Merge remote-tracking branch 'upstream/development' into mueller/update-from-upstream
This commit is contained in:
commit
8970a7379a
16
CHANGELOG.md
16
CHANGELOG.md
@ -8,7 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v5.0.0]
|
||||
# [v5.0.0] 25.07.2022
|
||||
|
||||
## Changes
|
||||
|
||||
@ -19,16 +19,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
|
||||
compiler supports it
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
|
||||
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
|
||||
and mode
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
|
||||
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
|
||||
name clashes with Windows defines.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
|
||||
- New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
|
||||
- HAL Devicehandlers: Periodic printout is run-time configurable now
|
||||
- `oneShotAction` flag in the `TestTask` class is not static anymore
|
||||
- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the
|
||||
Buffer and rejects such writeData calls with `HasReturnvaluesIF::RETURN_FAILED`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
|
||||
- Major update for version handling, using `git describe` to fetch version information with git.
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
|
||||
- Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
|
||||
@ -46,6 +43,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
creation call. It allows passing context information and an arbitrary user argument into
|
||||
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
|
||||
- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
|
||||
tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
|
||||
|
||||
### Task Module Refactoring
|
||||
|
||||
@ -120,6 +120,8 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
|
||||
|
||||
## Additions
|
||||
|
||||
- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
|
||||
This is also the new default constructor for scalar value with 0 as an initial value
|
||||
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
|
||||
whether it is running in CI/CD
|
||||
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
|
||||
|
||||
@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
|
||||
# Version file handling #
|
||||
# ##############################################################################
|
||||
|
||||
set(FSFW_VERSION_IF_GIT_FAILS 4)
|
||||
set(FSFW_VERSION_IF_GIT_FAILS 5)
|
||||
set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
|
||||
set(FSFW_REVISION_IF_GIT_FAILS 0)
|
||||
|
||||
@ -67,6 +67,7 @@ endif()
|
||||
set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
|
||||
|
||||
set(FSFW_ETL_LIB_NAME etl)
|
||||
set(FSFW_ETL_LINK_TARGET etl::etl)
|
||||
set(FSFW_ETL_LIB_MAJOR_VERSION
|
||||
20
|
||||
CACHE STRING "ETL library major version requirement")
|
||||
@ -103,11 +104,11 @@ if(FSFW_GENERATE_SECTIONS)
|
||||
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
|
||||
endif()
|
||||
|
||||
option(FSFW_BUILD_UNITTESTS
|
||||
"Build unittest binary in addition to static library" OFF)
|
||||
option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
|
||||
OFF)
|
||||
option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
|
||||
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
if(FSFW_BUILD_TESTS)
|
||||
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
|
||||
endif()
|
||||
|
||||
@ -139,7 +140,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
|
||||
TRUE)
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
if(FSFW_BUILD_TESTS)
|
||||
message(
|
||||
STATUS
|
||||
"${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
|
||||
@ -162,10 +163,9 @@ if(FSFW_BUILD_UNITTESTS)
|
||||
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
|
||||
endif()
|
||||
|
||||
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
|
||||
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
|
||||
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
|
||||
tests/TestsConfig.h)
|
||||
set(FSFW_CONFIG_PATH unittests/testcfg)
|
||||
configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
|
||||
configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
|
||||
|
||||
project(${FSFW_TEST_TGT} CXX C)
|
||||
add_executable(${FSFW_TEST_TGT})
|
||||
@ -284,16 +284,15 @@ message(
|
||||
)
|
||||
|
||||
add_subdirectory(src)
|
||||
add_subdirectory(tests)
|
||||
if(FSFW_ADD_HAL)
|
||||
add_subdirectory(hal)
|
||||
endif()
|
||||
add_subdirectory(contrib)
|
||||
if(FSFW_BUILD_TESTS)
|
||||
add_subdirectory(unittests)
|
||||
endif()
|
||||
if(FSFW_BUILD_DOCS)
|
||||
add_subdirectory(docs)
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
if(FSFW_BUILD_TESTS)
|
||||
if(FSFW_TESTS_GEN_COV)
|
||||
if(CMAKE_COMPILER_IS_GNUCXX)
|
||||
include(CodeCoverage)
|
||||
@ -450,8 +449,8 @@ target_include_directories(
|
||||
target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
|
||||
${COMPILER_FLAGS})
|
||||
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
|
||||
${FSFW_ADDITIONAL_LINK_LIBS})
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
|
||||
target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
|
||||
|
||||
string(
|
||||
CONCAT
|
||||
|
||||
@ -132,14 +132,14 @@ You can use the following commands inside the `fsfw` folder to set up the build
|
||||
|
||||
```sh
|
||||
mkdir build-tests && cd build-tests
|
||||
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
|
||||
cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
|
||||
```
|
||||
|
||||
You can also use `-DFSFW_OSAL=linux` on Linux systems.
|
||||
|
||||
Coverage data in HTML format can be generated using the `CodeCoverage`
|
||||
[CMake module](https://github.com/bilke/cmake-modules/tree/master).
|
||||
To build the unittests, run them and then generare the coverage data in this format,
|
||||
To build the unittests, run them and then generate the coverage data in this format,
|
||||
the following command can be used inside the build directory after the build system was set up
|
||||
|
||||
```sh
|
||||
@ -188,7 +188,10 @@ and open the documentation conveniently. Try `helper.py -h for more information.
|
||||
|
||||
The formatting is done by the `clang-format` tool. The configuration is contained within the
|
||||
`.clang-format` file in the repository root. As long as `clang-format` is installed, you
|
||||
can run the `apply-clang-format.sh` helper script to format all source files consistently.
|
||||
can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
|
||||
````sh
|
||||
sudo pip install cmakelang
|
||||
````
|
||||
|
||||
## Index
|
||||
|
||||
|
||||
@ -12,3 +12,9 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
|
||||
git checkout v3.0.0-preview5 && \
|
||||
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
|
||||
cmake --build build/ --target install
|
||||
|
||||
RUN git clone https://github.com/ETLCPP/etl.git && \
|
||||
cd etl && \
|
||||
git checkout 20.28.0 && \
|
||||
cmake -B build . && \
|
||||
cmake --install build/
|
||||
|
||||
4
automation/Jenkinsfile
vendored
4
automation/Jenkinsfile
vendored
@ -3,7 +3,7 @@ pipeline {
|
||||
BUILDDIR = 'build-tests'
|
||||
}
|
||||
agent {
|
||||
docker { image 'fsfw-ci:d2'}
|
||||
docker { image 'fsfw-ci:d3'}
|
||||
}
|
||||
stages {
|
||||
stage('Clean') {
|
||||
@ -14,7 +14,7 @@ pipeline {
|
||||
stage('Configure') {
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
|
||||
.. code-block:: console
|
||||
|
||||
mkdir build-tests && cd build-tests
|
||||
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
|
||||
cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
|
||||
|
||||
|
||||
You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
|
||||
|
||||
@ -1,48 +0,0 @@
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
# Can also be changed by upper CMakeLists.txt file
|
||||
find_library(LIB_FSFW_NAME fsfw REQUIRED)
|
||||
|
||||
option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
|
||||
# On by default for now because I did not have an issue including and compiling those files
|
||||
# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
|
||||
# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
|
||||
# but CMake is able to determine whether this library is installed with find_library.
|
||||
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
|
||||
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
|
||||
|
||||
option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
|
||||
option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
|
||||
option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
|
||||
set(LINUX_HAL_PATH_NAME linux)
|
||||
set(STM32H7_PATH_NAME stm32h7)
|
||||
|
||||
add_subdirectory(src)
|
||||
|
||||
foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
|
||||
if(IS_ABSOLUTE ${INCLUDE_PATH})
|
||||
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
|
||||
else()
|
||||
get_filename_component(CURR_ABS_INC_PATH
|
||||
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
|
||||
endif()
|
||||
|
||||
if(CMAKE_VERBOSE)
|
||||
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
|
||||
endif()
|
||||
|
||||
list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
|
||||
endforeach()
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_ADD_INC_PATHS_ABS}
|
||||
)
|
||||
|
||||
target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_DEFINES}
|
||||
)
|
||||
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_HAL_LINK_LIBS}
|
||||
)
|
||||
@ -1,9 +0,0 @@
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw_hal)
|
||||
@ -1,3 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GpioCookie.cpp
|
||||
)
|
||||
@ -1,5 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GyroL3GD20Handler.cpp
|
||||
MgmRM3100Handler.cpp
|
||||
MgmLIS3MDLHandler.cpp
|
||||
)
|
||||
@ -1,25 +0,0 @@
|
||||
if(FSFW_HAL_ADD_RASPBERRY_PI)
|
||||
add_subdirectory(rpi)
|
||||
endif()
|
||||
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
UnixFileGuard.cpp
|
||||
CommandExecutor.cpp
|
||||
utility.cpp
|
||||
)
|
||||
|
||||
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
|
||||
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
|
||||
add_subdirectory(gpio)
|
||||
endif()
|
||||
add_subdirectory(uart)
|
||||
# Adding those does not really make sense on Apple systems which
|
||||
# are generally host systems. It won't even compile as the headers
|
||||
# are missing
|
||||
if(NOT APPLE)
|
||||
add_subdirectory(i2c)
|
||||
add_subdirectory(spi)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
add_subdirectory(uio)
|
||||
@ -1,16 +0,0 @@
|
||||
# This abstraction layer requires the gpiod library. You can install this library
|
||||
# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
|
||||
# to install the package before syncing the sysroot to your host computer.
|
||||
find_library(LIB_GPIO gpiod)
|
||||
|
||||
if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
|
||||
message(STATUS "gpiod library not found, not linking against it")
|
||||
else()
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
LinuxLibgpioIF.cpp
|
||||
)
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${LIB_GPIO}
|
||||
)
|
||||
endif()
|
||||
|
||||
@ -1,8 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC
|
||||
I2cComIF.cpp
|
||||
I2cCookie.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,3 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GpioRPi.cpp
|
||||
)
|
||||
@ -1,8 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC
|
||||
SpiComIF.cpp
|
||||
SpiCookie.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,4 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC
|
||||
UartComIF.cpp
|
||||
UartCookie.cpp
|
||||
)
|
||||
@ -1,3 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC
|
||||
UioMapper.cpp
|
||||
)
|
||||
@ -1,3 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GyroL3GD20H.cpp
|
||||
)
|
||||
@ -1,3 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
gpio.cpp
|
||||
)
|
||||
@ -1,2 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
)
|
||||
@ -1,9 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
spiCore.cpp
|
||||
spiDefinitions.cpp
|
||||
spiInterrupts.cpp
|
||||
mspInit.cpp
|
||||
SpiCookie.cpp
|
||||
SpiComIF.cpp
|
||||
stm32h743zi.cpp
|
||||
)
|
||||
@ -1,2 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
)
|
||||
@ -5,8 +5,7 @@ fi
|
||||
|
||||
folder_list=(
|
||||
"./src"
|
||||
"./hal"
|
||||
"./tests"
|
||||
"./unittests"
|
||||
)
|
||||
|
||||
cmake_fmt="cmake-format"
|
||||
|
||||
@ -48,6 +48,20 @@ def main():
|
||||
action="store_true",
|
||||
help="Run valgrind on generated test binary",
|
||||
)
|
||||
parser.add_argument(
|
||||
"-g",
|
||||
"--generators",
|
||||
default = "Ninja",
|
||||
action="store",
|
||||
help="CMake generators",
|
||||
)
|
||||
parser.add_argument(
|
||||
"-w",
|
||||
"--windows",
|
||||
default=False,
|
||||
action="store_true",
|
||||
help="Run on windows",
|
||||
)
|
||||
|
||||
args = parser.parse_args()
|
||||
if args.all:
|
||||
@ -115,14 +129,14 @@ def handle_tests_type(args, build_dir_list: list):
|
||||
if args.create:
|
||||
if os.path.exists(UNITTEST_FOLDER_NAME):
|
||||
shutil.rmtree(UNITTEST_FOLDER_NAME)
|
||||
create_tests_build_cfg()
|
||||
create_tests_build_cfg(args)
|
||||
build_directory = UNITTEST_FOLDER_NAME
|
||||
elif len(build_dir_list) == 0:
|
||||
print(
|
||||
"No valid CMake tests build directory found. "
|
||||
"Trying to set up test build system"
|
||||
)
|
||||
create_tests_build_cfg()
|
||||
create_tests_build_cfg(args)
|
||||
build_directory = UNITTEST_FOLDER_NAME
|
||||
elif len(build_dir_list) == 1:
|
||||
build_directory = build_dir_list[0]
|
||||
@ -147,10 +161,15 @@ def handle_tests_type(args, build_dir_list: list):
|
||||
os.chdir("..")
|
||||
|
||||
|
||||
def create_tests_build_cfg():
|
||||
def create_tests_build_cfg(args):
|
||||
os.mkdir(UNITTEST_FOLDER_NAME)
|
||||
os.chdir(UNITTEST_FOLDER_NAME)
|
||||
cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
|
||||
if args.windows:
|
||||
cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
|
||||
-DGCOVR_PATH="py -m gcovr" ..'
|
||||
else:
|
||||
cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
|
||||
cmd_runner(cmake_cmd)
|
||||
os.chdir("..")
|
||||
|
||||
|
||||
|
||||
@ -4,3 +4,8 @@ target_include_directories(${LIB_FSFW_NAME}
|
||||
INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
|
||||
add_subdirectory(fsfw)
|
||||
if(FSFW_ADD_HAL)
|
||||
add_subdirectory(fsfw_hal)
|
||||
endif()
|
||||
|
||||
add_subdirectory(fsfw_tests)
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
|
||||
: owner(setOwner), queueToUse(useThisQueue) {}
|
||||
|
||||
ActionHelper::~ActionHelper() {}
|
||||
ActionHelper::~ActionHelper() = default;
|
||||
|
||||
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
|
||||
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
|
||||
@ -59,7 +59,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
|
||||
|
||||
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
|
||||
store_address_t dataAddress) {
|
||||
const uint8_t* dataPtr = NULL;
|
||||
const uint8_t* dataPtr = nullptr;
|
||||
size_t size = 0;
|
||||
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
#ifndef FSFW_ACTION_ACTIONHELPER_H_
|
||||
#define FSFW_ACTION_ACTIONHELPER_H_
|
||||
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
#include "../serialize/SerializeIF.h"
|
||||
#include "ActionMessage.h"
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
#include "fsfw/serialize/SerializeIF.h"
|
||||
/**
|
||||
* @brief Action Helper is a helper class which handles action messages
|
||||
*
|
||||
|
||||
@ -2,9 +2,9 @@
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
#include "fsfw/storagemanager/StorageManagerIF.h"
|
||||
|
||||
ActionMessage::ActionMessage() {}
|
||||
ActionMessage::ActionMessage() = default;
|
||||
|
||||
ActionMessage::~ActionMessage() {}
|
||||
ActionMessage::~ActionMessage() = default;
|
||||
|
||||
void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
|
||||
store_address_t parameters) {
|
||||
@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
|
||||
switch (message->getCommand()) {
|
||||
case EXECUTE_ACTION:
|
||||
case DATA_REPLY: {
|
||||
StorageManagerIF* ipcStore =
|
||||
ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
|
||||
if (ipcStore != NULL) {
|
||||
auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
|
||||
if (ipcStore != nullptr) {
|
||||
ipcStore->deleteData(getStoreId(message));
|
||||
}
|
||||
break;
|
||||
|
||||
@ -2,14 +2,14 @@
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
|
||||
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
|
||||
: owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
|
||||
: owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}
|
||||
|
||||
CommandActionHelper::~CommandActionHelper() {}
|
||||
CommandActionHelper::~CommandActionHelper() = default;
|
||||
|
||||
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
|
||||
SerializeIF *data) {
|
||||
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
|
||||
if (receiver == NULL) {
|
||||
auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
|
||||
if (receiver == nullptr) {
|
||||
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
|
||||
}
|
||||
store_address_t storeId;
|
||||
@ -29,11 +29,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
|
||||
|
||||
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
|
||||
const uint8_t *data, uint32_t size) {
|
||||
// if (commandCount != 0) {
|
||||
// return CommandsFunctionsIF::ALREADY_COMMANDING;
|
||||
// }
|
||||
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
|
||||
if (receiver == NULL) {
|
||||
auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
|
||||
if (receiver == nullptr) {
|
||||
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
|
||||
}
|
||||
store_address_t storeId;
|
||||
@ -59,12 +56,12 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
|
||||
|
||||
ReturnValue_t CommandActionHelper::initialize() {
|
||||
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
|
||||
if (ipcStore == NULL) {
|
||||
if (ipcStore == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
queueToUse = owner->getCommandQueuePtr();
|
||||
if (queueToUse == NULL) {
|
||||
if (queueToUse == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -104,7 +101,7 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
|
||||
uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
|
||||
|
||||
void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
|
||||
const uint8_t *data = NULL;
|
||||
const uint8_t *data = nullptr;
|
||||
size_t size = 0;
|
||||
ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
||||
@ -14,14 +14,14 @@ class CommandActionHelper {
|
||||
friend class CommandsActionsIF;
|
||||
|
||||
public:
|
||||
CommandActionHelper(CommandsActionsIF* owner);
|
||||
explicit CommandActionHelper(CommandsActionsIF* owner);
|
||||
virtual ~CommandActionHelper();
|
||||
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
|
||||
const uint8_t* data = nullptr, uint32_t size = 0);
|
||||
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
|
||||
ReturnValue_t initialize();
|
||||
ReturnValue_t handleReply(CommandMessage* reply);
|
||||
uint8_t getCommandCount() const;
|
||||
[[nodiscard]] uint8_t getCommandCount() const;
|
||||
|
||||
private:
|
||||
CommandsActionsIF* owner;
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
|
||||
#define FSFW_ACTION_COMMANDSACTIONSIF_H_
|
||||
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "CommandActionHelper.h"
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
/**
|
||||
* Interface to separate commanding actions of other objects.
|
||||
@ -21,7 +21,7 @@ class CommandsActionsIF {
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
|
||||
static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
|
||||
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
|
||||
virtual ~CommandsActionsIF() {}
|
||||
virtual ~CommandsActionsIF() = default;
|
||||
virtual MessageQueueIF* getCommandQueuePtr() = 0;
|
||||
|
||||
protected:
|
||||
|
||||
@ -1,11 +1,11 @@
|
||||
#ifndef FSFW_ACTION_HASACTIONSIF_H_
|
||||
#define FSFW_ACTION_HASACTIONSIF_H_
|
||||
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "ActionHelper.h"
|
||||
#include "ActionMessage.h"
|
||||
#include "SimpleActionHelper.h"
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
/**
|
||||
* @brief
|
||||
@ -40,12 +40,12 @@ class HasActionsIF {
|
||||
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
|
||||
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
|
||||
static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
|
||||
virtual ~HasActionsIF() {}
|
||||
virtual ~HasActionsIF() = default;
|
||||
/**
|
||||
* Function to get the MessageQueueId_t of the implementing object
|
||||
* @return MessageQueueId_t of the object
|
||||
*/
|
||||
virtual MessageQueueId_t getCommandQueue() const = 0;
|
||||
[[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
|
||||
/**
|
||||
* Execute or initialize the execution of a certain function.
|
||||
* The ActionHelpers will execute this function and behave differently
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
|
||||
: ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
|
||||
|
||||
SimpleActionHelper::~SimpleActionHelper() {}
|
||||
SimpleActionHelper::~SimpleActionHelper() = default;
|
||||
|
||||
void SimpleActionHelper::step(ReturnValue_t result) {
|
||||
// STEP_OFFESET is subtracted to compensate for adding offset in base
|
||||
@ -38,7 +38,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
|
||||
ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
|
||||
queueToUse->sendMessage(commandedBy, &reply);
|
||||
}
|
||||
const uint8_t* dataPtr = NULL;
|
||||
const uint8_t* dataPtr = nullptr;
|
||||
size_t size = 0;
|
||||
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
||||
@ -11,15 +11,15 @@
|
||||
class SimpleActionHelper : public ActionHelper {
|
||||
public:
|
||||
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
|
||||
virtual ~SimpleActionHelper();
|
||||
~SimpleActionHelper() override;
|
||||
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
|
||||
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
|
||||
ReturnValue_t reportData(SerializeIF* data);
|
||||
|
||||
protected:
|
||||
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
|
||||
store_address_t dataAddress);
|
||||
virtual void resetHelper();
|
||||
store_address_t dataAddress) override;
|
||||
void resetHelper() override;
|
||||
|
||||
private:
|
||||
bool isExecuting;
|
||||
@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
|
||||
uint8_t stepCount = 0;
|
||||
};
|
||||
|
||||
#endif /* SIMPLEACTIONHELPER_H_ */
|
||||
#endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */
|
||||
|
||||
@ -2,6 +2,9 @@
|
||||
|
||||
#include <cstring>
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, size_t maxExcessBytes)
|
||||
: RingBufferBase<>(0, size, overwriteOld), maxExcessBytes(maxExcessBytes) {
|
||||
if (maxExcessBytes > size) {
|
||||
@ -48,6 +51,19 @@ void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
|
||||
}
|
||||
|
||||
ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, size_t amount) {
|
||||
if (data == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (amount > getMaxSize()) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SimpleRingBuffer::writeData: Amount of data too large" << std::endl;
|
||||
#else
|
||||
sif::printError("SimpleRingBuffer::writeData: Amount of data too large\n");
|
||||
#endif
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (availableWriteSpace() >= amount or overwriteOld) {
|
||||
size_t amountTillWrap = writeTillWrap();
|
||||
if (amountTillWrap >= amount) {
|
||||
|
||||
@ -28,7 +28,7 @@ ReturnValue_t ControllerBase::initialize() {
|
||||
|
||||
MessageQueueId_t parentQueue = 0;
|
||||
if (parentId != objects::NO_OBJECT) {
|
||||
SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
|
||||
auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
|
||||
if (parent == nullptr) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
@ -54,7 +54,7 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->
|
||||
|
||||
void ControllerBase::handleQueue() {
|
||||
CommandMessage command;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t result;
|
||||
for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
|
||||
result = commandQueue->receiveMessage(&command)) {
|
||||
result = modeHelper.handleModeCommand(&command);
|
||||
@ -75,20 +75,20 @@ void ControllerBase::handleQueue() {
|
||||
}
|
||||
}
|
||||
|
||||
void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
|
||||
void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
|
||||
changeHK(this->mode, this->submode, false);
|
||||
triggerEvent(CHANGING_MODE, mode, submode);
|
||||
this->mode = mode;
|
||||
this->submode = submode;
|
||||
mode = mode_;
|
||||
submode = submode_;
|
||||
modeHelper.modeChanged(mode, submode);
|
||||
modeChanged(mode, submode);
|
||||
announceMode(false);
|
||||
changeHK(this->mode, this->submode, true);
|
||||
}
|
||||
|
||||
void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
|
||||
*mode = this->mode;
|
||||
*submode = this->submode;
|
||||
void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
|
||||
*mode_ = this->mode;
|
||||
*submode_ = this->submode;
|
||||
}
|
||||
|
||||
void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
|
||||
@ -101,7 +101,7 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { return; }
|
||||
void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
|
||||
|
||||
ReturnValue_t ControllerBase::setHealth(HealthState health) {
|
||||
switch (health) {
|
||||
@ -117,6 +117,6 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
|
||||
HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); }
|
||||
void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
|
||||
|
||||
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {}
|
||||
void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
|
||||
|
||||
ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return HasReturnvaluesIF::RETURN_OK; }
|
||||
|
||||
@ -24,21 +24,21 @@ class ControllerBase : public HasModesIF,
|
||||
static const Mode_t MODE_NORMAL = 2;
|
||||
|
||||
ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
|
||||
virtual ~ControllerBase();
|
||||
~ControllerBase() override;
|
||||
|
||||
/** SystemObject override */
|
||||
virtual ReturnValue_t initialize() override;
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
virtual MessageQueueId_t getCommandQueue() const override;
|
||||
[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
|
||||
|
||||
/** HasHealthIF overrides */
|
||||
virtual ReturnValue_t setHealth(HealthState health) override;
|
||||
virtual HasHealthIF::HealthState getHealth() override;
|
||||
ReturnValue_t setHealth(HealthState health) override;
|
||||
HasHealthIF::HealthState getHealth() override;
|
||||
|
||||
/** ExecutableObjectIF overrides */
|
||||
virtual ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
virtual void setTaskIF(PeriodicTaskIF *task) override;
|
||||
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
void setTaskIF(PeriodicTaskIF *task) override;
|
||||
ReturnValue_t initializeAfterTaskCreation() override;
|
||||
|
||||
protected:
|
||||
/**
|
||||
@ -54,8 +54,8 @@ class ControllerBase : public HasModesIF,
|
||||
*/
|
||||
virtual void performControlOperation() = 0;
|
||||
|
||||
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode) override = 0;
|
||||
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode) override = 0;
|
||||
|
||||
const object_id_t parentId;
|
||||
|
||||
@ -80,10 +80,10 @@ class ControllerBase : public HasModesIF,
|
||||
|
||||
/** Mode helpers */
|
||||
virtual void modeChanged(Mode_t mode, Submode_t submode);
|
||||
virtual void startTransition(Mode_t mode, Submode_t submode) override;
|
||||
virtual void getMode(Mode_t *mode, Submode_t *submode) override;
|
||||
virtual void setToExternalControl() override;
|
||||
virtual void announceMode(bool recursive);
|
||||
void startTransition(Mode_t mode, Submode_t submode) override;
|
||||
void getMode(Mode_t *mode, Submode_t *submode) override;
|
||||
void setToExternalControl() override;
|
||||
void announceMode(bool recursive) override;
|
||||
/** HK helpers */
|
||||
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
|
||||
};
|
||||
|
||||
@ -6,7 +6,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
|
||||
poolManager(this, commandQueue),
|
||||
actionHelper(this, commandQueue) {}
|
||||
|
||||
ExtendedControllerBase::~ExtendedControllerBase() {}
|
||||
ExtendedControllerBase::~ExtendedControllerBase() = default;
|
||||
|
||||
ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy,
|
||||
@ -31,7 +31,7 @@ ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *messa
|
||||
|
||||
void ExtendedControllerBase::handleQueue() {
|
||||
CommandMessage command;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t result;
|
||||
for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
|
||||
result = commandQueue->receiveMessage(&command)) {
|
||||
result = actionHelper.handleActionMessage(&command);
|
||||
|
||||
@ -18,16 +18,16 @@ class ExtendedControllerBase : public ControllerBase,
|
||||
public HasLocalDataPoolIF {
|
||||
public:
|
||||
ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
|
||||
virtual ~ExtendedControllerBase();
|
||||
~ExtendedControllerBase() override;
|
||||
|
||||
/* SystemObjectIF overrides */
|
||||
virtual ReturnValue_t initialize() override;
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
virtual MessageQueueId_t getCommandQueue() const override;
|
||||
[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
|
||||
|
||||
/* ExecutableObjectIF overrides */
|
||||
virtual ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
ReturnValue_t initializeAfterTaskCreation() override;
|
||||
|
||||
protected:
|
||||
LocalDataPoolManager poolManager;
|
||||
@ -39,32 +39,32 @@ class ExtendedControllerBase : public ControllerBase,
|
||||
* @param message
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0;
|
||||
ReturnValue_t handleCommandMessage(CommandMessage* message) override = 0;
|
||||
|
||||
/**
|
||||
* Periodic helper from ControllerBase, implemented by child class.
|
||||
*/
|
||||
virtual void performControlOperation() = 0;
|
||||
void performControlOperation() override = 0;
|
||||
|
||||
/* Handle the four messages mentioned above */
|
||||
void handleQueue() override;
|
||||
|
||||
/* HasActionsIF overrides */
|
||||
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) override;
|
||||
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) override;
|
||||
|
||||
/* HasLocalDatapoolIF overrides */
|
||||
virtual LocalDataPoolManager* getHkManagerHandle() override;
|
||||
virtual object_id_t getObjectId() const override;
|
||||
virtual uint32_t getPeriodicOperationFrequency() const override;
|
||||
LocalDataPoolManager* getHkManagerHandle() override;
|
||||
[[nodiscard]] object_id_t getObjectId() const override;
|
||||
[[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
|
||||
|
||||
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override = 0;
|
||||
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override = 0;
|
||||
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
|
||||
|
||||
// Mode abstract functions
|
||||
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t* msToReachTheMode) override = 0;
|
||||
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t* msToReachTheMode) override = 0;
|
||||
};
|
||||
|
||||
#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */
|
||||
|
||||
@ -700,7 +700,8 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
/* Configuration error */
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
|
||||
sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed."
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
|
||||
#endif
|
||||
|
||||
@ -63,7 +63,9 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId
|
||||
}
|
||||
|
||||
DeviceHandlerBase::~DeviceHandlerBase() {
|
||||
delete comCookie;
|
||||
if (comCookie != nullptr) {
|
||||
delete comCookie;
|
||||
}
|
||||
if (defaultFDIRUsed) {
|
||||
delete fdirInstance;
|
||||
}
|
||||
@ -247,15 +249,14 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
|
||||
for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
|
||||
if (replyPair.second.countdown != nullptr && replyPair.second.active) {
|
||||
if (replyPair.second.countdown->hasTimedOut()) {
|
||||
resetTimeoutControlledReply(&replyPair.second);
|
||||
timedOut = true;
|
||||
}
|
||||
}
|
||||
if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
|
||||
replyPair.second.delayCycles--;
|
||||
if (replyPair.second.delayCycles == 0) {
|
||||
if (replyPair.second.periodic) {
|
||||
replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
|
||||
}
|
||||
resetDelayCyclesControlledReply(&replyPair.second);
|
||||
timedOut = true;
|
||||
}
|
||||
}
|
||||
@ -263,7 +264,6 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
|
||||
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
|
||||
missedReply(replyPair.first);
|
||||
timedOut = false;
|
||||
replyPair.second.active = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -377,8 +377,6 @@ void DeviceHandlerBase::doStateMachine() {
|
||||
setMode(MODE_OFF);
|
||||
break;
|
||||
}
|
||||
uint32_t currentUptime;
|
||||
Clock::getUptime(¤tUptime);
|
||||
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
|
||||
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
|
||||
setMode(MODE_ERROR_ON);
|
||||
@ -451,9 +449,6 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
|
||||
info.dataSet = dataSet;
|
||||
info.command = deviceCommandMap.end();
|
||||
info.countdown = countdown;
|
||||
if (info.periodic) {
|
||||
info.active = true;
|
||||
}
|
||||
auto resultPair = deviceReplyMap.emplace(replyId, info);
|
||||
if (resultPair.second) {
|
||||
return RETURN_OK;
|
||||
@ -526,9 +521,19 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
|
||||
return COMMAND_NOT_SUPPORTED;
|
||||
}
|
||||
if (enable) {
|
||||
info->delayCycles = info->maxDelayCycles;
|
||||
info->active = true;
|
||||
if (info->countdown != nullptr) {
|
||||
info->delayCycles = info->maxDelayCycles;
|
||||
} else {
|
||||
info->countdown->resetTimer();
|
||||
}
|
||||
} else {
|
||||
info->delayCycles = 0;
|
||||
info->active = false;
|
||||
if (info->countdown != nullptr) {
|
||||
info->delayCycles = 0;
|
||||
} else {
|
||||
info->countdown->timeOut();
|
||||
}
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -846,9 +851,9 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
|
||||
}
|
||||
|
||||
if (info->active && info->countdown != nullptr) {
|
||||
disableTimeoutControlledReply(info);
|
||||
resetTimeoutControlledReply(info);
|
||||
} else if (info->delayCycles != 0) {
|
||||
disableDelayCyclesControlledReply(info);
|
||||
resetDelayCyclesControlledReply(info);
|
||||
}
|
||||
|
||||
if (result != RETURN_OK) {
|
||||
@ -867,7 +872,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
|
||||
}
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
|
||||
void DeviceHandlerBase::resetTimeoutControlledReply(DeviceReplyInfo* info) {
|
||||
if (info->periodic) {
|
||||
info->countdown->resetTimer();
|
||||
} else {
|
||||
@ -876,7 +881,7 @@ void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
|
||||
}
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) {
|
||||
void DeviceHandlerBase::resetDelayCyclesControlledReply(DeviceReplyInfo* info) {
|
||||
if (info->periodic) {
|
||||
info->delayCycles = info->maxDelayCycles;
|
||||
} else {
|
||||
@ -1007,6 +1012,8 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
|
||||
}
|
||||
if (iter != deviceReplyMap.end()) {
|
||||
DeviceReplyInfo* info = &(iter->second);
|
||||
// If a countdown has been set, the delay cycles will be ignored and the reply times out
|
||||
// as soon as the countdown has expired
|
||||
info->delayCycles = info->maxDelayCycles;
|
||||
info->command = command;
|
||||
command->second.expectedReplies = expectedReplies;
|
||||
@ -1405,7 +1412,12 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
|
||||
if (iter == deviceReplyMap.end()) {
|
||||
return 0;
|
||||
} else if (iter->second.countdown != nullptr) {
|
||||
return 0;
|
||||
// fake a useful return value for legacy code
|
||||
if (iter->second.active) {
|
||||
return 1;
|
||||
} else {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
return iter->second.delayCycles;
|
||||
}
|
||||
|
||||
@ -469,12 +469,21 @@ class DeviceHandlerBase : public DeviceHandlerIF,
|
||||
* @param maxDelayCycles The maximum number of delay cycles the reply waits
|
||||
* until it times out.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent
|
||||
<<<<<<< HEAD
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0).
|
||||
* Please note that periodic replies are disabled by default. You can enable them with
|
||||
* #updatePeriodicReply
|
||||
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
|
||||
* to provide a pointer to a Countdown object which will signal the timeout
|
||||
* when expired
|
||||
=======
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0).
|
||||
* Please note that periodic replies are disabled by default. You can enable them with
|
||||
* #updatePeriodicReply
|
||||
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
|
||||
* to provide a pointer to a Countdown object which will signal the timeout
|
||||
* when expired
|
||||
>>>>>>> upstream/development
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
*/
|
||||
@ -1274,15 +1283,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
|
||||
void doGetRead(void);
|
||||
|
||||
/**
|
||||
* @brief Handles disabling of replies which use a timeout to detect missed replies.
|
||||
* @brief Resets replies which use a timeout to detect missed replies.
|
||||
*/
|
||||
void disableTimeoutControlledReply(DeviceReplyInfo *info);
|
||||
void resetTimeoutControlledReply(DeviceReplyInfo *info);
|
||||
|
||||
/**
|
||||
* @brief Handles disabling of replies which use a number of maximum delay cycles to detect
|
||||
* @brief Resets replies which use a number of maximum delay cycles to detect
|
||||
* missed replies.
|
||||
*/
|
||||
void disableDelayCyclesControlledReply(DeviceReplyInfo *info);
|
||||
void resetDelayCyclesControlledReply(DeviceReplyInfo *info);
|
||||
|
||||
/**
|
||||
* Retrive data from the #IPCStore.
|
||||
|
||||
@ -100,6 +100,11 @@ ReturnValue_t EventManager::subscribeToEventRange(MessageQueueId_t listener, Eve
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t EventManager::unsubscribeFromAllEvents(MessageQueueId_t listener,
|
||||
object_id_t object) {
|
||||
return unsubscribeFromEventRange(listener, 0, 0, true, object);
|
||||
}
|
||||
|
||||
ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom,
|
||||
EventId_t idTo, bool idInverted,
|
||||
object_id_t reporterFrom,
|
||||
|
||||
@ -37,6 +37,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
|
||||
EventId_t idTo = 0, bool idInverted = false,
|
||||
object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
|
||||
bool reporterInverted = false);
|
||||
ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
|
||||
ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
|
||||
EventId_t idTo = 0, bool idInverted = false,
|
||||
object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
|
||||
|
||||
@ -20,6 +20,7 @@ class EventManagerIF {
|
||||
bool forwardAllButSelected = false) = 0;
|
||||
virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
|
||||
virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
|
||||
virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;
|
||||
virtual ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
|
||||
EventId_t idTo = 0, bool idInverted = false,
|
||||
object_id_t reporterFrom = 0,
|
||||
|
||||
@ -15,6 +15,16 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
|
||||
}
|
||||
|
||||
FailureIsolationBase::~FailureIsolationBase() {
|
||||
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
|
||||
if (manager == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "FailureIsolationBase::~FailureIsolationBase: Event Manager has not"
|
||||
" been initialized!"
|
||||
<< std::endl;
|
||||
#endif
|
||||
return;
|
||||
}
|
||||
manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
|
||||
QueueFactory::instance()->deleteMessageQueue(eventQueue);
|
||||
}
|
||||
|
||||
|
||||
@ -60,14 +60,14 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
|
||||
return INVALID_DOMAIN_ID;
|
||||
}
|
||||
|
||||
switch (uniqueId) {
|
||||
case 0:
|
||||
switch (static_cast<ParameterIds>(uniqueId)) {
|
||||
case ParameterIds::FAILURE_THRESHOLD:
|
||||
parameterWrapper->set(failureThreshold);
|
||||
break;
|
||||
case 1:
|
||||
case ParameterIds::FAULT_COUNT:
|
||||
parameterWrapper->set(faultCount);
|
||||
break;
|
||||
case 2:
|
||||
case ParameterIds::TIMEOUT:
|
||||
parameterWrapper->set(timer.timeout);
|
||||
break;
|
||||
default:
|
||||
|
||||
@ -6,6 +6,8 @@
|
||||
|
||||
class FaultCounter : public HasParametersIF {
|
||||
public:
|
||||
enum class ParameterIds { FAILURE_THRESHOLD, FAULT_COUNT, TIMEOUT };
|
||||
|
||||
FaultCounter();
|
||||
FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
|
||||
uint8_t setParameterDomain = 0);
|
||||
@ -25,7 +27,8 @@ class FaultCounter : public HasParametersIF {
|
||||
|
||||
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
|
||||
ParameterWrapper *parameterWrapper,
|
||||
const ParameterWrapper *newValues, uint16_t startAtIndex);
|
||||
const ParameterWrapper *newValues = nullptr,
|
||||
uint16_t startAtIndex = 0);
|
||||
|
||||
void setParameterDomain(uint8_t domain);
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
|
||||
: objectId(objectId), owner(owner) {}
|
||||
|
||||
HealthHelper::~HealthHelper() {}
|
||||
HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
|
||||
|
||||
ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
|
||||
switch (message->getCommand()) {
|
||||
|
||||
@ -27,6 +27,15 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t HealthTable::removeObject(object_id_t object) {
|
||||
mapIterator = healthMap.find(object);
|
||||
if (mapIterator == healthMap.end()) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
healthMap.erase(mapIterator);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) {
|
||||
MutexGuard(mutex, timeoutType, mutexTimeoutMs);
|
||||
HealthMap::iterator iter = healthMap.find(object);
|
||||
|
||||
@ -17,6 +17,7 @@ class HealthTable : public HealthTableIF, public SystemObject {
|
||||
/** HealthTableIF overrides */
|
||||
virtual ReturnValue_t registerObject(
|
||||
object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override;
|
||||
ReturnValue_t removeObject(object_id_t object) override;
|
||||
virtual size_t getPrintSize() override;
|
||||
virtual void printAll(uint8_t* pointer, size_t maxSize) override;
|
||||
|
||||
|
||||
@ -14,6 +14,8 @@ class HealthTableIF : public ManagesHealthIF {
|
||||
virtual ReturnValue_t registerObject(
|
||||
object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
|
||||
|
||||
virtual ReturnValue_t removeObject(object_id_t objectId) = 0;
|
||||
|
||||
virtual size_t getPrintSize() = 0;
|
||||
virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
|
||||
|
||||
|
||||
@ -54,7 +54,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
|
||||
// If the deadline was missed, the deadlineMissedFunc is called.
|
||||
if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
|
||||
// No time left on timer -> we missed the deadline
|
||||
if(dlmFunc != nullptr){
|
||||
if (dlmFunc != nullptr) {
|
||||
dlmFunc();
|
||||
}
|
||||
}
|
||||
|
||||
@ -290,9 +290,9 @@ ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes, uint32_t messag
|
||||
*/
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg
|
||||
<< " is too small for requested size " << messageDepth << std::endl;
|
||||
<< " is too small for requested message depth " << messageDepth << std::endl;
|
||||
sif::error << "This error can be fixed by setting the maximum "
|
||||
"allowed message size higher!"
|
||||
"allowed message depth higher"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printError(
|
||||
|
||||
@ -2,9 +2,9 @@ add_subdirectory(devicehandlers)
|
||||
add_subdirectory(common)
|
||||
|
||||
if(UNIX)
|
||||
add_subdirectory(linux)
|
||||
add_subdirectory(linux)
|
||||
endif()
|
||||
|
||||
if(FSFW_HAL_ADD_STM32H7)
|
||||
add_subdirectory(stm32h7)
|
||||
add_subdirectory(stm32h7)
|
||||
endif()
|
||||
1
src/fsfw_hal/common/gpio/CMakeLists.txt
Normal file
1
src/fsfw_hal/common/gpio/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE GpioCookie.cpp)
|
||||
3
src/fsfw_hal/devicehandlers/CMakeLists.txt
Normal file
3
src/fsfw_hal/devicehandlers/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
target_sources(
|
||||
${LIB_FSFW_NAME} PRIVATE GyroL3GD20Handler.cpp MgmRM3100Handler.cpp
|
||||
MgmLIS3MDLHandler.cpp)
|
||||
21
src/fsfw_hal/linux/CMakeLists.txt
Normal file
21
src/fsfw_hal/linux/CMakeLists.txt
Normal file
@ -0,0 +1,21 @@
|
||||
if(FSFW_HAL_ADD_RASPBERRY_PI)
|
||||
add_subdirectory(rpi)
|
||||
endif()
|
||||
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp
|
||||
utility.cpp)
|
||||
|
||||
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
|
||||
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
|
||||
add_subdirectory(gpio)
|
||||
endif()
|
||||
add_subdirectory(uart)
|
||||
# Adding those does not really make sense on Apple systems which are generally
|
||||
# host systems. It won't even compile as the headers are missing
|
||||
if(NOT APPLE)
|
||||
add_subdirectory(i2c)
|
||||
add_subdirectory(spi)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
add_subdirectory(uio)
|
||||
12
src/fsfw_hal/linux/gpio/CMakeLists.txt
Normal file
12
src/fsfw_hal/linux/gpio/CMakeLists.txt
Normal file
@ -0,0 +1,12 @@
|
||||
# This abstraction layer requires the gpiod library. You can install this
|
||||
# library with "sudo apt-get install -y libgpiod-dev". If you are
|
||||
# cross-compiling, you need to install the package before syncing the sysroot to
|
||||
# your host computer.
|
||||
find_library(LIB_GPIO gpiod)
|
||||
|
||||
if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
|
||||
message(STATUS "gpiod library not found, not linking against it")
|
||||
else()
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE LinuxLibgpioIF.cpp)
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_GPIO})
|
||||
endif()
|
||||
1
src/fsfw_hal/linux/i2c/CMakeLists.txt
Normal file
1
src/fsfw_hal/linux/i2c/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC I2cComIF.cpp I2cCookie.cpp)
|
||||
1
src/fsfw_hal/linux/rpi/CMakeLists.txt
Normal file
1
src/fsfw_hal/linux/rpi/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE GpioRPi.cpp)
|
||||
1
src/fsfw_hal/linux/spi/CMakeLists.txt
Normal file
1
src/fsfw_hal/linux/spi/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC SpiComIF.cpp SpiCookie.cpp)
|
||||
1
src/fsfw_hal/linux/uart/CMakeLists.txt
Normal file
1
src/fsfw_hal/linux/uart/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp)
|
||||
Some files were not shown because too many files have changed in this diff Show More
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Reference in New Issue
Block a user