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Merge remote-tracking branch 'sidestream/mohr_introspection' into mohr_other_introspection

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This commit is contained in:
Ulrich Mohr 2022-07-14 15:59:22 +02:00
commit b08d127e11
28 changed files with 795 additions and 41 deletions
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3
.gitignore vendored
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@ -10,5 +10,8 @@
.settings
.metadata
# VSCode
.vscode
/build*
/cmake-build*

1
src/fsfw/CMakeLists.txt
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@ -15,6 +15,7 @@ add_subdirectory(globalfunctions)
add_subdirectory(health)
add_subdirectory(housekeeping)
add_subdirectory(internalerror)
add_subdirectory(introspection)
add_subdirectory(ipc)
add_subdirectory(memory)
add_subdirectory(modes)

62
src/fsfw/action/Action.cpp Normal file
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@ -0,0 +1,62 @@
#include "Action.h"
#include <fsfw/serialize/SerializeAdapter.h>
#undef Action
#ifdef FSFW_INTROSPECTION
Action::Action() {}
void Action::setEnum(EnumIF *theEnum) {
id = theEnum->getValue();
name = theEnum->getDescription();
}
const char *Action::getName() { return name; }
#else
Action::Action(ActionId_t id) : id(id) {}
#endif
ActionId_t Action::getId() { return id; }
void Action::registerParameter(ParameterIF *parameter) { parameterList.push_back(parameter); }
std::vector<ParameterIF *> const *Action::getParameters() const { return &parameterList; }
size_t Action::getSerializedSize() const {
size_t size = SerializeAdapter::getSerializedSize(&id);
for (auto parameter : *getParameters()) {
size += parameter->getSerializedSize();
}
return size;
}
ReturnValue_t Action::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const {
ReturnValue_t result = SerializeAdapter::serialize(&id, buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
for (auto parameter : *getParameters()) {
result = parameter->serialize(buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
ReturnValue_t Action::deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;/* TODO not needed as must have been read before to find this action = SerializeAdapter::deSerialize(&id, buffer, size, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}*/
for (auto parameter : *getParameters()) {
result = parameter->deSerialize(buffer, size, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}

47
src/fsfw/action/Action.h Normal file
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@ -0,0 +1,47 @@
#pragma once
#include <stdint.h>
#include <vector>
#include <fsfw/serialize/SerializeIF.h>
#include "ActionMessage.h"
#include "ParameterIF.h"
#ifdef FSFW_INTROSPECTION
#include "../introspection/Enum.h"
#endif
class Action: public SerializeIF {
public:
#ifdef FSFW_INTROSPECTION
Action();
void setEnum(EnumIF* id);
const char *getName();
#else
Action(ActionId_t id);
#endif
ActionId_t getId();
virtual ReturnValue_t handle() = 0;
void registerParameter(ParameterIF *parameter);
std::vector<ParameterIF *> const *getParameters() const;
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const override;
size_t getSerializedSize() const override;
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override;
private:
ActionId_t id;
#ifdef FSFW_INTROSPECTION
const char *name;
#endif
std::vector<ParameterIF *> parameterList;
};

32
src/fsfw/action/ActionHelper.cpp
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@ -57,6 +57,8 @@ void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t co
void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
#include <stdio.h>
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
@ -66,9 +68,29 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
ipcStore->deleteData(dataAddress);
return;
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
auto actionIter = actionMap.find(actionId);
if (actionIter == actionMap.end()){
puts("end");
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
queueToUse->sendMessage(commandedBy, &reply);
ipcStore->deleteData(dataAddress);
return;
}
Action* action = actionIter->second;
result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
if ((result != HasReturnvaluesIF::RETURN_OK) || (size != 0)){ //TODO write unittest for second condition
printf("serialze %i, %x\n", size, result);
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
queueToUse->sendMessage(commandedBy, &reply);
ipcStore->deleteData(dataAddress);
return;
}
result = action->handle();
ipcStore->deleteData(dataAddress);
if (result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
@ -163,3 +185,11 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
}
return result;
}
void ActionHelper::registerAction(Action* action) {
//TODO error handling
ActionId_t id = action->getId();
actionMap.emplace(id, action);
}
std::map<ActionId_t, Action*> const* ActionHelper::getActionMap() { return &actionMap; }

8
src/fsfw/action/ActionHelper.h
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@ -1,9 +1,11 @@
#ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_
#include <map>
#include "../ipc/MessageQueueIF.h"
#include "../serialize/SerializeIF.h"
#include "ActionMessage.h"
#include "Action.h"
/**
* @brief Action Helper is a helper class which handles action messages
*
@ -98,6 +100,10 @@ class ActionHelper {
*/
void setQueueToUse(MessageQueueIF* queue);
void registerAction(Action* action);
std::map<ActionId_t, Action*> const* getActionMap();
protected:
//! Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
@ -108,6 +114,8 @@ class ActionHelper {
MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
//! Map of all implemented Actions
std::map<ActionId_t, Action*> actionMap;
/**
* Internal function called by handleActionMessage

2
src/fsfw/action/CMakeLists.txt
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@ -1,3 +1,3 @@
target_sources(
${LIB_FSFW_NAME} PRIVATE ActionHelper.cpp ActionMessage.cpp
${LIB_FSFW_NAME} PRIVATE Action.cpp ActionHelper.cpp ActionMessage.cpp
CommandActionHelper.cpp SimpleActionHelper.cpp)

6
src/fsfw/action/HasActionsIF.h
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@ -44,8 +44,11 @@ class HasActionsIF {
/**
* Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object
*
*/
virtual MessageQueueId_t getCommandQueue() const = 0;
virtual ActionHelper* getActionHelper() = 0;
/**
* Execute or initialize the execution of a certain function.
* The ActionHelpers will execute this function and behave differently
@ -55,8 +58,7 @@ class HasActionsIF {
* -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated
*/
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) = 0;
virtual ReturnValue_t executeAction(Action* action, MessageQueueId_t commandedBy) = 0;
};
#endif /* FSFW_ACTION_HASACTIONSIF_H_ */

40
src/fsfw/action/MinMaxParameter.h Normal file
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@ -0,0 +1,40 @@
#pragma once
#include "Parameter.h"
template <typename T>
class MinMaxParameter : public Parameter<T> {
#ifdef FSFW_INTROSPECTION
private:
MinMaxParameter(Action *owner, const char *name, T min, T max)
: Parameter<T>(owner, name), min(min), max(max) {}
public:
static MinMaxParameter createMinMaxParameter(Action *owner, const char *name, T min, T max) {
return MinMaxParameter(owner, name, min, max);
}
virtual double getMinFloating() override { return static_cast<double>(min); }
virtual int64_t getMinSigned() override { return static_cast<int64_t>(min); }
virtual double getMaxFloating() override { return static_cast<double>(max); }
virtual int64_t getMaxSigned() override { return static_cast<int64_t>(max); }
#else
private:
MinMaxParameter(Action *owner, T min, T max) : Parameter<T>(owner), min(min), max(max) {}
public:
static MinMaxParameter createMinMaxParameter(Action *owner, T min, T max) {
return MinMaxParameter(owner, min, max);
}
#endif
private:
T min;
T max;
};
#ifdef FSFW_INTROSPECTION
#define createMinMaxParameter(p1, p2, p3, p4) createMinMaxParameter(p1, p2, p3, p4)
#else
#define createMinMaxParameter(p1, p2, p3, p4) createMinMaxParameter(p1, p3, p4)
#endif

117
src/fsfw/action/Parameter.h Normal file
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@ -0,0 +1,117 @@
#pragma once
#include <stdio.h>
#include "Action.h"
#include <fsfw/introspection/Types.h>
#include <fsfw/introspection/TypesHelper.h>
#include "ParameterIF.h"
// TODO: ifdef introspection stuff
template <typename T>
class Parameter : public ParameterIF {
protected:
#ifdef FSFW_INTROSPECTION
Parameter(Action *owner, const char *name)
: name(name)
#else
Parameter(Action *owner)
#endif
{
owner->registerParameter(this);
}
public:
#ifdef FSFW_INTROSPECTION
static Parameter createParameter(Action *owner, const char *name) {
return Parameter(owner, name);
}
#else
static Parameter createParameter(Action *owner) { return Parameter(owner); }
#endif
bool isValid() override {
return enumHelper<std::is_base_of<EnumIF, T>::value>::isValid(&value);
}
operator T(){
return value;
}
#ifdef FSFW_INTROSPECTION
Types::ParameterType getType() override {
return enumHelper<std::is_base_of<EnumIF, T>::value>::template getType<T>();
}
#endif
T value;
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const override {
return SerializeAdapter::serialize(&value, buffer, size, maxSize, streamEndianness);
}
size_t getSerializedSize() const override { return SerializeAdapter::getSerializedSize(&value); }
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
}
#ifdef FSFW_INTROSPECTION
double getFloating() override { return (double)value; }
int64_t getSigned() override { return (int64_t)value; }
bool setFloating(double value) override {
if (getType() != Types::FLOATING) {
puts("fups");
return false;
}
this->value = T(value);
return true;
}
bool setSigned(int64_t value) override {
if ((getType() != Types::SIGNED) && (getType() != Types::ENUM)) {
puts("sups");
return false;
}
this->value = T(value);
return true;
}
double getMinFloating() override {
return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMin<T>();
}
int64_t getMinSigned() override {
return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMin<T>();
}
double getMaxFloating() override {
return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMax<T>();
}
int64_t getMaxSigned() override {
return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMax<T>();
}
std::vector<int64_t> getEnumValues() override {
return enumHelper<std::is_base_of<EnumIF, T>::value>::getEnumValues(&value);
}
const char *const *getEnumDescriptions() override {
return enumHelper<std::is_base_of<EnumIF, T>::value>::getEnumDescriptions(&value);
}
const char *getName() override { return name; }
private:
const char *name;
#endif
};
#ifdef FSFW_INTROSPECTION
#define createParameter(p1, p2) createParameter(p1, p2)
#else
#define createParameter(p1, p2) createParameter(p1)
#endif

45
src/fsfw/action/ParameterIF.h Normal file
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@ -0,0 +1,45 @@
#pragma once
#include <fsfw/serialize/SerializeIF.h>
#include <fsfw/introspection/Types.h>
#ifdef FSFW_INTROSPECTION
#include <vector>
#endif
class ParameterIF : public SerializeIF {
public:
virtual bool isValid() = 0;
#ifdef FSFW_INTROSPECTION
virtual const char *getName() = 0;
virtual Types::ParameterType getType() = 0;
virtual double getFloating() = 0;
virtual int64_t getSigned() = 0;
virtual bool setFloating(double value) = 0;
virtual bool setSigned(int64_t value) = 0;
virtual double getMinFloating() = 0;
virtual int64_t getMinSigned() = 0;
virtual double getMaxFloating() = 0;
virtual int64_t getMaxSigned() = 0;
virtual std::vector<int64_t> getEnumValues() = 0;
virtual const char *const * getEnumDescriptions() = 0;
// ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
// Endianness streamEndianness) const override = 0;
// size_t getSerializedSize() const override = 0;
// ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
// Endianness streamEndianness) override = 0;
#endif
};

22
src/fsfw/action/SimpleActionHelper.cpp
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@ -44,11 +44,27 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
if (result != HasReturnvaluesIF::RETURN_OK) {
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
ipcStore->deleteData(dataAddress);
return;
}
lastCommander = commandedBy;
lastAction = actionId;
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
auto actionIter = actionMap.find(actionId);
if (actionIter == actionMap.end()){
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
queueToUse->sendMessage(commandedBy, &reply);
ipcStore->deleteData(dataAddress);
return;
}
Action* action = actionIter->second;
result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
if (result != HasReturnvaluesIF::RETURN_OK){
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
queueToUse->sendMessage(commandedBy, &reply);
ipcStore->deleteData(dataAddress);
return;
}
result = action->handle();
ipcStore->deleteData(dataAddress);
switch (result) {
case HasReturnvaluesIF::RETURN_OK:

23
src/fsfw/action/TemplateAction.h Normal file
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@ -0,0 +1,23 @@
#pragma once
#include "Action.h"
template <class owner, class action, class ActionEnum>
class TemplateAction : public Action {
public:
#ifdef FSFW_INTROSPECTION
TemplateAction(owner *myOwner, ActionEnum id) : Action(), myOwner(myOwner) {
Action::setEnum(&id);
myOwner->getActionHelper()->registerAction(this);
}
#else
TemplateAction(owner *myOwner, ActionEnum id) : Action((uint32_t) id), myOwner(myOwner) {
myOwner->getActionHelper()->registerAction(this);
}
#endif
ReturnValue_t handle() override { return myOwner->handleAction(dynamic_cast<action *>(this)); }
private:
owner *myOwner;
};

4
src/fsfw/controller/ExtendedControllerBase.cpp
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@ -8,9 +8,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
ExtendedControllerBase::~ExtendedControllerBase() {}
ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
ReturnValue_t ExtendedControllerBase::executeAction(Action *action, MessageQueueId_t commandedBy) {
/* Needs to be overriden and implemented by child class. */
return HasReturnvaluesIF::RETURN_OK;
}

3
src/fsfw/controller/ExtendedControllerBase.h
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@ -50,8 +50,7 @@ class ExtendedControllerBase : public ControllerBase,
void handleQueue() override;
/* HasActionsIF overrides */
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
virtual ReturnValue_t executeAction(Action* actionId, MessageQueueId_t commandedBy) override;
/* HasLocalDatapoolIF overrides */
virtual LocalDataPoolManager* getHkManagerHandle() override;

7
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
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@ -1316,19 +1316,18 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* dataSet, DeviceCommandId_t r
}
}
ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t DeviceHandlerBase::executeAction(Action *action, MessageQueueId_t commandedBy) {
ReturnValue_t result = acceptExternalDeviceCommands();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
DeviceCommandMap::iterator iter = deviceCommandMap.find(action->getId());
if (iter == deviceCommandMap.end()) {
result = COMMAND_NOT_SUPPORTED;
} else if (iter->second.isExecuting) {
result = COMMAND_ALREADY_SENT;
} else {
result = buildCommandFromCommand(actionId, data, size);
result = action->handle();
}
if (result == RETURN_OK) {
iter->second.sendReplyTo = commandedBy;

5
src/fsfw/devicehandlers/DeviceHandlerBase.h
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@ -204,9 +204,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
virtual void setParentQueue(MessageQueueId_t parentQueueId);
/** @brief Implementation required for HasActionIF */
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) override;
/** @brief Implementation required for HasActionIF */
ReturnValue_t executeAction(Action *action, MessageQueueId_t commandedBy) override;
Mode_t getTransitionSourceMode() const;
Submode_t getTransitionSourceSubMode() const;

1
src/fsfw/introspection/CMakeLists.txt Normal file
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@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PRIVATE ParameterTypeSelector.cpp)

48
src/fsfw/introspection/ClasslessEnum.h Normal file
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@ -0,0 +1,48 @@
#pragma once
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <boost/preprocessor.hpp>
// TODO ifdef EnumIF, consistent naming of functions arrays and macros (probably enum values and
// descriptions)
#include "EnumIF.h"
#include "EnumCommon.h"
#ifdef FSFW_INTROSPECTION
#define FSFW_CLASSLESS_ENUM(name, type, elements) \
enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) }; \
\
class name : public EnumIF { \
public: \
enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) }; \
name(type value) : value(value) {} \
name() : value(-1) {} \
name(const name &other) : value(other.value) {} \
int64_t getValue() const override { return value; } \
operator type() { return value; } \
name &operator=(name other) { \
value = other.value; \
return *this; \
} \
name &operator=(type value) { \
this->value = value; \
return *this; \
} \
CREATE_KEY_ARRAY(elements, type) \
VALUE_CHECK(type) \
GET_INDEX() \
CREATE_DESCRIPTION_ARRAY(elements) \
GET_DESCRIPTION_FUNC() \
private: \
type value; \
};
#else
#define FSFW_CLASSLESS_ENUM(name, type, elements) \
enum name : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) };
#endif

64
src/fsfw/introspection/Enum.h Normal file
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@ -0,0 +1,64 @@
#pragma once
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serialize/SerializeAdapter.h>
#include <boost/preprocessor.hpp>
// TODO ifdef EnumIF, consistent naming of functions arrays and macros (probably enum values and
// descriptions)
#include "EnumIF.h"
#include "EnumCommon.h"
#ifdef FSFW_INTROSPECTION
#define FSFW_ENUM(name, type, elements) \
class name : public EnumIF, public SerializeIF { \
public: \
enum : type { BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) }; \
name(type value) : value(value) {} \
name() : value(-1) {} \
name(const name &other) : value(other.value) {} \
int64_t getValue() const override { return value; } \
operator type() { return value; } \
name &operator=(name other) { \
value = other.value; \
return *this; \
} \
name &operator=(type value) { \
this->value = value; \
return *this; \
} \
CREATE_KEY_ARRAY(elements, type) \
VALUE_CHECK(type) \
GET_INDEX() \
CREATE_DESCRIPTION_ARRAY(elements) \
GET_DESCRIPTION_FUNC() \
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize, \
Endianness streamEndianness) const override { \
return SerializeAdapter::serialize<>(&value, buffer, size, maxSize, streamEndianness); \
} \
virtual size_t getSerializedSize() const override { \
return SerializeAdapter::getSerializedSize<>(&value); \
} \
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size, \
Endianness streamEndianness) override { \
return SerializeAdapter::deSerialize<>(&value, buffer, size, streamEndianness); \
} \
\
private: \
type value; \
};
#else
#define FSFW_ENUM(name, type, elements) \
enum class name : type { \
BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(CLEAN_ENUM_ITEM, "", elements)) \
};
#endif

62
src/fsfw/introspection/EnumCommon.h Normal file
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@ -0,0 +1,62 @@
#define CLEAN_ENUM_ITEM(r, data, element) \
BOOST_PP_IF(BOOST_PP_SUB(BOOST_PP_TUPLE_SIZE(element), 2), \
(BOOST_PP_TUPLE_ELEM(0, element) = BOOST_PP_TUPLE_ELEM(1, element)), \
(BOOST_PP_TUPLE_ELEM(0, element)))
#if defined FSFW_ENUM_VALUE_CHECKS || defined FSFW_INTROSPECTION
#define GET_KEY(r, data, element) (BOOST_PP_TUPLE_ELEM(0, element))
#define GET_DESCRIPTION(r, data, element) \
BOOST_PP_IF(BOOST_PP_SUB(BOOST_PP_TUPLE_SIZE(element), 2), (BOOST_PP_TUPLE_ELEM(2, element)), \
(BOOST_PP_TUPLE_ELEM(1, element)))
#define CREATE_KEY_ARRAY(enum_elements, type) \
/*was static constexpr, but clang won't compile that*/ \
int64_t elements[BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements))] = { \
BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements))}; \
const int64_t *getElements() const override { return elements; } \
size_t getSize() const override { \
return BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_KEY, "", enum_elements)); \
}
#define VALUE_CHECK(type) \
bool isValid() const override { \
for (size_t i = 0; i < sizeof(elements) / sizeof(elements[0]); i++) { \
if (value == elements[i]) { \
return true; \
} \
} \
return false; \
}
#ifdef FSFW_INTROSPECTION
#define CREATE_DESCRIPTION_ARRAY(elements) \
/*was static constexpr, but clang won't compile that*/ \
const char \
*descriptions[BOOST_PP_SEQ_SIZE(BOOST_PP_SEQ_FOR_EACH(GET_DESCRIPTION, "", elements))] = { \
BOOST_PP_SEQ_ENUM(BOOST_PP_SEQ_FOR_EACH(GET_DESCRIPTION, "", elements))}; \
const char *const *getDescriptions() const override { return descriptions; }
#define GET_INDEX() \
size_t getIndex(int64_t value) const override { \
for (size_t i = 0; i < sizeof(elements) / sizeof(elements[0]); i++) { \
if (value == elements[i]) { \
return i; \
} \
} \
return -1; \
}
#define GET_DESCRIPTION_FUNC() \
const char *getDescription() const override { \
if (getIndex(value) == static_cast<size_t>(-1)) { \
return nullptr; \
} else { \
return descriptions[getIndex(value)]; \
} \
}
#else
#define GET_INDEX()
#define CREATE_DESCRIPTION_ARRAY(elements)
#define GET_DESCRIPTION_FUNC()
#endif
#endif

15
src/fsfw/introspection/EnumIF.h Normal file
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@ -0,0 +1,15 @@
#pragma once
#include <cstdint>
#include <cstddef>
class EnumIF {
public:
virtual int64_t getValue() const = 0;
virtual bool isValid() const = 0;
virtual size_t getSize() const = 0;
virtual size_t getIndex(int64_t value) const = 0;
virtual const int64_t *getElements() const = 0;
virtual const char *const *getDescriptions() const = 0;
virtual const char *getDescription() const = 0;
};

56
src/fsfw/introspection/ParameterTypeSelector.cpp Normal file
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@ -0,0 +1,56 @@
#include "ParameterTypeSelector.h"
#include <stdint.h>
#include "Types.h"
#ifdef FSFW_INTROSPECTION
template <typename T>
Types::ParameterType ParameterTypeSelector::getType() {
return Types::UNSUPPORTED;
}
template <>
Types::ParameterType ParameterTypeSelector::getType<uint8_t>() {
return Types::SIGNED;
}
template <>
Types::ParameterType ParameterTypeSelector::getType<int8_t>() {
return Types::SIGNED;
}
template <>
Types::ParameterType ParameterTypeSelector::getType<uint16_t>() {
return Types::SIGNED;
}
template <>
Types::ParameterType ParameterTypeSelector::getType<int16_t>() {
return Types::SIGNED;
}
template <>
Types::ParameterType ParameterTypeSelector::getType<uint32_t>() {
return Types::SIGNED;
}
template <>
Types::ParameterType ParameterTypeSelector::getType<int32_t>() {
return Types::SIGNED;
}
// template <>
// Types::ParameterType ParameterTypeSelector::getType<uint64_t>() {
// return Types::UNSIGNED;
// }
template <>
Types::ParameterType ParameterTypeSelector::getType<int64_t>() {
return Types::SIGNED;
}
template <>
Types::ParameterType ParameterTypeSelector::getType<float>() {
return Types::FLOATING;
}
template <>
Types::ParameterType ParameterTypeSelector::getType<double>() {
return Types::FLOATING;
}
#endif

13
src/fsfw/introspection/ParameterTypeSelector.h Normal file
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@ -0,0 +1,13 @@
#pragma once
#include "Types.h"
#ifdef FSFW_INTROSPECTION
class ParameterTypeSelector {
public:
template <typename T>
static Types::ParameterType getType();
};
#endif

8
src/fsfw/introspection/Types.h Normal file
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@ -0,0 +1,8 @@
#pragma once
//maybe call them MIB types as these are the ones exposed to the MIB?
// Note: some DBs (Postgress, Mongo) only support signed 64bit integers. To have a common denominator, all integers are int64_t.
// As such, ther is no unsigned Type, as there can not be a uint64_t and uint32_t completely fits into int64_t
namespace Types {
enum ParameterType { SIGNED, FLOATING, ENUM, UNSUPPORTED };
} // namespace Types

74
src/fsfw/introspection/TypesHelper.h Normal file
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@ -0,0 +1,74 @@
#pragma once
#include <limits>
#include <vector>
#include "Enum.h"
#include "Types.h"
#include "ParameterTypeSelector.h"
template <bool>
class enumHelper;
template <>
class enumHelper<true> {
public:
static bool isValid(EnumIF *anEnum) { return anEnum->isValid(); }
#ifdef FSFW_INTROSPECTION
template <typename T>
static Types::ParameterType getType() {
return Types::ENUM;
}
template <typename T>
static T getMin() {
return 0;
}
template <typename T>
static T getMax() {
return 0;
}
static std::vector<int64_t> getEnumValues() { return std::vector<int64_t>(); }
static std::vector<int64_t> getEnumValues(EnumIF *anEnum) {
std::vector<int64_t> vector;
for (size_t i = 0; i < anEnum->getSize(); i++) {
vector.push_back(anEnum->getElements()[i]);
}
return vector;
}
static const char *const *getEnumDescriptions(EnumIF *anEnum) {
return anEnum->getDescriptions();
}
#endif
};
template <>
class enumHelper<false> {
public:
static bool isValid(void *) { return true; }
#ifdef FSFW_INTROSPECTION
template <typename T>
static Types::ParameterType getType() {
return ParameterTypeSelector::getType<T>();
}
template <typename T>
static T getMin() {
return std::numeric_limits<T>::lowest();
}
template <typename T>
static T getMax() {
return std::numeric_limits<T>::max();
}
static std::vector<int64_t> getEnumValues(void *) { return std::vector<int64_t>(); }
static const char *const *getEnumDescriptions(void *) { return nullptr; }
#endif
};

28
tests/src/fsfw_tests/unit/action/TestActionHelper.cpp
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@ -9,37 +9,35 @@
#include "fsfw_tests/unit/mocks/MessageQueueMockBase.h"
TEST_CASE("Action Helper", "[ActionHelper]") {
ActionHelperOwnerMockBase testDhMock;
MessageQueueMockBase testMqMock;
ActionHelper actionHelper = ActionHelper(&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
ActionHelperOwnerMockBase testDhMock(&testMqMock);
CommandMessage actionMessage;
ActionId_t testActionId = 777;
ActionId_t testActionId = (ActionId_t) TestActions::TEST_ACTION;
std::array<uint8_t, 3> testParams{1, 2, 3};
store_address_t paramAddress;
StorageManagerIF* ipcStore = tglob::getIpcStoreHandle();
REQUIRE(ipcStore != nullptr);
ipcStore->addData(&paramAddress, testParams.data(), 3);
REQUIRE(actionHelper.initialize() == retval::CATCH_OK);
REQUIRE(testDhMock.getActionHelper()->initialize() == retval::CATCH_OK);
SECTION("Simple tests") {
ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
CHECK(not testDhMock.executeActionCalled);
REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
REQUIRE(testDhMock.getActionHelper()->handleActionMessage(&actionMessage) == retval::CATCH_OK);
CHECK(testDhMock.executeActionCalled);
// No message is sent if everything is alright.
CHECK(not testMqMock.wasMessageSent());
store_address_t invalidAddress;
ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
actionHelper.handleActionMessage(&actionMessage);
testDhMock.getActionHelper()->handleActionMessage(&actionMessage);
CHECK(testMqMock.wasMessageSent());
const uint8_t* ptr = nullptr;
size_t size = 0;
REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) ==
static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
REQUIRE(ptr == nullptr);
REQUIRE(size == 0);
testDhMock.getBuffer(&ptr, &size);
REQUIRE(size == 3);
testDhMock.getBuffer(&ptr);
for (uint8_t i = 0; i < 3; i++) {
REQUIRE(ptr[i] == (i + 1));
}
@ -48,12 +46,12 @@ TEST_CASE("Action Helper", "[ActionHelper]") {
SECTION("Handle failures") {
actionMessage.setCommand(1234);
REQUIRE(actionHelper.handleActionMessage(&actionMessage) ==
REQUIRE(testDhMock.getActionHelper()->handleActionMessage(&actionMessage) ==
static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
CHECK(not testMqMock.wasMessageSent());
uint16_t step = 5;
ReturnValue_t status = 0x1234;
actionHelper.step(step, testMqMock.getId(), testActionId, status);
testDhMock.getActionHelper()->step(step, testMqMock.getId(), testActionId, status);
step += 1;
CHECK(testMqMock.wasMessageSent());
CommandMessage testMessage;
@ -69,7 +67,7 @@ TEST_CASE("Action Helper", "[ActionHelper]") {
SECTION("Handle finish") {
CHECK(not testMqMock.wasMessageSent());
ReturnValue_t status = 0x9876;
actionHelper.finish(false, testMqMock.getId(), testActionId, status);
testDhMock.getActionHelper()->finish(false, testMqMock.getId(), testActionId, status);
CHECK(testMqMock.wasMessageSent());
CommandMessage testMessage;
REQUIRE(testMqMock.receiveMessage(&testMessage) ==
@ -85,14 +83,14 @@ TEST_CASE("Action Helper", "[ActionHelper]") {
REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == retval::CATCH_OK);
ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
CHECK(not testDhMock.executeActionCalled);
REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
REQUIRE(testDhMock.getActionHelper()->handleActionMessage(&actionMessage) == retval::CATCH_OK);
REQUIRE(ipcStore->getData(toLongParamAddress).first ==
static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
CommandMessage testMessage;
REQUIRE(testMqMock.receiveMessage(&testMessage) ==
static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
REQUIRE(ActionMessage::getReturnCode(&testMessage) == HasActionsIF::INVALID_PARAMETERS);
REQUIRE(ActionMessage::getStep(&testMessage) == 0);
REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
}
@ -100,7 +98,7 @@ TEST_CASE("Action Helper", "[ActionHelper]") {
SECTION("Missing IPC Data") {
ActionMessage::setCommand(&actionMessage, testActionId, StorageManagerIF::INVALID_ADDRESS);
CHECK(not testDhMock.executeActionCalled);
REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
REQUIRE(testDhMock.getActionHelper()->handleActionMessage(&actionMessage) == retval::CATCH_OK);
CommandMessage testMessage;
REQUIRE(testMqMock.receiveMessage(&testMessage) ==
static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));

40
tests/src/fsfw_tests/unit/action/TestActionHelper.h
View File

@ -2,12 +2,27 @@
#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
#include <fsfw/action/HasActionsIF.h>
#include <fsfw/action/Parameter.h>
#include <fsfw/action/TemplateAction.h>
#include <fsfw/introspection/Enum.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <cstring>
#include "fsfw_tests/unit/CatchDefinitions.h"
class ActionHelperOwnerMockBase;
FSFW_ENUM(TestActions, ActionId_t, ((TEST_ACTION, "Test Action")))
class TestAction : public TemplateAction < ActionHelperOwnerMockBase, TestAction, TestActions> {
public:
TestAction(ActionHelperOwnerMockBase* owner) : TemplateAction(owner, TestActions::TEST_ACTION) {}
Parameter<uint8_t> p1 = Parameter<uint8_t>::createParameter(this, "An uint8_t");
Parameter<uint8_t> p2 = Parameter<uint8_t>::createParameter(this, "An uint8_t");
Parameter<uint8_t> p3 = Parameter<uint8_t>::createParameter(this, "An uint8_t");
};
class ActionHelperOwnerMockBase : public HasActionsIF {
public:
bool getCommandQueueCalled = false;
@ -16,16 +31,26 @@ class ActionHelperOwnerMockBase : public HasActionsIF {
uint8_t buffer[MAX_SIZE] = {0, 0, 0};
size_t size = 0;
ActionHelperOwnerMockBase(MessageQueueIF* useThisQueue) : actionHelper(this, useThisQueue) {}
MessageQueueId_t getCommandQueue() const override { return tconst::testQueueId; }
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override {
ActionHelper* getActionHelper() override { return &actionHelper; }
ReturnValue_t executeAction(Action* action, MessageQueueId_t commandedBy) override {
executeActionCalled = true;
if (size > MAX_SIZE) {
return 0xAFFE;
}
this->size = size;
memcpy(buffer, data, size);
return action->handle();
}
ReturnValue_t handleAction(TestAction *action){
executeActionCalled = true;
buffer[0] = action->p1;
buffer[1] = action->p2;
buffer[2] = action->p3;
return HasReturnvaluesIF::RETURN_OK;
}
@ -36,14 +61,15 @@ class ActionHelperOwnerMockBase : public HasActionsIF {
}
}
void getBuffer(const uint8_t** ptr, size_t* size) {
if (size != nullptr) {
*size = this->size;
}
void getBuffer(const uint8_t** ptr) {
if (ptr != nullptr) {
*ptr = buffer;
}
}
private:
ActionHelper actionHelper;
TestAction testAction = TestAction(this);
};
#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */