Merge branch 'master' into fsfwtest/testcfg-fix

This commit is contained in:
Robin Müller 2020-11-02 15:12:44 +01:00
commit a7e06c11fd
23 changed files with 409 additions and 2 deletions

11
FSFWVersion.h Normal file
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#ifndef FSFW_DEFAULTCFG_VERSION_H_
#define FSFW_DEFAULTCFG_VERSION_H_
const char* const FSFW_VERSION_NAME = "fsfw";
#define FSFW_VERSION 0
#define FSFW_SUBVERSION 0
#endif /* FSFW_DEFAULTCFG_VERSION_H_ */

4
README.md Normal file
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Flight Software Framework (FSFW)
======
I want to be written!

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

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

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#ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_
#include "OBSWVersion.h"
#ifdef __cplusplus
namespace config {
#endif
/* Add mission configuration flags here */
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_OBSWCONFIG_H_ */

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#ifndef CONFIG_VERSION_H_
#define CONFIG_VERSION_H_
/* OBSW versioning can be specified in this file */
#define OBSW_VERSION 0
#define OBSW_SUBVERSION 0
#endif /* CONFIG_VERSION_H_ */

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CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/tmtc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
INCLUDES += $(CURRENTPATH)
INCLUDES += $(CURRENTPATH)/objects
INCLUDES += $(CURRENTPATH)/returnvalues
INCLUDES += $(CURRENTPATH)/tmtc
INCLUDES += $(CURRENTPATH)/events
INCLUDES += $(CURRENTPATH)/devices
INCLUDES += $(CURRENTPATH)/pollingsequence
INCLUDES += $(CURRENTPATH)/ipc

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#include "logicalAddresses.h"

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

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#include "powerSwitcherList.h"

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#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
namespace switches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum switcherList {
};
}
#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */

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

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#include <config/ipc/MissionMessageTypes.h>
#include <fsfw/ipc/CommandMessageIF.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
switch(message->getMessageType()) {
default:
break;
}
}

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

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

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#ifndef FACTORY_H_
#define FACTORY_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <cstddef>
namespace Factory {
/**
* @brief Creates all SystemObject elements which are persistent
* during execution.
*/
void produce();
void setStaticFrameworkObjectIds();
}
#endif /* FACTORY_H_ */

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

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

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

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#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
#define CONFIG_RETURNVALUES_CLASSIDS_H_
#include <fsfw/returnvalues/FwClassIds.h>
/**
* @brief CLASS_ID defintions which are required for custom returnvalues.
*/
namespace CLASS_ID {
enum {
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
};
}
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

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

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#ifndef CONFIG_TMTC_PUSIDS_HPP_
#define CONFIG_TMTC_PUSIDS_HPP_
namespace pus {
enum Ids: uint8_t {
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,
PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9,
PUS_SERVICE_11 = 11,
PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201,
};
};
#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

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