu == NULL) { + return HasReturnvaluesIF::RETURN_FAILED; + } + pcduQueueId = pcdu->getEventReceptionQueue(); - result = manager->subscribeToAllEventsFrom(eventQueue->getId(), - getObjectId()); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = manager->subscribeToAllEventsFrom(eventQueue->getId(), + getObjectId()); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - result = parameterHelper.initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = parameterHelper.initialize(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - result = healthHelper.initialize(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } + result = healthHelper.initialize(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_OK; } void Heater::handleQueue() { - CommandMessage command; - ReturnValue_t result = commandQueue->receiveMessage(&command); - if (result == HasReturnvaluesIF::RETURN_OK) { - result = healthHelper.handleHealthCommand(&command); - if (result == HasReturnvaluesIF::RETURN_OK) { - return; - } - parameterHelper.handleParameterMessage(&command); - } + CommandMessage command; + ReturnValue_t result = commandQueue->receiveMessage(&command); + if (result == HasReturnvaluesIF::RETURN_OK) { + result = healthHelper.handleHealthCommand(&command); + if (result == HasReturnvaluesIF::RETURN_OK) { + return; + } + result = parameterHelper.handleParameterMessage(&command); + if (result == HasReturnvaluesIF::RETURN_OK) { + return; + } + } } ReturnValue_t Heater::getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues, - uint16_t startAtIndex) { - if (domainId != DOMAIN_ID_BASE) { - return INVALID_DOMAIN_ID; - } - switch (uniqueId) { - case 0: - parameterWrapper->set(heaterOnCountdown.timeout); - break; - default: - return INVALID_IDENTIFIER_ID; - } - return HasReturnvaluesIF::RETURN_OK; + uint16_t startAtIndex) { + if (domainId != DOMAIN_ID_BASE) { + return INVALID_DOMAIN_ID; + } + switch (uniqueId) { + case 0: + parameterWrapper->set(heaterOnCountdown.timeout); + break; + default: + return INVALID_IDENTIFIER_ID; + } + return HasReturnvaluesIF::RETURN_OK; } void Heater::handleEventQueue() { - EventMessage event; - for (ReturnValue_t result = eventQueue->receiveMessage(&event); - result == HasReturnvaluesIF::RETURN_OK; - result = eventQueue->receiveMessage(&event)) { - switch (event.getMessageId()) { - case EventMessage::EVENT_MESSAGE: - switch (event.getEvent()) { - case Fuse::FUSE_WENT_OFF: - case HEATER_STAYED_OFF: - case HEATER_STAYED_ON://Setting it faulty does not help, but we need to reach a stable state and can check for being faulty before throwing this event again. - if (healthHelper.healthTable->isCommandable(getObjectId())) { - healthHelper.setHealth(HasHealthIF::FAULTY); - internalState = STATE_FAULTY; - } - break; - case PowerSwitchIF::SWITCH_WENT_OFF: - internalState = STATE_WAIT; - event.setMessageId(EventMessage::CONFIRMATION_REQUEST); - if (pcduQueueId != 0) { - eventQueue->sendMessage(pcduQueueId, &event); - } else { - healthHelper.setHealth(HasHealthIF::FAULTY); - internalState = STATE_FAULTY; - } - break; - default: - return; - } - break; - case EventMessage::YOUR_FAULT: - healthHelper.setHealth(HasHealthIF::FAULTY); - internalState = STATE_FAULTY; - break; - case EventMessage::MY_FAULT: - //do nothing, we are already in STATE_WAIT and wait for a clear() - break; - default: - return; - } - } + EventMessage event; + for (ReturnValue_t result = eventQueue->receiveMessage(&event); + result == HasReturnvaluesIF::RETURN_OK; + result = eventQueue->receiveMessage(&event)) { + switch (event.getMessageId()) { + case EventMessage::EVENT_MESSAGE: + switch (event.getEvent()) { + case Fuse::FUSE_WENT_OFF: + case HEATER_STAYED_OFF: + // Setting it faulty does not help, but we need to reach a stable state and can check + // for being faulty before throwing this event again. + case HEATER_STAYED_ON: + if (healthHelper.healthTable->isCommandable(getObjectId())) { + healthHelper.setHealth(HasHealthIF::FAULTY); + internalState = STATE_FAULTY; + } + break; + case PowerSwitchIF::SWITCH_WENT_OFF: + internalState = STATE_WAIT; + event.setMessageId(EventMessage::CONFIRMATION_REQUEST); + if (pcduQueueId != 0) { + eventQueue->sendMessage(pcduQueueId, &event); + } else { + healthHelper.setHealth(HasHealthIF::FAULTY); + internalState = STATE_FAULTY; + } + break; + default: + return; + } + break; + case EventMessage::YOUR_FAULT: + healthHelper.setHealth(HasHealthIF::FAULTY); + internalState = STATE_FAULTY; + break; + case EventMessage::MY_FAULT: + //do nothing, we are already in STATE_WAIT and wait for a clear() + break; + default: + return; + } + } } diff --git a/thermal/Heater.h b/thermal/Heater.h index f83957a2..19f13c79 100644 --- a/thermal/Heater.h +++ b/thermal/Heater.h @@ -1,90 +1,93 @@ -#ifndef FRAMEWORK_THERMAL_HEATER_H_ -#define FRAMEWORK_THERMAL_HEATER_H_ +#ifndef FSFW_THERMAL_HEATER_H_ +#define FSFW_THERMAL_HEATER_H_ #include "../devicehandlers/HealthDevice.h" #include "../parameters/ParameterHelper.h" #include "../power/PowerSwitchIF.h" #include "../returnvalues/HasReturnvaluesIF.h" #include "../timemanager/Countdown.h" -#include -//class RedundantHeater; +#include + class Heater: public HealthDevice, public ReceivesParameterMessagesIF { - friend class RedundantHeater; + friend class RedundantHeater; public: - static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER; - static const Event HEATER_ON = MAKE_EVENT(0, severity::INFO); - static const Event HEATER_OFF = MAKE_EVENT(1, severity::INFO); - static const Event HEATER_TIMEOUT = MAKE_EVENT(2, severity::LOW); - static const Event HEATER_STAYED_ON = MAKE_EVENT(3, severity::LOW); - static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, severity::LOW); + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER; + static const Event HEATER_ON = MAKE_EVENT(0, severity::INFO); + static const Event HEATER_OFF = MAKE_EVENT(1, severity::INFO); + static const Event HEATER_TIMEOUT = MAKE_EVENT(2, severity::LOW); + static const Event HEATER_STAYED_ON = MAKE_EVENT(3, severity::LOW); + static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, severity::LOW); - Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1); - virtual ~Heater(); + Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1); + virtual ~Heater(); - ReturnValue_t performOperation(uint8_t opCode); + ReturnValue_t performOperation(uint8_t opCode); - ReturnValue_t initialize(); + ReturnValue_t initialize(); - ReturnValue_t set(); - void clear(bool passive); + ReturnValue_t set(); + void clear(bool passive); - void setPowerSwitcher(PowerSwitchIF *powerSwitch); + void setPowerSwitcher(PowerSwitchIF *powerSwitch); - MessageQueueId_t getCommandQueue() const; + MessageQueueId_t getCommandQueue() const; - ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, - ParameterWrapper *parameterWrapper, - const ParameterWrapper *newValues, uint16_t startAtIndex); + ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, + ParameterWrapper *parameterWrapper, + const ParameterWrapper *newValues, uint16_t startAtIndex); protected: - static const uint32_t INVALID_UPTIME = 0; + static const uint32_t INVALID_UPTIME = 0; - enum InternalState { - STATE_ON, - STATE_OFF, - STATE_PASSIVE, - STATE_WAIT_FOR_SWITCHES_ON, - STATE_WAIT_FOR_SWITCHES_OFF, - STATE_WAIT_FOR_FDIR, //used to avoid doing anything until fdir decided what to do - STATE_FAULTY, - STATE_WAIT, //used when waiting for system to recover from miniops - STATE_EXTERNAL_CONTROL //entered when under external control and a fdir reaction would be triggered. This is useful when leaving external control into an unknown state - //if no fdir reaction is triggered under external control the state is still ok and no need for any special treatment is needed - } internalState; + enum InternalState { + STATE_ON, + STATE_OFF, + STATE_PASSIVE, + STATE_WAIT_FOR_SWITCHES_ON, + STATE_WAIT_FOR_SWITCHES_OFF, + STATE_WAIT_FOR_FDIR, // Used to avoid doing anything until fdir decided what to do + STATE_FAULTY, + STATE_WAIT, // Used when waiting for system to recover from miniops + // Entered when under external control and a fdir reaction would be triggered. + // This is useful when leaving external control into an unknown state + STATE_EXTERNAL_CONTROL + // If no fdir reaction is triggered under external control the state is still ok and + // no need for any special treatment is needed + } internalState; - PowerSwitchIF *powerSwitcher; - MessageQueueId_t pcduQueueId; + PowerSwitchIF *powerSwitcher; + MessageQueueId_t pcduQueueId; - uint8_t switch0; - uint8_t switch1; + uint8_t switch0; + uint8_t switch1; - bool wasOn; + bool wasOn; - bool timedOut; + bool timedOut; - bool reactedToBeingFaulty; + bool reactedToBeingFaulty; - bool passive; + bool passive; - MessageQueueIF* eventQueue; - Countdown heaterOnCountdown; - Countdown switchCountdown; - ParameterHelper parameterHelper; + MessageQueueIF* eventQueue; + Countdown heaterOnCountdown; + Countdown switchCountdown; + ParameterHelper parameterHelper; - enum Action { - SET, CLEAR - } lastAction; + enum Action { + SET, CLEAR + } lastAction; - void doAction(Action action); + void doAction(Action action); - void setSwitch(uint8_t number, ReturnValue_t state, - uint32_t *upTimeOfSwitching); + void setSwitch(uint8_t number, ReturnValue_t state, + uint32_t *upTimeOfSwitching); - void handleQueue(); + void handleQueue(); - void handleEventQueue(); + void handleEventQueue(); }; -#endif /* FRAMEWORK_THERMAL_HEATER_H_ */ +#endif /* FSFW_THERMAL_HEATER_H_ */ From 864621ee37892cef944e1384d6fde38aa5770e1d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 16:15:30 +0200 Subject: [PATCH 26/32] small fix for linux printout --- osal/linux/tcpipHelpers.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osal/linux/tcpipHelpers.cpp b/osal/linux/tcpipHelpers.cpp index 3e8f6009..d7c644ec 100644 --- a/osal/linux/tcpipHelpers.cpp +++ b/osal/linux/tcpipHelpers.cpp @@ -99,8 +99,8 @@ void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t s sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString << " | " << infoString << std::endl; #else - sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString, - errorSrcString, infoString); + sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString.c_str(), + errorSrcString.c_str(), infoString.c_str()); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ if(sleepDuration > 0) { From a2ba3181b91a5f3657ee8f72b7638cadc27864a4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 16:16:35 +0200 Subject: [PATCH 27/32] small coverity tweak --- devicehandlers/HealthDevice.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp index 418ed257..e23dd5b6 100644 --- a/devicehandlers/HealthDevice.cpp +++ b/devicehandlers/HealthDevice.cpp @@ -16,9 +16,9 @@ ReturnValue_t HealthDevice::performOperation(uint8_t opCode) { CommandMessage command; ReturnValue_t result = commandQueue->receiveMessage(&command); if (result == HasReturnvaluesIF::RETURN_OK) { - healthHelper.handleHealthCommand(&command); + result = healthHelper.handleHealthCommand(&command); } - return HasReturnvaluesIF::RETURN_OK; + return result; } ReturnValue_t HealthDevice::initialize() { From 0055d34d9a156f805edf63e9d5970562b372755a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 20 Apr 2021 16:17:37 +0200 Subject: [PATCH 28/32] bugfix found by coverity --- timemanager/TimeMessage.cpp | 2 +- timemanager/TimeMessage.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/timemanager/TimeMessage.cpp b/timemanager/TimeMessage.cpp index a1042efe..66aea0f4 100644 --- a/timemanager/TimeMessage.cpp +++ b/timemanager/TimeMessage.cpp @@ -25,6 +25,6 @@ uint32_t TimeMessage::getCounterValue() { return temp; } -size_t TimeMessage::getMinimumMessageSize() { +size_t TimeMessage::getMinimumMessageSize() const { return this->MAX_SIZE; } diff --git a/timemanager/TimeMessage.h b/timemanager/TimeMessage.h index f5ac3e14..00778fb7 100644 --- a/timemanager/TimeMessage.h +++ b/timemanager/TimeMessage.h @@ -11,7 +11,7 @@ protected: * @brief This call always returns the same fixed size of the message. * @return Returns HEADER_SIZE + \c sizeof(timeval) + sizeof(uint32_t). */ - size_t getMinimumMessageSize(); + size_t getMinimumMessageSize() const override; public: /** From 4fb792447e037cabbd4800f40e4fabeb44d6c143 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 20 Apr 2021 17:29:56 +0200 Subject: [PATCH 29/32] Small rearragenment in Heater.cpp --- thermal/Heater.cpp | 7 +++---- thermal/Heater.h | 16 ++++++++-------- 2 files changed, 11 insertions(+), 12 deletions(-) diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp index 8bfa030b..aeade8d1 100644 --- a/thermal/Heater.cpp +++ b/thermal/Heater.cpp @@ -5,10 +5,9 @@ #include "../ipc/QueueFactory.h" Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) : -HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher( - NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(false), timedOut(false), - reactedToBeingFaulty(false), passive(false), eventQueue(NULL), - heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(this), lastAction(CLEAR) { +HealthDevice(objectId, 0), internalState(STATE_OFF), switch0(switch0), switch1(switch1), + heaterOnCountdown(10800000)/*about two orbits*/, + parameterHelper(this) { eventQueue = QueueFactory::instance()->createMessageQueue(); } diff --git a/thermal/Heater.h b/thermal/Heater.h index 19f13c79..2caddd85 100644 --- a/thermal/Heater.h +++ b/thermal/Heater.h @@ -57,28 +57,28 @@ protected: // no need for any special treatment is needed } internalState; - PowerSwitchIF *powerSwitcher; - MessageQueueId_t pcduQueueId; + PowerSwitchIF *powerSwitcher = nullptr; + MessageQueueId_t pcduQueueId = MessageQueueIF::NO_QUEUE; uint8_t switch0; uint8_t switch1; - bool wasOn; + bool wasOn = false; - bool timedOut; + bool timedOut = false; - bool reactedToBeingFaulty; + bool reactedToBeingFaulty = false; - bool passive; + bool passive = false; - MessageQueueIF* eventQueue; + MessageQueueIF* eventQueue = nullptr; Countdown heaterOnCountdown; Countdown switchCountdown; ParameterHelper parameterHelper; enum Action { SET, CLEAR - } lastAction; + } lastAction = CLEAR; void doAction(Action action); From 629814bc9ba00112668d0edaa62e0690cb5ead98 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 20 Apr 2021 17:35:28 +0200 Subject: [PATCH 30/32] Just comments --- thermal/Heater.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp index aeade8d1..77049438 100644 --- a/thermal/Heater.cpp +++ b/thermal/Heater.cpp @@ -224,7 +224,6 @@ void Heater::setSwitch(uint8_t number, ReturnValue_t state, triggerEvent(HEATER_STAYED_ON); } } - //SHOULDDO MiniOps during switch timeout leads to a faulty switch } } } @@ -317,7 +316,7 @@ void Heater::handleEventQueue() { switch (event.getEvent()) { case Fuse::FUSE_WENT_OFF: case HEATER_STAYED_OFF: - // Setting it faulty does not help, but we need to reach a stable state and can check + // HEATER_STAYED_ON is a setting if faulty does not help, but we need to reach a stable state and can check // for being faulty before throwing this event again. case HEATER_STAYED_ON: if (healthHelper.healthTable->isCommandable(getObjectId())) { From 03ef63302b681651daefde2f17421dabda4c6945 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 20 Apr 2021 20:45:15 +0200 Subject: [PATCH 31/32] Replaced Magic Numbers --- subsystem/SubsystemBase.cpp | 9 ++++----- subsystem/SubsystemBase.h | 4 ++-- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index bcfa4b0e..565e0712 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -5,8 +5,7 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode, uint16_t commandQueueDepth) : - SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), - childrenChangedMode(false), + SystemObject(setObjectId), mode(initialMode), commandQueue(QueueFactory::instance()->createMessageQueue( commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)), healthHelper(this, setObjectId), modeHelper(this), parentId(parent) { @@ -167,16 +166,16 @@ MessageQueueId_t SubsystemBase::getCommandQueue() const { } ReturnValue_t SubsystemBase::initialize() { - MessageQueueId_t parentQueue = 0; + MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE; ReturnValue_t result = SystemObject::initialize(); if (result != RETURN_OK) { return result; } - if (parentId != 0) { + if (parentId != objects::NO_OBJECT) { SubsystemBase *parent = objectManager->get(parentId); - if (parent == NULL) { + if (parent == nullptr) { return RETURN_FAILED; } parentQueue = parent->getCommandQueue(); diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h index b8e4f902..5d107701 100644 --- a/subsystem/SubsystemBase.h +++ b/subsystem/SubsystemBase.h @@ -56,9 +56,9 @@ protected: Mode_t mode; - Submode_t submode; + Submode_t submode = SUBMODE_NONE; - bool childrenChangedMode; + bool childrenChangedMode = false; /** * Always check this against <=0, so you are robust against too many replies From 06631d06a57c30946563d8726ea9ef9a7e6c1c84 Mon Sep 17 00:00:00 2001 From: Steffen Gaisser Date: Tue, 20 Apr 2021 22:01:56 +0200 Subject: [PATCH 32/32] Added comments in AssemblyBase and SubsystemBase --- devicehandlers/AssemblyBase.h | 22 +++++++++++++++++++--- subsystem/SubsystemBase.h | 11 +++++++++++ 2 files changed, 30 insertions(+), 3 deletions(-) diff --git a/devicehandlers/AssemblyBase.h b/devicehandlers/AssemblyBase.h index 353d5f89..6cac81b4 100644 --- a/devicehandlers/AssemblyBase.h +++ b/devicehandlers/AssemblyBase.h @@ -24,6 +24,13 @@ * 1. check logic when active-> checkChildrenStateOn * 2. transition logic to change the mode -> commandChildren * + * Important: + * + * The implementation must call registerChild(object_id_t child) + * for all commanded children during initialization. + * The implementation must call the initialization function of the base class. + * (This will call the function in SubsystemBase) + * */ class AssemblyBase: public SubsystemBase { public: @@ -41,9 +48,6 @@ public: virtual ~AssemblyBase(); protected: - - // SHOULDDO: Change that OVERWRITE_HEALTH may be returned - // (or return internalState directly?) /** * Command children to reach [mode,submode] combination * Can be done by setting #commandsOutstanding correctly, @@ -68,6 +72,18 @@ protected: virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) = 0; + /** + * Check whether a combination of mode and submode is valid. + * + * Ground Controller like precise return values from HasModesIF. + * So, please return any of them. + * + * @param mode The targeted mode + * @param submode The targeted submmode + * @return Any information why this combination is invalid from HasModesIF + * like HasModesIF::INVALID_SUBMODE. + * On success return HasReturnvaluesIF::RETURN_OK + */ virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) = 0; diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h index 5d107701..6b2e9b5f 100644 --- a/subsystem/SubsystemBase.h +++ b/subsystem/SubsystemBase.h @@ -37,6 +37,17 @@ public: virtual MessageQueueId_t getCommandQueue() const override; + /** + * Function to register the child objects. + * Performs a checks if the child does implement HasHealthIF and/or HasModesIF + * + * Also adds them to the internal childrenMap. + * + * @param objectId + * @return RETURN_OK if successful + * CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF + * COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap + */ ReturnValue_t registerChild(object_id_t objectId); virtual ReturnValue_t initialize() override;