Merge pull request 'Feature: Allowed Submodes Mask for Mode List Entry' (#130) from feature_allow_submodes_mode_list_entry into develop

Reviewed-on: #130
Reviewed-by: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2023-03-07 17:20:47 +01:00
commit 7f6ba5f40b
5 changed files with 156 additions and 81 deletions

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@ -21,6 +21,7 @@ SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(c
ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry> tableIter,
Submode_t targetSubmode) {
using namespace mode;
std::map<object_id_t, ChildInfo>::iterator childIter;
for (; tableIter.value != NULL; ++tableIter) {
@ -34,13 +35,21 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry
return returnvalue::FAILED;
}
Submode_t submodeToCheckAgainst = tableIter.value->getSubmode();
// Check submodes here.
uint8_t mask;
bool submodesAllowedMask = tableIter.value->submodesAllowed(&mask);
uint8_t submodeToCheckAgainst = tableIter.value->getSubmode();
if (tableIter.value->inheritSubmode()) {
submodeToCheckAgainst = targetSubmode;
}
if (childIter->second.submode != submodeToCheckAgainst) {
return returnvalue::FAILED;
if (submodesAllowedMask) {
if ((childIter->second.submode | mask) != mask) {
return returnvalue::FAILED;
}
} else {
if (childIter->second.submode != submodeToCheckAgainst) {
return returnvalue::FAILED;
}
}
}
return returnvalue::OK;

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@ -1,111 +1,126 @@
#ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
#define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
#include "../../modes/HasModesIF.h"
#include "../../objectmanager/SystemObjectIF.h"
#include "../../serialize/SerialLinkedListAdapter.h"
#include "../../serialize/SerializeIF.h"
#include "fsfw/modes/HasModesIF.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/serialize/SerialLinkedListAdapter.h"
#include "fsfw/serialize/SerializeIF.h"
class ModeListEntry : public SerializeIF, public LinkedElement<ModeListEntry> {
namespace mode {
enum SpecialSubmodeFlags : uint8_t { INHERIT = 1 << 0, ALLOWED_MASK = 1 << 1 };
}
class ModeListEntry : public SerialLinkedListAdapter<SerializeIF>,
public LinkedElement<ModeListEntry> {
public:
ModeListEntry() : LinkedElement<ModeListEntry>(this) {}
static constexpr uint8_t ALL_SUBMODES_ALLOWED_MASK = 0xff;
uint32_t value1 = 0;
uint32_t value2 = 0;
uint8_t value3 = 0;
uint8_t value4 = 0;
ModeListEntry() : SerialLinkedListAdapter(), LinkedElement<ModeListEntry>(this) { setLinks(); }
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const {
ReturnValue_t result;
SerializeElement<uint32_t> value1 = 0;
SerializeElement<uint32_t> value2 = 0;
SerializeElement<uint8_t> value3 = 0;
SerializeElement<uint8_t> value4 = 0;
SerializeElement<uint8_t> value5 = 0;
result = SerializeAdapter::serialize(&value1, buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&value2, buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&value3, buffer, size, maxSize, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&value4, buffer, size, maxSize, streamEndianness);
return result;
ModeListEntry(const ModeListEntry& other)
: SerialLinkedListAdapter(), LinkedElement<ModeListEntry>(this) {
value1.entry = other.value1.entry;
value2.entry = other.value2.entry;
value3.entry = other.value3.entry;
value4.entry = other.value4.entry;
value5.entry = other.value5.entry;
setLinks();
}
virtual size_t getSerializedSize() const {
return sizeof(value1) + sizeof(value2) + sizeof(value3) + sizeof(value4);
ModeListEntry& operator=(const ModeListEntry& other) {
this->value1.entry = other.value1.entry;
this->value2.entry = other.value2.entry;
this->value3.entry = other.value3.entry;
this->value4.entry = other.value4.entry;
this->value5.entry = other.value5.entry;
return *this;
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) {
ReturnValue_t result;
result = SerializeAdapter::deSerialize(&value1, buffer, size, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&value2, buffer, size, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&value3, buffer, size, streamEndianness);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&value4, buffer, size, streamEndianness);
return result;
void setLinks() {
setStart(&value1);
value1.setNext(&value2);
value2.setNext(&value3);
value3.setNext(&value4);
value4.setNext(&value5);
}
// for Sequences
Mode_t getTableId() const { return value1; }
Mode_t getTableId() const { return value1.entry; }
void setTableId(Mode_t tableId) { this->value1 = tableId; }
void setTableId(Mode_t tableId) { this->value1.entry = tableId; }
uint8_t getWaitSeconds() const { return value2; }
uint8_t getWaitSeconds() const { return value2.entry; }
void setWaitSeconds(uint8_t waitSeconds) { this->value2 = waitSeconds; }
void setWaitSeconds(uint8_t waitSeconds) { this->value2.entry = waitSeconds; }
bool checkSuccess() const { return value3 == 1; }
bool checkSuccess() const { return value3.entry == 1; }
void setCheckSuccess(bool checkSuccess) { this->value3 = checkSuccess; }
void setCheckSuccess(bool checkSuccess) { this->value3.entry = checkSuccess; }
// for Tables
object_id_t getObject() const { return value1; }
object_id_t getObject() const { return value1.entry; }
void setObject(object_id_t object) { this->value1 = object; }
void setObject(object_id_t object) { this->value1.entry = object; }
Mode_t getMode() const { return value2; }
Mode_t getMode() const { return value2.entry; }
void setMode(Mode_t mode) { this->value2 = mode; }
void setMode(Mode_t mode) { this->value2.entry = mode; }
Submode_t getSubmode() const { return value3; }
Submode_t getSubmode() const { return value3.entry; }
void setSubmode(Submode_t submode) { this->value3 = submode; }
void setSubmode(Submode_t submode) { this->value3.entry = submode; }
bool inheritSubmode() const { return value4 == 1; }
void setInheritSubmode(bool inherit) {
if (inherit) {
value4 = 1;
} else {
value4 = 0;
bool inheritSubmode() const {
return (value4.entry & mode::SpecialSubmodeFlags::INHERIT) ==
mode::SpecialSubmodeFlags::INHERIT;
}
bool submodesAllowed(uint8_t* mask) const {
bool submodesAllowed = (value4.entry & mode::SpecialSubmodeFlags::ALLOWED_MASK) ==
mode::SpecialSubmodeFlags::ALLOWED_MASK;
if (submodesAllowed and mask != nullptr) {
*mask = value5.entry;
}
return submodesAllowed;
}
bool operator==(ModeListEntry other) {
return ((value1 == other.value1) && (value2 == other.value2) && (value3 == other.value3));
/**
* Enable the inheritance of submodes. This is relevant for both the execution
* of mode tables and for mode checking.
*/
void enableInheritSubmode() { value4.entry |= mode::SpecialSubmodeFlags::INHERIT; }
/**
* Disable the inheritance of submodes. This is relevant for both the execution
* of mode tables and for mode checking.
*/
void disableInheritSubmode() { value4.entry &= ~mode::SpecialSubmodeFlags::INHERIT; }
/**
* Specialization of @enableSubmodeAllowed which allows all submodes.
*/
void allowAllSubmodes() { enableSubmodeAllowed(ALL_SUBMODES_ALLOWED_MASK); }
/**
* Enable an allowed submode mask for mode checks. Any submode which contains bits
* outside of the mask will be declined.
*
* For example, for a mask of 0b11, only the modes 0b00, 0b01 and 0b11 will be accepted.
*/
void enableSubmodeAllowed(uint8_t mask) {
value4.entry |= mode::SpecialSubmodeFlags::ALLOWED_MASK;
value5.entry = mask;
}
/**
* Enforce the equality of submodes for mode checks. This is the default.
*/
void disableSubmodeAllowed() {
value4.entry &= ~mode::SpecialSubmodeFlags::ALLOWED_MASK;
value5.entry = 0;
}
};

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@ -13,6 +13,7 @@ add_subdirectory(util)
add_subdirectory(container)
add_subdirectory(osal)
add_subdirectory(pus)
add_subdirectory(subsystem)
add_subdirectory(serialize)
add_subdirectory(datapoollocal)
add_subdirectory(storagemanager)

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@ -0,0 +1 @@
target_sources(${FSFW_TEST_TGT} PRIVATE testModeDef.cpp)

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@ -0,0 +1,49 @@
#include <array>
#include <catch2/catch_test_macros.hpp>
#include "fsfw/subsystem/modes/ModeDefinitions.h"
TEST_CASE("Mode Definitions", "[mode]") {
ModeListEntry entry;
SECTION("Basic") {
entry.setMode(HasModesIF::MODE_OFF);
entry.setSubmode(2);
CHECK(entry.getMode() == HasModesIF::MODE_OFF);
CHECK(entry.getSubmode() == 2);
uint8_t mask;
CHECK(entry.submodesAllowed(&mask) == false);
}
SECTION("Allowed submode mask") {
entry.allowAllSubmodes();
uint8_t mask;
CHECK(entry.submodesAllowed(&mask) == true);
CHECK(mask == 0xff);
}
SECTION("Serialization") {
std::array<uint8_t, 32> buf{};
entry.setObject(0x1f2f3f4f);
entry.setMode(HasModesIF::MODE_ON);
entry.setSubmode(2);
entry.enableInheritSubmode();
entry.enableSubmodeAllowed(0x1f);
uint8_t* serPtr = buf.data();
size_t serLen = 0;
REQUIRE(entry.serialize(&serPtr, &serLen, buf.size(), SerializeIF::Endianness::NETWORK) ==
returnvalue::OK);
CHECK(buf[0] == 0x1f);
CHECK(buf[1] == 0x2f);
CHECK(buf[2] == 0x3f);
CHECK(buf[3] == 0x4f);
CHECK(buf[4] == 0);
CHECK(buf[5] == 0);
CHECK(buf[6] == 0);
CHECK(buf[7] == HasModesIF::MODE_ON);
CHECK(buf[8] == 2);
CHECK(buf[9] == (mode::SpecialSubmodeFlags::ALLOWED_MASK | mode::SpecialSubmodeFlags::INHERIT));
CHECK(buf[10] == 0x1f);
}
}