Merge branch 'development' into mueller/datapool-update

CMakeLists.txt

@@ -139,5 +139,4 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
 target_compile_options(${LIB_FSFW_NAME} PRIVATE 
 	${WARNING_FLAGS}
 	${COMPILER_FLAGS}
-	${ABI_FLAGS}
 )

defaultcfg/fsfwconfig/OBSWConfig.h

@@ -3,11 +3,12 @@
 
 #include "OBSWVersion.h"
 
+#ifdef __cplusplus
+
 #include "objects/systemObjectList.h"
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
 
-#ifdef __cplusplus
 namespace config {
 #endif
 

devicehandlers/DeviceHandlerBase.cpp

@@ -682,8 +682,10 @@ void DeviceHandlerBase::doGetRead() {
 		replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
 	}
 
-	if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
-		replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
+	if (mode == MODE_RAW) {
+		if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
+			replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
+		}
 	}
 	else {
 		parseReply(receivedData, receivedDataLen);

osal/host/CMakeLists.txt

@@ -13,9 +13,11 @@ target_sources(${LIB_FSFW_NAME}
 )
 
 if(UNIX)
+	find_package(Threads REQUIRED)
+	
 	target_link_libraries(${LIB_FSFW_NAME} 
 	PRIVATE
 		rt
-		pthread
+		${CMAKE_THREAD_LIBS_INIT}
 	)
 endif()

osal/linux/CMakeLists.txt

@@ -18,8 +18,14 @@ target_sources(${LIB_FSFW_NAME}
 		Timer.cpp
 )
 
-target_link_libraries(${LIB_FSFW_NAME} 
-	PRIVATE
-		rt
-		pthread
+find_package(Threads REQUIRED)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+	${CMAKE_THREAD_LIBS_INIT}
+	rt
 )
+
+target_link_libraries(${LIB_FSFW_NAME} INTERFACE
+	${CMAKE_THREAD_LIBS_INIT}
+)
+

osal/rtems/CMakeLists.txt

@@ -0,0 +1,18 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clock.cpp
+		CpuUsage.cpp
+		InitTask.cpp
+		InternalErrorCodes.cpp
+		MessageQueue.cpp
+		MultiObjectTask.cpp
+		Mutex.cpp
+		MutexFactory.cpp
+		PollingTask.cpp
+		QueueFactory.cpp
+		RtemsBasic.cpp
+		TaskBase.cpp
+		TaskFactory.cpp
+)
+
+

osal/rtems/Clock.cpp

@@ -1,6 +1,10 @@
-#include "../../timemanager/Clock.h"
 #include "RtemsBasic.h"
+
+#include "../../timemanager/Clock.h"
+#include "../../ipc/MutexHelper.h"
+
 #include <rtems/score/todimpl.h>
+#include <rtems/rtems/clockimpl.h>
 
 uint16_t Clock::leapSeconds = 0;
 MutexIF* Clock::timeMutex = nullptr;
@@ -33,15 +37,24 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
 }
 
 ReturnValue_t Clock::setClock(const timeval* time) {
-	//TODO This routine uses _TOD_Set which is not
 	timespec newTime;
 	newTime.tv_sec = time->tv_sec;
+	if(time->tv_usec < 0) {
+		// better returnvalue.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 	newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND;
-	//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
-	//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
-	//TODO Second parameter is ISR_lock_Context
-	_TOD_Set(&newTime,nullptr);
-	return HasReturnvaluesIF::RETURN_OK;
+
+	ISR_lock_Context context;
+	_TOD_Lock();
+	_TOD_Acquire(&context);
+	Status_Control status = _TOD_Set(&newTime, &context);
+	_TOD_Unlock();
+	if(status == STATUS_SUCCESSFUL) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	// better returnvalue
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t Clock::getClock_timeval(timeval* time) {
@@ -91,6 +104,7 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 }
 
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+	// TIsn't this a bug? Are RTEMS ticks always microseconds?
 	rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
 	rtems_status_code status = rtems_clock_get_tod(timeRtems);
 	switch (status) {

osal/rtems/InternalErrorCodes.cpp

@@ -34,8 +34,10 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 		return OUT_OF_PROXIES;
 	case INTERNAL_ERROR_INVALID_GLOBAL_ID:
 		return INVALID_GLOBAL_ID;
+#ifndef STM32H743ZI_NUCLEO
 	case INTERNAL_ERROR_BAD_STACK_HOOK:
 		return BAD_STACK_HOOK;
+#endif
 //	case INTERNAL_ERROR_BAD_ATTRIBUTES:
 //		return BAD_ATTRIBUTES;
 //	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:

osal/rtems/MessageQueue.cpp

@@ -9,9 +9,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 	rtems_status_code status = rtems_message_queue_create(name, message_depth,
 			max_message_size, 0, &(this->id));
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
 				<< name << std::dec << " failed with status:"
 				<< (uint32_t) status << std::endl;
+#endif
 		this->id = 0;
 	}
 }

osal/rtems/MultiObjectTask.cpp

@@ -30,8 +30,10 @@ ReturnValue_t MultiObjectTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
+#endif
 	}
 	switch(status){
 	case RTEMS_SUCCESSFUL:
@@ -63,7 +65,9 @@ void MultiObjectTask::taskFunctionality() {
 			char nameSpace[8] = { 0 };
 			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
 					nameSpace);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
+#endif
 			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}

osal/rtems/Mutex.cpp

@@ -10,16 +10,20 @@ Mutex::Mutex() :
 	RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
 			&mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
 				<< " failed with " << status << std::endl;
+#endif
 	}
 }
 
 Mutex::~Mutex() {
 	rtems_status_code status = rtems_semaphore_delete(mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "Mutex: deletion for id " << mutexId
 				<< " failed with " << status << std::endl;
+#endif
 	}
 }
 

osal/rtems/PollingTask.cpp

@@ -35,15 +35,19 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
 	PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "Polling task " << originalTask->getId()
 			<< " returned from taskFunctionality." << std::endl;
+#endif
 }
 
 void PollingTask::missedDeadlineCounter() {
 	PollingTask::deadlineMissedCount++;
 	if (PollingTask::deadlineMissedCount % 10 == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PST missed " << PollingTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
+#endif
 	}
 }
 
@@ -51,8 +55,10 @@ ReturnValue_t PollingTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "PollingTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
+#endif
 	}
 	switch(status){
 	case RTEMS_SUCCESSFUL:
@@ -75,8 +81,10 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId,
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
+#endif
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 

osal/rtems/TaskBase.cpp

@@ -22,9 +22,11 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 	}
 	ReturnValue_t result = convertReturnCode(status);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
 				<< osalName << std::dec << " failed with return code "
 				<< (uint32_t) status << std::endl;
+#endif
 		this->id = 0;
 	}
 }

unittest/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(internal)
+add_subdirectory(tests)