From bfa77cf810060a2254b0b341048cc7ce4c3fee24 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 29 Mar 2022 15:07:29 +0200 Subject: [PATCH 1/6] Add TC scheduler service - Written by David Woodward as part of the SOURCE project - Adaptions to make it more generic and compatible to FSFW --- src/fsfw/pus/Service11TelecommandScheduling.h | 191 ++++++ .../pus/Service11TelecommandScheduling.tpp | 608 ++++++++++++++++++ 2 files changed, 799 insertions(+) create mode 100644 src/fsfw/pus/Service11TelecommandScheduling.h create mode 100644 src/fsfw/pus/Service11TelecommandScheduling.tpp diff --git a/src/fsfw/pus/Service11TelecommandScheduling.h b/src/fsfw/pus/Service11TelecommandScheduling.h new file mode 100644 index 00000000..97a343a7 --- /dev/null +++ b/src/fsfw/pus/Service11TelecommandScheduling.h @@ -0,0 +1,191 @@ +#ifndef MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ +#define MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ + +#include +#include +#include + +#include "fsfw/FSFW.h" + +/** + * @brief: PUS-Service 11 - Telecommand scheduling. + * @details: + * PUS-Service 11 - Telecommand scheduling. + * Full documentation: ECSS-E-ST-70-41C, p. 168: + * ST[11] time-based scheduling + * + * This service provides the capability to command pre-loaded + * application processes (telecommands) by releasing them at their + * due-time. + * References to telecommands are stored together with their due-timepoints + * and are released at their corresponding due-time. + * + * Necessary subservice functionalities are implemented. + * Those are: + * TC[11,4] activity insertion + * TC[11,5] activity deletion + * TC[11,6] filter-based activity deletion + * TC[11,7] activity time-shift + * TC[11,8] filter-based activity time-shift + * + * Groups are not supported. + * This service remains always enabled. Sending a disable-request has no effect. + */ +template +class Service11TelecommandScheduling final : public PusServiceBase { + public: + // The types of PUS-11 subservices + enum Subservice { + ENABLE_SCHEDULING = 1, + DISABLE_SCHEDULING = 2, + RESET_SCHEDULING = 3, + INSERT_ACTIVITY = 4, + DELETE_ACTIVITY = 5, + FILTER_DELETE_ACTIVITY = 6, + TIMESHIFT_ACTIVITY = 7, + FILTER_TIMESHIFT_ACTIVITY = 8, + DETAIL_REPORT = 9, + TIMEBASE_SCHEDULE_DETAIL_REPORT = 10, + TIMESHIFT_ALL_SCHEDULE_ACTIVITIES = 15 + }; + + // The types of time windows for TC[11,6] and TC[11,8], as defined in ECSS-E-ST-70-41C, + // requirement 8.11.3c (p. 507) + enum TypeOfTimeWindow : uint32_t { + SELECT_ALL = 0, + FROM_TIMETAG_TO_TIMETAG = 1, + FROM_TIMETAG = 2, + TO_TIMETAG = 3 + }; + + Service11TelecommandScheduling(object_id_t objectId, uint16_t apid, uint8_t serviceId, + AcceptsTelecommandsIF* tcRecipient, + uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN, + bool debugMode = false); + + ~Service11TelecommandScheduling(); + + /** PusServiceBase overrides */ + ReturnValue_t handleRequest(uint8_t subservice) override; + ReturnValue_t performService() override; + ReturnValue_t initialize() override; + + private: + struct TelecommandStruct { + uint64_t requestId; + uint32_t seconds; + store_address_t storeAddr; // uint16 + }; + + static constexpr uint16_t DEFAULT_RELEASE_TIME_MARGIN = 5; + + // minimum release time offset to insert into schedule + const uint16_t RELEASE_TIME_MARGIN_SECONDS = 5; + + // the maximum amount of stored TCs is defined here + static constexpr uint16_t MAX_STORED_TELECOMMANDS = 500; + + bool debugMode = false; + StorageManagerIF* tcStore = nullptr; + AcceptsTelecommandsIF* tcRecipient = nullptr; + MessageQueueId_t recipientMsgQueueId = 0; + + /** + * The telecommand map uses the exectution time as a Unix time stamp as + * the key. This is mapped to a generic telecommand struct. + */ + using TelecommandMap = etl::multimap; + using TcMapIter = typename TelecommandMap::iterator; + + TelecommandMap telecommandMap; + + /** + * @brief Logic to be performed on an incoming TC[11,4]. + * @return RETURN_OK if successful + */ + ReturnValue_t doInsertActivity(void); + + /** + * @brief Logic to be performed on an incoming TC[11,5]. + * @return RETURN_OK if successful + */ + ReturnValue_t doDeleteActivity(void); + + /** + * @brief Logic to be performed on an incoming TC[11,6]. + * @return RETURN_OK if successful + */ + ReturnValue_t doFilterDeleteActivity(void); + + /** + * @brief Logic to be performed on an incoming TC[11,7]. + * @return RETURN_OK if successful + */ + ReturnValue_t doTimeshiftActivity(void); + + /** + * @brief Logic to be performed on an incoming TC[11,8]. + * @return RETURN_OK if successful + */ + ReturnValue_t doFilterTimeshiftActivity(void); + + /** + * @brief Deserializes a generic type from a payload buffer by using the FSFW + * SerializeAdapter Interface. + * @param output Output to be deserialized + * @param buf Payload buffer (application data) + * @param bufsize Remaining size of payload buffer (application data size) + * @return RETURN_OK if successful + */ + template + ReturnValue_t deserializeViaFsfwInterface(T& output, const uint8_t* buf, size_t bufsize); + + /** + * @brief Extracts the Request ID from the Application Data of a TC by utilizing a ctor of the + * class TcPacketPus. + * NOTE: This only works if the payload data is a TC (e.g. not for TC[11,5] which does not + * send a TC as payload)! + * @param data The Application data of the TC (get via getApplicationData()). + * @return requestId + */ + uint64_t getRequestIdFromDataTC(const uint8_t* data) const; + + /** + * @brief Extracts the Request ID from the Application Data directly, assuming it is packed + * as follows (acc. to ECSS): | source ID (uint32) | apid (uint32) | ssc (uint32) |. + * @param data Pointer to first byte described data + * @param dataSize Remaining size of data NOTE: non-const, this is modified by the function + * @param [out] requestId Request ID + * @return RETURN_OK if successful + */ + ReturnValue_t getRequestIdFromData(const uint8_t* data, size_t& dataSize, uint64_t& requestId); + + /** + * @brief Builds the Request ID from its three elements. + * @param sourceId Source ID + * @param apid Application Process ID (APID) + * @param ssc Source Sequence Count + * @return Request ID + */ + uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const; + + /** + * @brief Gets the filter range for filter TCs from a data packet + * @param data TC data + * @param dataSize TC data size + * @param [out] itBegin Begin of filter range + * @param [out] itEnd End of filter range + * @return RETURN_OK if successful + */ + ReturnValue_t getMapFilterFromData(const uint8_t* data, size_t dataSize, TcMapIter& itBegin, + TcMapIter& itEnd); + + /** + * @brief Prints content of multimap. Use for simple debugging only. + */ + void debugPrintMultimapContent(void) const; +}; + +#include "Service11TelecommandScheduling.tpp" + +#endif /* MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ */ diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp new file mode 100644 index 00000000..bfd9e96f --- /dev/null +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -0,0 +1,608 @@ +#pragma once + +#include +#include +#include + +#include + +template +inline Service11TelecommandScheduling::Service11TelecommandScheduling( + object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient, + uint16_t releaseTimeMarginSeconds, bool debugMode) + : PusServiceBase(objectId, apid, serviceId), + RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds), + debugMode(debugMode), + tcRecipient(tcRecipient) {} + +template +inline Service11TelecommandScheduling::~Service11TelecommandScheduling() {} + +template +inline ReturnValue_t Service11TelecommandScheduling::handleRequest( + uint8_t subservice) { + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "PUS11::handleRequest: Handling request " << static_cast(subservice); +#else + sif::printInfo("PUS11::handleRequest: Handling request %d\n", subservice); +#endif + } + switch (subservice) { + case Subservice::INSERT_ACTIVITY: + return doInsertActivity(); + case Subservice::DELETE_ACTIVITY: + return doDeleteActivity(); + case Subservice::FILTER_DELETE_ACTIVITY: + return doFilterDeleteActivity(); + case Subservice::TIMESHIFT_ACTIVITY: + return doTimeshiftActivity(); + case Subservice::FILTER_TIMESHIFT_ACTIVITY: + return doFilterTimeshiftActivity(); + default: + break; + } + + return HasReturnvaluesIF::RETURN_FAILED; +} + +template +inline ReturnValue_t Service11TelecommandScheduling::performService() { + // DEBUG + // DebugPrintMultimapContent(); + + // get current time as UNIX timestamp + timeval tNow = {}; + Clock::getClock_timeval(&tNow); + + // NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg + // does not work in this case as we are deleting the current element here. + for (auto it = telecommandMap.begin(); it != telecommandMap.end();) { + if (it->first <= tNow.tv_sec) { + // release tc + TmTcMessage releaseMsg(it->second.storeAddr); + auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false); + + if (sendRet != HasReturnvaluesIF::RETURN_OK) { + return sendRet; + } + + telecommandMap.erase(it++); + + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "Released TC & erased it from TC map" << std::endl; +#else + sif::printInfo("Released TC & erased it from TC map\n"); +#endif + } + continue; + } + it++; + } + + return HasReturnvaluesIF::RETURN_OK; +} + +template +inline ReturnValue_t Service11TelecommandScheduling::initialize() { + ReturnValue_t res = PusServiceBase::initialize(); + if (res != HasReturnvaluesIF::RETURN_OK) { + return res; + } + + tcStore = ObjectManager::instance()->get(objects::TC_STORE); + if (!tcStore) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + + if (tcRecipient == nullptr) { + return ObjectManagerIF::CHILD_INIT_FAILED; + } + recipientMsgQueueId = tcRecipient->getRequestQueue(); + + return res; +} + +template +inline ReturnValue_t Service11TelecommandScheduling::doInsertActivity(void) { + // Get de-serialized Timestamp + const uint8_t *data = currentPacket.getApplicationData(); + size_t dataSize = currentPacket.getApplicationDataSize(); + + uint32_t timestamp = 0; + if (deserializeViaFsfwInterface(timestamp, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + data += sizeof(uint32_t); // move ptr past timestamp (for later) + dataSize -= sizeof(uint32_t); // and reduce size accordingly + + // Insert possible if sched. time is above margin + // (See requirement for Time margin) + timeval tNow = {}; + Clock::getClock_timeval(&tNow); + if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to " + "current time" + << std::endl; +#else + sif::printWarning( + "Service11TelecommandScheduling::doInsertActivity: Release time too close to current " + "time\n"); +#endif + return RETURN_FAILED; + } + + // store currentPacket and receive the store address + store_address_t addr; + if (tcStore->addData(&addr, data, dataSize) != RETURN_OK || + addr.raw == storeId::INVALID_STORE_ADDRESS) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed" + << std::endl; +#else + sif::printError( + "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed\n"); +#endif + return RETURN_FAILED; + } + + // insert into multimap with new store address + TelecommandStruct tc; + tc.seconds = timestamp; + tc.storeAddr = addr; + tc.requestId = + getRequestIdFromDataTC(data); // TODO: Missing sanity check of the returned request id + + auto it = telecommandMap.insert(std::pair(timestamp, tc)); + if (it == telecommandMap.end()) { + return RETURN_FAILED; + } + + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "PUS11::doInsertActivity: Inserted into Multimap:" << std::endl; +#else + sif::printInfo("PUS11::doInsertActivity: Inserted into Multimap:\n"); +#endif + debugPrintMultimapContent(); + } + return HasReturnvaluesIF::RETURN_OK; +} + +template +inline ReturnValue_t Service11TelecommandScheduling::doDeleteActivity(void) { + const uint8_t *data = currentPacket.getApplicationData(); + size_t dataSize = currentPacket.getApplicationDataSize(); + + // Get request ID + uint64_t requestId; + if (getRequestIdFromData(data, dataSize, requestId) != RETURN_OK) { + return RETURN_FAILED; + } + + // DEBUG + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "PUS11::doDeleteActivity: requestId: " << requestId << std::endl; +#else + sif::printInfo("PUS11::doDeleteActivity: requestId: %d\n", requestId); +#endif + } + + TcMapIter tcToDelete; // handle to the TC to be deleted, can be used if counter is valid + int tcToDeleteCount = 0; // counter of all found TCs. Should be 1. + + for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) { + if (it->second.requestId == requestId) { + tcToDelete = it; + tcToDeleteCount++; + } + } + + // check if 1 explicit TC is found via request ID + if (tcToDeleteCount == 0 || tcToDeleteCount > 1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. " + "Cannot explicitly delete TC" + << std::endl; +#else + sif::printWarning( + "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. " + "Cannot explicitly delete TC"); +#endif + return RETURN_FAILED; + } + + // delete packet from store + if (tcStore->deleteData(tcToDelete->second.storeAddr) != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store" + << std::endl; +#else + sif::printError( + "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store\n"); +#endif + return RETURN_FAILED; + } + + telecommandMap.erase(tcToDelete); + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "PUS11::doDeleteActivity: Deleted TC from map" << std::endl; +#else + sif::printInfo("PUS11::doDeleteActivity: Deleted TC from map\n"); +#endif + } + + return RETURN_OK; +} + +template +inline ReturnValue_t Service11TelecommandScheduling::doFilterDeleteActivity(void) { + const uint8_t *data = currentPacket.getApplicationData(); + size_t dataSize = currentPacket.getApplicationDataSize(); + + TcMapIter itBegin; + TcMapIter itEnd; + + // get the filter window as map range via dedicated method + if (getMapFilterFromData(data, dataSize, itBegin, itEnd) != RETURN_OK) { + return RETURN_FAILED; + } + + int deletedTCs = 0; + for (TcMapIter it = itBegin; it != itEnd; it++) { + // delete packet from store + if (tcStore->deleteData(it->second.storeAddr) != RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC " + "from Store" + << std::endl; +#else + sif::printError( + "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC from " + "Store\n"); +#endif + continue; + } + deletedTCs++; + } + + // NOTE: Spec says this function erases all elements including itBegin but not itEnd, + // see here: https://www.cplusplus.com/reference/map/multimap/erase/ + // Therefore we need to increase itEnd by 1. (Note that end() returns the "past-the-end" iterator) + if (itEnd != telecommandMap.end()) { + itEnd++; + } + + telecommandMap.erase(itBegin, itEnd); + + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "PUS11::doFilterDeleteActivity: Deleted " << deletedTCs << " TCs" << std::endl; +#else + sif::printInfo("PUS11::doFilterDeleteActivity: Deleted %d TCs\n", deletedTCs); +#endif + } + return RETURN_OK; +} + +template +inline ReturnValue_t Service11TelecommandScheduling::doTimeshiftActivity(void) { + const uint8_t *data = currentPacket.getApplicationData(); + size_t dataSize = currentPacket.getApplicationDataSize(); + + // Get relative time + uint32_t relativeTime = 0; + if (deserializeViaFsfwInterface(relativeTime, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + if (relativeTime == 0) { + return RETURN_FAILED; + } + // TODO further check sanity of the relative time? + + data += sizeof(uint32_t); + dataSize -= sizeof(uint32_t); + + // Get request ID + uint64_t requestId; + if (getRequestIdFromData(data, dataSize, requestId) != RETURN_OK) { + return RETURN_FAILED; + } + + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "PUS11::doTimeshiftActivity: requestId: " << requestId << std::endl; +#else + sif::printInfo("PUS11::doTimeshiftActivity: requestId: %d\n", requestId); +#endif + } + + // NOTE: Despite having C++17 ETL multimap has no member function extract :( + + TcMapIter tcToTimeshiftIt; + int tcToTimeshiftCount = 0; + + for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) { + if (it->second.requestId == requestId) { + tcToTimeshiftIt = it; + tcToTimeshiftCount++; + } + } + + if (tcToTimeshiftCount == 0 || tcToTimeshiftCount > 1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 " + "TCs found. No explicit timeshifting " + "possible" + << std::endl; + +#else + sif::printWarning( + "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 TCs found. " + "No explicit timeshifting possible\n"); +#endif + return RETURN_FAILED; + } + + // temporarily hold the item + TelecommandStruct tempTc(tcToTimeshiftIt->second); + uint32_t tempKey = tcToTimeshiftIt->first + relativeTime; + + // delete old entry from the mm + telecommandMap.erase(tcToTimeshiftIt); + + // and then insert it again as new entry + telecommandMap.insert(std::make_pair(tempKey, tempTc)); + + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "PUS11::doTimeshiftActivity: Shifted TC" << std::endl; +#else + sif::printDebug("PUS11::doTimeshiftActivity: Shifted TC\n"); +#endif + debugPrintMultimapContent(); + } + + return RETURN_OK; +} + +template +inline ReturnValue_t Service11TelecommandScheduling::doFilterTimeshiftActivity(void) { + const uint8_t *data = currentPacket.getApplicationData(); + uint32_t dataSize = currentPacket.getApplicationDataSize(); + + // Get relative time + uint32_t relativeTime = 0; + if (deserializeViaFsfwInterface(relativeTime, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + if (relativeTime == 0) { + return RETURN_FAILED; + } + data += sizeof(uint32_t); + dataSize -= sizeof(uint32_t); + + // Do time window + TcMapIter itBegin; + TcMapIter itEnd; + if (getMapFilterFromData(data, dataSize, itBegin, itEnd) != RETURN_OK) { + return RETURN_FAILED; + } + + int shiftedItemsCount = 0; + for (auto it = itBegin; it != itEnd;) { + // temporarily hold the item + TelecommandStruct tempTc(it->second); + uint32_t tempKey = it->first + relativeTime; + + // delete the old entry from the mm + telecommandMap.erase(it++); + + // and then insert it again as new entry + telecommandMap.insert(std::make_pair(tempKey, tempTc)); + shiftedItemsCount++; + continue; + } + + if (debugMode) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "PUS11::doFilterTimeshiftActivity: shiftedItemsCount: " << shiftedItemsCount + << std::endl; +#else + sif::printInfo("PUS11::doFilterTimeshiftActivity: shiftedItemsCount: %d\n", shiftedItemsCount); +#endif + debugPrintMultimapContent(); + } + + if (shiftedItemsCount > 0) { + return RETURN_OK; + } + return RETURN_FAILED; +} + +template +inline uint64_t Service11TelecommandScheduling::getRequestIdFromDataTC( + const uint8_t *data) const { + TcPacketPus mask(data); + + uint32_t sourceId = mask.getSourceId(); + uint16_t apid = mask.getAPID(); + uint16_t sequenceCount = mask.getPacketSequenceCount(); + + return buildRequestId(sourceId, apid, sequenceCount); +} + +template +inline ReturnValue_t Service11TelecommandScheduling::getRequestIdFromData( + const uint8_t *data, size_t &dataSize, uint64_t &requestId) { + uint32_t srcId = 0; + uint16_t apid = 0; + uint16_t ssc = 0; + + if (deserializeViaFsfwInterface(srcId, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + + data += sizeof(uint32_t); + dataSize -= sizeof(uint32_t); + if (deserializeViaFsfwInterface(apid, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + + data += sizeof(uint32_t); + dataSize -= sizeof(uint32_t); + if (deserializeViaFsfwInterface(ssc, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + + requestId = buildRequestId(srcId, apid, ssc); + + return RETURN_OK; +} + +template +inline uint64_t Service11TelecommandScheduling::buildRequestId(uint32_t sourceId, + uint16_t apid, + uint16_t ssc) const { + uint64_t sourceId64 = static_cast(sourceId); + uint64_t apid64 = static_cast(apid); + uint64_t ssc64 = static_cast(ssc); + + return (sourceId64 << 32) | (apid64 << 16) | ssc64; +} + +template +inline ReturnValue_t Service11TelecommandScheduling::getMapFilterFromData( + const uint8_t *data, size_t dataSize, TcMapIter &itBegin, TcMapIter &itEnd) { + // get filter type first + uint32_t typeRaw; + if (deserializeViaFsfwInterface(typeRaw, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + // can be modified as the uint8_t pointer is passed by value (copy of ptr is modified) + data += sizeof(uint32_t); + dataSize -= sizeof(uint32_t); + + TypeOfTimeWindow type = static_cast(typeRaw); + + // we now have the type of delete activity - so now we set the range to delete, + // according to the type of time window. + // NOTE: Blocks are used in this switch-case statement so that timestamps can be + // cleanly redefined for each case. + switch (type) { + case TypeOfTimeWindow::SELECT_ALL: { + itBegin = telecommandMap.begin(); + itEnd = telecommandMap.end(); + break; + } + + case TypeOfTimeWindow::FROM_TIMETAG: { + uint32_t fromTimestamp; + if (deserializeViaFsfwInterface(fromTimestamp, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + + itBegin = telecommandMap.begin(); + while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) { + itBegin++; + } + + itEnd = telecommandMap.end(); + break; + } + + case TypeOfTimeWindow::TO_TIMETAG: { + uint32_t toTimestamp; + if (deserializeViaFsfwInterface(toTimestamp, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + itBegin = telecommandMap.begin(); + itEnd = telecommandMap.begin(); + while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) { + itEnd++; + } + break; + } + + case TypeOfTimeWindow::FROM_TIMETAG_TO_TIMETAG: { + uint32_t fromTimestamp; + uint32_t toTimestamp; + + if (deserializeViaFsfwInterface(fromTimestamp, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + data += sizeof(uint32_t); + dataSize -= sizeof(uint32_t); + + if (deserializeViaFsfwInterface(toTimestamp, data, dataSize) != RETURN_OK) { + return RETURN_FAILED; + } + itBegin = telecommandMap.begin(); + itEnd = telecommandMap.begin(); + + while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) { + itBegin++; + } + while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) { + itEnd++; + } + break; + } + + default: + return RETURN_FAILED; + } + + // additional security check, this should never be true + if (itBegin->first > itEnd->first) { + sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n"); + return RETURN_FAILED; + } + + // the map range should now be set according to the sent filter. + return RETURN_OK; +} + +template +template +inline ReturnValue_t Service11TelecommandScheduling::deserializeViaFsfwInterface( + T &output, const uint8_t *buf, size_t bufsize) { + if (buf == nullptr) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "Service11TelecommandScheduling::deserializeViaFsfwInterface: " + "Invalid buffer" + << std::endl; +#else + sif::printWarning( + "Service11TelecommandScheduling::deserializeViaFsfwInterface: " + "Invalid buffer\n"); +#endif +#endif + return RETURN_FAILED; + } + + return SerializeAdapter::deSerialize(&output, &buf, &bufsize, SerializeIF::Endianness::BIG); +} + +template +inline void Service11TelecommandScheduling::debugPrintMultimapContent(void) const { +#if FSFW_DISABLE_PRINTOUT == 0 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content" + << std::endl; + sif::debug << "[" << dit->first << "]: Request ID: " << dit->second.requestId << " | " + << "Store Address: " << dit->second.storeAddr << std::endl; +#else + sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n"); + for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) { + sif::printDebug("[%d]: Request ID: %d | Store Address: %d\n", dit->first, + dit->second.requestId, dit->second.storeAddr); + } +#endif +#endif +} From 82fc7f33a8b27b985f279b8213bc9df7340865f2 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 29 Mar 2022 15:11:41 +0200 Subject: [PATCH 2/6] update afmt scripts to format *.tpp files --- .../devicehandlers/MgmLIS3MDLHandler.cpp | 4 +- hal/src/fsfw_hal/linux/uart/UartCookie.cpp | 4 +- scripts/apply-clang-format.sh | 6 +- src/fsfw/container/FIFOBase.tpp | 105 ++++--- src/fsfw/container/FixedOrderedMultimap.tpp | 158 +++++----- src/fsfw/datapoollocal/LocalPoolVariable.tpp | 286 +++++++++--------- src/fsfw/datapoollocal/LocalPoolVector.tpp | 280 +++++++++-------- src/fsfw/osal/rtems/PeriodicTask.h | 5 +- src/fsfw/version.cpp | 3 +- src/fsfw/version.h | 2 +- tests/src/fsfw_tests/unit/version.cpp | 50 +-- 11 files changed, 441 insertions(+), 462 deletions(-) diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index 52b6dc07..644b488d 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -1,9 +1,9 @@ #include "MgmLIS3MDLHandler.h" -#include "fsfw/datapool/PoolReadGuard.h" - #include +#include "fsfw/datapool/PoolReadGuard.h" + MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie, uint32_t transitionDelay) : DeviceHandlerBase(objectId, deviceCommunication, comCookie), diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp index aa2dd214..3fedc9d4 100644 --- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp @@ -24,9 +24,7 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; } Parity UartCookie::getParity() const { return parity; } -void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { - bitsPerWord = bitsPerWord_; -} +void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; } BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; } diff --git a/scripts/apply-clang-format.sh b/scripts/apply-clang-format.sh index 27202324..ca63ac12 100755 --- a/scripts/apply-clang-format.sh +++ b/scripts/apply-clang-format.sh @@ -3,6 +3,6 @@ if [[ ! -f README.md ]]; then cd .. fi -find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i -find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i -find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i +find ./src -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp | xargs clang-format --style=file -i +find ./hal -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp | xargs clang-format --style=file -i +find ./tests -iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp | xargs clang-format --style=file -i diff --git a/src/fsfw/container/FIFOBase.tpp b/src/fsfw/container/FIFOBase.tpp index 2e6a3829..91804b6c 100644 --- a/src/fsfw/container/FIFOBase.tpp +++ b/src/fsfw/container/FIFOBase.tpp @@ -5,89 +5,88 @@ #error Include FIFOBase.h before FIFOBase.tpp! #endif -template -inline FIFOBase::FIFOBase(T* values, const size_t maxCapacity): - maxCapacity(maxCapacity), values(values){}; +template +inline FIFOBase::FIFOBase(T* values, const size_t maxCapacity) + : maxCapacity(maxCapacity), values(values){}; -template +template inline ReturnValue_t FIFOBase::insert(T value) { - if (full()) { - return FULL; - } else { - values[writeIndex] = value; - writeIndex = next(writeIndex); - ++currentSize; - return HasReturnvaluesIF::RETURN_OK; - } + if (full()) { + return FULL; + } else { + values[writeIndex] = value; + writeIndex = next(writeIndex); + ++currentSize; + return HasReturnvaluesIF::RETURN_OK; + } }; -template +template inline ReturnValue_t FIFOBase::retrieve(T* value) { - if (empty()) { - return EMPTY; - } else { - if (value == nullptr){ - return HasReturnvaluesIF::RETURN_FAILED; - } - *value = values[readIndex]; - readIndex = next(readIndex); - --currentSize; - return HasReturnvaluesIF::RETURN_OK; + if (empty()) { + return EMPTY; + } else { + if (value == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; } + *value = values[readIndex]; + readIndex = next(readIndex); + --currentSize; + return HasReturnvaluesIF::RETURN_OK; + } }; -template +template inline ReturnValue_t FIFOBase::peek(T* value) { - if(empty()) { - return EMPTY; - } else { - if (value == nullptr){ - return HasReturnvaluesIF::RETURN_FAILED; - } - *value = values[readIndex]; - return HasReturnvaluesIF::RETURN_OK; + if (empty()) { + return EMPTY; + } else { + if (value == nullptr) { + return HasReturnvaluesIF::RETURN_FAILED; } + *value = values[readIndex]; + return HasReturnvaluesIF::RETURN_OK; + } }; -template +template inline ReturnValue_t FIFOBase::pop() { - T value; - return this->retrieve(&value); + T value; + return this->retrieve(&value); }; -template +template inline bool FIFOBase::empty() { - return (currentSize == 0); + return (currentSize == 0); }; -template +template inline bool FIFOBase::full() { - return (currentSize == maxCapacity); + return (currentSize == maxCapacity); } -template +template inline size_t FIFOBase::size() { - return currentSize; + return currentSize; } -template +template inline size_t FIFOBase::next(size_t current) { - ++current; - if (current == maxCapacity) { - current = 0; - } - return current; + ++current; + if (current == maxCapacity) { + current = 0; + } + return current; } -template +template inline size_t FIFOBase::getMaxCapacity() const { - return maxCapacity; + return maxCapacity; } - -template -inline void FIFOBase::setContainer(T *data) { - this->values = data; +template +inline void FIFOBase::setContainer(T* data) { + this->values = data; } #endif diff --git a/src/fsfw/container/FixedOrderedMultimap.tpp b/src/fsfw/container/FixedOrderedMultimap.tpp index 294a161f..fd58bc44 100644 --- a/src/fsfw/container/FixedOrderedMultimap.tpp +++ b/src/fsfw/container/FixedOrderedMultimap.tpp @@ -1,109 +1,109 @@ #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ - -template -inline ReturnValue_t FixedOrderedMultimap::insert(key_t key, T value, Iterator *storedValue) { - if (_size == theMap.maxSize()) { - return MAP_FULL; - } - size_t position = findNicePlace(key); - memmove(static_cast(&theMap[position + 1]),static_cast(&theMap[position]), - (_size - position) * sizeof(std::pair)); - theMap[position].first = key; - theMap[position].second = value; - ++_size; - if (storedValue != nullptr) { - *storedValue = Iterator(&theMap[position]); - } - return HasReturnvaluesIF::RETURN_OK; +template +inline ReturnValue_t FixedOrderedMultimap::insert(key_t key, T value, + Iterator *storedValue) { + if (_size == theMap.maxSize()) { + return MAP_FULL; + } + size_t position = findNicePlace(key); + memmove(static_cast(&theMap[position + 1]), static_cast(&theMap[position]), + (_size - position) * sizeof(std::pair)); + theMap[position].first = key; + theMap[position].second = value; + ++_size; + if (storedValue != nullptr) { + *storedValue = Iterator(&theMap[position]); + } + return HasReturnvaluesIF::RETURN_OK; } -template +template inline ReturnValue_t FixedOrderedMultimap::insert(std::pair pair) { - return insert(pair.first, pair.second); + return insert(pair.first, pair.second); } -template +template inline ReturnValue_t FixedOrderedMultimap::exists(key_t key) const { - ReturnValue_t result = KEY_DOES_NOT_EXIST; - if (findFirstIndex(key) < _size) { - result = HasReturnvaluesIF::RETURN_OK; - } - return result; + ReturnValue_t result = KEY_DOES_NOT_EXIST; + if (findFirstIndex(key) < _size) { + result = HasReturnvaluesIF::RETURN_OK; + } + return result; } -template +template inline ReturnValue_t FixedOrderedMultimap::erase(Iterator *iter) { - size_t i; - if ((i = findFirstIndex((*iter).value->first)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - removeFromPosition(i); - if (*iter != begin()) { - (*iter)--; - } else { - *iter = begin(); - } - return HasReturnvaluesIF::RETURN_OK; + size_t i; + if ((i = findFirstIndex((*iter).value->first)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + removeFromPosition(i); + if (*iter != begin()) { + (*iter)--; + } else { + *iter = begin(); + } + return HasReturnvaluesIF::RETURN_OK; } -template +template inline ReturnValue_t FixedOrderedMultimap::erase(key_t key) { - size_t i; - if ((i = findFirstIndex(key)) >= _size) { - return KEY_DOES_NOT_EXIST; - } - do { - removeFromPosition(i); - i = findFirstIndex(key, i); - } while (i < _size); - return HasReturnvaluesIF::RETURN_OK; + size_t i; + if ((i = findFirstIndex(key)) >= _size) { + return KEY_DOES_NOT_EXIST; + } + do { + removeFromPosition(i); + i = findFirstIndex(key, i); + } while (i < _size); + return HasReturnvaluesIF::RETURN_OK; } -template +template inline ReturnValue_t FixedOrderedMultimap::find(key_t key, T **value) const { - ReturnValue_t result = exists(key); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - *value = &theMap[findFirstIndex(key)].second; - return HasReturnvaluesIF::RETURN_OK; + ReturnValue_t result = exists(key); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + *value = &theMap[findFirstIndex(key)].second; + return HasReturnvaluesIF::RETURN_OK; } -template -inline size_t FixedOrderedMultimap::findFirstIndex(key_t key, size_t startAt) const { - if (startAt >= _size) { - return startAt + 1; +template +inline size_t FixedOrderedMultimap::findFirstIndex(key_t key, + size_t startAt) const { + if (startAt >= _size) { + return startAt + 1; + } + size_t i = startAt; + for (i = startAt; i < _size; ++i) { + if (theMap[i].first == key) { + return i; } - size_t i = startAt; - for (i = startAt; i < _size; ++i) { - if (theMap[i].first == key) { - return i; - } - } - return i; + } + return i; } -template +template inline size_t FixedOrderedMultimap::findNicePlace(key_t key) const { - size_t i = 0; - for (i = 0; i < _size; ++i) { - if (myComp(key, theMap[i].first)) { - return i; - } + size_t i = 0; + for (i = 0; i < _size; ++i) { + if (myComp(key, theMap[i].first)) { + return i; } - return i; + } + return i; } -template +template inline void FixedOrderedMultimap::removeFromPosition(size_t position) { - if (_size <= position) { - return; - } - memmove(static_cast(&theMap[position]), static_cast(&theMap[position + 1]), - (_size - position - 1) * sizeof(std::pair)); - --_size; + if (_size <= position) { + return; + } + memmove(static_cast(&theMap[position]), static_cast(&theMap[position + 1]), + (_size - position - 1) * sizeof(std::pair)); + --_size; } - #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */ diff --git a/src/fsfw/datapoollocal/LocalPoolVariable.tpp b/src/fsfw/datapoollocal/LocalPoolVariable.tpp index 9bb30611..f800dfd3 100644 --- a/src/fsfw/datapoollocal/LocalPoolVariable.tpp +++ b/src/fsfw/datapoollocal/LocalPoolVariable.tpp @@ -5,205 +5,189 @@ #error Include LocalPoolVariable.h before LocalPoolVariable.tpp! #endif -template -inline LocalPoolVariable::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, - lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode): - LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {} +template +inline LocalPoolVariable::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId, + DataSetIF* dataSet, pool_rwm_t setReadWriteMode) + : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {} -template -inline LocalPoolVariable::LocalPoolVariable(object_id_t poolOwner, - lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode): - LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {} +template +inline LocalPoolVariable::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId, + DataSetIF* dataSet, pool_rwm_t setReadWriteMode) + : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {} +template +inline LocalPoolVariable::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet, + pool_rwm_t setReadWriteMode) + : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet, + setReadWriteMode) {} -template -inline LocalPoolVariable::LocalPoolVariable(gp_id_t globalPoolId, - DataSetIF *dataSet, pool_rwm_t setReadWriteMode): - LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, - dataSet, setReadWriteMode){} - - -template -inline ReturnValue_t LocalPoolVariable::read( - MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) { - if(hkManager == nullptr) { - return readWithoutLock(); - } - MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager); - ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = readWithoutLock(); - mutex->unlockMutex(); +template +inline ReturnValue_t LocalPoolVariable::read(MutexIF::TimeoutType timeoutType, + uint32_t timeoutMs) { + if (hkManager == nullptr) { + return readWithoutLock(); + } + MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager); + ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs); + if (result != HasReturnvaluesIF::RETURN_OK) { return result; + } + result = readWithoutLock(); + mutex->unlockMutex(); + return result; } -template +template inline ReturnValue_t LocalPoolVariable::readWithoutLock() { - if(readWriteMode == pool_rwm_t::VAR_WRITE) { - object_id_t targetObjectId = hkManager->getCreatorObjectId(); - reportReadCommitError("LocalPoolVector", - PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId, - localPoolId); - return PoolVariableIF::INVALID_READ_WRITE_MODE; - } + if (readWriteMode == pool_rwm_t::VAR_WRITE) { + object_id_t targetObjectId = hkManager->getCreatorObjectId(); + reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true, + targetObjectId, localPoolId); + return PoolVariableIF::INVALID_READ_WRITE_MODE; + } - PoolEntry* poolEntry = nullptr; - ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, - &poolEntry); - if(result != RETURN_OK) { - object_id_t ownerObjectId = hkManager->getCreatorObjectId(); - reportReadCommitError("LocalPoolVariable", result, - false, ownerObjectId, localPoolId); - return result; - } - - this->value = *(poolEntry->getDataPtr()); - this->valid = poolEntry->getValid(); - return RETURN_OK; -} - -template -inline ReturnValue_t LocalPoolVariable::commit(bool setValid, - MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) { - this->setValid(setValid); - return commit(timeoutType, timeoutMs); -} - -template -inline ReturnValue_t LocalPoolVariable::commit( - MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) { - if(hkManager == nullptr) { - return commitWithoutLock(); - } - MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager); - ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs); - if(result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - result = commitWithoutLock(); - mutex->unlockMutex(); + PoolEntry* poolEntry = nullptr; + ReturnValue_t result = + LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry); + if (result != RETURN_OK) { + object_id_t ownerObjectId = hkManager->getCreatorObjectId(); + reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId); return result; + } + + this->value = *(poolEntry->getDataPtr()); + this->valid = poolEntry->getValid(); + return RETURN_OK; } -template +template +inline ReturnValue_t LocalPoolVariable::commit(bool setValid, MutexIF::TimeoutType timeoutType, + uint32_t timeoutMs) { + this->setValid(setValid); + return commit(timeoutType, timeoutMs); +} + +template +inline ReturnValue_t LocalPoolVariable::commit(MutexIF::TimeoutType timeoutType, + uint32_t timeoutMs) { + if (hkManager == nullptr) { + return commitWithoutLock(); + } + MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager); + ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = commitWithoutLock(); + mutex->unlockMutex(); + return result; +} + +template inline ReturnValue_t LocalPoolVariable::commitWithoutLock() { - if(readWriteMode == pool_rwm_t::VAR_READ) { - object_id_t targetObjectId = hkManager->getCreatorObjectId(); - reportReadCommitError("LocalPoolVector", - PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId, - localPoolId); - return PoolVariableIF::INVALID_READ_WRITE_MODE; - } + if (readWriteMode == pool_rwm_t::VAR_READ) { + object_id_t targetObjectId = hkManager->getCreatorObjectId(); + reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false, + targetObjectId, localPoolId); + return PoolVariableIF::INVALID_READ_WRITE_MODE; + } - PoolEntry* poolEntry = nullptr; - ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, - &poolEntry); - if(result != RETURN_OK) { - object_id_t ownerObjectId = hkManager->getCreatorObjectId(); - reportReadCommitError("LocalPoolVariable", result, - false, ownerObjectId, localPoolId); - return result; - } + PoolEntry* poolEntry = nullptr; + ReturnValue_t result = + LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry); + if (result != RETURN_OK) { + object_id_t ownerObjectId = hkManager->getCreatorObjectId(); + reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId); + return result; + } - *(poolEntry->getDataPtr()) = this->value; - poolEntry->setValid(this->valid); - return RETURN_OK; + *(poolEntry->getDataPtr()) = this->value; + poolEntry->setValid(this->valid); + return RETURN_OK; } -template -inline ReturnValue_t LocalPoolVariable::serialize(uint8_t** buffer, - size_t* size, const size_t max_size, - SerializeIF::Endianness streamEndianness) const { - return SerializeAdapter::serialize(&value, - buffer, size ,max_size, streamEndianness); +template +inline ReturnValue_t LocalPoolVariable::serialize( + uint8_t** buffer, size_t* size, const size_t max_size, + SerializeIF::Endianness streamEndianness) const { + return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness); } -template +template inline size_t LocalPoolVariable::getSerializedSize() const { - return SerializeAdapter::getSerializedSize(&value); + return SerializeAdapter::getSerializedSize(&value); } -template -inline ReturnValue_t LocalPoolVariable::deSerialize(const uint8_t** buffer, - size_t* size, SerializeIF::Endianness streamEndianness) { - return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness); +template +inline ReturnValue_t LocalPoolVariable::deSerialize(const uint8_t** buffer, size_t* size, + SerializeIF::Endianness streamEndianness) { + return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness); } #if FSFW_CPP_OSTREAM_ENABLED == 1 -template -inline std::ostream& operator<< (std::ostream &out, - const LocalPoolVariable &var) { - out << var.value; - return out; +template +inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable& var) { + out << var.value; + return out; } #endif -template +template inline LocalPoolVariable::operator T() const { - return value; + return value; } -template -inline LocalPoolVariable & LocalPoolVariable::operator=( - const T& newValue) { - value = newValue; - return *this; +template +inline LocalPoolVariable& LocalPoolVariable::operator=(const T& newValue) { + value = newValue; + return *this; } -template -inline LocalPoolVariable& LocalPoolVariable::operator =( - const LocalPoolVariable& newPoolVariable) { - value = newPoolVariable.value; - return *this; +template +inline LocalPoolVariable& LocalPoolVariable::operator=( + const LocalPoolVariable& newPoolVariable) { + value = newPoolVariable.value; + return *this; } -template -inline bool LocalPoolVariable::operator ==( - const LocalPoolVariable &other) const { - return this->value == other.value; +template +inline bool LocalPoolVariable::operator==(const LocalPoolVariable& other) const { + return this->value == other.value; } -template -inline bool LocalPoolVariable::operator ==(const T &other) const { - return this->value == other; +template +inline bool LocalPoolVariable::operator==(const T& other) const { + return this->value == other; } - -template -inline bool LocalPoolVariable::operator !=( - const LocalPoolVariable &other) const { - return not (*this == other); +template +inline bool LocalPoolVariable::operator!=(const LocalPoolVariable& other) const { + return not(*this == other); } -template -inline bool LocalPoolVariable::operator !=(const T &other) const { - return not (*this == other); +template +inline bool LocalPoolVariable::operator!=(const T& other) const { + return not(*this == other); } - -template -inline bool LocalPoolVariable::operator <( - const LocalPoolVariable &other) const { - return this->value < other.value; +template +inline bool LocalPoolVariable::operator<(const LocalPoolVariable& other) const { + return this->value < other.value; } -template -inline bool LocalPoolVariable::operator <(const T &other) const { - return this->value < other; +template +inline bool LocalPoolVariable::operator<(const T& other) const { + return this->value < other; } - -template -inline bool LocalPoolVariable::operator >( - const LocalPoolVariable &other) const { - return not (*this < other); +template +inline bool LocalPoolVariable::operator>(const LocalPoolVariable& other) const { + return not(*this < other); } -template -inline bool LocalPoolVariable::operator >(const T &other) const { - return not (*this < other); +template +inline bool LocalPoolVariable::operator>(const T& other) const { + return not(*this < other); } #endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */ diff --git a/src/fsfw/datapoollocal/LocalPoolVector.tpp b/src/fsfw/datapoollocal/LocalPoolVector.tpp index 044b8fa7..a2c2b752 100644 --- a/src/fsfw/datapoollocal/LocalPoolVector.tpp +++ b/src/fsfw/datapoollocal/LocalPoolVector.tpp @@ -5,174 +5,172 @@ #error Include LocalPoolVector.h before LocalPoolVector.tpp! #endif -template -inline LocalPoolVector::LocalPoolVector( - HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet, - pool_rwm_t setReadWriteMode): - LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {} +template +inline LocalPoolVector::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId, + DataSetIF* dataSet, + pool_rwm_t setReadWriteMode) + : LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {} -template -inline LocalPoolVector::LocalPoolVector(object_id_t poolOwner, - lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode): - LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {} +template +inline LocalPoolVector::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId, + DataSetIF* dataSet, + pool_rwm_t setReadWriteMode) + : LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {} -template -inline LocalPoolVector::LocalPoolVector(gp_id_t globalPoolId, - DataSetIF *dataSet, pool_rwm_t setReadWriteMode): - LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, - dataSet, setReadWriteMode) {} +template +inline LocalPoolVector::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet, + pool_rwm_t setReadWriteMode) + : LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet, + setReadWriteMode) {} -template -inline ReturnValue_t LocalPoolVector::read( - MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) { - MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs); - return readWithoutLock(); +template +inline ReturnValue_t LocalPoolVector::read(MutexIF::TimeoutType timeoutType, + uint32_t timeoutMs) { + MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs); + return readWithoutLock(); } -template +template inline ReturnValue_t LocalPoolVector::readWithoutLock() { - if(readWriteMode == pool_rwm_t::VAR_WRITE) { - object_id_t targetObjectId = hkManager->getCreatorObjectId(); - reportReadCommitError("LocalPoolVector", - PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId, - localPoolId); - return PoolVariableIF::INVALID_READ_WRITE_MODE; - } + if (readWriteMode == pool_rwm_t::VAR_WRITE) { + object_id_t targetObjectId = hkManager->getCreatorObjectId(); + reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true, + targetObjectId, localPoolId); + return PoolVariableIF::INVALID_READ_WRITE_MODE; + } - PoolEntry* poolEntry = nullptr; - ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, - &poolEntry); - memset(this->value, 0, vectorSize * sizeof(T)); + PoolEntry* poolEntry = nullptr; + ReturnValue_t result = + LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry); + memset(this->value, 0, vectorSize * sizeof(T)); - if(result != RETURN_OK) { - object_id_t targetObjectId = hkManager->getCreatorObjectId(); - reportReadCommitError("LocalPoolVector", result, true, targetObjectId, - localPoolId); - return result; - } - std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize()); - this->valid = poolEntry->getValid(); - return RETURN_OK; + if (result != RETURN_OK) { + object_id_t targetObjectId = hkManager->getCreatorObjectId(); + reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId); + return result; + } + std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize()); + this->valid = poolEntry->getValid(); + return RETURN_OK; } -template +template inline ReturnValue_t LocalPoolVector::commit(bool valid, - MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) { - this->setValid(valid); - return commit(timeoutType, timeoutMs); + MutexIF::TimeoutType timeoutType, + uint32_t timeoutMs) { + this->setValid(valid); + return commit(timeoutType, timeoutMs); } -template -inline ReturnValue_t LocalPoolVector::commit( - MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) { - MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs); - return commitWithoutLock(); +template +inline ReturnValue_t LocalPoolVector::commit(MutexIF::TimeoutType timeoutType, + uint32_t timeoutMs) { + MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs); + return commitWithoutLock(); } -template +template inline ReturnValue_t LocalPoolVector::commitWithoutLock() { - if(readWriteMode == pool_rwm_t::VAR_READ) { - object_id_t targetObjectId = hkManager->getCreatorObjectId(); - reportReadCommitError("LocalPoolVector", - PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId, - localPoolId); - return PoolVariableIF::INVALID_READ_WRITE_MODE; - } - PoolEntry* poolEntry = nullptr; - ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, - &poolEntry); - if(result != RETURN_OK) { - object_id_t targetObjectId = hkManager->getCreatorObjectId(); - reportReadCommitError("LocalPoolVector", result, false, targetObjectId, - localPoolId); - return result; - } - std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize()); - poolEntry->setValid(this->valid); - return RETURN_OK; -} - -template -inline T& LocalPoolVector::operator [](size_t i) { - if(i < vectorSize) { - return value[i]; - } - // If this happens, I have to set some value. I consider this - // a configuration error, but I wont exit here. -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "LocalPoolVector: Invalid index. Setting or returning" - " last value!" << std::endl; -#else - sif::printWarning("LocalPoolVector: Invalid index. Setting or returning" - " last value!\n"); -#endif - return value[vectorSize - 1]; -} - -template -inline const T& LocalPoolVector::operator [](size_t i) const { - if(i < vectorSize) { - return value[i]; - } - // If this happens, I have to set some value. I consider this - // a configuration error, but I wont exit here. -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "LocalPoolVector: Invalid index. Setting or returning" - " last value!" << std::endl; -#else - sif::printWarning("LocalPoolVector: Invalid index. Setting or returning" - " last value!\n"); -#endif - return value[vectorSize - 1]; -} - -template -inline ReturnValue_t LocalPoolVector::serialize(uint8_t** buffer, - size_t* size, size_t maxSize, - SerializeIF::Endianness streamEndianness) const { - ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; - for (uint16_t i = 0; i < vectorSize; i++) { - result = SerializeAdapter::serialize(&(value[i]), buffer, size, - maxSize, streamEndianness); - if (result != HasReturnvaluesIF::RETURN_OK) { - break; - } - } + if (readWriteMode == pool_rwm_t::VAR_READ) { + object_id_t targetObjectId = hkManager->getCreatorObjectId(); + reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false, + targetObjectId, localPoolId); + return PoolVariableIF::INVALID_READ_WRITE_MODE; + } + PoolEntry* poolEntry = nullptr; + ReturnValue_t result = + LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry); + if (result != RETURN_OK) { + object_id_t targetObjectId = hkManager->getCreatorObjectId(); + reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId); return result; + } + std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize()); + poolEntry->setValid(this->valid); + return RETURN_OK; } -template +template +inline T& LocalPoolVector::operator[](size_t i) { + if (i < vectorSize) { + return value[i]; + } + // If this happens, I have to set some value. I consider this + // a configuration error, but I wont exit here. +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "LocalPoolVector: Invalid index. Setting or returning" + " last value!" + << std::endl; +#else + sif::printWarning( + "LocalPoolVector: Invalid index. Setting or returning" + " last value!\n"); +#endif + return value[vectorSize - 1]; +} + +template +inline const T& LocalPoolVector::operator[](size_t i) const { + if (i < vectorSize) { + return value[i]; + } + // If this happens, I have to set some value. I consider this + // a configuration error, but I wont exit here. +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "LocalPoolVector: Invalid index. Setting or returning" + " last value!" + << std::endl; +#else + sif::printWarning( + "LocalPoolVector: Invalid index. Setting or returning" + " last value!\n"); +#endif + return value[vectorSize - 1]; +} + +template +inline ReturnValue_t LocalPoolVector::serialize( + uint8_t** buffer, size_t* size, size_t maxSize, + SerializeIF::Endianness streamEndianness) const { + ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; + for (uint16_t i = 0; i < vectorSize; i++) { + result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + break; + } + } + return result; +} + +template inline size_t LocalPoolVector::getSerializedSize() const { - return vectorSize * SerializeAdapter::getSerializedSize(value); + return vectorSize * SerializeAdapter::getSerializedSize(value); } -template +template inline ReturnValue_t LocalPoolVector::deSerialize( - const uint8_t** buffer, size_t* size, - SerializeIF::Endianness streamEndianness) { - ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; - for (uint16_t i = 0; i < vectorSize; i++) { - result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, - streamEndianness); - if (result != HasReturnvaluesIF::RETURN_OK) { - break; - } + const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED; + for (uint16_t i = 0; i < vectorSize; i++) { + result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness); + if (result != HasReturnvaluesIF::RETURN_OK) { + break; } - return result; + } + return result; } #if FSFW_CPP_OSTREAM_ENABLED == 1 -template -inline std::ostream& operator<< (std::ostream &out, - const LocalPoolVector &var) { - out << "Vector: ["; - for(int i = 0;i < vectorSize; i++) { - out << var.value[i]; - if(i < vectorSize - 1) { - out << ", "; - } +template +inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector& var) { + out << "Vector: ["; + for (int i = 0; i < vectorSize; i++) { + out << var.value[i]; + if (i < vectorSize - 1) { + out << ", "; } - out << "]"; - return out; + } + out << "]"; + return out; } #endif diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index 24ce4af1..9f47dfc6 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { */ ReturnValue_t addComponent(object_id_t object) override; -/** + /** * Adds an object to the list of objects to be executed. * The objects are executed in the order added. * @param object pointer to the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(ExecutableObjectIF* object) override; - + ReturnValue_t addComponent(ExecutableObjectIF *object) override; uint32_t getPeriodMs() const override; diff --git a/src/fsfw/version.cpp b/src/fsfw/version.cpp index 926e465f..e4a62002 100644 --- a/src/fsfw/version.cpp +++ b/src/fsfw/version.cpp @@ -1,8 +1,9 @@ #include "version.h" -#include "fsfw/FSFWVersion.h" #include +#include "fsfw/FSFWVersion.h" + #ifdef major #undef major #endif diff --git a/src/fsfw/version.h b/src/fsfw/version.h index 7cddf193..bb4d0399 100644 --- a/src/fsfw/version.h +++ b/src/fsfw/version.h @@ -29,7 +29,7 @@ class Version { } friend bool operator>(const Version& v1, const Version& v2) { - return not (v1 < v2) and not (v1 == v2); + return not(v1 < v2) and not(v1 == v2); } friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); } diff --git a/tests/src/fsfw_tests/unit/version.cpp b/tests/src/fsfw_tests/unit/version.cpp index 92a930dc..2967dfa5 100644 --- a/tests/src/fsfw_tests/unit/version.cpp +++ b/tests/src/fsfw_tests/unit/version.cpp @@ -17,15 +17,15 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") { fsfw::Version v1 = fsfw::Version(1, 1, 1); fsfw::Version v2 = fsfw::Version(1, 1, 1); REQUIRE(v1 == v2); - REQUIRE(not (v1 < v2)); - REQUIRE(not (v1 > v2)); + REQUIRE(not(v1 < v2)); + REQUIRE(not(v1 > v2)); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); v1.revision -= 1; REQUIRE(v1 != v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 > v2)); - REQUIRE(not (v1 >= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 > v2)); + REQUIRE(not(v1 >= v2)); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); v1.revision += 1; @@ -33,60 +33,60 @@ TEST_CASE("Version API Tests", "[TestVersionAPI]") { REQUIRE(v1 != v2); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 > v2)); - REQUIRE(not (v1 >= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 > v2)); + REQUIRE(not(v1 >= v2)); v1.minor += 1; v1.major -= 1; REQUIRE(v1 != v2); REQUIRE(v1 < v2); REQUIRE(v1 <= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 > v2)); - REQUIRE(not (v1 >= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 > v2)); + REQUIRE(not(v1 >= v2)); v1.major += 1; REQUIRE(v1 == v2); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 != v2)); - REQUIRE(not (v1 > v2)); - REQUIRE(not (v1 < v2)); + REQUIRE(not(v1 != v2)); + REQUIRE(not(v1 > v2)); + REQUIRE(not(v1 < v2)); v1.major += 1; v1.minor -= 1; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 < v2)); - REQUIRE(not (v1 <= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 < v2)); + REQUIRE(not(v1 <= v2)); v1.major -= 1; v1.minor += 2; v1.revision -= 1; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 < v2)); - REQUIRE(not (v1 <= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 < v2)); + REQUIRE(not(v1 <= v2)); v1.minor -= 1; v1.revision += 2; REQUIRE(v1 != v2); REQUIRE(v1 > v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 == v2)); - REQUIRE(not (v1 < v2)); - REQUIRE(not (v1 <= v2)); + REQUIRE(not(v1 == v2)); + REQUIRE(not(v1 < v2)); + REQUIRE(not(v1 <= v2)); v1.revision -= 1; REQUIRE(v1 == v2); REQUIRE(v1 <= v2); REQUIRE(v1 >= v2); - REQUIRE(not (v1 != v2)); + REQUIRE(not(v1 != v2)); #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "v" << fsfw::FSFW_VERSION << std::endl; #endif char verString[10] = {}; fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString)); #if FSFW_DISABLE_PRINTOUT == 0 - printf("v%s\n",verString); + printf("v%s\n", verString); #endif } From a18bc15cbb717734952f34e9b9aaf751ebee082d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 11 Apr 2022 16:16:56 +0200 Subject: [PATCH 3/6] update changelog --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f3eb6942..8fef44f1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -37,6 +37,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information inside `fsfw/version.h` PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559 +- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library + (ETL) dependency. + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594 # [v4.0.0] From c4c340fde17a6f3cf68eab30b3de4b73b1f55497 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 12 May 2022 16:53:34 +0200 Subject: [PATCH 4/6] lot of refactoring --- src/fsfw/pus/Service11TelecommandScheduling.h | 22 ++- .../pus/Service11TelecommandScheduling.tpp | 179 ++++++++---------- src/fsfw/returnvalues/FwClassIds.h | 1 + 3 files changed, 99 insertions(+), 103 deletions(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.h b/src/fsfw/pus/Service11TelecommandScheduling.h index 97a343a7..f8b17c63 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.h +++ b/src/fsfw/pus/Service11TelecommandScheduling.h @@ -6,6 +6,7 @@ #include #include "fsfw/FSFW.h" +#include "fsfw/returnvalues/FwClassIds.h" /** * @brief: PUS-Service 11 - Telecommand scheduling. @@ -34,8 +35,12 @@ template class Service11TelecommandScheduling final : public PusServiceBase { public: + static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_11; + + static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW = + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1); // The types of PUS-11 subservices - enum Subservice { + enum Subservice : uint8_t { ENABLE_SCHEDULING = 1, DISABLE_SCHEDULING = 2, RESET_SCHEDULING = 3, @@ -103,31 +108,31 @@ class Service11TelecommandScheduling final : public PusServiceBase { * @brief Logic to be performed on an incoming TC[11,4]. * @return RETURN_OK if successful */ - ReturnValue_t doInsertActivity(void); + ReturnValue_t doInsertActivity(const uint8_t* data, size_t size); /** * @brief Logic to be performed on an incoming TC[11,5]. * @return RETURN_OK if successful */ - ReturnValue_t doDeleteActivity(void); + ReturnValue_t doDeleteActivity(const uint8_t* data, size_t size); /** * @brief Logic to be performed on an incoming TC[11,6]. * @return RETURN_OK if successful */ - ReturnValue_t doFilterDeleteActivity(void); + ReturnValue_t doFilterDeleteActivity(const uint8_t* data, size_t size); /** * @brief Logic to be performed on an incoming TC[11,7]. * @return RETURN_OK if successful */ - ReturnValue_t doTimeshiftActivity(void); + ReturnValue_t doTimeshiftActivity(const uint8_t* data, size_t size); /** * @brief Logic to be performed on an incoming TC[11,8]. * @return RETURN_OK if successful */ - ReturnValue_t doFilterTimeshiftActivity(void); + ReturnValue_t doFilterTimeshiftActivity(const uint8_t* data, size_t size); /** * @brief Deserializes a generic type from a payload buffer by using the FSFW @@ -158,7 +163,7 @@ class Service11TelecommandScheduling final : public PusServiceBase { * @param [out] requestId Request ID * @return RETURN_OK if successful */ - ReturnValue_t getRequestIdFromData(const uint8_t* data, size_t& dataSize, uint64_t& requestId); + ReturnValue_t getRequestIdFromData(const uint8_t*& data, size_t& dataSize, uint64_t& requestId); /** * @brief Builds the Request ID from its three elements. @@ -177,9 +182,10 @@ class Service11TelecommandScheduling final : public PusServiceBase { * @param [out] itEnd End of filter range * @return RETURN_OK if successful */ - ReturnValue_t getMapFilterFromData(const uint8_t* data, size_t dataSize, TcMapIter& itBegin, + ReturnValue_t getMapFilterFromData(const uint8_t*& data, size_t& size, TcMapIter& itBegin, TcMapIter& itEnd); + ReturnValue_t handleInvalidData(const char* ctx); /** * @brief Prints content of multimap. Use for simple debugging only. */ diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index bfd9e96f..cc830f12 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -6,6 +6,8 @@ #include +static constexpr auto DEF_END = SerializeIF::Endianness::BIG; + template inline Service11TelecommandScheduling::Service11TelecommandScheduling( object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient, @@ -28,17 +30,23 @@ inline ReturnValue_t Service11TelecommandScheduling::handleRequest( sif::printInfo("PUS11::handleRequest: Handling request %d\n", subservice); #endif } + // Get de-serialized Timestamp + const uint8_t *data = currentPacket.getApplicationData(); + size_t size = currentPacket.getApplicationDataSize(); + if (data == nullptr) { + return handleInvalidData("handleRequest"); + } switch (subservice) { case Subservice::INSERT_ACTIVITY: - return doInsertActivity(); + return doInsertActivity(data, size); case Subservice::DELETE_ACTIVITY: - return doDeleteActivity(); + return doDeleteActivity(data, size); case Subservice::FILTER_DELETE_ACTIVITY: - return doFilterDeleteActivity(); + return doFilterDeleteActivity(data, size); case Subservice::TIMESHIFT_ACTIVITY: - return doTimeshiftActivity(); + return doTimeshiftActivity(data, size); case Subservice::FILTER_TIMESHIFT_ACTIVITY: - return doFilterTimeshiftActivity(); + return doFilterTimeshiftActivity(data, size); default: break; } @@ -105,17 +113,15 @@ inline ReturnValue_t Service11TelecommandScheduling::initialize() { } template -inline ReturnValue_t Service11TelecommandScheduling::doInsertActivity(void) { - // Get de-serialized Timestamp - const uint8_t *data = currentPacket.getApplicationData(); - size_t dataSize = currentPacket.getApplicationDataSize(); - +inline ReturnValue_t Service11TelecommandScheduling::doInsertActivity( + const uint8_t *data, size_t size) { uint32_t timestamp = 0; - if (deserializeViaFsfwInterface(timestamp, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + const uint8_t *initData = data; + size_t initSz = size; + ReturnValue_t result = SerializeAdapter::deSerialize(×tamp, &data, &size, DEF_END); + if (result != RETURN_OK) { + return result; } - data += sizeof(uint32_t); // move ptr past timestamp (for later) - dataSize -= sizeof(uint32_t); // and reduce size accordingly // Insert possible if sched. time is above margin // (See requirement for Time margin) @@ -135,8 +141,8 @@ inline ReturnValue_t Service11TelecommandScheduling::doInsertActivi } // store currentPacket and receive the store address - store_address_t addr; - if (tcStore->addData(&addr, data, dataSize) != RETURN_OK || + store_address_t addr{}; + if (tcStore->addData(&addr, initData, initSz) != RETURN_OK || addr.raw == storeId::INVALID_STORE_ADDRESS) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed" @@ -172,14 +178,13 @@ inline ReturnValue_t Service11TelecommandScheduling::doInsertActivi } template -inline ReturnValue_t Service11TelecommandScheduling::doDeleteActivity(void) { - const uint8_t *data = currentPacket.getApplicationData(); - size_t dataSize = currentPacket.getApplicationDataSize(); - +inline ReturnValue_t Service11TelecommandScheduling::doDeleteActivity( + const uint8_t *data, size_t size) { // Get request ID uint64_t requestId; - if (getRequestIdFromData(data, dataSize, requestId) != RETURN_OK) { - return RETURN_FAILED; + ReturnValue_t result = getRequestIdFromData(data, size, requestId); + if (result != RETURN_OK) { + return result; } // DEBUG @@ -240,16 +245,15 @@ inline ReturnValue_t Service11TelecommandScheduling::doDeleteActivi } template -inline ReturnValue_t Service11TelecommandScheduling::doFilterDeleteActivity(void) { - const uint8_t *data = currentPacket.getApplicationData(); - size_t dataSize = currentPacket.getApplicationDataSize(); - +inline ReturnValue_t Service11TelecommandScheduling::doFilterDeleteActivity( + const uint8_t *data, size_t size) { TcMapIter itBegin; TcMapIter itEnd; + ReturnValue_t result = getMapFilterFromData(data, size, itBegin, itEnd); // get the filter window as map range via dedicated method - if (getMapFilterFromData(data, dataSize, itBegin, itEnd) != RETURN_OK) { - return RETURN_FAILED; + if (result != RETURN_OK) { + return result; } int deletedTCs = 0; @@ -290,26 +294,22 @@ inline ReturnValue_t Service11TelecommandScheduling::doFilterDelete } template -inline ReturnValue_t Service11TelecommandScheduling::doTimeshiftActivity(void) { - const uint8_t *data = currentPacket.getApplicationData(); - size_t dataSize = currentPacket.getApplicationDataSize(); - +inline ReturnValue_t Service11TelecommandScheduling::doTimeshiftActivity( + const uint8_t *data, size_t size) { // Get relative time uint32_t relativeTime = 0; - if (deserializeViaFsfwInterface(relativeTime, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END); + if (result != RETURN_OK) { + return result; } if (relativeTime == 0) { return RETURN_FAILED; } // TODO further check sanity of the relative time? - data += sizeof(uint32_t); - dataSize -= sizeof(uint32_t); - // Get request ID uint64_t requestId; - if (getRequestIdFromData(data, dataSize, requestId) != RETURN_OK) { + if (getRequestIdFromData(data, size, requestId) != RETURN_OK) { return RETURN_FAILED; } @@ -371,26 +371,24 @@ inline ReturnValue_t Service11TelecommandScheduling::doTimeshiftAct } template -inline ReturnValue_t Service11TelecommandScheduling::doFilterTimeshiftActivity(void) { - const uint8_t *data = currentPacket.getApplicationData(); - uint32_t dataSize = currentPacket.getApplicationDataSize(); - +inline ReturnValue_t Service11TelecommandScheduling::doFilterTimeshiftActivity( + const uint8_t *data, size_t size) { // Get relative time uint32_t relativeTime = 0; - if (deserializeViaFsfwInterface(relativeTime, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END); + if (result != RETURN_OK) { + return result; } if (relativeTime == 0) { return RETURN_FAILED; } - data += sizeof(uint32_t); - dataSize -= sizeof(uint32_t); // Do time window TcMapIter itBegin; TcMapIter itEnd; - if (getMapFilterFromData(data, dataSize, itBegin, itEnd) != RETURN_OK) { - return RETURN_FAILED; + result = getMapFilterFromData(data, size, itBegin, itEnd); + if (result != RETURN_OK) { + return result; } int shiftedItemsCount = 0; @@ -438,27 +436,23 @@ inline uint64_t Service11TelecommandScheduling::getRequestIdFromDat template inline ReturnValue_t Service11TelecommandScheduling::getRequestIdFromData( - const uint8_t *data, size_t &dataSize, uint64_t &requestId) { + const uint8_t *&data, size_t &dataSize, uint64_t &requestId) { uint32_t srcId = 0; uint16_t apid = 0; uint16_t ssc = 0; - if (deserializeViaFsfwInterface(srcId, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + ReturnValue_t result = SerializeAdapter::deSerialize(&srcId, &data, &dataSize, DEF_END); + if (result != RETURN_OK) { + return result; } - - data += sizeof(uint32_t); - dataSize -= sizeof(uint32_t); - if (deserializeViaFsfwInterface(apid, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + result = SerializeAdapter::deSerialize(&apid, &data, &dataSize, DEF_END); + if (result != RETURN_OK) { + return result; } - - data += sizeof(uint32_t); - dataSize -= sizeof(uint32_t); - if (deserializeViaFsfwInterface(ssc, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + result = SerializeAdapter::deSerialize(&ssc, &data, &dataSize, DEF_END); + if (result != RETURN_OK) { + return result; } - requestId = buildRequestId(srcId, apid, ssc); return RETURN_OK; @@ -477,16 +471,17 @@ inline uint64_t Service11TelecommandScheduling::buildRequestId(uint template inline ReturnValue_t Service11TelecommandScheduling::getMapFilterFromData( - const uint8_t *data, size_t dataSize, TcMapIter &itBegin, TcMapIter &itEnd) { + const uint8_t *&data, size_t &dataSize, TcMapIter &itBegin, TcMapIter &itEnd) { // get filter type first - uint32_t typeRaw; - if (deserializeViaFsfwInterface(typeRaw, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + uint32_t typeRaw = 0; + ReturnValue_t result = SerializeAdapter::deSerialize(&typeRaw, &data, &dataSize, DEF_END); + if (result != RETURN_OK) { + return result; } - // can be modified as the uint8_t pointer is passed by value (copy of ptr is modified) - data += sizeof(uint32_t); - dataSize -= sizeof(uint32_t); + if (typeRaw > 3) { + return INVALID_TYPE_TIME_WINDOW; + } TypeOfTimeWindow type = static_cast(typeRaw); // we now have the type of delete activity - so now we set the range to delete, @@ -501,9 +496,10 @@ inline ReturnValue_t Service11TelecommandScheduling::getMapFilterFr } case TypeOfTimeWindow::FROM_TIMETAG: { - uint32_t fromTimestamp; - if (deserializeViaFsfwInterface(fromTimestamp, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + uint32_t fromTimestamp = 0; + result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize, DEF_END); + if (result != RETURN_OK) { + return result; } itBegin = telecommandMap.begin(); @@ -517,8 +513,9 @@ inline ReturnValue_t Service11TelecommandScheduling::getMapFilterFr case TypeOfTimeWindow::TO_TIMETAG: { uint32_t toTimestamp; - if (deserializeViaFsfwInterface(toTimestamp, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize, DEF_END); + if (result != RETURN_OK) { + return result; } itBegin = telecommandMap.begin(); itEnd = telecommandMap.begin(); @@ -532,14 +529,15 @@ inline ReturnValue_t Service11TelecommandScheduling::getMapFilterFr uint32_t fromTimestamp; uint32_t toTimestamp; - if (deserializeViaFsfwInterface(fromTimestamp, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize, + SerializeIF::Endianness::BIG); + if (result != RETURN_OK) { + return result; } - data += sizeof(uint32_t); - dataSize -= sizeof(uint32_t); - - if (deserializeViaFsfwInterface(toTimestamp, data, dataSize) != RETURN_OK) { - return RETURN_FAILED; + result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize, + SerializeIF::Endianness::BIG); + if (result != RETURN_OK) { + return result; } itBegin = telecommandMap.begin(); itEnd = telecommandMap.begin(); @@ -568,25 +566,16 @@ inline ReturnValue_t Service11TelecommandScheduling::getMapFilterFr } template -template -inline ReturnValue_t Service11TelecommandScheduling::deserializeViaFsfwInterface( - T &output, const uint8_t *buf, size_t bufsize) { - if (buf == nullptr) { +inline ReturnValue_t Service11TelecommandScheduling::handleInvalidData( + const char *ctx) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "Service11TelecommandScheduling::deserializeViaFsfwInterface: " - "Invalid buffer" - << std::endl; + sif::warning << "Service11TelecommandScheduling:: " << ctx << ": Invalid buffer" << std::endl; #else - sif::printWarning( - "Service11TelecommandScheduling::deserializeViaFsfwInterface: " - "Invalid buffer\n"); + sif::printWarning("Service11TelecommandScheduling::%s: Invalid buffer\n", ctx); #endif #endif - return RETURN_FAILED; - } - - return SerializeAdapter::deSerialize(&output, &buf, &bufsize, SerializeIF::Endianness::BIG); + return RETURN_FAILED; } template diff --git a/src/fsfw/returnvalues/FwClassIds.h b/src/fsfw/returnvalues/FwClassIds.h index d07cedc9..f5f57276 100644 --- a/src/fsfw/returnvalues/FwClassIds.h +++ b/src/fsfw/returnvalues/FwClassIds.h @@ -72,6 +72,7 @@ enum : uint8_t { DLE_ENCODER, // DLEE PUS_SERVICE_3, // PUS3 PUS_SERVICE_9, // PUS9 + PUS_SERVICE_11, // PUS11 FILE_SYSTEM, // FILS LINUX_OSAL, // UXOS HAL_SPI, // HSPI From b8cfb36426f1778a787e88b7681aa74dadb3d209 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 12 May 2022 17:05:58 +0200 Subject: [PATCH 5/6] added additional explicit returnvalues --- src/fsfw/pus/Service11TelecommandScheduling.h | 5 +++++ src/fsfw/pus/Service11TelecommandScheduling.tpp | 4 ++-- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.h b/src/fsfw/pus/Service11TelecommandScheduling.h index f8b17c63..5e446b07 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.h +++ b/src/fsfw/pus/Service11TelecommandScheduling.h @@ -39,6 +39,11 @@ class Service11TelecommandScheduling final : public PusServiceBase { static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1); + static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2); + static constexpr ReturnValue_t INVALID_RELATIVE_TIME = + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3); + // The types of PUS-11 subservices enum Subservice : uint8_t { ENABLE_SCHEDULING = 1, diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index cc830f12..31957652 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -345,7 +345,7 @@ inline ReturnValue_t Service11TelecommandScheduling::doTimeshiftAct "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 TCs found. " "No explicit timeshifting possible\n"); #endif - return RETURN_FAILED; + return TIMESHIFTING_NOT_POSSIBLE; } // temporarily hold the item @@ -380,7 +380,7 @@ inline ReturnValue_t Service11TelecommandScheduling::doFilterTimesh return result; } if (relativeTime == 0) { - return RETURN_FAILED; + return INVALID_RELATIVE_TIME; } // Do time window From 038e47a46e38738b555f8d5117fa287d59aedcac Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 May 2022 00:30:01 +0200 Subject: [PATCH 6/6] better returncode handling --- src/fsfw/pus/Service11TelecommandScheduling.tpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 31957652..c72e6631 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -303,14 +303,15 @@ inline ReturnValue_t Service11TelecommandScheduling::doTimeshiftAct return result; } if (relativeTime == 0) { - return RETURN_FAILED; + return INVALID_RELATIVE_TIME; } // TODO further check sanity of the relative time? // Get request ID uint64_t requestId; - if (getRequestIdFromData(data, size, requestId) != RETURN_OK) { - return RETURN_FAILED; + result = getRequestIdFromData(data, size, requestId); + if (result != RETURN_OK) { + return result; } if (debugMode) {