From d8c5bd125e7bb8af22f9c369aa01e61b501a8651 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 12:02:58 +0100 Subject: [PATCH 001/162] All EIVE changes --- .../fsfw_hal/common/gpio/gpioDefinitions.h | 20 +++--- .../devicehandlers/GyroL3GD20Handler.cpp | 2 +- .../devicehandlers/MgmLIS3MDLHandler.cpp | 8 ++- .../devicehandlers/MgmRM3100Handler.cpp | 2 +- .../fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 14 ++-- hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp | 5 +- hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp | 2 +- hal/src/fsfw_hal/linux/rpi/GpioRPi.h | 3 +- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 3 +- hal/src/fsfw_hal/linux/uart/UartCookie.cpp | 2 +- hal/src/fsfw_hal/linux/uio/CMakeLists.txt | 3 + hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 66 +++++++++++++++++++ hal/src/fsfw_hal/linux/uio/UioMapper.h | 58 ++++++++++++++++ .../datapoollocal/LocalPoolDataSetBase.cpp | 2 + src/fsfw/datapoollocal/LocalPoolDataSetBase.h | 5 ++ .../datapoollocal/LocalPoolObjectBase.cpp | 11 ++-- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 7 ++ src/fsfw/devicehandlers/DeviceHandlerBase.h | 6 ++ src/fsfw/osal/linux/CMakeLists.txt | 34 +++++----- src/fsfw/timemanager/Clock.h | 7 ++ src/fsfw/timemanager/ClockCommon.cpp | 21 +++++- src/fsfw/tmtcservices/TmTcBridge.cpp | 15 +++-- src/fsfw/tmtcservices/TmTcBridge.h | 2 + 23 files changed, 237 insertions(+), 61 deletions(-) create mode 100644 hal/src/fsfw_hal/linux/uio/CMakeLists.txt create mode 100644 hal/src/fsfw_hal/linux/uio/UioMapper.cpp create mode 100644 hal/src/fsfw_hal/linux/uio/UioMapper.h diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index b429449b..0ef5b2ea 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -11,7 +11,7 @@ namespace gpio { enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 }; -enum Direction : uint8_t { IN = 0, OUT = 1 }; +enum Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 }; enum GpioOperation { READ, WRITE }; @@ -20,7 +20,7 @@ enum class GpioTypes { GPIO_REGULAR_BY_CHIP, GPIO_REGULAR_BY_LABEL, GPIO_REGULAR_BY_LINE_NAME, - CALLBACK + TYPE_CALLBACK }; static constexpr gpioId_t NO_GPIO = -1; @@ -57,7 +57,7 @@ class GpioBase { // Can be used to cast GpioBase to a concrete child implementation gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; std::string consumer; - gpio::Direction direction = gpio::Direction::IN; + gpio::Direction direction = gpio::Direction::DIR_IN; gpio::Levels initValue = gpio::Levels::NONE; }; @@ -79,8 +79,8 @@ class GpiodRegularBase : public GpioBase { class GpiodRegularByChip : public GpiodRegularBase { public: GpiodRegularByChip() - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN, - gpio::LOW, 0) {} + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), + gpio::Direction::DIR_IN, gpio::LOW, 0) {} GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_, gpio::Direction direction_, gpio::Levels initValue_) @@ -89,7 +89,7 @@ class GpiodRegularByChip : public GpiodRegularBase { chipname(chipname_) {} GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN, + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::DIR_IN, gpio::LOW, lineNum_), chipname(chipname_) {} @@ -105,7 +105,7 @@ class GpiodRegularByLabel : public GpiodRegularBase { label(label_) {} GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN, + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::DIR_IN, gpio::LOW, lineNum_), label(label_) {} @@ -126,8 +126,8 @@ class GpiodRegularByLineName : public GpiodRegularBase { lineName(lineName_) {} GpiodRegularByLineName(std::string lineName_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN, - gpio::LOW), + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, + gpio::Direction::DIR_IN, gpio::LOW), lineName(lineName_) {} std::string lineName; @@ -137,7 +137,7 @@ class GpioCallback : public GpioBase { public: GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_, gpio::gpio_cb_t callback, void* callbackArgs) - : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), + : GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_), callback(callback), callbackArgs(callbackArgs) {} diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp index be4c9aa9..f92f5f1f 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp @@ -10,7 +10,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC transitionDelayMs(transitionDelayMs), dataset(this) { #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(3); + debugDivider = new PeriodicOperationDivider(10); #endif } diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index f3ea9942..cf1d934a 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -13,7 +13,7 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom dataset(this), transitionDelay(transitionDelay) { #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(3); + debugDivider = new PeriodicOperationDivider(10); #endif // Set to default values right away registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; @@ -264,7 +264,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX]; - /* Target value in microtesla */ + // Target value in microtesla float mgmX = static_cast(mgmMeasurementRawX) * sensitivityFactor * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; float mgmY = static_cast(mgmMeasurementRawY) * sensitivityFactor * @@ -462,7 +462,9 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() { return RETURN_OK; } -void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {} +void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { + DeviceHandlerBase::doTransition(modeFrom, subModeFrom); +} uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; } diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index 4c6e09b1..a2e2e85f 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -12,7 +12,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu primaryDataset(this), transitionDelay(transitionDelay) { #if FSFW_HAL_RM3100_MGM_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(3); + debugDivider = new PeriodicOperationDivider(10); #endif } diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index a33305b6..fa9eeb5a 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -74,7 +74,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { configureGpioByLineName(gpioConfig.first, *regularGpio); break; } - case (gpio::GpioTypes::CALLBACK): { + case (gpio::GpioTypes::TYPE_CALLBACK): { auto gpioCallback = dynamic_cast(gpioConfig.second); if (gpioCallback->callback == nullptr) { return GPIO_INVALID_INSTANCE; @@ -161,11 +161,11 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod consumer = regularGpio.consumer; /* Configure direction and add a description to the GPIO */ switch (direction) { - case (gpio::OUT): { + case (gpio::DIR_OUT): { result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue); break; } - case (gpio::IN): { + case (gpio::DIR_IN): { result = gpiod_line_request_input(lineHandle, consumer.c_str()); break; } @@ -326,7 +326,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) { } break; } - case (gpio::GpioTypes::CALLBACK): { + case (gpio::GpioTypes::TYPE_CALLBACK): { auto callbackGpio = dynamic_cast(gpioConfig.second); if (callbackGpio == nullptr) { return GPIO_TYPE_FAILURE; @@ -366,13 +366,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck, case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { - if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) { + if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) { eraseDuplicateDifferentType = true; } break; } - case (gpio::GpioTypes::CALLBACK): { - if (gpioType != gpio::GpioTypes::CALLBACK) { + case (gpio::GpioTypes::TYPE_CALLBACK): { + if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) { eraseDuplicateDifferentType = true; } } diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp index dc23542d..d7e022dd 100644 --- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -8,8 +8,7 @@ #include -#include "fsfw/FSFW.h" -#include "fsfw/serviceinterface.h" +#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw_hal/linux/UnixFileGuard.h" #include "fsfw_hal/linux/utility.h" @@ -104,7 +103,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s return result; } - if (write(fd, sendData, sendLen) != static_cast(sendLen)) { + if (write(fd, sendData, sendLen) != (int)sendLen) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "I2cComIF::sendMessage: Failed to send data to I2C " "device with error code " diff --git a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp index c005e24f..d3c0a577 100644 --- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp +++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp @@ -7,7 +7,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, std::string consumer, gpio::Direction direction, - int initValue) { + gpio::Levels initValue) { if (cookie == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/hal/src/fsfw_hal/linux/rpi/GpioRPi.h b/hal/src/fsfw_hal/linux/rpi/GpioRPi.h index 499f984b..8ca7065a 100644 --- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.h +++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.h @@ -21,7 +21,8 @@ namespace gpio { * @return */ ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, - std::string consumer, gpio::Direction direction, int initValue); + std::string consumer, gpio::Direction direction, + gpio::Levels initValue); } // namespace gpio #endif /* BSP_RPI_GPIO_GPIORPI_H_ */ diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index a648df3a..ba970e3e 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -7,7 +7,6 @@ #include -#include "fsfw/FSFW.h" #include "fsfw/serviceinterface.h" #include "fsfw_hal/linux/utility.h" @@ -313,7 +312,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, fd = uartDeviceMapIter->second.fileDescriptor; - if (write(fd, sendData, sendLen) != static_cast(sendLen)) { + if (write(fd, sendData, sendLen) != (int)sendLen) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno << ": Error description: " << strerror(errno) << std::endl; diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp index 99e80a8e..0db961dc 100644 --- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp @@ -1,6 +1,6 @@ #include "fsfw_hal/linux/uart/UartCookie.h" -#include +#include UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate, size_t maxReplyLen) diff --git a/hal/src/fsfw_hal/linux/uio/CMakeLists.txt b/hal/src/fsfw_hal/linux/uio/CMakeLists.txt new file mode 100644 index 00000000..e98a0865 --- /dev/null +++ b/hal/src/fsfw_hal/linux/uio/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${LIB_FSFW_NAME} PUBLIC + UioMapper.cpp +) diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp new file mode 100644 index 00000000..11430915 --- /dev/null +++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp @@ -0,0 +1,66 @@ +#include "UioMapper.h" + +#include +#include + +#include +#include +#include + +#include "fsfw/serviceinterface/ServiceInterface.h" + +UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {} + +UioMapper::~UioMapper() {} + +ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + int fd = open(uioFile.c_str(), O_RDWR); + if (fd < 1) { + sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + size_t size = 0; + result = getMapSize(&size); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + *address = static_cast( + mmap(NULL, size, static_cast(permissions), MAP_SHARED, fd, mapNum * getpagesize())); + + if (*address == MAP_FAILED) { + sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device " + << uioFile.c_str() << " and map" << static_cast(mapNum) << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t UioMapper::getMapSize(size_t* size) { + std::stringstream namestream; + namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum + << SIZE_FILE_PATH; + FILE* fp; + fp = fopen(namestream.str().c_str(), "r"); + if (fp == nullptr) { + sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + char hexstring[SIZE_HEX_STRING] = ""; + int items = fscanf(fp, "%s", hexstring); + if (items != 1) { + sif::warning << "UioMapper::getMapSize: Failed with error code " << errno + << " to read size " + "string from file " + << namestream.str() << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + items = sscanf(hexstring, "%x", size); + if (items != 1) { + sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert " + << "size of map" << mapNum << " to integer" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + fclose(fp); + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.h b/hal/src/fsfw_hal/linux/uio/UioMapper.h new file mode 100644 index 00000000..d58a4c52 --- /dev/null +++ b/hal/src/fsfw_hal/linux/uio/UioMapper.h @@ -0,0 +1,58 @@ +#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ +#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ + +#include + +#include + +#include "fsfw/returnvalues/HasReturnvaluesIF.h" + +/** + * @brief Class to help opening uio device files and mapping the physical addresses into the user + * address space. + * + * @author J. Meier + */ +class UioMapper { + public: + enum class Permissions : int { + READ_ONLY = PROT_READ, + WRITE_ONLY = PROT_WRITE, + READ_WRITE = PROT_READ | PROT_WRITE + }; + + /** + * @brief Constructor + * + * @param uioFile The device file of the uiO to open + * @param uioMap Number of memory map. Most UIO drivers have only one map which has than 0. + */ + UioMapper(std::string uioFile, int mapNum = 0); + virtual ~UioMapper(); + + /** + * @brief Maps the physical address into user address space and returns the mapped address + * + * @address The mapped user space address + * @permissions Specifies the read/write permissions of the address region + */ + ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions); + + private: + static constexpr char UIO_PATH_PREFIX[] = "/sys/class/uio/"; + static constexpr char MAP_SUBSTR[] = "/maps/map"; + static constexpr char SIZE_FILE_PATH[] = "/size"; + static constexpr int SIZE_HEX_STRING = 10; + + std::string uioFile; + int mapNum = 0; + + /** + * @brief Reads the map size from the associated sysfs size file + * + * @param size The read map size + */ + ReturnValue_t getMapSize(size_t* size); +}; + +#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */ diff --git a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp index e2fe7d39..4a076212 100644 --- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp +++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp @@ -291,3 +291,5 @@ float LocalPoolDataSetBase::getCollectionInterval() const { return 0.0; } } + +void LocalPoolDataSetBase::printSet() { return; } diff --git a/src/fsfw/datapoollocal/LocalPoolDataSetBase.h b/src/fsfw/datapoollocal/LocalPoolDataSetBase.h index c2de2c54..17cf8be2 100644 --- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.h +++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.h @@ -171,6 +171,11 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF { */ float getCollectionInterval() const; + /** + * @brief Can be overwritten by a specific implementation of a dataset to print the set. + */ + virtual void printSet(); + protected: sid_t sid; //! This mutex is used if the data is created by one object only. diff --git a/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp b/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp index c974601c..82aefc18 100644 --- a/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp +++ b/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp @@ -47,13 +47,14 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get(poolOwner); if (hkOwner == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct " - "interface HasLocalDataPoolIF!" - << std::endl; + sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner + << std::dec << " did not implement the correct interface " + << "HasLocalDataPoolIF" << std::endl; #else sif::printError( - "LocalPoolVariable: The supplied pool owner did not implement the correct " - "interface HasLocalDataPoolIF!\n"); + "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct " + "interface HasLocalDataPoolIF\n", + poolOwner); #endif return; } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 08d7c1d8..ea1fcdf1 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -665,6 +665,11 @@ void DeviceHandlerBase::doGetWrite() { void DeviceHandlerBase::doSendRead() { ReturnValue_t result; + result = doSendReadHook(); + if (result != RETURN_OK) { + return; + } + size_t replyLen = 0; if (cookieInfo.pendingCommand != deviceCommandMap.end()) { replyLen = getNextReplyLength(cookieInfo.pendingCommand->first); @@ -920,6 +925,8 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) { } } +ReturnValue_t DeviceHandlerBase::doSendReadHook() { return RETURN_OK; } + ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) { return DeviceHandlerBase::NO_SWITCH; } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index f3dda5c8..037f4bd7 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -1082,6 +1082,12 @@ class DeviceHandlerBase : public DeviceHandlerIF, */ void commandSwitch(ReturnValue_t onOff); + /** + * @brief This function can be used to insert device specific code during the do-send-read + * step. + */ + virtual ReturnValue_t doSendReadHook(); + private: /** * State a cookie is in. diff --git a/src/fsfw/osal/linux/CMakeLists.txt b/src/fsfw/osal/linux/CMakeLists.txt index dcdade67..679b2931 100644 --- a/src/fsfw/osal/linux/CMakeLists.txt +++ b/src/fsfw/osal/linux/CMakeLists.txt @@ -1,29 +1,29 @@ target_sources(${LIB_FSFW_NAME} PRIVATE Clock.cpp - BinarySemaphore.cpp - CountingSemaphore.cpp - FixedTimeslotTask.cpp - InternalErrorCodes.cpp - MessageQueue.cpp - Mutex.cpp - MutexFactory.cpp - PeriodicPosixTask.cpp - PosixThread.cpp - QueueFactory.cpp - SemaphoreFactory.cpp - TaskFactory.cpp - tcpipHelpers.cpp - unixUtility.cpp + BinarySemaphore.cpp + CountingSemaphore.cpp + FixedTimeslotTask.cpp + InternalErrorCodes.cpp + MessageQueue.cpp + Mutex.cpp + MutexFactory.cpp + PeriodicPosixTask.cpp + PosixThread.cpp + QueueFactory.cpp + SemaphoreFactory.cpp + TaskFactory.cpp + tcpipHelpers.cpp + unixUtility.cpp ) find_package(Threads REQUIRED) target_link_libraries(${LIB_FSFW_NAME} PRIVATE - ${CMAKE_THREAD_LIBS_INIT} - rt + ${CMAKE_THREAD_LIBS_INIT} + rt ) target_link_libraries(${LIB_FSFW_NAME} INTERFACE - ${CMAKE_THREAD_LIBS_INIT} + ${CMAKE_THREAD_LIBS_INIT} ) diff --git a/src/fsfw/timemanager/Clock.h b/src/fsfw/timemanager/Clock.h index 99e8a56a..e9afff2e 100644 --- a/src/fsfw/timemanager/Clock.h +++ b/src/fsfw/timemanager/Clock.h @@ -99,6 +99,13 @@ class Clock { */ static ReturnValue_t getDateAndTime(TimeOfDay_t *time); + /** + * Convert to time of day struct given the POSIX timeval struct + * @param from + * @param to + * @return + */ + static ReturnValue_t convertTimevalToTimeOfDay(const timeval *from, TimeOfDay_t *to); /** * Converts a time of day struct to POSIX seconds. * @param time The time of day as input diff --git a/src/fsfw/timemanager/ClockCommon.cpp b/src/fsfw/timemanager/ClockCommon.cpp index e5749b19..18407362 100644 --- a/src/fsfw/timemanager/ClockCommon.cpp +++ b/src/fsfw/timemanager/ClockCommon.cpp @@ -1,7 +1,9 @@ +#include + #include "fsfw/ipc/MutexGuard.h" #include "fsfw/timemanager/Clock.h" -ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval *tt) { +ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) { uint16_t leapSeconds; ReturnValue_t result = getLeapSeconds(&leapSeconds); if (result != HasReturnvaluesIF::RETURN_OK) { @@ -31,7 +33,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) { return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) { +ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) { if (timeMutex == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } @@ -42,9 +44,22 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t *leapSeconds_) { return HasReturnvaluesIF::RETURN_OK; } +ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t* to) { + struct tm* timeInfo; + timeInfo = gmtime(&from->tv_sec); + to->year = timeInfo->tm_year + 1900; + to->month = timeInfo->tm_mon + 1; + to->day = timeInfo->tm_mday; + to->hour = timeInfo->tm_hour; + to->minute = timeInfo->tm_min; + to->second = timeInfo->tm_sec; + to->usecond = from->tv_usec; + return HasReturnvaluesIF::RETURN_OK; +} + ReturnValue_t Clock::checkOrCreateClockMutex() { if (timeMutex == nullptr) { - MutexFactory *mutexFactory = MutexFactory::instance(); + MutexFactory* mutexFactory = MutexFactory::instance(); if (mutexFactory == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp index 8ea67119..6fd6bff3 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.cpp +++ b/src/fsfw/tmtcservices/TmTcBridge.cpp @@ -172,15 +172,18 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) { } if (tmFifo->full()) { + if (warningLatch) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " - "of stored packet IDs reached!" - << std::endl; + sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " + "of stored packet IDs reached!" + << std::endl; #else - sif::printWarning( - "TmTcBridge::storeDownlinkData: TM downlink max. number " - "of stored packet IDs reached!\n"); + sif::printWarning( + "TmTcBridge::storeDownlinkData: TM downlink max. number " + "of stored packet IDs reached!\n"); #endif + warningLatch = true; + } if (overwriteOld) { tmFifo->retrieve(&storeId); tmStore->deleteData(storeId); diff --git a/src/fsfw/tmtcservices/TmTcBridge.h b/src/fsfw/tmtcservices/TmTcBridge.h index 237f1f3e..1caf7b7f 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.h +++ b/src/fsfw/tmtcservices/TmTcBridge.h @@ -72,6 +72,8 @@ class TmTcBridge : public AcceptsTelemetryIF, virtual uint16_t getIdentifier() override; virtual MessageQueueId_t getRequestQueue() override; + bool warningLatch = true; + protected: //! Cached for initialize function. object_id_t tmStoreId = objects::NO_OBJECT; From 07cb980e0645e44db72ceecff750d391d7a318b0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 12:05:03 +0100 Subject: [PATCH 002/162] apply clang script --- src/fsfw/datalinklayer/DataLinkLayer.h | 2 +- .../datalinklayer/VirtualChannelReception.cpp | 4 ++-- src/fsfw/globalfunctions/CRC.cpp | 4 ++-- src/fsfw/modes/ModeMessage.h | 16 +++++++-------- src/fsfw/osal/linux/PeriodicPosixTask.h | 4 ++-- src/fsfw/osal/rtems/PeriodicTask.h | 4 ++-- src/fsfw/osal/rtems/RTEMSTaskBase.h | 4 ++-- src/fsfw/rmap/RMAP.h | 18 ++++++++--------- src/fsfw/rmap/RMAPChannelIF.h | 20 +++++++++---------- src/fsfw/rmap/rmapStructs.h | 6 +++--- 10 files changed, 41 insertions(+), 41 deletions(-) diff --git a/src/fsfw/datalinklayer/DataLinkLayer.h b/src/fsfw/datalinklayer/DataLinkLayer.h index edfba8a6..8735feb6 100644 --- a/src/fsfw/datalinklayer/DataLinkLayer.h +++ b/src/fsfw/datalinklayer/DataLinkLayer.h @@ -30,7 +30,7 @@ class DataLinkLayer : public CCSDSReturnValuesIF { //! [EXPORT] : [COMMENT] A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0 static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); // static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board - //detected that either bit lock or RF available or both are lost. No parameters. + // detected that either bit lock or RF available or both are lost. No parameters. //! [EXPORT] : [COMMENT] The CCSDS Board could not interpret a TC static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW); /** diff --git a/src/fsfw/datalinklayer/VirtualChannelReception.cpp b/src/fsfw/datalinklayer/VirtualChannelReception.cpp index 4ee0c008..258bc1e6 100644 --- a/src/fsfw/datalinklayer/VirtualChannelReception.cpp +++ b/src/fsfw/datalinklayer/VirtualChannelReception.cpp @@ -30,9 +30,9 @@ ReturnValue_t VirtualChannelReception::mapDemultiplexing(TcTransferFrame* frame) mapChannelIterator iter = mapChannels.find(mapId); if (iter == mapChannels.end()) { // error << "VirtualChannelReception::mapDemultiplexing on VC " << std::hex << (int) - //channelId + // channelId // << ": MapChannel " << (int) mapId << std::dec << " not found." << - //std::endl; + // std::endl; return VC_NOT_FOUND; } else { return (iter->second)->extractPackets(frame); diff --git a/src/fsfw/globalfunctions/CRC.cpp b/src/fsfw/globalfunctions/CRC.cpp index 942e4a1a..6b8140c5 100644 --- a/src/fsfw/globalfunctions/CRC.cpp +++ b/src/fsfw/globalfunctions/CRC.cpp @@ -116,8 +116,8 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti // for (int i=0; i<16 ;i++) // { // if (xor_out[i] == true) - // crc_value = crc_value + pow(2,(15 -i)); // reverse CrC result before Final - //XOR + // crc_value = crc_value + pow(2,(15 -i)); // reverse CrC result before + //Final XOR // } // // crc_value = 0;// for debug mode diff --git a/src/fsfw/modes/ModeMessage.h b/src/fsfw/modes/ModeMessage.h index e3638ee0..84429e84 100644 --- a/src/fsfw/modes/ModeMessage.h +++ b/src/fsfw/modes/ModeMessage.h @@ -14,30 +14,30 @@ class ModeMessage { static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND; static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01); //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY, - //!REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, - //!as this will break the subsystem mode machine!! + //! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, + //! as this will break the subsystem mode machine!! static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID( 0xF1); //!> Command to set the specified Mode, regardless of external control flag, replies - //!are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any - //!replies, as this will break the subsystem mode machine!! + //! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any + //! replies, as this will break the subsystem mode machine!! static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02); //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03); //!> Unrequested info about the current mode (used for composites to - //!inform their container of a changed mode) + //! inform their container of a changed mode) static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID( 0x04); //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0 static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05); //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded - //!and a transition started but was aborted; the parameters contain - //!the mode that was reached + //! and a transition started but was aborted; the parameters contain + //! the mode that was reached static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID( 0x06); //!> Command to read the current mode and reply with a REPLY_MODE_REPLY static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID( 0x07); //!> Command to trigger an ModeInfo Event. This command does NOT have a reply. static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08); //!> Command to trigger an ModeInfo Event and to send this command to - //!every child. This command does NOT have a reply. + //! every child. This command does NOT have a reply. static Mode_t getMode(const CommandMessage* message); static Submode_t getSubmode(const CommandMessage* message); diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index e2db042d..3c9a3a0d 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -65,8 +65,8 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { /** * @brief The function containing the actual functionality of the task. * @details The method sets and starts - * the task's period, then enters a loop that is repeated indefinitely. Within the loop, - * all performOperation methods of the added objects are called. Afterwards the task will be + * the task's period, then enters a loop that is repeated indefinitely. Within the + * loop, all performOperation methods of the added objects are called. Afterwards the task will be * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed. */ virtual void taskFunctionality(void); diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index e2643ec7..ff8617fc 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -13,8 +13,8 @@ class ExecutableObjectIF; * @brief This class represents a specialized task for periodic activities of multiple objects. * * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute - * multiple objects that implement the ExecutableObjectIF interface. The objects must - * be added prior to starting the task. + * multiple objects that implement the ExecutableObjectIF interface. The objects + * must be added prior to starting the task. * @author baetz * @ingroup task_handling */ diff --git a/src/fsfw/osal/rtems/RTEMSTaskBase.h b/src/fsfw/osal/rtems/RTEMSTaskBase.h index 784d3594..9ae9e755 100644 --- a/src/fsfw/osal/rtems/RTEMSTaskBase.h +++ b/src/fsfw/osal/rtems/RTEMSTaskBase.h @@ -25,8 +25,8 @@ class RTEMSTaskBase { * all other attributes are set with default values. * @param priority Sets the priority of a task. Values range from a low 0 to a high 99. * @param stack_size The stack size reserved by the operating system for the task. - * @param nam The name of the Task, as a null-terminated String. Currently max 4 chars - * supported (excluding Null-terminator), rest will be truncated + * @param nam The name of the Task, as a null-terminated String. Currently max 4 + * chars supported (excluding Null-terminator), rest will be truncated */ RTEMSTaskBase(rtems_task_priority priority, size_t stack_size, const char *name); /** diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h index d46fc318..42ee1ac5 100644 --- a/src/fsfw/rmap/RMAP.h +++ b/src/fsfw/rmap/RMAP.h @@ -51,9 +51,9 @@ class RMAP : public HasReturnvaluesIF { // MAKE_RETURN_CODE(0xE4); //the data that was to be sent was too long for the hw to handle (write // command) or the expected len was bigger than maximal expected len (read command) command was // not sent - // replaced by DeviceCommunicationIF::NULLPOINTER static const ReturnValue_t COMMAND_NULLPOINTER - // = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write command, or - // nullpointer in read command + // replaced by DeviceCommunicationIF::NULLPOINTER static const ReturnValue_t + // COMMAND_NULLPOINTER = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write + // command, or nullpointer in read command static const ReturnValue_t COMMAND_CHANNEL_DEACTIVATED = MAKE_RETURN_CODE(0xE6); // the channel has no port set static const ReturnValue_t COMMAND_PORT_OUT_OF_RANGE = @@ -73,8 +73,8 @@ class RMAP : public HasReturnvaluesIF { static const ReturnValue_t REPLY_MISSMATCH = MAKE_RETURN_CODE( 0xD3); // a read command was issued, but get_write_rply called, or other way round static const ReturnValue_t REPLY_TIMEOUT = MAKE_RETURN_CODE(0xD4); // timeout - // replaced by DeviceCommunicationIF::NULLPOINTER static const ReturnValue_t REPLY_NULLPOINTER = - // MAKE_RETURN_CODE(0xD5);//one of the arguments in a read reply was NULL return values for + // replaced by DeviceCommunicationIF::NULLPOINTER static const ReturnValue_t REPLY_NULLPOINTER + // = MAKE_RETURN_CODE(0xD5);//one of the arguments in a read reply was NULL return values for // get_reply static const ReturnValue_t REPLY_INTERFACE_BUSY = MAKE_RETURN_CODE(0xC0); // Interface is busy (transmission buffer still being processed) @@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF { * @param buffer the data to write * @param length length of data * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in write - * command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in + * write command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length); @@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF { * @param cookie to cookie to read from * @param expLength the expected maximum length of the reply * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in write - * command, or nullpointer in read command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in + * write command, or nullpointer in read command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength); diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 77b56eb9..20dfd5f8 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -73,16 +73,16 @@ class RMAPChannelIF { * @param datalen length of data * @return * - @c RETURN_OK - * - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending command; - * command was not sent - * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected len; command - * was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the hw to - * handle (write command) or the expected len was bigger than maximal expected len (read command) + * - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending + * command; command was not sent + * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected len; * command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the hw + * to handle (write command) or the expected len was bigger than maximal expected len (read + * command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set - * - @c NOT_SUPPORTED if you dont feel like implementing - * something... + * - @c NOT_SUPPORTED if you dont feel like + * implementing something... */ virtual ReturnValue_t sendCommand(RMAPCookie *cookie, uint8_t instruction, const uint8_t *data, size_t datalen) = 0; @@ -97,8 +97,8 @@ class RMAPChannelIF { * - @c REPLY_NO_REPLY no reply was received * - @c REPLY_NOT_SENT command was not sent, implies no reply * - @c REPLY_NOT_YET_SENT command is still waiting to be sent - * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer still being - * processed) + * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer still + * being processed) * - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last * operation, data could not be processed. (transmission error) * - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value) diff --git a/src/fsfw/rmap/rmapStructs.h b/src/fsfw/rmap/rmapStructs.h index 44eedc16..55e32606 100644 --- a/src/fsfw/rmap/rmapStructs.h +++ b/src/fsfw/rmap/rmapStructs.h @@ -32,10 +32,10 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C static const uint8_t RMAP_REPLY_WRITE = ((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY)); static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY)); -//#define RMAP_COMMAND_WRITE ((1< Date: Wed, 2 Feb 2022 12:10:39 +0100 Subject: [PATCH 003/162] include fixes --- hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp | 9 +++++---- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 6 +++--- hal/src/fsfw_hal/linux/uart/UartCookie.cpp | 4 ++-- 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp index d7e022dd..7c4dee67 100644 --- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -1,4 +1,8 @@ -#include "fsfw_hal/linux/i2c/I2cComIF.h" +#include "I2cComIF.h" +#include "fsfw/FSFW.h" +#include "fsfw/serviceinterface.h" +#include "fsfw_hal/linux/UnixFileGuard.h" +#include "fsfw_hal/linux/utility.h" #include #include @@ -8,9 +12,6 @@ #include -#include "fsfw/serviceinterface/ServiceInterface.h" -#include "fsfw_hal/linux/UnixFileGuard.h" -#include "fsfw_hal/linux/utility.h" I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {} diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index ba970e3e..d9b8f235 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -1,4 +1,7 @@ #include "UartComIF.h" +#include "fsfw/FSFW.h" +#include "fsfw/serviceinterface.h" +#include "fsfw_hal/linux/utility.h" #include #include @@ -7,9 +10,6 @@ #include -#include "fsfw/serviceinterface.h" -#include "fsfw_hal/linux/utility.h" - UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {} UartComIF::~UartComIF() {} diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp index 0db961dc..63d90766 100644 --- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp @@ -1,6 +1,6 @@ -#include "fsfw_hal/linux/uart/UartCookie.h" +#include "UartCookie.h" -#include +#include UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate, size_t maxReplyLen) From 41614303d7036d2b4b15bd965d898ba1272743f1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 12:11:39 +0100 Subject: [PATCH 004/162] renamed variable --- src/fsfw/tmtcservices/TmTcBridge.cpp | 4 ++-- src/fsfw/tmtcservices/TmTcBridge.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp index 6fd6bff3..bacadd6d 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.cpp +++ b/src/fsfw/tmtcservices/TmTcBridge.cpp @@ -172,7 +172,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) { } if (tmFifo->full()) { - if (warningLatch) { + if (warningSwitch) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number " "of stored packet IDs reached!" @@ -182,7 +182,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) { "TmTcBridge::storeDownlinkData: TM downlink max. number " "of stored packet IDs reached!\n"); #endif - warningLatch = true; + warningSwitch = true; } if (overwriteOld) { tmFifo->retrieve(&storeId); diff --git a/src/fsfw/tmtcservices/TmTcBridge.h b/src/fsfw/tmtcservices/TmTcBridge.h index 1caf7b7f..81d8e5d8 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.h +++ b/src/fsfw/tmtcservices/TmTcBridge.h @@ -72,7 +72,7 @@ class TmTcBridge : public AcceptsTelemetryIF, virtual uint16_t getIdentifier() override; virtual MessageQueueId_t getRequestQueue() override; - bool warningLatch = true; + bool warningSwitch = true; protected: //! Cached for initialize function. From 3a65c0db914bad3f47999f54747ed58a66168bee Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 12:13:42 +0100 Subject: [PATCH 005/162] use C++ casts --- hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp | 2 +- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 7c4dee67..0bf9ff32 100644 --- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -104,7 +104,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s return result; } - if (write(fd, sendData, sendLen) != (int)sendLen) { + if (write(fd, sendData, sendLen) != static_cast(sendLen)) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "I2cComIF::sendMessage: Failed to send data to I2C " "device with error code " diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index d9b8f235..d4096608 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -312,7 +312,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, fd = uartDeviceMapIter->second.fileDescriptor; - if (write(fd, sendData, sendLen) != (int)sendLen) { + if (write(fd, sendData, sendLen) != static_cast(sendLen)) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno << ": Error description: " << strerror(errno) << std::endl; From 33386550cf81e47f4a3c95cd063349442dd83d09 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 12:17:42 +0100 Subject: [PATCH 006/162] add uio subdir --- hal/src/fsfw_hal/linux/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt index 5ec8af06..0fb2d385 100644 --- a/hal/src/fsfw_hal/linux/CMakeLists.txt +++ b/hal/src/fsfw_hal/linux/CMakeLists.txt @@ -14,3 +14,5 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS) add_subdirectory(i2c) add_subdirectory(uart) endif() + +add_subdirectory(uio) From 6698d283b6576bc867b28d06ff772e4b3bb5c33f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 16:04:36 +0100 Subject: [PATCH 007/162] device wants hard reboot event added --- src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp | 1 + src/fsfw/devicehandlers/DeviceHandlerIF.h | 1 + 2 files changed, 2 insertions(+) diff --git a/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp b/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp index 48783c20..88fba19f 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerFailureIsolation.cpp @@ -29,6 +29,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event) switch (event->getEvent()) { case HasModesIF::MODE_TRANSITION_FAILED: case HasModesIF::OBJECT_IN_INVALID_MODE: + case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT: // We'll try a recovery as long as defined in MAX_REBOOT. // Might cause some AssemblyBase cycles, so keep number low. handleRecovery(event->getEvent()); diff --git a/src/fsfw/devicehandlers/DeviceHandlerIF.h b/src/fsfw/devicehandlers/DeviceHandlerIF.h index 1fc63d3b..1ea742f7 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerIF.h +++ b/src/fsfw/devicehandlers/DeviceHandlerIF.h @@ -109,6 +109,7 @@ class DeviceHandlerIF { static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW); static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH); + static const Event DEVICE_WANTS_HARD_REBOOT = MAKE_EVENT(11, severity::HIGH); static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF; From 992c05df566e0313a0010c7d33f4ed13f931ff2b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 17:52:09 +0100 Subject: [PATCH 008/162] added cpp printout preprocessor guards --- hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp index 11430915..bdf126bf 100644 --- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp +++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp @@ -7,7 +7,7 @@ #include #include -#include "fsfw/serviceinterface/ServiceInterface.h" +#include "fsfw/serviceinterface.h" UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {} @@ -17,7 +17,9 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; int fd = open(uioFile.c_str(), O_RDWR); if (fd < 1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } size_t size = 0; @@ -29,8 +31,10 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss mmap(NULL, size, static_cast(permissions), MAP_SHARED, fd, mapNum * getpagesize())); if (*address == MAP_FAILED) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device " << uioFile.c_str() << " and map" << static_cast(mapNum) << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; @@ -43,22 +47,28 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) { FILE* fp; fp = fopen(namestream.str().c_str(), "r"); if (fp == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } char hexstring[SIZE_HEX_STRING] = ""; int items = fscanf(fp, "%s", hexstring); if (items != 1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << " to read size " "string from file " << namestream.str() << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } items = sscanf(hexstring, "%x", size); if (items != 1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert " << "size of map" << mapNum << " to integer" << std::endl; +#endif return HasReturnvaluesIF::RETURN_FAILED; } fclose(fp); From 8030d9ac1b0ecd94da61f4cb8515b0c1447590f1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 19:47:58 +0100 Subject: [PATCH 009/162] this fixes the warning --- hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp index bdf126bf..546fb2cc 100644 --- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp +++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp @@ -63,7 +63,7 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) { #endif return HasReturnvaluesIF::RETURN_FAILED; } - items = sscanf(hexstring, "%x", size); + items = sscanf(hexstring, "%lx", size); if (items != 1) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert " From 22cd38fffde764f38f5677dd7427f48da8010658 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 2 Feb 2022 20:05:46 +0100 Subject: [PATCH 010/162] this should work for c++11 --- hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 4 ++++ hal/src/fsfw_hal/linux/uio/UioMapper.h | 6 +++--- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp index 546fb2cc..bc2d06eb 100644 --- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp +++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp @@ -9,6 +9,10 @@ #include "fsfw/serviceinterface.h" +const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/"; +const char UioMapper::MAP_SUBSTR[] = "/maps/map"; +const char UioMapper::SIZE_FILE_PATH[] = "/size"; + UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {} UioMapper::~UioMapper() {} diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.h b/hal/src/fsfw_hal/linux/uio/UioMapper.h index d58a4c52..20c90b4d 100644 --- a/hal/src/fsfw_hal/linux/uio/UioMapper.h +++ b/hal/src/fsfw_hal/linux/uio/UioMapper.h @@ -39,9 +39,9 @@ class UioMapper { ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions); private: - static constexpr char UIO_PATH_PREFIX[] = "/sys/class/uio/"; - static constexpr char MAP_SUBSTR[] = "/maps/map"; - static constexpr char SIZE_FILE_PATH[] = "/size"; + static const char UIO_PATH_PREFIX[]; + static const char MAP_SUBSTR[]; + static const char SIZE_FILE_PATH[]; static constexpr int SIZE_HEX_STRING = 10; std::string uioFile; From 8f95b03e6a6dd321488aa5d60d28f20dddf7549a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 11:13:26 +0100 Subject: [PATCH 011/162] fixes warning for good --- hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp index bc2d06eb..47939044 100644 --- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp +++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp @@ -67,7 +67,11 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) { #endif return HasReturnvaluesIF::RETURN_FAILED; } - items = sscanf(hexstring, "%lx", size); + uint32_t sizeTmp = 0; + items = sscanf(hexstring, "%x", &sizeTmp); + if(size != nullptr) { + *size = sizeTmp; + } if (items != 1) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert " From fca48257b7a156f4563d5a5a6ca71b0ab98bb9fc Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 12:02:08 +0100 Subject: [PATCH 012/162] zero initialize array --- src/fsfw/datapoollocal/StaticLocalDataSet.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/datapoollocal/StaticLocalDataSet.h b/src/fsfw/datapoollocal/StaticLocalDataSet.h index dd264e58..59047d67 100644 --- a/src/fsfw/datapoollocal/StaticLocalDataSet.h +++ b/src/fsfw/datapoollocal/StaticLocalDataSet.h @@ -46,7 +46,7 @@ class StaticLocalDataSet : public LocalPoolDataSetBase { } private: - std::array poolVarList; + std::array poolVarList = {}; }; #endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */ From b3151a0ba033e7c72c3ead1e8958d7be596baa45 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 13:37:28 +0100 Subject: [PATCH 013/162] added i2c wiretapping --- hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp | 14 ++++++++++++++ src/fsfw/FSFW.h.in | 5 +++++ 2 files changed, 19 insertions(+) diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 0bf9ff32..6390b121 100644 --- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -4,6 +4,10 @@ #include "fsfw_hal/linux/UnixFileGuard.h" #include "fsfw_hal/linux/utility.h" +#if FSFW_HAL_I2C_WIRETAPPING == 1 +#include "fsfw/globalfunctions/arrayprinter.h" +#endif + #include #include #include @@ -112,6 +116,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s #endif return HasReturnvaluesIF::RETURN_FAILED; } + +#if FSFW_HAL_I2C_WIRETAPPING == 1 + sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl; + arrayprinter::print(sendData, sendLen); +#endif return HasReturnvaluesIF::RETURN_OK; } @@ -176,6 +185,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe return HasReturnvaluesIF::RETURN_FAILED; } +#if FSFW_HAL_I2C_WIRETAPPING == 1 + sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl; + arrayprinter::print(replyBuffer, requestLen); +#endif + i2cDeviceMapIter->second.replyLen = requestLen; return HasReturnvaluesIF::RETURN_OK; } diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in index 88ad10cf..7e8bcd79 100644 --- a/src/fsfw/FSFW.h.in +++ b/src/fsfw/FSFW.h.in @@ -57,6 +57,11 @@ #define FSFW_HAL_SPI_WIRETAPPING 0 #endif +// Can be used for low-level debugging of the I2C bus +#ifndef FSFW_HAL_I2C_WIRETAPPING +#define FSFW_HAL_I2C_WIRETAPPING 0 +#endif + #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG #define FSFW_HAL_L3GD20_GYRO_DEBUG 0 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */ From b3aee76d91cdc8da568d844a83fcfde4faadce81 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 17:06:18 +0100 Subject: [PATCH 014/162] fixes for event definitoons for parser --- hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp | 2 +- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 7 +- hal/src/fsfw_hal/linux/uio/UioMapper.cpp | 4 +- src/fsfw/globalfunctions/CRC.cpp | 2 +- src/fsfw/health/HasHealthIF.h | 22 +++--- src/fsfw/modes/HasModesIF.h | 41 +++++------ src/fsfw/osal/linux/PeriodicPosixTask.h | 7 +- src/fsfw/osal/rtems/PeriodicTask.h | 4 +- src/fsfw/power/Fuse.h | 16 ++--- src/fsfw/rmap/RMAP.h | 8 +-- src/fsfw/rmap/RMAPChannelIF.h | 12 ++-- src/fsfw/tmstorage/TmStoreBackendIF.h | 85 +++++++++++------------ 12 files changed, 101 insertions(+), 109 deletions(-) diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 6390b121..4f53dc1f 100644 --- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -1,4 +1,5 @@ #include "I2cComIF.h" + #include "fsfw/FSFW.h" #include "fsfw/serviceinterface.h" #include "fsfw_hal/linux/UnixFileGuard.h" @@ -16,7 +17,6 @@ #include - I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {} I2cComIF::~I2cComIF() {} diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index d4096608..a648df3a 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -1,7 +1,4 @@ #include "UartComIF.h" -#include "fsfw/FSFW.h" -#include "fsfw/serviceinterface.h" -#include "fsfw_hal/linux/utility.h" #include #include @@ -10,6 +7,10 @@ #include +#include "fsfw/FSFW.h" +#include "fsfw/serviceinterface.h" +#include "fsfw_hal/linux/utility.h" + UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {} UartComIF::~UartComIF() {} diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp index 47939044..33c1b0f2 100644 --- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp +++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp @@ -69,8 +69,8 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) { } uint32_t sizeTmp = 0; items = sscanf(hexstring, "%x", &sizeTmp); - if(size != nullptr) { - *size = sizeTmp; + if (size != nullptr) { + *size = sizeTmp; } if (items != 1) { #if FSFW_CPP_OSTREAM_ENABLED == 1 diff --git a/src/fsfw/globalfunctions/CRC.cpp b/src/fsfw/globalfunctions/CRC.cpp index 6b8140c5..033920d0 100644 --- a/src/fsfw/globalfunctions/CRC.cpp +++ b/src/fsfw/globalfunctions/CRC.cpp @@ -117,7 +117,7 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti // { // if (xor_out[i] == true) // crc_value = crc_value + pow(2,(15 -i)); // reverse CrC result before - //Final XOR + // Final XOR // } // // crc_value = 0;// for debug mode diff --git a/src/fsfw/health/HasHealthIF.h b/src/fsfw/health/HasHealthIF.h index 41abeef3..bdd1ce96 100644 --- a/src/fsfw/health/HasHealthIF.h +++ b/src/fsfw/health/HasHealthIF.h @@ -23,19 +23,15 @@ class HasHealthIF { static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO); static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO); static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW); - static const Event OVERWRITING_HEALTH = - MAKE_EVENT(9, severity::LOW); //!< Assembly overwrites health information of children to keep - //!< satellite alive. - static const Event TRYING_RECOVERY = - MAKE_EVENT(10, severity::MEDIUM); //!< Someone starts a recovery of a component (typically - //!< power-cycle). No parameters. - static const Event RECOVERY_STEP = - MAKE_EVENT(11, severity::MEDIUM); //!< Recovery is ongoing. Comes twice during recovery. P1: - //!< 0 for the first, 1 for the second event. P2: 0 - static const Event RECOVERY_DONE = MAKE_EVENT( - 12, - severity::MEDIUM); //!< Recovery was completed. Not necessarily successful. No parameters. - + //! Assembly overwrites health information of children to keep satellite alive. + static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW); + //! Someone starts a recovery of a component (typically power-cycle). No parameters. + static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM); + //! Recovery is ongoing. Comes twice during recovery. + //! P1: 0 for the first, 1 for the second event. P2: 0 + static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM); + //! Recovery was completed. Not necessarily successful. No parameters. + static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM); virtual ~HasHealthIF() {} virtual MessageQueueId_t getCommandQueue() const = 0; diff --git a/src/fsfw/modes/HasModesIF.h b/src/fsfw/modes/HasModesIF.h index 0ebe77d8..850d4349 100644 --- a/src/fsfw/modes/HasModesIF.h +++ b/src/fsfw/modes/HasModesIF.h @@ -19,32 +19,29 @@ class HasModesIF { static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER; - static const Event CHANGING_MODE = - MAKE_EVENT(0, severity::INFO); //!< An object announces changing the mode. p1: target mode. - //!< p2: target submode - static const Event MODE_INFO = MAKE_EVENT( - 1, - severity::INFO); //!< An Object announces its mode; parameter1 is mode, parameter2 is submode + //! An object announces changing the mode. p1: target mode. p2: target submode + static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO); + //! An Object announces its mode; parameter1 is mode, parameter2 is submode + static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO); static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH); static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW); static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH); - static const Event OBJECT_IN_INVALID_MODE = - MAKE_EVENT(5, severity::LOW); //!< Indicates a bug or configuration failure: Object is in a - //!< mode it should never be in. - static const Event FORCING_MODE = MAKE_EVENT( - 6, severity::MEDIUM); //!< The mode is changed, but for some reason, the change is forced, - //!< i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode - static const Event MODE_CMD_REJECTED = - MAKE_EVENT(7, severity::LOW); //!< A mode command was rejected by the called object. Par1: - //!< called object id, Par2: return code. + //! Indicates a bug or configuration failure: Object is in a mode it should never be in. + static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW); + //! The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored. + //! p1: target mode. p2: target submode + static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM); + //! A mode command was rejected by the called object. Par1: called object id, Par2: return code. + static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW); - static const Mode_t MODE_ON = - 1; //!< The device is powered and ready to perform operations. In this mode, no commands are - //!< sent by the device handler itself, but direct commands van be commanded and will be - //!< interpreted - static const Mode_t MODE_OFF = 0; //!< The device is powered off. The only command accepted in - //!< this mode is a mode change to on. - static const Submode_t SUBMODE_NONE = 0; //!< To avoid checks against magic number "0". + //! The device is powered and ready to perform operations. In this mode, no commands are + //! sent by the device handler itself, but direct commands van be commanded and will be + //! interpreted + static const Mode_t MODE_ON = 1; + //! The device is powered off. The only command accepted in this mode is a mode change to on. + static const Mode_t MODE_OFF = 0; + //! To avoid checks against magic number "0". + static const Submode_t SUBMODE_NONE = 0; virtual ~HasModesIF() {} virtual MessageQueueId_t getCommandQueue() const = 0; diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 3c9a3a0d..1c3a52c7 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -65,9 +65,10 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { /** * @brief The function containing the actual functionality of the task. * @details The method sets and starts - * the task's period, then enters a loop that is repeated indefinitely. Within the - * loop, all performOperation methods of the added objects are called. Afterwards the task will be - * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed. + * the task's period, then enters a loop that is repeated indefinitely. Within + * the loop, all performOperation methods of the added objects are called. Afterwards the task + * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is + * executed. */ virtual void taskFunctionality(void); /** diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index ff8617fc..119329f2 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -13,8 +13,8 @@ class ExecutableObjectIF; * @brief This class represents a specialized task for periodic activities of multiple objects. * * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute - * multiple objects that implement the ExecutableObjectIF interface. The objects - * must be added prior to starting the task. + * multiple objects that implement the ExecutableObjectIF interface. The + * objects must be added prior to starting the task. * @author baetz * @ingroup task_handling */ diff --git a/src/fsfw/power/Fuse.h b/src/fsfw/power/Fuse.h index e6f9c149..0b57a6a9 100644 --- a/src/fsfw/power/Fuse.h +++ b/src/fsfw/power/Fuse.h @@ -34,14 +34,14 @@ class Fuse : public SystemObject, }; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1; - static const Event FUSE_CURRENT_HIGH = MAKE_EVENT( - 1, severity::LOW); //!< PSS detected that current on a fuse is totally out of bounds. - static const Event FUSE_WENT_OFF = - MAKE_EVENT(2, severity::LOW); //!< PSS detected a fuse that went off. - static const Event POWER_ABOVE_HIGH_LIMIT = - MAKE_EVENT(4, severity::LOW); //!< PSS detected a fuse that violates its limits. - static const Event POWER_BELOW_LOW_LIMIT = - MAKE_EVENT(5, severity::LOW); //!< PSS detected a fuse that violates its limits. + //! PSS detected that current on a fuse is totally out of bounds. + static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW); + //! PSS detected a fuse that went off. + static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW); + //! PSS detected a fuse that violates its limits. + static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW); + //! PSS detected a fuse that violates its limits. + static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW); typedef std::list DeviceList; Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids, diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h index 42ee1ac5..d274fb15 100644 --- a/src/fsfw/rmap/RMAP.h +++ b/src/fsfw/rmap/RMAP.h @@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF { * @param buffer the data to write * @param length length of data * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in - * write command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == + * NULL in write command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length); @@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF { * @param cookie to cookie to read from * @param expLength the expected maximum length of the reply * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in - * write command, or nullpointer in read command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == + * NULL in write command, or nullpointer in read command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength); diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 20dfd5f8..0c937dc8 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -75,10 +75,10 @@ class RMAPChannelIF { * - @c RETURN_OK * - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending * command; command was not sent - * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected len; - * command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the hw - * to handle (write command) or the expected len was bigger than maximal expected len (read + * - @c COMMAND_BUFFER_FULL no receiver buffer available for + * expected len; command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too long for + * the hw to handle (write command) or the expected len was bigger than maximal expected len (read * command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like @@ -97,8 +97,8 @@ class RMAPChannelIF { * - @c REPLY_NO_REPLY no reply was received * - @c REPLY_NOT_SENT command was not sent, implies no reply * - @c REPLY_NOT_YET_SENT command is still waiting to be sent - * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer still - * being processed) + * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission + * buffer still being processed) * - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last * operation, data could not be processed. (transmission error) * - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value) diff --git a/src/fsfw/tmstorage/TmStoreBackendIF.h b/src/fsfw/tmstorage/TmStoreBackendIF.h index d9f1a17b..1e08342a 100644 --- a/src/fsfw/tmstorage/TmStoreBackendIF.h +++ b/src/fsfw/tmstorage/TmStoreBackendIF.h @@ -33,50 +33,47 @@ class TmStoreBackendIF : public HasParametersIF { static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY; - static const Event STORE_SEND_WRITE_FAILED = - MAKE_EVENT(0, severity::LOW); //!< Initiating sending data to store failed. Low, par1: - //!< returnCode, par2: integer (debug info) - static const Event STORE_WRITE_FAILED = MAKE_EVENT( - 1, severity::LOW); //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0 - static const Event STORE_SEND_READ_FAILED = - MAKE_EVENT(2, severity::LOW); //!< Initiating reading data from store failed. Low, par1: - //!< returnCode, par2: 0 - static const Event STORE_READ_FAILED = MAKE_EVENT( - 3, severity::LOW); //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0 - static const Event UNEXPECTED_MSG = - MAKE_EVENT(4, severity::LOW); //!< An unexpected TM packet or data message occurred. Low, - //!< par1: 0, par2: integer (debug info) - static const Event STORING_FAILED = MAKE_EVENT( - 5, severity::LOW); //!< Storing data failed. May simply be a full store. Low, par1: - //!< returnCode, par2: integer (sequence count of failed packet). - static const Event TM_DUMP_FAILED = - MAKE_EVENT(6, severity::LOW); //!< Dumping retrieved data failed. Low, par1: returnCode, - //!< par2: integer (sequence count of failed packet). - static const Event STORE_INIT_FAILED = - MAKE_EVENT(7, severity::LOW); //!< Corrupted init data or read error. Low, par1: returnCode, - //!< par2: integer (debug info) - static const Event STORE_INIT_EMPTY = MAKE_EVENT( - 8, severity::INFO); //!< Store was not initialized. Starts empty. Info, parameters both zero. - static const Event STORE_CONTENT_CORRUPTED = - MAKE_EVENT(9, severity::LOW); //!< Data was read out, but it is inconsistent. Low par1: - //!< Memory address of corruption, par2: integer (debug info) - static const Event STORE_INITIALIZE = - MAKE_EVENT(10, severity::INFO); //!< Info event indicating the store will be initialized, - //!< either at boot or after IOB switch. Info. pars: 0 - static const Event INIT_DONE = MAKE_EVENT( - 11, severity::INFO); //!< Info event indicating the store was successfully initialized, - //!< either at boot or after IOB switch. Info. pars: 0 - static const Event DUMP_FINISHED = MAKE_EVENT( - 12, severity::INFO); //!< Info event indicating that dumping finished successfully. par1: - //!< Number of dumped packets. par2: APID/SSC (16bits each) - static const Event DELETION_FINISHED = MAKE_EVENT( - 13, severity::INFO); //!< Info event indicating that deletion finished successfully. par1: - //!< Number of deleted packets. par2: APID/SSC (16bits each) - static const Event DELETION_FAILED = MAKE_EVENT( - 14, - severity::LOW); //!< Info event indicating that something went wrong during deletion. pars: 0 - static const Event AUTO_CATALOGS_SENDING_FAILED = - MAKE_EVENT(15, severity::INFO); //!< Info that the a auto catalog report failed + //! Initiating sending data to store failed. Low, par1: + //! returnCode, par2: integer (debug info) + static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW); + //! Data was sent, but writing failed. Low, par1: returnCode, par2: 0 + static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW); + //! Initiating reading data from store failed. Low, par1: returnCode, par2: 0 + static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW); + //! Data was requested, but access failed. Low, par1: returnCode, par2: 0 + static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW); + //! An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info) + static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW); + //! Storing data failed. May simply be a full store. Low, par1: returnCode, + //! par2: integer (sequence count of failed packet). + static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW); + //! Dumping retrieved data failed. Low, par1: returnCode, + //! par2: integer (sequence count of failed packet). + static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW); + //! Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info) + //! Store was not initialized. Starts empty. Info, parameters both zero. + static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW); + //! Data was read out, but it is inconsistent. Low par1: + //! Memory address of corruption, par2: integer (debug info) + static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO); + + static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW); + //! Info event indicating the store will be initialized, either at boot or after IOB switch. + //! Info. pars: 0 + static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO); + //! Info event indicating the store was successfully initialized, either at boot or after + //! IOB switch. Info. pars: 0 + static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO); + //! Info event indicating that dumping finished successfully. + //! par1: Number of dumped packets. par2: APID/SSC (16bits each) + static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO); + //! Info event indicating that deletion finished successfully. + //! par1:Number of deleted packets. par2: APID/SSC (16bits each) + static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO); + //! Info event indicating that something went wrong during deletion. pars: 0 + static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW); + //! Info that the a auto catalog report failed + static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO); virtual ~TmStoreBackendIF() {} From 973996e1027500c7a6028949d8333b0cc23ba49f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 17:08:30 +0100 Subject: [PATCH 015/162] more fixes --- src/fsfw/fdir/FailureIsolationBase.h | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/fsfw/fdir/FailureIsolationBase.h b/src/fsfw/fdir/FailureIsolationBase.h index 85d18add..0b637080 100644 --- a/src/fsfw/fdir/FailureIsolationBase.h +++ b/src/fsfw/fdir/FailureIsolationBase.h @@ -14,13 +14,15 @@ class FailureIsolationBase : public HasReturnvaluesIF, public HasParametersIF { public: static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1; + //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState). static const Event FDIR_CHANGED_STATE = - MAKE_EVENT(1, severity::INFO); //!< FDIR has an internal state, which changed from par2 - //!< (oldState) to par1 (newState). + MAKE_EVENT(1, severity::INFO); + //! FDIR tries to restart device. Par1: event that caused recovery. static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT( - 2, severity::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery. + 2, severity::MEDIUM); + //! FDIR turns off device. Par1: event that caused recovery. static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT( - 3, severity::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery. + 3, severity::MEDIUM); FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT, uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0); From a910a055416962a97d575bf37c39acd6f8ac59ea Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 17:09:58 +0100 Subject: [PATCH 016/162] parser is not perfect.. --- src/fsfw/fdir/FailureIsolationBase.h | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/src/fsfw/fdir/FailureIsolationBase.h b/src/fsfw/fdir/FailureIsolationBase.h index 0b637080..7d128083 100644 --- a/src/fsfw/fdir/FailureIsolationBase.h +++ b/src/fsfw/fdir/FailureIsolationBase.h @@ -15,14 +15,11 @@ class FailureIsolationBase : public HasReturnvaluesIF, public: static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1; //! FDIR has an internal state, which changed from par2 (oldState) to par1 (newState). - static const Event FDIR_CHANGED_STATE = - MAKE_EVENT(1, severity::INFO); + static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO); //! FDIR tries to restart device. Par1: event that caused recovery. - static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT( - 2, severity::MEDIUM); + static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM); //! FDIR turns off device. Par1: event that caused recovery. - static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT( - 3, severity::MEDIUM); + static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM); FailureIsolationBase(object_id_t owner, object_id_t parent = objects::NO_OBJECT, uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0); From b7f6a6961b6f0815890c2ae98d4fd1a11c72b8c0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 17:14:11 +0100 Subject: [PATCH 017/162] delete switch helper, some other fixes --- src/fsfw/datapool/HkSwitchHelper.cpp | 67 --------------------------- src/fsfw/datapool/HkSwitchHelper.h | 44 ------------------ src/fsfw/pus/Service9TimeManagement.h | 8 ++-- 3 files changed, 4 insertions(+), 115 deletions(-) delete mode 100644 src/fsfw/datapool/HkSwitchHelper.cpp delete mode 100644 src/fsfw/datapool/HkSwitchHelper.h diff --git a/src/fsfw/datapool/HkSwitchHelper.cpp b/src/fsfw/datapool/HkSwitchHelper.cpp deleted file mode 100644 index 7f6ffd17..00000000 --- a/src/fsfw/datapool/HkSwitchHelper.cpp +++ /dev/null @@ -1,67 +0,0 @@ -#include "fsfw/datapool/HkSwitchHelper.h" - -#include "fsfw/ipc/QueueFactory.h" - -HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) - : commandActionHelper(this), eventProxy(eventProxy) { - actionQueue = QueueFactory::instance()->createMessageQueue(); -} - -HkSwitchHelper::~HkSwitchHelper() { QueueFactory::instance()->deleteMessageQueue(actionQueue); } - -ReturnValue_t HkSwitchHelper::initialize() { - ReturnValue_t result = commandActionHelper.initialize(); - - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - - return result; -} - -ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) { - CommandMessage command; - while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) { - ReturnValue_t result = commandActionHelper.handleReply(&command); - if (result == HasReturnvaluesIF::RETURN_OK) { - continue; - } - command.setToUnknownCommand(); - actionQueue->reply(&command); - } - - return HasReturnvaluesIF::RETURN_OK; -} - -void HkSwitchHelper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {} - -void HkSwitchHelper::stepFailedReceived(ActionId_t actionId, uint8_t step, - ReturnValue_t returnCode) { - eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId); -} - -void HkSwitchHelper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {} - -void HkSwitchHelper::completionSuccessfulReceived(ActionId_t actionId) {} - -void HkSwitchHelper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) { - eventProxy->forwardEvent(SWITCHING_TM_FAILED, returnCode, actionId); -} - -ReturnValue_t HkSwitchHelper::switchHK(SerializeIF* sids, bool enable) { - // ActionId_t action = HKService::DISABLE_HK; - // if (enable) { - // action = HKService::ENABLE_HK; - // } - // - // ReturnValue_t result = commandActionHelper.commandAction( - // objects::PUS_HK_SERVICE, action, sids); - // - // if (result != HasReturnvaluesIF::RETURN_OK) { - // eventProxy->forwardEvent(SWITCHING_TM_FAILED, result); - // } - // return result; - return HasReturnvaluesIF::RETURN_OK; -} - -MessageQueueIF* HkSwitchHelper::getCommandQueuePtr() { return actionQueue; } diff --git a/src/fsfw/datapool/HkSwitchHelper.h b/src/fsfw/datapool/HkSwitchHelper.h deleted file mode 100644 index a0becd81..00000000 --- a/src/fsfw/datapool/HkSwitchHelper.h +++ /dev/null @@ -1,44 +0,0 @@ -#ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ -#define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ - -#include "fsfw/action/CommandsActionsIF.h" -#include "fsfw/events/EventReportingProxyIF.h" -#include "fsfw/tasks/ExecutableObjectIF.h" - -// TODO this class violations separation between mission and framework -// but it is only a transitional solution until the Datapool is -// implemented decentrally - -class HkSwitchHelper : public ExecutableObjectIF, public CommandsActionsIF { - public: - static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK; - static const Event SWITCHING_TM_FAILED = - MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 - //!< action: 0 disable / 1 enable - - HkSwitchHelper(EventReportingProxyIF* eventProxy); - virtual ~HkSwitchHelper(); - - ReturnValue_t initialize(); - - virtual ReturnValue_t performOperation(uint8_t operationCode = 0); - - ReturnValue_t switchHK(SerializeIF* sids, bool enable); - - virtual void setTaskIF(PeriodicTaskIF* task_){}; - - protected: - virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step); - virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode); - virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size); - virtual void completionSuccessfulReceived(ActionId_t actionId); - virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode); - virtual MessageQueueIF* getCommandQueuePtr(); - - private: - CommandActionHelper commandActionHelper; - MessageQueueIF* actionQueue; - EventReportingProxyIF* eventProxy; -}; - -#endif /* FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_ */ diff --git a/src/fsfw/pus/Service9TimeManagement.h b/src/fsfw/pus/Service9TimeManagement.h index 9369e207..1bea2f51 100644 --- a/src/fsfw/pus/Service9TimeManagement.h +++ b/src/fsfw/pus/Service9TimeManagement.h @@ -6,10 +6,10 @@ class Service9TimeManagement : public PusServiceBase { public: static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9; - static constexpr Event CLOCK_SET = - MAKE_EVENT(0, severity::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime - static constexpr Event CLOCK_SET_FAILURE = - MAKE_EVENT(1, severity::LOW); //!< Clock could not be set. P1: Returncode. + //!< Clock has been set. P1: New Uptime. P2: Old Uptime + static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO); + //!< Clock could not be set. P1: Returncode. + static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW); static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9; From 0d4bd856bd6753db60e2465a754ee728ac44cabc Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 17:33:46 +0100 Subject: [PATCH 018/162] removed HK switch helper from cmake file --- src/fsfw/datapool/CMakeLists.txt | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/fsfw/datapool/CMakeLists.txt b/src/fsfw/datapool/CMakeLists.txt index 0d53e1ba..535be2b0 100644 --- a/src/fsfw/datapool/CMakeLists.txt +++ b/src/fsfw/datapool/CMakeLists.txt @@ -1,6 +1,4 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - HkSwitchHelper.cpp - PoolDataSetBase.cpp - PoolEntry.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + PoolDataSetBase.cpp + PoolEntry.cpp ) \ No newline at end of file From 940c53eba62fa2e41bdd590d109b54a704e4f617 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 17:33:46 +0100 Subject: [PATCH 019/162] removed HK switch helper from cmake file --- src/fsfw/datapool/CMakeLists.txt | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/fsfw/datapool/CMakeLists.txt b/src/fsfw/datapool/CMakeLists.txt index 0d53e1ba..535be2b0 100644 --- a/src/fsfw/datapool/CMakeLists.txt +++ b/src/fsfw/datapool/CMakeLists.txt @@ -1,6 +1,4 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - HkSwitchHelper.cpp - PoolDataSetBase.cpp - PoolEntry.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + PoolDataSetBase.cpp + PoolEntry.cpp ) \ No newline at end of file From 32a9e0c7044665f0265c10108c8d62d45c047769 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 17:37:11 +0100 Subject: [PATCH 020/162] another include removed --- src/fsfw/controller/ControllerBase.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/fsfw/controller/ControllerBase.h b/src/fsfw/controller/ControllerBase.h index db75982c..7032f817 100644 --- a/src/fsfw/controller/ControllerBase.h +++ b/src/fsfw/controller/ControllerBase.h @@ -1,7 +1,6 @@ #ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_ #define FSFW_CONTROLLER_CONTROLLERBASE_H_ -#include "fsfw/datapool/HkSwitchHelper.h" #include "fsfw/health/HasHealthIF.h" #include "fsfw/health/HealthHelper.h" #include "fsfw/modes/HasModesIF.h" From 581ae4c990ac9b356f5952066228d2a1e9939ee0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Feb 2022 17:37:11 +0100 Subject: [PATCH 021/162] another include removed --- src/fsfw/controller/ControllerBase.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/fsfw/controller/ControllerBase.h b/src/fsfw/controller/ControllerBase.h index db75982c..7032f817 100644 --- a/src/fsfw/controller/ControllerBase.h +++ b/src/fsfw/controller/ControllerBase.h @@ -1,7 +1,6 @@ #ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_ #define FSFW_CONTROLLER_CONTROLLERBASE_H_ -#include "fsfw/datapool/HkSwitchHelper.h" #include "fsfw/health/HasHealthIF.h" #include "fsfw/health/HealthHelper.h" #include "fsfw/modes/HasModesIF.h" From 235fd79dfbd7d0ca1c099f816a1d6167874d4d08 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Sat, 5 Feb 2022 16:08:28 +0100 Subject: [PATCH 022/162] added missing baudrates --- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 90 ++++++++++++----------- 1 file changed, 47 insertions(+), 43 deletions(-) diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index a648df3a..12ed969c 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -7,8 +7,8 @@ #include -#include "fsfw/FSFW.h" -#include "fsfw/serviceinterface.h" +#include "OBSWConfig.h" +#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw_hal/linux/utility.h" UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {} @@ -25,9 +25,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) { UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl; -#endif return NULLPOINTER; } @@ -43,17 +41,13 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) { UartElements uartElements = {fileDescriptor, std::vector(maxReplyLen), 0}; auto status = uartDeviceMap.emplace(deviceFile, uartElements); if (status.second == false) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile << "to UART device map" << std::endl; -#endif return RETURN_FAILED; } } else { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile << " already in use" << std::endl; -#endif return RETURN_FAILED; } @@ -73,19 +67,15 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) { int fd = open(deviceFile.c_str(), flags); if (fd < 0) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with error code " << errno << strerror(errno) << std::endl; -#endif return fd; } /* Read in existing settings */ if (tcgetattr(fd, &options) != 0) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: " << strerror(errno) << std::endl; -#endif return fd; } @@ -106,10 +96,8 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) { /* Save option settings */ if (tcsetattr(fd, TCSANOW, &options) != 0) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno << ": " << strerror(errno); -#endif return fd; } return fd; @@ -161,9 +149,7 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook options->c_cflag |= CS8; break; default: -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl; -#endif break; } } @@ -269,10 +255,52 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki cfsetispeed(options, B460800); cfsetospeed(options, B460800); break; + case 500000: + cfsetispeed(options, B500000); + cfsetospeed(options, B500000); + break; + case 576000: + cfsetispeed(options, B576000); + cfsetospeed(options, B576000); + break; + case 921600: + cfsetispeed(options, B921600); + cfsetospeed(options, B921600); + break; + case 1000000: + cfsetispeed(options, B1000000); + cfsetospeed(options, B1000000); + break; + case 1152000: + cfsetispeed(options, B1152000); + cfsetospeed(options, B1152000); + break; + case 1500000: + cfsetispeed(options, B1500000); + cfsetospeed(options, B1500000); + break; + case 2000000: + cfsetispeed(options, B2000000); + cfsetospeed(options, B2000000); + break; + case 2500000: + cfsetispeed(options, B2500000); + cfsetospeed(options, B2500000); + break; + case 3000000: + cfsetispeed(options, B3000000); + cfsetospeed(options, B3000000); + break; + case 3500000: + cfsetispeed(options, B3500000); + cfsetospeed(options, B3500000); + break; + case 4000000: + cfsetispeed(options, B4000000); + cfsetospeed(options, B4000000); + break; default: -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; -#endif break; } } @@ -287,37 +315,29 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, } if (sendData == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl; -#endif return RETURN_FAILED; } UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl; -#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); uartDeviceMapIter = uartDeviceMap.find(deviceFile); if (uartDeviceMapIter == uartDeviceMap.end()) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map" << std::endl; -#endif return RETURN_FAILED; } fd = uartDeviceMapIter->second.fileDescriptor; - if (write(fd, sendData, sendLen) != static_cast(sendLen)) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 + if (write(fd, sendData, sendLen) != (int)sendLen) { sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno << ": Error description: " << strerror(errno) << std::endl; -#endif return RETURN_FAILED; } @@ -332,9 +352,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl; -#endif return NULLPOINTER; } @@ -347,10 +365,8 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL } if (uartDeviceMapIter == uartDeviceMap.end()) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile << " not in uart map" << std::endl; -#endif return RETURN_FAILED; } @@ -444,10 +460,8 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi return RETURN_FAILED; } else if (bytesRead != static_cast(requestLen)) { if (uartCookie.isReplySizeFixed()) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of " << requestLen << " bytes" << std::endl; -#endif return RETURN_FAILED; } } @@ -461,19 +475,15 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl; -#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); uartDeviceMapIter = uartDeviceMap.find(deviceFile); if (uartDeviceMapIter == uartDeviceMap.end()) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map" << std::endl; -#endif return RETURN_FAILED; } @@ -491,9 +501,7 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) { UartDeviceMapIter uartDeviceMapIter; UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl; -#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); @@ -511,9 +519,7 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) { UartDeviceMapIter uartDeviceMapIter; UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl; -#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); @@ -531,9 +537,7 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) { UartDeviceMapIter uartDeviceMapIter; UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl; -#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); From 9579e94a7111865c4a9cf2c5d07fbfa32a6ed010 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Sat, 5 Feb 2022 16:09:23 +0100 Subject: [PATCH 023/162] option to exclude libgpiod from build --- hal/src/fsfw_hal/linux/CMakeLists.txt | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt index 0fb2d385..9fcb3b24 100644 --- a/hal/src/fsfw_hal/linux/CMakeLists.txt +++ b/hal/src/fsfw_hal/linux/CMakeLists.txt @@ -8,11 +8,11 @@ target_sources(${LIB_FSFW_NAME} PRIVATE utility.cpp ) -if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS) +if(FSFW_HAL_ADD_LIBGPIOD) add_subdirectory(gpio) - add_subdirectory(spi) - add_subdirectory(i2c) - add_subdirectory(uart) endif() -add_subdirectory(uio) +add_subdirectory(spi) +add_subdirectory(i2c) +add_subdirectory(uart) +add_subdirectory(uio) \ No newline at end of file From c0648a789bfc80162a6a80bc85393695042356bc Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Sat, 5 Feb 2022 17:07:06 +0100 Subject: [PATCH 024/162] merged develop --- hal/CMakeLists.txt | 1 + hal/src/fsfw_hal/linux/CMakeLists.txt | 12 +++++++----- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt index 424a012d..7a97ae0f 100644 --- a/hal/CMakeLists.txt +++ b/hal/CMakeLists.txt @@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr # Linux. The only exception from this is the gpiod library which requires a dedicated installation, # but CMake is able to determine whether this library is installed with find_library. option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON) +option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON) option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF) option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF) diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt index 9fcb3b24..56d4bf48 100644 --- a/hal/src/fsfw_hal/linux/CMakeLists.txt +++ b/hal/src/fsfw_hal/linux/CMakeLists.txt @@ -8,11 +8,13 @@ target_sources(${LIB_FSFW_NAME} PRIVATE utility.cpp ) -if(FSFW_HAL_ADD_LIBGPIOD) +if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS) +if(FSFW_HAL_LINUX_ADD_LIBGPIOD) add_subdirectory(gpio) endif() + add_subdirectory(spi) + add_subdirectory(i2c) + add_subdirectory(uart) +endif() -add_subdirectory(spi) -add_subdirectory(i2c) -add_subdirectory(uart) -add_subdirectory(uio) \ No newline at end of file +add_subdirectory(uio) From 018d814f29972929577a020a00de33c34fa2034b Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Sat, 5 Feb 2022 17:12:42 +0100 Subject: [PATCH 025/162] adapt to develop --- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 46 +++++++++++++++++++++-- 1 file changed, 43 insertions(+), 3 deletions(-) diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index 12ed969c..8a4ef0c3 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -7,8 +7,8 @@ #include -#include "OBSWConfig.h" -#include "fsfw/serviceinterface/ServiceInterface.h" +#include "fsfw/FSFW.h" +#include "fsfw/serviceinterface.h" #include "fsfw_hal/linux/utility.h" UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {} @@ -25,7 +25,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) { UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl; +#endif return NULLPOINTER; } @@ -41,13 +43,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) { UartElements uartElements = {fileDescriptor, std::vector(maxReplyLen), 0}; auto status = uartDeviceMap.emplace(deviceFile, uartElements); if (status.second == false) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile << "to UART device map" << std::endl; +#endif return RETURN_FAILED; } } else { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile << " already in use" << std::endl; +#endif return RETURN_FAILED; } @@ -67,15 +73,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) { int fd = open(deviceFile.c_str(), flags); if (fd < 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with error code " << errno << strerror(errno) << std::endl; +#endif return fd; } /* Read in existing settings */ if (tcgetattr(fd, &options) != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: " << strerror(errno) << std::endl; +#endif return fd; } @@ -96,8 +106,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) { /* Save option settings */ if (tcsetattr(fd, TCSANOW, &options) != 0) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno << ": " << strerror(errno); +#endif return fd; } return fd; @@ -149,7 +161,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook options->c_cflag |= CS8; break; default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl; +#endif break; } } @@ -300,7 +314,9 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki cfsetospeed(options, B4000000); break; default: +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; +#endif break; } } @@ -315,29 +331,37 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, } if (sendData == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl; +#endif return RETURN_FAILED; } UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl; +#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); uartDeviceMapIter = uartDeviceMap.find(deviceFile); if (uartDeviceMapIter == uartDeviceMap.end()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map" << std::endl; +#endif return RETURN_FAILED; } fd = uartDeviceMapIter->second.fileDescriptor; - if (write(fd, sendData, sendLen) != (int)sendLen) { + if (write(fd, sendData, sendLen) != static_cast(sendLen)) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno << ": Error description: " << strerror(errno) << std::endl; +#endif return RETURN_FAILED; } @@ -352,7 +376,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl; +#endif return NULLPOINTER; } @@ -365,8 +391,10 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL } if (uartDeviceMapIter == uartDeviceMap.end()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile << " not in uart map" << std::endl; +#endif return RETURN_FAILED; } @@ -460,8 +488,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi return RETURN_FAILED; } else if (bytesRead != static_cast(requestLen)) { if (uartCookie.isReplySizeFixed()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of " << requestLen << " bytes" << std::endl; +#endif return RETURN_FAILED; } } @@ -475,15 +505,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl; +#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); uartDeviceMapIter = uartDeviceMap.find(deviceFile); if (uartDeviceMapIter == uartDeviceMap.end()) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map" << std::endl; +#endif return RETURN_FAILED; } @@ -501,7 +535,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) { UartDeviceMapIter uartDeviceMapIter; UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl; +#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); @@ -519,7 +555,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) { UartDeviceMapIter uartDeviceMapIter; UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl; +#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); @@ -537,7 +575,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) { UartDeviceMapIter uartDeviceMapIter; UartCookie* uartCookie = dynamic_cast(cookie); if (uartCookie == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl; +#endif return NULLPOINTER; } deviceFile = uartCookie->getDeviceFile(); From 3c06d2dbbb0d79608e003a8a3c89ae90cc71f409 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Sat, 5 Feb 2022 18:11:23 +0100 Subject: [PATCH 026/162] run clang format script --- src/fsfw/rmap/RMAPChannelIF.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 0c937dc8..56ede1e2 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -77,9 +77,9 @@ class RMAPChannelIF { * command; command was not sent * - @c COMMAND_BUFFER_FULL no receiver buffer available for * expected len; command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for - * the hw to handle (write command) or the expected len was bigger than maximal expected len (read - * command) command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too long + * for the hw to handle (write command) or the expected len was bigger than maximal expected len + * (read command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like * implementing something... From 062e93fd8805b019e6e0c1d7f1323f214439158b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 10 Feb 2022 13:53:01 +0100 Subject: [PATCH 027/162] started DHB docs --- docs/devicehandlers.rst | 102 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 102 insertions(+) diff --git a/docs/devicehandlers.rst b/docs/devicehandlers.rst index 58c2df78..d1a5fb67 100644 --- a/docs/devicehandlers.rst +++ b/docs/devicehandlers.rst @@ -1,3 +1,105 @@ Device Handlers ================== +Device handler components rerpresent, control and monitor equipment, for example sensors or actuators of a spacecraft or the payload. + +Most device handlers have the same common functionality or +requirements, which are fulfilled by implementing an certain interface: + +- The handler/device needs to be commandable: :cpp:class:`HasActionsIF` +- The handler needs to communicate with the physical device via a dedicated + communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF` +- The handler has housekeeping data which has to be exposed to the operator and/or other software + components: :cpp:class:`HasLocalDataPoolIF` +- The handler has configurable parameters +- The handler has health states, for example to indicate a broken device: + :cpp:class:`HasHealthIF` +- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF` + and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered + but that it is not periodically polling data from the + physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class`HasModesIF` + +The device handler base therefore provides abstractions for a lot of common +functionality, which can potentially avoid high amounts or logic and code duplication. + +Template Device Handler Base File +---------------------------------- + +This is an example template device handler header file with all necessary +functions implemented: + +.. code-block:: cpp + + #ifndef __TESTDEVICEHANDLER_H_ + #define __TESTDEVICEHANDLER_H_ + + #include + + class TestDeviceHandler: DeviceHandlerBase { + public: + TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie); + private: + void doStartUp() override; + void doShutDown() override; + ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override; + ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override; + void fillCommandAndReplyMap() override; + ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData, + size_t commandDataLen) override; + ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId, + size_t* foundLen) override; + ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override; + uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + + }; + + #endif /* __TESTDEVICEHANDLER_H_ */ + +and the respective source file with sensible default return values: + +.. code-block:: cpp + #include "TestDeviceHandler.h" + + TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie) + : DeviceHandlerBase(objectId, comIF, cookie) {} + + void TestDeviceHandler::doStartUp() {} + + void TestDeviceHandler::doShutDown() {} + + ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) { + return HasReturnvaluesIF::RETURN_OK; + } + + ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) { + return HasReturnvaluesIF::RETURN_OK; + } + + void TestDeviceHandler::fillCommandAndReplyMap() {} + + ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t* commandData, + size_t commandDataLen) { + return HasReturnvaluesIF::RETURN_OK; + } + + ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize, + DeviceCommandId_t* foundId, size_t* foundLen) { + return HasReturnvaluesIF::RETURN_OK; + } + + ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t* packet) { + return HasReturnvaluesIF::RETURN_OK; + } + + uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { + return 10000; + } + + ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) { + return HasReturnvaluesIF::RETURN_OK; + } From 9e92afbf076b57df843a1ee526bd63c3303995a5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 16 Feb 2022 18:54:55 +0100 Subject: [PATCH 028/162] bugfix in test task --- tests/src/fsfw_tests/integration/task/TestTask.cpp | 1 - tests/src/fsfw_tests/integration/task/TestTask.h | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/tests/src/fsfw_tests/integration/task/TestTask.cpp b/tests/src/fsfw_tests/integration/task/TestTask.cpp index 65e444e3..765f780e 100644 --- a/tests/src/fsfw_tests/integration/task/TestTask.cpp +++ b/tests/src/fsfw_tests/integration/task/TestTask.cpp @@ -3,7 +3,6 @@ #include #include -bool TestTask::oneShotAction = true; MutexIF* TestTask::testLock = nullptr; TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(testModes::A) { diff --git a/tests/src/fsfw_tests/integration/task/TestTask.h b/tests/src/fsfw_tests/integration/task/TestTask.h index 557b50b2..cd630ee3 100644 --- a/tests/src/fsfw_tests/integration/task/TestTask.h +++ b/tests/src/fsfw_tests/integration/task/TestTask.h @@ -29,7 +29,7 @@ class TestTask : public SystemObject, public ExecutableObjectIF, public HasRetur bool testFlag = false; private: - static bool oneShotAction; + bool oneShotAction = true; static MutexIF* testLock; StorageManagerIF* IPCStore; }; From b3482eba245520ffc248c0b18a28b7bfe45d11b1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 17 Feb 2022 20:41:47 +0100 Subject: [PATCH 029/162] error check in event manager --- src/fsfw/events/EventManager.cpp | 13 ++++++++++--- src/fsfw/globalfunctions/CRC.cpp | 2 +- src/fsfw/osal/linux/MessageQueue.cpp | 2 +- src/fsfw/osal/linux/PeriodicPosixTask.h | 7 ++++--- src/fsfw/osal/rtems/PeriodicTask.h | 4 ++-- src/fsfw/rmap/RMAP.h | 8 ++++---- src/fsfw/rmap/RMAPChannelIF.h | 12 ++++++------ 7 files changed, 28 insertions(+), 20 deletions(-) diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index aaa7d6c5..ca45ef04 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -46,9 +46,16 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) { void EventManager::notifyListeners(EventMessage* message) { lockMutex(); - for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) { - if (iter->second.match(message)) { - MessageQueueSenderIF::sendMessage(iter->first, message, message->getSender()); + for (auto& listener : listenerList) { + if (listener.second.match(message)) { + ReturnValue_t result = + MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender()); + if (result != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "Sending message to listener failed with result " << std::hex << std::setw(4) + << result << std::endl; +#endif + } } } unlockMutex(); diff --git a/src/fsfw/globalfunctions/CRC.cpp b/src/fsfw/globalfunctions/CRC.cpp index 6b8140c5..033920d0 100644 --- a/src/fsfw/globalfunctions/CRC.cpp +++ b/src/fsfw/globalfunctions/CRC.cpp @@ -117,7 +117,7 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti // { // if (xor_out[i] == true) // crc_value = crc_value + pow(2,(15 -i)); // reverse CrC result before - //Final XOR + // Final XOR // } // // crc_value = 0;// for debug mode diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp index f876ec6e..c806783b 100644 --- a/src/fsfw/osal/linux/MessageQueue.cpp +++ b/src/fsfw/osal/linux/MessageQueue.cpp @@ -256,7 +256,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, if (!ignoreFault) { InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->get(objects::INTERNAL_ERROR_REPORTER); - if (internalErrorReporter != NULL) { + if (internalErrorReporter != nullptr) { internalErrorReporter->queueMessageNotSent(); } } diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 3c9a3a0d..1c3a52c7 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -65,9 +65,10 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { /** * @brief The function containing the actual functionality of the task. * @details The method sets and starts - * the task's period, then enters a loop that is repeated indefinitely. Within the - * loop, all performOperation methods of the added objects are called. Afterwards the task will be - * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed. + * the task's period, then enters a loop that is repeated indefinitely. Within + * the loop, all performOperation methods of the added objects are called. Afterwards the task + * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is + * executed. */ virtual void taskFunctionality(void); /** diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index ff8617fc..119329f2 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -13,8 +13,8 @@ class ExecutableObjectIF; * @brief This class represents a specialized task for periodic activities of multiple objects. * * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute - * multiple objects that implement the ExecutableObjectIF interface. The objects - * must be added prior to starting the task. + * multiple objects that implement the ExecutableObjectIF interface. The + * objects must be added prior to starting the task. * @author baetz * @ingroup task_handling */ diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h index 42ee1ac5..7c654262 100644 --- a/src/fsfw/rmap/RMAP.h +++ b/src/fsfw/rmap/RMAP.h @@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF { * @param buffer the data to write * @param length length of data * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in - * write command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL + * in write command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length); @@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF { * @param cookie to cookie to read from * @param expLength the expected maximum length of the reply * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in - * write command, or nullpointer in read command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL + * in write command, or nullpointer in read command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength); diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 20dfd5f8..7dab07c1 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -75,10 +75,10 @@ class RMAPChannelIF { * - @c RETURN_OK * - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending * command; command was not sent - * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected len; - * command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the hw - * to handle (write command) or the expected len was bigger than maximal expected len (read + * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected + * len; command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the + * hw to handle (write command) or the expected len was bigger than maximal expected len (read * command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like @@ -97,8 +97,8 @@ class RMAPChannelIF { * - @c REPLY_NO_REPLY no reply was received * - @c REPLY_NOT_SENT command was not sent, implies no reply * - @c REPLY_NOT_YET_SENT command is still waiting to be sent - * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer still - * being processed) + * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer + * still being processed) * - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last * operation, data could not be processed. (transmission error) * - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value) From bd05afbddd7e2da43b19b8ceafb6272e73d5464d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 18 Feb 2022 13:09:18 +0100 Subject: [PATCH 030/162] printout improvements --- src/fsfw/events/EventManager.cpp | 2 ++ src/fsfw/internalerror/InternalErrorReporter.cpp | 15 +++++++-------- src/fsfw/rmap/RMAP.h | 8 ++++---- src/fsfw/rmap/RMAPChannelIF.h | 12 ++++++------ 4 files changed, 19 insertions(+), 18 deletions(-) diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index ca45ef04..35dc9d22 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -54,6 +54,8 @@ void EventManager::notifyListeners(EventMessage* message) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "Sending message to listener failed with result " << std::hex << std::setw(4) << result << std::endl; +#else + sif::printError("Sending message to listener failed with result %04x\n", result); #endif } } diff --git a/src/fsfw/internalerror/InternalErrorReporter.cpp b/src/fsfw/internalerror/InternalErrorReporter.cpp index e7088e2c..a085cc5b 100644 --- a/src/fsfw/internalerror/InternalErrorReporter.cpp +++ b/src/fsfw/internalerror/InternalErrorReporter.cpp @@ -36,15 +36,14 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) { if ((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::debug << "InternalErrorReporter::performOperation: Errors " - << "occured!" << std::endl; - sif::debug << "Queue errors: " << newQueueHits << std::endl; - sif::debug << "TM errors: " << newTmHits << std::endl; - sif::debug << "Store errors: " << newStoreHits << std::endl; + << "occured: Queue | TM | Store : " << newQueueHits << " | " << newTmHits << " | " + << newStoreHits << std::endl; #else - sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n"); - sif::printDebug("Queue errors: %lu\n", static_cast(newQueueHits)); - sif::printDebug("TM errors: %lu\n", static_cast(newTmHits)); - sif::printDebug("Store errors: %lu\n", static_cast(newStoreHits)); + sif::printDebug( + "InternalErrorReporter::performOperation: Errors occured: Queue | TM | Store: %lu | %lu " + "| %lu\n", + static_cast(newQueueHits), static_cast(newTmHits), + static_cast(newStoreHits)); #endif } } diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h index 7c654262..d274fb15 100644 --- a/src/fsfw/rmap/RMAP.h +++ b/src/fsfw/rmap/RMAP.h @@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF { * @param buffer the data to write * @param length length of data * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL - * in write command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == + * NULL in write command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length); @@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF { * @param cookie to cookie to read from * @param expLength the expected maximum length of the reply * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL - * in write command, or nullpointer in read command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == + * NULL in write command, or nullpointer in read command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength); diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 7dab07c1..0c937dc8 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -75,10 +75,10 @@ class RMAPChannelIF { * - @c RETURN_OK * - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending * command; command was not sent - * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected - * len; command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the - * hw to handle (write command) or the expected len was bigger than maximal expected len (read + * - @c COMMAND_BUFFER_FULL no receiver buffer available for + * expected len; command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too long for + * the hw to handle (write command) or the expected len was bigger than maximal expected len (read * command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like @@ -97,8 +97,8 @@ class RMAPChannelIF { * - @c REPLY_NO_REPLY no reply was received * - @c REPLY_NOT_SENT command was not sent, implies no reply * - @c REPLY_NOT_YET_SENT command is still waiting to be sent - * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer - * still being processed) + * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission + * buffer still being processed) * - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last * operation, data could not be processed. (transmission error) * - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value) From a12e98d9481e224a30a1150e9dfd0a48501f410f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 18 Feb 2022 13:39:42 +0100 Subject: [PATCH 031/162] update event mngr printout --- src/fsfw/events/EventManager.cpp | 23 ++++++++++++++++++++--- src/fsfw/events/EventManager.h | 1 + src/fsfw/osal/linux/MessageQueue.cpp | 4 ++-- src/fsfw/pus/Service5EventReporting.cpp | 1 + src/fsfw/rmap/RMAPChannelIF.h | 6 +++--- 5 files changed, 27 insertions(+), 8 deletions(-) diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index 35dc9d22..c027fce5 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -52,10 +52,12 @@ void EventManager::notifyListeners(EventMessage* message) { MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender()); if (result != HasReturnvaluesIF::RETURN_OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Sending message to listener failed with result " << std::hex << std::setw(4) - << result << std::endl; + sif::error << std::hex << "EventManager::notifyListeners: MSG to " << std::setw(8) + << std::setfill('0') << "0x" << listener.first << " failed with result " + << std::setw(4) << "0x" << result << std::setfill(' ') << std::endl; #else - sif::printError("Sending message to listener failed with result %04x\n", result); + sif::printError("Sending message to listener 0x%08x failed with result %04x\n", + listener.first, result); #endif } } @@ -198,4 +200,19 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag } } +void EventManager::printListeners() { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "Event manager listener MQ IDs:" << std::endl; + for (auto& listener : listenerList) { + sif::info << std::hex << std::setw(8) << std::setfill('0') << "0x" << listener.first << std::dec + << std::setfill(' ') << std::endl; + } +#else + sif::printInfo("Event manager listener MQ IDs:\n"); + for (auto& listener : listenerList) { + sif::printInfo("0x%08x\n", listener.first); + } +#endif +} + #endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */ diff --git a/src/fsfw/events/EventManager.h b/src/fsfw/events/EventManager.h index f2d642ff..e2a8dd95 100644 --- a/src/fsfw/events/EventManager.h +++ b/src/fsfw/events/EventManager.h @@ -42,6 +42,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy object_id_t reporterFrom = 0, object_id_t reporterTo = 0, bool reporterInverted = false); ReturnValue_t performOperation(uint8_t opCode); + void printListeners(); protected: MessageQueueIF* eventReportQueue = nullptr; diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp index c806783b..bdba912e 100644 --- a/src/fsfw/osal/linux/MessageQueue.cpp +++ b/src/fsfw/osal/linux/MessageQueue.cpp @@ -240,9 +240,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, bool ignoreFault) { if (message == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl; + sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr" << std::endl; #else - sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n"); + sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr\n"); #endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/src/fsfw/pus/Service5EventReporting.cpp b/src/fsfw/pus/Service5EventReporting.cpp index 4517bc26..dfce9ba2 100644 --- a/src/fsfw/pus/Service5EventReporting.cpp +++ b/src/fsfw/pus/Service5EventReporting.cpp @@ -13,6 +13,7 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap : PusServiceBase(objectId, apid, serviceId), maxNumberReportsPerCycle(maxNumberReportsPerCycle) { eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); + sif::info << eventQueue->getId() << std::endl; } Service5EventReporting::~Service5EventReporting() { diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 0c937dc8..9e666dfb 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -77,9 +77,9 @@ class RMAPChannelIF { * command; command was not sent * - @c COMMAND_BUFFER_FULL no receiver buffer available for * expected len; command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for - * the hw to handle (write command) or the expected len was bigger than maximal expected len (read - * command) command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too + * long for the hw to handle (write command) or the expected len was bigger than maximal expected + * len (read command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like * implementing something... From a5871ed0b123f809145393f868b95e8d31cb60fa Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 18 Feb 2022 14:00:06 +0100 Subject: [PATCH 032/162] added void* args to queue factory and mq ctor --- src/fsfw/events/EventManager.cpp | 12 ++++++------ src/fsfw/ipc/QueueFactory.h | 3 ++- src/fsfw/osal/freertos/MessageQueue.cpp | 2 +- src/fsfw/osal/freertos/MessageQueue.h | 3 ++- src/fsfw/osal/freertos/QueueFactory.cpp | 4 ++-- src/fsfw/osal/host/MessageQueue.cpp | 2 +- src/fsfw/osal/host/MessageQueue.h | 3 ++- src/fsfw/osal/host/QueueFactory.cpp | 4 ++-- src/fsfw/osal/linux/MessageQueue.cpp | 2 +- src/fsfw/osal/linux/MessageQueue.h | 3 ++- src/fsfw/osal/linux/QueueFactory.cpp | 4 ++-- src/fsfw/osal/rtems/MessageQueue.cpp | 2 +- src/fsfw/osal/rtems/MessageQueue.h | 3 ++- src/fsfw/osal/rtems/QueueFactory.cpp | 4 ++-- 14 files changed, 28 insertions(+), 23 deletions(-) diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index c027fce5..d24e893a 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -52,9 +52,9 @@ void EventManager::notifyListeners(EventMessage* message) { MessageQueueSenderIF::sendMessage(listener.first, message, message->getSender()); if (result != HasReturnvaluesIF::RETURN_OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << std::hex << "EventManager::notifyListeners: MSG to " << std::setw(8) - << std::setfill('0') << "0x" << listener.first << " failed with result " - << std::setw(4) << "0x" << result << std::setfill(' ') << std::endl; + sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0') + << std::setw(8) << listener.first << " failed with result 0x" + << std::setw(4) << result << std::setfill(' ') << std::endl; #else sif::printError("Sending message to listener 0x%08x failed with result %04x\n", listener.first, result); @@ -202,11 +202,11 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage* messag void EventManager::printListeners() { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "Event manager listener MQ IDs:" << std::endl; + sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl; for (auto& listener : listenerList) { - sif::info << std::hex << std::setw(8) << std::setfill('0') << "0x" << listener.first << std::dec - << std::setfill(' ') << std::endl; + sif::info << "0x" << std::setw(8) << listener.first << std::endl; } + sif::info << std::dec << std::setfill(' '); #else sif::printInfo("Event manager listener MQ IDs:\n"); for (auto& listener : listenerList) { diff --git a/src/fsfw/ipc/QueueFactory.h b/src/fsfw/ipc/QueueFactory.h index 864c456d..07107bec 100644 --- a/src/fsfw/ipc/QueueFactory.h +++ b/src/fsfw/ipc/QueueFactory.h @@ -22,7 +22,8 @@ class QueueFactory { static QueueFactory* instance(); MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3, - size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); + size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, + void* args = nullptr); void deleteMessageQueue(MessageQueueIF* queue); diff --git a/src/fsfw/osal/freertos/MessageQueue.cpp b/src/fsfw/osal/freertos/MessageQueue.cpp index a8333fe5..6e9bdd44 100644 --- a/src/fsfw/osal/freertos/MessageQueue.cpp +++ b/src/fsfw/osal/freertos/MessageQueue.cpp @@ -4,7 +4,7 @@ #include "fsfw/osal/freertos/QueueMapManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" -MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) +MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, void* args) : maxMessageSize(maxMessageSize) { handle = xQueueCreate(messageDepth, maxMessageSize); if (handle == nullptr) { diff --git a/src/fsfw/osal/freertos/MessageQueue.h b/src/fsfw/osal/freertos/MessageQueue.h index 1cb343d1..24054bda 100644 --- a/src/fsfw/osal/freertos/MessageQueue.h +++ b/src/fsfw/osal/freertos/MessageQueue.h @@ -53,7 +53,8 @@ class MessageQueue : public MessageQueueIF { * This should be left default. */ MessageQueue(size_t messageDepth = 3, - size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); + size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, + void* args = nullptr); /** Copying message queues forbidden */ MessageQueue(const MessageQueue&) = delete; diff --git a/src/fsfw/osal/freertos/QueueFactory.cpp b/src/fsfw/osal/freertos/QueueFactory.cpp index f4941481..d2914929 100644 --- a/src/fsfw/osal/freertos/QueueFactory.cpp +++ b/src/fsfw/osal/freertos/QueueFactory.cpp @@ -22,8 +22,8 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { - return new MessageQueue(messageDepth, maxMessageSize); +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) { + return new MessageQueue(messageDepth, maxMessageSize, args); } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } diff --git a/src/fsfw/osal/host/MessageQueue.cpp b/src/fsfw/osal/host/MessageQueue.cpp index db66b671..b822578d 100644 --- a/src/fsfw/osal/host/MessageQueue.cpp +++ b/src/fsfw/osal/host/MessageQueue.cpp @@ -8,7 +8,7 @@ #include "fsfw/osal/host/QueueMapManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" -MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) +MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, void* args) : messageSize(maxMessageSize), messageDepth(messageDepth) { queueLock = MutexFactory::instance()->createMutex(); auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId); diff --git a/src/fsfw/osal/host/MessageQueue.h b/src/fsfw/osal/host/MessageQueue.h index 49375bb5..20a2a7e1 100644 --- a/src/fsfw/osal/host/MessageQueue.h +++ b/src/fsfw/osal/host/MessageQueue.h @@ -54,7 +54,8 @@ class MessageQueue : public MessageQueueIF { * This should be left default. */ MessageQueue(size_t messageDepth = 3, - size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); + size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, + void* args); /** Copying message queues forbidden */ MessageQueue(const MessageQueue&) = delete; diff --git a/src/fsfw/osal/host/QueueFactory.cpp b/src/fsfw/osal/host/QueueFactory.cpp index 3c63e6c9..0ecc5207 100644 --- a/src/fsfw/osal/host/QueueFactory.cpp +++ b/src/fsfw/osal/host/QueueFactory.cpp @@ -27,12 +27,12 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) { // A thread-safe queue can be implemented by using a combination // of std::queue and std::mutex. This uses dynamic memory allocation // which could be alleviated by using a custom allocator, external library // (etl::queue) or simply using std::queue, we're on a host machine anyway. - return new MessageQueue(messageDepth, maxMessageSize); + return new MessageQueue(messageDepth, maxMessageSize, args); } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp index bdba912e..28e84ece 100644 --- a/src/fsfw/osal/linux/MessageQueue.cpp +++ b/src/fsfw/osal/linux/MessageQueue.cpp @@ -11,7 +11,7 @@ #include "fsfw/osal/linux/unixUtility.h" #include "fsfw/serviceinterface/ServiceInterface.h" -MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize) +MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) : id(MessageQueueIF::NO_QUEUE), lastPartner(MessageQueueIF::NO_QUEUE), defaultDestination(MessageQueueIF::NO_QUEUE), diff --git a/src/fsfw/osal/linux/MessageQueue.h b/src/fsfw/osal/linux/MessageQueue.h index dbf6555e..8fd6f11c 100644 --- a/src/fsfw/osal/linux/MessageQueue.h +++ b/src/fsfw/osal/linux/MessageQueue.h @@ -42,7 +42,8 @@ class MessageQueue : public MessageQueueIF { * This should be left default. */ MessageQueue(uint32_t messageDepth = 3, - size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE); + size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, + void* args = nullptr); /** * @brief The destructor deletes the formerly created message queue. * @details This is accomplished by using the delete call provided by the operating system. diff --git a/src/fsfw/osal/linux/QueueFactory.cpp b/src/fsfw/osal/linux/QueueFactory.cpp index d1b1cfdb..7ef4bc0f 100644 --- a/src/fsfw/osal/linux/QueueFactory.cpp +++ b/src/fsfw/osal/linux/QueueFactory.cpp @@ -28,8 +28,8 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { - return new MessageQueue(messageDepth, maxMessageSize); +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) { + return new MessageQueue(messageDepth, maxMessageSize, args); } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } diff --git a/src/fsfw/osal/rtems/MessageQueue.cpp b/src/fsfw/osal/rtems/MessageQueue.cpp index e45679d5..d47b4df2 100644 --- a/src/fsfw/osal/rtems/MessageQueue.cpp +++ b/src/fsfw/osal/rtems/MessageQueue.cpp @@ -6,7 +6,7 @@ #include "fsfw/osal/rtems/RtemsBasic.h" #include "fsfw/serviceinterface/ServiceInterface.h" -MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) +MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, void* args) : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) { rtems_name name = ('Q' << 24) + (queueCounter++ << 8); rtems_status_code status = diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h index 89aae2ad..f0efa9f5 100644 --- a/src/fsfw/osal/rtems/MessageQueue.h +++ b/src/fsfw/osal/rtems/MessageQueue.h @@ -34,7 +34,8 @@ class MessageQueue : public MessageQueueIF { * This should be left default. */ MessageQueue(size_t message_depth = 3, - size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE); + size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE, + void* args); /** * @brief The destructor deletes the formerly created message queue. * @details This is accomplished by using the delete call provided by the operating system. diff --git a/src/fsfw/osal/rtems/QueueFactory.cpp b/src/fsfw/osal/rtems/QueueFactory.cpp index 3d517f60..63d0de8a 100644 --- a/src/fsfw/osal/rtems/QueueFactory.cpp +++ b/src/fsfw/osal/rtems/QueueFactory.cpp @@ -49,8 +49,8 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) { - return new MessageQueue(messageDepth, maxMessageSize); +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) { + return new MessageQueue(messageDepth, maxMessageSize, args); } void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; } From 0d66569687eac9fb5a1ae7eaad8a4c9fbe187b14 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 18 Feb 2022 14:07:41 +0100 Subject: [PATCH 033/162] this is a bit cleaner --- src/fsfw/ipc/QueueFactory.h | 3 ++- src/fsfw/ipc/definitions.h | 10 ++++++++++ src/fsfw/osal/freertos/MessageQueue.cpp | 2 +- src/fsfw/osal/freertos/MessageQueue.h | 3 ++- src/fsfw/osal/freertos/QueueFactory.cpp | 2 +- src/fsfw/osal/host/MessageQueue.cpp | 2 +- src/fsfw/osal/host/MessageQueue.h | 3 ++- src/fsfw/osal/host/QueueFactory.cpp | 2 +- src/fsfw/osal/linux/MessageQueue.cpp | 2 +- src/fsfw/osal/linux/MessageQueue.h | 3 ++- src/fsfw/osal/linux/QueueFactory.cpp | 2 +- src/fsfw/osal/rtems/MessageQueue.cpp | 2 +- src/fsfw/osal/rtems/MessageQueue.h | 3 ++- src/fsfw/osal/rtems/QueueFactory.cpp | 2 +- 14 files changed, 28 insertions(+), 13 deletions(-) create mode 100644 src/fsfw/ipc/definitions.h diff --git a/src/fsfw/ipc/QueueFactory.h b/src/fsfw/ipc/QueueFactory.h index 07107bec..e9e5adf1 100644 --- a/src/fsfw/ipc/QueueFactory.h +++ b/src/fsfw/ipc/QueueFactory.h @@ -4,6 +4,7 @@ #include #include "MessageQueueIF.h" +#include "definitions.h" #include "MessageQueueMessage.h" /** @@ -23,7 +24,7 @@ class QueueFactory { MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, - void* args = nullptr); + MqArgs* args = nullptr); void deleteMessageQueue(MessageQueueIF* queue); diff --git a/src/fsfw/ipc/definitions.h b/src/fsfw/ipc/definitions.h new file mode 100644 index 00000000..5273f5ca --- /dev/null +++ b/src/fsfw/ipc/definitions.h @@ -0,0 +1,10 @@ +#ifndef FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ +#define FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ +#include + +struct MqArgs { + object_id_t objectId = 0; + void* args = nullptr; +}; + +#endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */ diff --git a/src/fsfw/osal/freertos/MessageQueue.cpp b/src/fsfw/osal/freertos/MessageQueue.cpp index 6e9bdd44..927d7820 100644 --- a/src/fsfw/osal/freertos/MessageQueue.cpp +++ b/src/fsfw/osal/freertos/MessageQueue.cpp @@ -4,7 +4,7 @@ #include "fsfw/osal/freertos/QueueMapManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" -MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, void* args) +MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args) : maxMessageSize(maxMessageSize) { handle = xQueueCreate(messageDepth, maxMessageSize); if (handle == nullptr) { diff --git a/src/fsfw/osal/freertos/MessageQueue.h b/src/fsfw/osal/freertos/MessageQueue.h index 24054bda..52708990 100644 --- a/src/fsfw/osal/freertos/MessageQueue.h +++ b/src/fsfw/osal/freertos/MessageQueue.h @@ -7,6 +7,7 @@ #include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MessageQueueMessageIF.h" +#include "fsfw/ipc/definitions.h" #include "queue.h" /** @@ -54,7 +55,7 @@ class MessageQueue : public MessageQueueIF { */ MessageQueue(size_t messageDepth = 3, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, - void* args = nullptr); + MqArgs* args = nullptr); /** Copying message queues forbidden */ MessageQueue(const MessageQueue&) = delete; diff --git a/src/fsfw/osal/freertos/QueueFactory.cpp b/src/fsfw/osal/freertos/QueueFactory.cpp index d2914929..588653cf 100644 --- a/src/fsfw/osal/freertos/QueueFactory.cpp +++ b/src/fsfw/osal/freertos/QueueFactory.cpp @@ -22,7 +22,7 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) { return new MessageQueue(messageDepth, maxMessageSize, args); } diff --git a/src/fsfw/osal/host/MessageQueue.cpp b/src/fsfw/osal/host/MessageQueue.cpp index b822578d..eed29555 100644 --- a/src/fsfw/osal/host/MessageQueue.cpp +++ b/src/fsfw/osal/host/MessageQueue.cpp @@ -8,7 +8,7 @@ #include "fsfw/osal/host/QueueMapManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" -MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, void* args) +MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize, MqArgs* args) : messageSize(maxMessageSize), messageDepth(messageDepth) { queueLock = MutexFactory::instance()->createMutex(); auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId); diff --git a/src/fsfw/osal/host/MessageQueue.h b/src/fsfw/osal/host/MessageQueue.h index 20a2a7e1..aa662dae 100644 --- a/src/fsfw/osal/host/MessageQueue.h +++ b/src/fsfw/osal/host/MessageQueue.h @@ -7,6 +7,7 @@ #include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueMessage.h" +#include "fsfw/ipc/definitions.h" #include "fsfw/ipc/MutexIF.h" #include "fsfw/timemanager/Clock.h" @@ -55,7 +56,7 @@ class MessageQueue : public MessageQueueIF { */ MessageQueue(size_t messageDepth = 3, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, - void* args); + MqArgs* args = nullptr); /** Copying message queues forbidden */ MessageQueue(const MessageQueue&) = delete; diff --git a/src/fsfw/osal/host/QueueFactory.cpp b/src/fsfw/osal/host/QueueFactory.cpp index 0ecc5207..caea8af7 100644 --- a/src/fsfw/osal/host/QueueFactory.cpp +++ b/src/fsfw/osal/host/QueueFactory.cpp @@ -27,7 +27,7 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) { // A thread-safe queue can be implemented by using a combination // of std::queue and std::mutex. This uses dynamic memory allocation // which could be alleviated by using a custom allocator, external library diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp index 28e84ece..c1de8f13 100644 --- a/src/fsfw/osal/linux/MessageQueue.cpp +++ b/src/fsfw/osal/linux/MessageQueue.cpp @@ -11,7 +11,7 @@ #include "fsfw/osal/linux/unixUtility.h" #include "fsfw/serviceinterface/ServiceInterface.h" -MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) +MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) : id(MessageQueueIF::NO_QUEUE), lastPartner(MessageQueueIF::NO_QUEUE), defaultDestination(MessageQueueIF::NO_QUEUE), diff --git a/src/fsfw/osal/linux/MessageQueue.h b/src/fsfw/osal/linux/MessageQueue.h index 8fd6f11c..84052914 100644 --- a/src/fsfw/osal/linux/MessageQueue.h +++ b/src/fsfw/osal/linux/MessageQueue.h @@ -5,6 +5,7 @@ #include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/ipc/MessageQueueIF.h" +#include "fsfw/ipc/definitions.h" #include "fsfw/ipc/MessageQueueMessage.h" /** * @brief This class manages sending and receiving of message queue messages. @@ -43,7 +44,7 @@ class MessageQueue : public MessageQueueIF { */ MessageQueue(uint32_t messageDepth = 3, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, - void* args = nullptr); + MqArgs* args = nullptr); /** * @brief The destructor deletes the formerly created message queue. * @details This is accomplished by using the delete call provided by the operating system. diff --git a/src/fsfw/osal/linux/QueueFactory.cpp b/src/fsfw/osal/linux/QueueFactory.cpp index 7ef4bc0f..d74eb8c5 100644 --- a/src/fsfw/osal/linux/QueueFactory.cpp +++ b/src/fsfw/osal/linux/QueueFactory.cpp @@ -28,7 +28,7 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) { return new MessageQueue(messageDepth, maxMessageSize, args); } diff --git a/src/fsfw/osal/rtems/MessageQueue.cpp b/src/fsfw/osal/rtems/MessageQueue.cpp index d47b4df2..87073067 100644 --- a/src/fsfw/osal/rtems/MessageQueue.cpp +++ b/src/fsfw/osal/rtems/MessageQueue.cpp @@ -6,7 +6,7 @@ #include "fsfw/osal/rtems/RtemsBasic.h" #include "fsfw/serviceinterface/ServiceInterface.h" -MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, void* args) +MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size, MqArgs* args) : id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) { rtems_name name = ('Q' << 24) + (queueCounter++ << 8); rtems_status_code status = diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h index f0efa9f5..b18b2eaf 100644 --- a/src/fsfw/osal/rtems/MessageQueue.h +++ b/src/fsfw/osal/rtems/MessageQueue.h @@ -4,6 +4,7 @@ #include "RtemsBasic.h" #include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/ipc/MessageQueueIF.h" +#include "fsfw/ipc/definitions.h" #include "fsfw/ipc/MessageQueueMessage.h" /** @@ -35,7 +36,7 @@ class MessageQueue : public MessageQueueIF { */ MessageQueue(size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE, - void* args); + MqArgs* args = nullptr); /** * @brief The destructor deletes the formerly created message queue. * @details This is accomplished by using the delete call provided by the operating system. diff --git a/src/fsfw/osal/rtems/QueueFactory.cpp b/src/fsfw/osal/rtems/QueueFactory.cpp index 63d0de8a..8b625da8 100644 --- a/src/fsfw/osal/rtems/QueueFactory.cpp +++ b/src/fsfw/osal/rtems/QueueFactory.cpp @@ -49,7 +49,7 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, void* args) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) { return new MessageQueue(messageDepth, maxMessageSize, args); } From 508979d32d4e5910259bfb52b8fe16d1bb4f1cdb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 18 Feb 2022 14:52:25 +0100 Subject: [PATCH 034/162] cache mq args --- src/fsfw/events/EventManager.cpp | 8 ++++---- src/fsfw/ipc/QueueFactory.h | 4 ++-- src/fsfw/ipc/definitions.h | 6 ++++-- src/fsfw/osal/freertos/MessageQueue.h | 2 +- src/fsfw/osal/freertos/QueueFactory.cpp | 3 ++- src/fsfw/osal/host/MessageQueue.h | 4 ++-- src/fsfw/osal/host/QueueFactory.cpp | 3 ++- src/fsfw/osal/linux/MessageQueue.cpp | 3 +++ src/fsfw/osal/linux/MessageQueue.h | 6 ++++-- src/fsfw/osal/linux/QueueFactory.cpp | 3 ++- src/fsfw/osal/rtems/MessageQueue.h | 4 ++-- src/fsfw/osal/rtems/QueueFactory.cpp | 3 ++- 12 files changed, 30 insertions(+), 19 deletions(-) diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index d24e893a..0fd893b2 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -53,8 +53,8 @@ void EventManager::notifyListeners(EventMessage* message) { if (result != HasReturnvaluesIF::RETURN_OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << std::hex << "EventManager::notifyListeners: MSG to 0x" << std::setfill('0') - << std::setw(8) << listener.first << " failed with result 0x" - << std::setw(4) << result << std::setfill(' ') << std::endl; + << std::setw(8) << listener.first << " failed with result 0x" << std::setw(4) + << result << std::setfill(' ') << std::endl; #else sif::printError("Sending message to listener 0x%08x failed with result %04x\n", listener.first, result); @@ -204,9 +204,9 @@ void EventManager::printListeners() { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "Event manager listener MQ IDs:" << std::setfill('0') << std::hex << std::endl; for (auto& listener : listenerList) { - sif::info << "0x" << std::setw(8) << listener.first << std::endl; + sif::info << "0x" << std::setw(8) << listener.first << std::endl; } - sif::info << std::dec << std::setfill(' '); + sif::info << std::dec << std::setfill(' '); #else sif::printInfo("Event manager listener MQ IDs:\n"); for (auto& listener : listenerList) { diff --git a/src/fsfw/ipc/QueueFactory.h b/src/fsfw/ipc/QueueFactory.h index e9e5adf1..8069d836 100644 --- a/src/fsfw/ipc/QueueFactory.h +++ b/src/fsfw/ipc/QueueFactory.h @@ -4,8 +4,8 @@ #include #include "MessageQueueIF.h" -#include "definitions.h" #include "MessageQueueMessage.h" +#include "definitions.h" /** * Creates message queues. @@ -24,7 +24,7 @@ class QueueFactory { MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, - MqArgs* args = nullptr); + MqArgs* args = nullptr); void deleteMessageQueue(MessageQueueIF* queue); diff --git a/src/fsfw/ipc/definitions.h b/src/fsfw/ipc/definitions.h index 5273f5ca..1cc7a3c4 100644 --- a/src/fsfw/ipc/definitions.h +++ b/src/fsfw/ipc/definitions.h @@ -3,8 +3,10 @@ #include struct MqArgs { - object_id_t objectId = 0; - void* args = nullptr; + MqArgs(){}; + MqArgs(object_id_t objectId, void* args = nullptr) : objectId(objectId), args(args) {} + object_id_t objectId = 0; + void* args = nullptr; }; #endif /* FSFW_SRC_FSFW_IPC_DEFINITIONS_H_ */ diff --git a/src/fsfw/osal/freertos/MessageQueue.h b/src/fsfw/osal/freertos/MessageQueue.h index 52708990..fc1d78e5 100644 --- a/src/fsfw/osal/freertos/MessageQueue.h +++ b/src/fsfw/osal/freertos/MessageQueue.h @@ -55,7 +55,7 @@ class MessageQueue : public MessageQueueIF { */ MessageQueue(size_t messageDepth = 3, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, - MqArgs* args = nullptr); + MqArgs* args = nullptr); /** Copying message queues forbidden */ MessageQueue(const MessageQueue&) = delete; diff --git a/src/fsfw/osal/freertos/QueueFactory.cpp b/src/fsfw/osal/freertos/QueueFactory.cpp index 588653cf..8424123c 100644 --- a/src/fsfw/osal/freertos/QueueFactory.cpp +++ b/src/fsfw/osal/freertos/QueueFactory.cpp @@ -22,7 +22,8 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, + MqArgs* args) { return new MessageQueue(messageDepth, maxMessageSize, args); } diff --git a/src/fsfw/osal/host/MessageQueue.h b/src/fsfw/osal/host/MessageQueue.h index aa662dae..d090d269 100644 --- a/src/fsfw/osal/host/MessageQueue.h +++ b/src/fsfw/osal/host/MessageQueue.h @@ -7,8 +7,8 @@ #include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueMessage.h" -#include "fsfw/ipc/definitions.h" #include "fsfw/ipc/MutexIF.h" +#include "fsfw/ipc/definitions.h" #include "fsfw/timemanager/Clock.h" /** @@ -56,7 +56,7 @@ class MessageQueue : public MessageQueueIF { */ MessageQueue(size_t messageDepth = 3, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, - MqArgs* args = nullptr); + MqArgs* args = nullptr); /** Copying message queues forbidden */ MessageQueue(const MessageQueue&) = delete; diff --git a/src/fsfw/osal/host/QueueFactory.cpp b/src/fsfw/osal/host/QueueFactory.cpp index caea8af7..732892ca 100644 --- a/src/fsfw/osal/host/QueueFactory.cpp +++ b/src/fsfw/osal/host/QueueFactory.cpp @@ -27,7 +27,8 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, + MqArgs* args) { // A thread-safe queue can be implemented by using a combination // of std::queue and std::mutex. This uses dynamic memory allocation // which could be alleviated by using a custom allocator, external library diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp index c1de8f13..bfc1d0f7 100644 --- a/src/fsfw/osal/linux/MessageQueue.cpp +++ b/src/fsfw/osal/linux/MessageQueue.cpp @@ -37,6 +37,9 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* // Successful mq_open call this->id = tempId; } + if (args != nullptr) { + this->mqArgs = *args; + } } MessageQueue::~MessageQueue() { diff --git a/src/fsfw/osal/linux/MessageQueue.h b/src/fsfw/osal/linux/MessageQueue.h index 84052914..58afccd6 100644 --- a/src/fsfw/osal/linux/MessageQueue.h +++ b/src/fsfw/osal/linux/MessageQueue.h @@ -5,8 +5,8 @@ #include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/ipc/MessageQueueIF.h" -#include "fsfw/ipc/definitions.h" #include "fsfw/ipc/MessageQueueMessage.h" +#include "fsfw/ipc/definitions.h" /** * @brief This class manages sending and receiving of message queue messages. * @@ -44,7 +44,7 @@ class MessageQueue : public MessageQueueIF { */ MessageQueue(uint32_t messageDepth = 3, size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE, - MqArgs* args = nullptr); + MqArgs* args = nullptr); /** * @brief The destructor deletes the formerly created message queue. * @details This is accomplished by using the delete call provided by the operating system. @@ -186,6 +186,8 @@ class MessageQueue : public MessageQueueIF { */ char name[16]; + MqArgs mqArgs = {}; + static uint16_t queueCounter; const size_t maxMessageSize; diff --git a/src/fsfw/osal/linux/QueueFactory.cpp b/src/fsfw/osal/linux/QueueFactory.cpp index d74eb8c5..24ace1ae 100644 --- a/src/fsfw/osal/linux/QueueFactory.cpp +++ b/src/fsfw/osal/linux/QueueFactory.cpp @@ -28,7 +28,8 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, + MqArgs* args) { return new MessageQueue(messageDepth, maxMessageSize, args); } diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h index b18b2eaf..0f1ee6ee 100644 --- a/src/fsfw/osal/rtems/MessageQueue.h +++ b/src/fsfw/osal/rtems/MessageQueue.h @@ -4,8 +4,8 @@ #include "RtemsBasic.h" #include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/ipc/MessageQueueIF.h" -#include "fsfw/ipc/definitions.h" #include "fsfw/ipc/MessageQueueMessage.h" +#include "fsfw/ipc/definitions.h" /** * @brief This class manages sending and receiving of message queue messages. @@ -36,7 +36,7 @@ class MessageQueue : public MessageQueueIF { */ MessageQueue(size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE, - MqArgs* args = nullptr); + MqArgs* args = nullptr); /** * @brief The destructor deletes the formerly created message queue. * @details This is accomplished by using the delete call provided by the operating system. diff --git a/src/fsfw/osal/rtems/QueueFactory.cpp b/src/fsfw/osal/rtems/QueueFactory.cpp index 8b625da8..2519f444 100644 --- a/src/fsfw/osal/rtems/QueueFactory.cpp +++ b/src/fsfw/osal/rtems/QueueFactory.cpp @@ -49,7 +49,8 @@ QueueFactory::QueueFactory() {} QueueFactory::~QueueFactory() {} -MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs* args) { +MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize, + MqArgs* args) { return new MessageQueue(messageDepth, maxMessageSize, args); } From cf69af4e7e523bfcd73318f64e9d720f4779ea39 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 19 Feb 2022 16:14:02 +0100 Subject: [PATCH 035/162] passing mqArgs to all mq ctor calls --- src/fsfw/cfdp/CFDPHandler.cpp | 4 +++- src/fsfw/controller/ControllerBase.cpp | 4 +++- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 3 ++- src/fsfw/devicehandlers/HealthDevice.cpp | 3 ++- src/fsfw/events/EventManager.cpp | 4 +++- src/fsfw/fdir/FailureIsolationBase.cpp | 3 ++- src/fsfw/internalerror/InternalErrorReporter.cpp | 3 ++- src/fsfw/power/PowerSensor.cpp | 3 ++- src/fsfw/pus/Service1TelecommandVerification.cpp | 3 ++- src/fsfw/pus/Service5EventReporting.cpp | 3 ++- src/fsfw/subsystem/SubsystemBase.cpp | 8 +++++--- src/fsfw/tcdistribution/TcDistributor.cpp | 3 ++- src/fsfw/thermal/AbstractTemperatureSensor.cpp | 6 +++--- src/fsfw/thermal/AbstractTemperatureSensor.h | 2 +- src/fsfw/thermal/Heater.cpp | 3 ++- src/fsfw/tmtcservices/CommandingServiceBase.cpp | 6 ++++-- src/fsfw/tmtcservices/PusServiceBase.cpp | 3 ++- src/fsfw/tmtcservices/TmTcBridge.cpp | 3 ++- 18 files changed, 44 insertions(+), 23 deletions(-) diff --git a/src/fsfw/cfdp/CFDPHandler.cpp b/src/fsfw/cfdp/CFDPHandler.cpp index 96baa98c..1d41a80d 100644 --- a/src/fsfw/cfdp/CFDPHandler.cpp +++ b/src/fsfw/cfdp/CFDPHandler.cpp @@ -12,7 +12,9 @@ object_id_t CFDPHandler::packetDestination = 0; CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist) : SystemObject(setObjectId) { - requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION); + auto mqArgs = MqArgs(setObjectId, static_cast(this)); + requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION, + MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); distributor = dist; } diff --git a/src/fsfw/controller/ControllerBase.cpp b/src/fsfw/controller/ControllerBase.cpp index 953dacb4..6af4dd7d 100644 --- a/src/fsfw/controller/ControllerBase.cpp +++ b/src/fsfw/controller/ControllerBase.cpp @@ -13,7 +13,9 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, submode(SUBMODE_NONE), modeHelper(this), healthHelper(this, setObjectId) { - commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth); + auto mqArgs = MqArgs(setObjectId, static_cast(this)); + commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, + MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index ea1fcdf1..3f90a72c 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -39,8 +39,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE) { + auto mqArgs = MqArgs(setObjectId, static_cast(this)); commandQueue = QueueFactory::instance()->createMessageQueue( - cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE); + cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); insertInCommandMap(RAW_COMMAND_ID); cookieInfo.state = COOKIE_UNUSED; cookieInfo.pendingCommand = deviceCommandMap.end(); diff --git a/src/fsfw/devicehandlers/HealthDevice.cpp b/src/fsfw/devicehandlers/HealthDevice.cpp index a626fa6c..c666ceb8 100644 --- a/src/fsfw/devicehandlers/HealthDevice.cpp +++ b/src/fsfw/devicehandlers/HealthDevice.cpp @@ -8,7 +8,8 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue parentQueue(parentQueue), commandQueue(), healthHelper(this, setObjectId) { - commandQueue = QueueFactory::instance()->createMessageQueue(3); + auto mqArgs = MqArgs(setObjectId, static_cast(this)); + commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index 0fd893b2..7583bafd 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -18,8 +18,10 @@ const LocalPool::LocalPoolConfig EventManager::poolConfig = { EventManager::EventManager(object_id_t setObjectId) : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) { mutex = MutexFactory::instance()->createMutex(); + auto mqArgs = MqArgs(setObjectId, static_cast(this)); eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE, - EventMessage::EVENT_MESSAGE_SIZE); + EventMessage::EVENT_MESSAGE_SIZE, + &mqArgs); } EventManager::~EventManager() { diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp index fedef869..ca7077a9 100644 --- a/src/fsfw/fdir/FailureIsolationBase.cpp +++ b/src/fsfw/fdir/FailureIsolationBase.cpp @@ -9,8 +9,9 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) { + auto mqArgs = MqArgs(owner, static_cast(this)); eventQueue = - QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE); + QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs); } FailureIsolationBase::~FailureIsolationBase() { diff --git a/src/fsfw/internalerror/InternalErrorReporter.cpp b/src/fsfw/internalerror/InternalErrorReporter.cpp index a085cc5b..0ad60492 100644 --- a/src/fsfw/internalerror/InternalErrorReporter.cpp +++ b/src/fsfw/internalerror/InternalErrorReporter.cpp @@ -7,11 +7,12 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth) : SystemObject(setObjectId), - commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)), poolManager(this, commandQueue), internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), internalErrorDataset(this) { mutex = MutexFactory::instance()->createMutex(); + auto mqArgs = MqArgs(setObjectId, static_cast(this)); + commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); } diff --git a/src/fsfw/power/PowerSensor.cpp b/src/fsfw/power/PowerSensor.cpp index 08ff4724..74cf60f7 100644 --- a/src/fsfw/power/PowerSensor.cpp +++ b/src/fsfw/power/PowerSensor.cpp @@ -15,7 +15,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh), voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount, limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) { - commandQueue = QueueFactory::instance()->createMessageQueue(); + auto mqArgs = MqArgs(objectId, static_cast(this)); + commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } diff --git a/src/fsfw/pus/Service1TelecommandVerification.cpp b/src/fsfw/pus/Service1TelecommandVerification.cpp index 13d6a1c4..9418ceb2 100644 --- a/src/fsfw/pus/Service1TelecommandVerification.cpp +++ b/src/fsfw/pus/Service1TelecommandVerification.cpp @@ -16,7 +16,8 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj apid(apid), serviceId(serviceId), targetDestination(targetDestination) { - tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); + auto mqArgs = MqArgs(objectId, static_cast(this)); + tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } Service1TelecommandVerification::~Service1TelecommandVerification() { diff --git a/src/fsfw/pus/Service5EventReporting.cpp b/src/fsfw/pus/Service5EventReporting.cpp index dfce9ba2..918abff0 100644 --- a/src/fsfw/pus/Service5EventReporting.cpp +++ b/src/fsfw/pus/Service5EventReporting.cpp @@ -12,7 +12,8 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap uint32_t messageQueueDepth) : PusServiceBase(objectId, apid, serviceId), maxNumberReportsPerCycle(maxNumberReportsPerCycle) { - eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth); + auto mqArgs = MqArgs(objectId, static_cast(this)); + eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); sif::info << eventQueue->getId() << std::endl; } diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp index 104db3c3..974459d3 100644 --- a/src/fsfw/subsystem/SubsystemBase.cpp +++ b/src/fsfw/subsystem/SubsystemBase.cpp @@ -8,11 +8,13 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t uint16_t commandQueueDepth) : SystemObject(setObjectId), mode(initialMode), - commandQueue(QueueFactory::instance()->createMessageQueue(commandQueueDepth, - CommandMessage::MAX_MESSAGE_SIZE)), healthHelper(this, setObjectId), modeHelper(this), - parentId(parent) {} + parentId(parent) { + auto mqArgs = MqArgs(setObjectId, static_cast(this)); + commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, + CommandMessage::MAX_MESSAGE_SIZE, &mqArgs); +} SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } diff --git a/src/fsfw/tcdistribution/TcDistributor.cpp b/src/fsfw/tcdistribution/TcDistributor.cpp index a650546c..5ce41826 100644 --- a/src/fsfw/tcdistribution/TcDistributor.cpp +++ b/src/fsfw/tcdistribution/TcDistributor.cpp @@ -5,7 +5,8 @@ #include "fsfw/tmtcservices/TmTcMessage.h" TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) { - tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS); + auto mqArgs = MqArgs(objectId); + tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); } diff --git a/src/fsfw/thermal/AbstractTemperatureSensor.cpp b/src/fsfw/thermal/AbstractTemperatureSensor.cpp index 68cd3aca..003f857e 100644 --- a/src/fsfw/thermal/AbstractTemperatureSensor.cpp +++ b/src/fsfw/thermal/AbstractTemperatureSensor.cpp @@ -5,13 +5,13 @@ AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid, ThermalModuleIF *thermalModule) : SystemObject(setObjectid), - commandQueue(NULL), healthHelper(this, setObjectid), parameterHelper(this) { - if (thermalModule != NULL) { + if (thermalModule != nullptr) { thermalModule->registerSensor(this); } - commandQueue = QueueFactory::instance()->createMessageQueue(); + auto mqArgs = MqArgs(setObjectid, static_cast(this)); + commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } AbstractTemperatureSensor::~AbstractTemperatureSensor() { diff --git a/src/fsfw/thermal/AbstractTemperatureSensor.h b/src/fsfw/thermal/AbstractTemperatureSensor.h index 0c6493fe..b790b0ca 100644 --- a/src/fsfw/thermal/AbstractTemperatureSensor.h +++ b/src/fsfw/thermal/AbstractTemperatureSensor.h @@ -51,7 +51,7 @@ class AbstractTemperatureSensor : public HasHealthIF, HasHealthIF::HealthState getHealth(); protected: - MessageQueueIF* commandQueue; + MessageQueueIF* commandQueue = nullptr; HealthHelper healthHelper; ParameterHelper parameterHelper; diff --git a/src/fsfw/thermal/Heater.cpp b/src/fsfw/thermal/Heater.cpp index 4f0f8060..2755b855 100644 --- a/src/fsfw/thermal/Heater.cpp +++ b/src/fsfw/thermal/Heater.cpp @@ -12,7 +12,8 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) switch1(switch1), heaterOnCountdown(10800000) /*about two orbits*/, parameterHelper(this) { - eventQueue = QueueFactory::instance()->createMessageQueue(); + auto mqArgs = MqArgs(objectId, static_cast(this)); + eventQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); } diff --git a/src/fsfw/tmtcservices/CommandingServiceBase.cpp b/src/fsfw/tmtcservices/CommandingServiceBase.cpp index bbdf8d2a..1bbd7fd1 100644 --- a/src/fsfw/tmtcservices/CommandingServiceBase.cpp +++ b/src/fsfw/tmtcservices/CommandingServiceBase.cpp @@ -20,8 +20,10 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a service(service), timeoutSeconds(commandTimeoutSeconds), commandMap(numberOfParallelCommands) { - commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); - requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); + auto mqArgs = MqArgs(setObjectId, static_cast(this)); + size_t mqSz = MessageQueueMessage::MAX_MESSAGE_SIZE; + commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs); + requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth, mqSz, &mqArgs); } void CommandingServiceBase::setPacketSource(object_id_t packetSource) { diff --git a/src/fsfw/tmtcservices/PusServiceBase.cpp b/src/fsfw/tmtcservices/PusServiceBase.cpp index 3af2b82c..cedcb0a2 100644 --- a/src/fsfw/tmtcservices/PusServiceBase.cpp +++ b/src/fsfw/tmtcservices/PusServiceBase.cpp @@ -13,7 +13,8 @@ object_id_t PusServiceBase::packetDestination = 0; PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) { - requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION); + auto mqArgs = MqArgs(setObjectId, static_cast(this)); + requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); } diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp index bacadd6d..6b96856b 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.cpp +++ b/src/fsfw/tmtcservices/TmTcBridge.cpp @@ -15,7 +15,8 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i tcDestination(tcDestination) { - tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); + auto mqArgs = MqArgs(objectId, static_cast(this)); + tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); } From d74a373f1d6bc341c11d7ad89f369da5ff957928 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 19 Feb 2022 16:41:30 +0100 Subject: [PATCH 036/162] make periodic printout run time configurable --- .../devicehandlers/GyroL3GD20Handler.cpp | 39 ++++++------ .../devicehandlers/GyroL3GD20Handler.h | 13 ++-- .../devicehandlers/MgmLIS3MDLHandler.cpp | 60 ++++++++++--------- .../devicehandlers/MgmLIS3MDLHandler.h | 9 +-- .../devicehandlers/MgmRM3100Handler.cpp | 41 +++++++------ .../devicehandlers/MgmRM3100Handler.h | 11 ++-- src/fsfw/FSFW.h.in | 12 ---- 7 files changed, 92 insertions(+), 93 deletions(-) diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp index f92f5f1f..1bd0665d 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp @@ -9,9 +9,6 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC : DeviceHandlerBase(objectId, deviceCommunication, comCookie), transitionDelayMs(transitionDelayMs), dataset(this) { -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(10); -#endif } GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {} @@ -193,22 +190,23 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; float temperature = 25.0 + temperaturOffset; -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 - if (debugDivider->checkAndIncrement()) { - /* Set terminal to utf-8 if there is an issue with micro printout. */ -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; - sif::info << "X: " << angVelocX << std::endl; - sif::info << "Y: " << angVelocY << std::endl; - sif::info << "Z: " << angVelocZ << std::endl; -#else - sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); - sif::printInfo("X: %f\n", angVelocX); - sif::printInfo("Y: %f\n", angVelocY); - sif::printInfo("Z: %f\n", angVelocZ); -#endif + if(periodicPrintout) { + if (debugDivider.checkAndIncrement()) { + /* Set terminal to utf-8 if there is an issue with micro printout. */ + #if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; + sif::info << "X: " << angVelocX << std::endl; + sif::info << "Y: " << angVelocY << std::endl; + sif::info << "Z: " << angVelocZ << std::endl; + #else + sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); + sif::printInfo("X: %f\n", angVelocX); + sif::printInfo("Y: %f\n", angVelocY); + sif::printInfo("Z: %f\n", angVelocZ); + #endif + } } -#endif + PoolReadGuard readSet(&dataset); if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { @@ -272,3 +270,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim this->absLimitY = limitY; this->absLimitZ = limitZ; } + +void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) { + periodicPrintout = enable; + debugDivider.setDivider(divider); +} diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h index 784dcf4c..806fb5c0 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h @@ -1,12 +1,11 @@ #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_ #define MISSION_DEVICES_GYROL3GD20HANDLER_H_ +#include "devicedefinitions/GyroL3GD20Definitions.h" + #include #include -#include "devicedefinitions/GyroL3GD20Definitions.h" -#include "fsfw/FSFW.h" - /** * @brief Device Handler for the L3GD20H gyroscope sensor * (https://www.st.com/en/mems-and-sensors/l3gd20h.html) @@ -22,6 +21,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase { uint32_t transitionDelayMs); virtual ~GyroHandlerL3GD20H(); + void enablePeriodicPrintouts(bool enable, uint8_t divider); + /** * Set the absolute limit for the values on the axis in degrees per second. * The dataset values will be marked as invalid if that limit is exceeded @@ -58,6 +59,7 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase { uint32_t transitionDelayMs = 0; GyroPrimaryDataset dataset; + float absLimitX = L3GD20H::RANGE_DPS_00; float absLimitY = L3GD20H::RANGE_DPS_00; float absLimitZ = L3GD20H::RANGE_DPS_00; @@ -80,9 +82,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase { // Set default value float sensitivity = L3GD20H::SENSITIVITY_00; -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 - PeriodicOperationDivider *debugDivider = nullptr; -#endif + bool periodicPrintout = false; + PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3); }; #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */ diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index cf1d934a..a20a3a0f 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom : DeviceHandlerBase(objectId, deviceCommunication, comCookie), dataset(this), transitionDelay(transitionDelay) { -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(10); -#endif // Set to default values right away registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; @@ -272,23 +269,25 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - if (debugDivider->checkAndIncrement()) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "MGMHandlerLIS3: Magnetic field strength in" - " microtesla:" - << std::endl; - sif::info << "X: " << mgmX << " uT" << std::endl; - sif::info << "Y: " << mgmY << " uT" << std::endl; - sif::info << "Z: " << mgmZ << " uT" << std::endl; -#else - sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); - sif::printInfo("X: %f uT\n", mgmX); - sif::printInfo("Y: %f uT\n", mgmY); - sif::printInfo("Z: %f uT\n", mgmZ); -#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ + if(periodicPrintout) { + if (debugDivider.checkAndIncrement()) { + #if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "MGMHandlerLIS3: Magnetic field strength in" + " microtesla:" + << std::endl; + sif::info << "X: " << mgmX << " uT" << std::endl; + sif::info << "Y: " << mgmY << " uT" << std::endl; + sif::info << "Z: " << mgmZ << " uT" << std::endl; + #else + sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); + sif::printInfo("X: %f uT\n", mgmX); + sif::printInfo("Y: %f uT\n", mgmY); + sif::printInfo("Z: %f uT\n", mgmZ); + #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ + } } -#endif /* OBSW_VERBOSE_LEVEL >= 1 */ + + PoolReadGuard readHelper(&dataset); if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (std::abs(mgmX) < absLimitX) { @@ -318,15 +317,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons case MGMLIS3MDL::READ_TEMPERATURE: { int16_t tempValueRaw = packet[2] << 8 | packet[1]; float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0); -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - if (debugDivider->check()) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl; -#else - sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); -#endif + if(periodicPrintout) { + if (debugDivider.check()) { + #if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl; + #else + sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); + #endif + } } -#endif + ReturnValue_t result = dataset.read(); if (result == HasReturnvaluesIF::RETURN_OK) { dataset.temperature = tempValue; @@ -484,3 +484,9 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim this->absLimitY = yLimit; this->absLimitZ = zLimit; } + + +void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) { + periodicPrintout = enable; + debugDivider.setDivider(divider); +} diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h index b7cfc378..6605f763 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h @@ -1,9 +1,10 @@ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ + #include "devicedefinitions/MgmLIS3HandlerDefs.h" #include "events/subsystemIdRanges.h" -#include "fsfw/FSFW.h" +#include "fsfw/globalfunctions/PeriodicOperationDivider.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" class PeriodicOperationDivider; @@ -30,6 +31,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase { uint32_t transitionDelay); virtual ~MgmLIS3MDLHandler(); + void enablePeriodicPrintouts(bool enable, uint8_t divider); /** * Set the absolute limit for the values on the axis in microtesla. The dataset values will * be marked as invalid if that limit is exceeded @@ -167,9 +169,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase { */ ReturnValue_t prepareCtrlRegisterWrite(); -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - PeriodicOperationDivider *debugDivider; -#endif + bool periodicPrintout = false; + PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3); }; #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */ diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index a2e2e85f..b0ba8e88 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -11,9 +11,6 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu : DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this), transitionDelay(transitionDelay) { -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(10); -#endif } MgmRM3100Handler::~MgmRM3100Handler() {} @@ -337,23 +334,24 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 - if (debugDivider->checkAndIncrement()) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "MgmRM3100Handler: Magnetic field strength in" - " microtesla:" - << std::endl; - sif::info << "X: " << fieldStrengthX << " uT" << std::endl; - sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; - sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; -#else - sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n"); - sif::printInfo("X: %f uT\n", fieldStrengthX); - sif::printInfo("Y: %f uT\n", fieldStrengthY); - sif::printInfo("Z: %f uT\n", fieldStrengthZ); -#endif + if(periodicPrintout) { + if (debugDivider.checkAndIncrement()) { + #if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "MgmRM3100Handler: Magnetic field strength in" + " microtesla:" + << std::endl; + sif::info << "X: " << fieldStrengthX << " uT" << std::endl; + sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; + sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; + #else + sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n"); + sif::printInfo("X: %f uT\n", fieldStrengthX); + sif::printInfo("Y: %f uT\n", fieldStrengthY); + sif::printInfo("Z: %f uT\n", fieldStrengthZ); + #endif + } } -#endif + // TODO: Sanity check on values? PoolReadGuard readGuard(&primaryDataset); @@ -365,3 +363,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { } return RETURN_OK; } + +void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) { + periodicPrintout = enable; + debugDivider.setDivider(divider); +} diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h index 67362f59..d1048cb6 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h @@ -2,12 +2,8 @@ #define MISSION_DEVICES_MGMRM3100HANDLER_H_ #include "devicedefinitions/MgmRM3100HandlerDefs.h" -#include "fsfw/FSFW.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" - -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #include "fsfw/globalfunctions/PeriodicOperationDivider.h" -#endif /** * @brief Device Handler for the RM3100 geomagnetic magnetometer sensor @@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase { uint32_t transitionDelay); virtual ~MgmRM3100Handler(); + void enablePeriodicPrintouts(bool enable, uint8_t divider); /** * Configure device handler to go to normal mode after startup immediately * @param enable @@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase { size_t commandDataLen); ReturnValue_t handleDataReadout(const uint8_t *packet); -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 - PeriodicOperationDivider *debugDivider; -#endif + + bool periodicPrintout = false; + PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3); }; #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */ diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in index 7e8bcd79..9cfeab61 100644 --- a/src/fsfw/FSFW.h.in +++ b/src/fsfw/FSFW.h.in @@ -62,16 +62,4 @@ #define FSFW_HAL_I2C_WIRETAPPING 0 #endif -#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG -#define FSFW_HAL_L3GD20_GYRO_DEBUG 0 -#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */ - -#ifndef FSFW_HAL_RM3100_MGM_DEBUG -#define FSFW_HAL_RM3100_MGM_DEBUG 0 -#endif /* FSFW_HAL_RM3100_MGM_DEBUG */ - -#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG -#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0 -#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */ - #endif /* FSFW_FSFW_H_ */ From 701135e2a620ff814ae9e256c3e29d742bfa8f53 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 10:17:56 +0100 Subject: [PATCH 037/162] applied clang format --- .../devicehandlers/GyroL3GD20Handler.cpp | 12 +++++------- .../devicehandlers/GyroL3GD20Handler.h | 5 ++--- .../devicehandlers/MgmLIS3MDLHandler.cpp | 18 ++++++++---------- .../devicehandlers/MgmLIS3MDLHandler.h | 3 +-- .../devicehandlers/MgmRM3100Handler.cpp | 12 +++++------- src/fsfw/cfdp/CFDPHandler.cpp | 4 ++-- src/fsfw/controller/ControllerBase.cpp | 4 ++-- src/fsfw/devicehandlers/HealthDevice.cpp | 3 ++- src/fsfw/events/EventManager.cpp | 5 ++--- src/fsfw/fdir/FailureIsolationBase.cpp | 4 ++-- .../internalerror/InternalErrorReporter.cpp | 5 +++-- src/fsfw/objectmanager/ObjectManager.cpp | 13 ++++++++----- src/fsfw/power/PowerSensor.cpp | 3 ++- .../pus/Service1TelecommandVerification.cpp | 3 ++- src/fsfw/pus/Service5EventReporting.cpp | 4 ++-- src/fsfw/rmap/RMAPChannelIF.h | 6 +++--- src/fsfw/subsystem/SubsystemBase.cpp | 4 ++-- src/fsfw/tcdistribution/TcDistributor.cpp | 3 ++- src/fsfw/thermal/AbstractTemperatureSensor.cpp | 9 ++++----- src/fsfw/thermal/Heater.cpp | 3 ++- src/fsfw/tmtcservices/PusServiceBase.cpp | 3 ++- src/fsfw/tmtcservices/TmTcBridge.cpp | 3 ++- 22 files changed, 65 insertions(+), 64 deletions(-) diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp index 1bd0665d..94e1331c 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp @@ -8,8 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC CookieIF *comCookie, uint32_t transitionDelayMs) : DeviceHandlerBase(objectId, deviceCommunication, comCookie), transitionDelayMs(transitionDelayMs), - dataset(this) { -} + dataset(this) {} GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {} @@ -190,24 +189,23 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; float temperature = 25.0 + temperaturOffset; - if(periodicPrintout) { + if (periodicPrintout) { if (debugDivider.checkAndIncrement()) { /* Set terminal to utf-8 if there is an issue with micro printout. */ - #if FSFW_CPP_OSTREAM_ENABLED == 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; sif::info << "X: " << angVelocX << std::endl; sif::info << "Y: " << angVelocY << std::endl; sif::info << "Z: " << angVelocZ << std::endl; - #else +#else sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); sif::printInfo("X: %f\n", angVelocX); sif::printInfo("Y: %f\n", angVelocY); sif::printInfo("Z: %f\n", angVelocZ); - #endif +#endif } } - PoolReadGuard readSet(&dataset); if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (std::abs(angVelocX) < this->absLimitX) { diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h index 806fb5c0..7c1ebdac 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h @@ -1,11 +1,11 @@ #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_ #define MISSION_DEVICES_GYROL3GD20HANDLER_H_ -#include "devicedefinitions/GyroL3GD20Definitions.h" - #include #include +#include "devicedefinitions/GyroL3GD20Definitions.h" + /** * @brief Device Handler for the L3GD20H gyroscope sensor * (https://www.st.com/en/mems-and-sensors/l3gd20h.html) @@ -59,7 +59,6 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase { uint32_t transitionDelayMs = 0; GyroPrimaryDataset dataset; - float absLimitX = L3GD20H::RANGE_DPS_00; float absLimitY = L3GD20H::RANGE_DPS_00; float absLimitZ = L3GD20H::RANGE_DPS_00; diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index a20a3a0f..69f6311e 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -269,25 +269,24 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; - if(periodicPrintout) { + if (periodicPrintout) { if (debugDivider.checkAndIncrement()) { - #if FSFW_CPP_OSTREAM_ENABLED == 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "MGMHandlerLIS3: Magnetic field strength in" " microtesla:" << std::endl; sif::info << "X: " << mgmX << " uT" << std::endl; sif::info << "Y: " << mgmY << " uT" << std::endl; sif::info << "Z: " << mgmZ << " uT" << std::endl; - #else +#else sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); sif::printInfo("X: %f uT\n", mgmX); sif::printInfo("Y: %f uT\n", mgmY); sif::printInfo("Z: %f uT\n", mgmZ); - #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ +#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ } } - PoolReadGuard readHelper(&dataset); if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (std::abs(mgmX) < absLimitX) { @@ -317,13 +316,13 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons case MGMLIS3MDL::READ_TEMPERATURE: { int16_t tempValueRaw = packet[2] << 8 | packet[1]; float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0); - if(periodicPrintout) { + if (periodicPrintout) { if (debugDivider.check()) { - #if FSFW_CPP_OSTREAM_ENABLED == 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl; - #else +#else sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); - #endif +#endif } } @@ -485,7 +484,6 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim this->absLimitZ = zLimit; } - void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) { periodicPrintout = enable; debugDivider.setDivider(divider); diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h index 6605f763..42bd5d4c 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h @@ -1,11 +1,10 @@ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ - #include "devicedefinitions/MgmLIS3HandlerDefs.h" #include "events/subsystemIdRanges.h" -#include "fsfw/globalfunctions/PeriodicOperationDivider.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" +#include "fsfw/globalfunctions/PeriodicOperationDivider.h" class PeriodicOperationDivider; diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index b0ba8e88..f9929d63 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -10,8 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu CookieIF *comCookie, uint32_t transitionDelay) : DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this), - transitionDelay(transitionDelay) { -} + transitionDelay(transitionDelay) {} MgmRM3100Handler::~MgmRM3100Handler() {} @@ -334,25 +333,24 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; - if(periodicPrintout) { + if (periodicPrintout) { if (debugDivider.checkAndIncrement()) { - #if FSFW_CPP_OSTREAM_ENABLED == 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "MgmRM3100Handler: Magnetic field strength in" " microtesla:" << std::endl; sif::info << "X: " << fieldStrengthX << " uT" << std::endl; sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; - #else +#else sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n"); sif::printInfo("X: %f uT\n", fieldStrengthX); sif::printInfo("Y: %f uT\n", fieldStrengthY); sif::printInfo("Z: %f uT\n", fieldStrengthZ); - #endif +#endif } } - // TODO: Sanity check on values? PoolReadGuard readGuard(&primaryDataset); if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) { diff --git a/src/fsfw/cfdp/CFDPHandler.cpp b/src/fsfw/cfdp/CFDPHandler.cpp index 1d41a80d..09a24186 100644 --- a/src/fsfw/cfdp/CFDPHandler.cpp +++ b/src/fsfw/cfdp/CFDPHandler.cpp @@ -13,8 +13,8 @@ object_id_t CFDPHandler::packetDestination = 0; CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist) : SystemObject(setObjectId) { auto mqArgs = MqArgs(setObjectId, static_cast(this)); - requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION, - MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + requestQueue = QueueFactory::instance()->createMessageQueue( + CFDP_HANDLER_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); distributor = dist; } diff --git a/src/fsfw/controller/ControllerBase.cpp b/src/fsfw/controller/ControllerBase.cpp index 6af4dd7d..0e4ff970 100644 --- a/src/fsfw/controller/ControllerBase.cpp +++ b/src/fsfw/controller/ControllerBase.cpp @@ -14,8 +14,8 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, modeHelper(this), healthHelper(this, setObjectId) { auto mqArgs = MqArgs(setObjectId, static_cast(this)); - commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, - MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + commandQueue = QueueFactory::instance()->createMessageQueue( + commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } diff --git a/src/fsfw/devicehandlers/HealthDevice.cpp b/src/fsfw/devicehandlers/HealthDevice.cpp index c666ceb8..5514b65f 100644 --- a/src/fsfw/devicehandlers/HealthDevice.cpp +++ b/src/fsfw/devicehandlers/HealthDevice.cpp @@ -9,7 +9,8 @@ HealthDevice::HealthDevice(object_id_t setObjectId, MessageQueueId_t parentQueue commandQueue(), healthHelper(this, setObjectId) { auto mqArgs = MqArgs(setObjectId, static_cast(this)); - commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + commandQueue = QueueFactory::instance()->createMessageQueue( + 3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } HealthDevice::~HealthDevice() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp index 7583bafd..824682da 100644 --- a/src/fsfw/events/EventManager.cpp +++ b/src/fsfw/events/EventManager.cpp @@ -19,9 +19,8 @@ EventManager::EventManager(object_id_t setObjectId) : SystemObject(setObjectId), factoryBackend(0, poolConfig, false, true) { mutex = MutexFactory::instance()->createMutex(); auto mqArgs = MqArgs(setObjectId, static_cast(this)); - eventReportQueue = QueueFactory::instance()->createMessageQueue(MAX_EVENTS_PER_CYCLE, - EventMessage::EVENT_MESSAGE_SIZE, - &mqArgs); + eventReportQueue = QueueFactory::instance()->createMessageQueue( + MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs); } EventManager::~EventManager() { diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp index ca7077a9..5d04588f 100644 --- a/src/fsfw/fdir/FailureIsolationBase.cpp +++ b/src/fsfw/fdir/FailureIsolationBase.cpp @@ -10,8 +10,8 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent uint8_t messageDepth, uint8_t parameterDomainBase) : ownerId(owner), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) { auto mqArgs = MqArgs(owner, static_cast(this)); - eventQueue = - QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs); + eventQueue = QueueFactory::instance()->createMessageQueue( + messageDepth, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs); } FailureIsolationBase::~FailureIsolationBase() { diff --git a/src/fsfw/internalerror/InternalErrorReporter.cpp b/src/fsfw/internalerror/InternalErrorReporter.cpp index 0ad60492..3faadc1e 100644 --- a/src/fsfw/internalerror/InternalErrorReporter.cpp +++ b/src/fsfw/internalerror/InternalErrorReporter.cpp @@ -11,8 +11,9 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID), internalErrorDataset(this) { mutex = MutexFactory::instance()->createMutex(); - auto mqArgs = MqArgs(setObjectId, static_cast(this)); - commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + auto mqArgs = MqArgs(setObjectId, static_cast(this)); + commandQueue = QueueFactory::instance()->createMessageQueue( + messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); } diff --git a/src/fsfw/objectmanager/ObjectManager.cpp b/src/fsfw/objectmanager/ObjectManager.cpp index 2017938a..39fef5b5 100644 --- a/src/fsfw/objectmanager/ObjectManager.cpp +++ b/src/fsfw/objectmanager/ObjectManager.cpp @@ -95,13 +95,16 @@ void ObjectManager::initialize() { for (auto const& it : objectList) { result = it.second->initialize(); if (result != RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - object_id_t var = it.first; sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8) - << std::setfill('0') << var - << " failed to " - "initialize with code 0x" - << result << std::dec << std::setfill(' ') << std::endl; + << std::setfill('0') << it.first << " failed to initialize with code 0x" << result + << std::dec << std::setfill(' ') << std::endl; +#else + sif::printError( + "ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var, + it.first); +#endif #endif errorCount++; } diff --git a/src/fsfw/power/PowerSensor.cpp b/src/fsfw/power/PowerSensor.cpp index 74cf60f7..1936e8ee 100644 --- a/src/fsfw/power/PowerSensor.cpp +++ b/src/fsfw/power/PowerSensor.cpp @@ -16,7 +16,8 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount, limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) { auto mqArgs = MqArgs(objectId, static_cast(this)); - commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + commandQueue = QueueFactory::instance()->createMessageQueue( + 3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } diff --git a/src/fsfw/pus/Service1TelecommandVerification.cpp b/src/fsfw/pus/Service1TelecommandVerification.cpp index 9418ceb2..772137dd 100644 --- a/src/fsfw/pus/Service1TelecommandVerification.cpp +++ b/src/fsfw/pus/Service1TelecommandVerification.cpp @@ -17,7 +17,8 @@ Service1TelecommandVerification::Service1TelecommandVerification(object_id_t obj serviceId(serviceId), targetDestination(targetDestination) { auto mqArgs = MqArgs(objectId, static_cast(this)); - tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + tmQueue = QueueFactory::instance()->createMessageQueue( + messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } Service1TelecommandVerification::~Service1TelecommandVerification() { diff --git a/src/fsfw/pus/Service5EventReporting.cpp b/src/fsfw/pus/Service5EventReporting.cpp index 918abff0..3c30b8a5 100644 --- a/src/fsfw/pus/Service5EventReporting.cpp +++ b/src/fsfw/pus/Service5EventReporting.cpp @@ -13,8 +13,8 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t ap : PusServiceBase(objectId, apid, serviceId), maxNumberReportsPerCycle(maxNumberReportsPerCycle) { auto mqArgs = MqArgs(objectId, static_cast(this)); - eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); - sif::info << eventQueue->getId() << std::endl; + eventQueue = QueueFactory::instance()->createMessageQueue( + messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } Service5EventReporting::~Service5EventReporting() { diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 56ede1e2..9e666dfb 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -77,9 +77,9 @@ class RMAPChannelIF { * command; command was not sent * - @c COMMAND_BUFFER_FULL no receiver buffer available for * expected len; command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long - * for the hw to handle (write command) or the expected len was bigger than maximal expected len - * (read command) command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too + * long for the hw to handle (write command) or the expected len was bigger than maximal expected + * len (read command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like * implementing something... diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp index 974459d3..f177ecd4 100644 --- a/src/fsfw/subsystem/SubsystemBase.cpp +++ b/src/fsfw/subsystem/SubsystemBase.cpp @@ -12,8 +12,8 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t modeHelper(this), parentId(parent) { auto mqArgs = MqArgs(setObjectId, static_cast(this)); - commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, - CommandMessage::MAX_MESSAGE_SIZE, &mqArgs); + commandQueue = QueueFactory::instance()->createMessageQueue( + commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs); } SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); } diff --git a/src/fsfw/tcdistribution/TcDistributor.cpp b/src/fsfw/tcdistribution/TcDistributor.cpp index 5ce41826..408e736e 100644 --- a/src/fsfw/tcdistribution/TcDistributor.cpp +++ b/src/fsfw/tcdistribution/TcDistributor.cpp @@ -6,7 +6,8 @@ TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) { auto mqArgs = MqArgs(objectId); - tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + tcQueue = QueueFactory::instance()->createMessageQueue( + DISTRIBUTER_MAX_PACKETS, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); } diff --git a/src/fsfw/thermal/AbstractTemperatureSensor.cpp b/src/fsfw/thermal/AbstractTemperatureSensor.cpp index 003f857e..f7b31386 100644 --- a/src/fsfw/thermal/AbstractTemperatureSensor.cpp +++ b/src/fsfw/thermal/AbstractTemperatureSensor.cpp @@ -4,14 +4,13 @@ AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid, ThermalModuleIF *thermalModule) - : SystemObject(setObjectid), - healthHelper(this, setObjectid), - parameterHelper(this) { + : SystemObject(setObjectid), healthHelper(this, setObjectid), parameterHelper(this) { if (thermalModule != nullptr) { thermalModule->registerSensor(this); } - auto mqArgs = MqArgs(setObjectid, static_cast(this)); - commandQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + auto mqArgs = MqArgs(setObjectid, static_cast(this)); + commandQueue = QueueFactory::instance()->createMessageQueue( + 3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } AbstractTemperatureSensor::~AbstractTemperatureSensor() { diff --git a/src/fsfw/thermal/Heater.cpp b/src/fsfw/thermal/Heater.cpp index 2755b855..46f5c822 100644 --- a/src/fsfw/thermal/Heater.cpp +++ b/src/fsfw/thermal/Heater.cpp @@ -13,7 +13,8 @@ Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) heaterOnCountdown(10800000) /*about two orbits*/, parameterHelper(this) { auto mqArgs = MqArgs(objectId, static_cast(this)); - eventQueue = QueueFactory::instance()->createMessageQueue(3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + eventQueue = QueueFactory::instance()->createMessageQueue( + 3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } Heater::~Heater() { QueueFactory::instance()->deleteMessageQueue(eventQueue); } diff --git a/src/fsfw/tmtcservices/PusServiceBase.cpp b/src/fsfw/tmtcservices/PusServiceBase.cpp index cedcb0a2..565ac5cd 100644 --- a/src/fsfw/tmtcservices/PusServiceBase.cpp +++ b/src/fsfw/tmtcservices/PusServiceBase.cpp @@ -14,7 +14,8 @@ object_id_t PusServiceBase::packetDestination = 0; PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) : SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) { auto mqArgs = MqArgs(setObjectId, static_cast(this)); - requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + requestQueue = QueueFactory::instance()->createMessageQueue( + PUS_SERVICE_MAX_RECEPTION, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } PusServiceBase::~PusServiceBase() { QueueFactory::instance()->deleteMessageQueue(requestQueue); } diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp index 6b96856b..cc6ec599 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.cpp +++ b/src/fsfw/tmtcservices/TmTcBridge.cpp @@ -16,7 +16,8 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_i { auto mqArgs = MqArgs(objectId, static_cast(this)); - tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); + tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue( + TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); } TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); } From 1e982ec00bcee6e43effd98c5854bc03193e3907 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 11:00:39 +0100 Subject: [PATCH 038/162] updated for windows compatibility --- .../fsfw_hal/common/gpio/gpioDefinitions.h | 20 +++++++++---------- .../fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 14 ++++++------- hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp | 2 +- hal/src/fsfw_hal/linux/rpi/GpioRPi.h | 3 ++- 4 files changed, 20 insertions(+), 19 deletions(-) diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index b429449b..0ef5b2ea 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -11,7 +11,7 @@ namespace gpio { enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 }; -enum Direction : uint8_t { IN = 0, OUT = 1 }; +enum Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 }; enum GpioOperation { READ, WRITE }; @@ -20,7 +20,7 @@ enum class GpioTypes { GPIO_REGULAR_BY_CHIP, GPIO_REGULAR_BY_LABEL, GPIO_REGULAR_BY_LINE_NAME, - CALLBACK + TYPE_CALLBACK }; static constexpr gpioId_t NO_GPIO = -1; @@ -57,7 +57,7 @@ class GpioBase { // Can be used to cast GpioBase to a concrete child implementation gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; std::string consumer; - gpio::Direction direction = gpio::Direction::IN; + gpio::Direction direction = gpio::Direction::DIR_IN; gpio::Levels initValue = gpio::Levels::NONE; }; @@ -79,8 +79,8 @@ class GpiodRegularBase : public GpioBase { class GpiodRegularByChip : public GpiodRegularBase { public: GpiodRegularByChip() - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN, - gpio::LOW, 0) {} + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), + gpio::Direction::DIR_IN, gpio::LOW, 0) {} GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_, gpio::Direction direction_, gpio::Levels initValue_) @@ -89,7 +89,7 @@ class GpiodRegularByChip : public GpiodRegularBase { chipname(chipname_) {} GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN, + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::DIR_IN, gpio::LOW, lineNum_), chipname(chipname_) {} @@ -105,7 +105,7 @@ class GpiodRegularByLabel : public GpiodRegularBase { label(label_) {} GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN, + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::DIR_IN, gpio::LOW, lineNum_), label(label_) {} @@ -126,8 +126,8 @@ class GpiodRegularByLineName : public GpiodRegularBase { lineName(lineName_) {} GpiodRegularByLineName(std::string lineName_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN, - gpio::LOW), + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, + gpio::Direction::DIR_IN, gpio::LOW), lineName(lineName_) {} std::string lineName; @@ -137,7 +137,7 @@ class GpioCallback : public GpioBase { public: GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_, gpio::gpio_cb_t callback, void* callbackArgs) - : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), + : GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_), callback(callback), callbackArgs(callbackArgs) {} diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index a33305b6..fa9eeb5a 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -74,7 +74,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { configureGpioByLineName(gpioConfig.first, *regularGpio); break; } - case (gpio::GpioTypes::CALLBACK): { + case (gpio::GpioTypes::TYPE_CALLBACK): { auto gpioCallback = dynamic_cast(gpioConfig.second); if (gpioCallback->callback == nullptr) { return GPIO_INVALID_INSTANCE; @@ -161,11 +161,11 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod consumer = regularGpio.consumer; /* Configure direction and add a description to the GPIO */ switch (direction) { - case (gpio::OUT): { + case (gpio::DIR_OUT): { result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue); break; } - case (gpio::IN): { + case (gpio::DIR_IN): { result = gpiod_line_request_input(lineHandle, consumer.c_str()); break; } @@ -326,7 +326,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) { } break; } - case (gpio::GpioTypes::CALLBACK): { + case (gpio::GpioTypes::TYPE_CALLBACK): { auto callbackGpio = dynamic_cast(gpioConfig.second); if (callbackGpio == nullptr) { return GPIO_TYPE_FAILURE; @@ -366,13 +366,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck, case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { - if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) { + if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) { eraseDuplicateDifferentType = true; } break; } - case (gpio::GpioTypes::CALLBACK): { - if (gpioType != gpio::GpioTypes::CALLBACK) { + case (gpio::GpioTypes::TYPE_CALLBACK): { + if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) { eraseDuplicateDifferentType = true; } } diff --git a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp index c005e24f..d3c0a577 100644 --- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp +++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp @@ -7,7 +7,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, std::string consumer, gpio::Direction direction, - int initValue) { + gpio::Levels initValue) { if (cookie == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/hal/src/fsfw_hal/linux/rpi/GpioRPi.h b/hal/src/fsfw_hal/linux/rpi/GpioRPi.h index 499f984b..8ca7065a 100644 --- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.h +++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.h @@ -21,7 +21,8 @@ namespace gpio { * @return */ ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, - std::string consumer, gpio::Direction direction, int initValue); + std::string consumer, gpio::Direction direction, + gpio::Levels initValue); } // namespace gpio #endif /* BSP_RPI_GPIO_GPIORPI_H_ */ From 3a5881a0cb8d01689f8eaba1d873d02c2d0aade7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 11:10:02 +0100 Subject: [PATCH 039/162] more time --- tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp index 3ad26876..fa4e0908 100644 --- a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp +++ b/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp @@ -73,7 +73,7 @@ TEST_CASE("Command Executor", "[cmd-exec]") { REQUIRE(result != CommandExecutor::COMMAND_ERROR); // This ensures that the tests do not block indefinitely usleep(500); - REQUIRE(limitIdx < 500); + REQUIRE(limitIdx < 50000); } limitIdx = 0; CHECK(bytesHaveBeenRead == true); From 3966b656e9b581a2dd0e8faf98ba94fec06910e7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 11:15:01 +0100 Subject: [PATCH 040/162] apply .clang format --- src/fsfw/globalfunctions/CRC.cpp | 2 +- src/fsfw/osal/linux/PeriodicPosixTask.h | 7 ++++--- src/fsfw/osal/rtems/PeriodicTask.h | 4 ++-- src/fsfw/rmap/RMAP.h | 8 ++++---- src/fsfw/rmap/RMAPChannelIF.h | 12 ++++++------ 5 files changed, 17 insertions(+), 16 deletions(-) diff --git a/src/fsfw/globalfunctions/CRC.cpp b/src/fsfw/globalfunctions/CRC.cpp index 6b8140c5..033920d0 100644 --- a/src/fsfw/globalfunctions/CRC.cpp +++ b/src/fsfw/globalfunctions/CRC.cpp @@ -117,7 +117,7 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti // { // if (xor_out[i] == true) // crc_value = crc_value + pow(2,(15 -i)); // reverse CrC result before - //Final XOR + // Final XOR // } // // crc_value = 0;// for debug mode diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 3c9a3a0d..1c3a52c7 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -65,9 +65,10 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { /** * @brief The function containing the actual functionality of the task. * @details The method sets and starts - * the task's period, then enters a loop that is repeated indefinitely. Within the - * loop, all performOperation methods of the added objects are called. Afterwards the task will be - * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed. + * the task's period, then enters a loop that is repeated indefinitely. Within + * the loop, all performOperation methods of the added objects are called. Afterwards the task + * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is + * executed. */ virtual void taskFunctionality(void); /** diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index ff8617fc..119329f2 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -13,8 +13,8 @@ class ExecutableObjectIF; * @brief This class represents a specialized task for periodic activities of multiple objects. * * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute - * multiple objects that implement the ExecutableObjectIF interface. The objects - * must be added prior to starting the task. + * multiple objects that implement the ExecutableObjectIF interface. The + * objects must be added prior to starting the task. * @author baetz * @ingroup task_handling */ diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h index 42ee1ac5..7c654262 100644 --- a/src/fsfw/rmap/RMAP.h +++ b/src/fsfw/rmap/RMAP.h @@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF { * @param buffer the data to write * @param length length of data * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in - * write command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL + * in write command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length); @@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF { * @param cookie to cookie to read from * @param expLength the expected maximum length of the reply * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in - * write command, or nullpointer in read command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL + * in write command, or nullpointer in read command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength); diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 20dfd5f8..7dab07c1 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -75,10 +75,10 @@ class RMAPChannelIF { * - @c RETURN_OK * - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending * command; command was not sent - * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected len; - * command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the hw - * to handle (write command) or the expected len was bigger than maximal expected len (read + * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected + * len; command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the + * hw to handle (write command) or the expected len was bigger than maximal expected len (read * command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like @@ -97,8 +97,8 @@ class RMAPChannelIF { * - @c REPLY_NO_REPLY no reply was received * - @c REPLY_NOT_SENT command was not sent, implies no reply * - @c REPLY_NOT_YET_SENT command is still waiting to be sent - * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer still - * being processed) + * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer + * still being processed) * - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last * operation, data could not be processed. (transmission error) * - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value) From b440c302237a22898e3fbe72e95a8f79cda795a4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 11:26:11 +0100 Subject: [PATCH 041/162] update changelog --- CHANGELOG.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 335c0f7b..909d6fb8 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,14 @@ and this project adheres to [Semantic Versioning](http://semver.org/). # [unreleased] +# [v5.0.0] + +## Changes + +- GPIO HAL: Renamed entries of enumerations to avoid nameclashes with Windows defines. + `IN` and `OUT` in `Direction` changed to `DIR_IN` and `DIR_OUT`. + `CALLBACK` in `GpioTypes` changed to `TYPE_CALLBACK` + # [v4.0.0] ## Additions From 389641f8fdf8648f9db8e3f0c4d15843692eafd4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 14:00:34 +0100 Subject: [PATCH 042/162] display run commands --- scripts/helper.py | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/scripts/helper.py b/scripts/helper.py index 68693c40..09599d3d 100755 --- a/scripts/helper.py +++ b/scripts/helper.py @@ -97,11 +97,11 @@ def handle_docs_type(args, build_dir_list: list): build_directory = determine_build_dir(build_dir_list) os.chdir(build_directory) if args.build: - os.system("cmake --build . -j") + cmd_runner("cmake --build . -j") if args.open: if not os.path.isfile("docs/sphinx/index.html"): # try again.. - os.system("cmake --build . -j") + cmd_runner("cmake --build . -j") if not os.path.isfile("docs/sphinx/index.html"): print( "No Sphinx documentation file detected. " @@ -147,21 +147,21 @@ def handle_tests_type(args, build_dir_list: list): # If we are in a different directory we try to switch into it but # this might fail os.chdir(UNITTEST_FOLDER_NAME) - os.system("valgrind --leak-check=full ./fsfw-tests") + cmd_runner("valgrind --leak-check=full ./fsfw-tests") os.chdir("..") def create_tests_build_cfg(): os.mkdir(UNITTEST_FOLDER_NAME) os.chdir(UNITTEST_FOLDER_NAME) - os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..") + cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..") os.chdir("..") def create_docs_build_cfg(): os.mkdir(DOCS_FOLDER_NAME) os.chdir(DOCS_FOLDER_NAME) - os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..") + cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..") os.chdir("..") @@ -184,7 +184,7 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list: def perform_lcov_operation(directory: str, chdir: bool): if chdir: os.chdir(directory) - os.system("cmake --build . -- fsfw-tests_coverage -j") + cmd_runner("cmake --build . -- fsfw-tests_coverage -j") def determine_build_dir(build_dir_list: List[str]): @@ -206,5 +206,10 @@ def determine_build_dir(build_dir_list: List[str]): return build_directory +def cmd_runner(cmd: str): + print(f"Executing command: {cmd}") + os.system(cmd) + + if __name__ == "__main__": main() From d88d7c938f4d48da88ec632a0183bf570a6c6c5e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 18:58:20 +0100 Subject: [PATCH 043/162] update spi clock polarity - Perform an empty SPI transfer after setting speed and mode --- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 8 ++++++++ hal/src/fsfw_hal/linux/spi/SpiComIF.h | 1 + 2 files changed, 9 insertions(+) diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index d95232c1..4e7f6181 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) if (retval != 0) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed"); } + // This updates the SPI clock default polarity. Only setting the mode does not update + // the line state, which can be an issue on mode switches. + clockUpdateTransfer.len = 0; + retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer); + if (retval != 0) { + utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); + } + } diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index 1f825d52..357afa2f 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { MutexIF* spiMutex = nullptr; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; uint32_t timeoutMs = 20; + spi_ioc_transfer clockUpdateTransfer = {}; using SpiDeviceMap = std::unordered_map; using SpiDeviceMapIter = SpiDeviceMap::iterator; From 2e230daa145c7fda567aab96e7d5506d4ffd4060 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 18:59:50 +0100 Subject: [PATCH 044/162] additional comment --- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index 4e7f6181..e1c631a2 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -402,7 +402,8 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed"); } // This updates the SPI clock default polarity. Only setting the mode does not update - // the line state, which can be an issue on mode switches. + // the line state, which can be an issue on mode switches because the clock line will + // switch the state after the chip select is pulled low clockUpdateTransfer.len = 0; retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer); if (retval != 0) { From 4747e54c5d71e930125803f875532ee1f79f5054 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Feb 2022 20:08:19 +0100 Subject: [PATCH 045/162] no default values for srv5 params --- src/fsfw/pus/Service5EventReporting.cpp | 2 +- src/fsfw/pus/Service5EventReporting.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw/pus/Service5EventReporting.cpp b/src/fsfw/pus/Service5EventReporting.cpp index 3c30b8a5..e285875a 100644 --- a/src/fsfw/pus/Service5EventReporting.cpp +++ b/src/fsfw/pus/Service5EventReporting.cpp @@ -89,7 +89,7 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) { // to be registered to the event manager to listen for events. ReturnValue_t Service5EventReporting::initialize() { EventManagerIF* manager = ObjectManager::instance()->get(objects::EVENT_MANAGER); - if (manager == NULL) { + if (manager == nullptr) { return RETURN_FAILED; } // register Service 5 as listener for events diff --git a/src/fsfw/pus/Service5EventReporting.h b/src/fsfw/pus/Service5EventReporting.h index 74264130..c1032d18 100644 --- a/src/fsfw/pus/Service5EventReporting.h +++ b/src/fsfw/pus/Service5EventReporting.h @@ -41,7 +41,7 @@ class Service5EventReporting : public PusServiceBase { public: Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId, - size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10); + size_t maxNumberReportsPerCycle, uint32_t messageQueueDepth); virtual ~Service5EventReporting(); /*** From 123f2ff360e71228e1c0c786d80a4c93d7144a2e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 25 Feb 2022 11:10:48 +0100 Subject: [PATCH 046/162] removed unnecessary warning --- src/fsfw/pus/Service5EventReporting.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/fsfw/pus/Service5EventReporting.cpp b/src/fsfw/pus/Service5EventReporting.cpp index e285875a..a2407945 100644 --- a/src/fsfw/pus/Service5EventReporting.cpp +++ b/src/fsfw/pus/Service5EventReporting.cpp @@ -38,9 +38,6 @@ ReturnValue_t Service5EventReporting::performService() { } } } -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "Service5EventReporting::generateEventReport: Too many events" << std::endl; -#endif return HasReturnvaluesIF::RETURN_OK; } From eacb4ac4079ff2bf5e0648626332e59046a409da Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Fri, 25 Feb 2022 14:41:43 +0100 Subject: [PATCH 047/162] initial submode --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 4 +++- src/fsfw/devicehandlers/DeviceHandlerBase.h | 6 ++++++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 3f90a72c..1e87e8a7 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1386,6 +1386,8 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task) { executingTask = task; void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId, uint32_t parameter) {} +Submode_t DeviceHandlerBase::getInitialSubmode() { return SUBMODE_NONE; } + void DeviceHandlerBase::performOperationHook() {} ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, @@ -1408,7 +1410,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() { this->poolManager.initializeAfterTaskCreation(); if (setStartupImmediately) { - startTransition(MODE_ON, SUBMODE_NONE); + startTransition(MODE_ON, getInitialSubmode()); } return HasReturnvaluesIF::RETURN_OK; } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 037f4bd7..e8893615 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -647,6 +647,12 @@ class DeviceHandlerBase : public DeviceHandlerIF, virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0, uint32_t parameter = 0); + /** + * @brief Can be overwritten by a child to specify the initial submode when device has been set + * to startup immediately. + */ + virtual Submode_t getInitialSubmode(); + protected: static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE; From afd3a942e2a947e749116422ffbffb7db3caebe0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Feb 2022 14:46:12 +0100 Subject: [PATCH 048/162] use enum class --- hal/src/fsfw_hal/common/gpio/gpioDefinitions.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index 0ef5b2ea..ae092fe9 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -9,11 +9,11 @@ using gpioId_t = uint16_t; namespace gpio { -enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 }; +enum class Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 }; -enum Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 }; +enum class Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 }; -enum GpioOperation { READ, WRITE }; +enum class GpioOperation { READ, WRITE }; enum class GpioTypes { NONE, From 331aa9442d9b682624784ec8bf932c0a60e63385 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Feb 2022 14:56:37 +0100 Subject: [PATCH 049/162] some updates --- .../fsfw_hal/common/gpio/gpioDefinitions.h | 22 +++++++++---------- .../fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 13 ++++++----- 2 files changed, 18 insertions(+), 17 deletions(-) diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index ae092fe9..7c81a1db 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -9,9 +9,9 @@ using gpioId_t = uint16_t; namespace gpio { -enum class Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 }; +enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 }; -enum class Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 }; +enum class Direction : int { IN = 0, OUT = 1 }; enum class GpioOperation { READ, WRITE }; @@ -20,7 +20,7 @@ enum class GpioTypes { GPIO_REGULAR_BY_CHIP, GPIO_REGULAR_BY_LABEL, GPIO_REGULAR_BY_LINE_NAME, - TYPE_CALLBACK + CALLBACK }; static constexpr gpioId_t NO_GPIO = -1; @@ -57,7 +57,7 @@ class GpioBase { // Can be used to cast GpioBase to a concrete child implementation gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; std::string consumer; - gpio::Direction direction = gpio::Direction::DIR_IN; + gpio::Direction direction = gpio::Direction::IN; gpio::Levels initValue = gpio::Levels::NONE; }; @@ -80,7 +80,7 @@ class GpiodRegularByChip : public GpiodRegularBase { public: GpiodRegularByChip() : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), - gpio::Direction::DIR_IN, gpio::LOW, 0) {} + gpio::Direction::IN, gpio::Levels::LOW, 0) {} GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_, gpio::Direction direction_, gpio::Levels initValue_) @@ -89,8 +89,8 @@ class GpiodRegularByChip : public GpiodRegularBase { chipname(chipname_) {} GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::DIR_IN, - gpio::LOW, lineNum_), + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN, + gpio::Levels::LOW, lineNum_), chipname(chipname_) {} std::string chipname; @@ -105,8 +105,8 @@ class GpiodRegularByLabel : public GpiodRegularBase { label(label_) {} GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::DIR_IN, - gpio::LOW, lineNum_), + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN, + gpio::Levels::LOW, lineNum_), label(label_) {} std::string label; @@ -127,7 +127,7 @@ class GpiodRegularByLineName : public GpiodRegularBase { GpiodRegularByLineName(std::string lineName_, std::string consumer_) : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, - gpio::Direction::DIR_IN, gpio::LOW), + gpio::Direction::IN, gpio::Levels::LOW), lineName(lineName_) {} std::string lineName; @@ -137,7 +137,7 @@ class GpioCallback : public GpioBase { public: GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_, gpio::gpio_cb_t callback, void* callbackArgs) - : GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_), + : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), callback(callback), callbackArgs(callbackArgs) {} diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index fa9eeb5a..5a8b3c10 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -74,7 +74,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { configureGpioByLineName(gpioConfig.first, *regularGpio); break; } - case (gpio::GpioTypes::TYPE_CALLBACK): { + case (gpio::GpioTypes::CALLBACK): { auto gpioCallback = dynamic_cast(gpioConfig.second); if (gpioCallback->callback == nullptr) { return GPIO_INVALID_INSTANCE; @@ -161,11 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod consumer = regularGpio.consumer; /* Configure direction and add a description to the GPIO */ switch (direction) { - case (gpio::DIR_OUT): { - result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue); + case (gpio::Direction::OUT): { + result = gpiod_line_request_output(lineHandle, consumer.c_str(), + static_cast(regularGpio.initValue)); break; } - case (gpio::DIR_IN): { + case (gpio::Direction::IN): { result = gpiod_line_request_input(lineHandle, consumer.c_str()); break; } @@ -243,7 +244,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { if (regularGpio == nullptr) { return GPIO_TYPE_FAILURE; } - return driveGpio(gpioId, *regularGpio, gpio::LOW); + return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW); } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); if (gpioCallback->callback == nullptr) { @@ -258,7 +259,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel) { - int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel); + int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast(logicLevel)); if (result < 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId From 6d825a1aa645f9003477f2f2e118c042cf531ced Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Feb 2022 15:16:24 +0100 Subject: [PATCH 050/162] some fixes --- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 5a8b3c10..9a795123 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -212,7 +212,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) { if (regularGpio == nullptr) { return GPIO_TYPE_FAILURE; } - return driveGpio(gpioId, *regularGpio, gpio::HIGH); + return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH); } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); if (gpioCallback->callback == nullptr) { @@ -263,7 +263,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul if (result < 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId - << " to logic level " << logicLevel << std::endl; + << " to logic level " << static_cast(logicLevel) << std::endl; #else sif::printWarning( "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to " @@ -327,7 +327,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) { } break; } - case (gpio::GpioTypes::TYPE_CALLBACK): { + case (gpio::GpioTypes::CALLBACK): { auto callbackGpio = dynamic_cast(gpioConfig.second); if (callbackGpio == nullptr) { return GPIO_TYPE_FAILURE; @@ -367,13 +367,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck, case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { - if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) { + if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) { eraseDuplicateDifferentType = true; } break; } - case (gpio::GpioTypes::TYPE_CALLBACK): { - if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) { + case (gpio::GpioTypes::CALLBACK): { + if (gpioType != gpio::GpioTypes::CALLBACK) { eraseDuplicateDifferentType = true; } } From 68225586d2dbd12b05f5bff0689201fc1f860f03 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Feb 2022 15:16:24 +0100 Subject: [PATCH 051/162] some fixes --- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 5a8b3c10..9a795123 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -212,7 +212,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) { if (regularGpio == nullptr) { return GPIO_TYPE_FAILURE; } - return driveGpio(gpioId, *regularGpio, gpio::HIGH); + return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH); } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); if (gpioCallback->callback == nullptr) { @@ -263,7 +263,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul if (result < 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId - << " to logic level " << logicLevel << std::endl; + << " to logic level " << static_cast(logicLevel) << std::endl; #else sif::printWarning( "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to " @@ -327,7 +327,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) { } break; } - case (gpio::GpioTypes::TYPE_CALLBACK): { + case (gpio::GpioTypes::CALLBACK): { auto callbackGpio = dynamic_cast(gpioConfig.second); if (callbackGpio == nullptr) { return GPIO_TYPE_FAILURE; @@ -367,13 +367,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck, case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { - if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) { + if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) { eraseDuplicateDifferentType = true; } break; } - case (gpio::GpioTypes::TYPE_CALLBACK): { - if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) { + case (gpio::GpioTypes::CALLBACK): { + if (gpioType != gpio::GpioTypes::CALLBACK) { eraseDuplicateDifferentType = true; } } From e05e203c83825b4069bb1391005d46f041b08455 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Feb 2022 15:50:27 +0100 Subject: [PATCH 052/162] fix merge conflict --- src/fsfw/rmap/RMAPChannelIF.h | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 752400e5..9e666dfb 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -75,21 +75,11 @@ class RMAPChannelIF { * - @c RETURN_OK * - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending * command; command was not sent -<<<<<<< HEAD - * - @c COMMAND_BUFFER_FULL no receiver buffer available for -expected - * len; command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for -the - * hw to handle (write command) or the expected len was bigger than maximal expected len (read - * command) command was not sent -======= * - @c COMMAND_BUFFER_FULL no receiver buffer available for * expected len; command was not sent * - @c COMMAND_TOO_BIG the data that was to be sent was too * long for the hw to handle (write command) or the expected len was bigger than maximal expected * len (read command) command was not sent ->>>>>>> origin/eive/develop * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like * implementing something... @@ -107,14 +97,8 @@ the * - @c REPLY_NO_REPLY no reply was received * - @c REPLY_NOT_SENT command was not sent, implies no reply * - @c REPLY_NOT_YET_SENT command is still waiting to be sent -<<<<<<< HEAD - * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission -buffer - * still being processed) -======= * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission * buffer still being processed) ->>>>>>> origin/eive/develop * - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last * operation, data could not be processed. (transmission error) * - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value) From 0ccaf27fcb0e7a0f2dd1ca7175a7051a0267c8ec Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 1 Mar 2022 19:43:21 +0100 Subject: [PATCH 053/162] better printout for parameter code --- .../fsfw_hal/common/gpio/gpioDefinitions.h | 8 ++++---- .../fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 2 +- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 1 - src/fsfw/parameters/HasParametersIF.h | 2 +- src/fsfw/parameters/ParameterWrapper.cpp | 20 +++++++++++-------- src/fsfw/rmap/RMAP.h | 8 ++++---- src/fsfw/rmap/RMAPChannelIF.h | 12 +++++------ 7 files changed, 28 insertions(+), 25 deletions(-) diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index 7c81a1db..eb90629e 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -79,8 +79,8 @@ class GpiodRegularBase : public GpioBase { class GpiodRegularByChip : public GpiodRegularBase { public: GpiodRegularByChip() - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), - gpio::Direction::IN, gpio::Levels::LOW, 0) {} + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN, + gpio::Levels::LOW, 0) {} GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_, gpio::Direction direction_, gpio::Levels initValue_) @@ -126,8 +126,8 @@ class GpiodRegularByLineName : public GpiodRegularBase { lineName(lineName_) {} GpiodRegularByLineName(std::string lineName_, std::string consumer_) - : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, - gpio::Direction::IN, gpio::Levels::LOW), + : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN, + gpio::Levels::LOW), lineName(lineName_) {} std::string lineName; diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 9a795123..3b9a21f7 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -163,7 +163,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod switch (direction) { case (gpio::Direction::OUT): { result = gpiod_line_request_output(lineHandle, consumer.c_str(), - static_cast(regularGpio.initValue)); + static_cast(regularGpio.initValue)); break; } case (gpio::Direction::IN): { diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index e1c631a2..dcf92b5d 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -409,5 +409,4 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) if (retval != 0) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); } - } diff --git a/src/fsfw/parameters/HasParametersIF.h b/src/fsfw/parameters/HasParametersIF.h index 48557b4a..e95b69ab 100644 --- a/src/fsfw/parameters/HasParametersIF.h +++ b/src/fsfw/parameters/HasParametersIF.h @@ -66,7 +66,7 @@ class HasParametersIF { * @param newValues * @param startAtIndex Linear index, runs left to right, top to bottom for * matrix indexes. - * @return + * @return RETURN_OK if parameter is valid and a set function of the parameter wrapper was called. */ virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier, ParameterWrapper *parameterWrapper, diff --git a/src/fsfw/parameters/ParameterWrapper.cpp b/src/fsfw/parameters/ParameterWrapper.cpp index 27552290..e772f1b6 100644 --- a/src/fsfw/parameters/ParameterWrapper.cpp +++ b/src/fsfw/parameters/ParameterWrapper.cpp @@ -211,9 +211,13 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from, if (data == nullptr) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl; + sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable or " + "data pointer not set" + << std::endl; #else - sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n"); + sif::printWarning( + "ParameterWrapper::copyFrom: Called on read-only variable " + "or data pointer not set\n"); #endif #endif /* FSFW_VERBOSE_LEVEL >= 1 */ return READONLY; @@ -222,9 +226,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from, if (from->readonlyData == nullptr) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl; + sif::warning << "ParameterWrapper::copyFrom: Source not set" << std::endl; #else - sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n"); + sif::printWarning("ParameterWrapper::copyFrom: Source not set\n"); #endif #endif /* FSFW_VERBOSE_LEVEL >= 1 */ return SOURCE_NOT_SET; @@ -233,9 +237,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from, if (type != from->type) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl; + sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch" << std::endl; #else - sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n"); + sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch\n"); #endif #endif /* FSFW_VERBOSE_LEVEL >= 1 */ return DATATYPE_MISSMATCH; @@ -245,9 +249,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from, if (rows == 0 or columns == 0) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl; + sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero" << std::endl; #else - sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n"); + sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero\n"); #endif #endif /* FSFW_VERBOSE_LEVEL >= 1 */ return COLUMN_OR_ROWS_ZERO; diff --git a/src/fsfw/rmap/RMAP.h b/src/fsfw/rmap/RMAP.h index 7c654262..d274fb15 100644 --- a/src/fsfw/rmap/RMAP.h +++ b/src/fsfw/rmap/RMAP.h @@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF { * @param buffer the data to write * @param length length of data * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL - * in write command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == + * NULL in write command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length); @@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF { * @param cookie to cookie to read from * @param expLength the expected maximum length of the reply * @return - * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL - * in write command, or nullpointer in read command + * - @c COMMAND_NULLPOINTER datalen was != 0 but data was == + * NULL in write command, or nullpointer in read command * - return codes of RMAPChannelIF::sendCommand() */ static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength); diff --git a/src/fsfw/rmap/RMAPChannelIF.h b/src/fsfw/rmap/RMAPChannelIF.h index 7dab07c1..0c937dc8 100644 --- a/src/fsfw/rmap/RMAPChannelIF.h +++ b/src/fsfw/rmap/RMAPChannelIF.h @@ -75,10 +75,10 @@ class RMAPChannelIF { * - @c RETURN_OK * - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending * command; command was not sent - * - @c COMMAND_BUFFER_FULL no receiver buffer available for expected - * len; command was not sent - * - @c COMMAND_TOO_BIG the data that was to be sent was too long for the - * hw to handle (write command) or the expected len was bigger than maximal expected len (read + * - @c COMMAND_BUFFER_FULL no receiver buffer available for + * expected len; command was not sent + * - @c COMMAND_TOO_BIG the data that was to be sent was too long for + * the hw to handle (write command) or the expected len was bigger than maximal expected len (read * command) command was not sent * - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set * - @c NOT_SUPPORTED if you dont feel like @@ -97,8 +97,8 @@ class RMAPChannelIF { * - @c REPLY_NO_REPLY no reply was received * - @c REPLY_NOT_SENT command was not sent, implies no reply * - @c REPLY_NOT_YET_SENT command is still waiting to be sent - * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer - * still being processed) + * - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission + * buffer still being processed) * - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last * operation, data could not be processed. (transmission error) * - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value) From 4e6c1cb72ad623208ea8e08349f6ab39bfa45ed0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Mar 2022 00:55:41 +0100 Subject: [PATCH 054/162] docs --- src/fsfw/devicehandlers/AssemblyBase.h | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/src/fsfw/devicehandlers/AssemblyBase.h b/src/fsfw/devicehandlers/AssemblyBase.h index 3e235928..58b280f1 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.h +++ b/src/fsfw/devicehandlers/AssemblyBase.h @@ -120,8 +120,19 @@ class AssemblyBase : public SubsystemBase { virtual ReturnValue_t handleHealthReply(CommandMessage *message); - virtual void performChildOperation(); + /** + * @brief Default periodic handler + * @details + * This is the default periodic handler which will be called by the SubsystemBase + * performOperation. It performs the child transitions or reacts to changed health/mode states + * of children objects + */ + virtual void performChildOperation() override; + /** + * This function handles changed mode or health states of children + * @return + */ bool handleChildrenChanged(); /** From 45f0d7fd453eafddbc8a364e6c61a90b5f577c85 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Mar 2022 18:06:57 +0100 Subject: [PATCH 055/162] docs --- src/fsfw/devicehandlers/AssemblyBase.h | 21 ++++++++++++++++++++- 1 file changed, 20 insertions(+), 1 deletion(-) diff --git a/src/fsfw/devicehandlers/AssemblyBase.h b/src/fsfw/devicehandlers/AssemblyBase.h index 58b280f1..f6192533 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.h +++ b/src/fsfw/devicehandlers/AssemblyBase.h @@ -53,7 +53,7 @@ class AssemblyBase : public SubsystemBase { * @param mode * @param submode * @return - * - @c RETURN_OK if ok + * - @c RETURN_OK if OK * - @c NEED_SECOND_STEP if children need to be commanded again */ virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0; @@ -145,12 +145,31 @@ class AssemblyBase : public SubsystemBase { bool handleChildrenChangedHealth(); + /** + * Core transition handler. The default implementation will only do something if + * #commandsOutstanding is smaller or equal to zero, which means that all mode commands + * from the #doPerformTransition call were executed successfully. + * + * Unless a second step was requested, the function will then use #checkChildrenState to + * determine whether the target mode was reached. + * + * There is some special handling for certain (internal) modes: + * - A second step is necessary. #commandChildren will be performed again + * - The device health was overwritten. #commandChildren will be called + * - A recovery is ongoing. #checkAndHandleRecovery will be called. + */ virtual void handleChildrenTransition(); ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode); virtual void startTransition(Mode_t mode, Submode_t submode); + /** + * This function starts the transition by setting the internal #targetSubmode and #targetMode + * variables and then calling the #commandChildren function. + * @param mode + * @param submode + */ virtual void doStartTransition(Mode_t mode, Submode_t submode); virtual bool isInTransition(); From 3c53e2c259c43d2ebcc8fc3642fbb6bff84093c6 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 5 Mar 2022 03:01:43 +0100 Subject: [PATCH 056/162] renamed some ModeIF definitions --- src/fsfw/devicehandlers/AssemblyBase.cpp | 2 +- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 2 +- src/fsfw/modes/HasModesIF.h | 10 +++++++--- src/fsfw/subsystem/SubsystemBase.cpp | 3 ++- .../fsfw_tests/integration/assemblies/TestAssembly.cpp | 2 +- 5 files changed, 12 insertions(+), 7 deletions(-) diff --git a/src/fsfw/devicehandlers/AssemblyBase.cpp b/src/fsfw/devicehandlers/AssemblyBase.cpp index c29022e5..45f62ba0 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.cpp +++ b/src/fsfw/devicehandlers/AssemblyBase.cpp @@ -196,7 +196,7 @@ ReturnValue_t AssemblyBase::checkModeCommand(Mode_t mode, Submode_t submode, } if ((mode != MODE_ON) && (mode != DeviceHandlerIF::MODE_NORMAL)) { - return INVALID_MODE; + return INVALID_MODE_RETVAL; } if (internalState != STATE_NONE) { diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 1e87e8a7..65c5a946 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -403,7 +403,7 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s return INVALID_SUBMODE; } default: - return HasModesIF::INVALID_MODE; + return HasModesIF::INVALID_MODE_RETVAL; } } diff --git a/src/fsfw/modes/HasModesIF.h b/src/fsfw/modes/HasModesIF.h index 850d4349..d59e0294 100644 --- a/src/fsfw/modes/HasModesIF.h +++ b/src/fsfw/modes/HasModesIF.h @@ -13,7 +13,7 @@ class HasModesIF { public: static const uint8_t INTERFACE_ID = CLASS_ID::HAS_MODES_IF; - static const ReturnValue_t INVALID_MODE = MAKE_RETURN_CODE(0x01); + static const ReturnValue_t INVALID_MODE_RETVAL = MAKE_RETURN_CODE(0x01); static const ReturnValue_t TRANS_NOT_ALLOWED = MAKE_RETURN_CODE(0x02); static const ReturnValue_t IN_TRANSITION = MAKE_RETURN_CODE(0x03); static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04); @@ -37,9 +37,13 @@ class HasModesIF { //! The device is powered and ready to perform operations. In this mode, no commands are //! sent by the device handler itself, but direct commands van be commanded and will be //! interpreted - static const Mode_t MODE_ON = 1; + static constexpr Mode_t MODE_ON = 1; //! The device is powered off. The only command accepted in this mode is a mode change to on. - static const Mode_t MODE_OFF = 0; + static constexpr Mode_t MODE_OFF = 0; + + static constexpr Mode_t INVALID_MODE = -1; + static constexpr Mode_t UNDEFINED_MODE = -2; + //! To avoid checks against magic number "0". static const Submode_t SUBMODE_NONE = 0; diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp index f177ecd4..71c47c5f 100644 --- a/src/fsfw/subsystem/SubsystemBase.cpp +++ b/src/fsfw/subsystem/SubsystemBase.cpp @@ -33,8 +33,9 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) { info.mode = MODE_OFF; } } else { + // intentional to force an initial command during system startup info.commandQueue = child->getCommandQueue(); - info.mode = -1; // intentional to force an initial command during system startup + info.mode = HasModesIF::UNDEFINED_MODE; } info.submode = SUBMODE_NONE; diff --git a/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp b/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp index a0313f96..8e79bbc6 100644 --- a/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp +++ b/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp @@ -125,7 +125,7 @@ ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode, Submode_t submod return INVALID_SUBMODE; } } - return INVALID_MODE; + return INVALID_MODE_RETVAL; } ReturnValue_t TestAssembly::initialize() { From a7cb2d435456235c28a5041ae783eeee6426ee6d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 7 Mar 2022 15:54:56 +0100 Subject: [PATCH 057/162] small test device handler fixes --- .../fsfw_tests/integration/devices/TestDeviceHandler.cpp | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp b/tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp index 41098723..cd15d6e0 100644 --- a/tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp +++ b/tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp @@ -208,7 +208,7 @@ ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand const uint8_t* commandData, size_t commandDataLen) { if (fullInfoPrintout) { -#if OBSW_VERBOSE_LEVEL >= 3 +#if FSFW_VERBOSE_LEVEL >= 3 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl; #else @@ -351,7 +351,7 @@ ReturnValue_t TestDevice::scanForReply(const uint8_t* start, size_t len, DeviceC switch (pendingCmd) { case (TEST_NORMAL_MODE_CMD): { if (fullInfoPrintout) { -#if OBSW_VERBOSE_LEVEL >= 3 +#if FSFW_VERBOSE_LEVEL >= 3 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID " << TEST_NORMAL_MODE_CMD << ") received!" << std::endl; @@ -678,7 +678,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId, int32_t newValue = 0; ReturnValue_t result = newValues->getElement(&newValue, 0, 0); if (result == HasReturnvaluesIF::RETURN_OK) { -#if OBSW_DEVICE_HANDLER_PRINTOUT == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 1 to " @@ -688,7 +687,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId, sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n", deviceIdx, static_cast(newValue)); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ -#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */ } } parameterWrapper->set(testParameter1); @@ -702,7 +700,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId, newValues->getElement(newVector + 2, 0, 2) != RETURN_OK) { return HasReturnvaluesIF::RETURN_FAILED; } -#if OBSW_DEVICE_HANDLER_PRINTOUT == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 3 to " @@ -715,7 +712,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId, "[%f, %f, %f]\n", deviceIdx, newVector[0], newVector[1], newVector[2]); #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ -#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */ } parameterWrapper->setVector(vectorFloatParams2); break; From 8b1c277c58b608db34bf221a1a79469a809ecbda Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 8 Mar 2022 09:34:22 +0100 Subject: [PATCH 058/162] better name of invalid mode retval --- src/fsfw/devicehandlers/AssemblyBase.cpp | 2 +- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 2 +- src/fsfw/modes/HasModesIF.h | 2 +- tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/fsfw/devicehandlers/AssemblyBase.cpp b/src/fsfw/devicehandlers/AssemblyBase.cpp index 45f62ba0..837f5bcb 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.cpp +++ b/src/fsfw/devicehandlers/AssemblyBase.cpp @@ -196,7 +196,7 @@ ReturnValue_t AssemblyBase::checkModeCommand(Mode_t mode, Submode_t submode, } if ((mode != MODE_ON) && (mode != DeviceHandlerIF::MODE_NORMAL)) { - return INVALID_MODE_RETVAL; + return MOVE_IS_INVALID; } if (internalState != STATE_NONE) { diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 6213ea86..7cfd38eb 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -403,7 +403,7 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s return INVALID_SUBMODE; } default: - return HasModesIF::INVALID_MODE_RETVAL; + return HasModesIF::MOVE_IS_INVALID; } } diff --git a/src/fsfw/modes/HasModesIF.h b/src/fsfw/modes/HasModesIF.h index d59e0294..9295d2b9 100644 --- a/src/fsfw/modes/HasModesIF.h +++ b/src/fsfw/modes/HasModesIF.h @@ -13,7 +13,7 @@ class HasModesIF { public: static const uint8_t INTERFACE_ID = CLASS_ID::HAS_MODES_IF; - static const ReturnValue_t INVALID_MODE_RETVAL = MAKE_RETURN_CODE(0x01); + static const ReturnValue_t MOVE_IS_INVALID = MAKE_RETURN_CODE(0x01); static const ReturnValue_t TRANS_NOT_ALLOWED = MAKE_RETURN_CODE(0x02); static const ReturnValue_t IN_TRANSITION = MAKE_RETURN_CODE(0x03); static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04); diff --git a/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp b/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp index 8e79bbc6..b410ab36 100644 --- a/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp +++ b/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp @@ -125,7 +125,7 @@ ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode, Submode_t submod return INVALID_SUBMODE; } } - return INVALID_MODE_RETVAL; + return MOVE_IS_INVALID; } ReturnValue_t TestAssembly::initialize() { From 84f95e8d7641be7a83faf1cbee718c6cc5de152d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 8 Mar 2022 09:45:58 +0100 Subject: [PATCH 059/162] this is better --- src/fsfw/devicehandlers/AssemblyBase.cpp | 2 +- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 2 +- src/fsfw/modes/HasModesIF.h | 6 +++--- src/fsfw/subsystem/SubsystemBase.cpp | 2 +- .../src/fsfw_tests/integration/assemblies/TestAssembly.cpp | 2 +- 5 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/fsfw/devicehandlers/AssemblyBase.cpp b/src/fsfw/devicehandlers/AssemblyBase.cpp index 837f5bcb..c29022e5 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.cpp +++ b/src/fsfw/devicehandlers/AssemblyBase.cpp @@ -196,7 +196,7 @@ ReturnValue_t AssemblyBase::checkModeCommand(Mode_t mode, Submode_t submode, } if ((mode != MODE_ON) && (mode != DeviceHandlerIF::MODE_NORMAL)) { - return MOVE_IS_INVALID; + return INVALID_MODE; } if (internalState != STATE_NONE) { diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 7cfd38eb..03f8da54 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -403,7 +403,7 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s return INVALID_SUBMODE; } default: - return HasModesIF::MOVE_IS_INVALID; + return HasModesIF::INVALID_MODE; } } diff --git a/src/fsfw/modes/HasModesIF.h b/src/fsfw/modes/HasModesIF.h index 9295d2b9..57c4fb66 100644 --- a/src/fsfw/modes/HasModesIF.h +++ b/src/fsfw/modes/HasModesIF.h @@ -13,7 +13,7 @@ class HasModesIF { public: static const uint8_t INTERFACE_ID = CLASS_ID::HAS_MODES_IF; - static const ReturnValue_t MOVE_IS_INVALID = MAKE_RETURN_CODE(0x01); + static const ReturnValue_t INVALID_MODE = MAKE_RETURN_CODE(0x01); static const ReturnValue_t TRANS_NOT_ALLOWED = MAKE_RETURN_CODE(0x02); static const ReturnValue_t IN_TRANSITION = MAKE_RETURN_CODE(0x03); static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04); @@ -41,8 +41,8 @@ class HasModesIF { //! The device is powered off. The only command accepted in this mode is a mode change to on. static constexpr Mode_t MODE_OFF = 0; - static constexpr Mode_t INVALID_MODE = -1; - static constexpr Mode_t UNDEFINED_MODE = -2; + static constexpr Mode_t MODE_INVALID = -1; + static constexpr Mode_t MODE_UNDEFINED = -2; //! To avoid checks against magic number "0". static const Submode_t SUBMODE_NONE = 0; diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp index 71c47c5f..aec96434 100644 --- a/src/fsfw/subsystem/SubsystemBase.cpp +++ b/src/fsfw/subsystem/SubsystemBase.cpp @@ -35,7 +35,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) { } else { // intentional to force an initial command during system startup info.commandQueue = child->getCommandQueue(); - info.mode = HasModesIF::UNDEFINED_MODE; + info.mode = HasModesIF::MODE_UNDEFINED; } info.submode = SUBMODE_NONE; diff --git a/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp b/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp index b410ab36..a0313f96 100644 --- a/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp +++ b/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp @@ -125,7 +125,7 @@ ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode, Submode_t submod return INVALID_SUBMODE; } } - return MOVE_IS_INVALID; + return INVALID_MODE; } ReturnValue_t TestAssembly::initialize() { From dba3c27b99c4f7473909a27af7c60b1d8a31c10c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 8 Mar 2022 09:56:24 +0100 Subject: [PATCH 060/162] define FSFW_DISABLE_PRINTOUT in any case --- src/fsfw/FSFW.h.in | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in index 9cfeab61..953677bd 100644 --- a/src/fsfw/FSFW.h.in +++ b/src/fsfw/FSFW.h.in @@ -30,6 +30,10 @@ #define FSFW_VERBOSE_LEVEL 1 #endif /* FSFW_VERBOSE_LEVEL */ +#ifndef FSFW_DISABLE_PRINTOUT +#define FSFW_DISABLE_PRINTOUT 0 +#endif + #ifndef FSFW_USE_REALTIME_FOR_LINUX #define FSFW_USE_REALTIME_FOR_LINUX 0 #endif /* FSFW_USE_REALTIME_FOR_LINUX */ From 155d66e534f2e228378135ff779c8a4e0c39c253 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 8 Mar 2022 09:56:24 +0100 Subject: [PATCH 061/162] define FSFW_DISABLE_PRINTOUT in any case --- src/fsfw/FSFW.h.in | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in index 7e52b646..af75e726 100644 --- a/src/fsfw/FSFW.h.in +++ b/src/fsfw/FSFW.h.in @@ -26,6 +26,10 @@ #define FSFW_VERBOSE_LEVEL 1 #endif /* FSFW_VERBOSE_LEVEL */ +#ifndef FSFW_DISABLE_PRINTOUT +#define FSFW_DISABLE_PRINTOUT 0 +#endif + #ifndef FSFW_USE_REALTIME_FOR_LINUX #define FSFW_USE_REALTIME_FOR_LINUX 0 #endif /* FSFW_USE_REALTIME_FOR_LINUX */ From 7ca6d1a695e72b0a606bfbb393fb53dcdf44b5b2 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 8 Mar 2022 10:05:18 +0100 Subject: [PATCH 062/162] function to get fsfw version --- src/fsfw/CMakeLists.txt | 4 ++++ src/fsfw/version.cpp | 8 ++++++++ src/fsfw/version.h | 18 ++++++++++++++++++ 3 files changed, 30 insertions(+) create mode 100644 src/fsfw/version.cpp create mode 100644 src/fsfw/version.h diff --git a/src/fsfw/CMakeLists.txt b/src/fsfw/CMakeLists.txt index 12c673ed..efb9f6c7 100644 --- a/src/fsfw/CMakeLists.txt +++ b/src/fsfw/CMakeLists.txt @@ -1,3 +1,7 @@ +target_sources(${LIB_FSFW_NAME} PRIVATE + version.cpp +) + # Core add_subdirectory(action) diff --git a/src/fsfw/version.cpp b/src/fsfw/version.cpp new file mode 100644 index 00000000..1bdd6cc7 --- /dev/null +++ b/src/fsfw/version.cpp @@ -0,0 +1,8 @@ +#include "version.h" +#include "fsfw/FSFWVersion.h" + +void fsfw::getVersion(Version& v) { + v.major = FSFW_VERSION; + v.minor = FSFW_SUBVERSION; + v.revision = FSFW_REVISION; +} diff --git a/src/fsfw/version.h b/src/fsfw/version.h new file mode 100644 index 00000000..04b7e3ce --- /dev/null +++ b/src/fsfw/version.h @@ -0,0 +1,18 @@ +#ifndef FSFW_SRC_FSFW_VERSION_H_ +#define FSFW_SRC_FSFW_VERSION_H_ + +#include + +namespace fsfw { + +struct Version { + uint32_t major = 0; + uint32_t minor = 0; + uint32_t revision = 0; +}; + +void getVersion(Version& version); + +} + +#endif /* FSFW_SRC_FSFW_VERSION_H_ */ From d63c01b96f2eb031eb4d568879dfee2e2151537a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 8 Mar 2022 11:50:47 +0100 Subject: [PATCH 063/162] set timeout in countdown ctor --- src/fsfw/timemanager/Countdown.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/fsfw/timemanager/Countdown.cpp b/src/fsfw/timemanager/Countdown.cpp index 8ff46f8d..a8ba78cb 100644 --- a/src/fsfw/timemanager/Countdown.cpp +++ b/src/fsfw/timemanager/Countdown.cpp @@ -1,6 +1,8 @@ #include "fsfw/timemanager/Countdown.h" -Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {} +Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) { + setTimeout(initialTimeout); +} Countdown::~Countdown() {} From 47d158156b9efa0edbca9b3a1694f4132b0b30e5 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 8 Mar 2022 11:52:33 +0100 Subject: [PATCH 064/162] call setTimeout --- src/fsfw/timemanager/Countdown.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/fsfw/timemanager/Countdown.cpp b/src/fsfw/timemanager/Countdown.cpp index 8ff46f8d..a8ba78cb 100644 --- a/src/fsfw/timemanager/Countdown.cpp +++ b/src/fsfw/timemanager/Countdown.cpp @@ -1,6 +1,8 @@ #include "fsfw/timemanager/Countdown.h" -Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) {} +Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) { + setTimeout(initialTimeout); +} Countdown::~Countdown() {} From 45b51f9ac87cd15ad46555198c682fd279daeab0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 9 Mar 2022 19:05:07 +0100 Subject: [PATCH 065/162] improved version.h --- src/fsfw/FSFWVersion.h.in | 6 +++--- src/fsfw/version.cpp | 13 ++++++++----- src/fsfw/version.h | 25 +++++++++++++++++++++++-- 3 files changed, 34 insertions(+), 10 deletions(-) diff --git a/src/fsfw/FSFWVersion.h.in b/src/fsfw/FSFWVersion.h.in index 7935b2f6..19a56214 100644 --- a/src/fsfw/FSFWVersion.h.in +++ b/src/fsfw/FSFWVersion.h.in @@ -2,8 +2,8 @@ #define FSFW_VERSION_H_ // Versioning is kept in project CMakeLists.txt file -#define FSFW_VERSION @FSFW_VERSION@ -#define FSFW_SUBVERSION @FSFW_SUBVERSION@ -#define FSFW_REVISION @FSFW_REVISION@ +#define FSFW_VERSION_MAJOR @FSFW_VERSION@ +#define FSFW_VERSION_MINOR @FSFW_SUBVERSION@ +#define FSFW_VERSION_REVISION @FSFW_REVISION@ #endif /* FSFW_VERSION_H_ */ diff --git a/src/fsfw/version.cpp b/src/fsfw/version.cpp index 1bdd6cc7..e1fc32c9 100644 --- a/src/fsfw/version.cpp +++ b/src/fsfw/version.cpp @@ -1,8 +1,11 @@ #include "version.h" + #include "fsfw/FSFWVersion.h" -void fsfw::getVersion(Version& v) { - v.major = FSFW_VERSION; - v.minor = FSFW_SUBVERSION; - v.revision = FSFW_REVISION; -} +const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, + FSFW_VERSION_REVISION}; + +fsfw::Version::Version(uint32_t major, uint32_t minor, uint32_t revision) + : major(major), minor(minor), revision(revision) {} + +void fsfw::getVersion(Version& version) {} diff --git a/src/fsfw/version.h b/src/fsfw/version.h index 04b7e3ce..8340fc9d 100644 --- a/src/fsfw/version.h +++ b/src/fsfw/version.h @@ -5,14 +5,35 @@ namespace fsfw { -struct Version { +class Version { + public: + Version(uint32_t major, uint32_t minor, uint32_t revision); uint32_t major = 0; uint32_t minor = 0; uint32_t revision = 0; + + friend bool operator==(const Version& v1, const Version& v2) { + return (v1.major == v2.major and v1.minor == v2.minor and v1.revision == v2.revision); + } + + friend bool operator!=(const Version& v1, const Version& v2) { return not(v1 == v2); } + + friend bool operator<(const Version& v1, const Version& v2) { + return ((v1.major < v2.major) or (v1.major == v2.major and v1.minor < v2.minor) or + (v1.major == v2.major and v1.minor == v2.minor and v1.revision < v2.revision)); + } + + friend bool operator>(const Version& v1, const Version& v2) { return not(v1 < v2); } + + friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); } + + friend bool operator>=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 > v2)); } }; +extern const fsfw::Version FSFW_VERSION; + void getVersion(Version& version); -} +} // namespace fsfw #endif /* FSFW_SRC_FSFW_VERSION_H_ */ From b27f3b84aa37d5c8723f9a0408d2eb40e9302478 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 9 Mar 2022 19:10:05 +0100 Subject: [PATCH 066/162] getter not required anymore --- src/fsfw/version.cpp | 2 -- src/fsfw/version.h | 2 -- 2 files changed, 4 deletions(-) diff --git a/src/fsfw/version.cpp b/src/fsfw/version.cpp index e1fc32c9..133b9674 100644 --- a/src/fsfw/version.cpp +++ b/src/fsfw/version.cpp @@ -7,5 +7,3 @@ const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR fsfw::Version::Version(uint32_t major, uint32_t minor, uint32_t revision) : major(major), minor(minor), revision(revision) {} - -void fsfw::getVersion(Version& version) {} diff --git a/src/fsfw/version.h b/src/fsfw/version.h index 8340fc9d..47860865 100644 --- a/src/fsfw/version.h +++ b/src/fsfw/version.h @@ -32,8 +32,6 @@ class Version { extern const fsfw::Version FSFW_VERSION; -void getVersion(Version& version); - } // namespace fsfw #endif /* FSFW_SRC_FSFW_VERSION_H_ */ From 97bc71a3ff9048e45c5306b02afafd30e783fa48 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 10 Mar 2022 09:34:29 +0100 Subject: [PATCH 067/162] added tests --- src/fsfw/version.h | 28 ++++++++++++ tests/src/fsfw_tests/unit/CMakeLists.txt | 11 +++-- tests/src/fsfw_tests/unit/version.cpp | 55 ++++++++++++++++++++++++ 3 files changed, 88 insertions(+), 6 deletions(-) create mode 100644 tests/src/fsfw_tests/unit/version.cpp diff --git a/src/fsfw/version.h b/src/fsfw/version.h index 47860865..4ed748d1 100644 --- a/src/fsfw/version.h +++ b/src/fsfw/version.h @@ -1,7 +1,13 @@ #ifndef FSFW_SRC_FSFW_VERSION_H_ #define FSFW_SRC_FSFW_VERSION_H_ +#include "fsfw/FSFW.h" + +#if FSFW_CPP_OSTREAM_ENABLED == 1 +#include +#endif #include +#include namespace fsfw { @@ -28,6 +34,28 @@ class Version { friend bool operator<=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 < v2)); } friend bool operator>=(const Version& v1, const Version& v2) { return ((v1 == v2) or (v1 > v2)); } + +#if FSFW_CPP_OSTREAM_ENABLED == 1 + /** + * Print format to given ostream using format "major.minor.revision" + * @param os + * @param v + * @return + */ + friend std::ostream& operator<<(std::ostream& os, const Version& v) { + os << v.major << "." << v.minor << "." << v.revision; + return os; + } +#endif + + /** + * Get version as format "major.minor.revision" + * @param str + * @param maxLen + */ + void getVersion(char* str, size_t maxLen) const { + snprintf(str, maxLen, "%d.%d.%d", major, minor, revision); + } }; extern const fsfw::Version FSFW_VERSION; diff --git a/tests/src/fsfw_tests/unit/CMakeLists.txt b/tests/src/fsfw_tests/unit/CMakeLists.txt index a83e2f7f..a8d31d88 100644 --- a/tests/src/fsfw_tests/unit/CMakeLists.txt +++ b/tests/src/fsfw_tests/unit/CMakeLists.txt @@ -2,14 +2,13 @@ target_sources(${FSFW_TEST_TGT} PRIVATE CatchDefinitions.cpp CatchFactory.cpp printChar.cpp + version.cpp ) -# if(FSFW_CUSTOM_UNITTEST_RUNNER) - target_sources(${FSFW_TEST_TGT} PRIVATE - CatchRunner.cpp - CatchSetup.cpp - ) -# endif() +target_sources(${FSFW_TEST_TGT} PRIVATE + CatchRunner.cpp + CatchSetup.cpp +) add_subdirectory(testcfg) add_subdirectory(action) diff --git a/tests/src/fsfw_tests/unit/version.cpp b/tests/src/fsfw_tests/unit/version.cpp new file mode 100644 index 00000000..6fcff215 --- /dev/null +++ b/tests/src/fsfw_tests/unit/version.cpp @@ -0,0 +1,55 @@ + +#include "fsfw/version.h" + +#include + +#include "fsfw/serviceinterface.h" +#include "fsfw_tests/unit/CatchDefinitions.h" + +TEST_CASE("Version API Tests", "[TestVersionAPI]") { + // Check that major version is non-zero + REQUIRE(fsfw::FSFW_VERSION.major > 0); + uint32_t fsfwMajor = fsfw::FSFW_VERSION.major; + REQUIRE(fsfw::Version(255, 0, 0) > fsfw::FSFW_VERSION); + REQUIRE(fsfw::Version(255, 0, 0) >= fsfw::FSFW_VERSION); + REQUIRE(fsfw::Version(0, 0, 0) < fsfw::FSFW_VERSION); + REQUIRE(fsfw::Version(0, 0, 0) <= fsfw::FSFW_VERSION); + fsfw::Version v1 = fsfw::Version(1, 1, 1); + fsfw::Version v2 = fsfw::Version(1, 1, 1); + v1.revision -= 1; + REQUIRE(v1 != v2); + REQUIRE(v1 < v2); + REQUIRE(v1 <= v2); + v1.revision += 1; + v1.minor -= 1; + REQUIRE(v1 != v2); + REQUIRE(v1 < v2); + REQUIRE(v1 <= v2); + v1.minor += 1; + v1.major -= 1; + REQUIRE(v1 != v2); + REQUIRE(v1 < v2); + REQUIRE(v1 <= v2); + v1.major += 1; + REQUIRE(v1 == v2); + v1.major += 1; + REQUIRE(v1 != v2); + REQUIRE(v1 > v2); + REQUIRE(v1 >= v2); + v1.major -= 1; + v1.minor += 1; + REQUIRE(v1 != v2); + REQUIRE(v1 > v2); + REQUIRE(v1 >= v2); + v1.minor -= 1; + v1.revision += 1; + REQUIRE(v1 != v2); + REQUIRE(v1 > v2); + REQUIRE(v1 >= v2); + v1.revision -= 1; + REQUIRE(v1 == v2); + sif::info << "v" << fsfw::FSFW_VERSION << std::endl; + char verString[10] = {}; + fsfw::FSFW_VERSION.getVersion(verString, sizeof(verString)); + sif::info << "v" << verString << std::endl; +} From b5d6b9745f3e5fdd10463677ca2acb688cad4e84 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 10 Mar 2022 09:56:23 +0100 Subject: [PATCH 068/162] undef major and minor --- src/fsfw/version.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/fsfw/version.cpp b/src/fsfw/version.cpp index 133b9674..aa777c9e 100644 --- a/src/fsfw/version.cpp +++ b/src/fsfw/version.cpp @@ -2,6 +2,9 @@ #include "fsfw/FSFWVersion.h" +#undef major +#undef minor + const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, FSFW_VERSION_REVISION}; From fec5f83f4f2459facee25939e0292115f89a6d73 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 11 Mar 2022 14:25:01 +0100 Subject: [PATCH 069/162] minor event changes --- src/fsfw/events/Event.h | 24 ++++++++++++++---------- 1 file changed, 14 insertions(+), 10 deletions(-) diff --git a/src/fsfw/events/Event.h b/src/fsfw/events/Event.h index 20b66679..edc1d838 100644 --- a/src/fsfw/events/Event.h +++ b/src/fsfw/events/Event.h @@ -7,8 +7,19 @@ // could be moved to more suitable location #include -typedef uint16_t EventId_t; -typedef uint8_t EventSeverity_t; +using EventId_t = uint16_t; +using EventSeverity_t = uint8_t ; +using UniqueEventId_t = uint8_t; + +namespace severity { +enum Severity: EventSeverity_t { + INFO = 1, + LOW = 2, + MEDIUM = 3, + HIGH = 4 +}; + +} // namespace severity #define MAKE_EVENT(id, severity) (((severity) << 16) + (SUBSYSTEM_ID * 100) + (id)) @@ -20,18 +31,11 @@ constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); } constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); } -constexpr Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId, +constexpr Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId, EventSeverity_t eventSeverity) { return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId; } } // namespace event -namespace severity { -static constexpr EventSeverity_t INFO = 1; -static constexpr EventSeverity_t LOW = 2; -static constexpr EventSeverity_t MEDIUM = 3; -static constexpr EventSeverity_t HIGH = 4; -} // namespace severity - #endif /* EVENTOBJECT_EVENT_H_ */ From d4ade5e885e0edf92158f42760b9a0e58e0310b9 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Mon, 14 Mar 2022 15:01:17 +0100 Subject: [PATCH 070/162] sequence count operator overloading --- src/fsfw/tmtcservices/SourceSequenceCounter.h | 41 ++++++++++++------- 1 file changed, 26 insertions(+), 15 deletions(-) diff --git a/src/fsfw/tmtcservices/SourceSequenceCounter.h b/src/fsfw/tmtcservices/SourceSequenceCounter.h index 2b30a53f..53547e08 100644 --- a/src/fsfw/tmtcservices/SourceSequenceCounter.h +++ b/src/fsfw/tmtcservices/SourceSequenceCounter.h @@ -4,21 +4,32 @@ #include "../tmtcpacket/SpacePacketBase.h" class SourceSequenceCounter { -private: - uint16_t sequenceCount; -public: - SourceSequenceCounter() : sequenceCount(0) {} - void increment() { - sequenceCount = (sequenceCount+1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT); - } - void decrement() { - sequenceCount = (sequenceCount-1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT); - } - uint16_t get() { return this->sequenceCount; } - void reset(uint16_t toValue = 0) { - sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT); - } + private: + uint16_t sequenceCount; + + public: + SourceSequenceCounter() : sequenceCount(0) {} + void increment() { + sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT); + } + void decrement() { + sequenceCount = (sequenceCount - 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT); + } + uint16_t get() { return this->sequenceCount; } + void reset(uint16_t toValue = 0) { + sequenceCount = toValue % (SpacePacketBase::LIMIT_SEQUENCE_COUNT); + } + SourceSequenceCounter& operator++(int) { + this->increment(); + return *this; + } + SourceSequenceCounter& operator=(const uint16_t& newCount) { + sequenceCount = newCount; + return *this; + } + operator uint16_t() { + return this->get(); + } }; - #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */ From 543daaa95aa15d85a701c257ecf7c65964ea4d6f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 17 Mar 2022 19:19:02 +0100 Subject: [PATCH 071/162] various tweaks and improvements --- src/fsfw/devicehandlers/AssemblyBase.cpp | 20 +++++++++++++------ src/fsfw/devicehandlers/AssemblyBase.h | 15 ++++++++++---- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 20 ++++++++++++++++--- src/fsfw/devicehandlers/DeviceHandlerBase.h | 4 ++++ src/fsfw/fdir/FailureIsolationBase.cpp | 9 +++++---- 5 files changed, 51 insertions(+), 17 deletions(-) diff --git a/src/fsfw/devicehandlers/AssemblyBase.cpp b/src/fsfw/devicehandlers/AssemblyBase.cpp index c29022e5..414098ad 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.cpp +++ b/src/fsfw/devicehandlers/AssemblyBase.cpp @@ -26,11 +26,7 @@ void AssemblyBase::performChildOperation() { void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) { doStartTransition(mode, submode); - if (modeHelper.isForced()) { - triggerEvent(FORCING_MODE, mode, submode); - } else { - triggerEvent(CHANGING_MODE, mode, submode); - } + triggerModeHelperEvents(mode, submode); } void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) { @@ -77,9 +73,10 @@ bool AssemblyBase::handleChildrenChangedHealth() { } HealthState healthState = healthHelper.healthTable->getHealth(iter->first); if (healthState == HasHealthIF::NEEDS_RECOVERY) { - triggerEvent(TRYING_RECOVERY); + triggerEvent(TRYING_RECOVERY, iter->first, 0); recoveryState = RECOVERY_STARTED; recoveringDevice = iter; + // The user needs to take care of commanding the children off in commandChildren doStartTransition(targetMode, targetSubmode); } else { triggerEvent(CHILD_CHANGED_HEALTH); @@ -228,6 +225,9 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) { bool AssemblyBase::checkAndHandleRecovery() { switch (recoveryState) { case RECOVERY_STARTED: + // The recovery was already start in #handleChildrenChangedHealth and we just need + // to wait for an off time period. + // TODO: make time period configurable recoveryState = RECOVERY_WAIT; recoveryOffTimer.resetTimer(); return true; @@ -266,3 +266,11 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal modeHelper.setForced(true); sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL); } + +void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) { + if (modeHelper.isForced()) { + triggerEvent(FORCING_MODE, mode, submode); + } else { + triggerEvent(CHANGING_MODE, mode, submode); + } +} diff --git a/src/fsfw/devicehandlers/AssemblyBase.h b/src/fsfw/devicehandlers/AssemblyBase.h index f6192533..fd5c6ad6 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.h +++ b/src/fsfw/devicehandlers/AssemblyBase.h @@ -47,9 +47,8 @@ class AssemblyBase : public SubsystemBase { protected: /** - * Command children to reach [mode,submode] combination - * Can be done by setting #commandsOutstanding correctly, - * or using executeTable() + * Command children to reach [mode,submode] combination. Can be done by setting + * #commandsOutstanding correctly, or using #executeTable. * @param mode * @param submode * @return @@ -162,6 +161,12 @@ class AssemblyBase : public SubsystemBase { ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode); + /** + * Calls #doStartTransition and triggers an informative event as well that the mode will + * change + * @param mode + * @param submode + */ virtual void startTransition(Mode_t mode, Submode_t submode); /** @@ -190,7 +195,7 @@ class AssemblyBase : public SubsystemBase { * Manages recovery of a device * @return true if recovery is still ongoing, false else. */ - bool checkAndHandleRecovery(); + virtual bool checkAndHandleRecovery(); /** * Helper method to overwrite health state of one of the children. @@ -198,6 +203,8 @@ class AssemblyBase : public SubsystemBase { * @param objectId Must be a registered child. */ void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth); + + void triggerModeHelperEvents(Mode_t mode, Submode_t submode); }; #endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */ diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 03f8da54..18f8a2f7 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -49,9 +49,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase", HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie"); } - if (this->fdirInstance == nullptr) { - this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId); - } } void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) { @@ -127,6 +124,17 @@ ReturnValue_t DeviceHandlerBase::initialize() { if (result != RETURN_OK) { return result; } + if (this->fdirInstance == nullptr) { + this->fdirInstance = new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId); + } + + if(this->parent != objects::NO_OBJECT) { + HasModesIF* modeIF = ObjectManager::instance()->get(this->parent); + HasHealthIF* healthIF = ObjectManager::instance()->get(this->parent); + if(modeIF != nullptr and healthIF != nullptr) { + setParentQueue(modeIF->getCommandQueue()); + } + } communicationInterface = ObjectManager::instance()->get(deviceCommunicationId); @@ -1494,3 +1502,9 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI } return commandIter->second.sendReplyTo; } + +void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; } + +void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; } + +void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { this->powerSwitcher = switcher; } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index bf6900d9..a8de34eb 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -103,6 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF, DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie, FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20); + void setCustomFdir(FailureIsolationBase* fdir); + void setParent(object_id_t parent); + void setPowerSwitcher(PowerSwitchIF* switcher); void setHkDestination(object_id_t hkDestination); /** @@ -824,6 +827,7 @@ class DeviceHandlerBase : public DeviceHandlerIF, /** Pointer to the used FDIR instance. If not provided by child, * default class is instantiated. */ FailureIsolationBase *fdirInstance; + object_id_t parent = objects::NO_OBJECT; //! To correctly delete the default instance. bool defaultFDIRUsed; diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp index 5d04588f..f576ecbd 100644 --- a/src/fsfw/fdir/FailureIsolationBase.cpp +++ b/src/fsfw/fdir/FailureIsolationBase.cpp @@ -53,10 +53,11 @@ ReturnValue_t FailureIsolationBase::initialize() { if (parentIF == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "FailureIsolationBase::intialize: Parent object" - << "invalid." << std::endl; -#endif -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl; + << "invalid" << std::endl; + sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl; +#else + sif::printError("FailureIsolationBase::intialize: Parent object invalid\n"); + sif::printError("Make sure it implements ConfirmsFailuresIF\n"); #endif return ObjectManagerIF::CHILD_INIT_FAILED; return RETURN_FAILED; From ddc1cdb1f5d1ee6f532c04b0419e24f8f40566cf Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 17 Mar 2022 19:22:24 +0100 Subject: [PATCH 072/162] additional docs --- src/fsfw/devicehandlers/AssemblyBase.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/fsfw/devicehandlers/AssemblyBase.h b/src/fsfw/devicehandlers/AssemblyBase.h index fd5c6ad6..ab5f2201 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.h +++ b/src/fsfw/devicehandlers/AssemblyBase.h @@ -48,7 +48,9 @@ class AssemblyBase : public SubsystemBase { protected: /** * Command children to reach [mode,submode] combination. Can be done by setting - * #commandsOutstanding correctly, or using #executeTable. + * #commandsOutstanding correctly, or using #executeTable. In case of an FDIR recovery, + * the user needs to ensure that the target devices are healthy. If a device is not healthy, + * a recovery might be on-going and the device needs to be commanded to off first. * @param mode * @param submode * @return From b6ed45a85cae1f1af83f352b4e6f8bb787743cb1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 17 Mar 2022 19:59:16 +0100 Subject: [PATCH 073/162] small form fix --- src/fsfw/fdir/FailureIsolationBase.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp index f576ecbd..c17cf624 100644 --- a/src/fsfw/fdir/FailureIsolationBase.cpp +++ b/src/fsfw/fdir/FailureIsolationBase.cpp @@ -52,7 +52,7 @@ ReturnValue_t FailureIsolationBase::initialize() { ObjectManager::instance()->get(faultTreeParent); if (parentIF == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "FailureIsolationBase::intialize: Parent object" + sif::error << "FailureIsolationBase::intialize: Parent object " << "invalid" << std::endl; sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl; #else From caf78835b2e4d5e69227e34b453f35bf64f7572c Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Thu, 17 Mar 2022 20:00:17 +0100 Subject: [PATCH 074/162] added -- operator --- src/fsfw/tmtcservices/SourceSequenceCounter.h | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/fsfw/tmtcservices/SourceSequenceCounter.h b/src/fsfw/tmtcservices/SourceSequenceCounter.h index 53547e08..6f2778a4 100644 --- a/src/fsfw/tmtcservices/SourceSequenceCounter.h +++ b/src/fsfw/tmtcservices/SourceSequenceCounter.h @@ -23,13 +23,15 @@ class SourceSequenceCounter { this->increment(); return *this; } + SourceSequenceCounter& operator--(int) { + this->decrement(); + return *this; + } SourceSequenceCounter& operator=(const uint16_t& newCount) { sequenceCount = newCount; return *this; } - operator uint16_t() { - return this->get(); - } + operator uint16_t() { return this->get(); } }; #endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */ From 927041209bdc4e2ffc6528d4083dbcc9d0ced098 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 21 Mar 2022 09:12:56 +0100 Subject: [PATCH 075/162] added override specifiers --- src/fsfw/subsystem/SubsystemBase.h | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h index 8cfd5be0..20507ce0 100644 --- a/src/fsfw/subsystem/SubsystemBase.h +++ b/src/fsfw/subsystem/SubsystemBase.h @@ -15,7 +15,9 @@ /** * @defgroup subsystems Subsystem Objects - * Contains all Subsystem and Assemblies + * All Subsystem and Assemblies can derive from this class. It contains helper classes to + * perform mode and health handling, which allows OBSW developers to build a mode tree for + * the whole satellite */ class SubsystemBase : public SystemObject, public HasModesIF, @@ -123,11 +125,11 @@ class SubsystemBase : public SystemObject, virtual void performChildOperation() = 0; virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode) = 0; + uint32_t *msToReachTheMode) override = 0; - virtual void startTransition(Mode_t mode, Submode_t submode) = 0; + virtual void startTransition(Mode_t mode, Submode_t submode) override = 0; - virtual void getMode(Mode_t *mode, Submode_t *submode); + virtual void getMode(Mode_t *mode, Submode_t *submode) override; virtual void setToExternalControl(); From d791fc87b7bba11c1baa68d544cd991028ff3330 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Mar 2022 15:49:04 +0100 Subject: [PATCH 076/162] some improvements for PowerSwitcher --- src/fsfw/power/PowerSwitchIF.h | 5 +++-- src/fsfw/power/PowerSwitcher.cpp | 17 +++++------------ src/fsfw/power/PowerSwitcher.h | 15 +++++++-------- src/fsfw/power/definitions.h | 13 +++++++++++++ 4 files changed, 28 insertions(+), 22 deletions(-) create mode 100644 src/fsfw/power/definitions.h diff --git a/src/fsfw/power/PowerSwitchIF.h b/src/fsfw/power/PowerSwitchIF.h index a31d8971..b2c0cb9b 100644 --- a/src/fsfw/power/PowerSwitchIF.h +++ b/src/fsfw/power/PowerSwitchIF.h @@ -1,6 +1,7 @@ #ifndef FSFW_POWER_POWERSWITCHIF_H_ #define FSFW_POWER_POWERSWITCHIF_H_ +#include "definitions.h" #include "../events/Event.h" #include "../returnvalues/HasReturnvaluesIF.h" /** @@ -37,7 +38,7 @@ class PowerSwitchIF : public HasReturnvaluesIF { * @param switchNr * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON */ - virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0; + virtual void sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) const = 0; /** * Sends a command to the Power Unit to enable a certain fuse. */ @@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF { * - @c SWITCH_OFF if the specified switch is off. * - @c RETURN_FAILED if an error occured */ - virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0; + virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0; /** * get state of a fuse. * @param fuseNr diff --git a/src/fsfw/power/PowerSwitcher.cpp b/src/fsfw/power/PowerSwitcher.cpp index 0a3f8521..4f8e6cbe 100644 --- a/src/fsfw/power/PowerSwitcher.cpp +++ b/src/fsfw/power/PowerSwitcher.cpp @@ -1,19 +1,12 @@ +#include "definitions.h" #include "fsfw/power/PowerSwitcher.h" #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" -PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2, - PowerSwitcher::State_t setStartState) - : state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {} - -ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) { - power = ObjectManager::instance()->get(powerSwitchId); - if (power == nullptr) { - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; -} +PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1, + power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState) + : power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {} ReturnValue_t PowerSwitcher::getStateOfSwitches() { SwitchReturn_t result = howManySwitches(); @@ -63,7 +56,7 @@ void PowerSwitcher::turnOff() { } PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() { - if (secondSwitch == NO_SWITCH) { + if (secondSwitch == power::NO_SWITCH) { return ONE_SWITCH; } else { return TWO_SWITCHES; diff --git a/src/fsfw/power/PowerSwitcher.h b/src/fsfw/power/PowerSwitcher.h index c72c241d..46e8d0fd 100644 --- a/src/fsfw/power/PowerSwitcher.h +++ b/src/fsfw/power/PowerSwitcher.h @@ -14,28 +14,27 @@ class PowerSwitcher : public HasReturnvaluesIF { SWITCH_IS_OFF, SWITCH_IS_ON, }; - State_t state; + static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER; static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1); static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2); - PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH, + PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH, State_t setStartState = SWITCH_IS_OFF); - ReturnValue_t initialize(object_id_t powerSwitchId); void turnOn(); void turnOff(); void doStateMachine(); State_t getState(); ReturnValue_t checkSwitchState(); uint32_t getSwitchDelay(); - uint8_t getFirstSwitch() const; - uint8_t getSecondSwitch() const; + power::Switch_t getFirstSwitch() const; + power::Switch_t getSecondSwitch() const; private: - uint8_t firstSwitch; - uint8_t secondSwitch; PowerSwitchIF* power = nullptr; + State_t state; + power::Switch_t firstSwitch = power::NO_SWITCH; + power::Switch_t secondSwitch = power::NO_SWITCH; - static const uint8_t NO_SWITCH = 0xFF; enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 }; ReturnValue_t getStateOfSwitches(); void commandSwitches(ReturnValue_t onOff); diff --git a/src/fsfw/power/definitions.h b/src/fsfw/power/definitions.h new file mode 100644 index 00000000..1e4fe296 --- /dev/null +++ b/src/fsfw/power/definitions.h @@ -0,0 +1,13 @@ +#ifndef FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ +#define FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ + +#include + +namespace power { + +using Switch_t = uint8_t; +static constexpr Switch_t NO_SWITCH = 0xFF; + +} + +#endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */ From 6dd6f28db0259ec37c351a81ee8d26696f47118a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Mar 2022 15:55:18 +0100 Subject: [PATCH 077/162] added active function --- src/fsfw/power/PowerSwitcher.cpp | 7 +++++++ src/fsfw/power/PowerSwitcher.h | 1 + 2 files changed, 8 insertions(+) diff --git a/src/fsfw/power/PowerSwitcher.cpp b/src/fsfw/power/PowerSwitcher.cpp index 4f8e6cbe..75273af0 100644 --- a/src/fsfw/power/PowerSwitcher.cpp +++ b/src/fsfw/power/PowerSwitcher.cpp @@ -55,6 +55,13 @@ void PowerSwitcher::turnOff() { state = WAIT_OFF; } +bool PowerSwitcher::active() { + if(state == WAIT_OFF or state == WAIT_ON) { + return true; + } + return false; +} + PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() { if (secondSwitch == power::NO_SWITCH) { return ONE_SWITCH; diff --git a/src/fsfw/power/PowerSwitcher.h b/src/fsfw/power/PowerSwitcher.h index 46e8d0fd..9c3302c7 100644 --- a/src/fsfw/power/PowerSwitcher.h +++ b/src/fsfw/power/PowerSwitcher.h @@ -22,6 +22,7 @@ class PowerSwitcher : public HasReturnvaluesIF { State_t setStartState = SWITCH_IS_OFF); void turnOn(); void turnOff(); + bool active(); void doStateMachine(); State_t getState(); ReturnValue_t checkSwitchState(); From 2823420c46410fe0ce8bd0c412835405a715e485 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Mar 2022 16:10:20 +0100 Subject: [PATCH 078/162] more docs --- src/fsfw/subsystem/Subsystem.h | 6 +++++- src/fsfw/subsystem/SubsystemBase.h | 8 +++++++- 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index 2c78c8cd..953bb682 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -12,8 +12,12 @@ #include "modes/ModeDefinitions.h" /** - * @brief TODO: documentation missing + * @brief This class extends the SubsystemBase to perform the management of mode tables + * and mode sequences * @details + * This class is able to use mode tables and sequences to command all its children into the + * right mode. Fallback sequences can be used to handle failed transitions or have a fallback + * in case a component can't keep its current mode. */ class Subsystem : public SubsystemBase, public HasModeSequenceIF { public: diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h index 20507ce0..0853ed6e 100644 --- a/src/fsfw/subsystem/SubsystemBase.h +++ b/src/fsfw/subsystem/SubsystemBase.h @@ -17,7 +17,12 @@ * @defgroup subsystems Subsystem Objects * All Subsystem and Assemblies can derive from this class. It contains helper classes to * perform mode and health handling, which allows OBSW developers to build a mode tree for - * the whole satellite + * the whole satellite. + * + * Aside from setting up a mode tree and being able to executing mode tables, this class does not + * provide an implementation on what to do with the features. To build a mode tree, helper classes + * like the #AssemblyBase or the #Subsystem class extend and use the functionality of the base + * class. */ class SubsystemBase : public SystemObject, public HasModesIF, @@ -98,6 +103,7 @@ class SubsystemBase : public SystemObject, Submode_t targetSubmode); /** + * This function takes care of sending all according mode commands specified inside a mode table. * We need to know the target Submode, as children are able to inherit the submode * Still, we have a default for all child implementations which do not use submode inheritance */ From bbe21e7e8957a39e6697c6dd4fb2fe044b560044 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Mar 2022 16:14:23 +0100 Subject: [PATCH 079/162] doc additions --- src/fsfw/devicehandlers/AssemblyBase.h | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/fsfw/devicehandlers/AssemblyBase.h b/src/fsfw/devicehandlers/AssemblyBase.h index ab5f2201..a6e6e3db 100644 --- a/src/fsfw/devicehandlers/AssemblyBase.h +++ b/src/fsfw/devicehandlers/AssemblyBase.h @@ -12,7 +12,8 @@ * Documentation: Dissertation Baetz p.156, 157. * * This class reduces the complexity of controller components which would - * otherwise be needed for the handling of redundant devices. + * otherwise be needed for the handling of redundant devices. However, it can also be used to + * manage the mode keeping and recovery of non-redundant devices * * The template class monitors mode and health state of its children * and checks availability of devices on every detected change. @@ -26,11 +27,9 @@ * * Important: * - * The implementation must call registerChild(object_id_t child) - * for all commanded children during initialization. + * The implementation must call #registerChild for all commanded children during initialization. * The implementation must call the initialization function of the base class. * (This will call the function in SubsystemBase) - * */ class AssemblyBase : public SubsystemBase { public: From 4b5e3e70f7eb65780b697a81ba95ecc2a74a8b84 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 22 Mar 2022 20:35:04 +0100 Subject: [PATCH 080/162] add option to directly check switch state --- src/fsfw/power/PowerSwitcher.cpp | 16 ++++++++++++++-- src/fsfw/power/PowerSwitcher.h | 4 ++-- 2 files changed, 16 insertions(+), 4 deletions(-) diff --git a/src/fsfw/power/PowerSwitcher.cpp b/src/fsfw/power/PowerSwitcher.cpp index 75273af0..83679772 100644 --- a/src/fsfw/power/PowerSwitcher.cpp +++ b/src/fsfw/power/PowerSwitcher.cpp @@ -45,12 +45,24 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) { return; } -void PowerSwitcher::turnOn() { +void PowerSwitcher::turnOn(bool checkCurrentState) { + if(checkCurrentState) { + if(getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) { + state = SWITCH_IS_ON; + return; + } + } commandSwitches(PowerSwitchIF::SWITCH_ON); state = WAIT_ON; } -void PowerSwitcher::turnOff() { +void PowerSwitcher::turnOff(bool checkCurrentState) { + if(checkCurrentState) { + if(getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) { + state = SWITCH_IS_OFF; + return; + } + } commandSwitches(PowerSwitchIF::SWITCH_OFF); state = WAIT_OFF; } diff --git a/src/fsfw/power/PowerSwitcher.h b/src/fsfw/power/PowerSwitcher.h index 9c3302c7..853bbb40 100644 --- a/src/fsfw/power/PowerSwitcher.h +++ b/src/fsfw/power/PowerSwitcher.h @@ -20,8 +20,8 @@ class PowerSwitcher : public HasReturnvaluesIF { static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2); PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH, State_t setStartState = SWITCH_IS_OFF); - void turnOn(); - void turnOff(); + void turnOn(bool checkCurrentState = true); + void turnOff(bool checkCurrentState = true); bool active(); void doStateMachine(); State_t getState(); From b52f19254b8072a32203eaab91ea3c65b513ba7e Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Mon, 28 Mar 2022 09:12:29 +0200 Subject: [PATCH 081/162] class to abstract gpio handling --- hal/src/fsfw_hal/linux/gpio/Gpio.h | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 hal/src/fsfw_hal/linux/gpio/Gpio.h diff --git a/hal/src/fsfw_hal/linux/gpio/Gpio.h b/hal/src/fsfw_hal/linux/gpio/Gpio.h new file mode 100644 index 00000000..2ffe2146 --- /dev/null +++ b/hal/src/fsfw_hal/linux/gpio/Gpio.h @@ -0,0 +1,30 @@ +#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ +#define FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ + +#include "fsfw_hal/common/gpio/GpioIF.h" +#include "fsfw_hal/common/gpio/gpioDefinitions.h" + +/** + * @brief Additional abstraction layer for handling GPIOs. + * + * @author J. Meier + */ +class Gpio { + public: + Gpio(gpioId_t gpioId, GpioIF* gpioIF) : gpioId(gpioId), gpioIF(gpioIF) { + if (gpioIF == nullptr) { + sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl; + } + } + ReturnValue_t pullHigh() { + return gpioIF->pullHigh(gpioId); + } + ReturnValue_t pullLow() { + return gpioIF->pullLow(gpioId); + } + private: + gpioId_t gpioId = gpio::NO_GPIO; + GpioIF* gpioIF = nullptr; +}; + +#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ */ From 6ea1eabb2dd3688f2c7db484cd141f15c9f4fe49 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Mar 2022 12:21:25 +0200 Subject: [PATCH 082/162] small order change in DHB --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 18f8a2f7..742fe6f9 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -361,14 +361,12 @@ void DeviceHandlerBase::doStateMachine() { } } break; case _MODE_WAIT_OFF: { - uint32_t currentUptime; - Clock::getUptime(¤tUptime); - if (powerSwitcher == nullptr) { setMode(MODE_OFF); break; } - + uint32_t currentUptime; + Clock::getUptime(¤tUptime); if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) { triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0); setMode(MODE_ERROR_ON); From 60972228ef7f8a3efaa192e857e409ea80b77efb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Mar 2022 12:47:09 +0200 Subject: [PATCH 083/162] reworked power switch interface --- src/fsfw/power/CMakeLists.txt | 12 ++++---- src/fsfw/power/DummyPowerSwitcher.cpp | 42 +++++++++++++++++++++++++++ src/fsfw/power/DummyPowerSwitcher.h | 31 ++++++++++++++++++++ src/fsfw/power/PowerSwitchIF.h | 4 +-- 4 files changed, 81 insertions(+), 8 deletions(-) create mode 100644 src/fsfw/power/DummyPowerSwitcher.cpp create mode 100644 src/fsfw/power/DummyPowerSwitcher.h diff --git a/src/fsfw/power/CMakeLists.txt b/src/fsfw/power/CMakeLists.txt index 1c625db1..10e4a44d 100644 --- a/src/fsfw/power/CMakeLists.txt +++ b/src/fsfw/power/CMakeLists.txt @@ -1,7 +1,7 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - Fuse.cpp - PowerComponent.cpp - PowerSensor.cpp - PowerSwitcher.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + Fuse.cpp + PowerComponent.cpp + PowerSensor.cpp + PowerSwitcher.cpp + DummyPowerSwitcher.cpp ) \ No newline at end of file diff --git a/src/fsfw/power/DummyPowerSwitcher.cpp b/src/fsfw/power/DummyPowerSwitcher.cpp new file mode 100644 index 00000000..fe900e72 --- /dev/null +++ b/src/fsfw/power/DummyPowerSwitcher.cpp @@ -0,0 +1,42 @@ +#include "DummyPowerSwitcher.h" + +DummyPowerSwitcher::DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs) +: switcherList(numberOfSwitches), fuseList(numberOfFuses), switchDelayMs(switchDelayMs) { +} + +void DummyPowerSwitcher::setInitialSwitcherList(std::vector switcherList) { + this->switcherList = switcherList; +} + +void DummyPowerSwitcher::setInitialFusesList(std::vector fuseList) { + this->fuseList = fuseList; +} + +ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) { + if (switchNr < switcherList.capacity()) { + switcherList[switchNr] = onOff; + } + return RETURN_FAILED; +} + +ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) { + if(fuseNr < fuseList.capacity()) { + fuseList[fuseNr] = FUSE_ON; + } + return RETURN_FAILED; +} + +ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const { + if (switchNr < switcherList.capacity()) { + return switcherList[switchNr]; + } + return HasReturnvaluesIF::RETURN_FAILED; +} + +ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const { + return RETURN_OK; +} + +uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { + return 5000; +} diff --git a/src/fsfw/power/DummyPowerSwitcher.h b/src/fsfw/power/DummyPowerSwitcher.h new file mode 100644 index 00000000..39de608d --- /dev/null +++ b/src/fsfw/power/DummyPowerSwitcher.h @@ -0,0 +1,31 @@ +#ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ +#define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ + +#include "PowerSwitchIF.h" +#include "definitions.h" + +#include +#include + +class DummyPowerSwitcher: public PowerSwitchIF { +public: + DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs = 5000); + + void setInitialSwitcherList(std::vector switcherList); + void setInitialFusesList(std::vector switcherList); + + virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override; + virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override; + virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const override; + virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override; + virtual uint32_t getSwitchDelayMs(void) const override; + +private: + std::vector switcherList; + std::vector fuseList; + uint32_t switchDelayMs = 5000; +}; + + + +#endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */ diff --git a/src/fsfw/power/PowerSwitchIF.h b/src/fsfw/power/PowerSwitchIF.h index b2c0cb9b..71c5523d 100644 --- a/src/fsfw/power/PowerSwitchIF.h +++ b/src/fsfw/power/PowerSwitchIF.h @@ -38,11 +38,11 @@ class PowerSwitchIF : public HasReturnvaluesIF { * @param switchNr * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON */ - virtual void sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) const = 0; + virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) = 0; /** * Sends a command to the Power Unit to enable a certain fuse. */ - virtual void sendFuseOnCommand(uint8_t fuseNr) const = 0; + virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) = 0; /** * get the state of the Switches. From 79f3c7324a3db5a6d36b19ac41b5eb158a723c50 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Mar 2022 12:59:32 +0200 Subject: [PATCH 084/162] tweaks for dummy power switcher --- src/fsfw/power/DummyPowerSwitcher.cpp | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/fsfw/power/DummyPowerSwitcher.cpp b/src/fsfw/power/DummyPowerSwitcher.cpp index fe900e72..4f18901d 100644 --- a/src/fsfw/power/DummyPowerSwitcher.cpp +++ b/src/fsfw/power/DummyPowerSwitcher.cpp @@ -1,8 +1,8 @@ #include "DummyPowerSwitcher.h" -DummyPowerSwitcher::DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs) -: switcherList(numberOfSwitches), fuseList(numberOfFuses), switchDelayMs(switchDelayMs) { -} +DummyPowerSwitcher::DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, + uint32_t switchDelayMs) + : switcherList(numberOfSwitches), fuseList(numberOfFuses), switchDelayMs(switchDelayMs) {} void DummyPowerSwitcher::setInitialSwitcherList(std::vector switcherList) { this->switcherList = switcherList; @@ -20,7 +20,7 @@ ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, Re } ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) { - if(fuseNr < fuseList.capacity()) { + if (fuseNr < fuseList.capacity()) { fuseList[fuseNr] = FUSE_ON; } return RETURN_FAILED; @@ -34,9 +34,10 @@ ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const } ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const { - return RETURN_OK; + if (fuseNr < fuseList.capacity()) { + return fuseList[fuseNr]; + } + return HasReturnvaluesIF::RETURN_FAILED; } -uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { - return 5000; -} +uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const { return switchDelayMs; } From 3ea9f999b746963efad591517e80ccd904cb051f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 28 Mar 2022 12:59:51 +0200 Subject: [PATCH 085/162] apply auto-formatter --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 11 ++-- src/fsfw/devicehandlers/DeviceHandlerBase.h | 4 +- src/fsfw/power/DummyPowerSwitcher.h | 14 +++--- src/fsfw/power/PowerSwitchIF.h | 2 +- src/fsfw/power/PowerSwitcher.cpp | 12 ++--- src/fsfw/power/definitions.h | 2 +- src/fsfw/version.cpp | 3 +- src/fsfw/version.h | 2 +- tests/src/fsfw_tests/unit/version.cpp | 50 +++++++++---------- 9 files changed, 51 insertions(+), 49 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 742fe6f9..453ae8ac 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -125,13 +125,14 @@ ReturnValue_t DeviceHandlerBase::initialize() { return result; } if (this->fdirInstance == nullptr) { - this->fdirInstance = new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId); + this->fdirInstance = + new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId); } - if(this->parent != objects::NO_OBJECT) { + if (this->parent != objects::NO_OBJECT) { HasModesIF* modeIF = ObjectManager::instance()->get(this->parent); HasHealthIF* healthIF = ObjectManager::instance()->get(this->parent); - if(modeIF != nullptr and healthIF != nullptr) { + if (modeIF != nullptr and healthIF != nullptr) { setParentQueue(modeIF->getCommandQueue()); } } @@ -1505,4 +1506,6 @@ void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirIn void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; } -void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { this->powerSwitcher = switcher; } +void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { + this->powerSwitcher = switcher; +} diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index a8de34eb..69711bff 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -103,9 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF, DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie, FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20); - void setCustomFdir(FailureIsolationBase* fdir); + void setCustomFdir(FailureIsolationBase *fdir); void setParent(object_id_t parent); - void setPowerSwitcher(PowerSwitchIF* switcher); + void setPowerSwitcher(PowerSwitchIF *switcher); void setHkDestination(object_id_t hkDestination); /** diff --git a/src/fsfw/power/DummyPowerSwitcher.h b/src/fsfw/power/DummyPowerSwitcher.h index 39de608d..3582f8d7 100644 --- a/src/fsfw/power/DummyPowerSwitcher.h +++ b/src/fsfw/power/DummyPowerSwitcher.h @@ -1,14 +1,14 @@ #ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ #define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ +#include +#include + #include "PowerSwitchIF.h" #include "definitions.h" -#include -#include - -class DummyPowerSwitcher: public PowerSwitchIF { -public: +class DummyPowerSwitcher : public PowerSwitchIF { + public: DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs = 5000); void setInitialSwitcherList(std::vector switcherList); @@ -20,12 +20,10 @@ public: virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override; virtual uint32_t getSwitchDelayMs(void) const override; -private: + private: std::vector switcherList; std::vector fuseList; uint32_t switchDelayMs = 5000; }; - - #endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */ diff --git a/src/fsfw/power/PowerSwitchIF.h b/src/fsfw/power/PowerSwitchIF.h index 71c5523d..bc883fbc 100644 --- a/src/fsfw/power/PowerSwitchIF.h +++ b/src/fsfw/power/PowerSwitchIF.h @@ -1,9 +1,9 @@ #ifndef FSFW_POWER_POWERSWITCHIF_H_ #define FSFW_POWER_POWERSWITCHIF_H_ -#include "definitions.h" #include "../events/Event.h" #include "../returnvalues/HasReturnvaluesIF.h" +#include "definitions.h" /** * * @brief This interface defines a connection to a device that is capable of diff --git a/src/fsfw/power/PowerSwitcher.cpp b/src/fsfw/power/PowerSwitcher.cpp index 83679772..7608c6e7 100644 --- a/src/fsfw/power/PowerSwitcher.cpp +++ b/src/fsfw/power/PowerSwitcher.cpp @@ -1,6 +1,6 @@ -#include "definitions.h" #include "fsfw/power/PowerSwitcher.h" +#include "definitions.h" #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" @@ -46,8 +46,8 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) { } void PowerSwitcher::turnOn(bool checkCurrentState) { - if(checkCurrentState) { - if(getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) { + if (checkCurrentState) { + if (getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) { state = SWITCH_IS_ON; return; } @@ -57,8 +57,8 @@ void PowerSwitcher::turnOn(bool checkCurrentState) { } void PowerSwitcher::turnOff(bool checkCurrentState) { - if(checkCurrentState) { - if(getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) { + if (checkCurrentState) { + if (getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) { state = SWITCH_IS_OFF; return; } @@ -68,7 +68,7 @@ void PowerSwitcher::turnOff(bool checkCurrentState) { } bool PowerSwitcher::active() { - if(state == WAIT_OFF or state == WAIT_ON) { + if (state == WAIT_OFF or state == WAIT_ON) { return true; } return false; diff --git a/src/fsfw/power/definitions.h b/src/fsfw/power/definitions.h index 1e4fe296..ed2a0037 100644 --- a/src/fsfw/power/definitions.h +++ b/src/fsfw/power/definitions.h @@ -8,6 +8,6 @@ namespace power { using Switch_t = uint8_t; static constexpr Switch_t NO_SWITCH = 0xFF; -} +} // namespace power #endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */ 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 a230dc43134fa99378c2d919728bbbdc3bd68e9e Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Wed, 30 Mar 2022 09:20:46 +0200 Subject: [PATCH 086/162] command action default arguments --- src/fsfw/action/CommandActionHelper.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/fsfw/action/CommandActionHelper.h b/src/fsfw/action/CommandActionHelper.h index dd8ad7f1..f0eac6d9 100644 --- a/src/fsfw/action/CommandActionHelper.h +++ b/src/fsfw/action/CommandActionHelper.h @@ -16,9 +16,10 @@ class CommandActionHelper { public: CommandActionHelper(CommandsActionsIF* owner); virtual ~CommandActionHelper(); - ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data, - uint32_t size); - ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data); + ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, + const uint8_t* data = nullptr, uint32_t size = 0); + ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, + SerializeIF* data); ReturnValue_t initialize(); ReturnValue_t handleReply(CommandMessage* reply); uint8_t getCommandCount() const; From 532607bf8f0e5b62788e5fb8a33ef5ae3a29aeb5 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Wed, 30 Mar 2022 09:21:03 +0200 Subject: [PATCH 087/162] extended command info --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 12 +++++++++--- src/fsfw/devicehandlers/DeviceHandlerBase.h | 6 +++++- 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 18f8a2f7..91ece6b4 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -419,7 +419,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap( DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) { // No need to check, as we may try to insert multiple times. - insertInCommandMap(deviceCommand); + insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId); if (hasDifferentReplyId) { return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic); } else { @@ -446,11 +446,15 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId, } } -ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) { +ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand, + bool useAlternativeReply, + DeviceCommandId_t alternativeReplyId) { DeviceCommandInfo info; info.expectedReplies = 0; info.isExecuting = false; info.sendReplyTo = NO_COMMANDER; + info.useAlternativeReplyId = alternativeReplyId; + info.alternativeReplyId = alternativeReplyId; auto resultPair = deviceCommandMap.emplace(deviceCommand, info); if (resultPair.second) { return RETURN_OK; @@ -660,7 +664,9 @@ void DeviceHandlerBase::doGetWrite() { // We need to distinguish here, because a raw command never expects a reply. //(Could be done in eRIRM, but then child implementations need to be careful. - result = enableReplyInReplyMap(cookieInfo.pendingCommand); + DeviceCommandMap::iterator command = cookieInfo.pendingCommand; + result = enableReplyInReplyMap(command, 1, command->second.useAlternativeReplyId, + command->second.alternativeReplyId); } else { // always generate a failure event, so that FDIR knows what's up triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, cookieInfo.pendingCommand->first); diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index a8de34eb..c9bb1aac 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -481,7 +481,9 @@ class DeviceHandlerBase : public DeviceHandlerIF, * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ - ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand); + ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand, + bool useAlternativeReply = false, + DeviceCommandId_t alternativeReplyId = 0); /** * Enables a periodic reply for a given command. It sets to delay cycles to the specified @@ -760,6 +762,8 @@ class DeviceHandlerBase : public DeviceHandlerIF, //! if this is != NO_COMMANDER, DHB was commanded externally and shall //! report everything to commander. MessageQueueId_t sendReplyTo; + bool useAlternativeReplyId; + DeviceCommandId_t alternativeReplyId; }; using DeviceCommandMap = std::map; /** From 29cf8c9009d1bbdc67512c35b2d161fe13659c34 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Thu, 31 Mar 2022 11:42:39 +0200 Subject: [PATCH 088/162] fix in getReplyLength --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 91ece6b4..6ae53f8c 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -464,12 +464,21 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm } size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) { - DeviceReplyIter iter = deviceReplyMap.find(commandId); - if (iter != deviceReplyMap.end()) { - return iter->second.replyLen; - } else { - return 0; + DeviceCommandId_t replyId = NO_COMMAND_ID; + DeviceCommandMap::iterator command = cookieInfo.pendingCommand; + if (command->second.useAlternativeReplyId) { + replyId = command->second.alternativeReplyId; } + else { + replyId = commandId; + } + DeviceReplyIter iter = deviceReplyMap.find(replyId); + if (iter != deviceReplyMap.end()) { + if (iter->second.delayCycles != 0) { + return iter->second.replyLen; + } + } + return 0; } ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply, From 1bc7a918694030d1f49f1d2998a289d77b132849 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 1 Apr 2022 14:08:29 +0200 Subject: [PATCH 089/162] apply auto-formatter --- hal/src/fsfw_hal/linux/gpio/Gpio.h | 15 ++++++--------- src/fsfw/action/CommandActionHelper.h | 3 +-- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 13 ++++++------- 3 files changed, 13 insertions(+), 18 deletions(-) diff --git a/hal/src/fsfw_hal/linux/gpio/Gpio.h b/hal/src/fsfw_hal/linux/gpio/Gpio.h index 2ffe2146..40cc1df5 100644 --- a/hal/src/fsfw_hal/linux/gpio/Gpio.h +++ b/hal/src/fsfw_hal/linux/gpio/Gpio.h @@ -12,16 +12,13 @@ class Gpio { public: Gpio(gpioId_t gpioId, GpioIF* gpioIF) : gpioId(gpioId), gpioIF(gpioIF) { - if (gpioIF == nullptr) { - sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl; - } - } - ReturnValue_t pullHigh() { - return gpioIF->pullHigh(gpioId); - } - ReturnValue_t pullLow() { - return gpioIF->pullLow(gpioId); + if (gpioIF == nullptr) { + sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl; + } } + ReturnValue_t pullHigh() { return gpioIF->pullHigh(gpioId); } + ReturnValue_t pullLow() { return gpioIF->pullLow(gpioId); } + private: gpioId_t gpioId = gpio::NO_GPIO; GpioIF* gpioIF = nullptr; diff --git a/src/fsfw/action/CommandActionHelper.h b/src/fsfw/action/CommandActionHelper.h index f0eac6d9..3b8acb04 100644 --- a/src/fsfw/action/CommandActionHelper.h +++ b/src/fsfw/action/CommandActionHelper.h @@ -18,8 +18,7 @@ class CommandActionHelper { virtual ~CommandActionHelper(); ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data = nullptr, uint32_t size = 0); - ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, - SerializeIF* data); + ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data); ReturnValue_t initialize(); ReturnValue_t handleReply(CommandMessage* reply); uint8_t getCommandCount() const; diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 12473590..b0a5d1f0 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -466,16 +466,15 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) { DeviceCommandId_t replyId = NO_COMMAND_ID; DeviceCommandMap::iterator command = cookieInfo.pendingCommand; if (command->second.useAlternativeReplyId) { - replyId = command->second.alternativeReplyId; - } - else { - replyId = commandId; + replyId = command->second.alternativeReplyId; + } else { + replyId = commandId; } DeviceReplyIter iter = deviceReplyMap.find(replyId); if (iter != deviceReplyMap.end()) { - if (iter->second.delayCycles != 0) { - return iter->second.replyLen; - } + if (iter->second.delayCycles != 0) { + return iter->second.replyLen; + } } return 0; } From 518666f8221cc65d34407062b3037e7d5322b24a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 1 Apr 2022 17:01:56 +0200 Subject: [PATCH 090/162] add power switcher component --- src/fsfw/power/CMakeLists.txt | 1 + src/fsfw/power/PowerSwitcherComponent.cpp | 108 ++++++++++++++++++++++ src/fsfw/power/PowerSwitcherComponent.h | 64 +++++++++++++ 3 files changed, 173 insertions(+) create mode 100644 src/fsfw/power/PowerSwitcherComponent.cpp create mode 100644 src/fsfw/power/PowerSwitcherComponent.h diff --git a/src/fsfw/power/CMakeLists.txt b/src/fsfw/power/CMakeLists.txt index 10e4a44d..e195b1c0 100644 --- a/src/fsfw/power/CMakeLists.txt +++ b/src/fsfw/power/CMakeLists.txt @@ -4,4 +4,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE PowerSensor.cpp PowerSwitcher.cpp DummyPowerSwitcher.cpp + PowerSwitcherComponent.cpp ) \ No newline at end of file diff --git a/src/fsfw/power/PowerSwitcherComponent.cpp b/src/fsfw/power/PowerSwitcherComponent.cpp new file mode 100644 index 00000000..5dda02c3 --- /dev/null +++ b/src/fsfw/power/PowerSwitcherComponent.cpp @@ -0,0 +1,108 @@ +#include "PowerSwitcherComponent.h" + +#include +#include + +PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t pwrSwitch) + : SystemObject(objectId), switcher(pwrSwitcher, pwrSwitch), modeHelper(this), + healthHelper(this, objectId) { + queue = QueueFactory::instance()->createMessageQueue(); +} + +ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) { + ReturnValue_t result; + CommandMessage command; + + for (result = queue->receiveMessage(&command); result == RETURN_OK; + result = queue->receiveMessage(&command)) { + result = healthHelper.handleHealthCommand(&command); + if (result == RETURN_OK) { + continue; + } + + result = modeHelper.handleModeCommand(&command); + if (result == RETURN_OK) { + continue; + } + } + if(switcher.active()) { + switcher.doStateMachine(); + auto currState = switcher.getState(); + if (currState == PowerSwitcher::SWITCH_IS_OFF) { + setMode(MODE_OFF, 0); + } else if(currState == PowerSwitcher::SWITCH_IS_ON) { + setMode(MODE_ON, 0); + } + } + return RETURN_OK; +} + +ReturnValue_t PowerSwitcherComponent::initialize() { + ReturnValue_t result = modeHelper.initialize(); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + result = healthHelper.initialize(); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + return SystemObject::initialize(); +} + +MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const { + return queue->getId(); +} + +void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) { + *mode = this->mode; + *submode = this->submode; +} + +ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) { + healthHelper.setHealth(health); + return RETURN_OK; +} + +ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode, + uint32_t *msToReachTheMode) { + *msToReachTheMode = 5000; + if(mode != MODE_ON and mode != MODE_OFF) { + return TRANS_NOT_ALLOWED; + } + return RETURN_OK; +} + +void PowerSwitcherComponent::startTransition(Mode_t mode, Submode_t submode) { + if(mode == MODE_OFF) { + switcher.turnOff(true); + switcher.doStateMachine(); + if(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) { + setMode(MODE_OFF, 0); + } + } else if (mode == MODE_ON) { + switcher.turnOn(true); + switcher.doStateMachine(); + if(switcher.getState() == PowerSwitcher::SWITCH_IS_ON) { + setMode(MODE_ON, 0); + } + } +} + +void PowerSwitcherComponent::setToExternalControl() { + healthHelper.setHealth(HasHealthIF::EXTERNAL_CONTROL); +} + +void PowerSwitcherComponent::announceMode(bool recursive) { + triggerEvent(MODE_INFO, mode, submode); +} + +void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) { + this->mode = newMode; + this->submode = newSubmode; + modeHelper.modeChanged(mode, submode); + announceMode(false); +} + +HasHealthIF::HealthState PowerSwitcherComponent::getHealth() { + return healthHelper.getHealth(); +} diff --git a/src/fsfw/power/PowerSwitcherComponent.h b/src/fsfw/power/PowerSwitcherComponent.h new file mode 100644 index 00000000..3a075c12 --- /dev/null +++ b/src/fsfw/power/PowerSwitcherComponent.h @@ -0,0 +1,64 @@ +#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ +#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ + +#include +#include +#include +#include +#include +#include +#include +#include + +class PowerSwitchIF; + +/** + * @brief Allows to create an power switch object with its own mode and health + * @details + * This basic component allows to create an object which is solely responsible for managing a + * switch. It also has a mode and a health by implementing the respective interface components + * which allows integrating this component into a system mode tree. + * + * Commanding this component to MODE_OFF will cause the switcher to turn the switch off while + * commanding in to MODE_ON will cause the switcher to turn the switch on. + */ +class PowerSwitcherComponent: + public SystemObject, + public HasReturnvaluesIF, + public ExecutableObjectIF, + public HasModesIF, + public HasHealthIF { +public: + PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher, + power::Switch_t pwrSwitch); + +private: + + MessageQueueIF* queue = nullptr; + PowerSwitcher switcher; + + Mode_t mode = MODE_OFF; + Submode_t submode = 0; + + ModeHelper modeHelper; + HealthHelper healthHelper; + + void setMode(Mode_t newMode, Submode_t newSubmode); + + virtual ReturnValue_t performOperation(uint8_t opCode) override; + + ReturnValue_t initialize() override; + + MessageQueueId_t getCommandQueue() const override; + void getMode(Mode_t *mode, Submode_t *submode) override; + ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, + uint32_t *msToReachTheMode) override; + void startTransition(Mode_t mode, Submode_t submode) override; + void setToExternalControl() override; + void announceMode(bool recursive) override; + + ReturnValue_t setHealth(HealthState health) override; + HasHealthIF::HealthState getHealth() override; +}; + +#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */ From 761a0c9bac4ba94e88eb285eecf88ca9665b5eab Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 4 Apr 2022 15:39:02 +0200 Subject: [PATCH 091/162] new pool ctor which only takes len --- src/fsfw/datapool/PoolEntry.cpp | 14 ++++++++++---- src/fsfw/datapool/PoolEntry.h | 5 ++++- 2 files changed, 14 insertions(+), 5 deletions(-) diff --git a/src/fsfw/datapool/PoolEntry.cpp b/src/fsfw/datapool/PoolEntry.cpp index fd110e6c..d8e1d634 100644 --- a/src/fsfw/datapool/PoolEntry.cpp +++ b/src/fsfw/datapool/PoolEntry.cpp @@ -7,13 +7,19 @@ #include "fsfw/serviceinterface/ServiceInterface.h" template -PoolEntry::PoolEntry(std::initializer_list initValue, bool setValid) - : length(static_cast(initValue.size())), valid(setValid) { +PoolEntry::PoolEntry(uint8_t len, bool setValid): length(len), valid(setValid) { this->address = new T[this->length]; - if (initValue.size() == 0) { + std::memset(this->address, 0, this->getByteSize()); +} + +template +PoolEntry::PoolEntry(std::initializer_list initValues, bool setValid) + : length(static_cast(initValues.size())), valid(setValid) { + this->address = new T[this->length]; + if (initValues.size() == 0) { std::memset(this->address, 0, this->getByteSize()); } else { - std::copy(initValue.begin(), initValue.end(), this->address); + std::copy(initValues.begin(), initValues.end(), this->address); } } diff --git a/src/fsfw/datapool/PoolEntry.h b/src/fsfw/datapool/PoolEntry.h index d3d80f09..8bf9a41c 100644 --- a/src/fsfw/datapool/PoolEntry.h +++ b/src/fsfw/datapool/PoolEntry.h @@ -33,6 +33,9 @@ class PoolEntry : public PoolEntryIF { "instead! The ECSS standard defines a boolean as a one bit " "field. Therefore it is preferred to store a boolean as an " "uint8_t"); + + PoolEntry(uint8_t len = 1, bool setValid = false); + /** * @brief In the classe's constructor, space is allocated on the heap and * potential initialization values are copied to that space. @@ -49,7 +52,7 @@ class PoolEntry : public PoolEntryIF { * @param setValid * Sets the initialization flag. It is invalid by default. */ - PoolEntry(std::initializer_list initValue = {0}, bool setValid = false); + PoolEntry(std::initializer_list initValue, bool setValid = false); /** * @brief In the classe's constructor, space is allocated on the heap and From e4c6a69f776cd8056985ce56ba6528bd842a1ea8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 4 Apr 2022 15:44:03 +0200 Subject: [PATCH 092/162] this should also zero-init the pool entries --- src/fsfw/datapool/PoolEntry.cpp | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/src/fsfw/datapool/PoolEntry.cpp b/src/fsfw/datapool/PoolEntry.cpp index d8e1d634..7e922bcb 100644 --- a/src/fsfw/datapool/PoolEntry.cpp +++ b/src/fsfw/datapool/PoolEntry.cpp @@ -8,17 +8,15 @@ template PoolEntry::PoolEntry(uint8_t len, bool setValid): length(len), valid(setValid) { - this->address = new T[this->length]; + this->address = new T[this->length](); std::memset(this->address, 0, this->getByteSize()); } template PoolEntry::PoolEntry(std::initializer_list initValues, bool setValid) : length(static_cast(initValues.size())), valid(setValid) { - this->address = new T[this->length]; - if (initValues.size() == 0) { - std::memset(this->address, 0, this->getByteSize()); - } else { + this->address = new T[this->length](); + if (initValues.size() > 0) { std::copy(initValues.begin(), initValues.end(), this->address); } } @@ -26,11 +24,9 @@ PoolEntry::PoolEntry(std::initializer_list initValues, bool setValid) template PoolEntry::PoolEntry(T* initValue, uint8_t setLength, bool setValid) : length(setLength), valid(setValid) { - this->address = new T[this->length]; + this->address = new T[this->length](); if (initValue != nullptr) { std::memcpy(this->address, initValue, this->getByteSize()); - } else { - std::memset(this->address, 0, this->getByteSize()); } } From aded4fae1e4f8a8a325c49b8c0d4bb4d7408d676 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 4 Apr 2022 20:34:31 +0200 Subject: [PATCH 093/162] printout improvement --- src/fsfw/pus/Service3Housekeeping.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw/pus/Service3Housekeeping.cpp b/src/fsfw/pus/Service3Housekeeping.cpp index 07574783..cce8fc91 100644 --- a/src/fsfw/pus/Service3Housekeeping.cpp +++ b/src/fsfw/pus/Service3Housekeeping.cpp @@ -214,11 +214,11 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply, default: #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Service3Housekeeping::handleReply: Invalid reply with " - << "reply command " << command << "!" << std::endl; + << "reply command " << command << std::endl; #else sif::printWarning( "Service3Housekeeping::handleReply: Invalid reply with " - "reply command %hu!\n", + "reply command %hu\n", command); #endif return CommandingServiceBase::INVALID_REPLY; From 0677de39aa4c20e8ee1c066909818d2dfffcbc2a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 7 Apr 2022 00:15:42 +0200 Subject: [PATCH 094/162] make reporting setter public --- src/fsfw/datapoollocal/LocalPoolDataSetBase.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/datapoollocal/LocalPoolDataSetBase.h b/src/fsfw/datapoollocal/LocalPoolDataSetBase.h index 17cf8be2..9166cf34 100644 --- a/src/fsfw/datapoollocal/LocalPoolDataSetBase.h +++ b/src/fsfw/datapoollocal/LocalPoolDataSetBase.h @@ -162,6 +162,7 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF { object_id_t getCreatorObjectId(); bool getReportingEnabled() const; + void setReportingEnabled(bool enabled); /** * Returns the current periodic HK generation interval this set @@ -189,7 +190,6 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF { * Used for periodic generation. */ bool reportingEnabled = false; - void setReportingEnabled(bool enabled); void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval, uint8_t nonDiagIntervalFactor = 5); From e3ffcae3e09a9ef674383b9a93a101676b0f575e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 7 Apr 2022 11:01:39 +0200 Subject: [PATCH 095/162] emit warning in linux clock --- src/fsfw/osal/linux/Clock.cpp | 21 +++++++++++++++++---- 1 file changed, 17 insertions(+), 4 deletions(-) diff --git a/src/fsfw/osal/linux/Clock.cpp b/src/fsfw/osal/linux/Clock.cpp index 61eb970f..9b8fcb65 100644 --- a/src/fsfw/osal/linux/Clock.cpp +++ b/src/fsfw/osal/linux/Clock.cpp @@ -1,4 +1,5 @@ #include "fsfw/timemanager/Clock.h" +#include "fsfw/serviceinterface/ServiceInterface.h" #include #include @@ -7,12 +8,13 @@ #include #include - -#include "fsfw/serviceinterface/ServiceInterface.h" +#include uint16_t Clock::leapSeconds = 0; MutexIF* Clock::timeMutex = NULL; +void handleClockError(); + uint32_t Clock::getTicksPerSecond(void) { uint32_t ticks = sysconf(_SC_CLK_TCK); return ticks; @@ -27,7 +29,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) { int status = clock_settime(CLOCK_REALTIME, &timeUnix); if (status != 0) { - // TODO errno + handleClockError(); return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; @@ -39,12 +41,23 @@ ReturnValue_t Clock::setClock(const timeval* time) { timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000; int status = clock_settime(CLOCK_REALTIME, &timeUnix); if (status != 0) { - // TODO errno + handleClockError(); return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; } +void handleClockError() { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "Clock::setClock: Failed with code " << errno << ": " << strerror(errno) + << std::endl; +#else + sif::printWarning("Clock::setClock: Failed with code %d: %s\n", errno, strerror(errno)); +#endif +#endif +} + ReturnValue_t Clock::getClock_timeval(timeval* time) { timespec timeUnix; int status = clock_gettime(CLOCK_REALTIME, &timeUnix); From 5bda877d97b41e82bf36d939c9f367cef611446a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 7 Apr 2022 17:23:06 +0200 Subject: [PATCH 096/162] improve clock error handler --- src/fsfw/osal/linux/Clock.cpp | 30 ++++++++++++++++-------------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/src/fsfw/osal/linux/Clock.cpp b/src/fsfw/osal/linux/Clock.cpp index 9b8fcb65..dd11ee34 100644 --- a/src/fsfw/osal/linux/Clock.cpp +++ b/src/fsfw/osal/linux/Clock.cpp @@ -13,7 +13,7 @@ uint16_t Clock::leapSeconds = 0; MutexIF* Clock::timeMutex = NULL; -void handleClockError(); +void handleClockError(const char* func); uint32_t Clock::getTicksPerSecond(void) { uint32_t ticks = sysconf(_SC_CLK_TCK); @@ -29,7 +29,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) { int status = clock_settime(CLOCK_REALTIME, &timeUnix); if (status != 0) { - handleClockError(); + handleClockError("setClock"); return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; @@ -41,27 +41,17 @@ ReturnValue_t Clock::setClock(const timeval* time) { timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000; int status = clock_settime(CLOCK_REALTIME, &timeUnix); if (status != 0) { - handleClockError(); + handleClockError("setClock"); return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; } -void handleClockError() { -#if FSFW_VERBOSE_LEVEL >= 1 -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "Clock::setClock: Failed with code " << errno << ": " << strerror(errno) - << std::endl; -#else - sif::printWarning("Clock::setClock: Failed with code %d: %s\n", errno, strerror(errno)); -#endif -#endif -} - ReturnValue_t Clock::getClock_timeval(timeval* time) { timespec timeUnix; int status = clock_gettime(CLOCK_REALTIME, &timeUnix); if (status != 0) { + handleClockError("getClock_timeval"); return HasReturnvaluesIF::RETURN_FAILED; } time->tv_sec = timeUnix.tv_sec; @@ -164,3 +154,15 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) { *JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.; return HasReturnvaluesIF::RETURN_OK; } + + +void handleClockError(const char* func) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "Clock::" << func << ": Failed with code " << errno << ": " << strerror(errno) + << std::endl; +#else + sif::printWarning("Clock::%s: Failed with code %d: %s\n", func, errno, strerror(errno)); +#endif +#endif +} From 47ced1efacd6aaed01cac9ec97e5b81b66974217 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 7 Apr 2022 19:47:37 +0200 Subject: [PATCH 097/162] pool entry takes const T* now --- src/fsfw/datapool/PoolEntry.cpp | 2 +- src/fsfw/datapool/PoolEntry.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw/datapool/PoolEntry.cpp b/src/fsfw/datapool/PoolEntry.cpp index 7e922bcb..a74e6306 100644 --- a/src/fsfw/datapool/PoolEntry.cpp +++ b/src/fsfw/datapool/PoolEntry.cpp @@ -22,7 +22,7 @@ PoolEntry::PoolEntry(std::initializer_list initValues, bool setValid) } template -PoolEntry::PoolEntry(T* initValue, uint8_t setLength, bool setValid) +PoolEntry::PoolEntry(const T* initValue, uint8_t setLength, bool setValid) : length(setLength), valid(setValid) { this->address = new T[this->length](); if (initValue != nullptr) { diff --git a/src/fsfw/datapool/PoolEntry.h b/src/fsfw/datapool/PoolEntry.h index 8bf9a41c..4010f78d 100644 --- a/src/fsfw/datapool/PoolEntry.h +++ b/src/fsfw/datapool/PoolEntry.h @@ -65,7 +65,7 @@ class PoolEntry : public PoolEntryIF { * @param setValid * Sets the initialization flag. It is invalid by default. */ - PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false); + PoolEntry(const T* initValue, uint8_t setLength = 1, bool setValid = false); //! Explicitely deleted copy ctor, copying is not allowed. PoolEntry(const PoolEntry&) = delete; From 478b305fbe3bfec363dd2c3ac5f9cbdfb167d33f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 11 Apr 2022 16:01:26 +0200 Subject: [PATCH 098/162] fix compiler warnings --- src/fsfw/container/HybridIterator.h | 14 ++++++++++--- src/fsfw/globalfunctions/matching/MatchTree.h | 3 +++ src/fsfw/subsystem/Subsystem.cpp | 20 +++++++++++++------ src/fsfw/subsystem/Subsystem.h | 2 +- 4 files changed, 29 insertions(+), 10 deletions(-) diff --git a/src/fsfw/container/HybridIterator.h b/src/fsfw/container/HybridIterator.h index e8b24a3d..50a37988 100644 --- a/src/fsfw/container/HybridIterator.h +++ b/src/fsfw/container/HybridIterator.h @@ -10,16 +10,24 @@ class HybridIterator : public LinkedElement::Iterator, public ArrayList::Iterator *iter) - : LinkedElement::Iterator(*iter), value(iter->value), linked(true) {} + : LinkedElement::Iterator(*iter), value(iter->value), linked(true) { + if(iter != nullptr) { + value = iter->value; + } + } HybridIterator(LinkedElement *start) - : LinkedElement::Iterator(start), value(start->value), linked(true) {} + : LinkedElement::Iterator(start), linked(true) { + if(start != nullptr) { + value = start->value; + } + } HybridIterator(typename ArrayList::Iterator start, typename ArrayList::Iterator end) : ArrayList::Iterator(start), value(start.value), linked(false), end(end.value) { if (value == this->end) { - value = NULL; + value = nullptr; } } diff --git a/src/fsfw/globalfunctions/matching/MatchTree.h b/src/fsfw/globalfunctions/matching/MatchTree.h index f7775d45..47e400da 100644 --- a/src/fsfw/globalfunctions/matching/MatchTree.h +++ b/src/fsfw/globalfunctions/matching/MatchTree.h @@ -179,6 +179,9 @@ class MatchTree : public SerializeableMatcherIF, public BinaryTreematch(number); if (isMatch) { if (iter.left() == this->end()) { diff --git a/src/fsfw/subsystem/Subsystem.cpp b/src/fsfw/subsystem/Subsystem.cpp index a837bf83..767cfe39 100644 --- a/src/fsfw/subsystem/Subsystem.cpp +++ b/src/fsfw/subsystem/Subsystem.cpp @@ -30,11 +30,11 @@ ReturnValue_t Subsystem::checkSequence(HybridIterator iter, return FALLBACK_SEQUENCE_DOES_NOT_EXIST; } - if (iter.value == NULL) { + if (iter.value ==nullptr) { return NO_TARGET_TABLE; } - for (; iter.value != NULL; ++iter) { + for (; iter.value != nullptr; ++iter) { if (!existsModeTable(iter->getTableId())) { return TABLE_DOES_NOT_EXIST; } else { @@ -66,13 +66,18 @@ HybridIterator Subsystem::getCurrentTable() { void Subsystem::performChildOperation() { if (isInTransition) { if (commandsOutstanding <= 0) { // all children of the current table were commanded and replied - if (currentSequenceIterator.value == NULL) { // we're through with this sequence + if (currentSequenceIterator.value == nullptr) { // we're through with this sequence if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) { setMode(targetMode, targetSubmode); isInTransition = false; return; } else { - transitionFailed(TARGET_TABLE_NOT_REACHED, getSequence(targetMode)->getTableId()); + Mode_t tableId = 0; + auto seq = getSequence(targetMode); + if(seq.value != nullptr) { + tableId = seq->getTableId(); + } + transitionFailed(TARGET_TABLE_NOT_REACHED, tableId); return; } } @@ -248,10 +253,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) { case ModeSequenceMessage::READ_TABLE: { ReturnValue_t result; Mode_t table = ModeSequenceMessage::getSequenceId(message); - EntryPointer *entry = NULL; + EntryPointer *entry = nullptr; result = modeTables.find(table, &entry); - if (result != RETURN_OK) { + if (result != RETURN_OK or entry == nullptr) { replyToCommand(result, 0); + if(entry == nullptr) { + return result; + } } SerializeIF *elements[2]; diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index 2c78c8cd..e0fafb51 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -1,7 +1,7 @@ #ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_ #define FSFW_SUBSYSTEM_SUBSYSTEM_H_ -#include +#include "fsfw/FSFW.h" #include "../container/FixedArrayList.h" #include "../container/FixedMap.h" From 5ff88129b8158a3a66366968231a68d01564f8fe Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 13 Apr 2022 14:45:36 +0200 Subject: [PATCH 099/162] added DLE parser --- src/fsfw/globalfunctions/CMakeLists.txt | 20 +- src/fsfw/globalfunctions/DleParser.cpp | 231 ++++++++++++++++++++++++ src/fsfw/globalfunctions/DleParser.h | 127 +++++++++++++ 3 files changed, 368 insertions(+), 10 deletions(-) create mode 100644 src/fsfw/globalfunctions/DleParser.cpp create mode 100644 src/fsfw/globalfunctions/DleParser.h diff --git a/src/fsfw/globalfunctions/CMakeLists.txt b/src/fsfw/globalfunctions/CMakeLists.txt index 5ccd3c4c..acd1edbe 100644 --- a/src/fsfw/globalfunctions/CMakeLists.txt +++ b/src/fsfw/globalfunctions/CMakeLists.txt @@ -1,13 +1,13 @@ -target_sources(${LIB_FSFW_NAME} - PRIVATE - arrayprinter.cpp - AsciiConverter.cpp - CRC.cpp - DleEncoder.cpp - PeriodicOperationDivider.cpp - timevalOperations.cpp - Type.cpp - bitutility.cpp +target_sources(${LIB_FSFW_NAME} PRIVATE + arrayprinter.cpp + AsciiConverter.cpp + CRC.cpp + DleEncoder.cpp + DleParser.cpp + PeriodicOperationDivider.cpp + timevalOperations.cpp + Type.cpp + bitutility.cpp ) add_subdirectory(math) diff --git a/src/fsfw/globalfunctions/DleParser.cpp b/src/fsfw/globalfunctions/DleParser.cpp new file mode 100644 index 00000000..b68dbde1 --- /dev/null +++ b/src/fsfw/globalfunctions/DleParser.cpp @@ -0,0 +1,231 @@ +#include "DleParser.h" + +#include +#include + +#include + +DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf, + BufPair decodedBuf, UserHandler handler, void* args) + : decodeRingBuf(decodeRingBuf), + decoder(decoder), + encodedBuf(encodedBuf), + decodedBuf(decodedBuf), + handler(handler), + ctx(args) { + if (handler == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "DleParser::DleParser: Invalid user handler" << std::endl; +#else + sif::printError("DleParser::DleParser: Invalid user handler\n"); +#endif + } +} + +ReturnValue_t DleParser::passData(uint8_t* data, size_t len) { + if (data == nullptr or len == 0 or handler == nullptr) { + return RETURN_FAILED; + } + size_t copyIntoRingBufFromHere = 0; + size_t copyAmount = len; + size_t startIdx = 0; + ReturnValue_t result = RETURN_OK; + bool startFoundInThisPacket = false; + for (size_t idx = 0; idx < len; idx++) { + if (data[idx] == DleEncoder::STX_CHAR) { + if (not startFound and not startFoundInThisPacket) { + startIdx = idx; + copyIntoRingBufFromHere = idx; + copyAmount = len - idx; + } else { + // Maybe print warning, should not happen + decodeRingBuf.clear(); + ErrorInfo info; + info.len = idx; + prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info); + handler(ctx); + copyIntoRingBufFromHere = idx; + copyAmount = len - idx; + } + startFound = true; + startFoundInThisPacket = true; + } else if (data[idx] == DleEncoder::ETX_CHAR) { + if (startFoundInThisPacket) { + size_t readLen = 0; + size_t decodedLen = 0; + result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first, + decodedBuf.second, &decodedLen); + if (result == HasReturnvaluesIF::RETURN_OK) { + ctx.setType(ContextType::PACKET_FOUND); + ctx.decodedPacket.first = decodedBuf.first; + ctx.decodedPacket.second = decodedLen; + this->handler(ctx); + } else if (result == DleEncoder::STREAM_TOO_SHORT) { + ErrorInfo info; + info.res = result; + prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info); + handler(ctx); + } else { + ErrorInfo info; + info.res = result; + prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info); + handler(ctx); + } + decodeRingBuf.clear(); + if ((idx + 1) < len) { + copyIntoRingBufFromHere = idx + 1; + copyAmount = len - idx - 1; + } else { + copyAmount = 0; + } + } else if (startFound) { + // ETX found but STX was found in another mini packet. Reconstruct the full packet + // to decode it + result = decodeRingBuf.writeData(data, idx + 1); + if (result != HasReturnvaluesIF::RETURN_OK) { + ErrorInfo info; + info.res = result; + prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info); + handler(ctx); + } + size_t fullEncodedLen = decodeRingBuf.getAvailableReadData(); + if (fullEncodedLen > encodedBuf.second) { + ErrorInfo info; + info.len = fullEncodedLen; + prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info); + handler(ctx); + decodeRingBuf.clear(); + } else { + size_t decodedLen = 0; + size_t readLen = 0; + decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true); + result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first, + decodedBuf.second, &decodedLen); + if (result == HasReturnvaluesIF::RETURN_OK) { + if (this->handler != nullptr) { + ctx.setType(ContextType::PACKET_FOUND); + ctx.decodedPacket.first = decodedBuf.first; + ctx.decodedPacket.second = decodedLen; + this->handler(ctx); + } + } else if (result == DleEncoder::STREAM_TOO_SHORT) { + ErrorInfo info; + info.res = result; + prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info); + handler(ctx); + } else { + ErrorInfo info; + info.res = result; + prepareErrorContext(ErrorTypes::DECODE_ERROR, info); + handler(ctx); + } + decodeRingBuf.clear(); + startFound = false; + startFoundInThisPacket = false; + if ((idx + 1) < len) { + copyIntoRingBufFromHere = idx + 1; + copyAmount = len - idx - 1; + } else { + copyAmount = 0; + } + } + } else { + // End data without preceeding STX + ErrorInfo info; + info.len = idx + 1; + prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info); + handler(ctx); + decodeRingBuf.clear(); + if ((idx + 1) < len) { + copyIntoRingBufFromHere = idx + 1; + copyAmount = len - idx - 1; + } else { + copyAmount = 0; + } + } + startFoundInThisPacket = false; + startFound = false; + } + } + if (copyAmount > 0) { + result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount); + if (result != HasReturnvaluesIF::RETURN_OK) { + ErrorInfo info; + info.res = result; + prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info); + handler(ctx); + } + } + return RETURN_OK; +} + +void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) { +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "DleParserBase::handleFoundPacket: Detected DLE packet with " << len << " bytes" + << std::endl; +#else + sif::printInfo("DleParserBase::handleFoundPacket: Detected DLE packet with %d bytes\n", len); +#endif +#endif +} + +void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) { + switch (err) { + case (ErrorTypes::NONE): { + errorPrinter("No error"); + break; + } + case (ErrorTypes::DECODE_ERROR): { + errorPrinter("Decode Error"); + break; + } + case (ErrorTypes::RING_BUF_ERROR): { + errorPrinter("Ring Buffer Error"); + break; + } + case (ErrorTypes::ENCODED_BUF_TOO_SMALL): + case (ErrorTypes::DECODING_BUF_TOO_SMALL): { + char opt[64]; + snprintf(opt, sizeof(opt), ": Too small for packet with length %d", ctx.len); + if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) { + errorPrinter("Encoded buf too small", opt); + } else { + errorPrinter("Decoding buf too small", opt); + } + break; + } + case (ErrorTypes::CONSECUTIVE_STX_CHARS): { + errorPrinter("Consecutive STX chars detected"); + break; + } + case (ErrorTypes::CONSECUTIVE_ETX_CHARS): { + errorPrinter("Consecutive ETX chars detected"); + break; + } + } +} + +void DleParser::errorPrinter(const char* str, const char* opt) { + if (opt == nullptr) { + opt = ""; + } +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::info << "DleParserBase::handleParseError: " << str << opt << std::endl; +#else + sif::printInfo("DleParserBase::handleParseError: %s%s\n", str, opt); +#endif +#endif +} + +void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) { + ctx.setType(ContextType::ERROR); + ctx.error.first = err; + ctx.error.second = info; +} + +void DleParser::reset() { + startFound = false; + decodeRingBuf.clear(); +} diff --git a/src/fsfw/globalfunctions/DleParser.h b/src/fsfw/globalfunctions/DleParser.h new file mode 100644 index 00000000..32fe38cb --- /dev/null +++ b/src/fsfw/globalfunctions/DleParser.h @@ -0,0 +1,127 @@ +#ifndef MISSION_DEVICES_DLEPARSER_H_ +#define MISSION_DEVICES_DLEPARSER_H_ + +#include +#include +#include + +#include +#include + +/** + * @brief This base helper class can be used to extract DLE encoded packets from a data stream + * @details + * The core API of the parser takes received packets which can contains DLE packets. The parser + * can deal with DLE packets split across multiple packets. It does so by using a dedicated + * decoding ring buffer. The user can process received packets and detect errors by + * overriding two provided virtual methods. This also allows detecting multiple DLE packets + * inside one passed packet. + */ +class DleParser : public HasReturnvaluesIF { + public: + using BufPair = std::pair; + + enum class ContextType { PACKET_FOUND, ERROR }; + + enum class ErrorTypes { + NONE, + ENCODED_BUF_TOO_SMALL, + DECODING_BUF_TOO_SMALL, + DECODE_ERROR, + RING_BUF_ERROR, + CONSECUTIVE_STX_CHARS, + CONSECUTIVE_ETX_CHARS + }; + + union ErrorInfo { + size_t len; + ReturnValue_t res; + }; + + using ErrorPair = std::pair; + + struct Context { + public: + Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); } + + void setType(ContextType type) { + if (type == ContextType::PACKET_FOUND) { + error.first = ErrorTypes::NONE; + error.second.len = 0; + } else { + decodedPacket.first = nullptr; + decodedPacket.second = 0; + } + } + + ContextType getType() const { return type; } + + BufPair decodedPacket = {}; + ErrorPair error; + void* userArgs; + + private: + ContextType type; + }; + + using UserHandler = void (*)(const Context& ctx); + + /** + * Base class constructor + * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets + * split across multiple packets + * @param decoder Decoder instance + * @param encodedBuf Buffer used to store encoded packets. It has to be large enough to hold + * the largest expected encoded DLE packet size + * @param decodedBuf Buffer used to store decoded packets. It has to be large enough to hold the + * largest expected decoded DLE packet size + * @param handler Function which will be called on a found packet + * @param args Arbitrary user argument + */ + DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf, + BufPair decodedBuf, UserHandler handler, void* args); + + /** + * This function allows to pass new data into the parser. It then scans for DLE packets + * automatically and inserts (part of) the packet into a ring buffer if necessary. + * @param data + * @param len + * @return + */ + ReturnValue_t passData(uint8_t* data, size_t len); + + /** + * Example found packet handler + * function call + * @param packet Decoded packet + * @param len Length of detected packet + */ + void defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args); + /** + * Will be called if an error occured in the #passData call + * @param err + * @param ctx Context information depending on the error type + * - For buffer length errors, will be set to the detected packet length which is too large + * - For decode or ring buffer errors, will be set to the result returned from the failed call + */ + static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx); + + static void errorPrinter(const char* str, const char* opt = nullptr); + + void prepareErrorContext(ErrorTypes err, ErrorInfo ctx); + /** + * Resets the parser by resetting the internal states and clearing the decoding ring buffer + */ + void reset(); + + private: + SimpleRingBuffer& decodeRingBuf; + DleEncoder& decoder; + BufPair encodedBuf; + BufPair decodedBuf; + UserHandler handler = nullptr; + Context ctx; + bool startFound = false; +}; + +#endif /* MISSION_DEVICES_DLEPARSER_H_ */ From 935a8e13a582dbdaf3b3ee9f034267d52fa59794 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 13 Apr 2022 14:57:43 +0200 Subject: [PATCH 100/162] uart cookie API change --- hal/src/fsfw_hal/linux/uart/UartCookie.cpp | 8 +++----- hal/src/fsfw_hal/linux/uart/UartCookie.h | 4 ++-- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp index aa2dd214..31dbc903 100644 --- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp @@ -2,8 +2,8 @@ #include -UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, - UartBaudRate baudrate, size_t maxReplyLen) +UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate, + size_t maxReplyLen, UartModes uartMode) : handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), @@ -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/hal/src/fsfw_hal/linux/uart/UartCookie.h b/hal/src/fsfw_hal/linux/uart/UartCookie.h index 6840b352..cae33d58 100644 --- a/hal/src/fsfw_hal/linux/uart/UartCookie.h +++ b/hal/src/fsfw_hal/linux/uart/UartCookie.h @@ -69,8 +69,8 @@ class UartCookie : public CookieIF { * 8 databits (number of bits transfered with one uart frame) * One stop bit */ - UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, - UartBaudRate baudrate, size_t maxReplyLen); + UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate, + size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL); virtual ~UartCookie(); From 613dbe9592c30d9acf4cdb95d81d9f216f07374b Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Thu, 21 Apr 2022 09:33:06 +0200 Subject: [PATCH 101/162] default argument --- src/fsfw/tmtcpacket/SpacePacket.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/tmtcpacket/SpacePacket.h b/src/fsfw/tmtcpacket/SpacePacket.h index 10140db1..4fadd236 100644 --- a/src/fsfw/tmtcpacket/SpacePacket.h +++ b/src/fsfw/tmtcpacket/SpacePacket.h @@ -25,7 +25,7 @@ class SpacePacket : public SpacePacketBase { * @param apid Sets the packet's APID field. The default value describes an idle packet. * @param sequenceCount ets the packet's Source Sequence Count field. */ - SpacePacket(uint16_t packetDataLength, bool isTelecommand = false, + SpacePacket(uint16_t packetDataLength = PACKET_MAX_SIZE, bool isTelecommand = false, uint16_t apid = APID_IDLE_PACKET, uint16_t sequenceCount = 0); /** * The class's default destructor. From 085213c60f0f86dd7e28769767a0d235ed333336 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 21 Apr 2022 10:30:46 +0200 Subject: [PATCH 102/162] add nullptr check --- hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index 52b6dc07..278f6f4b 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -375,13 +375,16 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) { ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen) { + if(commandData == nullptr) { + return INVALID_COMMAND_PARAMETER; + } triggerEvent(CHANGE_OF_SETUP_PARAMETER); uint32_t size = 2; commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1); if (commandDataLen > 1) { return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; } - switch (*commandData) { + switch (commandData[0]) { case (MGMLIS3MDL::ON): { commandBuffer[1] = registers[0] | (1 << 7); break; From 9f7b9be800402215e97759eb35d4c40a484d1f68 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Thu, 21 Apr 2022 14:24:20 +0200 Subject: [PATCH 103/162] space packet default length 0 --- src/fsfw/tmtcpacket/SpacePacket.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/tmtcpacket/SpacePacket.h b/src/fsfw/tmtcpacket/SpacePacket.h index 4fadd236..dc45576e 100644 --- a/src/fsfw/tmtcpacket/SpacePacket.h +++ b/src/fsfw/tmtcpacket/SpacePacket.h @@ -25,7 +25,7 @@ class SpacePacket : public SpacePacketBase { * @param apid Sets the packet's APID field. The default value describes an idle packet. * @param sequenceCount ets the packet's Source Sequence Count field. */ - SpacePacket(uint16_t packetDataLength = PACKET_MAX_SIZE, bool isTelecommand = false, + SpacePacket(uint16_t packetDataLength = 0, bool isTelecommand = false, uint16_t apid = APID_IDLE_PACKET, uint16_t sequenceCount = 0); /** * The class's default destructor. From 900ef5b9124063b5eec88de19d851006b2e1e601 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Tue, 26 Apr 2022 09:07:03 +0200 Subject: [PATCH 104/162] option to use coutdwon object to time out replies --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 73 +++++++++++++++---- src/fsfw/devicehandlers/DeviceHandlerBase.h | 27 ++++++- src/fsfw/timemanager/Countdown.cpp | 9 ++- src/fsfw/timemanager/Countdown.h | 3 +- 4 files changed, 93 insertions(+), 19 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index b0a5d1f0..52178683 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -243,17 +243,28 @@ ReturnValue_t DeviceHandlerBase::initialize() { } void DeviceHandlerBase::decrementDeviceReplyMap() { + bool timedOut = false; for (std::pair& replyPair : deviceReplyMap) { - if (replyPair.second.delayCycles != 0) { + if (replyPair.second.countdown != nullptr && replyPair.second.active) { + if (replyPair.second.countdown->hasTimedOut()) { + timedOut = true; + } + } + if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) { replyPair.second.delayCycles--; if (replyPair.second.delayCycles == 0) { if (replyPair.second.periodic) { replyPair.second.delayCycles = replyPair.second.maxDelayCycles; } - replyToReply(replyPair.first, replyPair.second, TIMEOUT); - missedReply(replyPair.first); + timedOut = true; } } + if (timedOut) { + replyToReply(replyPair.first, replyPair.second, TIMEOUT); + missedReply(replyPair.first); + timedOut = false; + replyPair.second.active = false; + } } } @@ -416,20 +427,22 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap( DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet, - size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) { + size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId, + Countdown* countdown) { // No need to check, as we may try to insert multiple times. insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId); if (hasDifferentReplyId) { - return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic); + return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown); } else { - return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic); + return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic, + countdown); } } ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId, uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet, size_t replyLen, - bool periodic) { + bool periodic, Countdown* countdown) { DeviceReplyInfo info; info.maxDelayCycles = maxDelayCycles; info.periodic = periodic; @@ -437,6 +450,10 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId, info.replyLen = replyLen; info.dataSet = dataSet; info.command = deviceCommandMap.end(); + info.countdown = countdown; + if (info.periodic) { + info.active = true; + } auto resultPair = deviceReplyMap.emplace(replyId, info); if (resultPair.second) { return RETURN_OK; @@ -472,7 +489,8 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) { } DeviceReplyIter iter = deviceReplyMap.find(replyId); if (iter != deviceReplyMap.end()) { - if (iter->second.delayCycles != 0) { + if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) || + (iter->second.active && iter->second.countdown != nullptr)) { return iter->second.replyLen; } } @@ -816,17 +834,18 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId DeviceReplyInfo* info = &(iter->second); - if (info->delayCycles != 0) { + if ((info->delayCycles != 0 && info->countdown == nullptr) || + (info->active && info->countdown != nullptr)) { result = interpretDeviceReply(foundId, receivedData); if (result == IGNORE_REPLY_DATA) { return; } - if (info->periodic) { - info->delayCycles = info->maxDelayCycles; - } else { - info->delayCycles = 0; + if (info->active && info->countdown != nullptr) { + disableTimeoutControlledReply(info); + } else if (info->delayCycles != 0) { + disableDelayCyclesControlledReply(info); } if (result != RETURN_OK) { @@ -845,6 +864,24 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId } } +void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) { + if (info->periodic) { + info->countdown->resetTimer(); + } else { + info->active = false; + info->countdown->timeOut(); + } +} + +void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) { + if (info->periodic) { + info->delayCycles = info->maxDelayCycles; + } else { + info->delayCycles = 0; + info->active = false; + } +} + ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data, size_t* len) { size_t lenTmp; @@ -970,6 +1007,10 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato info->delayCycles = info->maxDelayCycles; info->command = command; command->second.expectedReplies = expectedReplies; + if (info->countdown != nullptr) { + info->countdown->resetTimer(); + } + info->active = true; return RETURN_OK; } else { return NO_REPLY_EXPECTED; @@ -1204,7 +1245,8 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) { bool DeviceHandlerBase::isAwaitingReply() { std::map::iterator iter; for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) { - if (iter->second.delayCycles != 0) { + if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) || + (iter->second.active && iter->second.countdown != nullptr)) { return true; } } @@ -1360,6 +1402,9 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand) if (iter == deviceReplyMap.end()) { return 0; } + else if (iter->second.countdown != nullptr) { + return 0; + } return iter->second.delayCycles; } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index d8c3363e..4e457c33 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -451,6 +451,9 @@ class DeviceHandlerBase : public DeviceHandlerIF, * by the device repeatedly without request) or not. Default is aperiodic (0). * Please note that periodic replies are disabled by default. You can enable them with * #updatePeriodicReply + * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible + * to provide a pointer to a Countdown object which will signal the timeout + * when expired * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ @@ -458,7 +461,8 @@ class DeviceHandlerBase : public DeviceHandlerIF, LocalPoolDataSetBase *replyDataSet = nullptr, size_t replyLen = 0, bool periodic = false, bool hasDifferentReplyId = false, - DeviceCommandId_t replyId = 0); + DeviceCommandId_t replyId = 0, + Countdown *countdown = nullptr); /** * @brief This is a helper method to insert replies in the reply map. * @param deviceCommand Identifier of the reply to add. @@ -468,12 +472,15 @@ class DeviceHandlerBase : public DeviceHandlerIF, * by the device repeatedly without request) or not. Default is aperiodic (0). * Please note that periodic replies are disabled by default. You can enable them with * #updatePeriodicReply + * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible + * to provide a pointer to a Countdown object which will signal the timeout + * when expired * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0, - bool periodic = false); + bool periodic = false, Countdown *countdown = nullptr); /** * @brief A simple command to add a command to the commandList. @@ -792,6 +799,11 @@ class DeviceHandlerBase : public DeviceHandlerIF, LocalPoolDataSetBase *dataSet = nullptr; //! The command that expects this reply. DeviceCommandMap::iterator command; + //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it + //! is also possible specify a countdown + Countdown* countdown = nullptr; + //! will be set to true when reply is enabled + bool active = false; }; using DeviceReplyMap = std::map; @@ -1253,6 +1265,17 @@ class DeviceHandlerBase : public DeviceHandlerIF, */ void doGetRead(void); + /** + * @brief Handles disabling of replies which use a timeout to detect missed replies. + */ + void disableTimeoutControlledReply(DeviceReplyInfo* info); + + /** + * @brief Handles disabling of replies which use a number of maximum delay cycles to detect + * missed replies. + */ + void disableDelayCyclesControlledReply(DeviceReplyInfo* info); + /** * Retrive data from the #IPCStore. * diff --git a/src/fsfw/timemanager/Countdown.cpp b/src/fsfw/timemanager/Countdown.cpp index a8ba78cb..327995f8 100644 --- a/src/fsfw/timemanager/Countdown.cpp +++ b/src/fsfw/timemanager/Countdown.cpp @@ -1,7 +1,12 @@ #include "fsfw/timemanager/Countdown.h" -Countdown::Countdown(uint32_t initialTimeout) : timeout(initialTimeout) { - setTimeout(initialTimeout); +Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) { + if (startImmediately) { + setTimeout(initialTimeout); + } + else { + timeout = initialTimeout; + } } Countdown::~Countdown() {} diff --git a/src/fsfw/timemanager/Countdown.h b/src/fsfw/timemanager/Countdown.h index 44be2b1a..26534789 100644 --- a/src/fsfw/timemanager/Countdown.h +++ b/src/fsfw/timemanager/Countdown.h @@ -26,8 +26,9 @@ class Countdown { * Otherwise a call to hasTimedOut might return True. * * @param initialTimeout Countdown duration in milliseconds + * @param startImmediately Set to false if countdown should not be started immediately */ - Countdown(uint32_t initialTimeout = 0); + Countdown(uint32_t initialTimeout = 0, bool startImmediately = true); ~Countdown(); /** * Call to set a new countdown duration. From 1739edd9b07933ddbdfcbfd19cf98146815ebe3f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 26 Apr 2022 10:32:37 +0200 Subject: [PATCH 105/162] warning fix for modern compilers --- src/fsfw/globalfunctions/DleParser.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/globalfunctions/DleParser.cpp b/src/fsfw/globalfunctions/DleParser.cpp index b68dbde1..71da7e6a 100644 --- a/src/fsfw/globalfunctions/DleParser.cpp +++ b/src/fsfw/globalfunctions/DleParser.cpp @@ -187,7 +187,7 @@ void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) { case (ErrorTypes::ENCODED_BUF_TOO_SMALL): case (ErrorTypes::DECODING_BUF_TOO_SMALL): { char opt[64]; - snprintf(opt, sizeof(opt), ": Too small for packet with length %d", ctx.len); + snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.len); if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) { errorPrinter("Encoded buf too small", opt); } else { From 3d047f9629c3a6fe25514f92dd008bd34d0784dd Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 26 Apr 2022 11:15:24 +0200 Subject: [PATCH 106/162] trying to export ETL lib --- CMakeLists.txt | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 3cc1671c..003b9723 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,7 +12,7 @@ set(MSG_PREFIX "fsfw |") set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING "ETL library major version requirement" ) -set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.2 CACHE STRING +set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING "ETL library exact version requirement" ) @@ -132,7 +132,7 @@ if(FSFW_BUILD_UNITTESTS) endif() endif() -message(STATUS "Finding and/or providing ETL library") +message(STATUS "Finding and/or providing ETL library with version ${FSFW_ETL_LIB_MAJOR_VERSION}") # Check whether the user has already installed ETL first find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) @@ -153,6 +153,11 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) FetchContent_MakeAvailable(etl) endif() +export(EXPORT etl + FILE "${CMAKE_CURRENT_BINARY_DIR}/cmake/etl.cmake" + NAMESPACE fsfw:: +) + set(FSFW_CORE_INC_PATH "inc") set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos) From 6a8da303fbfb9dd9c0178b0b68d1d08ab1880d49 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 26 Apr 2022 14:06:30 +0200 Subject: [PATCH 107/162] exporting etl target --- CMakeLists.txt | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 003b9723..e5b945f4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -153,10 +153,18 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) FetchContent_MakeAvailable(etl) endif() -export(EXPORT etl - FILE "${CMAKE_CURRENT_BINARY_DIR}/cmake/etl.cmake" - NAMESPACE fsfw:: +# Export the ETL library and make it available in the fsfw namespace. This allows user code +# to use the same ETL dependency the framework is using +# You can do this by using the two following directives +# include(fsfw-etl) +# target_link_libraries(${TARGET_NAME} PRIVATE fsfw::etl) +export( + TARGETS ${FSFW_ETL_LIB_NAME} + FILE "${CMAKE_CURRENT_BINARY_DIR}/cmake/fsfw-etl.cmake" + NAMESPACE fsfw:: ) +# Append the export directory to the module path +list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_BINARY_DIR}/cmake") set(FSFW_CORE_INC_PATH "inc") From c5a7b98a7dc7c53b5dffbbcf2869c05be29a1208 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 26 Apr 2022 16:24:14 +0200 Subject: [PATCH 108/162] name correction --- CMakeLists.txt | 17 ++--------------- 1 file changed, 2 insertions(+), 15 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e5b945f4..25d9bb93 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -132,14 +132,14 @@ if(FSFW_BUILD_UNITTESTS) endif() endif() -message(STATUS "Finding and/or providing ETL library with version ${FSFW_ETL_LIB_MAJOR_VERSION}") +message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}") # Check whether the user has already installed ETL first find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) # Not installed, so use FetchContent to download and provide etl if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) message(STATUS - "No ETL installation was found with find_package. Installing and providing " + "No etl installation was found with find_package. Installing and providing " "etl with FindPackage" ) include(FetchContent) @@ -153,19 +153,6 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) FetchContent_MakeAvailable(etl) endif() -# Export the ETL library and make it available in the fsfw namespace. This allows user code -# to use the same ETL dependency the framework is using -# You can do this by using the two following directives -# include(fsfw-etl) -# target_link_libraries(${TARGET_NAME} PRIVATE fsfw::etl) -export( - TARGETS ${FSFW_ETL_LIB_NAME} - FILE "${CMAKE_CURRENT_BINARY_DIR}/cmake/fsfw-etl.cmake" - NAMESPACE fsfw:: -) -# Append the export directory to the module path -list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_BINARY_DIR}/cmake") - set(FSFW_CORE_INC_PATH "inc") set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos) From ec2e274f22e3e254469abc9819bc906f03fe590a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 26 Apr 2022 16:31:45 +0200 Subject: [PATCH 109/162] find_package call for Catch2 quiet --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 25d9bb93..2354f504 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -98,7 +98,7 @@ endif() if(FSFW_BUILD_UNITTESTS) message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library") # Check whether the user has already installed Catch2 first - find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION}) + find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET) # Not installed, so use FetchContent to download and provide Catch2 if(NOT Catch2_FOUND) message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent") From c1be1fe2320eed167e808eecf3e582c87b688cde Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 26 Apr 2022 20:06:26 +0200 Subject: [PATCH 110/162] update CMakeLists.txt etl handling --- CMakeLists.txt | 34 +++++++++---------- .../devicehandlers/MgmLIS3MDLHandler.cpp | 2 +- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2354f504..337a56f4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,5 @@ cmake_minimum_required(VERSION 3.13) +project(${LIB_FSFW_NAME}) set(FSFW_VERSION_IF_GIT_FAILS 4) set(FSFW_SUBVERSION_IF_GIT_FAILS 0) @@ -60,7 +61,6 @@ set(LIB_FSFW_NAME fsfw) set(FSFW_TEST_TGT fsfw-tests) set(FSFW_DUMMY_TGT fsfw-dummy) -project(${LIB_FSFW_NAME}) add_library(${LIB_FSFW_NAME}) set(FSFW_GIT_VER_HANDLING_OK FALSE) @@ -98,7 +98,7 @@ endif() if(FSFW_BUILD_UNITTESTS) message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library") # Check whether the user has already installed Catch2 first - find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET) + find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET) # Not installed, so use FetchContent to download and provide Catch2 if(NOT Catch2_FOUND) message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent") @@ -135,23 +135,23 @@ endif() message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}") # Check whether the user has already installed ETL first -find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET) +# find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) # Not installed, so use FetchContent to download and provide etl -if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) - message(STATUS - "No etl installation was found with find_package. Installing and providing " - "etl with FindPackage" - ) - include(FetchContent) +# if(NOT ${FSFW_ETL_LIB_NAME}_FOUND) +message(STATUS + "No etl installation was found with find_package. Installing and providing " + "etl with FetchContent" +) +include(FetchContent) - FetchContent_Declare( - ${FSFW_ETL_LIB_NAME} - GIT_REPOSITORY https://github.com/ETLCPP/etl - GIT_TAG ${FSFW_ETL_LIB_VERSION} - ) +FetchContent_Declare( + ${FSFW_ETL_LIB_NAME} + GIT_REPOSITORY https://github.com/ETLCPP/etl + GIT_TAG ${FSFW_ETL_LIB_VERSION} +) - FetchContent_MakeAvailable(etl) -endif() +FetchContent_MakeAvailable(${FSFW_ETL_LIB_NAME}) +# endif() set(FSFW_CORE_INC_PATH "inc") @@ -414,7 +414,7 @@ target_compile_options(${LIB_FSFW_NAME} PRIVATE ) target_link_libraries(${LIB_FSFW_NAME} PRIVATE - ${FSFW_ETL_LIB_NAME} + etl ${FSFW_ADDITIONAL_LINK_LIBS} ) diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index a887934d..a13ae791 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -375,7 +375,7 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) { ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen) { - if(commandData == nullptr) { + if (commandData == nullptr) { return INVALID_COMMAND_PARAMETER; } triggerEvent(CHANGE_OF_SETUP_PARAMETER); From 3225a8e350efbc3ff2e8d9dd9757de52be90d4fd Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 28 Apr 2022 16:48:14 +0200 Subject: [PATCH 111/162] added option to change initial submode --- src/fsfw/subsystem/Subsystem.cpp | 6 +++++- src/fsfw/subsystem/Subsystem.h | 3 ++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/fsfw/subsystem/Subsystem.cpp b/src/fsfw/subsystem/Subsystem.cpp index 1e860efc..27e6ae8e 100644 --- a/src/fsfw/subsystem/Subsystem.cpp +++ b/src/fsfw/subsystem/Subsystem.cpp @@ -467,6 +467,7 @@ ReturnValue_t Subsystem::initialize() { } mode = initialMode; + submode = initSubmode; return RETURN_OK; } @@ -604,7 +605,10 @@ ReturnValue_t Subsystem::checkObjectConnections() { return RETURN_OK; } -void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; } +void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) { + this->initialMode = mode; + this->initSubmode = submode; +} void Subsystem::cantKeepMode() { ReturnValue_t result; diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index a3ee5744..1055def3 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -78,7 +78,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { ReturnValue_t addTable(ArrayList *table, Mode_t id, bool inStore = true, bool preInit = true); - void setInitialMode(Mode_t mode); + void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE); virtual ReturnValue_t initialize() override; @@ -117,6 +117,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { Submode_t targetSubmode; Mode_t initialMode = 0; + Submode_t initSubmode = SUBMODE_NONE; HybridIterator currentSequenceIterator; From 43aad11859d5ca772d4323b24626d7a94646f3fd Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Fri, 29 Apr 2022 07:43:52 +0200 Subject: [PATCH 112/162] space packet bugfix --- src/fsfw/tmtcpacket/SpacePacket.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw/tmtcpacket/SpacePacket.cpp b/src/fsfw/tmtcpacket/SpacePacket.cpp index c8ebbd97..16d968fb 100644 --- a/src/fsfw/tmtcpacket/SpacePacket.cpp +++ b/src/fsfw/tmtcpacket/SpacePacket.cpp @@ -19,8 +19,8 @@ SpacePacket::SpacePacket(uint16_t packetDataLength, bool isTelecommand, uint16_t SpacePacket::~SpacePacket(void) {} bool SpacePacket::addWholeData(const uint8_t* p_Data, uint32_t packet_size) { - if (packet_size <= sizeof(this->data)) { - memcpy(&this->localData.byteStream, p_Data, packet_size); + if (packet_size <= sizeof(this->localData)) { + memcpy(this->localData.byteStream, p_Data, packet_size); return true; } else { return false; From 2220120d5487a06036ec6009f2be923d0b4a6331 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 3 May 2022 16:43:15 +0200 Subject: [PATCH 113/162] improved i2c error printout --- hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp | 22 +++++++++++---------- hal/src/fsfw_hal/linux/uart/UartComIF.cpp | 2 +- src/fsfw/devicehandlers/DeviceHandlerBase.h | 3 ++- src/fsfw/objectmanager/SystemObject.h | 3 ++- src/fsfw/osal/common/UdpTcPollingTask.cpp | 2 +- src/fsfw/osal/common/UdpTmTcBridge.cpp | 4 ++-- src/fsfw/osal/common/UdpTmTcBridge.h | 4 ++-- 7 files changed, 22 insertions(+), 18 deletions(-) diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp index 4f53dc1f..1740b022 100644 --- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp +++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp @@ -170,18 +170,20 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe int readLen = read(fd, replyBuffer, requestLen); if (readLen != static_cast(requestLen)) { -#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C " - << "device failed with error code " << errno << ". Description" - << " of error: " << strerror(errno) << std::endl; - sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen - << " bytes" << std::endl; +#if FSFW_VERBOSE_LEVEL >= 1 +#if FSFW_CPP_OSTREAM_ENABLED == 1 + if (readLen < 0) { + sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C " + << "device failed with error code " << errno << " | " << strerror(errno) + << std::endl; + } else { + sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " + << requestLen << " bytes" << std::endl; + } +#else +#endif #endif i2cDeviceMapIter->second.replyLen = 0; -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen - << " bytes" << std::endl; -#endif return HasReturnvaluesIF::RETURN_FAILED; } diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp index 72c79df6..f77bdeae 100644 --- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp @@ -314,7 +314,7 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki cfsetispeed(options, B4000000); cfsetospeed(options, B4000000); break; -#endif // ! __APPLE__ +#endif // ! __APPLE__ default: #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 4a08e60f..e833e129 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -1072,7 +1072,8 @@ class DeviceHandlerBase : public DeviceHandlerIF, /** * Same as triggerEvent, but for forwarding if object is used as proxy. */ - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override; + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, + uint32_t parameter2 = 0) const override; /** * Checks if current mode is transitional mode. diff --git a/src/fsfw/objectmanager/SystemObject.h b/src/fsfw/objectmanager/SystemObject.h index eeb68b8f..c541ac5e 100644 --- a/src/fsfw/objectmanager/SystemObject.h +++ b/src/fsfw/objectmanager/SystemObject.h @@ -50,7 +50,8 @@ class SystemObject : public SystemObjectIF { virtual ReturnValue_t initialize() override; virtual ReturnValue_t checkObjectConnections() override; - virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const override; + virtual void forwardEvent(Event event, uint32_t parameter1 = 0, + uint32_t parameter2 = 0) const override; }; #endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */ diff --git a/src/fsfw/osal/common/UdpTcPollingTask.cpp b/src/fsfw/osal/common/UdpTcPollingTask.cpp index 38fb1921..bcc8e9e3 100644 --- a/src/fsfw/osal/common/UdpTcPollingTask.cpp +++ b/src/fsfw/osal/common/UdpTcPollingTask.cpp @@ -154,7 +154,7 @@ void UdpTcPollingTask::setTimeout(double timeoutSeconds) { #endif } #elif defined(PLATFORM_UNIX) - timeval tval {}; + timeval tval{}; tval = timevalOperations::toTimeval(timeoutSeconds); int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO, &tval, sizeof(receptionTimeout)); if (result == -1) { diff --git a/src/fsfw/osal/common/UdpTmTcBridge.cpp b/src/fsfw/osal/common/UdpTmTcBridge.cpp index 6089f266..e3cad58f 100644 --- a/src/fsfw/osal/common/UdpTmTcBridge.cpp +++ b/src/fsfw/osal/common/UdpTmTcBridge.cpp @@ -20,7 +20,7 @@ const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT; UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, - const std::string& udpServerPort_, object_id_t tmStoreId, + const std::string &udpServerPort_, object_id_t tmStoreId, object_id_t tcStoreId) : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) { if (udpServerPort_.empty()) { @@ -118,7 +118,7 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) { #endif ssize_t bytesSent = sendto(serverSocket, reinterpret_cast(data), dataLen, flags, - &clientAddress, clientAddressLen); + &clientAddress, clientAddressLen); if (bytesSent == SOCKET_ERROR) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl; diff --git a/src/fsfw/osal/common/UdpTmTcBridge.h b/src/fsfw/osal/common/UdpTmTcBridge.h index b0a67430..92829c46 100644 --- a/src/fsfw/osal/common/UdpTmTcBridge.h +++ b/src/fsfw/osal/common/UdpTmTcBridge.h @@ -29,8 +29,8 @@ class UdpTmTcBridge : public TmTcBridge, public TcpIpBase { /* The ports chosen here should not be used by any other process. */ static const std::string DEFAULT_SERVER_PORT; - UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, const std::string& udpServerPort = "", - object_id_t tmStoreId = objects::TM_STORE, + UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination, + const std::string& udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE, object_id_t tcStoreId = objects::TC_STORE); ~UdpTmTcBridge() override; From a9041b84a3adc360106c1b4530d4df9d5dc9c080 Mon Sep 17 00:00:00 2001 From: Cleanroom Laptop L15 Date: Wed, 4 May 2022 10:27:20 +0200 Subject: [PATCH 114/162] update read gpio API --- hal/src/fsfw_hal/common/gpio/GpioIF.h | 2 +- hal/src/fsfw_hal/common/gpio/gpioDefinitions.h | 2 +- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 4 ++-- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/hal/src/fsfw_hal/common/gpio/GpioIF.h b/hal/src/fsfw_hal/common/gpio/GpioIF.h index 5cca1481..2c284094 100644 --- a/hal/src/fsfw_hal/common/gpio/GpioIF.h +++ b/hal/src/fsfw_hal/common/gpio/GpioIF.h @@ -48,7 +48,7 @@ class GpioIF : public HasReturnvaluesIF { * @param gpioId A unique number which specifies the GPIO to read. * @param gpioState State of GPIO will be written to this pointer. */ - virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0; + virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0; }; #endif /* COMMON_GPIO_GPIOIF_H_ */ diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h index eb90629e..a15ffbc0 100644 --- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h +++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h @@ -9,7 +9,7 @@ using gpioId_t = uint16_t; namespace gpio { -enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 }; +enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 }; enum class Direction : int { IN = 0, OUT = 1 }; diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index f46ad386..e9da5b03 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -280,7 +280,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul return RETURN_OK; } -ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { +ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) { gpioMapIter = gpioMap.find(gpioId); if (gpioMapIter == gpioMap.end()) { #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -299,7 +299,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { if (regularGpio == nullptr) { return GPIO_TYPE_FAILURE; } - *gpioState = gpiod_line_get_value(regularGpio->lineHandle); + gpioState = static_cast(gpiod_line_get_value(regularGpio->lineHandle)); } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); if (gpioCallback->callback == nullptr) { diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h index fcc9c775..4ac2e7d9 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h @@ -38,7 +38,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject { ReturnValue_t addGpios(GpioCookie* gpioCookie) override; ReturnValue_t pullHigh(gpioId_t gpioId) override; ReturnValue_t pullLow(gpioId_t gpioId) override; - ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; + ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override; private: static const size_t MAX_CHIPNAME_LENGTH = 11; From 3556eca8e875aaa4aab1c96e60f0b1eaefc7e982 Mon Sep 17 00:00:00 2001 From: Cleanroom Laptop L15 Date: Wed, 4 May 2022 10:33:55 +0200 Subject: [PATCH 115/162] error check on line getter --- hal/src/fsfw_hal/common/gpio/GpioIF.h | 2 +- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/common/gpio/GpioIF.h b/hal/src/fsfw_hal/common/gpio/GpioIF.h index 2c284094..f8ef9d9c 100644 --- a/hal/src/fsfw_hal/common/gpio/GpioIF.h +++ b/hal/src/fsfw_hal/common/gpio/GpioIF.h @@ -46,7 +46,7 @@ class GpioIF : public HasReturnvaluesIF { * an ouput or input gpio. * * @param gpioId A unique number which specifies the GPIO to read. - * @param gpioState State of GPIO will be written to this pointer. + * @param gpioState State of GPIO will be written to this reference */ virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0; }; diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index e9da5b03..03bc1830 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -300,6 +300,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) return GPIO_TYPE_FAILURE; } gpioState = static_cast(gpiod_line_get_value(regularGpio->lineHandle)); + if (gpioState == gpio::Levels::FAILED) { + // TODO: Print error + return RETURN_FAILED; + } } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); if (gpioCallback->callback == nullptr) { From 8ee26f81f9449e28566a8d34fbb3454cfd1da01c Mon Sep 17 00:00:00 2001 From: Cleanroom Laptop L15 Date: Wed, 4 May 2022 10:36:32 +0200 Subject: [PATCH 116/162] dedicated returnvalue for line get failure --- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 3 +-- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h | 4 +++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 03bc1830..136dfe11 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -301,8 +301,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) } gpioState = static_cast(gpiod_line_get_value(regularGpio->lineHandle)); if (gpioState == gpio::Levels::FAILED) { - // TODO: Print error - return RETURN_FAILED; + return GPIO_GET_VALUE_FAILED; } } else { auto gpioCallback = dynamic_cast(gpioMapIter->second); diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h index 4ac2e7d9..a50e480d 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h @@ -31,7 +31,9 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject { HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5); static constexpr ReturnValue_t GPIO_INIT_FAILED = HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6); - + // Will be returned if getting the line value failed. Error type will be set to errno in this case + static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED = + HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7); LinuxLibgpioIF(object_id_t objectId); virtual ~LinuxLibgpioIF(); From f59b05c86cd54390d2a259eda770ee7935587112 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 5 May 2022 02:00:41 +0200 Subject: [PATCH 117/162] use warning instead of error --- src/fsfw/osal/freertos/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/rtems/FixedTimeslotTask.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp index e0e3779e..0f3bfe18 100644 --- a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp @@ -46,7 +46,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." << std::endl; #endif } diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index 1f4d6e23..d64c020d 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -87,7 +87,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." << std::endl; #endif } diff --git a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp index 3347739a..12434e1b 100644 --- a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp @@ -50,7 +50,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." << std::endl; #endif } From 71f704c980ec8847bdd0bb1bf354c8de30d3524b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 5 May 2022 12:29:46 +0200 Subject: [PATCH 118/162] remove the dot --- src/fsfw/osal/freertos/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/rtems/FixedTimeslotTask.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp index 0f3bfe18..e8823f8a 100644 --- a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp @@ -46,7 +46,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" << std::endl; #endif } diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index d64c020d..37b958de 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -87,7 +87,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" << std::endl; #endif } diff --git a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp index 12434e1b..745b8d70 100644 --- a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp @@ -50,7 +50,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines." + sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" << std::endl; #endif } From d72b212fa629029924d9862e3e862d0388911f8e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 6 May 2022 10:36:01 +0200 Subject: [PATCH 119/162] cmakelists.txt hotfix --- CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2f10ab8e..5c898369 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,5 @@ cmake_minimum_required(VERSION 3.13) +set(LIB_FSFW_NAME fsfw) project(${LIB_FSFW_NAME}) set(FSFW_VERSION_IF_GIT_FAILS 4) @@ -58,7 +59,7 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF) # Contrib sources option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF) -set(LIB_FSFW_NAME fsfw) + set(FSFW_TEST_TGT fsfw-tests) set(FSFW_DUMMY_TGT fsfw-dummy) From 29c3a4376058bb392edd9ef25623723f000058a4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 11 May 2022 10:54:13 +0200 Subject: [PATCH 120/162] getter functions for speed and mode --- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 14 ++++++++++++++ hal/src/fsfw_hal/linux/spi/SpiComIF.h | 1 + 2 files changed, 15 insertions(+) diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index dcf92b5d..db694613 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -410,3 +410,17 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); } } + +void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes &mode, uint32_t &speed) const { + uint8_t tmpMode = 0; + int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode); + if (retval != 0) { + utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed"); + } + mode = static_cast(tmpMode); + + retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed); + if (retval != 0) { + utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed"); + } +} diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index 357afa2f..ded47e04 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -59,6 +59,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { GpioIF* getGpioInterface(); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); + void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const; void performSpiWiretapping(SpiCookie* spiCookie); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); From 0e880de0d08d05b14125a5af785930aeff636d1b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 11 May 2022 10:54:39 +0200 Subject: [PATCH 121/162] update changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 84fb2ca1..856580cf 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -46,6 +46,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Additions +- Linux HAL: Getter functions for SPI speed and mode. - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information inside `fsfw/version.h` From e06c457743991b2a0c2d84de9e169508ac428aa8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 11 May 2022 11:11:39 +0200 Subject: [PATCH 122/162] Cache SPI device name in ComIF - Architecturally, this makes a lot more sense because each ComIF should be responsible for one SPI bus --- hal/src/fsfw_hal/linux/UnixFileGuard.cpp | 2 +- hal/src/fsfw_hal/linux/UnixFileGuard.h | 2 +- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 17 +++++------ hal/src/fsfw_hal/linux/spi/SpiComIF.h | 6 ++-- hal/src/fsfw_hal/linux/spi/SpiCookie.cpp | 29 +++++++++---------- hal/src/fsfw_hal/linux/spi/SpiCookie.h | 17 +++++------ src/fsfw/container/FixedArrayList.h | 1 + src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 3 +- src/fsfw/devicehandlers/DeviceHandlerBase.h | 6 ++-- src/fsfw/osal/common/TcpTmTcServer.cpp | 6 ++-- src/fsfw/osal/freertos/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/rtems/FixedTimeslotTask.cpp | 2 +- src/fsfw/pus/CService201HealthCommanding.cpp | 3 +- src/fsfw/pus/CService201HealthCommanding.h | 2 +- src/fsfw/timemanager/Countdown.cpp | 3 +- 16 files changed, 49 insertions(+), 54 deletions(-) diff --git a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp index 41293815..3e916ba2 100644 --- a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp +++ b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp @@ -6,7 +6,7 @@ #include "fsfw/FSFW.h" #include "fsfw/serviceinterface.h" -UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags, +UnixFileGuard::UnixFileGuard(const std::string& device, int* fileDescriptor, int flags, std::string diagnosticPrefix) : fileDescriptor(fileDescriptor) { if (fileDescriptor == nullptr) { diff --git a/hal/src/fsfw_hal/linux/UnixFileGuard.h b/hal/src/fsfw_hal/linux/UnixFileGuard.h index d94234b6..04f379d6 100644 --- a/hal/src/fsfw_hal/linux/UnixFileGuard.h +++ b/hal/src/fsfw_hal/linux/UnixFileGuard.h @@ -15,7 +15,7 @@ class UnixFileGuard { static constexpr ReturnValue_t OPEN_FILE_FAILED = 1; - UnixFileGuard(std::string device, int* fileDescriptor, int flags, + UnixFileGuard(const std::string& device, int* fileDescriptor, int flags, std::string diagnosticPrefix = ""); virtual ~UnixFileGuard(); diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index db694613..da95bfcb 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -15,8 +15,8 @@ #include "fsfw_hal/linux/spi/SpiCookie.h" #include "fsfw_hal/linux/utility.h" -SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF) - : SystemObject(objectId), gpioComIF(gpioComIF) { +SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF) + : SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) { if (gpioComIF == nullptr) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -85,8 +85,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) { spiCookie->getSpiParameters(spiMode, spiSpeed, ¶ms); int fileDescriptor = 0; - UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR, - "SpiComIF::initializeInterface"); + UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface"); if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return fileHelper.getOpenResult(); } @@ -182,8 +181,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const int retval = 0; /* Prepare transfer */ int fileDescriptor = 0; - std::string device = spiCookie->getSpiDevice(); - UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage"); + UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage"); if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return OPENING_FILE_FAILED; } @@ -278,9 +276,8 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - std::string device = spiCookie->getSpiDevice(); int fileDescriptor = 0; - UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage"); + UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage"); if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return OPENING_FILE_FAILED; } @@ -411,7 +408,7 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) } } -void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes &mode, uint32_t &speed) const { +void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const { uint8_t tmpMode = 0; int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode); if (retval != 0) { @@ -424,3 +421,5 @@ void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes &mode, uint32_t &spee utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed"); } } + +const std::string& SpiComIF::getSpiDev() const { return dev; } diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index ded47e04..881af8c4 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -32,7 +32,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED = HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2); - SpiComIF(object_id_t objectId, GpioIF* gpioComIF); + SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF); ReturnValue_t initializeInterface(CookieIF* cookie) override; ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override; @@ -60,6 +60,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { GpioIF* getGpioInterface(); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const; + + const std::string& getSpiDev() const; void performSpiWiretapping(SpiCookie* spiCookie); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); @@ -71,7 +73,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { }; GpioIF* gpioComIF = nullptr; - + std::string dev = ""; MutexIF* spiMutex = nullptr; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; uint32_t timeoutMs = 20; diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp index c94fcdf1..85f96f28 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp @@ -1,26 +1,25 @@ #include "SpiCookie.h" -SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, - const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed) - : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode, - spiSpeed, nullptr, nullptr) {} - -SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize, +SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed) - : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {} + : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed, + nullptr, nullptr) {} -SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, - const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, +SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode, + uint32_t spiSpeed) + : SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {} + +SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, + spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback, void* args) - : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode, - spiSpeed, callback, args) {} + : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed, + callback, args) {} SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect, - std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, - uint32_t spiSpeed, spi::send_callback_function_t callback, void* args) + const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, + spi::send_callback_function_t callback, void* args) : spiAddress(spiAddress), chipSelectPin(chipSelect), - spiDevice(spiDev), comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), @@ -50,8 +49,6 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; } address_t SpiCookie::getSpiAddress() const { return spiAddress; } -std::string SpiCookie::getSpiDevice() const { return spiDevice; } - void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; } void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; } diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.h b/hal/src/fsfw_hal/linux/spi/SpiCookie.h index 5f4bf2d5..d6d4078f 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiCookie.h +++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.h @@ -29,23 +29,22 @@ class SpiCookie : public CookieIF { * @param spiDev * @param maxSize */ - SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize, - spi::SpiModes spiMode, uint32_t spiSpeed); + SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode, + uint32_t spiSpeed); /** * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware * slave select or if CS logic is performed with decoders. */ - SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize, - spi::SpiModes spiMode, uint32_t spiSpeed); + SpiCookie(address_t spiAddress, const size_t maxReplySize, spi::SpiModes spiMode, + uint32_t spiSpeed); /** * Use the callback mode of the SPI communication interface. The user can pass the callback * function here or by using the setter function #setCallbackMode */ - SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize, - spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback, - void* args); + SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode, + uint32_t spiSpeed, spi::send_callback_function_t callback, void* args); /** * Get the callback function @@ -55,7 +54,6 @@ class SpiCookie : public CookieIF { void getCallback(spi::send_callback_function_t* callback, void** args); address_t getSpiAddress() const; - std::string getSpiDevice() const; gpioId_t getChipSelectPin() const; size_t getMaxBufferSize() const; @@ -154,12 +152,11 @@ class SpiCookie : public CookieIF { * @param args */ SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect, - std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, + const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback, void* args); address_t spiAddress; gpioId_t chipSelectPin; - std::string spiDevice; spi::SpiComIfModes comIfMode; diff --git a/src/fsfw/container/FixedArrayList.h b/src/fsfw/container/FixedArrayList.h index 11882537..fc8be393 100644 --- a/src/fsfw/container/FixedArrayList.h +++ b/src/fsfw/container/FixedArrayList.h @@ -12,6 +12,7 @@ template class FixedArrayList : public ArrayList { static_assert(MAX_SIZE <= std::numeric_limits::max(), "count_t is not large enough to hold MAX_SIZE"); + private: T data[MAX_SIZE]; diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 52178683..69baf54f 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1401,8 +1401,7 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand) DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand); if (iter == deviceReplyMap.end()) { return 0; - } - else if (iter->second.countdown != nullptr) { + } else if (iter->second.countdown != nullptr) { return 0; } return iter->second.delayCycles; diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index c67aed27..0a273675 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -801,7 +801,7 @@ class DeviceHandlerBase : public DeviceHandlerIF, DeviceCommandMap::iterator command; //! Instead of using delayCycles to specify the maximum time to wait for the device reply, it //! is also possible specify a countdown - Countdown* countdown = nullptr; + Countdown *countdown = nullptr; //! will be set to true when reply is enabled bool active = false; }; @@ -1269,13 +1269,13 @@ class DeviceHandlerBase : public DeviceHandlerIF, /** * @brief Handles disabling of replies which use a timeout to detect missed replies. */ - void disableTimeoutControlledReply(DeviceReplyInfo* info); + void disableTimeoutControlledReply(DeviceReplyInfo *info); /** * @brief Handles disabling of replies which use a number of maximum delay cycles to detect * missed replies. */ - void disableDelayCyclesControlledReply(DeviceReplyInfo* info); + void disableDelayCyclesControlledReply(DeviceReplyInfo *info); /** * Retrive data from the #IPCStore. diff --git a/src/fsfw/osal/common/TcpTmTcServer.cpp b/src/fsfw/osal/common/TcpTmTcServer.cpp index 91cb9574..b9089245 100644 --- a/src/fsfw/osal/common/TcpTmTcServer.cpp +++ b/src/fsfw/osal/common/TcpTmTcServer.cpp @@ -161,7 +161,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) { while (true) { ssize_t retval = recv(connSocket, reinterpret_cast(receptionBuffer.data()), - receptionBuffer.capacity(), tcpConfig.tcpFlags); + receptionBuffer.capacity(), tcpConfig.tcpFlags); if (retval == 0) { size_t availableReadData = ringBuffer.getAvailableReadData(); if (availableReadData > lastRingBufferSize) { @@ -285,7 +285,7 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) arrayprinter::print(storeAccessor.data(), storeAccessor.size()); } ssize_t retval = send(connSocket, reinterpret_cast(storeAccessor.data()), - storeAccessor.size(), tcpConfig.tcpTmFlags); + storeAccessor.size(), tcpConfig.tcpTmFlags); if (retval == static_cast(storeAccessor.size())) { // Packet sent, clear FIFO entry tmtcBridge->tmFifo->pop(); @@ -340,7 +340,7 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) { size_t foundSize = 0; size_t readLen = 0; while (readLen < readAmount) { - if(spacePacketParser == nullptr) { + if (spacePacketParser == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } result = diff --git a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp index e8823f8a..87d262f3 100644 --- a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp @@ -47,7 +47,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" - << std::endl; + << std::endl; #endif } } diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index 37b958de..a6337fb0 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -88,7 +88,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" - << std::endl; + << std::endl; #endif } } diff --git a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp index 745b8d70..d83a4d4a 100644 --- a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp @@ -51,7 +51,7 @@ void FixedTimeslotTask::missedDeadlineCounter() { if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines" - << std::endl; + << std::endl; #endif } } diff --git a/src/fsfw/pus/CService201HealthCommanding.cpp b/src/fsfw/pus/CService201HealthCommanding.cpp index f6c49cd3..644e0d7c 100644 --- a/src/fsfw/pus/CService201HealthCommanding.cpp +++ b/src/fsfw/pus/CService201HealthCommanding.cpp @@ -97,7 +97,8 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep } // Not used for now, health state already reported by event -[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) { +[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply( + const CommandMessage *reply) { auto health = static_cast(HealthMessage::getHealth(reply)); auto oldHealth = static_cast(HealthMessage::getOldHealth(reply)); HealthSetReply healthSetReply(health, oldHealth); diff --git a/src/fsfw/pus/CService201HealthCommanding.h b/src/fsfw/pus/CService201HealthCommanding.h index 7ffa06d2..71b7caa0 100644 --- a/src/fsfw/pus/CService201HealthCommanding.h +++ b/src/fsfw/pus/CService201HealthCommanding.h @@ -39,7 +39,7 @@ class CService201HealthCommanding : public CommandingServiceBase { private: static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet, - const object_id_t *objectId); + const object_id_t *objectId); [[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply); diff --git a/src/fsfw/timemanager/Countdown.cpp b/src/fsfw/timemanager/Countdown.cpp index 327995f8..334883ae 100644 --- a/src/fsfw/timemanager/Countdown.cpp +++ b/src/fsfw/timemanager/Countdown.cpp @@ -3,8 +3,7 @@ Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) { if (startImmediately) { setTimeout(initialTimeout); - } - else { + } else { timeout = initialTimeout; } } From 56e4fca06f9644d857493ddfd27d8788b48a47a9 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 11 May 2022 11:24:06 +0200 Subject: [PATCH 123/162] Some improvements - Rename mutex to csMutex to better represent its purpose - Move the empty transfer to update the line polarity to separate function --- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 35 ++++++++++++++----------- hal/src/fsfw_hal/linux/spi/SpiComIF.h | 17 +++++++++++- 2 files changed, 36 insertions(+), 16 deletions(-) diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index da95bfcb..12d95f0d 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -27,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF) #endif /* FSFW_VERBOSE_LEVEL >= 1 */ } - spiMutex = MutexFactory::instance()->createMutex(); + csMutex = MutexFactory::instance()->createMutex(); } ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) { @@ -197,7 +197,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const /* Pull SPI CS low. For now, no support for active high given */ if (gpioId != gpio::NO_GPIO) { - result = spiMutex->lockMutex(timeoutType, timeoutMs); + result = csMutex->lockMutex(timeoutType, timeoutMs); if (result != RETURN_OK) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -208,6 +208,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const #endif return result; } + updateLinePolarity(fileDescriptor); ReturnValue_t result = gpioComIF->pullLow(gpioId); if (result != HasReturnvaluesIF::RETURN_OK) { #if FSFW_VERBOSE_LEVEL >= 1 @@ -219,6 +220,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const #endif return result; } + } else { + updateLinePolarity(fileDescriptor); } /* Execute transfer */ @@ -248,7 +251,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const if (gpioId != gpio::NO_GPIO) { gpioComIF->pullHigh(gpioId); - result = spiMutex->unlockMutex(); + result = csMutex->unlockMutex(); if (result != RETURN_OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl; @@ -291,7 +294,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) { gpioId_t gpioId = spiCookie->getChipSelectPin(); if (gpioId != gpio::NO_GPIO) { - result = spiMutex->lockMutex(timeoutType, timeoutMs); + result = csMutex->lockMutex(timeoutType, timeoutMs); if (result != RETURN_OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl; @@ -314,7 +317,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) { if (gpioId != gpio::NO_GPIO) { gpioComIF->pullHigh(gpioId); - result = spiMutex->unlockMutex(); + result = csMutex->unlockMutex(); if (result != RETURN_OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl; @@ -350,7 +353,7 @@ MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeout if (timeoutMs != nullptr) { *timeoutMs = this->timeoutMs; } - return spiMutex; + return csMutex; } void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) { @@ -398,14 +401,6 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) if (retval != 0) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed"); } - // This updates the SPI clock default polarity. Only setting the mode does not update - // the line state, which can be an issue on mode switches because the clock line will - // switch the state after the chip select is pulled low - clockUpdateTransfer.len = 0; - retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer); - if (retval != 0) { - utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); - } } void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const { @@ -422,4 +417,14 @@ void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& spee } } -const std::string& SpiComIF::getSpiDev() const { return dev; } +const std::string& SpiComIF::getSpiDev() const { + return dev; +} + +void SpiComIF::updateLinePolarity(int spiFd) { + clockUpdateTransfer.len = 0; + int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer); + if (retval != 0) { + utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); + } +} diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index 881af8c4..aca94765 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -59,6 +59,17 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { GpioIF* getGpioInterface(); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); + + /** + * This updates the SPI clock default polarity. Only setting the mode does not update + * the line state, which can be an issue on mode switches because the clock line will + * switch the state after the chip select is pulled low. + * + * It is recommended to call this function after #setSpiSpeedAndMode if the SPI bus + * has multiple SPI devices with different speed and SPI modes attached. + * @param spiFd + */ + void updateLinePolarity(int spiFd); void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const; const std::string& getSpiDev() const; @@ -74,7 +85,11 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { GpioIF* gpioComIF = nullptr; std::string dev = ""; - MutexIF* spiMutex = nullptr; + /** + * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was + * pulled high + */ + MutexIF* csMutex = nullptr; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; uint32_t timeoutMs = 20; spi_ioc_transfer clockUpdateTransfer = {}; From ab2d7ca98fbfbb862e129ea57b65b712e3dec589 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 11 May 2022 11:29:28 +0200 Subject: [PATCH 124/162] update changelog and docs --- CHANGELOG.md | 13 +++++++++++-- hal/src/fsfw_hal/linux/spi/SpiComIF.h | 4 ++-- 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 34f40ed3..2019fdcd 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -60,8 +60,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Additions -- Linux HAL: Getter functions for SPI speed and mode. -- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1 - 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 @@ -69,6 +67,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/). PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592 - `Subsystem`: New API to add table and sequence entries +## HAL + +- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a + lot more sense because each ComIF should be responsible for one SPI bus. +- SPI: Move the empty transfer to update the line polarity to separate function. This means + it is not automatically called when calling the setter function for SPI speed and mode. + The user should call this function after locking the CS mutex if multiple SPI devices with + differing speeds and modes are attached to one bus. +- SPI: Getter functions for SPI speed and mode. +- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1. + ## Fixed - TCP TMTC Server: `MutexGuard` was not created properly in diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index aca94765..3d15009d 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -65,8 +65,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { * the line state, which can be an issue on mode switches because the clock line will * switch the state after the chip select is pulled low. * - * It is recommended to call this function after #setSpiSpeedAndMode if the SPI bus - * has multiple SPI devices with different speed and SPI modes attached. + * It is recommended to call this function after #setSpiSpeedAndMode and after locking the + * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached. * @param spiFd */ void updateLinePolarity(int spiFd); From bc994595dae47fbe57d5a4fa70ad23f90e9410f9 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Wed, 11 May 2022 14:31:49 +0200 Subject: [PATCH 125/162] sequence count init value --- src/fsfw/tmtcservices/SourceSequenceCounter.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/fsfw/tmtcservices/SourceSequenceCounter.h b/src/fsfw/tmtcservices/SourceSequenceCounter.h index 6f2778a4..d7ab5d4a 100644 --- a/src/fsfw/tmtcservices/SourceSequenceCounter.h +++ b/src/fsfw/tmtcservices/SourceSequenceCounter.h @@ -8,7 +8,7 @@ class SourceSequenceCounter { uint16_t sequenceCount; public: - SourceSequenceCounter() : sequenceCount(0) {} + SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {} void increment() { sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT); } @@ -31,6 +31,7 @@ class SourceSequenceCounter { sequenceCount = newCount; return *this; } + operator uint16_t() { return this->get(); } }; From 0a97077a0e0f5e1c4859d9c867a74f277405c00c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 11 May 2022 15:42:52 +0200 Subject: [PATCH 126/162] hotfix --- src/fsfw/tmtcservices/SourceSequenceCounter.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/tmtcservices/SourceSequenceCounter.h b/src/fsfw/tmtcservices/SourceSequenceCounter.h index 6f2778a4..00f4021e 100644 --- a/src/fsfw/tmtcservices/SourceSequenceCounter.h +++ b/src/fsfw/tmtcservices/SourceSequenceCounter.h @@ -5,7 +5,7 @@ class SourceSequenceCounter { private: - uint16_t sequenceCount; + uint16_t sequenceCount = 0; public: SourceSequenceCounter() : sequenceCount(0) {} From d1ff32bf968cbf769ca8daa37265af70e050d9c0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 11 May 2022 16:12:24 +0200 Subject: [PATCH 127/162] reset read vec values, add getter function --- hal/src/fsfw_hal/linux/CommandExecutor.cpp | 6 ++++++ hal/src/fsfw_hal/linux/CommandExecutor.h | 2 ++ 2 files changed, 8 insertions(+) diff --git a/hal/src/fsfw_hal/linux/CommandExecutor.cpp b/hal/src/fsfw_hal/linux/CommandExecutor.cpp index 49c44ebf..54464be2 100644 --- a/hal/src/fsfw_hal/linux/CommandExecutor.cpp +++ b/hal/src/fsfw_hal/linux/CommandExecutor.cpp @@ -32,6 +32,8 @@ ReturnValue_t CommandExecutor::execute() { } else if (state == States::PENDING) { return COMMAND_PENDING; } + // Reset data in read vector + std::memset(readVec.data(), 0, readVec.size()); currentCmdFile = popen(currentCmd.c_str(), "r"); if (currentCmdFile == nullptr) { lastError = errno; @@ -205,3 +207,7 @@ ReturnValue_t CommandExecutor::executeBlocking() { } return HasReturnvaluesIF::RETURN_OK; } + +const std::vector& CommandExecutor::getReadVector() const { + return readVec; +} diff --git a/hal/src/fsfw_hal/linux/CommandExecutor.h b/hal/src/fsfw_hal/linux/CommandExecutor.h index 90662c0f..5d403848 100644 --- a/hal/src/fsfw_hal/linux/CommandExecutor.h +++ b/hal/src/fsfw_hal/linux/CommandExecutor.h @@ -109,6 +109,8 @@ class CommandExecutor { */ void reset(); + const std::vector& getReadVector() const; + private: std::string currentCmd; bool blocking = true; From ab45aa1296a8b3fae0b6a99b9d8b822b7be1ae3c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 12 May 2022 20:06:10 +0200 Subject: [PATCH 128/162] HasHealthIF additions --- src/fsfw/health/HasHealthIF.h | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/fsfw/health/HasHealthIF.h b/src/fsfw/health/HasHealthIF.h index 41abeef3..197f08aa 100644 --- a/src/fsfw/health/HasHealthIF.h +++ b/src/fsfw/health/HasHealthIF.h @@ -16,10 +16,15 @@ class HasHealthIF { }; static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF; - static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1); - static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2); + static constexpr ReturnValue_t OBJECT_NOT_HEALTHY = + HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1); + static constexpr ReturnValue_t INVALID_HEALTH_STATE = + HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2); + static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = + HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1; + //! P1: New Health, P2: Old Health static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO); static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO); static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW); From fc2b709148d273368e59969ee073670cb282ac29 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 12 May 2022 20:48:50 +0200 Subject: [PATCH 129/162] resolve merge conflict --- CHANGELOG.md | 4 ---- 1 file changed, 4 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 773b29c1..2cd9e333 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -85,7 +85,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593 ## Additions -<<<<<<< HEAD - LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it, can make good use of it and it usually makes the code faster and/or smaller. @@ -100,9 +99,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593 - https://gitlab.kitware.com/cmake/cmake/-/issues/21696 Easiest solution for now: Keep this option OFF by default. PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 -- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1 -======= ->>>>>>> origin/develop - 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 From 4841d5d92d721383e92b521b584c7d0e62c9873d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 13 May 2022 17:24:55 +0200 Subject: [PATCH 130/162] doc update --- src/fsfw/devicehandlers/DeviceHandlerBase.h | 23 ++++++++++++++------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 0a273675..34171067 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -467,14 +467,14 @@ class DeviceHandlerBase : public DeviceHandlerIF, * @brief This is a helper method to insert replies in the reply map. * @param deviceCommand Identifier of the reply to add. * @param maxDelayCycles The maximum number of delay cycles the reply waits - * until it times out. + * until it times out. * @param periodic Indicates if the command is periodic (i.e. it is sent - * by the device repeatedly without request) or not. Default is aperiodic (0). - * Please note that periodic replies are disabled by default. You can enable them with - * #updatePeriodicReply + * by the device repeatedly without request) or not. Default is aperiodic (0). + * Please note that periodic replies are disabled by default. You can enable them with + * #updatePeriodicReply * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible - * to provide a pointer to a Countdown object which will signal the timeout - * when expired + * to provide a pointer to a Countdown object which will signal the timeout + * when expired * @return - @c RETURN_OK when the command was successfully inserted, * - @c RETURN_FAILED else. */ @@ -783,11 +783,18 @@ class DeviceHandlerBase : public DeviceHandlerIF, * This is used to keep track of pending replies. */ struct DeviceReplyInfo { + //! For Command-Reply combinations: //! The maximum number of cycles the handler should wait for a reply //! to this command. + //! + //! Reply Only: + //! For periodic replies, this variable will be the number of delay cycles between the replies. + //! For the non-periodic variant, this variable is not used as there is no meaningful + //! definition for delay uint16_t maxDelayCycles; - //! The currently remaining cycles the handler should wait for a reply, - //! 0 means there is no reply expected + //! This variable will be set to #maxDelayCycles if a reply is expected. + //! For non-periodic replies without a command, this variable is unused. + //! A runtime value of 0 means there is no reply is currently expected. uint16_t delayCycles; size_t replyLen = 0; //!< Expected size of the reply. //! if this is !=0, the delayCycles will not be reset to 0 but to From 7df1922633061419f0a66c03e34ad16d4db7457d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 14 May 2022 09:38:59 +0200 Subject: [PATCH 131/162] refactor task IF --- hal/src/fsfw_hal/linux/CommandExecutor.cpp | 2 + hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 27 ++++++++++-- hal/src/fsfw_hal/linux/spi/SpiComIF.h | 30 +++++++++++--- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 4 +- src/fsfw/osal/linux/FixedTimeslotTask.h | 13 +++--- src/fsfw/osal/linux/PeriodicPosixTask.cpp | 41 +++++++++++++++---- src/fsfw/osal/linux/PeriodicPosixTask.h | 14 +++++-- src/fsfw/tasks/FixedSlotSequence.cpp | 2 + src/fsfw/tasks/FixedSlotSequence.h | 2 + src/fsfw/tasks/FixedTimeslotTaskIF.h | 2 +- src/fsfw/tasks/PeriodicTaskIF.h | 6 ++- .../unit/power/testPowerSwitcher.cpp | 4 +- 12 files changed, 114 insertions(+), 33 deletions(-) diff --git a/hal/src/fsfw_hal/linux/CommandExecutor.cpp b/hal/src/fsfw_hal/linux/CommandExecutor.cpp index 49c44ebf..dcdd10ee 100644 --- a/hal/src/fsfw_hal/linux/CommandExecutor.cpp +++ b/hal/src/fsfw_hal/linux/CommandExecutor.cpp @@ -205,3 +205,5 @@ ReturnValue_t CommandExecutor::executeBlocking() { } return HasReturnvaluesIF::RETURN_OK; } + +const std::vector& CommandExecutor::getReadVector() const { return readVec; } diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index dcf92b5d..3c257f1f 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -401,12 +401,33 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) if (retval != 0) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed"); } - // This updates the SPI clock default polarity. Only setting the mode does not update - // the line state, which can be an issue on mode switches because the clock line will - // switch the state after the chip select is pulled low +} + +void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const { + uint8_t tmpMode = 0; + int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode); + if (retval != 0) { + utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed"); + } + mode = static_cast(tmpMode); + + retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed); + if (retval != 0) { + utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed"); + } +} + +const std::string& SpiComIF::getSpiDev() const { return dev; } + +void SpiComIF::updateLinePolarity(int spiFd) { clockUpdateTransfer.len = 0; retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer); if (retval != 0) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); } } + +void SpiComIF::setMutexParams(MutexIF::TimeoutType timeoutType_, uint32_t timeoutMs_) { + timeoutType = timeoutType_; + timeoutMs = timeoutMs_; +} diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index 357afa2f..1400dcfc 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -22,15 +22,17 @@ class SpiCookie; */ class SpiComIF : public DeviceCommunicationIF, public SystemObject { public: - static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI; + static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20; + + static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI; static constexpr ReturnValue_t OPENING_FILE_FAILED = - HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0); + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0); /* Full duplex (ioctl) transfer failure */ static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED = - HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1); + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1); /* Half duplex (read/write) transfer failure */ static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED = - HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2); + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2); SpiComIF(object_id_t objectId, GpioIF* gpioComIF); @@ -45,6 +47,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { * the chip select must be driven from outside of the com if. */ MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr); + void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs); /** * Perform a regular send operation using Linux iotcl. This is public so it can be used @@ -59,6 +62,23 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { GpioIF* getGpioInterface(); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); +<<<<<<< Updated upstream +======= + void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const; + + /** + * This updates the SPI clock default polarity. Only setting the mode does not update + * the line state, which can be an issue on mode switches because the clock line will + * switch the state after the chip select is pulled low. + * + * It is recommended to call this function after #setSpiSpeedAndMode and after locking the + * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached. + * @param spiFd + */ + void updateLinePolarity(int spiFd); + + const std::string& getSpiDev() const; +>>>>>>> Stashed changes void performSpiWiretapping(SpiCookie* spiCookie); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); @@ -73,7 +93,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { MutexIF* spiMutex = nullptr; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; - uint32_t timeoutMs = 20; + uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT; spi_ioc_transfer clockUpdateTransfer = {}; using SpiDeviceMap = std::unordered_map; diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index 1f4d6e23..d1fccdf9 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -14,6 +14,8 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t st FixedTimeslotTask::~FixedTimeslotTask() {} +bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); } + void* FixedTimeslotTask::taskEntryPoint(void* arg) { // The argument is re-interpreted as PollingTask. FixedTimeslotTask* originalTask(reinterpret_cast(arg)); @@ -50,7 +52,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT return HasReturnvaluesIF::RETURN_FAILED; } -ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); } +ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); } void FixedTimeslotTask::taskFunctionality() { // Like FreeRTOS pthreads are running as soon as they are created diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.h b/src/fsfw/osal/linux/FixedTimeslotTask.h index 76b92db3..a5dc9032 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.h +++ b/src/fsfw/osal/linux/FixedTimeslotTask.h @@ -24,15 +24,18 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread { FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_); virtual ~FixedTimeslotTask(); - virtual ReturnValue_t startTask(); + ReturnValue_t startTask() override; - virtual ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; - virtual uint32_t getPeriodMs() const; + uint32_t getPeriodMs() const override; - virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep); + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) override; - virtual ReturnValue_t checkSequence() const; + ReturnValue_t checkSequence() override; + + bool isEmpty() const override; /** * This static function can be used as #deadlineMissedFunc. diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index e1937df4..26b6f53e 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -26,12 +26,12 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { return NULL; } -ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { +ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) { ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - return addComponent(newObject); + return addComponent(newObject, opCode); } -ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) { +ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) { if (object == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" @@ -43,7 +43,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) { #endif return HasReturnvaluesIF::RETURN_FAILED; } - objectList.push_back(object); + objectList.emplace(object, opCode); object->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; @@ -54,6 +54,9 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) { } ReturnValue_t PeriodicPosixTask::startTask(void) { + if (isEmpty()) { + return HasReturnvaluesIF::RETURN_FAILED; + } started = true; PosixThread::createTask(&taskEntryPoint, this); return HasReturnvaluesIF::RETURN_OK; @@ -64,15 +67,13 @@ void PeriodicPosixTask::taskFunctionality(void) { suspend(); } - for (auto const& object : objectList) { - object->initializeAfterTaskCreation(); - } + initObjsAfterTaskCreation(); uint64_t lastWakeTime = getCurrentMonotonicTimeMs(); // The task's "infinite" inner loop is entered. while (1) { - for (auto const& object : objectList) { - object->performOperation(); + for (auto const& objOpCodePair : objectList) { + objOpCodePair.first->performOperation(objOpCodePair.second); } if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) { @@ -84,3 +85,25 @@ void PeriodicPosixTask::taskFunctionality(void) { } uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; } + +bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); } + +ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() { + std::multiset uniqueObjects; + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; + uint32_t count = 0; + for (const auto& obj : objectList) { + // Ensure that each unique object is initialized once. + if (uniqueObjects.find(obj.first) == uniqueObjects.end()) { + ReturnValue_t result = obj.first->initializeAfterTaskCreation(); + if (result != HasReturnvaluesIF::RETURN_OK) { + count++; + status = result; + } + uniqueObjects.emplace(obj.first); + } + } + if (count > 0) { + } + return status; +} diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 3cd9847a..1142c854 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ -#include +#include #include "../../objectmanager/ObjectManagerIF.h" #include "../../tasks/ExecutableObjectIF.h" @@ -40,7 +40,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { * @param object Id of the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object) override; + ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override; /** * Adds an object to the list of objects to be executed. @@ -48,14 +48,20 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { * @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, uint8_t opCode) override; uint32_t getPeriodMs() const override; ReturnValue_t sleepFor(uint32_t ms) override; + ReturnValue_t initObjsAfterTaskCreation(); + + bool isEmpty() const override; + private: - typedef std::vector ObjectList; //!< Typedef for the List of objects. + //! Typedef for the List of objects. Will contain the objects to execute and their respective + //! op codes + using ObjectList = std::multiset>; /** * @brief This attribute holds a list of objects to be executed. */ diff --git a/src/fsfw/tasks/FixedSlotSequence.cpp b/src/fsfw/tasks/FixedSlotSequence.cpp index d4c67b4d..62c0e99c 100644 --- a/src/fsfw/tasks/FixedSlotSequence.cpp +++ b/src/fsfw/tasks/FixedSlotSequence.cpp @@ -164,3 +164,5 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const { void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) { this->customCheckFunction = customCheckFunction; } + +bool FixedSlotSequence::isEmpty() const { return slotList.empty(); } diff --git a/src/fsfw/tasks/FixedSlotSequence.h b/src/fsfw/tasks/FixedSlotSequence.h index a287c5b2..5ece7126 100644 --- a/src/fsfw/tasks/FixedSlotSequence.h +++ b/src/fsfw/tasks/FixedSlotSequence.h @@ -159,6 +159,8 @@ class FixedSlotSequence { */ ReturnValue_t intializeSequenceAfterTaskCreation() const; + bool isEmpty() const; + protected: /** * @brief This list contains all PollingSlot objects, defining order and diff --git a/src/fsfw/tasks/FixedTimeslotTaskIF.h b/src/fsfw/tasks/FixedTimeslotTaskIF.h index 497db245..9d85ac4a 100644 --- a/src/fsfw/tasks/FixedTimeslotTaskIF.h +++ b/src/fsfw/tasks/FixedTimeslotTaskIF.h @@ -30,7 +30,7 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF { * Check whether the sequence is valid and perform all other required * initialization steps which are needed after task creation */ - virtual ReturnValue_t checkSequence() const = 0; + virtual ReturnValue_t checkSequence() = 0; }; #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */ diff --git a/src/fsfw/tasks/PeriodicTaskIF.h b/src/fsfw/tasks/PeriodicTaskIF.h index c78a32de..2ae268fc 100644 --- a/src/fsfw/tasks/PeriodicTaskIF.h +++ b/src/fsfw/tasks/PeriodicTaskIF.h @@ -31,7 +31,7 @@ class PeriodicTaskIF { * Add an object to the task. The object needs to implement ExecutableObjectIF * @return */ - virtual ReturnValue_t addComponent(object_id_t object) { + virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) { return HasReturnvaluesIF::RETURN_FAILED; }; @@ -41,13 +41,15 @@ class PeriodicTaskIF { * Add an object to the task. * @return */ - virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { + virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) { return HasReturnvaluesIF::RETURN_FAILED; }; virtual ReturnValue_t sleepFor(uint32_t ms) = 0; virtual uint32_t getPeriodMs() const = 0; + + virtual bool isEmpty() const = 0; }; #endif /* PERIODICTASKIF_H_ */ diff --git a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp index d8523558..941055ac 100644 --- a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp +++ b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp @@ -67,7 +67,5 @@ TEST_CASE("Power Switcher", "[power-switcher]") { REQUIRE(not switcherUsingDummy.active()); } - SECTION("More Dummy Tests") { - - } + SECTION("More Dummy Tests") {} } From dba08fed7a00187ba204f46bc40424f7b87f3aea Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 14 May 2022 09:40:31 +0200 Subject: [PATCH 132/162] refactor task IF --- hal/src/fsfw_hal/linux/CommandExecutor.cpp | 4 +- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 9 ++-- hal/src/fsfw_hal/linux/spi/SpiComIF.h | 15 ++++--- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 4 +- src/fsfw/osal/linux/FixedTimeslotTask.h | 13 +++--- src/fsfw/osal/linux/PeriodicPosixTask.cpp | 41 +++++++++++++++---- src/fsfw/osal/linux/PeriodicPosixTask.h | 14 +++++-- src/fsfw/tasks/FixedSlotSequence.cpp | 2 + src/fsfw/tasks/FixedSlotSequence.h | 2 + src/fsfw/tasks/FixedTimeslotTaskIF.h | 2 +- src/fsfw/tasks/PeriodicTaskIF.h | 6 ++- .../unit/power/testPowerSwitcher.cpp | 4 +- 12 files changed, 79 insertions(+), 37 deletions(-) diff --git a/hal/src/fsfw_hal/linux/CommandExecutor.cpp b/hal/src/fsfw_hal/linux/CommandExecutor.cpp index 54464be2..3887964d 100644 --- a/hal/src/fsfw_hal/linux/CommandExecutor.cpp +++ b/hal/src/fsfw_hal/linux/CommandExecutor.cpp @@ -208,6 +208,4 @@ ReturnValue_t CommandExecutor::executeBlocking() { return HasReturnvaluesIF::RETURN_OK; } -const std::vector& CommandExecutor::getReadVector() const { - return readVec; -} +const std::vector& CommandExecutor::getReadVector() const { return readVec; } diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index 12d95f0d..b4ed47f2 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -417,9 +417,7 @@ void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& spee } } -const std::string& SpiComIF::getSpiDev() const { - return dev; -} +const std::string& SpiComIF::getSpiDev() const { return dev; } void SpiComIF::updateLinePolarity(int spiFd) { clockUpdateTransfer.len = 0; @@ -428,3 +426,8 @@ void SpiComIF::updateLinePolarity(int spiFd) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); } } + +void SpiComIF::setMutexParams(MutexIF::TimeoutType timeoutType_, uint32_t timeoutMs_) { + timeoutType = timeoutType_; + timeoutMs = timeoutMs_; +} diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index 3d15009d..113b42b0 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -22,15 +22,17 @@ class SpiCookie; */ class SpiComIF : public DeviceCommunicationIF, public SystemObject { public: - static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI; + static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20; + + static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI; static constexpr ReturnValue_t OPENING_FILE_FAILED = - HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0); + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0); /* Full duplex (ioctl) transfer failure */ static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED = - HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1); + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1); /* Half duplex (read/write) transfer failure */ static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED = - HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2); + HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2); SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF); @@ -45,6 +47,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { * the chip select must be driven from outside of the com if. */ MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr); + void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs); /** * Perform a regular send operation using Linux iotcl. This is public so it can be used @@ -59,6 +62,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { GpioIF* getGpioInterface(); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); + void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const; /** * This updates the SPI clock default polarity. Only setting the mode does not update @@ -70,7 +74,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { * @param spiFd */ void updateLinePolarity(int spiFd); - void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const; const std::string& getSpiDev() const; void performSpiWiretapping(SpiCookie* spiCookie); @@ -91,7 +94,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { */ MutexIF* csMutex = nullptr; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; - uint32_t timeoutMs = 20; + uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT; spi_ioc_transfer clockUpdateTransfer = {}; using SpiDeviceMap = std::unordered_map; diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index a6337fb0..e5fe12e9 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -14,6 +14,8 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t st FixedTimeslotTask::~FixedTimeslotTask() {} +bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); } + void* FixedTimeslotTask::taskEntryPoint(void* arg) { // The argument is re-interpreted as PollingTask. FixedTimeslotTask* originalTask(reinterpret_cast(arg)); @@ -50,7 +52,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT return HasReturnvaluesIF::RETURN_FAILED; } -ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); } +ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); } void FixedTimeslotTask::taskFunctionality() { // Like FreeRTOS pthreads are running as soon as they are created diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.h b/src/fsfw/osal/linux/FixedTimeslotTask.h index 76b92db3..a5dc9032 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.h +++ b/src/fsfw/osal/linux/FixedTimeslotTask.h @@ -24,15 +24,18 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread { FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_); virtual ~FixedTimeslotTask(); - virtual ReturnValue_t startTask(); + ReturnValue_t startTask() override; - virtual ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; - virtual uint32_t getPeriodMs() const; + uint32_t getPeriodMs() const override; - virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep); + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) override; - virtual ReturnValue_t checkSequence() const; + ReturnValue_t checkSequence() override; + + bool isEmpty() const override; /** * This static function can be used as #deadlineMissedFunc. diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index e1937df4..26b6f53e 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -26,12 +26,12 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { return NULL; } -ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { +ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) { ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - return addComponent(newObject); + return addComponent(newObject, opCode); } -ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) { +ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) { if (object == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" @@ -43,7 +43,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) { #endif return HasReturnvaluesIF::RETURN_FAILED; } - objectList.push_back(object); + objectList.emplace(object, opCode); object->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; @@ -54,6 +54,9 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) { } ReturnValue_t PeriodicPosixTask::startTask(void) { + if (isEmpty()) { + return HasReturnvaluesIF::RETURN_FAILED; + } started = true; PosixThread::createTask(&taskEntryPoint, this); return HasReturnvaluesIF::RETURN_OK; @@ -64,15 +67,13 @@ void PeriodicPosixTask::taskFunctionality(void) { suspend(); } - for (auto const& object : objectList) { - object->initializeAfterTaskCreation(); - } + initObjsAfterTaskCreation(); uint64_t lastWakeTime = getCurrentMonotonicTimeMs(); // The task's "infinite" inner loop is entered. while (1) { - for (auto const& object : objectList) { - object->performOperation(); + for (auto const& objOpCodePair : objectList) { + objOpCodePair.first->performOperation(objOpCodePair.second); } if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) { @@ -84,3 +85,25 @@ void PeriodicPosixTask::taskFunctionality(void) { } uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; } + +bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); } + +ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() { + std::multiset uniqueObjects; + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; + uint32_t count = 0; + for (const auto& obj : objectList) { + // Ensure that each unique object is initialized once. + if (uniqueObjects.find(obj.first) == uniqueObjects.end()) { + ReturnValue_t result = obj.first->initializeAfterTaskCreation(); + if (result != HasReturnvaluesIF::RETURN_OK) { + count++; + status = result; + } + uniqueObjects.emplace(obj.first); + } + } + if (count > 0) { + } + return status; +} diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 3cd9847a..1142c854 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ -#include +#include #include "../../objectmanager/ObjectManagerIF.h" #include "../../tasks/ExecutableObjectIF.h" @@ -40,7 +40,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { * @param object Id of the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(object_id_t object) override; + ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override; /** * Adds an object to the list of objects to be executed. @@ -48,14 +48,20 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { * @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, uint8_t opCode) override; uint32_t getPeriodMs() const override; ReturnValue_t sleepFor(uint32_t ms) override; + ReturnValue_t initObjsAfterTaskCreation(); + + bool isEmpty() const override; + private: - typedef std::vector ObjectList; //!< Typedef for the List of objects. + //! Typedef for the List of objects. Will contain the objects to execute and their respective + //! op codes + using ObjectList = std::multiset>; /** * @brief This attribute holds a list of objects to be executed. */ diff --git a/src/fsfw/tasks/FixedSlotSequence.cpp b/src/fsfw/tasks/FixedSlotSequence.cpp index d4c67b4d..62c0e99c 100644 --- a/src/fsfw/tasks/FixedSlotSequence.cpp +++ b/src/fsfw/tasks/FixedSlotSequence.cpp @@ -164,3 +164,5 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const { void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) { this->customCheckFunction = customCheckFunction; } + +bool FixedSlotSequence::isEmpty() const { return slotList.empty(); } diff --git a/src/fsfw/tasks/FixedSlotSequence.h b/src/fsfw/tasks/FixedSlotSequence.h index a287c5b2..5ece7126 100644 --- a/src/fsfw/tasks/FixedSlotSequence.h +++ b/src/fsfw/tasks/FixedSlotSequence.h @@ -159,6 +159,8 @@ class FixedSlotSequence { */ ReturnValue_t intializeSequenceAfterTaskCreation() const; + bool isEmpty() const; + protected: /** * @brief This list contains all PollingSlot objects, defining order and diff --git a/src/fsfw/tasks/FixedTimeslotTaskIF.h b/src/fsfw/tasks/FixedTimeslotTaskIF.h index 497db245..9d85ac4a 100644 --- a/src/fsfw/tasks/FixedTimeslotTaskIF.h +++ b/src/fsfw/tasks/FixedTimeslotTaskIF.h @@ -30,7 +30,7 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF { * Check whether the sequence is valid and perform all other required * initialization steps which are needed after task creation */ - virtual ReturnValue_t checkSequence() const = 0; + virtual ReturnValue_t checkSequence() = 0; }; #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */ diff --git a/src/fsfw/tasks/PeriodicTaskIF.h b/src/fsfw/tasks/PeriodicTaskIF.h index c78a32de..2ae268fc 100644 --- a/src/fsfw/tasks/PeriodicTaskIF.h +++ b/src/fsfw/tasks/PeriodicTaskIF.h @@ -31,7 +31,7 @@ class PeriodicTaskIF { * Add an object to the task. The object needs to implement ExecutableObjectIF * @return */ - virtual ReturnValue_t addComponent(object_id_t object) { + virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) { return HasReturnvaluesIF::RETURN_FAILED; }; @@ -41,13 +41,15 @@ class PeriodicTaskIF { * Add an object to the task. * @return */ - virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { + virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) { return HasReturnvaluesIF::RETURN_FAILED; }; virtual ReturnValue_t sleepFor(uint32_t ms) = 0; virtual uint32_t getPeriodMs() const = 0; + + virtual bool isEmpty() const = 0; }; #endif /* PERIODICTASKIF_H_ */ diff --git a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp index d8523558..941055ac 100644 --- a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp +++ b/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp @@ -67,7 +67,5 @@ TEST_CASE("Power Switcher", "[power-switcher]") { REQUIRE(not switcherUsingDummy.active()); } - SECTION("More Dummy Tests") { - - } + SECTION("More Dummy Tests") {} } From bcd19045cc9f19d9fd0b61f991cb334c6315832a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 14 May 2022 11:33:43 +0200 Subject: [PATCH 133/162] refactored SPI mutex handling --- .../fsfw_hal/linux/spi/ManualCsLockGuard.h | 42 ++++++++++++++ hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 51 +++++++++-------- hal/src/fsfw_hal/linux/spi/SpiComIF.h | 8 +-- hal/src/fsfw_hal/linux/spi/SpiCookie.cpp | 14 +++++ hal/src/fsfw_hal/linux/spi/SpiCookie.h | 55 +++++++++++++------ 5 files changed, 123 insertions(+), 47 deletions(-) create mode 100644 hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h diff --git a/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h b/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h new file mode 100644 index 00000000..99131393 --- /dev/null +++ b/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h @@ -0,0 +1,42 @@ +#pragma once + +#include "fsfw/ipc/MutexIF.h" +#include "fsfw/returnvalues/HasReturnvaluesIF.h" +#include "fsfw_hal/common/gpio/GpioIF.h" + +class ManualCsLockWrapper : public HasReturnvaluesIF { + public: + ManualCsLockWrapper(MutexIF* lock, GpioIF* gpioIF, SpiCookie* cookie, + MutexIF::TimeoutType type = MutexIF::TimeoutType::BLOCKING, + uint32_t timeoutMs = 0) + : lock(lock), gpioIF(gpioIF), cookie(cookie), type(type), timeoutMs(timeoutMs) { + if (cookie == nullptr) { + // TODO: Error? Or maybe throw exception.. + return; + } + cookie->setCsLockManual(true); + lockResult = lock->lockMutex(type, timeoutMs); + if (lockResult != RETURN_OK) { + return; + } + gpioResult = gpioIF->pullLow(cookie->getChipSelectPin()); + } + + ~ManualCsLockWrapper() { + if (lockResult == RETURN_OK) { + lock->unlockMutex(); + } + if (gpioResult == RETURN_OK) { + gpioIF->pullHigh(cookie->getChipSelectPin()); + } + } + ReturnValue_t lockResult; + ReturnValue_t gpioResult; + + private: + MutexIF* lock; + GpioIF* gpioIF; + SpiCookie* cookie; + MutexIF::TimeoutType type; + uint32_t timeoutMs = 0; +}; diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index b4ed47f2..c370ee37 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -194,16 +194,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const bool fullDuplex = spiCookie->isFullDuplex(); gpioId_t gpioId = spiCookie->getChipSelectPin(); + bool csLockManual = spiCookie->getCsLockManual(); - /* Pull SPI CS low. For now, no support for active high given */ - if (gpioId != gpio::NO_GPIO) { - result = csMutex->lockMutex(timeoutType, timeoutMs); + MutexIF::TimeoutType csType; + dur_millis_t csTimeout = 0; + // Pull SPI CS low. For now, no support for active high given + if (gpioId != gpio::NO_GPIO and not csLockManual) { + spiCookie->getMutexParams(csType, csTimeout); + result = csMutex->lockMutex(csType, csTimeout); if (result != RETURN_OK) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl; + sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code " + << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec + << std::endl; #else - sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n"); + sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result); #endif #endif return result; @@ -249,7 +255,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const } } - if (gpioId != gpio::NO_GPIO) { + if (gpioId != gpio::NO_GPIO and not csLockManual) { gpioComIF->pullHigh(gpioId); result = csMutex->unlockMutex(); if (result != RETURN_OK) { @@ -292,12 +298,22 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) { return result; } + bool csLockManual = spiCookie->getCsLockManual(); gpioId_t gpioId = spiCookie->getChipSelectPin(); - if (gpioId != gpio::NO_GPIO) { - result = csMutex->lockMutex(timeoutType, timeoutMs); + MutexIF::TimeoutType csType; + dur_millis_t csTimeout = 0; + if (gpioId != gpio::NO_GPIO and not csLockManual) { + spiCookie->getMutexParams(csType, csTimeout); + result = csMutex->lockMutex(csType, csTimeout); if (result != RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl; + sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code " + << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec + << std::endl; +#else + sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result); +#endif #endif return result; } @@ -315,7 +331,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) { result = HALF_DUPLEX_TRANSFER_FAILED; } - if (gpioId != gpio::NO_GPIO) { + if (gpioId != gpio::NO_GPIO and not csLockManual) { gpioComIF->pullHigh(gpioId); result = csMutex->unlockMutex(); if (result != RETURN_OK) { @@ -346,15 +362,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, return HasReturnvaluesIF::RETURN_OK; } -MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) { - if (timeoutType != nullptr) { - *timeoutType = this->timeoutType; - } - if (timeoutMs != nullptr) { - *timeoutMs = this->timeoutMs; - } - return csMutex; -} +MutexIF* SpiComIF::getCsMutex() { return csMutex; } void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) { if (spiCookie == nullptr) { @@ -426,8 +434,3 @@ void SpiComIF::updateLinePolarity(int spiFd) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); } } - -void SpiComIF::setMutexParams(MutexIF::TimeoutType timeoutType_, uint32_t timeoutMs_) { - timeoutType = timeoutType_; - timeoutMs = timeoutMs_; -} diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index 113b42b0..52673457 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -22,8 +22,6 @@ class SpiCookie; */ class SpiComIF : public DeviceCommunicationIF, public SystemObject { public: - static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20; - static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI; static constexpr ReturnValue_t OPENING_FILE_FAILED = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0); @@ -46,7 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { * @brief This function returns the mutex which can be used to protect the spi bus when * the chip select must be driven from outside of the com if. */ - MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr); + MutexIF* getCsMutex(); void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs); /** @@ -93,8 +91,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { * pulled high */ MutexIF* csMutex = nullptr; - MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; - uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT; + // MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; + // uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT; spi_ioc_transfer clockUpdateTransfer = {}; using SpiDeviceMap = std::unordered_map; diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp index 85f96f28..e61703e6 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp @@ -104,3 +104,17 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args *callback = this->sendCallback; *args = this->callbackArgs; } + +void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; } + +bool SpiCookie::getCsLockManual() const { return manualCsLock; } + +void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const { + csTimeoutType = this->csTimeoutType; + csTimeout = this->csTimeout; +} + +void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) { + this->csTimeoutType = csTimeoutType; + this->csTimeout = csTimeout; +} diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.h b/hal/src/fsfw_hal/linux/spi/SpiCookie.h index d6d4078f..2104e2eb 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiCookie.h +++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.h @@ -2,6 +2,8 @@ #define LINUX_SPI_SPICOOKIE_H_ #include +#include +#include #include #include "../../common/gpio/gpioDefinitions.h" @@ -20,6 +22,8 @@ */ class SpiCookie : public CookieIF { public: + static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20; + /** * Each SPI device will have a corresponding cookie. The cookie is used by the communication * interface and contains device specific information like the largest expected size to be @@ -137,9 +141,42 @@ class SpiCookie : public CookieIF { */ void activateCsDeselect(bool deselectCs, uint16_t delayUsecs); + void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const; + void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout); + + void setCsLockManual(bool enable); + bool getCsLockManual() const; + spi_ioc_transfer* getTransferStructHandle(); private: + address_t spiAddress; + gpioId_t chipSelectPin; + + spi::SpiComIfModes comIfMode; + + // Required for regular mode + const size_t maxSize; + spi::SpiModes spiMode; + /** + * If this is set to true, the SPI ComIF will not perform any mutex locking for the + * CS mechanism. The user is responsible to locking and unlocking the mutex for the + * whole duration of the transfers. + */ + bool manualCsLock = false; + uint32_t spiSpeed; + bool halfDuplex = false; + + MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING; + dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT; + + // Required for callback mode + spi::send_callback_function_t sendCallback = nullptr; + void* callbackArgs = nullptr; + + struct spi_ioc_transfer spiTransferStruct = {}; + UncommonParameters uncommonParameters; + /** * Internal constructor which initializes every field * @param spiAddress @@ -154,24 +191,6 @@ class SpiCookie : public CookieIF { SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback, void* args); - - address_t spiAddress; - gpioId_t chipSelectPin; - - spi::SpiComIfModes comIfMode; - - // Required for regular mode - const size_t maxSize; - spi::SpiModes spiMode; - uint32_t spiSpeed; - bool halfDuplex = false; - - // Required for callback mode - spi::send_callback_function_t sendCallback = nullptr; - void* callbackArgs = nullptr; - - struct spi_ioc_transfer spiTransferStruct = {}; - UncommonParameters uncommonParameters; }; #endif /* LINUX_SPI_SPICOOKIE_H_ */ From 55ed7ab93e816ea083a961018a9383dc6c8ff33f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sat, 14 May 2022 16:58:28 +0200 Subject: [PATCH 134/162] important fix --- hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h b/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h index 99131393..b282bcc0 100644 --- a/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h +++ b/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h @@ -23,12 +23,13 @@ class ManualCsLockWrapper : public HasReturnvaluesIF { } ~ManualCsLockWrapper() { - if (lockResult == RETURN_OK) { - lock->unlockMutex(); - } if (gpioResult == RETURN_OK) { gpioIF->pullHigh(cookie->getChipSelectPin()); } + cookie->setCsLockManual(false); + if (lockResult == RETURN_OK) { + lock->unlockMutex(); + } } ReturnValue_t lockResult; ReturnValue_t gpioResult; From 14a1b4a7ac57080758b2a1931786ea69d82db780 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 17 May 2022 13:31:33 +0200 Subject: [PATCH 135/162] made auto-formatter even more re-usable --- scripts/auto-formatter.sh | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/scripts/auto-formatter.sh b/scripts/auto-formatter.sh index 7b67ee9d..33f3fabc 100755 --- a/scripts/auto-formatter.sh +++ b/scripts/auto-formatter.sh @@ -12,11 +12,17 @@ else fi cpp_format="clang-format" +folder_list=( + "./src" + "./hal" + "./tests" +) file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp" if command -v ${cpp_format} &> /dev/null; then - find ./src ${file_selectors} | xargs clang-format --style=file -i - find ./hal ${file_selectors} | xargs clang-format --style=file -i - find ./tests ${file_selectors} | xargs clang-format --style=file -i + echo "Auto-formatting ${dir} recursively" + for dir in ${allThreads[@]}; do + find ${dir} ${file_selectors} | xargs clang-format --style=file -i + done else echo "No ${cpp_format} tool found, not formatting C++/C files" fi From e8023886f60ba3af0a63279da8dbc0d3eb0939a7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 17 May 2022 13:31:56 +0200 Subject: [PATCH 136/162] made auto-formatter even more usable --- scripts/auto-formatter.sh | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/scripts/auto-formatter.sh b/scripts/auto-formatter.sh index 33f3fabc..cec0b680 100755 --- a/scripts/auto-formatter.sh +++ b/scripts/auto-formatter.sh @@ -3,6 +3,12 @@ if [[ ! -f README.md ]]; then cd .. fi +folder_list=( + "./src" + "./hal" + "./tests" +) + cmake_fmt="cmake-format" if command -v ${cmake_fmt} &> /dev/null; then cmake_fmt_cmd="${cmake_fmt} -i CMakeLists.txt" @@ -12,15 +18,10 @@ else fi cpp_format="clang-format" -folder_list=( - "./src" - "./hal" - "./tests" -) file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp" if command -v ${cpp_format} &> /dev/null; then - echo "Auto-formatting ${dir} recursively" - for dir in ${allThreads[@]}; do + for dir in ${folder_list[@]}; do + echo "Auto-formatting ${dir} recursively" find ${dir} ${file_selectors} | xargs clang-format --style=file -i done else From f9c42d3583555a03ef9cb7477689c69c422d9a0d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 17 May 2022 18:12:05 +0200 Subject: [PATCH 137/162] vector as core container is ok --- src/fsfw/osal/linux/PeriodicPosixTask.cpp | 7 ++++--- src/fsfw/osal/linux/PeriodicPosixTask.h | 4 ++-- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index 26b6f53e..44d669df 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -1,6 +1,7 @@ #include "fsfw/osal/linux/PeriodicPosixTask.h" -#include +#include +#include #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" @@ -23,7 +24,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { PeriodicPosixTask* originalTask(reinterpret_cast(arg)); // The task's functionality is called. originalTask->taskFunctionality(); - return NULL; + return nullptr; } ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) { @@ -43,7 +44,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_ #endif return HasReturnvaluesIF::RETURN_FAILED; } - objectList.emplace(object, opCode); + objectList.push_back({object, opCode}); object->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 1142c854..a3c6b187 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ -#include +#include #include "../../objectmanager/ObjectManagerIF.h" #include "../../tasks/ExecutableObjectIF.h" @@ -61,7 +61,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { private: //! Typedef for the List of objects. Will contain the objects to execute and their respective //! op codes - using ObjectList = std::multiset>; + using ObjectList = std::vector>; /** * @brief This attribute holds a list of objects to be executed. */ From 18b342e94b59123b986fca3242ba375be3c6aefd Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 17 May 2022 18:12:05 +0200 Subject: [PATCH 138/162] vector as core container is ok --- src/fsfw/osal/linux/PeriodicPosixTask.cpp | 7 ++++--- src/fsfw/osal/linux/PeriodicPosixTask.h | 4 ++-- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index 26b6f53e..44d669df 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -1,6 +1,7 @@ #include "fsfw/osal/linux/PeriodicPosixTask.h" -#include +#include +#include #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" @@ -23,7 +24,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { PeriodicPosixTask* originalTask(reinterpret_cast(arg)); // The task's functionality is called. originalTask->taskFunctionality(); - return NULL; + return nullptr; } ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) { @@ -43,7 +44,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_ #endif return HasReturnvaluesIF::RETURN_FAILED; } - objectList.emplace(object, opCode); + objectList.push_back({object, opCode}); object->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 1142c854..a3c6b187 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -1,7 +1,7 @@ #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ -#include +#include #include "../../objectmanager/ObjectManagerIF.h" #include "../../tasks/ExecutableObjectIF.h" @@ -61,7 +61,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { private: //! Typedef for the List of objects. Will contain the objects to execute and their respective //! op codes - using ObjectList = std::multiset>; + using ObjectList = std::vector>; /** * @brief This attribute holds a list of objects to be executed. */ From 7b3de873644150fe82cb54399b35c59c7134cd3c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 May 2022 13:19:43 +0200 Subject: [PATCH 139/162] removed some changes which belong in separate PR --- hal/src/fsfw_hal/linux/CommandExecutor.cpp | 2 -- hal/src/fsfw_hal/linux/spi/SpiComIF.cpp | 27 +++---------------- hal/src/fsfw_hal/linux/spi/SpiComIF.h | 30 ++++------------------ 3 files changed, 8 insertions(+), 51 deletions(-) diff --git a/hal/src/fsfw_hal/linux/CommandExecutor.cpp b/hal/src/fsfw_hal/linux/CommandExecutor.cpp index dcdd10ee..49c44ebf 100644 --- a/hal/src/fsfw_hal/linux/CommandExecutor.cpp +++ b/hal/src/fsfw_hal/linux/CommandExecutor.cpp @@ -205,5 +205,3 @@ ReturnValue_t CommandExecutor::executeBlocking() { } return HasReturnvaluesIF::RETURN_OK; } - -const std::vector& CommandExecutor::getReadVector() const { return readVec; } diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp index 3c257f1f..dcf92b5d 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp @@ -401,33 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) if (retval != 0) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed"); } -} - -void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const { - uint8_t tmpMode = 0; - int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode); - if (retval != 0) { - utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed"); - } - mode = static_cast(tmpMode); - - retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed); - if (retval != 0) { - utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed"); - } -} - -const std::string& SpiComIF::getSpiDev() const { return dev; } - -void SpiComIF::updateLinePolarity(int spiFd) { + // This updates the SPI clock default polarity. Only setting the mode does not update + // the line state, which can be an issue on mode switches because the clock line will + // switch the state after the chip select is pulled low clockUpdateTransfer.len = 0; retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer); if (retval != 0) { utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed"); } } - -void SpiComIF::setMutexParams(MutexIF::TimeoutType timeoutType_, uint32_t timeoutMs_) { - timeoutType = timeoutType_; - timeoutMs = timeoutMs_; -} diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h index 1400dcfc..357afa2f 100644 --- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h +++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h @@ -22,17 +22,15 @@ class SpiCookie; */ class SpiComIF : public DeviceCommunicationIF, public SystemObject { public: - static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20; - - static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI; + static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI; static constexpr ReturnValue_t OPENING_FILE_FAILED = - HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0); + HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0); /* Full duplex (ioctl) transfer failure */ static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED = - HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1); + HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1); /* Half duplex (read/write) transfer failure */ static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED = - HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2); + HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2); SpiComIF(object_id_t objectId, GpioIF* gpioComIF); @@ -47,7 +45,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { * the chip select must be driven from outside of the com if. */ MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr); - void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs); /** * Perform a regular send operation using Linux iotcl. This is public so it can be used @@ -62,23 +59,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { GpioIF* getGpioInterface(); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); -<<<<<<< Updated upstream -======= - void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const; - - /** - * This updates the SPI clock default polarity. Only setting the mode does not update - * the line state, which can be an issue on mode switches because the clock line will - * switch the state after the chip select is pulled low. - * - * It is recommended to call this function after #setSpiSpeedAndMode and after locking the - * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached. - * @param spiFd - */ - void updateLinePolarity(int spiFd); - - const std::string& getSpiDev() const; ->>>>>>> Stashed changes void performSpiWiretapping(SpiCookie* spiCookie); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); @@ -93,7 +73,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject { MutexIF* spiMutex = nullptr; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; - uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT; + uint32_t timeoutMs = 20; spi_ioc_transfer clockUpdateTransfer = {}; using SpiDeviceMap = std::unordered_map; From e87b5a0207070ebe3125cd675a108cae29d5c2f0 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 May 2022 14:32:35 +0200 Subject: [PATCH 140/162] new base class for periodic tasks --- src/fsfw/osal/linux/PeriodicPosixTask.cpp | 57 ++--------------------- src/fsfw/osal/linux/PeriodicPosixTask.h | 55 ++++------------------ src/fsfw/tasks/PeriodicTaskBase.cpp | 57 +++++++++++++++++++++++ src/fsfw/tasks/PeriodicTaskBase.h | 52 +++++++++++++++++++++ src/fsfw/tasks/PeriodicTaskIF.h | 24 +++++----- src/fsfw/tasks/TaskFactory.h | 2 +- src/fsfw/tasks/Typedef.h | 13 ------ src/fsfw/tasks/definitions.h | 13 ++++++ 8 files changed, 148 insertions(+), 125 deletions(-) create mode 100644 src/fsfw/tasks/PeriodicTaskBase.cpp create mode 100644 src/fsfw/tasks/PeriodicTaskBase.h delete mode 100644 src/fsfw/tasks/Typedef.h create mode 100644 src/fsfw/tasks/definitions.h diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index 44d669df..510ec59c 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -8,12 +8,10 @@ #include "fsfw/tasks/ExecutableObjectIF.h" PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, - uint32_t period_, void(deadlineMissedFunc_)()) + uint32_t period_, TaskDeadlineMissedFunction dlMissedFunc_) : PosixThread(name_, priority_, stackSize_), - objectList(), - started(false), - periodMs(period_), - deadlineMissedFunc(deadlineMissedFunc_) {} + PeriodicTaskBase(period_, dlMissedFunc_), + started(false) {} PeriodicPosixTask::~PeriodicPosixTask() { // Not Implemented @@ -27,31 +25,8 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { return nullptr; } -ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) { - ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - return addComponent(newObject, opCode); -} - -ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) { - if (object == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" - << " it implements ExecutableObjectIF!" << std::endl; -#else - sif::printError( - "PeriodicTask::addComponent: Invalid object. Make sure it " - "implements ExecutableObjectIF!\n"); -#endif - return HasReturnvaluesIF::RETURN_FAILED; - } - objectList.push_back({object, opCode}); - object->setTaskIF(this); - - return HasReturnvaluesIF::RETURN_OK; -} - ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) { - return PosixThread::sleep((uint64_t)ms * 1000000); + return PosixThread::sleep(static_cast(ms * 1000000)); } ReturnValue_t PeriodicPosixTask::startTask(void) { @@ -84,27 +59,3 @@ void PeriodicPosixTask::taskFunctionality(void) { } } } - -uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; } - -bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); } - -ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() { - std::multiset uniqueObjects; - ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; - uint32_t count = 0; - for (const auto& obj : objectList) { - // Ensure that each unique object is initialized once. - if (uniqueObjects.find(obj.first) == uniqueObjects.end()) { - ReturnValue_t result = obj.first->initializeAfterTaskCreation(); - if (result != HasReturnvaluesIF::RETURN_OK) { - count++; - status = result; - } - uniqueObjects.emplace(obj.first); - } - } - if (count > 0) { - } - return status; -} diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index a3c6b187..3dcc6bcc 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -1,14 +1,17 @@ #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ -#include - -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../tasks/ExecutableObjectIF.h" -#include "../../tasks/PeriodicTaskIF.h" #include "PosixThread.h" -class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { +#include + +#include "fsfw/objectmanager/ObjectManagerIF.h" +#include "fsfw/tasks/ExecutableObjectIF.h" +#include "fsfw/tasks/PeriodicTaskIF.h" +#include "fsfw/tasks/PeriodicTaskBase.h" + + +class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase { public: /** * Create a generic periodic task. @@ -34,48 +37,16 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { * to the system call. */ ReturnValue_t startTask() override; - /** - * Adds an object to the list of objects to be executed. - * The objects are executed in the order added. - * @param object Id of the object to add. - * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(object_id_t object, uint8_t opCode) 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, uint8_t opCode) override; - - uint32_t getPeriodMs() const override; ReturnValue_t sleepFor(uint32_t ms) override; - ReturnValue_t initObjsAfterTaskCreation(); - - bool isEmpty() const override; - private: - //! Typedef for the List of objects. Will contain the objects to execute and their respective - //! op codes - using ObjectList = std::vector>; - /** - * @brief This attribute holds a list of objects to be executed. - */ - ObjectList objectList; /** * @brief Flag to indicate that the task was started and is allowed to run */ bool started; - /** - * @brief Period of the task in milliseconds - */ - uint32_t periodMs; /** * @brief The function containing the actual functionality of the task. * @details The method sets and starts @@ -92,14 +63,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { * of the child class. Needs a valid pointer to the derived class. */ static void* taskEntryPoint(void* arg); - /** - * @brief The pointer to the deadline-missed function. - * @details This pointer stores the function that is executed if the task's deadline is missed. - * So, each may react individually on a timing failure. The pointer may be - * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution - * of the periodic task. - */ - void (*deadlineMissedFunc)(); }; #endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */ diff --git a/src/fsfw/tasks/PeriodicTaskBase.cpp b/src/fsfw/tasks/PeriodicTaskBase.cpp new file mode 100644 index 00000000..606fee1e --- /dev/null +++ b/src/fsfw/tasks/PeriodicTaskBase.cpp @@ -0,0 +1,57 @@ +#include +#include "PeriodicTaskBase.h" + +#include + +PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_, + TaskDeadlineMissedFunction deadlineMissedFunc_) + : periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {} + +uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; } + +bool PeriodicTaskBase::isEmpty() const override { + return objectList.empty(); +} + +ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() { + std::multiset uniqueObjects; + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; + uint32_t count = 0; + for (const auto& obj : objectList) { + // Ensure that each unique object is initialized once. + if (uniqueObjects.find(obj.first) == uniqueObjects.end()) { + ReturnValue_t result = obj.first->initializeAfterTaskCreation(); + if (result != HasReturnvaluesIF::RETURN_OK) { + count++; + status = result; + } + uniqueObjects.emplace(obj.first); + } + } + if (count > 0) { + } + return status; +} + +ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) { + ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); + return addComponent(newObject, opCode); +} + +ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) { + if (object == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" + << " it implements ExecutableObjectIF!" << std::endl; +#else + sif::printError( + "PeriodicTask::addComponent: Invalid object. Make sure it " + "implements ExecutableObjectIF!\n"); +#endif + return HasReturnvaluesIF::RETURN_FAILED; + } + objectList.push_back({object, opCode}); + object->setTaskIF(this); + + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/src/fsfw/tasks/PeriodicTaskBase.h b/src/fsfw/tasks/PeriodicTaskBase.h new file mode 100644 index 00000000..4b330426 --- /dev/null +++ b/src/fsfw/tasks/PeriodicTaskBase.h @@ -0,0 +1,52 @@ +#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ +#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ + +#include "fsfw/tasks/PeriodicTaskIF.h" +#include "fsfw/tasks/definitions.h" +#include +#include + +class ExecutableObjectIF; + +class PeriodicTaskBase: public PeriodicTaskIF { +public: + PeriodicTaskBase(uint32_t periodMs, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr); + + ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override; + ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override; + + + uint32_t getPeriodMs() const override; + + bool isEmpty() const override; + + ReturnValue_t initObjsAfterTaskCreation(); + +protected: + + //! Typedef for the List of objects. Will contain the objects to execute and their respective + //! operation codes + using ObjectList = std::vector>; + /** + * @brief This attribute holds a list of objects to be executed. + */ + ObjectList objectList; + + /** + * @brief Period of the task in milliseconds + */ + uint32_t periodMs; + + /** + * @brief The pointer to the deadline-missed function. + * @details This pointer stores the function that is executed if the task's deadline is missed. + * So, each may react individually on a timing failure. The pointer may be + * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution + * of the periodic task. + */ + TaskDeadlineMissedFunction deadlineMissedFunc = nullptr; +}; + + + +#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */ diff --git a/src/fsfw/tasks/PeriodicTaskIF.h b/src/fsfw/tasks/PeriodicTaskIF.h index 2ae268fc..076ef56e 100644 --- a/src/fsfw/tasks/PeriodicTaskIF.h +++ b/src/fsfw/tasks/PeriodicTaskIF.h @@ -1,11 +1,10 @@ #ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_ #define FRAMEWORK_TASK_PERIODICTASKIF_H_ -#include +#include "fsfw/objectmanager/SystemObjectIF.h" +#include "fsfw/tasks/ExecutableObjectIF.h" -#include "../objectmanager/SystemObjectIF.h" -#include "../timemanager/Clock.h" -class ExecutableObjectIF; +#include /** * New version of TaskIF @@ -26,20 +25,21 @@ class PeriodicTaskIF { virtual ReturnValue_t startTask() = 0; /** - * Add a component (object) to a periodic task. - * @param object - * Add an object to the task. The object needs to implement ExecutableObjectIF - * @return + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. The object needs to implement + * ExecutableObjectIF + * @param object Id of the object to add. + * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) { return HasReturnvaluesIF::RETURN_FAILED; }; /** - * Add an object to a periodic task. - * @param object - * Add an object to the task. - * @return + * 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. */ virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) { return HasReturnvaluesIF::RETURN_FAILED; diff --git a/src/fsfw/tasks/TaskFactory.h b/src/fsfw/tasks/TaskFactory.h index fcd62678..828c533e 100644 --- a/src/fsfw/tasks/TaskFactory.h +++ b/src/fsfw/tasks/TaskFactory.h @@ -4,7 +4,7 @@ #include #include "FixedTimeslotTaskIF.h" -#include "Typedef.h" +#include "definitions.h" /** * Singleton Class that produces Tasks. diff --git a/src/fsfw/tasks/Typedef.h b/src/fsfw/tasks/Typedef.h deleted file mode 100644 index 1bb75131..00000000 --- a/src/fsfw/tasks/Typedef.h +++ /dev/null @@ -1,13 +0,0 @@ -#ifndef FSFW_TASKS_TYPEDEF_H_ -#define FSFW_TASKS_TYPEDEF_H_ - -#include -#include - -typedef const char* TaskName; -typedef uint32_t TaskPriority; -typedef size_t TaskStackSize; -typedef double TaskPeriod; -typedef void (*TaskDeadlineMissedFunction)(); - -#endif /* FSFW_TASKS_TYPEDEF_H_ */ diff --git a/src/fsfw/tasks/definitions.h b/src/fsfw/tasks/definitions.h new file mode 100644 index 00000000..bca9b768 --- /dev/null +++ b/src/fsfw/tasks/definitions.h @@ -0,0 +1,13 @@ +#ifndef FSFW_TASKS_TYPEDEF_H_ +#define FSFW_TASKS_TYPEDEF_H_ + +#include +#include + +using TaskName = const char*; +using TaskPriority = uint32_t; +using TaskStackSize = size_t; +using TaskPeriod = double; +using TaskDeadlineMissedFunction = void (*)(); + +#endif /* FSFW_TASKS_TYPEDEF_H_ */ From 86ca4f246bbf2a8adb3e265f8c4f0b47fde0807d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 May 2022 14:32:35 +0200 Subject: [PATCH 141/162] new base class for periodic tasks --- src/fsfw/osal/linux/PeriodicPosixTask.cpp | 57 ++--------------------- src/fsfw/osal/linux/PeriodicPosixTask.h | 55 ++++------------------ src/fsfw/tasks/PeriodicTaskBase.cpp | 57 +++++++++++++++++++++++ src/fsfw/tasks/PeriodicTaskBase.h | 52 +++++++++++++++++++++ src/fsfw/tasks/PeriodicTaskIF.h | 24 +++++----- src/fsfw/tasks/TaskFactory.h | 2 +- src/fsfw/tasks/Typedef.h | 13 ------ src/fsfw/tasks/definitions.h | 13 ++++++ 8 files changed, 148 insertions(+), 125 deletions(-) create mode 100644 src/fsfw/tasks/PeriodicTaskBase.cpp create mode 100644 src/fsfw/tasks/PeriodicTaskBase.h delete mode 100644 src/fsfw/tasks/Typedef.h create mode 100644 src/fsfw/tasks/definitions.h diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index 44d669df..510ec59c 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -8,12 +8,10 @@ #include "fsfw/tasks/ExecutableObjectIF.h" PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, - uint32_t period_, void(deadlineMissedFunc_)()) + uint32_t period_, TaskDeadlineMissedFunction dlMissedFunc_) : PosixThread(name_, priority_, stackSize_), - objectList(), - started(false), - periodMs(period_), - deadlineMissedFunc(deadlineMissedFunc_) {} + PeriodicTaskBase(period_, dlMissedFunc_), + started(false) {} PeriodicPosixTask::~PeriodicPosixTask() { // Not Implemented @@ -27,31 +25,8 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { return nullptr; } -ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) { - ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - return addComponent(newObject, opCode); -} - -ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) { - if (object == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" - << " it implements ExecutableObjectIF!" << std::endl; -#else - sif::printError( - "PeriodicTask::addComponent: Invalid object. Make sure it " - "implements ExecutableObjectIF!\n"); -#endif - return HasReturnvaluesIF::RETURN_FAILED; - } - objectList.push_back({object, opCode}); - object->setTaskIF(this); - - return HasReturnvaluesIF::RETURN_OK; -} - ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) { - return PosixThread::sleep((uint64_t)ms * 1000000); + return PosixThread::sleep(static_cast(ms * 1000000)); } ReturnValue_t PeriodicPosixTask::startTask(void) { @@ -84,27 +59,3 @@ void PeriodicPosixTask::taskFunctionality(void) { } } } - -uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; } - -bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); } - -ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() { - std::multiset uniqueObjects; - ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; - uint32_t count = 0; - for (const auto& obj : objectList) { - // Ensure that each unique object is initialized once. - if (uniqueObjects.find(obj.first) == uniqueObjects.end()) { - ReturnValue_t result = obj.first->initializeAfterTaskCreation(); - if (result != HasReturnvaluesIF::RETURN_OK) { - count++; - status = result; - } - uniqueObjects.emplace(obj.first); - } - } - if (count > 0) { - } - return status; -} diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index a3c6b187..3dcc6bcc 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -1,14 +1,17 @@ #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ -#include - -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../tasks/ExecutableObjectIF.h" -#include "../../tasks/PeriodicTaskIF.h" #include "PosixThread.h" -class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { +#include + +#include "fsfw/objectmanager/ObjectManagerIF.h" +#include "fsfw/tasks/ExecutableObjectIF.h" +#include "fsfw/tasks/PeriodicTaskIF.h" +#include "fsfw/tasks/PeriodicTaskBase.h" + + +class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase { public: /** * Create a generic periodic task. @@ -34,48 +37,16 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { * to the system call. */ ReturnValue_t startTask() override; - /** - * Adds an object to the list of objects to be executed. - * The objects are executed in the order added. - * @param object Id of the object to add. - * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(object_id_t object, uint8_t opCode) 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, uint8_t opCode) override; - - uint32_t getPeriodMs() const override; ReturnValue_t sleepFor(uint32_t ms) override; - ReturnValue_t initObjsAfterTaskCreation(); - - bool isEmpty() const override; - private: - //! Typedef for the List of objects. Will contain the objects to execute and their respective - //! op codes - using ObjectList = std::vector>; - /** - * @brief This attribute holds a list of objects to be executed. - */ - ObjectList objectList; /** * @brief Flag to indicate that the task was started and is allowed to run */ bool started; - /** - * @brief Period of the task in milliseconds - */ - uint32_t periodMs; /** * @brief The function containing the actual functionality of the task. * @details The method sets and starts @@ -92,14 +63,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { * of the child class. Needs a valid pointer to the derived class. */ static void* taskEntryPoint(void* arg); - /** - * @brief The pointer to the deadline-missed function. - * @details This pointer stores the function that is executed if the task's deadline is missed. - * So, each may react individually on a timing failure. The pointer may be - * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution - * of the periodic task. - */ - void (*deadlineMissedFunc)(); }; #endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */ diff --git a/src/fsfw/tasks/PeriodicTaskBase.cpp b/src/fsfw/tasks/PeriodicTaskBase.cpp new file mode 100644 index 00000000..606fee1e --- /dev/null +++ b/src/fsfw/tasks/PeriodicTaskBase.cpp @@ -0,0 +1,57 @@ +#include +#include "PeriodicTaskBase.h" + +#include + +PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_, + TaskDeadlineMissedFunction deadlineMissedFunc_) + : periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {} + +uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; } + +bool PeriodicTaskBase::isEmpty() const override { + return objectList.empty(); +} + +ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() { + std::multiset uniqueObjects; + ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; + uint32_t count = 0; + for (const auto& obj : objectList) { + // Ensure that each unique object is initialized once. + if (uniqueObjects.find(obj.first) == uniqueObjects.end()) { + ReturnValue_t result = obj.first->initializeAfterTaskCreation(); + if (result != HasReturnvaluesIF::RETURN_OK) { + count++; + status = result; + } + uniqueObjects.emplace(obj.first); + } + } + if (count > 0) { + } + return status; +} + +ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) { + ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); + return addComponent(newObject, opCode); +} + +ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) { + if (object == nullptr) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" + << " it implements ExecutableObjectIF!" << std::endl; +#else + sif::printError( + "PeriodicTask::addComponent: Invalid object. Make sure it " + "implements ExecutableObjectIF!\n"); +#endif + return HasReturnvaluesIF::RETURN_FAILED; + } + objectList.push_back({object, opCode}); + object->setTaskIF(this); + + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/src/fsfw/tasks/PeriodicTaskBase.h b/src/fsfw/tasks/PeriodicTaskBase.h new file mode 100644 index 00000000..4b330426 --- /dev/null +++ b/src/fsfw/tasks/PeriodicTaskBase.h @@ -0,0 +1,52 @@ +#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ +#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ + +#include "fsfw/tasks/PeriodicTaskIF.h" +#include "fsfw/tasks/definitions.h" +#include +#include + +class ExecutableObjectIF; + +class PeriodicTaskBase: public PeriodicTaskIF { +public: + PeriodicTaskBase(uint32_t periodMs, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr); + + ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override; + ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override; + + + uint32_t getPeriodMs() const override; + + bool isEmpty() const override; + + ReturnValue_t initObjsAfterTaskCreation(); + +protected: + + //! Typedef for the List of objects. Will contain the objects to execute and their respective + //! operation codes + using ObjectList = std::vector>; + /** + * @brief This attribute holds a list of objects to be executed. + */ + ObjectList objectList; + + /** + * @brief Period of the task in milliseconds + */ + uint32_t periodMs; + + /** + * @brief The pointer to the deadline-missed function. + * @details This pointer stores the function that is executed if the task's deadline is missed. + * So, each may react individually on a timing failure. The pointer may be + * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution + * of the periodic task. + */ + TaskDeadlineMissedFunction deadlineMissedFunc = nullptr; +}; + + + +#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */ diff --git a/src/fsfw/tasks/PeriodicTaskIF.h b/src/fsfw/tasks/PeriodicTaskIF.h index 2ae268fc..076ef56e 100644 --- a/src/fsfw/tasks/PeriodicTaskIF.h +++ b/src/fsfw/tasks/PeriodicTaskIF.h @@ -1,11 +1,10 @@ #ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_ #define FRAMEWORK_TASK_PERIODICTASKIF_H_ -#include +#include "fsfw/objectmanager/SystemObjectIF.h" +#include "fsfw/tasks/ExecutableObjectIF.h" -#include "../objectmanager/SystemObjectIF.h" -#include "../timemanager/Clock.h" -class ExecutableObjectIF; +#include /** * New version of TaskIF @@ -26,20 +25,21 @@ class PeriodicTaskIF { virtual ReturnValue_t startTask() = 0; /** - * Add a component (object) to a periodic task. - * @param object - * Add an object to the task. The object needs to implement ExecutableObjectIF - * @return + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. The object needs to implement + * ExecutableObjectIF + * @param object Id of the object to add. + * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) { return HasReturnvaluesIF::RETURN_FAILED; }; /** - * Add an object to a periodic task. - * @param object - * Add an object to the task. - * @return + * 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. */ virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) { return HasReturnvaluesIF::RETURN_FAILED; diff --git a/src/fsfw/tasks/TaskFactory.h b/src/fsfw/tasks/TaskFactory.h index fcd62678..828c533e 100644 --- a/src/fsfw/tasks/TaskFactory.h +++ b/src/fsfw/tasks/TaskFactory.h @@ -4,7 +4,7 @@ #include #include "FixedTimeslotTaskIF.h" -#include "Typedef.h" +#include "definitions.h" /** * Singleton Class that produces Tasks. diff --git a/src/fsfw/tasks/Typedef.h b/src/fsfw/tasks/Typedef.h deleted file mode 100644 index 1bb75131..00000000 --- a/src/fsfw/tasks/Typedef.h +++ /dev/null @@ -1,13 +0,0 @@ -#ifndef FSFW_TASKS_TYPEDEF_H_ -#define FSFW_TASKS_TYPEDEF_H_ - -#include -#include - -typedef const char* TaskName; -typedef uint32_t TaskPriority; -typedef size_t TaskStackSize; -typedef double TaskPeriod; -typedef void (*TaskDeadlineMissedFunction)(); - -#endif /* FSFW_TASKS_TYPEDEF_H_ */ diff --git a/src/fsfw/tasks/definitions.h b/src/fsfw/tasks/definitions.h new file mode 100644 index 00000000..bca9b768 --- /dev/null +++ b/src/fsfw/tasks/definitions.h @@ -0,0 +1,13 @@ +#ifndef FSFW_TASKS_TYPEDEF_H_ +#define FSFW_TASKS_TYPEDEF_H_ + +#include +#include + +using TaskName = const char*; +using TaskPriority = uint32_t; +using TaskStackSize = size_t; +using TaskPeriod = double; +using TaskDeadlineMissedFunction = void (*)(); + +#endif /* FSFW_TASKS_TYPEDEF_H_ */ From b1e30ae9ff5c89ab6c628758a01d3fd274dd1d37 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 May 2022 14:39:37 +0200 Subject: [PATCH 142/162] minor bugfix --- src/fsfw/tasks/CMakeLists.txt | 1 + src/fsfw/tasks/PeriodicTaskBase.cpp | 2 +- src/fsfw/tasks/PeriodicTaskBase.h | 1 - 3 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw/tasks/CMakeLists.txt b/src/fsfw/tasks/CMakeLists.txt index 1964bb4e..5c2d6b1c 100644 --- a/src/fsfw/tasks/CMakeLists.txt +++ b/src/fsfw/tasks/CMakeLists.txt @@ -2,4 +2,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp + PeriodicTaskBase.cpp ) \ No newline at end of file diff --git a/src/fsfw/tasks/PeriodicTaskBase.cpp b/src/fsfw/tasks/PeriodicTaskBase.cpp index 606fee1e..87745b14 100644 --- a/src/fsfw/tasks/PeriodicTaskBase.cpp +++ b/src/fsfw/tasks/PeriodicTaskBase.cpp @@ -9,7 +9,7 @@ PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_, uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; } -bool PeriodicTaskBase::isEmpty() const override { +bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); } diff --git a/src/fsfw/tasks/PeriodicTaskBase.h b/src/fsfw/tasks/PeriodicTaskBase.h index 4b330426..cc4eae4b 100644 --- a/src/fsfw/tasks/PeriodicTaskBase.h +++ b/src/fsfw/tasks/PeriodicTaskBase.h @@ -15,7 +15,6 @@ public: ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override; ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override; - uint32_t getPeriodMs() const override; bool isEmpty() const override; From b47eb0a7ff7445f078413c63588c7145ef2891fb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 May 2022 14:39:37 +0200 Subject: [PATCH 143/162] minor bugfix --- src/fsfw/tasks/CMakeLists.txt | 3 ++- src/fsfw/tasks/PeriodicTaskBase.cpp | 2 +- src/fsfw/tasks/PeriodicTaskBase.h | 1 - 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/fsfw/tasks/CMakeLists.txt b/src/fsfw/tasks/CMakeLists.txt index df69520a..537320b7 100644 --- a/src/fsfw/tasks/CMakeLists.txt +++ b/src/fsfw/tasks/CMakeLists.txt @@ -1,2 +1,3 @@ target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp - FixedSlotSequence.cpp) + FixedSlotSequence.cpp + PeriodicTaskBase.cpp) diff --git a/src/fsfw/tasks/PeriodicTaskBase.cpp b/src/fsfw/tasks/PeriodicTaskBase.cpp index 606fee1e..87745b14 100644 --- a/src/fsfw/tasks/PeriodicTaskBase.cpp +++ b/src/fsfw/tasks/PeriodicTaskBase.cpp @@ -9,7 +9,7 @@ PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_, uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; } -bool PeriodicTaskBase::isEmpty() const override { +bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); } diff --git a/src/fsfw/tasks/PeriodicTaskBase.h b/src/fsfw/tasks/PeriodicTaskBase.h index 4b330426..cc4eae4b 100644 --- a/src/fsfw/tasks/PeriodicTaskBase.h +++ b/src/fsfw/tasks/PeriodicTaskBase.h @@ -15,7 +15,6 @@ public: ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override; ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override; - uint32_t getPeriodMs() const override; bool isEmpty() const override; From 1886da0d3f8360693d8bc60eebc39f3169805dbb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 May 2022 15:42:18 +0200 Subject: [PATCH 144/162] refactoring host osal --- src/fsfw/osal/host/PeriodicTask.cpp | 32 +++---------- src/fsfw/osal/host/PeriodicTask.h | 55 +++-------------------- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 12 ++--- src/fsfw/osal/linux/FixedTimeslotTask.h | 11 +++-- src/fsfw/osal/linux/PeriodicPosixTask.cpp | 15 ++++--- src/fsfw/osal/linux/PeriodicPosixTask.h | 11 +++-- src/fsfw/osal/linux/PosixThread.h | 30 ++++++------- src/fsfw/osal/linux/TaskFactory.cpp | 4 +- src/fsfw/tasks/CMakeLists.txt | 6 +-- src/fsfw/tasks/PeriodicTaskBase.cpp | 14 +++--- src/fsfw/tasks/PeriodicTaskBase.h | 31 +++++++------ src/fsfw/tasks/PeriodicTaskIF.h | 4 +- 12 files changed, 83 insertions(+), 142 deletions(-) diff --git a/src/fsfw/osal/host/PeriodicTask.cpp b/src/fsfw/osal/host/PeriodicTask.cpp index cdcfafa6..ed4ef3f1 100644 --- a/src/fsfw/osal/host/PeriodicTask.cpp +++ b/src/fsfw/osal/host/PeriodicTask.cpp @@ -20,8 +20,8 @@ #endif PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack, - TaskPeriod setPeriod, void (*setDeadlineMissedFunc)()) - : started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) { + TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_) + : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) { // It is probably possible to set task priorities by using the native // task handles for Windows / Linux mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this); @@ -75,9 +75,7 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { } void PeriodicTask::taskFunctionality() { - for (const auto& object : objectList) { - object->initializeAfterTaskCreation(); - } + initObjsAfterTaskCreation(); std::chrono::milliseconds periodChrono(static_cast(period * 1000)); auto currentStartTime{std::chrono::duration_cast( @@ -89,33 +87,17 @@ void PeriodicTask::taskFunctionality() { if (terminateThread.load()) { break; } - for (const auto& object : objectList) { - object->performOperation(); + for (const auto& objectPair : objectList) { + objectPair.first->performOperation(objectPair.second); } if (not delayForInterval(¤tStartTime, periodChrono)) { - if (deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); + if (dlmFunc != nullptr) { + this->dlmFunc(); } } } } -ReturnValue_t PeriodicTask::addComponent(object_id_t object) { - ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - return addComponent(newObject); -} - -ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) { - if (object == nullptr) { - return HasReturnvaluesIF::RETURN_FAILED; - } - object->setTaskIF(this); - objectList.push_back(object); - return HasReturnvaluesIF::RETURN_OK; -} - -uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; } - bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) { bool shouldDelay = false; // Get current wakeup time diff --git a/src/fsfw/osal/host/PeriodicTask.h b/src/fsfw/osal/host/PeriodicTask.h index 6c4d5e8b..a565c584 100644 --- a/src/fsfw/osal/host/PeriodicTask.h +++ b/src/fsfw/osal/host/PeriodicTask.h @@ -6,9 +6,9 @@ #include #include -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../tasks/PeriodicTaskIF.h" -#include "../../tasks/Typedef.h" +#include "fsfw/objectmanager/ObjectManagerIF.h" +#include "fsfw/tasks/PeriodicTaskBase.h" +#include "fsfw/tasks/definitions.h" class ExecutableObjectIF; @@ -19,7 +19,7 @@ class ExecutableObjectIF; * * @ingroup task_handling */ -class PeriodicTask : public PeriodicTaskIF { +class PeriodicTask : public PeriodicTaskBase { public: /** * @brief Standard constructor of the class. @@ -34,7 +34,7 @@ class PeriodicTask : public PeriodicTaskIF { * assigned. */ PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack, - TaskPeriod setPeriod, void (*setDeadlineMissedFunc)()); + TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc); /** * @brief Currently, the executed object's lifetime is not coupled with * the task object's lifetime, so the destructor is empty. @@ -49,62 +49,19 @@ class PeriodicTask : public PeriodicTaskIF { * to the system call. */ ReturnValue_t startTask(void); - /** - * Adds an object to the list of objects to be executed. - * The objects are executed in the order added. - * @param object Id of the object to add. - * @return - * -@c RETURN_OK on success - * -@c RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(object_id_t object); - - /** - * 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 - * -@c RETURN_OK on success - * -@c RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(ExecutableObjectIF* object); - - uint32_t getPeriodMs() const; ReturnValue_t sleepFor(uint32_t ms); protected: using chron_ms = std::chrono::milliseconds; bool started; - //!< Typedef for the List of objects. - typedef std::vector ObjectList; std::thread mainThread; std::atomic terminateThread{false}; - /** - * @brief This attribute holds a list of objects to be executed. - */ - ObjectList objectList; - std::condition_variable initCondition; std::mutex initMutex; std::string taskName; - /** - * @brief The period of the task. - * @details - * The period determines the frequency of the task's execution. - * It is expressed in clock ticks. - */ - TaskPeriod period; - /** - * @brief The pointer to the deadline-missed function. - * @details - * This pointer stores the function that is executed if the task's deadline - * is missed. So, each may react individually on a timing failure. - * The pointer may be NULL, then nothing happens on missing the deadline. - * The deadline is equal to the next execution of the periodic task. - */ - void (*deadlineMissedFunc)(void); + /** * @brief This is the function executed in the new task's context. * @details diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index d1fccdf9..4d912a40 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -9,8 +9,10 @@ uint32_t FixedTimeslotTask::deadlineMissedCount = 0; const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN; FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, - uint32_t periodMs_) - : PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {} + TaskPeriod periodSeconds_) + : posixThread(name_, priority_, stackSize_), + pst(static_cast(periodSeconds_ * 1000)), + started(false) {} FixedTimeslotTask::~FixedTimeslotTask() {} @@ -26,7 +28,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) { ReturnValue_t FixedTimeslotTask::startTask() { started = true; - createTask(&taskEntryPoint, this); + posixThread.createTask(&taskEntryPoint, this); return HasReturnvaluesIF::RETURN_OK; } @@ -57,13 +59,13 @@ ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); } void FixedTimeslotTask::taskFunctionality() { // Like FreeRTOS pthreads are running as soon as they are created if (!started) { - suspend(); + posixThread.suspend(); } pst.intializeSequenceAfterTaskCreation(); // The start time for the first entry is read. - uint64_t lastWakeTime = getCurrentMonotonicTimeMs(); + uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs(); uint64_t interval = pst.getIntervalToNextSlotMs(); // The task's "infinite" inner loop is entered. diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.h b/src/fsfw/osal/linux/FixedTimeslotTask.h index a5dc9032..ecce7321 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.h +++ b/src/fsfw/osal/linux/FixedTimeslotTask.h @@ -3,11 +3,12 @@ #include -#include "../../tasks/FixedSlotSequence.h" -#include "../../tasks/FixedTimeslotTaskIF.h" #include "PosixThread.h" +#include "fsfw/tasks/FixedSlotSequence.h" +#include "fsfw/tasks/FixedTimeslotTaskIF.h" +#include "fsfw/tasks/definitions.h" -class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread { +class FixedTimeslotTask : public FixedTimeslotTaskIF { public: /** * Create a generic periodic task. @@ -21,7 +22,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread { * @param period_ * @param deadlineMissedFunc_ */ - FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_); + FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod periodSeconds_); virtual ~FixedTimeslotTask(); ReturnValue_t startTask() override; @@ -59,6 +60,8 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread { virtual void taskFunctionality(); private: + PosixThread posixThread; + /** * @brief This is the entry point in a new thread. * diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index 510ec59c..f52067f1 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -1,16 +1,16 @@ #include "fsfw/osal/linux/PeriodicPosixTask.h" -#include #include +#include #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/tasks/ExecutableObjectIF.h" PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, - uint32_t period_, TaskDeadlineMissedFunction dlMissedFunc_) - : PosixThread(name_, priority_, stackSize_), - PeriodicTaskBase(period_, dlMissedFunc_), + TaskPeriod period_, TaskDeadlineMissedFunction dlMissedFunc_) + : PeriodicTaskBase(period_, dlMissedFunc_), + posixThread(name_, priority_, stackSize_), started(false) {} PeriodicPosixTask::~PeriodicPosixTask() { @@ -34,18 +34,19 @@ ReturnValue_t PeriodicPosixTask::startTask(void) { return HasReturnvaluesIF::RETURN_FAILED; } started = true; - PosixThread::createTask(&taskEntryPoint, this); + posixThread.createTask(&taskEntryPoint, this); return HasReturnvaluesIF::RETURN_OK; } void PeriodicPosixTask::taskFunctionality(void) { if (not started) { - suspend(); + posixThread.suspend(); } initObjsAfterTaskCreation(); - uint64_t lastWakeTime = getCurrentMonotonicTimeMs(); + uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs(); + uint64_t periodMs = getPeriodMs(); // The task's "infinite" inner loop is entered. while (1) { for (auto const& objOpCodePair : objectList) { diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 3dcc6bcc..3ab79ed0 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -1,17 +1,15 @@ #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ -#include "PosixThread.h" - #include +#include "PosixThread.h" #include "fsfw/objectmanager/ObjectManagerIF.h" #include "fsfw/tasks/ExecutableObjectIF.h" -#include "fsfw/tasks/PeriodicTaskIF.h" #include "fsfw/tasks/PeriodicTaskBase.h" +#include "fsfw/tasks/PeriodicTaskIF.h" - -class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase { +class PeriodicPosixTask : public PeriodicTaskBase { public: /** * Create a generic periodic task. @@ -25,7 +23,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase { * @param period_ * @param deadlineMissedFunc_ */ - PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, + PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_, void (*deadlineMissedFunc_)()); virtual ~PeriodicPosixTask(); @@ -41,6 +39,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase { ReturnValue_t sleepFor(uint32_t ms) override; private: + PosixThread posixThread; /** * @brief Flag to indicate that the task was started and is allowed to run diff --git a/src/fsfw/osal/linux/PosixThread.h b/src/fsfw/osal/linux/PosixThread.h index 69c6c5b7..78fdfa2b 100644 --- a/src/fsfw/osal/linux/PosixThread.h +++ b/src/fsfw/osal/linux/PosixThread.h @@ -35,6 +35,21 @@ class PosixThread { */ void resume(); + /** + * @brief Function that has to be called by derived class because the + * derived class pointer has to be valid as argument. + * @details + * This function creates a pthread with the given parameters. As the + * function requires a pointer to the derived object it has to be called + * after the this pointer of the derived object is valid. + * Sets the taskEntryPoint as function to be called by new a thread. + * @param fnc_ Function which will be executed by the thread. + * @param arg_ + * argument of the taskEntryPoint function, needs to be this pointer + * of derived class + */ + void createTask(void* (*fnc_)(void*), void* arg_); + /** * Delay function similar to FreeRtos delayUntil function * @@ -55,21 +70,6 @@ class PosixThread { protected: pthread_t thread; - /** - * @brief Function that has to be called by derived class because the - * derived class pointer has to be valid as argument. - * @details - * This function creates a pthread with the given parameters. As the - * function requires a pointer to the derived object it has to be called - * after the this pointer of the derived object is valid. - * Sets the taskEntryPoint as function to be called by new a thread. - * @param fnc_ Function which will be executed by the thread. - * @param arg_ - * argument of the taskEntryPoint function, needs to be this pointer - * of derived class - */ - void createTask(void* (*fnc_)(void*), void* arg_); - private: char name[PTHREAD_MAX_NAMELEN]; int priority; diff --git a/src/fsfw/osal/linux/TaskFactory.cpp b/src/fsfw/osal/linux/TaskFactory.cpp index 8503039f..b9e7eb28 100644 --- a/src/fsfw/osal/linux/TaskFactory.cpp +++ b/src/fsfw/osal/linux/TaskFactory.cpp @@ -15,14 +15,14 @@ TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; } PeriodicTaskIF* TaskFactory::createPeriodicTask( TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000, + return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_, deadLineMissedFunction_); } FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask( TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000); + return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_); } ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) { diff --git a/src/fsfw/tasks/CMakeLists.txt b/src/fsfw/tasks/CMakeLists.txt index 537320b7..6128c272 100644 --- a/src/fsfw/tasks/CMakeLists.txt +++ b/src/fsfw/tasks/CMakeLists.txt @@ -1,3 +1,3 @@ -target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp - FixedSlotSequence.cpp - PeriodicTaskBase.cpp) +target_sources( + ${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp + PeriodicTaskBase.cpp) diff --git a/src/fsfw/tasks/PeriodicTaskBase.cpp b/src/fsfw/tasks/PeriodicTaskBase.cpp index 87745b14..021ba7b5 100644 --- a/src/fsfw/tasks/PeriodicTaskBase.cpp +++ b/src/fsfw/tasks/PeriodicTaskBase.cpp @@ -1,17 +1,15 @@ -#include #include "PeriodicTaskBase.h" +#include + #include -PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_, - TaskDeadlineMissedFunction deadlineMissedFunc_) - : periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {} +PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_) + : period(period), dlmFunc(dlmFunc_) {} -uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; } +uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast(period * 1000); } -bool PeriodicTaskBase::isEmpty() const { - return objectList.empty(); -} +bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); } ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() { std::multiset uniqueObjects; diff --git a/src/fsfw/tasks/PeriodicTaskBase.h b/src/fsfw/tasks/PeriodicTaskBase.h index cc4eae4b..a262a2d4 100644 --- a/src/fsfw/tasks/PeriodicTaskBase.h +++ b/src/fsfw/tasks/PeriodicTaskBase.h @@ -1,16 +1,17 @@ #ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ #define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ +#include +#include + #include "fsfw/tasks/PeriodicTaskIF.h" #include "fsfw/tasks/definitions.h" -#include -#include class ExecutableObjectIF; -class PeriodicTaskBase: public PeriodicTaskIF { -public: - PeriodicTaskBase(uint32_t periodMs, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr); +class PeriodicTaskBase : public PeriodicTaskIF { + public: + PeriodicTaskBase(TaskPeriod period, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr); ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override; ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override; @@ -21,8 +22,7 @@ public: ReturnValue_t initObjsAfterTaskCreation(); -protected: - + protected: //! Typedef for the List of objects. Will contain the objects to execute and their respective //! operation codes using ObjectList = std::vector>; @@ -32,20 +32,19 @@ protected: ObjectList objectList; /** - * @brief Period of the task in milliseconds + * @brief Period of task in floating point seconds */ - uint32_t periodMs; + TaskPeriod period; /** * @brief The pointer to the deadline-missed function. - * @details This pointer stores the function that is executed if the task's deadline is missed. - * So, each may react individually on a timing failure. The pointer may be - * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution - * of the periodic task. + * @details + * This pointer stores the function that is executed if the task's deadline + * is missed. So, each may react individually on a timing failure. + * The pointer may be NULL, then nothing happens on missing the deadline. + * The deadline is equal to the next execution of the periodic task. */ - TaskDeadlineMissedFunction deadlineMissedFunc = nullptr; + TaskDeadlineMissedFunction dlmFunc = nullptr; }; - - #endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */ diff --git a/src/fsfw/tasks/PeriodicTaskIF.h b/src/fsfw/tasks/PeriodicTaskIF.h index 076ef56e..ec25faa8 100644 --- a/src/fsfw/tasks/PeriodicTaskIF.h +++ b/src/fsfw/tasks/PeriodicTaskIF.h @@ -1,11 +1,11 @@ #ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_ #define FRAMEWORK_TASK_PERIODICTASKIF_H_ +#include + #include "fsfw/objectmanager/SystemObjectIF.h" #include "fsfw/tasks/ExecutableObjectIF.h" -#include - /** * New version of TaskIF * Follows RAII principles, i.e. there's no create or delete method. From 64e7d4bb5e61c5ce2ece0bedddaffde086d7fe99 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 May 2022 18:15:31 +0200 Subject: [PATCH 145/162] continued refactoring --- src/fsfw/osal/host/FixedTimeslotTask.cpp | 19 ++++++------ src/fsfw/osal/host/FixedTimeslotTask.h | 38 ++++++++++-------------- 2 files changed, 25 insertions(+), 32 deletions(-) diff --git a/src/fsfw/osal/host/FixedTimeslotTask.cpp b/src/fsfw/osal/host/FixedTimeslotTask.cpp index 07853938..0c4acf8e 100644 --- a/src/fsfw/osal/host/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/host/FixedTimeslotTask.cpp @@ -22,12 +22,12 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, - void (*setDeadlineMissedFunc)()) + TaskDeadlineMissedFunction dlmFunc_) : started(false), - pollingSeqTable(setPeriod * 1000), + pollingSeqTable(static_cast(setPeriod * 1000)), taskName(name), period(setPeriod), - deadlineMissedFunc(setDeadlineMissedFunc) { + dlmFunc(dlmFunc_) { // It is propably possible to set task priorities by using the native // task handles for Windows / Linux mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this); @@ -39,7 +39,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority, tasks::insertTaskName(mainThread.get_id(), taskName); } -FixedTimeslotTask::~FixedTimeslotTask(void) { +FixedTimeslotTask::~FixedTimeslotTask() { // Do not delete objects, we were responsible for ptrs only. terminateThread = true; if (mainThread.joinable()) { @@ -48,7 +48,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) { } void FixedTimeslotTask::taskEntryPoint(void* argument) { - FixedTimeslotTask* originalTask(reinterpret_cast(argument)); + auto* originalTask(reinterpret_cast(argument)); if (not originalTask->started) { // we have to suspend/block here until the task is started. @@ -114,8 +114,7 @@ void FixedTimeslotTask::taskFunctionality() { ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) { - ExecutableObjectIF* executableObject = - ObjectManager::instance()->get(componentId); + auto* executableObject = ObjectManager::instance()->get(componentId); if (executableObject != nullptr) { pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this); return HasReturnvaluesIF::RETURN_OK; @@ -133,9 +132,9 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT return HasReturnvaluesIF::RETURN_FAILED; } -ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); } +ReturnValue_t FixedTimeslotTask::checkSequence() { return pollingSeqTable.checkSequence(); } -uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; } +uint32_t FixedTimeslotTask::getPeriodMs() const { return static_cast(period * 1000); } bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) { bool shouldDelay = false; @@ -176,3 +175,5 @@ bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chr (*previousWakeTimeMs) = currentStartTime; return false; } + +bool FixedTimeslotTask::isEmpty() const { return pollingSeqTable.isEmpty() }; diff --git a/src/fsfw/osal/host/FixedTimeslotTask.h b/src/fsfw/osal/host/FixedTimeslotTask.h index cdbc6f23..69c84c75 100644 --- a/src/fsfw/osal/host/FixedTimeslotTask.h +++ b/src/fsfw/osal/host/FixedTimeslotTask.h @@ -6,10 +6,10 @@ #include #include -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../tasks/FixedSlotSequence.h" -#include "../../tasks/FixedTimeslotTaskIF.h" -#include "../../tasks/Typedef.h" +#include "fsfw/objectmanager/ObjectManagerIF.h" +#include "fsfw/tasks/FixedSlotSequence.h" +#include "fsfw/tasks/FixedTimeslotTaskIF.h" +#include "fsfw/tasks/definitions.h" class ExecutableObjectIF; @@ -39,7 +39,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * @brief Currently, the executed object's lifetime is not coupled with * the task object's lifetime, so the destructor is empty. */ - virtual ~FixedTimeslotTask(void); + ~FixedTimeslotTask() override; /** * @brief The method to start the task. @@ -48,7 +48,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * The address of the task object is passed as an argument * to the system call. */ - ReturnValue_t startTask(void); + ReturnValue_t startTask() override; /** * Add timeslot to the polling sequence table. @@ -57,22 +57,23 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * @param executionStep * @return */ - ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep); + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) override; - ReturnValue_t checkSequence() const override; + ReturnValue_t checkSequence() override; - uint32_t getPeriodMs() const; + ReturnValue_t sleepFor(uint32_t ms) override; + uint32_t getPeriodMs() const override; - ReturnValue_t sleepFor(uint32_t ms); + bool isEmpty() const override; protected: using chron_ms = std::chrono::milliseconds; bool started; - //!< Typedef for the List of objects. - typedef std::vector ObjectList; + std::thread mainThread; std::atomic terminateThread{false}; + TaskDeadlineMissedFunction dlmFunc = nullptr; //! Polling sequence table which contains the object to execute //! and information like the timeslots and the passed execution step. @@ -89,15 +90,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { */ TaskPeriod period; - /** - * @brief The pointer to the deadline-missed function. - * @details - * This pointer stores the function that is executed if the task's deadline - * is missed. So, each may react individually on a timing failure. - * The pointer may be NULL, then nothing happens on missing the deadline. - * The deadline is equal to the next execution of the periodic task. - */ - void (*deadlineMissedFunc)(void); /** * @brief This is the function executed in the new task's context. * @details @@ -117,9 +109,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * the checkAndRestartPeriod system call blocks the task until the next * period. On missing the deadline, the deadlineMissedFunction is executed. */ - void taskFunctionality(void); + void taskFunctionality(); - bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval); + bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval); }; #endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */ From 08f1ebf9fc1fac2bdada7005b8dad54f55bf2429 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 18 May 2022 23:45:38 +0200 Subject: [PATCH 146/162] continued refactoring --- src/fsfw/osal/host/FixedTimeslotTask.cpp | 2 +- src/fsfw/osal/host/FixedTimeslotTask.h | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/fsfw/osal/host/FixedTimeslotTask.cpp b/src/fsfw/osal/host/FixedTimeslotTask.cpp index 0c4acf8e..02570f68 100644 --- a/src/fsfw/osal/host/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/host/FixedTimeslotTask.cpp @@ -176,4 +176,4 @@ bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chr return false; } -bool FixedTimeslotTask::isEmpty() const { return pollingSeqTable.isEmpty() }; +bool FixedTimeslotTask::isEmpty() const { return pollingSeqTable.isEmpty(); } diff --git a/src/fsfw/osal/host/FixedTimeslotTask.h b/src/fsfw/osal/host/FixedTimeslotTask.h index 69c84c75..fa7c688d 100644 --- a/src/fsfw/osal/host/FixedTimeslotTask.h +++ b/src/fsfw/osal/host/FixedTimeslotTask.h @@ -73,7 +73,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { std::thread mainThread; std::atomic terminateThread{false}; - TaskDeadlineMissedFunction dlmFunc = nullptr; //! Polling sequence table which contains the object to execute //! and information like the timeslots and the passed execution step. @@ -89,7 +88,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * It is expressed in clock ticks. */ TaskPeriod period; - + TaskDeadlineMissedFunction dlmFunc = nullptr; /** * @brief This is the function executed in the new task's context. * @details @@ -111,7 +110,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { */ void taskFunctionality(); - bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval); + static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval); }; #endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */ From 3a162907076f6b0ce592f0282cb786e71ba3eae4 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 19 May 2022 00:44:34 +0200 Subject: [PATCH 147/162] refactored and tested hosted and linux task IF --- src/fsfw/osal/host/FixedTimeslotTask.cpp | 23 +++------- src/fsfw/osal/host/FixedTimeslotTask.h | 27 +++--------- src/fsfw/osal/host/PeriodicTask.cpp | 9 +--- src/fsfw/osal/host/PeriodicTask.h | 12 ++--- src/fsfw/osal/host/TaskFactory.cpp | 4 +- src/fsfw/osal/host/taskHelpers.cpp | 2 +- src/fsfw/osal/host/taskHelpers.h | 2 +- src/fsfw/osal/linux/FixedTimeslotTask.cpp | 53 ++++++----------------- src/fsfw/osal/linux/FixedTimeslotTask.h | 24 +++------- src/fsfw/osal/linux/PeriodicPosixTask.cpp | 32 +++++--------- src/fsfw/osal/linux/PeriodicPosixTask.h | 6 +-- src/fsfw/osal/linux/TaskFactory.cpp | 5 ++- src/fsfw/tasks/CMakeLists.txt | 2 +- src/fsfw/tasks/FixedSlotSequence.h | 2 +- src/fsfw/tasks/FixedTimeslotTaskBase.cpp | 29 +++++++++++++ src/fsfw/tasks/FixedTimeslotTaskBase.h | 44 +++++++++++++++++++ src/fsfw/tasks/FixedTimeslotTaskIF.h | 2 +- src/fsfw/tasks/PeriodicTaskBase.cpp | 18 ++++++-- src/fsfw/tasks/PeriodicTaskBase.h | 7 +-- src/fsfw/tasks/PeriodicTaskIF.h | 2 +- src/fsfw/tasks/definitions.h | 2 +- 21 files changed, 160 insertions(+), 147 deletions(-) create mode 100644 src/fsfw/tasks/FixedTimeslotTaskBase.cpp create mode 100644 src/fsfw/tasks/FixedTimeslotTaskBase.h diff --git a/src/fsfw/osal/host/FixedTimeslotTask.cpp b/src/fsfw/osal/host/FixedTimeslotTask.cpp index 02570f68..931e6a22 100644 --- a/src/fsfw/osal/host/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/host/FixedTimeslotTask.cpp @@ -3,9 +3,7 @@ #include #include -#include "fsfw/ipc/MutexFactory.h" #include "fsfw/objectmanager/ObjectManager.h" -#include "fsfw/osal/host/FixedTimeslotTask.h" #include "fsfw/osal/host/Mutex.h" #include "fsfw/osal/host/taskHelpers.h" #include "fsfw/platform.h" @@ -23,11 +21,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_) - : started(false), - pollingSeqTable(static_cast(setPeriod * 1000)), - taskName(name), - period(setPeriod), - dlmFunc(dlmFunc_) { + : FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) { // It is propably possible to set task priorities by using the native // task handles for Windows / Linux mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this); @@ -80,7 +74,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { return HasReturnvaluesIF::RETURN_OK; } -void FixedTimeslotTask::taskFunctionality() { +[[noreturn]] void FixedTimeslotTask::taskFunctionality() { pollingSeqTable.intializeSequenceAfterTaskCreation(); // A local iterator for the Polling Sequence Table is created to @@ -106,8 +100,11 @@ void FixedTimeslotTask::taskFunctionality() { // we need to wait before executing the current slot // this gives us the time to wait: interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs()); - delayForInterval(¤tStartTime, interval); - // TODO deadline missed check + if (not delayForInterval(¤tStartTime, interval)) { + if (dlmFunc != nullptr) { + dlmFunc(); + } + } } } } @@ -132,10 +129,6 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT return HasReturnvaluesIF::RETURN_FAILED; } -ReturnValue_t FixedTimeslotTask::checkSequence() { return pollingSeqTable.checkSequence(); } - -uint32_t FixedTimeslotTask::getPeriodMs() const { return static_cast(period * 1000); } - bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) { bool shouldDelay = false; // Get current wakeup time @@ -175,5 +168,3 @@ bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chr (*previousWakeTimeMs) = currentStartTime; return false; } - -bool FixedTimeslotTask::isEmpty() const { return pollingSeqTable.isEmpty(); } diff --git a/src/fsfw/osal/host/FixedTimeslotTask.h b/src/fsfw/osal/host/FixedTimeslotTask.h index fa7c688d..d85ad34c 100644 --- a/src/fsfw/osal/host/FixedTimeslotTask.h +++ b/src/fsfw/osal/host/FixedTimeslotTask.h @@ -8,7 +8,7 @@ #include "fsfw/objectmanager/ObjectManagerIF.h" #include "fsfw/tasks/FixedSlotSequence.h" -#include "fsfw/tasks/FixedTimeslotTaskIF.h" +#include "fsfw/tasks/FixedTimeslotTaskBase.h" #include "fsfw/tasks/definitions.h" class ExecutableObjectIF; @@ -19,7 +19,7 @@ class ExecutableObjectIF; * @details * @ingroup task_handling */ -class FixedTimeslotTask : public FixedTimeslotTaskIF { +class FixedTimeslotTask : public FixedTimeslotTaskBase { public: /** * @brief Standard constructor of the class. @@ -57,14 +57,10 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * @param executionStep * @return */ - ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) override; - - ReturnValue_t checkSequence() override; + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) override; ReturnValue_t sleepFor(uint32_t ms) override; - uint32_t getPeriodMs() const override; - - bool isEmpty() const override; protected: using chron_ms = std::chrono::milliseconds; @@ -74,21 +70,10 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { std::thread mainThread; std::atomic terminateThread{false}; - //! Polling sequence table which contains the object to execute - //! and information like the timeslots and the passed execution step. - FixedSlotSequence pollingSeqTable; - std::condition_variable initCondition; std::mutex initMutex; std::string taskName; - /** - * @brief The period of the task. - * @details - * The period determines the frequency of the task's execution. - * It is expressed in clock ticks. - */ - TaskPeriod period; - TaskDeadlineMissedFunction dlmFunc = nullptr; + /** * @brief This is the function executed in the new task's context. * @details @@ -108,7 +93,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * the checkAndRestartPeriod system call blocks the task until the next * period. On missing the deadline, the deadlineMissedFunction is executed. */ - void taskFunctionality(); + [[noreturn]] void taskFunctionality(); static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval); }; diff --git a/src/fsfw/osal/host/PeriodicTask.cpp b/src/fsfw/osal/host/PeriodicTask.cpp index ed4ef3f1..1f18d335 100644 --- a/src/fsfw/osal/host/PeriodicTask.cpp +++ b/src/fsfw/osal/host/PeriodicTask.cpp @@ -3,13 +3,10 @@ #include #include -#include "fsfw/ipc/MutexFactory.h" -#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/osal/host/Mutex.h" #include "fsfw/osal/host/taskHelpers.h" #include "fsfw/platform.h" #include "fsfw/serviceinterface/ServiceInterface.h" -#include "fsfw/tasks/ExecutableObjectIF.h" #if defined(PLATFORM_WIN) #include @@ -33,7 +30,7 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack tasks::insertTaskName(mainThread.get_id(), taskName); } -PeriodicTask::~PeriodicTask(void) { +PeriodicTask::~PeriodicTask() { // Do not delete objects, we were responsible for ptrs only. terminateThread = true; if (mainThread.joinable()) { @@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) { } void PeriodicTask::taskEntryPoint(void* argument) { - PeriodicTask* originalTask(reinterpret_cast(argument)); + auto* originalTask(reinterpret_cast(argument)); if (not originalTask->started) { // we have to suspend/block here until the task is started. @@ -80,8 +77,6 @@ void PeriodicTask::taskFunctionality() { std::chrono::milliseconds periodChrono(static_cast(period * 1000)); auto currentStartTime{std::chrono::duration_cast( std::chrono::system_clock::now().time_since_epoch())}; - auto nextStartTime{currentStartTime}; - /* Enter the loop that defines the task behavior. */ for (;;) { if (terminateThread.load()) { diff --git a/src/fsfw/osal/host/PeriodicTask.h b/src/fsfw/osal/host/PeriodicTask.h index a565c584..6fdaae4e 100644 --- a/src/fsfw/osal/host/PeriodicTask.h +++ b/src/fsfw/osal/host/PeriodicTask.h @@ -39,7 +39,7 @@ class PeriodicTask : public PeriodicTaskBase { * @brief Currently, the executed object's lifetime is not coupled with * the task object's lifetime, so the destructor is empty. */ - virtual ~PeriodicTask(void); + ~PeriodicTask() override; /** * @brief The method to start the task. @@ -48,9 +48,9 @@ class PeriodicTask : public PeriodicTaskBase { * The address of the task object is passed as an argument * to the system call. */ - ReturnValue_t startTask(void); + ReturnValue_t startTask() override; - ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; protected: using chron_ms = std::chrono::milliseconds; @@ -81,9 +81,9 @@ class PeriodicTask : public PeriodicTaskBase { * the checkAndRestartPeriod system call blocks the task until the next * period. On missing the deadline, the deadlineMissedFunction is executed. */ - void taskFunctionality(void); + void taskFunctionality(); - bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval); + static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval); }; -#endif /* PERIODICTASK_H_ */ +#endif /* FRAMEWORK_OSAL_HOST_PERIODICTASK_H_ */ diff --git a/src/fsfw/osal/host/TaskFactory.cpp b/src/fsfw/osal/host/TaskFactory.cpp index 6e74fd57..ec4c1554 100644 --- a/src/fsfw/osal/host/TaskFactory.cpp +++ b/src/fsfw/osal/host/TaskFactory.cpp @@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory(); // Not used for the host implementation for now because C++ thread abstraction is used const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0; -TaskFactory::TaskFactory() {} +TaskFactory::TaskFactory() = default; -TaskFactory::~TaskFactory() {} +TaskFactory::~TaskFactory() = default; TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; } diff --git a/src/fsfw/osal/host/taskHelpers.cpp b/src/fsfw/osal/host/taskHelpers.cpp index aba2948a..432cf30c 100644 --- a/src/fsfw/osal/host/taskHelpers.cpp +++ b/src/fsfw/osal/host/taskHelpers.cpp @@ -6,7 +6,7 @@ std::mutex nameMapLock; std::map taskNameMap; -ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) { +ReturnValue_t tasks::insertTaskName(std::thread::id threadId, const std::string& taskName) { std::lock_guard lg(nameMapLock); auto returnPair = taskNameMap.emplace(threadId, taskName); if (not returnPair.second) { diff --git a/src/fsfw/osal/host/taskHelpers.h b/src/fsfw/osal/host/taskHelpers.h index cf553011..13a71d16 100644 --- a/src/fsfw/osal/host/taskHelpers.h +++ b/src/fsfw/osal/host/taskHelpers.h @@ -7,7 +7,7 @@ namespace tasks { -ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName); +ReturnValue_t insertTaskName(std::thread::id threadId, const std::string& taskName); std::string getTaskName(std::thread::id threadId); } // namespace tasks diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp index 4d912a40..c2823b00 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp @@ -1,26 +1,21 @@ #include "fsfw/osal/linux/FixedTimeslotTask.h" -#include +#include -#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/serviceinterface/ServiceInterface.h" uint32_t FixedTimeslotTask::deadlineMissedCount = 0; const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN; -FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, - TaskPeriod periodSeconds_) - : posixThread(name_, priority_, stackSize_), - pst(static_cast(periodSeconds_ * 1000)), +FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_, + TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_) + : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_), + posixThread(name_, priority_, stackSize_), started(false) {} -FixedTimeslotTask::~FixedTimeslotTask() {} - -bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); } - void* FixedTimeslotTask::taskEntryPoint(void* arg) { // The argument is re-interpreted as PollingTask. - FixedTimeslotTask* originalTask(reinterpret_cast(arg)); + auto* originalTask(reinterpret_cast(arg)); // The task's functionality is called. originalTask->taskFunctionality(); return nullptr; @@ -36,45 +31,25 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { return PosixThread::sleep((uint64_t)ms * 1000000); } -uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); } - -ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep) { - ExecutableObjectIF* executableObject = - ObjectManager::instance()->get(componentId); - if (executableObject != nullptr) { - pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, this); - return HasReturnvaluesIF::RETURN_OK; - } - -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst" - << std::dec << std::endl; -#endif - return HasReturnvaluesIF::RETURN_FAILED; -} - -ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); } - -void FixedTimeslotTask::taskFunctionality() { +[[noreturn]] void FixedTimeslotTask::taskFunctionality() { // Like FreeRTOS pthreads are running as soon as they are created if (!started) { posixThread.suspend(); } - pst.intializeSequenceAfterTaskCreation(); + pollingSeqTable.intializeSequenceAfterTaskCreation(); // The start time for the first entry is read. - uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs(); - uint64_t interval = pst.getIntervalToNextSlotMs(); + uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs(); + uint32_t interval = 0; // The task's "infinite" inner loop is entered. - while (1) { - if (pst.slotFollowsImmediately()) { + while (true) { + if (pollingSeqTable.slotFollowsImmediately()) { // Do nothing } else { // The interval for the next polling slot is selected. - interval = this->pst.getIntervalToPreviousSlotMs(); + interval = pollingSeqTable.getIntervalToPreviousSlotMs(); // The period is checked and restarted with the new interval. // If the deadline was missed, the deadlineMissedFunc is called. if (!PosixThread::delayUntil(&lastWakeTime, interval)) { @@ -83,7 +58,7 @@ void FixedTimeslotTask::taskFunctionality() { } } // The device handler for this slot is executed and the next one is chosen. - this->pst.executeAndAdvance(); + pollingSeqTable.executeAndAdvance(); } } diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.h b/src/fsfw/osal/linux/FixedTimeslotTask.h index ecce7321..d6c7c0fb 100644 --- a/src/fsfw/osal/linux/FixedTimeslotTask.h +++ b/src/fsfw/osal/linux/FixedTimeslotTask.h @@ -5,10 +5,10 @@ #include "PosixThread.h" #include "fsfw/tasks/FixedSlotSequence.h" -#include "fsfw/tasks/FixedTimeslotTaskIF.h" +#include "fsfw/tasks/FixedTimeslotTaskBase.h" #include "fsfw/tasks/definitions.h" -class FixedTimeslotTask : public FixedTimeslotTaskIF { +class FixedTimeslotTask : public FixedTimeslotTaskBase { public: /** * Create a generic periodic task. @@ -22,22 +22,14 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * @param period_ * @param deadlineMissedFunc_ */ - FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod periodSeconds_); - virtual ~FixedTimeslotTask(); + FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_, + TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_); + ~FixedTimeslotTask() override = default; ReturnValue_t startTask() override; ReturnValue_t sleepFor(uint32_t ms) override; - uint32_t getPeriodMs() const override; - - ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep) override; - - ReturnValue_t checkSequence() override; - - bool isEmpty() const override; - /** * This static function can be used as #deadlineMissedFunc. * It counts missedDeadlines and prints the number of missed deadlines every 10th time. @@ -57,10 +49,11 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * It links the functionalities provided by FixedSlotSequence with the * OS's System Calls to keep the timing of the periods. */ - virtual void taskFunctionality(); + [[noreturn]] virtual void taskFunctionality(); private: PosixThread posixThread; + bool started; /** * @brief This is the entry point in a new thread. @@ -74,9 +67,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { * arbitrary data. */ static void* taskEntryPoint(void* arg); - FixedSlotSequence pst; - - bool started; }; #endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */ diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index f52067f1..09b106ed 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -1,35 +1,27 @@ -#include "fsfw/osal/linux/PeriodicPosixTask.h" +#include "PeriodicPosixTask.h" -#include -#include - -#include "fsfw/objectmanager/ObjectManager.h" -#include "fsfw/serviceinterface/ServiceInterface.h" +#include "fsfw/serviceinterface.h" #include "fsfw/tasks/ExecutableObjectIF.h" PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, - TaskPeriod period_, TaskDeadlineMissedFunction dlMissedFunc_) - : PeriodicTaskBase(period_, dlMissedFunc_), + TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_) + : PeriodicTaskBase(period_, dlmFunc_), posixThread(name_, priority_, stackSize_), started(false) {} -PeriodicPosixTask::~PeriodicPosixTask() { - // Not Implemented -} - void* PeriodicPosixTask::taskEntryPoint(void* arg) { // The argument is re-interpreted as PollingTask. - PeriodicPosixTask* originalTask(reinterpret_cast(arg)); + auto* originalTask(reinterpret_cast(arg)); // The task's functionality is called. originalTask->taskFunctionality(); return nullptr; } ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) { - return PosixThread::sleep(static_cast(ms * 1000000)); + return PosixThread::sleep(static_cast(ms) * 1000000); } -ReturnValue_t PeriodicPosixTask::startTask(void) { +ReturnValue_t PeriodicPosixTask::startTask() { if (isEmpty()) { return HasReturnvaluesIF::RETURN_FAILED; } @@ -38,24 +30,24 @@ ReturnValue_t PeriodicPosixTask::startTask(void) { return HasReturnvaluesIF::RETURN_OK; } -void PeriodicPosixTask::taskFunctionality(void) { +[[noreturn]] void PeriodicPosixTask::taskFunctionality() { if (not started) { posixThread.suspend(); } initObjsAfterTaskCreation(); - uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs(); + uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs(); uint64_t periodMs = getPeriodMs(); // The task's "infinite" inner loop is entered. - while (1) { + while (true) { for (auto const& objOpCodePair : objectList) { objOpCodePair.first->performOperation(objOpCodePair.second); } if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) { - if (this->deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); + if (dlmFunc != nullptr) { + dlmFunc(); } } } diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 3ab79ed0..085c10b9 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -24,8 +24,8 @@ class PeriodicPosixTask : public PeriodicTaskBase { * @param deadlineMissedFunc_ */ PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_, - void (*deadlineMissedFunc_)()); - virtual ~PeriodicPosixTask(); + TaskDeadlineMissedFunction dlmFunc_); + ~PeriodicPosixTask() override = default; /** * @brief The method to start the task. @@ -54,7 +54,7 @@ class PeriodicPosixTask : public PeriodicTaskBase { * will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is * executed. */ - virtual void taskFunctionality(void); + [[noreturn]] virtual void taskFunctionality(); /** * @brief This is the entry point in a new thread. * diff --git a/src/fsfw/osal/linux/TaskFactory.cpp b/src/fsfw/osal/linux/TaskFactory.cpp index b9e7eb28..a28e685d 100644 --- a/src/fsfw/osal/linux/TaskFactory.cpp +++ b/src/fsfw/osal/linux/TaskFactory.cpp @@ -8,7 +8,7 @@ // TODO: Different variant than the lazy loading in QueueFactory. What's better and why? TaskFactory* TaskFactory::factoryInstance = new TaskFactory(); -TaskFactory::~TaskFactory() {} +TaskFactory::~TaskFactory() = default; TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; } @@ -22,7 +22,8 @@ PeriodicTaskIF* TaskFactory::createPeriodicTask( FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask( TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_); + return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_, + deadLineMissedFunction_); } ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) { diff --git a/src/fsfw/tasks/CMakeLists.txt b/src/fsfw/tasks/CMakeLists.txt index 6128c272..1d4ab4e1 100644 --- a/src/fsfw/tasks/CMakeLists.txt +++ b/src/fsfw/tasks/CMakeLists.txt @@ -1,3 +1,3 @@ target_sources( ${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp - PeriodicTaskBase.cpp) + PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp) diff --git a/src/fsfw/tasks/FixedSlotSequence.h b/src/fsfw/tasks/FixedSlotSequence.h index 5ece7126..838963c1 100644 --- a/src/fsfw/tasks/FixedSlotSequence.h +++ b/src/fsfw/tasks/FixedSlotSequence.h @@ -35,7 +35,7 @@ class FixedSlotSequence { * @brief The constructor of the FixedSlotSequence object. * @param setLength The period length, expressed in ms. */ - FixedSlotSequence(uint32_t setLengthMs); + explicit FixedSlotSequence(uint32_t setLengthMs); /** * @brief The destructor of the FixedSlotSequence object. diff --git a/src/fsfw/tasks/FixedTimeslotTaskBase.cpp b/src/fsfw/tasks/FixedTimeslotTaskBase.cpp new file mode 100644 index 00000000..26726582 --- /dev/null +++ b/src/fsfw/tasks/FixedTimeslotTaskBase.cpp @@ -0,0 +1,29 @@ +#include "FixedTimeslotTaskBase.h" + +#include "fsfw/objectmanager/ObjectManager.h" + +FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_, + TaskDeadlineMissedFunction dlmFunc_) + : pollingSeqTable(getPeriodMs()), period(period_), dlmFunc(dlmFunc_) {} +uint32_t FixedTimeslotTaskBase::getPeriodMs() const { return static_cast(period * 1000); } + +bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty(); } + +ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); } + +ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) { + auto* executableObject = ObjectManager::instance()->get(componentId); + if (executableObject != nullptr) { + pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this); + return HasReturnvaluesIF::RETURN_OK; + } + +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << componentId + << std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl; +#else + sif::printError("Component 0x%08x not found, not adding it to PST\n"); +#endif + return HasReturnvaluesIF::RETURN_FAILED; +} diff --git a/src/fsfw/tasks/FixedTimeslotTaskBase.h b/src/fsfw/tasks/FixedTimeslotTaskBase.h new file mode 100644 index 00000000..91a4f649 --- /dev/null +++ b/src/fsfw/tasks/FixedTimeslotTaskBase.h @@ -0,0 +1,44 @@ +#ifndef FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H +#define FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H + +#include "FixedSlotSequence.h" +#include "FixedTimeslotTaskIF.h" +#include "definitions.h" + +class FixedTimeslotTaskBase : public FixedTimeslotTaskIF { + public: + explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr); + ~FixedTimeslotTaskBase() override = default; + ; + + protected: + //! Polling sequence table which contains the object to execute + //! and information like the timeslots and the passed execution step. + FixedSlotSequence pollingSeqTable; + + /** + * @brief Period of task in floating point seconds + */ + TaskPeriod period; + + /** + * @brief The pointer to the deadline-missed function. + * @details + * This pointer stores the function that is executed if the task's deadline + * is missed. So, each may react individually on a timing failure. + * The pointer may be NULL, then nothing happens on missing the deadline. + * The deadline is equal to the next execution of the periodic task. + */ + TaskDeadlineMissedFunction dlmFunc = nullptr; + + ReturnValue_t checkSequence() override; + + [[nodiscard]] uint32_t getPeriodMs() const override; + + [[nodiscard]] bool isEmpty() const override; + + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) override; +}; + +#endif // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H diff --git a/src/fsfw/tasks/FixedTimeslotTaskIF.h b/src/fsfw/tasks/FixedTimeslotTaskIF.h index 9d85ac4a..dec382c3 100644 --- a/src/fsfw/tasks/FixedTimeslotTaskIF.h +++ b/src/fsfw/tasks/FixedTimeslotTaskIF.h @@ -11,7 +11,7 @@ */ class FixedTimeslotTaskIF : public PeriodicTaskIF { public: - virtual ~FixedTimeslotTaskIF() {} + ~FixedTimeslotTaskIF() override = default; static constexpr ReturnValue_t SLOT_LIST_EMPTY = HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0); diff --git a/src/fsfw/tasks/PeriodicTaskBase.cpp b/src/fsfw/tasks/PeriodicTaskBase.cpp index 021ba7b5..cc8784d9 100644 --- a/src/fsfw/tasks/PeriodicTaskBase.cpp +++ b/src/fsfw/tasks/PeriodicTaskBase.cpp @@ -1,11 +1,21 @@ #include "PeriodicTaskBase.h" -#include - #include +#include "fsfw/objectmanager/ObjectManager.h" +#include "fsfw/serviceinterface.h" + PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_) - : period(period), dlmFunc(dlmFunc_) {} + : period(period_), dlmFunc(dlmFunc_) { + // Hints at configuration error + if (PeriodicTaskBase::getPeriodMs() <= 1) { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::warning << "Passed task period 0 or smaller than 1 ms" << std::endl; +#else + sif::printWarning("Passed task period 0 or smaller than 1ms\n"); +#endif + } +} uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast(period * 1000); } @@ -32,7 +42,7 @@ ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() { } ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) { - ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); + auto* newObject = ObjectManager::instance()->get(object); return addComponent(newObject, opCode); } diff --git a/src/fsfw/tasks/PeriodicTaskBase.h b/src/fsfw/tasks/PeriodicTaskBase.h index a262a2d4..68791fb8 100644 --- a/src/fsfw/tasks/PeriodicTaskBase.h +++ b/src/fsfw/tasks/PeriodicTaskBase.h @@ -11,14 +11,15 @@ class ExecutableObjectIF; class PeriodicTaskBase : public PeriodicTaskIF { public: - PeriodicTaskBase(TaskPeriod period, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr); + explicit PeriodicTaskBase(TaskPeriod period, + TaskDeadlineMissedFunction deadlineMissedFunc = nullptr); ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override; ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override; - uint32_t getPeriodMs() const override; + [[nodiscard]] uint32_t getPeriodMs() const override; - bool isEmpty() const override; + [[nodiscard]] bool isEmpty() const override; ReturnValue_t initObjsAfterTaskCreation(); diff --git a/src/fsfw/tasks/PeriodicTaskIF.h b/src/fsfw/tasks/PeriodicTaskIF.h index ec25faa8..a6d6a6d6 100644 --- a/src/fsfw/tasks/PeriodicTaskIF.h +++ b/src/fsfw/tasks/PeriodicTaskIF.h @@ -17,7 +17,7 @@ class PeriodicTaskIF { /** * @brief A virtual destructor as it is mandatory for interfaces. */ - virtual ~PeriodicTaskIF() {} + virtual ~PeriodicTaskIF() = default; /** * @brief With the startTask method, a created task can be started * for the first time. diff --git a/src/fsfw/tasks/definitions.h b/src/fsfw/tasks/definitions.h index bca9b768..586884b6 100644 --- a/src/fsfw/tasks/definitions.h +++ b/src/fsfw/tasks/definitions.h @@ -5,7 +5,7 @@ #include using TaskName = const char*; -using TaskPriority = uint32_t; +using TaskPriority = int; using TaskStackSize = size_t; using TaskPeriod = double; using TaskDeadlineMissedFunction = void (*)(); From c0292f072e77beaf7760753c86d0e57bbfa90409 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 20 May 2022 20:52:36 +0200 Subject: [PATCH 148/162] warning printout correction --- src/fsfw/osal/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/osal/CMakeLists.txt b/src/fsfw/osal/CMakeLists.txt index f3c5cfad..8fa353c6 100644 --- a/src/fsfw/osal/CMakeLists.txt +++ b/src/fsfw/osal/CMakeLists.txt @@ -18,7 +18,7 @@ elseif(FSFW_OSAL MATCHES "host") else() - message(WARNING "The OS_FSFW variable was not set. Assuming host OS..") + message(WARNING "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..") # Not set. Assumuing this is a host build, try to determine host OS if (WIN32) add_subdirectory(host) From b8b7756a3e4f92ff1d8abd80f4be3eb5566f71fd Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Sun, 22 May 2022 14:32:48 +0200 Subject: [PATCH 149/162] fix host OSAL --- src/fsfw/osal/host/FixedTimeslotTask.cpp | 4 +++- src/fsfw/osal/host/FixedTimeslotTask.h | 4 +++- src/fsfw/osal/host/PeriodicTask.cpp | 2 ++ src/fsfw/osal/host/PeriodicTask.h | 1 + 4 files changed, 9 insertions(+), 2 deletions(-) diff --git a/src/fsfw/osal/host/FixedTimeslotTask.cpp b/src/fsfw/osal/host/FixedTimeslotTask.cpp index 07853938..bb3ffe35 100644 --- a/src/fsfw/osal/host/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/host/FixedTimeslotTask.cpp @@ -133,7 +133,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT return HasReturnvaluesIF::RETURN_FAILED; } -ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); } +ReturnValue_t FixedTimeslotTask::checkSequence() { return pollingSeqTable.checkSequence(); } uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; } @@ -176,3 +176,5 @@ bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chr (*previousWakeTimeMs) = currentStartTime; return false; } + +bool FixedTimeslotTask::isEmpty() const { return pollingSeqTable.isEmpty(); } diff --git a/src/fsfw/osal/host/FixedTimeslotTask.h b/src/fsfw/osal/host/FixedTimeslotTask.h index cdbc6f23..dac33871 100644 --- a/src/fsfw/osal/host/FixedTimeslotTask.h +++ b/src/fsfw/osal/host/FixedTimeslotTask.h @@ -59,12 +59,14 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF { */ ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep); - ReturnValue_t checkSequence() const override; + ReturnValue_t checkSequence() override; uint32_t getPeriodMs() const; ReturnValue_t sleepFor(uint32_t ms); + bool isEmpty() const override; + protected: using chron_ms = std::chrono::milliseconds; diff --git a/src/fsfw/osal/host/PeriodicTask.cpp b/src/fsfw/osal/host/PeriodicTask.cpp index cdcfafa6..23736b96 100644 --- a/src/fsfw/osal/host/PeriodicTask.cpp +++ b/src/fsfw/osal/host/PeriodicTask.cpp @@ -156,3 +156,5 @@ bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms (*previousWakeTimeMs) = currentStartTime; return false; } + +bool PeriodicTask::isEmpty() const { return objectList.empty(); } diff --git a/src/fsfw/osal/host/PeriodicTask.h b/src/fsfw/osal/host/PeriodicTask.h index 6c4d5e8b..463ab379 100644 --- a/src/fsfw/osal/host/PeriodicTask.h +++ b/src/fsfw/osal/host/PeriodicTask.h @@ -73,6 +73,7 @@ class PeriodicTask : public PeriodicTaskIF { ReturnValue_t sleepFor(uint32_t ms); + bool isEmpty() const override; protected: using chron_ms = std::chrono::milliseconds; bool started; From 24069dfd78a5905b3e327fab3528baacbc913757 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 24 May 2022 16:22:27 +0200 Subject: [PATCH 150/162] removed [[maybe_unused]] --- src/fsfw/pus/Service11TelecommandScheduling.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.h b/src/fsfw/pus/Service11TelecommandScheduling.h index 9a8be603..45a7c26b 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.h +++ b/src/fsfw/pus/Service11TelecommandScheduling.h @@ -45,7 +45,7 @@ class Service11TelecommandScheduling final : public PusServiceBase { HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3); // The types of PUS-11 subservices - enum [[maybe_unused]] Subservice : uint8_t{ENABLE_SCHEDULING = 1, + enum Subservice : uint8_t{ENABLE_SCHEDULING = 1, DISABLE_SCHEDULING = 2, RESET_SCHEDULING = 3, INSERT_ACTIVITY = 4, From c8355251967009559ea790b63c3ebfc67a27efef Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 25 May 2022 09:56:32 +0200 Subject: [PATCH 151/162] added cast for PUS11 --- src/fsfw/pus/Service11TelecommandScheduling.tpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/fsfw/pus/Service11TelecommandScheduling.tpp b/src/fsfw/pus/Service11TelecommandScheduling.tpp index 5ee08194..564a11fc 100644 --- a/src/fsfw/pus/Service11TelecommandScheduling.tpp +++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp @@ -67,7 +67,7 @@ inline ReturnValue_t Service11TelecommandScheduling::performService // 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) { + if (it->first <= static_cast(tNow.tv_sec)) { // release tc TmTcMessage releaseMsg(it->second.storeAddr); auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false); From 8cfe848dfef41bfc845b4b5c2e6273ac3735400e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 25 May 2022 14:30:00 +0200 Subject: [PATCH 152/162] service 3 and local HK man improvements --- src/fsfw/datapoollocal/LocalDataPoolManager.cpp | 5 +++++ src/fsfw/ipc/CommandMessageIF.h | 2 +- src/fsfw/pus/Service3Housekeeping.cpp | 15 ++++++++++----- 3 files changed, 16 insertions(+), 6 deletions(-) diff --git a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp index 781d8f71..dec64b81 100644 --- a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp +++ b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp @@ -577,6 +577,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me CommandMessage reply; if (result != HasReturnvaluesIF::RETURN_OK) { + if(result == WRONG_HK_PACKET_TYPE) { + printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage", WRONG_HK_PACKET_TYPE); + } HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result); } else { HousekeepingMessage::setHkRequestSuccessReply(&reply, sid); @@ -834,6 +837,8 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType, errorPrint = "Dataset not found"; } else if (error == POOLOBJECT_NOT_FOUND) { errorPrint = "Pool Object not found"; + } else if (error == WRONG_HK_PACKET_TYPE) { + errorPrint = "Wrong Packet Type"; } else if (error == HasReturnvaluesIF::RETURN_FAILED) { if (outputType == sif::OutputTypes::OUT_WARNING) { errorPrint = "Generic Warning"; diff --git a/src/fsfw/ipc/CommandMessageIF.h b/src/fsfw/ipc/CommandMessageIF.h index aea08203..3c31a184 100644 --- a/src/fsfw/ipc/CommandMessageIF.h +++ b/src/fsfw/ipc/CommandMessageIF.h @@ -34,7 +34,7 @@ class CommandMessageIF { static const Command_t CMD_NONE = MAKE_COMMAND_ID(0); static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID(1); //! Reply indicating that the current command was rejected, - //! par1 should contain the error code + //! Parameter 1 should contain the error code static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID(2); virtual ~CommandMessageIF(){}; diff --git a/src/fsfw/pus/Service3Housekeeping.cpp b/src/fsfw/pus/Service3Housekeeping.cpp index cce8fc91..85c3762f 100644 --- a/src/fsfw/pus/Service3Housekeeping.cpp +++ b/src/fsfw/pus/Service3Housekeeping.cpp @@ -208,7 +208,7 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply, ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED; HousekeepingMessage::getHkRequestFailureReply(reply, &error); failureParameter2 = error; - return CommandingServiceBase::EXECUTION_COMPLETE; + return RETURN_FAILED; } default: @@ -248,19 +248,23 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) { case (HousekeepingMessage::HK_REQUEST_FAILURE): { break; } + case(CommandMessage::REPLY_REJECTED): { + sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply " + "rejected with error code" << reply->getParameter() << std::endl; + break; + } default: { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply " - "command " - << command << "!" << std::endl; + "command " << command << "" << std::endl; #else sif::printWarning( "Service3Housekeeping::handleUnrequestedReply: Invalid reply with " - "reply command %hu!\n", + "reply command %hu\n", command); #endif - return; + break; } } @@ -275,6 +279,7 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) { "Could not generate reply!\n"); #endif } + CommandingServiceBase::handleUnrequestedReply(reply); } MessageQueueId_t Service3Housekeeping::getHkQueue() const { return commandQueue->getId(); } From ac62443f318f62a15812eb2b382a38b3ec84d960 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 25 May 2022 14:30:58 +0200 Subject: [PATCH 153/162] use better type for stored limit --- src/fsfw/tmtcservices/TmTcBridge.cpp | 2 +- src/fsfw/tmtcservices/TmTcBridge.h | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/fsfw/tmtcservices/TmTcBridge.cpp b/src/fsfw/tmtcservices/TmTcBridge.cpp index cc6ec599..4fa07c14 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.cpp +++ b/src/fsfw/tmtcservices/TmTcBridge.cpp @@ -36,7 +36,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC } } -ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) { +ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) { if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) { this->maxNumberOfPacketsStored = maxNumberOfPacketsStored; return RETURN_OK; diff --git a/src/fsfw/tmtcservices/TmTcBridge.h b/src/fsfw/tmtcservices/TmTcBridge.h index 81d8e5d8..679ab2ef 100644 --- a/src/fsfw/tmtcservices/TmTcBridge.h +++ b/src/fsfw/tmtcservices/TmTcBridge.h @@ -18,7 +18,7 @@ class TmTcBridge : public AcceptsTelemetryIF, public: static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15; - static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200; + static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 1000; static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5; static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10; @@ -43,7 +43,7 @@ class TmTcBridge : public AcceptsTelemetryIF, * @return -@c RETURN_OK if value was set successfully * -@c RETURN_FAILED otherwise, stored value stays the same */ - ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored); + ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored); /** * This will set up the bridge to overwrite old data in the FIFO. @@ -152,7 +152,7 @@ class TmTcBridge : public AcceptsTelemetryIF, */ DynamicFIFO* tmFifo = nullptr; uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; - uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; + unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; }; #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */ From 3749f31ab46d32d4c9fd95bef031fe5f3bf39d3e Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Thu, 26 May 2022 02:03:39 +0200 Subject: [PATCH 154/162] disable pending commands and replies in MODE_OFF transition --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 25 +++++++++++++++++++ src/fsfw/devicehandlers/DeviceHandlerBase.h | 5 ++++ 2 files changed, 30 insertions(+) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 69baf54f..e0b50733 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -572,6 +572,9 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) { mode = newMode; modeChanged(); setNormalDatapoolEntriesInvalid(); + if (newMode == MODE_OFF) { + disableCommandsAndReplies(); + } if (!isTransitionalMode()) { modeHelper.modeChanged(newMode, newSubmode); announceMode(false); @@ -1482,6 +1485,9 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() { LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) { auto iter = deviceReplyMap.find(sid.ownerSetId); + if (sid.objectId == 0x44140014) { + sif::debug << "HK message for IMTQ" << std::endl; + } if (iter != deviceReplyMap.end()) { return iter->second.dataSet; } else { @@ -1567,3 +1573,22 @@ void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; } void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { this->powerSwitcher = switcher; } + +void DeviceHandlerBase::disableCommandsAndReplies() { + for (auto& command : deviceCommandMap) { + if (command.second.isExecuting) { + command.second.isExecuting = false; + } + } + for (auto& reply : deviceReplyMap) { + if (!reply.second.periodic) { + if (reply.second.countdown != nullptr) { + reply.second.countdown->timeOut(); + } + else { + reply.second.delayCycles = 0; + } + reply.second.active = false; + } + } +} diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 34171067..58e54da0 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -1325,6 +1325,11 @@ class DeviceHandlerBase : public DeviceHandlerIF, void printWarningOrError(sif::OutputTypes errorType, const char *functionName, ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED, const char *errorPrint = nullptr); + + /** + * @brief Disables all commands and replies when device is set to MODE_OFF + */ + void disableCommandsAndReplies(); }; #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */ From ab68817e9a8254c793239313e169862ceb65b9c4 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Thu, 26 May 2022 02:06:05 +0200 Subject: [PATCH 155/162] removed debugging printout --- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index e0b50733..f6e8578b 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1485,9 +1485,6 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() { LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) { auto iter = deviceReplyMap.find(sid.ownerSetId); - if (sid.objectId == 0x44140014) { - sif::debug << "HK message for IMTQ" << std::endl; - } if (iter != deviceReplyMap.end()) { return iter->second.dataSet; } else { From 95a64e1da3bb6d334c58c9ba78747bcdaccd5a8b Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Fri, 27 May 2022 13:04:21 +0200 Subject: [PATCH 156/162] wrong initialization order --- src/fsfw/tasks/FixedTimeslotTaskBase.cpp | 2 +- src/fsfw/tasks/FixedTimeslotTaskBase.h | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/fsfw/tasks/FixedTimeslotTaskBase.cpp b/src/fsfw/tasks/FixedTimeslotTaskBase.cpp index 26726582..05c08109 100644 --- a/src/fsfw/tasks/FixedTimeslotTaskBase.cpp +++ b/src/fsfw/tasks/FixedTimeslotTaskBase.cpp @@ -4,7 +4,7 @@ FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_) - : pollingSeqTable(getPeriodMs()), period(period_), dlmFunc(dlmFunc_) {} + : period(period_), pollingSeqTable(getPeriodMs()), dlmFunc(dlmFunc_) {} uint32_t FixedTimeslotTaskBase::getPeriodMs() const { return static_cast(period * 1000); } bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty(); } diff --git a/src/fsfw/tasks/FixedTimeslotTaskBase.h b/src/fsfw/tasks/FixedTimeslotTaskBase.h index 91a4f649..6f08e3fe 100644 --- a/src/fsfw/tasks/FixedTimeslotTaskBase.h +++ b/src/fsfw/tasks/FixedTimeslotTaskBase.h @@ -12,15 +12,15 @@ class FixedTimeslotTaskBase : public FixedTimeslotTaskIF { ; protected: - //! Polling sequence table which contains the object to execute - //! and information like the timeslots and the passed execution step. - FixedSlotSequence pollingSeqTable; - /** * @brief Period of task in floating point seconds */ TaskPeriod period; + //! Polling sequence table which contains the object to execute + //! and information like the timeslots and the passed execution step. + FixedSlotSequence pollingSeqTable; + /** * @brief The pointer to the deadline-missed function. * @details From cda81fc8415c3873c035aa7ebbfa3fe93d519f08 Mon Sep 17 00:00:00 2001 From: Cleanroom Laptop L15 Date: Fri, 3 Jun 2022 18:05:38 +0200 Subject: [PATCH 157/162] enable hk --- hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp | 1 + hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp | 1 + hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp | 1 + 3 files changed, 3 insertions(+) diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp index 94e1331c..3dd19275 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp @@ -252,6 +252,7 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry({0.0})); localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry({0.0})); localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry({0.0})); + poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false); return HasReturnvaluesIF::RETURN_OK; } diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index a13ae791..ee45056a 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -475,6 +475,7 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &lo localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry({0.0})); localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry({0.0})); localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry({0.0})); + poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false); return HasReturnvaluesIF::RETURN_OK; } diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index f9929d63..3396ea15 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -312,6 +312,7 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &loc localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry({0.0})); + poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false); return HasReturnvaluesIF::RETURN_OK; } From af890c62187f4c7833ec60847bdd793babb00137 Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Thu, 16 Jun 2022 07:55:57 +0200 Subject: [PATCH 158/162] corrected warning text --- src/fsfw/datapoollocal/LocalDataPoolManager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp index dec64b81..c76134b3 100644 --- a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp +++ b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp @@ -699,9 +699,9 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) { if (result != HasReturnvaluesIF::RETURN_OK) { /* Configuration error */ #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl; + sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl; #else - sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n"); + sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n"); #endif } } From 1910a7838c712f1cf34031d2a8b53e2f7cd24f66 Mon Sep 17 00:00:00 2001 From: Irini Kosmidou Date: Mon, 20 Jun 2022 11:04:06 +0200 Subject: [PATCH 159/162] compile DleParser --- src/fsfw/globalfunctions/CMakeLists.txt | 1 + src/fsfw/globalfunctions/DleParser.cpp | 1 - src/fsfw/globalfunctions/DleParser.h | 5 +---- 3 files changed, 2 insertions(+), 5 deletions(-) diff --git a/src/fsfw/globalfunctions/CMakeLists.txt b/src/fsfw/globalfunctions/CMakeLists.txt index cfa02696..cf8a25d5 100644 --- a/src/fsfw/globalfunctions/CMakeLists.txt +++ b/src/fsfw/globalfunctions/CMakeLists.txt @@ -4,6 +4,7 @@ target_sources( AsciiConverter.cpp CRC.cpp DleEncoder.cpp + DleParser.cpp PeriodicOperationDivider.cpp timevalOperations.cpp Type.cpp diff --git a/src/fsfw/globalfunctions/DleParser.cpp b/src/fsfw/globalfunctions/DleParser.cpp index 71da7e6a..f326f837 100644 --- a/src/fsfw/globalfunctions/DleParser.cpp +++ b/src/fsfw/globalfunctions/DleParser.cpp @@ -1,6 +1,5 @@ #include "DleParser.h" -#include #include #include diff --git a/src/fsfw/globalfunctions/DleParser.h b/src/fsfw/globalfunctions/DleParser.h index 32fe38cb..e8ee61d9 100644 --- a/src/fsfw/globalfunctions/DleParser.h +++ b/src/fsfw/globalfunctions/DleParser.h @@ -1,5 +1,4 @@ -#ifndef MISSION_DEVICES_DLEPARSER_H_ -#define MISSION_DEVICES_DLEPARSER_H_ +#pragma once #include #include @@ -123,5 +122,3 @@ class DleParser : public HasReturnvaluesIF { Context ctx; bool startFound = false; }; - -#endif /* MISSION_DEVICES_DLEPARSER_H_ */ From 5abbf42e9f9b48cc244faabe88dc845e66cd0d24 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 21 Jun 2022 00:49:58 +0200 Subject: [PATCH 160/162] some form updates --- CMakeLists.txt | 5 ++++- src/fsfw/datapoollocal/LocalDataPoolManager.cpp | 8 +++++--- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 3 +-- src/fsfw/osal/CMakeLists.txt | 4 +++- src/fsfw/osal/host/PeriodicTask.h | 1 + src/fsfw/power/PowerSwitchIF.h | 6 +++--- src/fsfw/pus/Service3Housekeeping.cpp | 8 +++++--- src/fsfw/thermal/ThermalComponentIF.h | 6 +++--- 8 files changed, 25 insertions(+), 16 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6b7634b2..65a675df 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -182,7 +182,10 @@ if(FSFW_BUILD_UNITTESTS) endif() endif() -message(STATUS "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}") +message( + STATUS + "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}" +) # Check whether the user has already installed ETL first find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) diff --git a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp index c76134b3..11faa4d0 100644 --- a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp +++ b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp @@ -577,8 +577,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* me CommandMessage reply; if (result != HasReturnvaluesIF::RETURN_OK) { - if(result == WRONG_HK_PACKET_TYPE) { - printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage", WRONG_HK_PACKET_TYPE); + if (result == WRONG_HK_PACKET_TYPE) { + printWarningOrError(sif::OutputTypes::OUT_WARNING, "handleHousekeepingMessage", + WRONG_HK_PACKET_TYPE); } HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result); } else { @@ -699,7 +700,8 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) { if (result != HasReturnvaluesIF::RETURN_OK) { /* Configuration error */ #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl; + sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." + << std::endl; #else sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n"); #endif diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index f6e8578b..a7ce2870 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -1581,8 +1581,7 @@ void DeviceHandlerBase::disableCommandsAndReplies() { if (!reply.second.periodic) { if (reply.second.countdown != nullptr) { reply.second.countdown->timeOut(); - } - else { + } else { reply.second.delayCycles = 0; } reply.second.active = false; diff --git a/src/fsfw/osal/CMakeLists.txt b/src/fsfw/osal/CMakeLists.txt index 62f2a63a..d0aea96a 100644 --- a/src/fsfw/osal/CMakeLists.txt +++ b/src/fsfw/osal/CMakeLists.txt @@ -16,7 +16,9 @@ elseif(FSFW_OSAL MATCHES "host") else() - message(WARNING "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..") + message( + WARNING + "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..") # Not set. Assumuing this is a host build, try to determine host OS if(WIN32) add_subdirectory(host) diff --git a/src/fsfw/osal/host/PeriodicTask.h b/src/fsfw/osal/host/PeriodicTask.h index 63d72b7a..fad588a0 100644 --- a/src/fsfw/osal/host/PeriodicTask.h +++ b/src/fsfw/osal/host/PeriodicTask.h @@ -53,6 +53,7 @@ class PeriodicTask : public PeriodicTaskBase { ReturnValue_t sleepFor(uint32_t ms) override; bool isEmpty() const override; + protected: using chron_ms = std::chrono::milliseconds; bool started; diff --git a/src/fsfw/power/PowerSwitchIF.h b/src/fsfw/power/PowerSwitchIF.h index bc883fbc..c2727158 100644 --- a/src/fsfw/power/PowerSwitchIF.h +++ b/src/fsfw/power/PowerSwitchIF.h @@ -29,9 +29,9 @@ class PowerSwitchIF : public HasReturnvaluesIF { static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3); static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2; - static const Event SWITCH_WENT_OFF = MAKE_EVENT( - 0, severity::LOW); //!< Someone detected that a switch went off which shouldn't. Severity: - //!< Low, Parameter1: switchId1, Parameter2: switchId2 + //!< Someone detected that a switch went off which shouldn't. Severity: + //!< Low, Parameter1: switchId1, Parameter2: switchId2 + static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW); /** * send a direct command to the Power Unit to enable/disable the specified switch. * diff --git a/src/fsfw/pus/Service3Housekeeping.cpp b/src/fsfw/pus/Service3Housekeeping.cpp index 85c3762f..97addd7c 100644 --- a/src/fsfw/pus/Service3Housekeeping.cpp +++ b/src/fsfw/pus/Service3Housekeeping.cpp @@ -248,16 +248,18 @@ void Service3Housekeeping::handleUnrequestedReply(CommandMessage* reply) { case (HousekeepingMessage::HK_REQUEST_FAILURE): { break; } - case(CommandMessage::REPLY_REJECTED): { + case (CommandMessage::REPLY_REJECTED): { sif::warning << "Service3Housekeeping::handleUnrequestedReply: Unexpected reply " - "rejected with error code" << reply->getParameter() << std::endl; + "rejected with error code" + << reply->getParameter() << std::endl; break; } default: { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply " - "command " << command << "" << std::endl; + "command " + << command << "" << std::endl; #else sif::printWarning( "Service3Housekeeping::handleUnrequestedReply: Invalid reply with " diff --git a/src/fsfw/thermal/ThermalComponentIF.h b/src/fsfw/thermal/ThermalComponentIF.h index 0c50fbad..3a9f3f2d 100644 --- a/src/fsfw/thermal/ThermalComponentIF.h +++ b/src/fsfw/thermal/ThermalComponentIF.h @@ -13,9 +13,9 @@ class ThermalComponentIF : public HasParametersIF { static const Event COMPONENT_TEMP_HIGH = MAKE_EVENT(2, severity::LOW); static const Event COMPONENT_TEMP_OOL_LOW = MAKE_EVENT(3, severity::LOW); static const Event COMPONENT_TEMP_OOL_HIGH = MAKE_EVENT(4, severity::LOW); - static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT( - 5, severity::LOW); //!< Is thrown when a device should start-up, but the temperature is out - //!< of OP range. P1: thermalState of the component, P2: 0 + //!< Is thrown when a device should start-up, but the temperature is out + //!< of OP range. P1: thermalState of the component, P2: 0 + static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, severity::LOW); static const uint8_t INTERFACE_ID = CLASS_ID::THERMAL_COMPONENT_IF; static const ReturnValue_t INVALID_TARGET_STATE = MAKE_RETURN_CODE(1); From 682abd1b5bf9c130ed69fd98ea435d7d6309687a Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 4 Jul 2022 10:55:09 +0200 Subject: [PATCH 161/162] new clion folder in misc for .run configs --- {.run => misc/clion/.run}/fsfw-tests_coverage.run.xml | 0 {.run => misc/clion/.run}/fsfw.run.xml | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename {.run => misc/clion/.run}/fsfw-tests_coverage.run.xml (100%) rename {.run => misc/clion/.run}/fsfw.run.xml (72%) diff --git a/.run/fsfw-tests_coverage.run.xml b/misc/clion/.run/fsfw-tests_coverage.run.xml similarity index 100% rename from .run/fsfw-tests_coverage.run.xml rename to misc/clion/.run/fsfw-tests_coverage.run.xml diff --git a/.run/fsfw.run.xml b/misc/clion/.run/fsfw.run.xml similarity index 72% rename from .run/fsfw.run.xml rename to misc/clion/.run/fsfw.run.xml index 72f74939..5e35a788 100644 --- a/.run/fsfw.run.xml +++ b/misc/clion/.run/fsfw.run.xml @@ -1,5 +1,5 @@ - + From c5eb09314f3e6e7111762c7e36a773bddd48ed6b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 4 Jul 2022 11:04:37 +0200 Subject: [PATCH 162/162] delete run configs --- misc/clion/.run/fsfw-tests_coverage.run.xml | 7 ------- misc/clion/.run/fsfw.run.xml | 7 ------- 2 files changed, 14 deletions(-) delete mode 100644 misc/clion/.run/fsfw-tests_coverage.run.xml delete mode 100644 misc/clion/.run/fsfw.run.xml diff --git a/misc/clion/.run/fsfw-tests_coverage.run.xml b/misc/clion/.run/fsfw-tests_coverage.run.xml deleted file mode 100644 index 49d9b135..00000000 --- a/misc/clion/.run/fsfw-tests_coverage.run.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/misc/clion/.run/fsfw.run.xml b/misc/clion/.run/fsfw.run.xml deleted file mode 100644 index 5e35a788..00000000 --- a/misc/clion/.run/fsfw.run.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - \ No newline at end of file