Merge remote-tracking branch 'upstream/development' into mode_service_fixes

This commit is contained in:
Robin Müller 2023-02-08 09:33:13 +01:00
commit a419806a05
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24 changed files with 305 additions and 109 deletions

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@ -15,6 +15,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated - `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
on mode announcements, duplicate mode reply generated on announce commands, and the mode read on mode announcements, duplicate mode reply generated on announce commands, and the mode read
subservice not working properly. subservice not working properly.
- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
seconds instead of uptime.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
only the X scaling factor was used.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
to false correctly because the `read` and `write` calls were missing. to false correctly because the `read` and `write` calls were missing.
- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
@ -35,6 +41,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Added ## Added
- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
option on the TCP server. CTOR prototype has changed and expects an explicit
TCP configuration struct to be passed.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
- `DleParser` helper class to parse DLE encoded packets from a byte stream. - `DleParser` helper class to parse DLE encoded packets from a byte stream.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
- `UioMapper` is able to resolve symlinks now. - `UioMapper` is able to resolve symlinks now.

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@ -1,48 +1,90 @@
pipeline { pipeline {
environment { environment {
BUILDDIR = 'cmake-build-tests' BUILDDIR_HOST = 'cmake-build-tests-host'
BUILDDIR_LINUX = 'cmake-build-tests-linux'
DOCDDIR = 'cmake-build-documentation' DOCDDIR = 'cmake-build-documentation'
} }
agent { agent {
docker { docker {
image 'fsfw-ci:d6' image 'fsfw-ci:d6'
args '--network host' args '--network host --sysctl fs.mqueue.msg_max=100'
} }
} }
stages { stages {
stage('Host') {
stages{
stage('Clean') { stage('Clean') {
steps { steps {
sh 'rm -rf $BUILDDIR' sh 'rm -rf $BUILDDIR_HOST'
} }
} }
stage('Configure') { stage('Configure') {
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR_HOST) {
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..' sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
} }
} }
} }
stage('Build') { stage('Build') {
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR_HOST) {
sh 'cmake --build . -j4' sh 'cmake --build . -j4'
} }
} }
} }
stage('Unittests') { stage('Unittests') {
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR_HOST) {
sh 'cmake --build . -- fsfw-tests_coverage -j4' sh 'cmake --build . -- fsfw-tests_coverage -j4'
} }
} }
} }
stage('Valgrind') { stage('Valgrind') {
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR_HOST) {
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
} }
} }
} }
}
}
stage('Linux') {
stages{
stage('Clean') {
steps {
sh 'rm -rf $BUILDDIR_LINUX'
}
}
stage('Configure') {
steps {
dir(BUILDDIR_LINUX) {
sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
}
}
}
stage('Build') {
steps {
dir(BUILDDIR_LINUX) {
sh 'cmake --build . -j4'
}
}
}
stage('Unittests') {
steps {
dir(BUILDDIR_LINUX) {
sh 'cmake --build . -- fsfw-tests_coverage -j4'
}
}
}
stage('Valgrind') {
steps {
dir(BUILDDIR_LINUX) {
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
}
}
}
}
}
stage('Documentation') { stage('Documentation') {
when { when {
branch 'development' branch 'development'

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@ -23,6 +23,7 @@ EventManager::EventManager(object_id_t setObjectId)
} }
EventManager::~EventManager() { EventManager::~EventManager() {
listenerList.clear();
QueueFactory::instance()->deleteMessageQueue(eventReportQueue); QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
MutexFactory::instance()->deleteMutex(mutex); MutexFactory::instance()->deleteMutex(mutex);
} }
@ -61,9 +62,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
if (!result.second) { if (!result.second) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
}
ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) { ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
return subscribeToEventRange(listener, event); return subscribeToEventRange(listener, event);
} }

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@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
MessageQueueId_t getEventReportQueue(); MessageQueueId_t getEventReportQueue();
ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false); ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event); ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object); ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0, ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,

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@ -18,6 +18,7 @@ class EventManagerIF {
virtual ReturnValue_t registerListener(MessageQueueId_t listener, virtual ReturnValue_t registerListener(MessageQueueId_t listener,
bool forwardAllButSelected = false) = 0; bool forwardAllButSelected = false) = 0;
virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 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 unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;

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@ -23,7 +23,7 @@ FailureIsolationBase::~FailureIsolationBase() {
#endif #endif
return; return;
} }
manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId); manager->unregisterListener(eventQueue->getId());
QueueFactory::instance()->deleteMessageQueue(eventQueue); QueueFactory::instance()->deleteMessageQueue(eventQueue);
} }

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@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
MatchTree(iterator root, uint8_t maxDepth = -1) MatchTree(iterator root, uint8_t maxDepth = -1)
: BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {} : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {} MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
virtual ~MatchTree() {} virtual ~MatchTree() { clear(); }
virtual bool match(T number) override { return matchesTree(number); } virtual bool match(T number) override { return matchesTree(number); }
bool matchesTree(T number) { bool matchesTree(T number) {
iterator iter = this->begin(); iterator iter = this->begin();
@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
return cleanUpElement(position); return cleanUpElement(position);
} }
void clear() {
Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
if (localRoot == nullptr) {
return;
}
Node* node = localRoot->left;
while (true) {
if (node->left != nullptr) {
node = node->left;
continue;
}
if (node->right != nullptr) {
node = node->right;
continue;
}
if (node->parent == nullptr) {
// this is the root node with no children
if (node->value != nullptr) {
cleanUpElement(iterator(node));
}
return;
}
// leaf
{
Node* parent = node->parent;
if (parent->left == node) {
parent->left = nullptr;
} else {
parent->right = nullptr;
}
cleanUpElement(iterator(node));
node = parent;
}
}
}
virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; } virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }
bool matchSubtree(iterator iter, T number) { bool matchSubtree(iterator iter, T number) {

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@ -6,8 +6,6 @@
HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) { HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
;
mapIterator = healthMap.begin(); mapIterator = healthMap.begin();
} }

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@ -7,14 +7,17 @@
InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth) InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
: SystemObject(setObjectId), : SystemObject(setObjectId),
commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
poolManager(this, commandQueue), poolManager(this, commandQueue),
internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
internalErrorDataset(this) { internalErrorDataset(this) {
commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
mutex = MutexFactory::instance()->createMutex(); mutex = MutexFactory::instance()->createMutex();
} }
InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); } InternalErrorReporter::~InternalErrorReporter() {
MutexFactory::instance()->deleteMutex(mutex);
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
void InternalErrorReporter::setDiagnosticPrintout(bool enable) { void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
this->diagnosticPrintout = enable; this->diagnosticPrintout = enable;

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@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
ObjectManager::ObjectManager() = default; ObjectManager::ObjectManager() = default;
void ObjectManager::clear() {
if (objManagerInstance != nullptr) {
delete objManagerInstance;
objManagerInstance = nullptr;
}
}
ObjectManager::~ObjectManager() { ObjectManager::~ObjectManager() {
for (auto const& iter : objectList) { teardown = true;
delete iter.second; for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
delete iter->second;
} }
} }
@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
} }
ReturnValue_t ObjectManager::remove(object_id_t id) { ReturnValue_t ObjectManager::remove(object_id_t id) {
// this function is called during destruction of System Objects
// disabeld for teardown to avoid iterator invalidation and
// double free
if (teardown) {
return returnvalue::OK;
}
if (this->getSystemObject(id) != nullptr) { if (this->getSystemObject(id) != nullptr) {
this->objectList.erase(id); this->objectList.erase(id);
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1

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@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
using produce_function_t = void (*)(void* args); using produce_function_t = void (*)(void* args);
/** /**
* Returns the single instance of TaskFactory. * Returns the single instance of ObjectManager.
* The implementation of #instance is found in its subclasses. * The implementation of #instance is found in its subclasses.
* Thus, we choose link-time variability of the instance. * Thus, we choose link-time variability of the instance.
*/ */
static ObjectManager* instance(); static ObjectManager* instance();
/**
* Deletes the single instance of ObjectManager
*/
static void clear();
void setObjectFactoryFunction(produce_function_t prodFunc, void* args); void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
template <typename T> template <typename T>
@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
*/ */
std::map<object_id_t, SystemObjectIF*> objectList; std::map<object_id_t, SystemObjectIF*> objectList;
static ObjectManager* objManagerInstance; static ObjectManager* objManagerInstance;
// used when the OM itself is deleted to modify behaviour of remove()
// to avoid iterator invalidation and double free
bool teardown = false;
}; };
// Documentation can be found in the class method declaration above // Documentation can be found in the class method declaration above

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@ -1,10 +1,13 @@
# Check the OS_FSFW variable # Check the OS_FSFW variable
if(FSFW_OSAL MATCHES "freertos") if(FSFW_OSAL MATCHES "freertos")
add_subdirectory(freertos) add_subdirectory(freertos)
set(FSFW_OSAL_FREERTOS 1)
elseif(FSFW_OSAL MATCHES "rtems") elseif(FSFW_OSAL MATCHES "rtems")
add_subdirectory(rtems) add_subdirectory(rtems)
set(FSFW_OSAL_RTEMS 1)
elseif(FSFW_OSAL MATCHES "linux") elseif(FSFW_OSAL MATCHES "linux")
add_subdirectory(linux) add_subdirectory(linux)
set(FSFW_OSAL_LINUX 1)
elseif(FSFW_OSAL MATCHES "host") elseif(FSFW_OSAL MATCHES "host")
add_subdirectory(host) add_subdirectory(host)
if(WIN32) if(WIN32)
@ -13,16 +16,17 @@ elseif(FSFW_OSAL MATCHES "host")
# We still need to pull in some Linux specific sources # We still need to pull in some Linux specific sources
target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp) target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
endif() endif()
set(FSFW_OSAL_HOST 1)
else() else()
message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
# Not set. Assumuing this is a host build, try to determine host OS # Not set. Assumuing this is a host build, try to determine host OS
if(WIN32) if(WIN32)
add_subdirectory(host) add_subdirectory(host)
add_subdirectory(windows) add_subdirectory(windows)
set(FSFW_OSAL_HOST 1)
elseif(UNIX) elseif(UNIX)
add_subdirectory(linux) add_subdirectory(linux)
set(FSFW_OSAL_LINUX 1)
else() else()
# MacOS or other OSes have not been tested yet / are not supported. # MacOS or other OSes have not been tested yet / are not supported.
message(FATAL_ERROR "The host OS could not be determined! Aborting.") message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@ -31,3 +35,5 @@ else()
endif() endif()
add_subdirectory(common) add_subdirectory(common)
configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)

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@ -26,12 +26,12 @@
const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
size_t receptionBufferSize, size_t ringBufferSize, TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
std::string customTcpServerPort, ReceptionModes receptionMode) size_t ringBufferSize, ReceptionModes receptionMode)
: SystemObject(objectId), : SystemObject(objectId),
tmtcBridgeId(tmtcTcpBridge), tmtcBridgeId(tmtcTcpBridge),
receptionMode(receptionMode), receptionMode(receptionMode),
tcpConfig(std::move(customTcpServerPort)), tcpConfig(cfg),
receptionBuffer(receptionBufferSize), receptionBuffer(receptionBufferSize),
ringBuffer(ringBufferSize, true) {} ringBuffer(ringBufferSize, true) {}
@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
if (tcpConfig.reuseAddr) {
unsigned int enable = 1;
setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
}
if (tcpConfig.reusePort) {
unsigned int enable = 1;
setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
}
// Bind to the address found by getaddrinfo // Bind to the address found by getaddrinfo
retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen)); retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
if (retval == SOCKET_ERROR) { if (retval == SOCKET_ERROR) {

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@ -41,11 +41,11 @@ class SpacePacketParser;
*/ */
class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF { class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
public: public:
enum class ReceptionModes { SPACE_PACKETS };
struct TcpConfig { struct TcpConfig {
public: public:
explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {} TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
: tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
/** /**
* Passed to the recv call * Passed to the recv call
@ -63,8 +63,24 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
*/ */
int tcpTmFlags = 0; int tcpTmFlags = 0;
const std::string tcpPort; std::string tcpPort = DEFAULT_SERVER_PORT;
/**
* Sets the SO_REUSEADDR option on the socket. See
* https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
* especially useful in a debugging and development environment where an OBSW image might be
* re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
* port.
*/
bool reuseAddr = false;
/**
* Sets the SO_REUSEPORT option on the socket. See
* https://man7.org/linux/man-pages/man7/socket.7.html for more details.
*/
bool reusePort = false;
}; };
enum class ReceptionModes { SPACE_PACKETS };
static const std::string DEFAULT_SERVER_PORT; static const std::string DEFAULT_SERVER_PORT;
@ -80,10 +96,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
* size will be the Ethernet MTU size * size will be the Ethernet MTU size
* @param customTcpServerPort The user can specify another port than the default (7301) here. * @param customTcpServerPort The user can specify another port than the default (7301) here.
*/ */
TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
size_t receptionBufferSize = RING_BUFFER_SIZE, size_t receptionBufferSize = RING_BUFFER_SIZE,
size_t ringBufferSize = RING_BUFFER_SIZE, size_t ringBufferSize = RING_BUFFER_SIZE,
std::string customTcpServerPort = DEFAULT_SERVER_PORT,
ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS); ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
~TcpTmTcServer() override; ~TcpTmTcServer() override;

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@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
attributes.mq_msgsize = maxMessageSize; attributes.mq_msgsize = maxMessageSize;
attributes.mq_flags = 0; // Flags are ignored on Linux during mq_open attributes.mq_flags = 0; // Flags are ignored on Linux during mq_open
// Set the name of the queue. The slash is mandatory! // Set the name of the queue. The slash is mandatory!
sprintf(name, "/FSFW_MQ%u\n", queueCounter++); sprintf(name, "/FSFW_MQ%u", queueCounter++);
// Create a nonblocking queue if the name is available (the queue is read // Create a nonblocking queue if the name is available (the queue is read
// and writable for the owner as well as the group) // and writable for the owner as well as the group)

36
src/fsfw/osal/osal.h.in Normal file
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@ -0,0 +1,36 @@
#pragma once
namespace osal {
enum osalTarget{
HOST,
LINUX,
WINDOWS,
FREERTOS,
RTEMS,
};
#cmakedefine FSFW_OSAL_HOST
#cmakedefine FSFW_OSAL_LINUX
#cmakedefine FSFW_OSAL_WINDOWS
#cmakedefine FSFW_OSAL_FREERTOS
#cmakedefine FSFW_OSAL_RTEMS
constexpr osalTarget getTarget() {
#ifdef FSFW_OSAL_HOST
return HOST;
#endif
#ifdef FSFW_OSAL_LINUX
return LINUX;
#endif
#ifdef FSFW_OSAL_WINDOWS
return WINDOWS;
#endif
#ifdef FSFW_OSAL_FREERTOS
return FREERTOS;
#endif
#ifdef FSFW_OSAL_RTEMS
return RTEMS;
#endif
}
};

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@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire" sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
<< "MessageQueue: Can't access object" << std::endl; << "MessageQueue: Can't access object" << std::endl;
sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl; sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl; sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
#else #else
sif::printError( sif::printError(
"Service20ParameterManagement::checkInterfaceAndAcquire" "Service20ParameterManagement::checkInterfaceAndAcquire"
"MessageQueue: Can't access object\n"); "MessageQueue: Can't access object\n");
sif::printError("Object ID: 0x%08x\n", *objectId); sif::printError("Object ID: 0x%08x\n", *objectId);
sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n"); sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
#endif #endif
return CommandingServiceBase::INVALID_OBJECT; return CommandingServiceBase::INVALID_OBJECT;

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@ -1,5 +1,7 @@
#include "fsfw/pus/Service9TimeManagement.h" #include "fsfw/pus/Service9TimeManagement.h"
#include <cmath>
#include "fsfw/events/EventManagerIF.h" #include "fsfw/events/EventManagerIF.h"
#include "fsfw/pus/servicepackets/Service9Packets.h" #include "fsfw/pus/servicepackets/Service9Packets.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) { ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
switch (subservice) { switch (subservice) {
case SUBSERVICE::SET_TIME: { case Subservice::SET_TIME: {
return setTime(); return setTime();
} }
case Subservice::DUMP_TIME: {
timeval newTime;
Clock::getClock_timeval(&newTime);
uint32_t subsecondMs =
static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
return returnvalue::OK;
}
default: default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE; return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
} }
@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
return result; return result;
} }
uint32_t formerUptime; timeval time;
Clock::getUptime(&formerUptime); Clock::getClock_timeval(&time);
result = Clock::setClock(&timeToSet); result = Clock::setClock(&timeToSet);
if (result == returnvalue::OK) { if (result == returnvalue::OK) {
uint32_t newUptime; timeval newTime;
Clock::getUptime(&newUptime); Clock::getClock_timeval(&newTime);
triggerEvent(CLOCK_SET, newUptime, formerUptime); triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
return returnvalue::OK; return returnvalue::OK;
} else { } else {
triggerEvent(CLOCK_SET_FAILURE, result, 0); triggerEvent(CLOCK_SET_FAILURE, result, 0);

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@ -6,10 +6,13 @@
class Service9TimeManagement : public PusServiceBase { class Service9TimeManagement : public PusServiceBase {
public: public:
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
static constexpr Event CLOCK_SET =
MAKE_EVENT(0, severity::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
static constexpr Event CLOCK_SET_FAILURE = static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
MAKE_EVENT(1, severity::LOW); //!< Clock could not be set. P1: Returncode. //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
//!< Clock could not be set. P1: Returncode.
static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);
static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase {
virtual ReturnValue_t setTime(); virtual ReturnValue_t setTime();
private: private:
enum SUBSERVICE { enum Subservice {
SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format SET_TIME = 128, //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
DUMP_TIME = 129,
}; };
}; };

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@ -329,8 +329,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
// Now scale to physical value in microtesla // Now scale to physical value in microtesla
float fieldStrengthX = fieldStrengthRawX * scaleFactorX; float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
if (periodicPrintout) { if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {

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@ -180,10 +180,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
} }
#else #else
#endif #endif
#endif
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl;
#endif #endif
return returnvalue::FAILED; return returnvalue::FAILED;
} }

View File

@ -31,4 +31,7 @@ int customSetup() {
return 0; return 0;
} }
int customTeardown() { return 0; } int customTeardown() {
ObjectManager::clear();
return 0;
}

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@ -9,7 +9,9 @@ DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
} }
DeviceHandlerCommander::~DeviceHandlerCommander() {} DeviceHandlerCommander::~DeviceHandlerCommander() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) { ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
readCommandQueue(); readCommandQueue();

View File

@ -1,46 +1,38 @@
#include <fsfw/osal/osal.h>
#ifdef LINUX
/*
#include <fsfw/tasks/SemaphoreFactory.h> #include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/timemanager/Stopwatch.h> #include <fsfw/timemanager/Stopwatch.h>
#include "catch.hpp" #include <catch2/catch_test_macros.hpp>
#include "core/CatchDefinitions.h"
TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") { // binary semaphores currently only supported on linux
//perform set-up here #ifdef FSFW_OSAL_LINUX
SemaphoreIF* binSemaph = SemaphoreFactory::instance()->
createBinarySemaphore(); TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
// perform set-up here
SemaphoreIF* binSemaph = SemaphoreFactory::instance()->createBinarySemaphore();
REQUIRE(binSemaph != nullptr); REQUIRE(binSemaph != nullptr);
SECTION("Simple Test") { SECTION("Simple Test") {
// set-up is run for each section // set-up is run for each section
REQUIRE(binSemaph->getSemaphoreCounter() == 1); REQUIRE(binSemaph->getSemaphoreCounter() == 1);
REQUIRE(binSemaph->release() == REQUIRE(binSemaph->release() == static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED)); REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == returnvalue::OK);
REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) ==
result::OK);
{ {
// not precise enough on linux.. should use clock instead.. // not precise enough on linux.. should use clock instead..
//Stopwatch stopwatch(false); // Stopwatch stopwatch(false);
//REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) == // REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
// SemaphoreIF::SEMAPHORE_TIMEOUT); // SemaphoreIF::SEMAPHORE_TIMEOUT);
//dur_millis_t time = stopwatch.stop(); // dur_millis_t time = stopwatch.stop();
//CHECK(time == 5); // CHECK(time == 5);
} }
REQUIRE(binSemaph->getSemaphoreCounter() == 0); REQUIRE(binSemaph->getSemaphoreCounter() == 0);
REQUIRE(binSemaph->release() == result::OK); REQUIRE(binSemaph->release() == returnvalue::OK);
} }
SemaphoreFactory::instance()->deleteSemaphore(binSemaph); SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
// perform tear-down here // perform tear-down here
} }
TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") {
TEST_CASE("Counting Semaphore Test" , "[CountingSemaph]") { SECTION("Simple Test") {}
SECTION("Simple Test") {
}
} }
*/
#endif #endif