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Merge remote-tracking branch 'upstream/development' into develop

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This commit is contained in:
Robin Müller
2023-03-15 11:40:48 +01:00
parent cf27954a86 dc7afc5415
commit d0607824ad
7 changed files with 252 additions and 66 deletions
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2
src/fsfw/osal/rtems/SemaphoreFactory.cpp
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@ -1,5 +1,5 @@
#include "fsfw/osal/rtems/BinarySemaphore.h"
//#include "fsfw/osal/rtems/CountingSemaphore.h"
// #include "fsfw/osal/rtems/CountingSemaphore.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/SemaphoreFactory.h"

26
src/fsfw/pus/CServiceHealthCommanding.cpp
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@ -10,9 +10,23 @@
CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
: CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
args.numParallelCommands, args.commandTimeoutSeconds),
healthTable(args.table),
healthTableId(args.table),
maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
ReturnValue_t CServiceHealthCommanding::initialize() {
ReturnValue_t result = CommandingServiceBase::initialize();
if (result != returnvalue::OK) {
return result;
}
healthTable = ObjectManager::instance()->get<HealthTable>(healthTableId);
if (healthTable == nullptr) {
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
@ -91,14 +105,6 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message,
return EXECUTION_COMPLETE;
}
return result;
while (true) {
ReturnValue_t result = iterateHealthTable(false);
if (result != returnvalue::OK) {
break;
}
}
return returnvalue::OK;
}
default: {
// Should never happen, subservice was already checked
@ -145,7 +151,7 @@ void CServiceHealthCommanding::doPeriodicOperation() {
ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
std::pair<object_id_t, HasHealthIF::HealthState> pair;
ReturnValue_t result = healthTable.iterate(&pair, reset);
ReturnValue_t result = healthTable->iterate(&pair, reset);
if (result != returnvalue::OK) {
return result;
} else {

18
src/fsfw/pus/CServiceHealthCommanding.h
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@ -6,7 +6,11 @@
#include "fsfw/tmtcservices/CommandingServiceBase.h"
struct HealthServiceCfg {
<<<<<<< HEAD
HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
=======
HealthServiceCfg(object_id_t objectId, uint16_t apid, object_id_t healthTable,
>>>>>>> upstream/development
uint16_t maxNumHealthInfoPerCycle)
: objectId(objectId),
apid(apid),
@ -14,7 +18,11 @@ struct HealthServiceCfg {
maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
object_id_t objectId;
uint16_t apid;
<<<<<<< HEAD
HealthTable &table;
=======
object_id_t table;
>>>>>>> upstream/development
uint16_t maxNumHealthInfoPerCycle;
uint8_t service = 201;
uint8_t numParallelCommands = 4;
@ -39,6 +47,11 @@ class CServiceHealthCommanding : public CommandingServiceBase {
public:
CServiceHealthCommanding(HealthServiceCfg args);
~CServiceHealthCommanding() override = default;
<<<<<<< HEAD
=======
ReturnValue_t initialize() override;
>>>>>>> upstream/development
protected:
/* CSB abstract function implementations */
@ -57,7 +70,12 @@ class CServiceHealthCommanding : public CommandingServiceBase {
void doPeriodicOperation() override;
private:
<<<<<<< HEAD
HealthTable &healthTable;
=======
const object_id_t healthTableId;
HealthTable *healthTable;
>>>>>>> upstream/development
uint16_t maxNumHealthInfoPerCycle = 0;
bool reportAllHealth = false;
ReturnValue_t iterateHealthTable(bool reset);

24
src/fsfw/rmap/rmapStructs.h
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@ -10,11 +10,11 @@
//////////////////////////////////////////////////////////////////////////////////
// RMAP command bits
//#define RMAP_COMMAND_BIT_INCREMENT 2
//#define RMAP_COMMAND_BIT_REPLY 3
//#define RMAP_COMMAND_BIT_WRITE 5
//#define RMAP_COMMAND_BIT_VERIFY 4
//#define RMAP_COMMAND_BIT 6
// #define RMAP_COMMAND_BIT_INCREMENT 2
// #define RMAP_COMMAND_BIT_REPLY 3
// #define RMAP_COMMAND_BIT_WRITE 5
// #define RMAP_COMMAND_BIT_VERIFY 4
// #define RMAP_COMMAND_BIT 6
namespace RMAPIds {
@ -32,14 +32,14 @@ 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<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
// #define RMAP_COMMAND_WRITE ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
//| (1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY ((1<<RMAP_COMMAND_BIT) |
//(1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define
// RMAP_COMMAND_READ ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
// RMAP_COMMAND_READ ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
//#define RMAP_REPLY_WRITE ((1<<RMAP_COMMAND_BIT_WRITE) |
// #define RMAP_REPLY_WRITE ((1<<RMAP_COMMAND_BIT_WRITE) |
//(1<<RMAP_COMMAND_BIT_REPLY))
//#define RMAP_REPLY_WRITE_VERIFY ((1<<RMAP_COMMAND_BIT_WRITE) |
// #define RMAP_REPLY_WRITE_VERIFY ((1<<RMAP_COMMAND_BIT_WRITE) |
//(1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define RMAP_REPLY_READ
//((1<<RMAP_COMMAND_BIT_REPLY))
@ -49,9 +49,9 @@ static const uint8_t RMAP_COMMAND_HEADER_LEN = 16;
static const uint8_t RMAP_WRITE_REPLY_HEADER_LEN = 8;
static const uint8_t RMAP_READ_REPLY_HEADER_LEN = 12;
static const uint8_t RMAP_DATA_FOOTER_SIZE = 1; // SIZE OF CRC
//#define RMAP_COMMAND_HEADER_LEN 16
//#define RMAP_WRITE_REPLY_HEADER_LEN 8
//#define RMAP_READ_REPLY_HEADER_LEN 12
// #define RMAP_COMMAND_HEADER_LEN 16
// #define RMAP_WRITE_REPLY_HEADER_LEN 8
// #define RMAP_READ_REPLY_HEADER_LEN 12
} // namespace RMAPIds