Merge remote-tracking branch 'upstream/development' into mueller/update-from-upstream

This commit is contained in:
Robin Müller 2022-08-12 12:21:50 +02:00
commit 8970a7379a
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291 changed files with 892 additions and 408 deletions

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@ -8,7 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased] # [unreleased]
# [v5.0.0] # [v5.0.0] 25.07.2022
## Changes ## 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 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
compiler supports it compiler supports it
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622 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. - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Devicehandlers: Periodic printout is run-time configurable now - HAL Devicehandlers: Periodic printout is run-time configurable now
- `oneShotAction` flag in the `TestTask` class is not static anymore - `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. - 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 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
- Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules) - 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 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 the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583 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 ### Task Module Refactoring
@ -120,6 +120,8 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
## Additions ## 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 - Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
whether it is running in CI/CD whether it is running in CI/CD
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623

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@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
# Version file handling # # 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_SUBVERSION_IF_GIT_FAILS 0)
set(FSFW_REVISION_IF_GIT_FAILS 0) set(FSFW_REVISION_IF_GIT_FAILS 0)
@ -67,6 +67,7 @@ endif()
set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw") set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
set(FSFW_ETL_LIB_NAME etl) set(FSFW_ETL_LIB_NAME etl)
set(FSFW_ETL_LINK_TARGET etl::etl)
set(FSFW_ETL_LIB_MAJOR_VERSION set(FSFW_ETL_LIB_MAJOR_VERSION
20 20
CACHE STRING "ETL library major version requirement") CACHE STRING "ETL library major version requirement")
@ -103,11 +104,11 @@ if(FSFW_GENERATE_SECTIONS)
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON) option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
endif() endif()
option(FSFW_BUILD_UNITTESTS option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
"Build unittest binary in addition to static library" OFF) OFF)
option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" 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) 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) option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
endif() endif()
@ -139,7 +140,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
TRUE) TRUE)
endif() endif()
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_TESTS)
message( message(
STATUS STATUS
"${MSG_PREFIX} Building the FSFW unittests in addition to the static library" "${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) list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif() endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) set(FSFW_CONFIG_PATH unittests/testcfg)
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h) configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
tests/TestsConfig.h)
project(${FSFW_TEST_TGT} CXX C) project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT}) add_executable(${FSFW_TEST_TGT})
@ -284,16 +284,15 @@ message(
) )
add_subdirectory(src) add_subdirectory(src)
add_subdirectory(tests)
if(FSFW_ADD_HAL)
add_subdirectory(hal)
endif()
add_subdirectory(contrib) add_subdirectory(contrib)
if(FSFW_BUILD_TESTS)
add_subdirectory(unittests)
endif()
if(FSFW_BUILD_DOCS) if(FSFW_BUILD_DOCS)
add_subdirectory(docs) add_subdirectory(docs)
endif() endif()
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_TESTS)
if(FSFW_TESTS_GEN_COV) if(FSFW_TESTS_GEN_COV)
if(CMAKE_COMPILER_IS_GNUCXX) if(CMAKE_COMPILER_IS_GNUCXX)
include(CodeCoverage) include(CodeCoverage)
@ -450,8 +449,8 @@ target_include_directories(
target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS} target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
${COMPILER_FLAGS}) ${COMPILER_FLAGS})
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET} target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
${FSFW_ADDITIONAL_LINK_LIBS}) target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
string( string(
CONCAT CONCAT

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@ -132,14 +132,14 @@ You can use the following commands inside the `fsfw` folder to set up the build
```sh ```sh
mkdir build-tests && cd build-tests 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. You can also use `-DFSFW_OSAL=linux` on Linux systems.
Coverage data in HTML format can be generated using the `CodeCoverage` Coverage data in HTML format can be generated using the `CodeCoverage`
[CMake module](https://github.com/bilke/cmake-modules/tree/master). [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 the following command can be used inside the build directory after the build system was set up
```sh ```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 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 `.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 ## Index

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@ -12,3 +12,9 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
git checkout v3.0.0-preview5 && \ git checkout v3.0.0-preview5 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \ cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install 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/

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@ -3,7 +3,7 @@ pipeline {
BUILDDIR = 'build-tests' BUILDDIR = 'build-tests'
} }
agent { agent {
docker { image 'fsfw-ci:d2'} docker { image 'fsfw-ci:d3'}
} }
stages { stages {
stage('Clean') { stage('Clean') {
@ -14,7 +14,7 @@ pipeline {
stage('Configure') { stage('Configure') {
steps { steps {
dir(BUILDDIR) { 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 ..'
} }
} }
} }

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@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
.. code-block:: console .. code-block:: console
mkdir build-tests && cd build-tests 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. You can also use ``-DFSFW_OSAL=linux`` on Linux systems.

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@ -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}
)

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@ -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)

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@ -1,3 +0,0 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
GpioCookie.cpp
)

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@ -1,5 +0,0 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
GyroL3GD20Handler.cpp
MgmRM3100Handler.cpp
MgmLIS3MDLHandler.cpp
)

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@ -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)

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@ -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()

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@ -1,8 +0,0 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
I2cComIF.cpp
I2cCookie.cpp
)

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@ -1,3 +0,0 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
GpioRPi.cpp
)

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@ -1,8 +0,0 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
SpiComIF.cpp
SpiCookie.cpp
)

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@ -1,4 +0,0 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
UartComIF.cpp
UartCookie.cpp
)

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@ -1,3 +0,0 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
UioMapper.cpp
)

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@ -1,3 +0,0 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
GyroL3GD20H.cpp
)

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@ -1,3 +0,0 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
gpio.cpp
)

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@ -1,2 +0,0 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
)

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@ -1,9 +0,0 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
spiCore.cpp
spiDefinitions.cpp
spiInterrupts.cpp
mspInit.cpp
SpiCookie.cpp
SpiComIF.cpp
stm32h743zi.cpp
)

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@ -1,2 +0,0 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
)

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@ -5,8 +5,7 @@ fi
folder_list=( folder_list=(
"./src" "./src"
"./hal" "./unittests"
"./tests"
) )
cmake_fmt="cmake-format" cmake_fmt="cmake-format"

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@ -48,6 +48,20 @@ def main():
action="store_true", action="store_true",
help="Run valgrind on generated test binary", 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() args = parser.parse_args()
if args.all: if args.all:
@ -115,14 +129,14 @@ def handle_tests_type(args, build_dir_list: list):
if args.create: if args.create:
if os.path.exists(UNITTEST_FOLDER_NAME): if os.path.exists(UNITTEST_FOLDER_NAME):
shutil.rmtree(UNITTEST_FOLDER_NAME) shutil.rmtree(UNITTEST_FOLDER_NAME)
create_tests_build_cfg() create_tests_build_cfg(args)
build_directory = UNITTEST_FOLDER_NAME build_directory = UNITTEST_FOLDER_NAME
elif len(build_dir_list) == 0: elif len(build_dir_list) == 0:
print( print(
"No valid CMake tests build directory found. " "No valid CMake tests build directory found. "
"Trying to set up test build system" "Trying to set up test build system"
) )
create_tests_build_cfg() create_tests_build_cfg(args)
build_directory = UNITTEST_FOLDER_NAME build_directory = UNITTEST_FOLDER_NAME
elif len(build_dir_list) == 1: elif len(build_dir_list) == 1:
build_directory = build_dir_list[0] build_directory = build_dir_list[0]
@ -147,10 +161,15 @@ def handle_tests_type(args, build_dir_list: list):
os.chdir("..") os.chdir("..")
def create_tests_build_cfg(): def create_tests_build_cfg(args):
os.mkdir(UNITTEST_FOLDER_NAME) os.mkdir(UNITTEST_FOLDER_NAME)
os.chdir(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("..") os.chdir("..")

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@ -4,3 +4,8 @@ target_include_directories(${LIB_FSFW_NAME}
INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}) INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
add_subdirectory(fsfw) add_subdirectory(fsfw)
if(FSFW_ADD_HAL)
add_subdirectory(fsfw_hal)
endif()
add_subdirectory(fsfw_tests)

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@ -6,7 +6,7 @@
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
: owner(setOwner), queueToUse(useThisQueue) {} : owner(setOwner), queueToUse(useThisQueue) {}
ActionHelper::~ActionHelper() {} ActionHelper::~ActionHelper() = default;
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) { ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { 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, void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) { store_address_t dataAddress) {
const uint8_t* dataPtr = NULL; const uint8_t* dataPtr = nullptr;
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {

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@ -1,9 +1,9 @@
#ifndef FSFW_ACTION_ACTIONHELPER_H_ #ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_ #define FSFW_ACTION_ACTIONHELPER_H_
#include "../ipc/MessageQueueIF.h"
#include "../serialize/SerializeIF.h"
#include "ActionMessage.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 * @brief Action Helper is a helper class which handles action messages
* *

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@ -2,9 +2,9 @@
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/StorageManagerIF.h" #include "fsfw/storagemanager/StorageManagerIF.h"
ActionMessage::ActionMessage() {} ActionMessage::ActionMessage() = default;
ActionMessage::~ActionMessage() {} ActionMessage::~ActionMessage() = default;
void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid, void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters) { store_address_t parameters) {
@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
switch (message->getCommand()) { switch (message->getCommand()) {
case EXECUTE_ACTION: case EXECUTE_ACTION:
case DATA_REPLY: { case DATA_REPLY: {
StorageManagerIF* ipcStore = auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE); if (ipcStore != nullptr) {
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message)); ipcStore->deleteData(getStoreId(message));
} }
break; break;

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@ -2,14 +2,14 @@
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) 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, ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
SerializeIF *data) { SerializeIF *data) {
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo); auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) { if (receiver == nullptr) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
} }
store_address_t storeId; 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, ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
const uint8_t *data, uint32_t size) { const uint8_t *data, uint32_t size) {
// if (commandCount != 0) { auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
// return CommandsFunctionsIF::ALREADY_COMMANDING; if (receiver == nullptr) {
// }
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
} }
store_address_t storeId; store_address_t storeId;
@ -59,12 +56,12 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
ReturnValue_t CommandActionHelper::initialize() { ReturnValue_t CommandActionHelper::initialize() {
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE); ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == NULL) { if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
queueToUse = owner->getCommandQueuePtr(); queueToUse = owner->getCommandQueuePtr();
if (queueToUse == NULL) { if (queueToUse == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -104,7 +101,7 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
uint8_t CommandActionHelper::getCommandCount() const { return commandCount; } uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) { void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
const uint8_t *data = NULL; const uint8_t *data = nullptr;
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getData(storeId, &data, &size); ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {

View File

@ -14,14 +14,14 @@ class CommandActionHelper {
friend class CommandsActionsIF; friend class CommandsActionsIF;
public: public:
CommandActionHelper(CommandsActionsIF* owner); explicit CommandActionHelper(CommandsActionsIF* owner);
virtual ~CommandActionHelper(); virtual ~CommandActionHelper();
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
const uint8_t* data = nullptr, uint32_t size = 0); const uint8_t* data = nullptr, uint32_t size = 0);
ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data); ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
ReturnValue_t initialize(); ReturnValue_t initialize();
ReturnValue_t handleReply(CommandMessage* reply); ReturnValue_t handleReply(CommandMessage* reply);
uint8_t getCommandCount() const; [[nodiscard]] uint8_t getCommandCount() const;
private: private:
CommandsActionsIF* owner; CommandsActionsIF* owner;

View File

@ -1,9 +1,9 @@
#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_ #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
#define FSFW_ACTION_COMMANDSACTIONSIF_H_ #define FSFW_ACTION_COMMANDSACTIONSIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "CommandActionHelper.h" #include "CommandActionHelper.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/** /**
* Interface to separate commanding actions of other objects. * 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 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 OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
virtual ~CommandsActionsIF() {} virtual ~CommandsActionsIF() = default;
virtual MessageQueueIF* getCommandQueuePtr() = 0; virtual MessageQueueIF* getCommandQueuePtr() = 0;
protected: protected:

View File

@ -1,11 +1,11 @@
#ifndef FSFW_ACTION_HASACTIONSIF_H_ #ifndef FSFW_ACTION_HASACTIONSIF_H_
#define FSFW_ACTION_HASACTIONSIF_H_ #define FSFW_ACTION_HASACTIONSIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "ActionHelper.h" #include "ActionHelper.h"
#include "ActionMessage.h" #include "ActionMessage.h"
#include "SimpleActionHelper.h" #include "SimpleActionHelper.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/** /**
* @brief * @brief
@ -40,12 +40,12 @@ class HasActionsIF {
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); 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 * Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the 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. * Execute or initialize the execution of a certain function.
* The ActionHelpers will execute this function and behave differently * The ActionHelpers will execute this function and behave differently

View File

@ -3,7 +3,7 @@
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
: ActionHelper(setOwner, useThisQueue), isExecuting(false) {} : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
SimpleActionHelper::~SimpleActionHelper() {} SimpleActionHelper::~SimpleActionHelper() = default;
void SimpleActionHelper::step(ReturnValue_t result) { void SimpleActionHelper::step(ReturnValue_t result) {
// STEP_OFFESET is subtracted to compensate for adding offset in base // 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); ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
} }
const uint8_t* dataPtr = NULL; const uint8_t* dataPtr = nullptr;
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {

View File

@ -11,15 +11,15 @@
class SimpleActionHelper : public ActionHelper { class SimpleActionHelper : public ActionHelper {
public: public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~SimpleActionHelper(); ~SimpleActionHelper() override;
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
ReturnValue_t reportData(SerializeIF* data); ReturnValue_t reportData(SerializeIF* data);
protected: protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress); store_address_t dataAddress) override;
virtual void resetHelper(); void resetHelper() override;
private: private:
bool isExecuting; bool isExecuting;
@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
uint8_t stepCount = 0; uint8_t stepCount = 0;
}; };
#endif /* SIMPLEACTIONHELPER_H_ */ #endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */

View File

@ -2,6 +2,9 @@
#include <cstring> #include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, size_t maxExcessBytes) SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, size_t maxExcessBytes)
: RingBufferBase<>(0, size, overwriteOld), maxExcessBytes(maxExcessBytes) { : RingBufferBase<>(0, size, overwriteOld), maxExcessBytes(maxExcessBytes) {
if (maxExcessBytes > size) { if (maxExcessBytes > size) {
@ -48,6 +51,19 @@ void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
} }
ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, 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) { if (availableWriteSpace() >= amount or overwriteOld) {
size_t amountTillWrap = writeTillWrap(); size_t amountTillWrap = writeTillWrap();
if (amountTillWrap >= amount) { if (amountTillWrap >= amount) {

View File

@ -28,7 +28,7 @@ ReturnValue_t ControllerBase::initialize() {
MessageQueueId_t parentQueue = 0; MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) { if (parentId != objects::NO_OBJECT) {
SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId); auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
if (parent == nullptr) { if (parent == nullptr) {
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -54,7 +54,7 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->
void ControllerBase::handleQueue() { void ControllerBase::handleQueue() {
CommandMessage command; CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result;
for (result = commandQueue->receiveMessage(&command); result == RETURN_OK; for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) { result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&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); changeHK(this->mode, this->submode, false);
triggerEvent(CHANGING_MODE, mode, submode); triggerEvent(CHANGING_MODE, mode, submode);
this->mode = mode; mode = mode_;
this->submode = submode; submode = submode_;
modeHelper.modeChanged(mode, submode); modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode); modeChanged(mode, submode);
announceMode(false); announceMode(false);
changeHK(this->mode, this->submode, true); changeHK(this->mode, this->submode, true);
} }
void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) { void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
*mode = this->mode; *mode_ = this->mode;
*submode = this->submode; *submode_ = this->submode;
} }
void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); } void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
@ -101,7 +101,7 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
return RETURN_OK; 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) { ReturnValue_t ControllerBase::setHealth(HealthState health) {
switch (health) { switch (health) {
@ -117,6 +117,6 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); } HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); }
void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; } 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; } ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return HasReturnvaluesIF::RETURN_OK; }

View File

@ -24,21 +24,21 @@ class ControllerBase : public HasModesIF,
static const Mode_t MODE_NORMAL = 2; static const Mode_t MODE_NORMAL = 2;
ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3); ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
virtual ~ControllerBase(); ~ControllerBase() override;
/** SystemObject 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 */ /** HasHealthIF overrides */
virtual ReturnValue_t setHealth(HealthState health) override; ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override; HasHealthIF::HealthState getHealth() override;
/** ExecutableObjectIF overrides */ /** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override; ReturnValue_t performOperation(uint8_t opCode) override;
virtual void setTaskIF(PeriodicTaskIF *task) override; void setTaskIF(PeriodicTaskIF *task) override;
virtual ReturnValue_t initializeAfterTaskCreation() override; ReturnValue_t initializeAfterTaskCreation() override;
protected: protected:
/** /**
@ -54,7 +54,7 @@ class ControllerBase : public HasModesIF,
*/ */
virtual void performControlOperation() = 0; virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override = 0; uint32_t *msToReachTheMode) override = 0;
const object_id_t parentId; const object_id_t parentId;
@ -80,10 +80,10 @@ class ControllerBase : public HasModesIF,
/** Mode helpers */ /** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode); virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode) override; void startTransition(Mode_t mode, Submode_t submode) override;
virtual void getMode(Mode_t *mode, Submode_t *submode) override; void getMode(Mode_t *mode, Submode_t *submode) override;
virtual void setToExternalControl() override; void setToExternalControl() override;
virtual void announceMode(bool recursive); void announceMode(bool recursive) override;
/** HK helpers */ /** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
}; };

View File

@ -6,7 +6,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
poolManager(this, commandQueue), poolManager(this, commandQueue),
actionHelper(this, commandQueue) {} actionHelper(this, commandQueue) {}
ExtendedControllerBase::~ExtendedControllerBase() {} ExtendedControllerBase::~ExtendedControllerBase() = default;
ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId, ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, MessageQueueId_t commandedBy,
@ -31,7 +31,7 @@ ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *messa
void ExtendedControllerBase::handleQueue() { void ExtendedControllerBase::handleQueue() {
CommandMessage command; CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result;
for (result = commandQueue->receiveMessage(&command); result == RETURN_OK; for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) { result = commandQueue->receiveMessage(&command)) {
result = actionHelper.handleActionMessage(&command); result = actionHelper.handleActionMessage(&command);

View File

@ -18,16 +18,16 @@ class ExtendedControllerBase : public ControllerBase,
public HasLocalDataPoolIF { public HasLocalDataPoolIF {
public: public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3); ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
virtual ~ExtendedControllerBase(); ~ExtendedControllerBase() override;
/* SystemObjectIF overrides */ /* 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 */ /* ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override; ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initializeAfterTaskCreation() override; ReturnValue_t initializeAfterTaskCreation() override;
protected: protected:
LocalDataPoolManager poolManager; LocalDataPoolManager poolManager;
@ -39,31 +39,31 @@ class ExtendedControllerBase : public ControllerBase,
* @param message * @param message
* @return * @return
*/ */
virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0; ReturnValue_t handleCommandMessage(CommandMessage* message) override = 0;
/** /**
* Periodic helper from ControllerBase, implemented by child class. * Periodic helper from ControllerBase, implemented by child class.
*/ */
virtual void performControlOperation() = 0; void performControlOperation() override = 0;
/* Handle the four messages mentioned above */ /* Handle the four messages mentioned above */
void handleQueue() override; void handleQueue() override;
/* HasActionsIF overrides */ /* HasActionsIF overrides */
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override; const uint8_t* data, size_t size) override;
/* HasLocalDatapoolIF overrides */ /* HasLocalDatapoolIF overrides */
virtual LocalDataPoolManager* getHkManagerHandle() override; LocalDataPoolManager* getHkManagerHandle() override;
virtual object_id_t getObjectId() const override; [[nodiscard]] object_id_t getObjectId() const override;
virtual uint32_t getPeriodicOperationFrequency() const override; [[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override = 0; LocalDataPoolManager& poolManager) override = 0;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0; LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
// Mode abstract functions // Mode abstract functions
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override = 0; uint32_t* msToReachTheMode) override = 0;
}; };

View File

@ -700,7 +700,8 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
/* Configuration error */ /* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #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 #else
sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n"); sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
#endif #endif

View File

@ -63,7 +63,9 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId
} }
DeviceHandlerBase::~DeviceHandlerBase() { DeviceHandlerBase::~DeviceHandlerBase() {
if (comCookie != nullptr) {
delete comCookie; delete comCookie;
}
if (defaultFDIRUsed) { if (defaultFDIRUsed) {
delete fdirInstance; delete fdirInstance;
} }
@ -247,15 +249,14 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) { for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
if (replyPair.second.countdown != nullptr && replyPair.second.active) { if (replyPair.second.countdown != nullptr && replyPair.second.active) {
if (replyPair.second.countdown->hasTimedOut()) { if (replyPair.second.countdown->hasTimedOut()) {
resetTimeoutControlledReply(&replyPair.second);
timedOut = true; timedOut = true;
} }
} }
if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) { if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
replyPair.second.delayCycles--; replyPair.second.delayCycles--;
if (replyPair.second.delayCycles == 0) { if (replyPair.second.delayCycles == 0) {
if (replyPair.second.periodic) { resetDelayCyclesControlledReply(&replyPair.second);
replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
}
timedOut = true; timedOut = true;
} }
} }
@ -263,7 +264,6 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
replyToReply(replyPair.first, replyPair.second, TIMEOUT); replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first); missedReply(replyPair.first);
timedOut = false; timedOut = false;
replyPair.second.active = false;
} }
} }
} }
@ -377,8 +377,6 @@ void DeviceHandlerBase::doStateMachine() {
setMode(MODE_OFF); setMode(MODE_OFF);
break; break;
} }
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) { if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0); triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(MODE_ERROR_ON); setMode(MODE_ERROR_ON);
@ -451,9 +449,6 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
info.dataSet = dataSet; info.dataSet = dataSet;
info.command = deviceCommandMap.end(); info.command = deviceCommandMap.end();
info.countdown = countdown; info.countdown = countdown;
if (info.periodic) {
info.active = true;
}
auto resultPair = deviceReplyMap.emplace(replyId, info); auto resultPair = deviceReplyMap.emplace(replyId, info);
if (resultPair.second) { if (resultPair.second) {
return RETURN_OK; return RETURN_OK;
@ -526,9 +521,19 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
return COMMAND_NOT_SUPPORTED; return COMMAND_NOT_SUPPORTED;
} }
if (enable) { if (enable) {
info->active = true;
if (info->countdown != nullptr) {
info->delayCycles = info->maxDelayCycles; info->delayCycles = info->maxDelayCycles;
} else { } else {
info->countdown->resetTimer();
}
} else {
info->active = false;
if (info->countdown != nullptr) {
info->delayCycles = 0; info->delayCycles = 0;
} else {
info->countdown->timeOut();
}
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -846,9 +851,9 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
} }
if (info->active && info->countdown != nullptr) { if (info->active && info->countdown != nullptr) {
disableTimeoutControlledReply(info); resetTimeoutControlledReply(info);
} else if (info->delayCycles != 0) { } else if (info->delayCycles != 0) {
disableDelayCyclesControlledReply(info); resetDelayCyclesControlledReply(info);
} }
if (result != RETURN_OK) { 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) { if (info->periodic) {
info->countdown->resetTimer(); info->countdown->resetTimer();
} else { } else {
@ -876,7 +881,7 @@ void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
} }
} }
void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) { void DeviceHandlerBase::resetDelayCyclesControlledReply(DeviceReplyInfo* info) {
if (info->periodic) { if (info->periodic) {
info->delayCycles = info->maxDelayCycles; info->delayCycles = info->maxDelayCycles;
} else { } else {
@ -1007,6 +1012,8 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
} }
if (iter != deviceReplyMap.end()) { if (iter != deviceReplyMap.end()) {
DeviceReplyInfo* info = &(iter->second); 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->delayCycles = info->maxDelayCycles;
info->command = command; info->command = command;
command->second.expectedReplies = expectedReplies; command->second.expectedReplies = expectedReplies;
@ -1405,8 +1412,13 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
if (iter == deviceReplyMap.end()) { if (iter == deviceReplyMap.end()) {
return 0; return 0;
} else if (iter->second.countdown != nullptr) { } else if (iter->second.countdown != nullptr) {
// fake a useful return value for legacy code
if (iter->second.active) {
return 1;
} else {
return 0; return 0;
} }
}
return iter->second.delayCycles; return iter->second.delayCycles;
} }

View File

@ -469,12 +469,21 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @param maxDelayCycles The maximum number of delay cycles the reply waits * @param maxDelayCycles The maximum number of delay cycles the reply waits
* until it times out. * until it times out.
* @param periodic Indicates if the command is periodic (i.e. it is sent * @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). * 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 * Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply * #updatePeriodicReply
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible * @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 * to provide a pointer to a Countdown object which will signal the timeout
* when expired * 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, * @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else. * - @c RETURN_FAILED else.
*/ */
@ -1274,15 +1283,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
void doGetRead(void); 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. * missed replies.
*/ */
void disableDelayCyclesControlledReply(DeviceReplyInfo *info); void resetDelayCyclesControlledReply(DeviceReplyInfo *info);
/** /**
* Retrive data from the #IPCStore. * Retrive data from the #IPCStore.

View File

@ -100,6 +100,11 @@ ReturnValue_t EventManager::subscribeToEventRange(MessageQueueId_t listener, Eve
return result; 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, ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom,
EventId_t idTo, bool idInverted, EventId_t idTo, bool idInverted,
object_id_t reporterFrom, object_id_t reporterFrom,

View File

@ -37,6 +37,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
EventId_t idTo = 0, bool idInverted = false, EventId_t idTo = 0, bool idInverted = false,
object_id_t reporterFrom = 0, object_id_t reporterTo = 0, object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
bool reporterInverted = false); bool reporterInverted = false);
ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0, ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
EventId_t idTo = 0, bool idInverted = false, EventId_t idTo = 0, bool idInverted = false,
object_id_t reporterFrom = 0, object_id_t reporterTo = 0, object_id_t reporterFrom = 0, object_id_t reporterTo = 0,

View File

@ -20,6 +20,7 @@ class EventManagerIF {
bool forwardAllButSelected = false) = 0; bool forwardAllButSelected = false) = 0;
virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 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 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, virtual ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
EventId_t idTo = 0, bool idInverted = false, EventId_t idTo = 0, bool idInverted = false,
object_id_t reporterFrom = 0, object_id_t reporterFrom = 0,

View File

@ -15,6 +15,16 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
} }
FailureIsolationBase::~FailureIsolationBase() { 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); QueueFactory::instance()->deleteMessageQueue(eventQueue);
} }

View File

@ -60,14 +60,14 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
return INVALID_DOMAIN_ID; return INVALID_DOMAIN_ID;
} }
switch (uniqueId) { switch (static_cast<ParameterIds>(uniqueId)) {
case 0: case ParameterIds::FAILURE_THRESHOLD:
parameterWrapper->set(failureThreshold); parameterWrapper->set(failureThreshold);
break; break;
case 1: case ParameterIds::FAULT_COUNT:
parameterWrapper->set(faultCount); parameterWrapper->set(faultCount);
break; break;
case 2: case ParameterIds::TIMEOUT:
parameterWrapper->set(timer.timeout); parameterWrapper->set(timer.timeout);
break; break;
default: default:

View File

@ -6,6 +6,8 @@
class FaultCounter : public HasParametersIF { class FaultCounter : public HasParametersIF {
public: public:
enum class ParameterIds { FAILURE_THRESHOLD, FAULT_COUNT, TIMEOUT };
FaultCounter(); FaultCounter();
FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs, FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
uint8_t setParameterDomain = 0); uint8_t setParameterDomain = 0);
@ -25,7 +27,8 @@ class FaultCounter : public HasParametersIF {
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex); const ParameterWrapper *newValues = nullptr,
uint16_t startAtIndex = 0);
void setParameterDomain(uint8_t domain); void setParameterDomain(uint8_t domain);

View File

@ -5,7 +5,7 @@
HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
: objectId(objectId), owner(owner) {} : objectId(objectId), owner(owner) {}
HealthHelper::~HealthHelper() {} HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) { ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
switch (message->getCommand()) { switch (message->getCommand()) {

View File

@ -27,6 +27,15 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
return HasReturnvaluesIF::RETURN_OK; 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) { void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) {
MutexGuard(mutex, timeoutType, mutexTimeoutMs); MutexGuard(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object); HealthMap::iterator iter = healthMap.find(object);

View File

@ -17,6 +17,7 @@ class HealthTable : public HealthTableIF, public SystemObject {
/** HealthTableIF overrides */ /** HealthTableIF overrides */
virtual ReturnValue_t registerObject( virtual ReturnValue_t registerObject(
object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override; object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override;
ReturnValue_t removeObject(object_id_t object) override;
virtual size_t getPrintSize() override; virtual size_t getPrintSize() override;
virtual void printAll(uint8_t* pointer, size_t maxSize) override; virtual void printAll(uint8_t* pointer, size_t maxSize) override;

View File

@ -14,6 +14,8 @@ class HealthTableIF : public ManagesHealthIF {
virtual ReturnValue_t registerObject( virtual ReturnValue_t registerObject(
object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0; 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 size_t getPrintSize() = 0;
virtual void printAll(uint8_t *pointer, size_t maxSize) = 0; virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;

View File

@ -54,7 +54,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
// If the deadline was missed, the deadlineMissedFunc is called. // If the deadline was missed, the deadlineMissedFunc is called.
if (!PosixThread::delayUntil(&lastWakeTime, interval)) { if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
// No time left on timer -> we missed the deadline // No time left on timer -> we missed the deadline
if(dlmFunc != nullptr){ if (dlmFunc != nullptr) {
dlmFunc(); dlmFunc();
} }
} }

View File

@ -290,9 +290,9 @@ ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes, uint32_t messag
*/ */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg 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 " sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" "allowed message depth higher"
<< std::endl; << std::endl;
#else #else
sif::printError( sif::printError(

View File

@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PRIVATE GpioCookie.cpp)

View File

@ -0,0 +1,3 @@
target_sources(
${LIB_FSFW_NAME} PRIVATE GyroL3GD20Handler.cpp MgmRM3100Handler.cpp
MgmLIS3MDLHandler.cpp)

View 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)

View 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()

View File

@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PUBLIC I2cComIF.cpp I2cCookie.cpp)

View File

@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PRIVATE GpioRPi.cpp)

View File

@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PUBLIC SpiComIF.cpp SpiCookie.cpp)

View File

@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp)

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