eive/fsfw
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Merge branch 'master' into mueller/feature/windowsUdpBridge

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This commit is contained in:
Robin Müller 2020-11-02 15:28:07 +01:00
commit 652dc00cc9
130 changed files with 5505 additions and 761 deletions
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0
.gitmodules vendored Normal file
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11
FSFWVersion.h Normal file
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@ -0,0 +1,11 @@
#ifndef FSFW_DEFAULTCFG_VERSION_H_
#define FSFW_DEFAULTCFG_VERSION_H_
const char* const FSFW_VERSION_NAME = "fsfw";
#define FSFW_VERSION 0
#define FSFW_SUBVERSION 0
#endif /* FSFW_DEFAULTCFG_VERSION_H_ */

4
README.md Normal file
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@ -0,0 +1,4 @@
Flight Software Framework (FSFW)
======
I want to be written!

76
action/ActionHelper.cpp
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@ -3,8 +3,9 @@
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
ActionHelper::ActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue) {
}
ActionHelper::~ActionHelper() {
@ -33,13 +34,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
return HasReturnvaluesIF::RETURN_OK;
}
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, result);
queueToUse->sendMessage(reportTo, &reply);
@ -49,8 +52,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue;
}
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
@ -62,6 +65,11 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, result);
queueToUse->sendMessage(commandedBy, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
@ -86,22 +94,28 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
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.
// 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);
//TODO Service Implementation sucks at the moment
if (hideSender){
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} else {
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if ( result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
@ -109,3 +123,39 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
void ActionHelper::resetHelper() {
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, const uint8_t *data, size_t dataSize,
bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
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);
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
}

90
action/ActionHelper.h
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@ -1,15 +1,18 @@
#ifndef ACTIONHELPER_H_
#define ACTIONHELPER_H_
#ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_
#include "ActionMessage.h"
#include "../serialize/SerializeIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* \brief Action Helper is a helper class which handles action messages
* @brief Action Helper is a helper class which handles action messages
*
* Components which use the HasActionIF this helper can be used to handle the action messages.
* It does handle step messages as well as other answers to action calls. It uses the executeAction function
* of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
* Components which use the HasActionIF this helper can be used to handle
* the action messages.
* It does handle step messages as well as other answers to action calls.
* It uses the executeAction function of its owner as callback.
* The call of the initialize function is mandatory and needs a
* valid MessageQueueIF pointer!
*/
class HasActionsIF;
@ -18,7 +21,8 @@ public:
/**
* Constructor of the action helper
* @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during initialize function as well.
* @param useThisQueue messageQueue to be used, can be set during
* initialize function as well.
*/
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -26,28 +30,36 @@ public:
/**
* Function to be called from the owner with a new command message
*
* If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
* If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically.
*
* @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/
ReturnValue_t handleActionMessage(CommandMessage* command);
/**
* Helper initialize function. Must be called before use of any other helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
* Helper initialize function. Must be called before use of any other
* helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor
* @return Returns RETURN_OK if successful
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/**
* Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
* Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value.
*
* @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner to send a action completion message
*
@ -55,39 +67,59 @@ public:
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner if an action does report data
*
* @param reportTo MessageQueueId_t to report the action completion message to
* Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false);
/**
* Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender = false);
/**
* Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
* message queue is unavailable at construction and initialize but must be setup before first call of other functions.
* Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper
*/
void setQueueToUse(MessageQueueIF *queue);
protected:
static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
//!< Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;//!< Pointer to the owner
MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
//! Queue to be used as response sender, has to be set in ctor or with
//! setQueueToUse
MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
/**
*Internal function called by handleActionMessage(CommandMessage* command)
*
* Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store
*/
virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress);
/**
*
* @brief Default implementation is empty.
*/
virtual void resetHelper();
};
#endif /* ACTIONHELPER_H_ */
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */

17
action/HasActionsIF.h
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@ -1,11 +1,12 @@
#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
#define FRAMEWORK_ACTION_HASACTIONSIF_H_
#ifndef FSFW_ACTION_HASACTIONSIF_H_
#define FSFW_ACTION_HASACTIONSIF_H_
#include "ActionHelper.h"
#include "ActionMessage.h"
#include "SimpleActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* @brief
* Interface for component which uses actions
@ -47,14 +48,16 @@ public:
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Execute or initialize the execution of a certain function.
* Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
* be done. When needing more steps, return RETURN_OK and issue steps and
* completion manually.
* One "step failed" or completion report must be issued!
* The ActionHelpers will execute this function and behave differently
* depending on the returnvalue.
*
* @return
* -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated
*/
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
};
#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
#endif /* FSFW_ACTION_HASACTIONSIF_H_ */

7
action/SimpleActionHelper.cpp
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@ -1,16 +1,17 @@
#include "HasActionsIF.h"
#include "SimpleActionHelper.h"
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
0), lastAction(0), stepCount(0) {
ActionHelper(setOwner, useThisQueue), isExecuting(false) {
}
SimpleActionHelper::~SimpleActionHelper() {
}
void SimpleActionHelper::step(ReturnValue_t result) {
//STEP_OFFESET is subtracted to compensate for adding offset in base method, which is not necessary here.
// STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
result);
if (result != HasReturnvaluesIF::RETURN_OK) {

20
action/SimpleActionHelper.h
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@ -1,8 +1,13 @@
#ifndef SIMPLEACTIONHELPER_H_
#define SIMPLEACTIONHELPER_H_
#ifndef FSFW_ACTION_SIMPLEACTIONHELPER_H_
#define FSFW_ACTION_SIMPLEACTIONHELPER_H_
#include "ActionHelper.h"
/**
* @brief This is an action helper which is only able to service one action
* at a time but remembers last commander and last action which
* simplifies usage
*/
class SimpleActionHelper: public ActionHelper {
public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -12,13 +17,14 @@ public:
ReturnValue_t reportData(SerializeIF* data);
protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
virtual void resetHelper();
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
virtual void resetHelper();
private:
bool isExecuting;
MessageQueueId_t lastCommander;
ActionId_t lastAction;
uint8_t stepCount;
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
ActionId_t lastAction = 0;
uint8_t stepCount = 0;
};
#endif /* SIMPLEACTIONHELPER_H_ */

25
container/SharedRingBuffer.cpp
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@ -9,6 +9,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
mutex = MutexFactory::instance()->createMutex();
}
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
@ -16,6 +17,11 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
mutex = MutexFactory::instance()->createMutex();
}
void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
this->fifoDepth = fifoDepth;
}
ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
return mutex->lockMutex(timeoutType, timeout);
@ -25,6 +31,25 @@ ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
return mutex->unlockMutex();
}
MutexIF* SharedRingBuffer::getMutexHandle() const {
return mutex;
}
ReturnValue_t SharedRingBuffer::initialize() {
if(fifoDepth > 0) {
receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
}
return SystemObject::initialize();
}
DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
if(receiveSizesFIFO == nullptr) {
// Configuration error.
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl;
}
return receiveSizesFIFO;
}

24
container/SharedRingBuffer.h
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@ -2,6 +2,7 @@
#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#include "SimpleRingBuffer.h"
#include "DynamicFIFO.h"
#include "../ipc/MutexIF.h"
#include "../objectmanager/SystemObject.h"
#include "../timemanager/Clock.h"
@ -26,6 +27,16 @@ public:
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* @brief This function can be used to add an optional FIFO to the class
* @details
* This FIFO will be allocated in the initialize function (and will
* have a fixed maximum size after that). It can be used to store
* values like packet sizes, for example for a shared ring buffer
* used by producer/consumer tasks.
*/
void setToUseReceiveSizeFIFO(size_t fifoDepth);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
@ -59,8 +70,21 @@ public:
* @return
*/
MutexIF* getMutexHandle() const;
ReturnValue_t initialize() override;
/**
* If the shared ring buffer was configured to have a sizes FIFO, a handle
* to that FIFO can be retrieved with this function.
* Do not forget to protect access with a lock if required!
* @return
*/
DynamicFIFO<size_t>* getReceiveSizesFIFO();
private:
MutexIF* mutex = nullptr;
size_t fifoDepth = 0;
DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
};

6
defaultcfg/README.md Normal file
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@ -0,0 +1,6 @@
# How to setup configuration folder for FSFW
It is recommended to copy the content of the defaultcfg folder
into a config folder which is in the same directory as the Flight
Software Framework submodule. After that, the config.mk folder should be
included by the primary Makefile with CURRENTPATH set correctly.

54
defaultcfg/config/FSFWConfig.h Normal file
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@ -0,0 +1,54 @@
#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! 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
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 0
#if FSFW_OBJ_EVENT_TRANSLATION == 1
#define FSFW_DEBUG_OUTPUT 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#else
#define FSFW_DEBUG_OUTPUT 0
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
//! short timestamp.
static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

16
defaultcfg/config/OBSWConfig.h Normal file
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@ -0,0 +1,16 @@
#ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_
#include "OBSWVersion.h"
#ifdef __cplusplus
namespace config {
#endif
/* Add mission configuration flags here */
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_OBSWCONFIG_H_ */

9
defaultcfg/config/OBSWVersion.h Normal file
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@ -0,0 +1,9 @@
#ifndef CONFIG_VERSION_H_
#define CONFIG_VERSION_H_
/* OBSW versioning can be specified in this file */
#define OBSW_VERSION 0
#define OBSW_SUBVERSION 0
#endif /* CONFIG_VERSION_H_ */

15
defaultcfg/config/config.mk Normal file
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@ -0,0 +1,15 @@
CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/tmtc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
INCLUDES += $(CURRENTPATH)
INCLUDES += $(CURRENTPATH)/objects
INCLUDES += $(CURRENTPATH)/returnvalues
INCLUDES += $(CURRENTPATH)/tmtc
INCLUDES += $(CURRENTPATH)/events
INCLUDES += $(CURRENTPATH)/devices
INCLUDES += $(CURRENTPATH)/pollingsequence
INCLUDES += $(CURRENTPATH)/ipc

5
defaultcfg/config/devices/logicalAddresses.cpp Normal file
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@ -0,0 +1,5 @@
#include "logicalAddresses.h"

18
defaultcfg/config/devices/logicalAddresses.h Normal file
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@ -0,0 +1,18 @@
#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
#define CONFIG_DEVICES_LOGICALADDRESSES_H_
#include <config/objects/systemObjectList.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <cstdint>
/**
* Can be used for addresses for physical devices like I2C adresses.
*/
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t {
};
}
#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */

4
defaultcfg/config/devices/powerSwitcherList.cpp Normal file
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@ -0,0 +1,4 @@
#include "powerSwitcherList.h"

12
defaultcfg/config/devices/powerSwitcherList.h Normal file
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@ -0,0 +1,12 @@
#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
namespace switches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum switcherList {
};
}
#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */

18
defaultcfg/config/events/subsystemIdRanges.h Normal file
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@ -0,0 +1,18 @@
#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <cstdint>
#include <fsfw/events/fwSubsystemIdRanges.h>
/**
* @brief Custom subsystem IDs can be added here
* @details
* Subsystem IDs are used to create unique events.
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
};
}
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

11
defaultcfg/config/ipc/missionMessageTypes.cpp Normal file
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@ -0,0 +1,11 @@
#include <config/ipc/MissionMessageTypes.h>
#include <fsfw/ipc/CommandMessageIF.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
switch(message->getMessageType()) {
default:
break;
}
}

21
defaultcfg/config/ipc/missionMessageTypes.h Normal file
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@ -0,0 +1,21 @@
#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/ipc/FwMessageTypes.h>
/**
* Custom command messages are specified here.
* Most messages needed to use FSFW are already located in
* <fsfw/ipc/FwMessageTypes.h>
* @param message Generic Command Message
*/
namespace messagetypes {
enum CustomMessageTypes {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT
};
void clearMissionMessage(CommandMessage* message);
}
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

54
defaultcfg/config/objects/Factory.cpp Normal file
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@ -0,0 +1,54 @@
#include "Factory.h"
#include "../tmtc/apid.h"
#include "../tmtc/pusIds.h"
#include "../objects/systemObjectList.h"
#include "../devices/logicalAddresses.h"
#include "../devices/powerSwitcherList.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <cstdint>
/**
* This class should be used to create all system objects required for
* the on-board software, using the object ID list from the configuration
* folder.
*
* The objects are registered in the internal object manager automatically.
* This is used later to add objects to tasks.
*
* This file also sets static framework IDs.
*
* Framework objects are created first.
* @ingroup init
*/
void Factory::produce(void) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
TmPacketStored::timeStamperId = objects::PUS_TIME;
//TmFunnel::downlinkDestination = objects::NO_OBJECT;
}

17
defaultcfg/config/objects/Factory.h Normal file
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@ -0,0 +1,17 @@
#ifndef FACTORY_H_
#define FACTORY_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <cstddef>
namespace Factory {
/**
* @brief Creates all SystemObject elements which are persistent
* during execution.
*/
void produce();
void setStaticFrameworkObjectIds();
}
#endif /* FACTORY_H_ */

16
defaultcfg/config/objects/systemObjectList.h Normal file
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@ -0,0 +1,16 @@
#ifndef CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <cstdint>
#include <fsfw/objectmanager/frameworkObjects.h>
// The objects will be instantiated in the ID order
namespace objects {
enum sourceObjects: uint32_t {
/* All addresses between start and end are reserved for the FSFW */
FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION,
FSFW_CONFIG_RESERVED_END = TM_STORE
};
}
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

23
defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp Normal file
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@ -0,0 +1,23 @@
#include "PollingSequenceFactory.h"
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
ReturnValue_t pst::pollingSequenceInitDefault(
FixedTimeslotTaskIF *thisSequence) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
/* Add polling sequence table here */
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}

32
defaultcfg/config/pollingsequence/PollingSequenceFactory.h Normal file
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@ -0,0 +1,32 @@
#ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
class FixedTimeslotTaskIF;
/**
* All device handlers are scheduled by adding them into Polling Sequence Tables (PST)
* to satisfy stricter timing requirements of device communication,
* A device handler has four different communication steps:
* 1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
* 2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
* 3. DeviceHandlerIF::SEND_READ -> Send read request
* 4. DeviceHandlerIF::GET_READ -> Read from interface
* The PST specifies precisely when the respective ComIF functions are called
* during the communication cycle time.
* The task is created using the FixedTimeslotTaskIF,
* which utilises the underlying Operating System Abstraction Layer (OSAL)
*
* @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST
* @return
*/
namespace pst {
/* Default PST */
ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
}
#endif /* POLLINGSEQUENCEINIT_H_ */

16
defaultcfg/config/returnvalues/classIds.h Normal file
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@ -0,0 +1,16 @@
#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
#define CONFIG_RETURNVALUES_CLASSIDS_H_
#include <fsfw/returnvalues/FwClassIds.h>
/**
* @brief CLASS_ID defintions which are required for custom returnvalues.
*/
namespace CLASS_ID {
enum {
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
};
}
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

18
defaultcfg/config/tmtc/apid.h Normal file
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@ -0,0 +1,18 @@
#ifndef CONFIG_TMTC_APID_H_
#define CONFIG_TMTC_APID_H_
#include <cstdint>
/**
* Application Process Definition: entity, uniquely identified by an
* application process ID (APID), capable of generating telemetry source
* packets and receiving telecommand packets.
*
* Chose APID(s) for mission and define it here.
*/
namespace apid {
static const uint16_t DEFAULT_APID = 0x00;
}
#endif /* CONFIG_TMTC_APID_H_ */

23
defaultcfg/config/tmtc/pusIds.h Normal file
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@ -0,0 +1,23 @@
#ifndef CONFIG_TMTC_PUSIDS_HPP_
#define CONFIG_TMTC_PUSIDS_HPP_
namespace pus {
enum Ids: uint8_t {
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,
PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9,
PUS_SERVICE_11 = 11,
PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201,
};
};
#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

2
devicehandlers/DeviceHandlerBase.cpp
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@ -1224,7 +1224,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (result == BUSY) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Busy" << std::endl;
<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
result = NOTHING_TO_SEND; //no need to report this
}
}

2
events/Event.h
View File

@ -4,7 +4,7 @@
#include <stdint.h>
#include "fwSubsystemIdRanges.h"
//could be move to more suitable location
#include <config/tmtc/subsystemIdRanges.h>
#include <subsystemIdRanges.h>
typedef uint16_t EventId_t;
typedef uint8_t EventSeverity_t;

8
events/EventManager.cpp
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@ -1,5 +1,7 @@
#include "EventManager.h"
#include "EventMessage.h"
#include <FSFWConfig.h>
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/QueueFactory.h"
#include "../ipc/MutexFactory.h"
@ -12,8 +14,10 @@ const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
// objects registering for certain events.
// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
// So a good guess is 75 to a max of 100 pools required for each, which fits well.
// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
const uint16_t EventManager::N_ELEMENTS[N_POOLS] = {
fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES ,
fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS };
EventManager::EventManager(object_id_t setObjectId) :
SystemObject(setObjectId),

25
health/HasHealthIF.h
View File

@ -1,5 +1,5 @@
#ifndef HASHEALTHIF_H_
#define HASHEALTHIF_H_
#ifndef FSFW_HEALTH_HASHEALTHIF_H_
#define FSFW_HEALTH_HASHEALTHIF_H_
#include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h"
@ -8,9 +8,13 @@
class HasHealthIF {
public:
typedef enum {
HEALTHY = 1, FAULTY = 0, EXTERNAL_CONTROL = 2, NEEDS_RECOVERY = 3, PERMANENT_FAULTY = 4
} HealthState;
enum HealthState: uint8_t {
HEALTHY = 1,
FAULTY = 0,
EXTERNAL_CONTROL = 2,
NEEDS_RECOVERY = 3,
PERMANENT_FAULTY = 4
};
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
@ -31,20 +35,17 @@ public:
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* set the Health State
*
* @brief Set the Health State
* The parent will be informed, if the Health changes
*
* @param health
*/
virtual ReturnValue_t setHealth(HealthState health) = 0;
/**
* get Health State
*
* @return Health State of the object
* @brief Get Health State
* @return Health State of the object
*/
virtual HasHealthIF::HealthState getHealth() = 0;
};
#endif /* HASHEALTHIF_H_ */
#endif /* FSFW_HEALTH_HASHEALTHIF_H_ */

45
health/HealthHelper.h
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@ -12,13 +12,15 @@
#include "../returnvalues/HasReturnvaluesIF.h"
/**
* Helper class for Objects that implement HasHealthIF
* @brief Helper class for Objects that implement HasHealthIF
* @details
* It takes care of registering with the Health Table as well as handling
* health commands (including replying to the sender) and updating
* the Health Table.
*
* It takes care of registering with the Health Table as well as handling health commands
* (including replying to the sender) and updating the Health Table.
*
* If a parent is set in the ctor, the parent will be informed with a @c HEALTH_INFO message
* about changes in the health state. Note that a @c HEALTH_INFO is only generated if the Health
* If a parent is set in the ctor, the parent will be informed with a
* @c HEALTH_INFO message about changes in the health state.
* Note that a @c HEALTH_INFO is only generated if the Health
* changes, not for all @c HEALTH_SET commands received.
*
* It does NOT handle @c HEALTH_INFO messages
@ -27,10 +29,9 @@ class HealthHelper {
public:
/**
* ctor
*
* @param owner
* @param objectId the object Id to use when communication with the HealthTable
* @param objectId The object Id to use when communication with
* the HealthTable
*/
HealthHelper(HasHealthIF* owner, object_id_t objectId);
@ -56,8 +57,9 @@ public:
*
* @param message
* @return
* -@c RETURN_OK if the message was handled
* -@c RETURN_FAILED if the message could not be handled (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
* -@c RETURN_OK if the message was handled
* -@c RETURN_FAILED if the message could not be handled
* (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
*/
ReturnValue_t handleHealthCommand(CommandMessage *message);
@ -78,16 +80,19 @@ public:
HasHealthIF::HealthState getHealth();
/**
* @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
* @param parentQueue The queue ID of the parent object.
* Set to 0 if no parent present
*/
void setParentQueue(MessageQueueId_t parentQueue);
/**
*
* @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
* @param parentQueue The queue ID of the parent object.
* Set to 0 if no parent present
* @return
* -@c RETURN_OK if the Health Table was found and the object could be registered
* -@c RETURN_FAILED else
* -@c RETURN_OK if the Health Table was found and the object
* could be registered
* -@c RETURN_FAILED else
*/
ReturnValue_t initialize(MessageQueueId_t parentQueue );
@ -110,11 +115,15 @@ private:
HasHealthIF* owner;
/**
* if the #parentQueue is not NULL, a @c HEALTH_INFO message will be sent to this queue
* @param health the health is passed as parameter so that the number of calls to the health table can be minimized
* if the #parentQueue is not NULL, a @c HEALTH_INFO message
* will be sent to this queue
* @param health
* The health is passed as parameter so that the number of
* calls to the health table can be minimized
* @param oldHealth information of the previous health state.
*/
void informParent(HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth);
void informParent(HasHealthIF::HealthState health,
HasHealthIF::HealthState oldHealth);
void handleSetHealthCommand(CommandMessage *message);
};

6
health/HealthMessage.cpp
View File

@ -7,11 +7,13 @@ void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command,
message->setParameter2(oldHealth);
}
void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command) {
void HealthMessage::setHealthMessage(CommandMessage* message,
Command_t command) {
message->setCommand(command);
}
HasHealthIF::HealthState HealthMessage::getHealth(const CommandMessage* message) {
HasHealthIF::HealthState HealthMessage::getHealth(
const CommandMessage* message) {
return (HasHealthIF::HealthState) message->getParameter();
}

20
health/HealthMessage.h
View File

@ -1,5 +1,5 @@
#ifndef HEALTHMESSAGE_H_
#define HEALTHMESSAGE_H_
#ifndef FSFW_HEALTH_HEALTHMESSAGE_H_
#define FSFW_HEALTH_HEALTHMESSAGE_H_
#include "HasHealthIF.h"
#include "../ipc/CommandMessage.h"
@ -7,14 +7,20 @@
class HealthMessage {
public:
static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3); //NO REPLY!
static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);
// No reply expected, health will be announced as event!
static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(2);
// Same as before, but all objects in health table will
// announce their health as events.
static const Command_t HEALTH_ANNOUNCE_ALL = MAKE_COMMAND_ID(3);
static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);
static const Command_t REPLY_HEALTH_SET = MAKE_COMMAND_ID(6);
static void setHealthMessage(CommandMessage *message, Command_t command,
HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
HasHealthIF::HealthState health,
HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
static void setHealthMessage(CommandMessage *message, Command_t command);
static HasHealthIF::HealthState getHealth(const CommandMessage *message);
@ -27,4 +33,4 @@ private:
HealthMessage();
};
#endif /* HEALTHMESSAGE_H_ */
#endif /* FSFW_HEALTH_HEALTHMESSAGE_H_ */

64
health/HealthTable.cpp
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@ -1,6 +1,7 @@
#include "HealthTable.h"
#include "../serialize/SerializeAdapter.h"
#include "../ipc/MutexHelper.h"
#include "../ipc/MutexFactory.h"
#include "../serialize/SerializeAdapter.h"
HealthTable::HealthTable(object_id_t objectid) :
SystemObject(objectid) {
@ -9,6 +10,12 @@ HealthTable::HealthTable(object_id_t objectid) :
mapIterator = healthMap.begin();
}
void HealthTable::setMutexTimeout(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;
}
HealthTable::~HealthTable() {
MutexFactory::instance()->deleteMutex(mutex);
}
@ -18,74 +25,63 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
if (healthMap.count(object) != 0) {
return HasReturnvaluesIF::RETURN_FAILED;
}
healthMap.insert(
std::pair<object_id_t, HasHealthIF::HealthState>(object,
initilialState));
healthMap.emplace(object, initilialState);
return HasReturnvaluesIF::RETURN_OK;
}
void HealthTable::setHealth(object_id_t object,
HasHealthIF::HealthState newState) {
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
iter->second = newState;
}
mutex->unlockMutex();
}
HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
state = iter->second;
}
mutex->unlockMutex();
return state;
}
uint32_t HealthTable::getPrintSize() {
mutex->lockMutex(MutexIF::BLOCKING);
uint32_t size = healthMap.size() * 5 + 2;
mutex->unlockMutex();
return size;
}
bool HealthTable::hasHealth(object_id_t object) {
bool exits = false;
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
exits = true;
return true;
}
mutex->unlockMutex();
return exits;
return false;
}
size_t HealthTable::getPrintSize() {
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
uint32_t size = healthMap.size() * sizeof(object_id_t) +
sizeof(HasHealthIF::HealthState) + sizeof(uint16_t);
return size;
}
void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
size_t size = 0;
uint16_t count = healthMap.size();
ReturnValue_t result = SerializeAdapter::serialize(&count,
SerializeAdapter::serialize(&count,
&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
HealthMap::iterator iter;
for (iter = healthMap.begin();
iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
++iter) {
result = SerializeAdapter::serialize(&iter->first,
for (const auto& health: healthMap) {
SerializeAdapter::serialize(&health.first,
&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
uint8_t health = iter->second;
result = SerializeAdapter::serialize(&health, &pointer, &size,
uint8_t healthValue = health.second;
SerializeAdapter::serialize(&healthValue, &pointer, &size,
maxSize, SerializeIF::Endianness::BIG);
}
mutex->unlockMutex();
}
ReturnValue_t HealthTable::iterate(
std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
if (reset) {
mapIterator = healthMap.begin();
}
@ -94,7 +90,5 @@ ReturnValue_t HealthTable::iterate(
}
*value = *mapIterator;
mapIterator++;
mutex->unlockMutex