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eive/fsfw
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Merge remote-tracking branch 'origin/develop' into mueller/task-if-refactor-spi-refactor

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This commit is contained in:
Robin Müller 2022-05-17 17:51:42 +02:00
commit d267a3651b
29 changed files with 1965 additions and 920 deletions
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4
CHANGELOG.md
View File

@ -27,7 +27,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- `oneShotAction` flag in the `TestTask` class is not static anymore
- Major update for version handling, using `git describe` to fetch version information with git.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
- Place `Version` class outside of `fsfw` namespace. It is generic
- Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
manually now. Those should not change too often and only a small subset is needed
- Separate folder for easier update and for distinction
@ -102,6 +101,9 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
(ETL) dependency.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
- Added ETL dependency and improved library dependency management
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available

625
CMakeLists.txt
View File

@ -1,42 +1,94 @@
cmake_minimum_required(VERSION 3.13)
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME})
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
endif()
set(MSG_PREFIX "fsfw |")
# Add the cmake folder so the FindSphinx module is found
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
list(APPEND CMAKE_MODULE_PATH
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
# ##############################################################################
# Version file handling #
# ##############################################################################
set(FSFW_VERSION_IF_GIT_FAILS 4)
set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
set(FSFW_REVISION_IF_GIT_FAILS 0)
# Add the cmake folder so the FindSphinx module is found
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
set(MSG_PREFIX "fsfw |")
set(FSFW_GIT_VER_HANDLING_OK FALSE)
# Version handling
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
message(STATUS "${MSG_PREFIX} Determining version information with git")
include(FsfwHelpers)
determine_version_with_git("--exclude" "docker_*")
if(GIT_INFO)
set(FSFW_GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
if(NOT FSFW_VERSION)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_SUBVERSION)
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_REVISION)
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(FSFW_GIT_VER_HANDLING_OK TRUE)
else()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
endif()
endif()
if(NOT FSFW_GIT_VER_HANDLING_OK)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME}
VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(
FATAL_ERROR
"${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
endif()
set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
set(FSFW_ETL_LIB_NAME etl)
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
"ETL library major version requirement"
)
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
"ETL library exact version requirement"
)
set(FSFW_ETL_LIB_MAJOR_VERSION
20
CACHE STRING "ETL library major version requirement")
set(FSFW_ETL_LIB_VERSION
${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
CACHE STRING "ETL library exact version requirement")
set(FSFW_ETL_LINK_TARGET etl::etl)
set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
"Catch2 library major version requirement"
)
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
"Catch2 library exact version requirement"
)
set(FSFW_CATCH2_LIB_MAJOR_VERSION
3
CACHE STRING "Catch2 library major version requirement")
set(FSFW_CATCH2_LIB_VERSION
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
CACHE STRING "Catch2 library exact version requirement")
# Keep this off by default for now. See PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
# for information which keeping this on by default is problematic
option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" OFF)
# Keep this off by default for now. See PR:
# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
# keeping this on by default is problematic
option(
FSFW_ENABLE_IPO
"Enable interprocedural optimization or link-time optimization if available"
OFF)
if(FSFW_ENABLE_IPO)
include(CheckIPOSupported)
check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
@ -46,13 +98,13 @@ if(FSFW_ENABLE_IPO)
endif()
option(FSFW_GENERATE_SECTIONS
"Generate function and data sections. Required to remove unused code" ON
)
"Generate function and data sections. Required to remove unused code" ON)
if(FSFW_GENERATE_SECTIONS)
option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
endif()
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_UNITTESTS
"Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
@ -76,118 +128,93 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
# Contrib sources
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
add_library(${LIB_FSFW_NAME})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
endif()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
# Version handling
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
message(STATUS "${MSG_PREFIX} Determining version information with git")
include(FsfwHelpers)
determine_version_with_git("--exclude" "docker_*")
if(GIT_INFO)
set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
if(NOT FSFW_VERSION)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_SUBVERSION)
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_REVISION)
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(FSFW_GIT_VER_HANDLING_OK TRUE)
else()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
endif()
endif()
if(NOT FSFW_GIT_VER_HANDLING_OK)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
TRUE)
endif()
if(FSFW_BUILD_UNITTESTS)
message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
# Check whether the user has already installed Catch2 first
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
include(FetchContent)
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 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
message(
STATUS
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
)
include(FetchContent)
FetchContent_Declare(
Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG ${FSFW_CATCH2_LIB_VERSION}
)
FetchContent_Declare(
Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif()
list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
tests/TestsConfig.h)
project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
endif()
project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
TRUE)
endif()
if(FSFW_TESTS_GEN_COV)
message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
"will be compiled with coverage data as well"
)
set(CMAKE_BUILD_TYPE "Debug")
include(CodeCoverage)
endif()
if(FSFW_TESTS_GEN_COV)
message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
"will be compiled with coverage data as well")
set(CMAKE_BUILD_TYPE "Debug")
include(CodeCoverage)
endif()
endif()
message(STATUS "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)
# 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)
FetchContent_Declare(
${FSFW_ETL_LIB_NAME}
GIT_REPOSITORY https://github.com/ETLCPP/etl
GIT_TAG ${FSFW_ETL_LIB_VERSION}
)
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
message(
STATUS
"${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
"etl with FindPackage")
include(FetchContent)
FetchContent_Declare(
${FSFW_ETL_LIB_NAME}
GIT_REPOSITORY https://github.com/ETLCPP/etl
GIT_TAG ${FSFW_ETL_LIB_VERSION})
list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
endif()
# The documentation for FetchContent recommends declaring all the dependencies
# before making them available. We make all declared dependency available here
# after their declaration
if(FSFW_FETCH_CONTENT_TARGETS)
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET ${FSFW_ETL_LIB_NAME})
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
endif()
if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases
# Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET ${FSFW_ETL_LIB_NAME})
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
endif()
if(TARGET Catch2)
# Fixes regression -preview4, to be confirmed in later releases Related
# GitHub issue: https://github.com/catchorg/Catch2/issues/2417
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
endif()
set(FSFW_CORE_INC_PATH "inc")
@ -195,268 +222,242 @@ set(FSFW_CORE_INC_PATH "inc")
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
# For configure files
target_include_directories(${LIB_FSFW_NAME} PRIVATE
${CMAKE_CURRENT_BINARY_DIR}
)
target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR}
)
target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
target_include_directories(${LIB_FSFW_NAME}
INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
# Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL)
message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
set(FSFW_OSAL OS_FSFW)
message(
WARNING
"${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
set(FSFW_OSAL OS_FSFW)
endif()
if(NOT FSFW_OSAL)
message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW
if(UNIX)
set(FSFW_OSAL "linux"
CACHE STRING
"OS abstraction layer used in the FSFW"
)
elseif(WIN32)
set(FSFW_OSAL "host"
CACHE STRING "OS abstraction layer used in the FSFW"
)
endif()
message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW
if(UNIX)
set(FSFW_OSAL
"linux"
CACHE STRING "OS abstraction layer used in the FSFW")
elseif(WIN32)
set(FSFW_OSAL
"host"
CACHE STRING "OS abstraction layer used in the FSFW")
endif()
endif()
set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
if(FSFW_OSAL MATCHES host)
set(FSFW_OS_NAME "Host")
set(FSFW_OSAL_HOST ON)
set(FSFW_OS_NAME "Host")
set(FSFW_OSAL_HOST ON)
elseif(FSFW_OSAL MATCHES linux)
set(FSFW_OS_NAME "Linux")
set(FSFW_OSAL_LINUX ON)
set(FSFW_OS_NAME "Linux")
set(FSFW_OSAL_LINUX ON)
elseif(FSFW_OSAL MATCHES freertos)
set(FSFW_OS_NAME "FreeRTOS")
set(FSFW_OSAL_FREERTOS ON)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${LIB_OS_NAME}
)
set(FSFW_OS_NAME "FreeRTOS")
set(FSFW_OSAL_FREERTOS ON)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
elseif(FSFW_OSAL STREQUAL rtems)
set(FSFW_OS_NAME "RTEMS")
set(FSFW_OSAL_RTEMS ON)
set(FSFW_OS_NAME "RTEMS")
set(FSFW_OSAL_RTEMS ON)
else()
message(WARNING
"${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
)
set(FSFW_OS_NAME "Host")
set(OS_FSFW "host")
message(
WARNING
"${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
)
set(FSFW_OS_NAME "Host")
set(OS_FSFW "host")
endif()
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")
message(
STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
)
add_subdirectory(src)
add_subdirectory(tests)
if(FSFW_ADD_HAL)
add_subdirectory(hal)
add_subdirectory(hal)
endif()
add_subdirectory(contrib)
if(FSFW_BUILD_DOCS)
add_subdirectory(docs)
add_subdirectory(docs)
endif()
if(FSFW_BUILD_UNITTESTS)
if(FSFW_TESTS_GEN_COV)
if(CMAKE_COMPILER_IS_GNUCXX)
include(CodeCoverage)
if(FSFW_TESTS_GEN_COV)
if(CMAKE_COMPILER_IS_GNUCXX)
include(CodeCoverage)
# Remove quotes.
separate_arguments(COVERAGE_COMPILER_FLAGS
NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
)
# Remove quotes.
separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
"${COVERAGE_COMPILER_FLAGS}")
# Add compile options manually, we don't want coverage for Catch2
target_compile_options(${FSFW_TEST_TGT} PRIVATE
"${COVERAGE_COMPILER_FLAGS}"
)
target_compile_options(${LIB_FSFW_NAME} PRIVATE
"${COVERAGE_COMPILER_FLAGS}"
)
# Add compile options manually, we don't want coverage for Catch2
target_compile_options(${FSFW_TEST_TGT}
PRIVATE "${COVERAGE_COMPILER_FLAGS}")
target_compile_options(${LIB_FSFW_NAME}
PRIVATE "${COVERAGE_COMPILER_FLAGS}")
# Exclude directories here
if(WIN32)
set(GCOVR_ADDITIONAL_ARGS
"--exclude-throw-branches"
"--exclude-unreachable-branches"
)
set(COVERAGE_EXCLUDES
"/c/msys64/mingw64/*" "*/fsfw_hal/*"
)
elseif(UNIX)
set(COVERAGE_EXCLUDES
"/usr/include/*" "/usr/bin/*" "Catch2/*"
"/usr/local/include/*" "*/fsfw_tests/*"
"*/catch2-src/*" "*/fsfw_hal/*"
)
endif()
# Exclude directories here
if(WIN32)
set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
"--exclude-unreachable-branches")
set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
elseif(UNIX)
set(COVERAGE_EXCLUDES
"/usr/include/*"
"/usr/bin/*"
"Catch2/*"
"/usr/local/include/*"
"*/fsfw_tests/*"
"*/catch2-src/*"
"*/fsfw_hal/*")
endif()
target_link_options(${FSFW_TEST_TGT} PRIVATE
-fprofile-arcs
-ftest-coverage
)
target_link_options(${LIB_FSFW_NAME} PRIVATE
-fprofile-arcs
-ftest-coverage
)
# Need to specify this as an interface, otherwise there will the compile issues
target_link_options(${LIB_FSFW_NAME} INTERFACE
-fprofile-arcs
-ftest-coverage
)
target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-ftest-coverage)
target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
-ftest-coverage)
# Need to specify this as an interface, otherwise there will the compile
# issues
target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
-ftest-coverage)
if(WIN32)
setup_target_for_coverage_gcovr_html(
NAME ${FSFW_TEST_TGT}_coverage
EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT}
)
else()
setup_target_for_coverage_lcov(
NAME ${FSFW_TEST_TGT}_coverage
EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT}
)
endif()
endif()
if(WIN32)
setup_target_for_coverage_gcovr_html(
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT})
else()
setup_target_for_coverage_lcov(
NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT})
endif()
endif()
target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
endif()
target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
${LIB_FSFW_NAME})
endif()
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
# If this is not given, we include the default configuration and emit a warning.
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
# this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH)
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
if(NOT FSFW_BUILD_DOCS)
message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
endif()
add_subdirectory(${DEF_CONF_PATH})
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
if(NOT FSFW_BUILD_DOCS)
message(
WARNING
"${MSG_PREFIX} Flight Software Framework configuration path not set")
message(
WARNING
"${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
endif()
add_subdirectory(${DEF_CONF_PATH})
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
endif()
# FSFW might be part of a possibly complicated folder structure, so we
# extract the absolute path of the fsfwconfig folder.
# FSFW might be part of a possibly complicated folder structure, so we extract
# the absolute path of the fsfwconfig folder.
if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
else()
get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
)
get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
BASE_DIR ${CMAKE_SOURCE_DIR})
endif()
foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
if(IS_ABSOLUTE ${INCLUDE_PATH})
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
else()
get_filename_component(CURR_ABS_INC_PATH
${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
endif()
if(IS_ABSOLUTE ${INCLUDE_PATH})
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
else()
get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
${CMAKE_SOURCE_DIR})
endif()
if(CMAKE_VERBOSE)
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
endif()
if(CMAKE_VERBOSE)
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
endif()
list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
endforeach()
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
if(NOT DEFINED FSFW_WARNING_FLAGS)
set(FSFW_WARNING_FLAGS
-Wall
-Wextra
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
-Wduplicated-cond # check for duplicate conditions
-Wduplicated-branches # check for duplicate branches
-Wlogical-op # Search for bitwise operations instead of logical
-Wnull-dereference # Search for NULL dereference
-Wundef # Warn if undefind marcos are used
-Wformat=2 # Format string problem detection
-Wformat-overflow=2 # Formatting issues in printf
-Wformat-truncation=2 # Formatting issues in printf
-Wformat-security # Search for dangerous printf operations
-Wstrict-overflow=3 # Warn if integer overflows might happen
-Warray-bounds=2 # Some array bounds violations will be found
-Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-Wcast-qual # Warn if the constness is cast away
-Wstringop-overflow=4
# -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives
# -Warith-conversion # Use with Wconversion to find more implicit conversions
# -fanalyzer # Should be used to look through problems
)
endif()
if(NOT DEFINED FSFW_WARNING_FLAGS)
set(FSFW_WARNING_FLAGS
-Wall
-Wextra
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
-Wduplicated-cond # check for duplicate conditions
-Wduplicated-branches # check for duplicate branches
-Wlogical-op # Search for bitwise operations instead of logical
-Wnull-dereference # Search for NULL dereference
-Wundef # Warn if undefind marcos are used
-Wformat=2 # Format string problem detection
-Wformat-overflow=2 # Formatting issues in printf
-Wformat-truncation=2 # Formatting issues in printf
-Wformat-security # Search for dangerous printf operations
-Wstrict-overflow=3 # Warn if integer overflows might happen
-Warray-bounds=2 # Some array bounds violations will be found
-Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-Wcast-qual # Warn if the constness is cast away
-Wstringop-overflow=4
# -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives -Warith-conversion # Use
# with Wconversion to find more implicit conversions -fanalyzer # Should
# be used to look through problems
)
endif()
if(FSFW_GENERATE_SECTIONS)
target_compile_options(${LIB_FSFW_NAME} PRIVATE
"-ffunction-sections"
"-fdata-sections"
)
endif()
if(FSFW_GENERATE_SECTIONS)
target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
"-fdata-sections")
endif()
if(FSFW_REMOVE_UNUSED_CODE)
target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
endif()
if(FSFW_WARNING_SHADOW_LOCAL_GCC)
list(APPEND WARNING_FLAGS "-Wshadow=local")
endif()
if(FSFW_REMOVE_UNUSED_CODE)
target_link_options(${LIB_FSFW_NAME} PRIVATE
"Wl,--gc-sections"
)
endif()
if(FSFW_WARNING_SHADOW_LOCAL_GCC)
list(APPEND WARNING_FLAGS "-Wshadow=local")
endif()
endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
set(COMPILER_FLAGS "/permissive-")
set(COMPILER_FLAGS "/permissive-")
endif()
# Required include paths to compile the FSFW
target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_SOURCE_DIR}
${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_CORE_INC_PATH}
${FSFW_ADD_INC_PATHS_ABS}
)
target_include_directories(
${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
# Includes path required to compile FSFW itself as well
# We assume that the fsfwconfig folder uses include relative to the project
# root here!
target_include_directories(${LIB_FSFW_NAME} PRIVATE
${CMAKE_SOURCE_DIR}
${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_CORE_INC_PATH}
${FSFW_ADD_INC_PATHS_ABS}
)
# Includes path required to compile FSFW itself as well We assume that the
# fsfwconfig folder uses include relative to the project root here!
target_include_directories(
${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
target_compile_options(${LIB_FSFW_NAME} PRIVATE
${FSFW_WARNING_FLAGS}
${COMPILER_FLAGS}
)
target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
${COMPILER_FLAGS})
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${FSFW_ETL_LINK_TARGET}
${FSFW_ADDITIONAL_LINK_LIBS}
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
${FSFW_ADDITIONAL_LINK_LIBS})
string(CONCAT POST_BUILD_COMMENT
string(
CONCAT
POST_BUILD_COMMENT
"######################################################################\n"
"Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
"Target OSAL: ${FSFW_OS_NAME}\n"
"######################################################################\n"
)
"######################################################################\n")
add_custom_command(
TARGET ${LIB_FSFW_NAME}
POST_BUILD
COMMENT ${POST_BUILD_COMMENT}
)
TARGET ${LIB_FSFW_NAME}
POST_BUILD
COMMENT ${POST_BUILD_COMMENT})

0
FSFWVersion.h.in Normal file
View File

141
cmake/cmake-modules/GetGitRevisionDescription.cmake
View File

@ -1,141 +0,0 @@
# - Returns a version string from Git
#
# These functions force a re-configure on each git commit so that you can
# trust the values of the variables in your build system.
#
# get_git_head_revision(<refspecvar> <hashvar> [<additional arguments to git describe> ...])
#
# Returns the refspec and sha hash of the current head revision
#
# git_describe(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the source tree, and adjusting
# the output so that it tests false if an error occurs.
#
# git_get_exact_tag(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe --exact-match on the source tree,
# and adjusting the output so that it tests false if there was no exact
# matching tag.
#
# Requires CMake 2.6 or newer (uses the 'function' command)
#
# Original Author:
# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
# http://academic.cleardefinition.com
# Iowa State University HCI Graduate Program/VRAC
#
# Copyright Iowa State University 2009-2010.
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
if(__get_git_revision_description)
return()
endif()
set(__get_git_revision_description YES)
# We must run the following at "include" time, not at function call time,
# to find the path to this module rather than the path to a calling list file
get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
function(get_git_head_revision _refspecvar _hashvar)
set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(GIT_DIR "${GIT_PARENT_DIR}/.git")
while(NOT EXISTS "${GIT_DIR}") # .git dir not found, search parent directories
set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
# We have reached the root directory, we are not in git
set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
return()
endif()
set(GIT_DIR "${GIT_PARENT_DIR}/.git")
endwhile()
# check if this is a submodule
if(NOT IS_DIRECTORY ${GIT_DIR})
file(READ ${GIT_DIR} submodule)
string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
set(GIT_DIR ${GIT_DIR_RELATIVE})
else()
get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
endif()
endif()
set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
if(NOT EXISTS "${GIT_DATA}")
file(MAKE_DIRECTORY "${GIT_DATA}")
endif()
if(NOT EXISTS "${GIT_DIR}/HEAD")
return()
endif()
set(HEAD_FILE "${GIT_DATA}/HEAD")
configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
"${GIT_DATA}/grabRef.cmake"
@ONLY)
include("${GIT_DATA}/grabRef.cmake")
set(${_refspecvar} "${HEAD_REF}" PARENT_SCOPE)
set(${_hashvar} "${HEAD_HASH}" PARENT_SCOPE)
endfunction()
function(git_describe _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var} "GIT-NOTFOUND" PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var} "HEAD-HASH-NOTFOUND" PARENT_SCOPE)
return()
endif()
# TODO sanitize
#if((${ARGN}" MATCHES "&&") OR
# (ARGN MATCHES "||") OR
# (ARGN MATCHES "\\;"))
# message("Please report the following error to the project!")
# message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
#endif()
#message(STATUS "Arguments to execute_process: ${ARGN}")
execute_process(COMMAND
${GIT_EXECUTABLE}
describe
${hash}
${ARGN}
WORKING_DIRECTORY
"${CMAKE_SOURCE_DIR}"
RESULT_VARIABLE
res
OUTPUT_VARIABLE
out
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var} "${out}" PARENT_SCOPE)
endfunction()
function(git_get_exact_tag _var)
git_describe(out --exact-match ${ARGN})
set(${_var} "${out}" PARENT_SCOPE)
endfunction()
function(git_get_tag _var)
git_describe(out --tags ${ARGN})
set(${_var} "${out}" PARENT_SCOPE)
endfunction()

6
cmake/cmake-modules/README.md
View File

@ -1,5 +1,7 @@
The files in these folder were manually copy and pasted from the
The files in the `bilke` folder were manually copy and pasted from the
[cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
this because only a small subset of its provided functions are needed.
The license file in included here as well.
The files in the `rpavlik` folder were manually copy and pasted from the
[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
this because only a small subset of its provided functions are needed.

0
cmake/cmake-modules/CodeCoverage.cmake → cmake/cmake-modules/bilke/CodeCoverage.cmake
View File

0
cmake/cmake-modules/LICENSE_1_0.txt → cmake/cmake-modules/bilke/LICENSE_1_0.txt
View File

284
cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake Normal file
View File

@ -0,0 +1,284 @@
# - Returns a version string from Git
#
# These functions force a re-configure on each git commit so that you can
# trust the values of the variables in your build system.
#
# get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
#
# Returns the refspec and sha hash of the current head revision
#
# git_describe(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the source tree, and adjusting
# the output so that it tests false if an error occurs.
#
# git_describe_working_tree(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe on the working tree (--dirty option),
# and adjusting the output so that it tests false if an error occurs.
#
# git_get_exact_tag(<var> [<additional arguments to git describe> ...])
#
# Returns the results of git describe --exact-match on the source tree,
# and adjusting the output so that it tests false if there was no exact
# matching tag.
#
# git_local_changes(<var>)
#
# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
# Uses the return code of "git diff-index --quiet HEAD --".
# Does not regard untracked files.
#
# Requires CMake 2.6 or newer (uses the 'function' command)
#
# Original Author:
# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
# http://academic.cleardefinition.com
#
# Copyright 2009-2013, Iowa State University.
# Copyright 2013-2020, Ryan Pavlik
# Copyright 2013-2020, Contributors
# SPDX-License-Identifier: BSL-1.0
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
if(__get_git_revision_description)
return()
endif()
set(__get_git_revision_description YES)
# We must run the following at "include" time, not at function call time,
# to find the path to this module rather than the path to a calling list file
get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
# Function _git_find_closest_git_dir finds the next closest .git directory
# that is part of any directory in the path defined by _start_dir.
# The result is returned in the parent scope variable whose name is passed
# as variable _git_dir_var. If no .git directory can be found, the
# function returns an empty string via _git_dir_var.
#
# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
# neither foo nor bar contain a file/directory .git. This wil return
# C:/bla/.git
#
function(_git_find_closest_git_dir _start_dir _git_dir_var)
set(cur_dir "${_start_dir}")
set(git_dir "${_start_dir}/.git")
while(NOT EXISTS "${git_dir}")
# .git dir not found, search parent directories
set(git_previous_parent "${cur_dir}")
get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
if(cur_dir STREQUAL git_previous_parent)
# We have reached the root directory, we are not in git
set(${_git_dir_var}
""
PARENT_SCOPE)
return()
endif()
set(git_dir "${cur_dir}/.git")
endwhile()
set(${_git_dir_var}
"${git_dir}"
PARENT_SCOPE)
endfunction()
function(get_git_head_revision _refspecvar _hashvar)
_git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
else()
set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
endif()
if(NOT "${GIT_DIR}" STREQUAL "")
file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
"${GIT_DIR}")
if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
# We've gone above the CMake root dir.
set(GIT_DIR "")
endif()
endif()
if("${GIT_DIR}" STREQUAL "")
set(${_refspecvar}
"GITDIR-NOTFOUND"
PARENT_SCOPE)
set(${_hashvar}
"GITDIR-NOTFOUND"
PARENT_SCOPE)
return()
endif()
# Check if the current source dir is a git submodule or a worktree.
# In both cases .git is a file instead of a directory.
#
if(NOT IS_DIRECTORY ${GIT_DIR})
# The following git command will return a non empty string that
# points to the super project working tree if the current
# source dir is inside a git submodule.
# Otherwise the command will return an empty string.
#
execute_process(
COMMAND "${GIT_EXECUTABLE}" rev-parse
--show-superproject-working-tree
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT "${out}" STREQUAL "")
# If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
file(READ ${GIT_DIR} submodule)
string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
${submodule})
string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
ABSOLUTE)
set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
else()
# GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
file(READ ${GIT_DIR} worktree_ref)
# The .git directory contains a path to the worktree information directory
# inside the parent git repo of the worktree.
#
string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
${worktree_ref})
string(STRIP ${git_worktree_dir} git_worktree_dir)
_git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
endif()
else()
set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
endif()
set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
if(NOT EXISTS "${GIT_DATA}")
file(MAKE_DIRECTORY "${GIT_DATA}")
endif()
if(NOT EXISTS "${HEAD_SOURCE_FILE}")
return()
endif()
set(HEAD_FILE "${GIT_DATA}/HEAD")
configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
"${GIT_DATA}/grabRef.cmake" @ONLY)
include("${GIT_DATA}/grabRef.cmake")
set(${_refspecvar}
"${HEAD_REF}"
PARENT_SCOPE)
set(${_hashvar}
"${HEAD_HASH}"
PARENT_SCOPE)
endfunction()
function(git_describe _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var}
"HEAD-HASH-NOTFOUND"
PARENT_SCOPE)
return()
endif()
# TODO sanitize
#if((${ARGN}" MATCHES "&&") OR
# (ARGN MATCHES "||") OR
# (ARGN MATCHES "\\;"))
# message("Please report the following error to the project!")
# message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
#endif()
#message(STATUS "Arguments to execute_process: ${ARGN}")
execute_process(
COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_describe_working_tree _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
execute_process(
COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT res EQUAL 0)
set(out "${out}-${res}-NOTFOUND")
endif()
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_get_exact_tag _var)
git_describe(out --exact-match ${ARGN})
set(${_var}
"${out}"
PARENT_SCOPE)
endfunction()
function(git_local_changes _var)
if(NOT GIT_FOUND)
find_package(Git QUIET)
endif()
get_git_head_revision(refspec hash)
if(NOT GIT_FOUND)
set(${_var}
"GIT-NOTFOUND"
PARENT_SCOPE)
return()
endif()
if(NOT hash)
set(${_var}
"HEAD-HASH-NOTFOUND"
PARENT_SCOPE)
return()
endif()
execute_process(
COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
RESULT_VARIABLE res
OUTPUT_VARIABLE out
ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
if(res EQUAL 0)
set(${_var}
"CLEAN"
PARENT_SCOPE)
else()
set(${_var}
"DIRTY"
PARENT_SCOPE)
endif()
endfunction()

21
cmake/cmake-modules/GetGitRevisionDescription.cmake.in → cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in
View File

@ -1,4 +1,4 @@
#
#
# Internal file for GetGitRevisionDescription.cmake
#
# Requires CMake 2.6 or newer (uses the 'function' command)
@ -8,10 +8,12 @@
# http://academic.cleardefinition.com
# Iowa State University HCI Graduate Program/VRAC
#
# Copyright Iowa State University 2009-2010.
# Copyright 2009-2012, Iowa State University
# Copyright 2011-2015, Contributors
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
# SPDX-License-Identifier: BSL-1.0
set(HEAD_HASH)
@ -22,10 +24,13 @@ if(HEAD_CONTENTS MATCHES "ref")
# named branch
string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
if(EXISTS "@GIT_DIR@/${HEAD_REF}")
configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
set(HEAD_HASH "${HEAD_REF}")
configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
else()
configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
set(HEAD_HASH "${CMAKE_MATCH_1}")
endif()
endif()
else()
# detached HEAD
@ -33,6 +38,6 @@ else()
endif()
if(NOT HEAD_HASH)
file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
string(STRIP "${HEAD_HASH}" HEAD_HASH)
file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
string(STRIP "${HEAD_HASH}" HEAD_HASH)
endif()

26
cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt Normal file
View File

@ -0,0 +1,26 @@
Copyright (c) <year> <owner>. All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

23
cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt Normal file
View File

@ -0,0 +1,23 @@
Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute, execute,
and transmit the Software, and to prepare derivative works of the Software,
and to permit third-parties to whom the Software is furnished to do so, all
subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer, must
be included in all copies of the Software, in whole or in part, and all derivative
works of the Software, unless such copies or derivative works are solely in
the form of machine-executable object code generated by a source language
processor.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

23
cmake/cmake-modules/rpavlik/LICENSE_1_0.txt Normal file
View File

@ -0,0 +1,23 @@
Boost Software License - Version 1.0 - August 17th, 2003
Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:
The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

14
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -20,7 +20,9 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if (gpioCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
#endif
return RETURN_FAILED;
}
@ -96,8 +98,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED;
}
std::string failOutput = "label: " + label;
@ -108,8 +112,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
<< ". Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED;
}
std::string failOutput = "chipname: " + chipname;
@ -133,8 +139,10 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
if (chip == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
<< ". <Gpio ID: " << gpioId << std::endl;
#endif
return RETURN_FAILED;
}
std::string failOutput = "line name: " + lineName;
@ -153,10 +161,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
lineNum = regularGpio.lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
<< std::endl;
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
#endif
gpiod_chip_close(chip);
return RETURN_FAILED;
}
@ -175,7 +185,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
break;
}
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
#endif
return GPIO_INVALID_INSTANCE;
}
@ -204,7 +216,9 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
#endif
return UNKNOWN_GPIO_ID;
}

8
scripts/apply-clang-format.sh
View File

@ -1,8 +0,0 @@
#!/bin/bash
if [[ ! -f README.md ]]; then
cd ..
fi
find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

29
scripts/auto-formatter.sh Executable file
View File

@ -0,0 +1,29 @@
#!/bin/bash
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"
eval ${cmake_fmt_cmd}
else
echo "No ${cmake_fmt} tool found, not formatting CMake files"
fi
cpp_format="clang-format"
file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
if command -v ${cpp_format} &> /dev/null; then
for dir in ${folder_list[@]}; do
echo "Auto-formatting ${dir} recursively"
find ${dir} ${file_selectors} | xargs clang-format --style=file -i
done
else
echo "No ${cpp_format} tool found, not formatting C++/C files"
fi

2
src/fsfw/FSFWVersion.h.in
View File

@ -6,6 +6,6 @@ static constexpr int FSFW_VERSION_MAJOR = @FSFW_VERSION@;
static constexpr int FSFW_VERSION_MINOR = @FSFW_SUBVERSION@;
static constexpr int FSFW_VERSION_REVISION = @FSFW_REVISION@;
// Also contains CST (Commits since tag) information
static const char FSFW_VERSION_CST_GIT_SHA1[] = "@FSFW_VERSION_CST_GIT_SHA1@";
static const char FSFW_VCS_INFO[] = "@FSFW_VCS_INFO@";
#endif /* FSFW_VERSION_H_ */

105
src/fsfw/container/FIFOBase.tpp
View File

@ -5,89 +5,88 @@
#error Include FIFOBase.h before FIFOBase.tpp!
#endif
template<typename T>
inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
maxCapacity(maxCapacity), values(values){};
template <typename T>
inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity)
: maxCapacity(maxCapacity), values(values){};
template<typename T>
template <typename T>
inline ReturnValue_t FIFOBase<T>::insert(T value) {
if (full()) {
return FULL;
} else {
values[writeIndex] = value;
writeIndex = next(writeIndex);
++currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
if (full()) {
return FULL;
} else {
values[writeIndex] = value;
writeIndex = next(writeIndex);
++currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
template <typename T>
inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
if (empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
readIndex = next(readIndex);
--currentSize;
return HasReturnvaluesIF::RETURN_OK;
if (empty()) {
return EMPTY;
} else {
if (value == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
readIndex = next(readIndex);
--currentSize;
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
template <typename T>
inline ReturnValue_t FIFOBase<T>::peek(T* value) {
if(empty()) {
return EMPTY;
} else {
if (value == nullptr){
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
return HasReturnvaluesIF::RETURN_OK;
if (empty()) {
return EMPTY;
} else {
if (value == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*value = values[readIndex];
return HasReturnvaluesIF::RETURN_OK;
}
};
template<typename T>
template <typename T>
inline ReturnValue_t FIFOBase<T>::pop() {
T value;
return this->retrieve(&value);
T value;
return this->retrieve(&value);
};
template<typename T>
template <typename T>
inline bool FIFOBase<T>::empty() {
return (currentSize == 0);
return (currentSize == 0);
};
template<typename T>
template <typename T>
inline bool FIFOBase<T>::full() {
return (currentSize == maxCapacity);
return (currentSize == maxCapacity);
}
template<typename T>
template <typename T>
inline size_t FIFOBase<T>::size() {
return currentSize;
return currentSize;
}
template<typename T>
template <typename T>
inline size_t FIFOBase<T>::next(size_t current) {
++current;
if (current == maxCapacity) {
current = 0;
}
return current;
++current;
if (current == maxCapacity) {
current = 0;
}
return current;
}
template<typename T>
template <typename T>
inline size_t FIFOBase<T>::getMaxCapacity() const {
return maxCapacity;
return maxCapacity;
}
template<typename T>
inline void FIFOBase<T>::setContainer(T *data) {
this->values = data;
template <typename T>
inline void FIFOBase<T>::setContainer(T* data) {
this->values = data;
}
#endif

158
src/fsfw/container/FixedOrderedMultimap.tpp
View File

@ -1,109 +1,109 @@
#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
template<typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
size_t position = findNicePlace(key);
memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t,T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value,
Iterator *storedValue) {
if (_size == theMap.maxSize()) {
return MAP_FULL;
}
size_t position = findNicePlace(key);
memmove(static_cast<void *>(&theMap[position + 1]), static_cast<void *>(&theMap[position]),
(_size - position) * sizeof(std::pair<key_t, T>));
theMap[position].first = key;
theMap[position].second = value;
++_size;
if (storedValue != nullptr) {
*storedValue = Iterator(&theMap[position]);
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
return insert(pair.first, pair.second);
return insert(pair.first, pair.second);
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
ReturnValue_t result = KEY_DOES_NOT_EXIST;
if (findFirstIndex(key) < _size) {
result = HasReturnvaluesIF::RETURN_OK;
}
return result;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
size_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
size_t i;
if ((i = findFirstIndex((*iter).value->first)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
removeFromPosition(i);
if (*iter != begin()) {
(*iter)--;
} else {
*iter = begin();
}
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
size_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
size_t i;
if ((i = findFirstIndex(key)) >= _size) {
return KEY_DOES_NOT_EXIST;
}
do {
removeFromPosition(i);
i = findFirstIndex(key, i);
} while (i < _size);
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = exists(key);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*value = &theMap[findFirstIndex(key)].second;
return HasReturnvaluesIF::RETURN_OK;
}
template<typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
if (startAt >= _size) {
return startAt + 1;
template <typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key,
size_t startAt) const {
if (startAt >= _size) {
return startAt + 1;
}
size_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
size_t i = startAt;
for (i = startAt; i < _size; ++i) {
if (theMap[i].first == key) {
return i;
}
}
return i;
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
size_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
size_t i = 0;
for (i = 0; i < _size; ++i) {
if (myComp(key, theMap[i].first)) {
return i;
}
return i;
}
return i;
}
template<typename key_t, typename T, typename KEY_COMPARE>
template <typename key_t, typename T, typename KEY_COMPARE>
inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
if (_size <= position) {
return;
}
memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t,T>));
--_size;
if (_size <= position) {
return;
}
memmove(static_cast<void *>(&theMap[position]), static_cast<void *>(&theMap[position + 1]),
(_size - position - 1) * sizeof(std::pair<key_t, T>));
--_size;
}
#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

286
src/fsfw/datapoollocal/LocalPoolVariable.tpp
View File

@ -5,205 +5,189 @@
#error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
#endif
template<typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template <typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner,
lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template <typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet, pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template <typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
setReadWriteMode) {}
template<typename T>
inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode){}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::read(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
if(hkManager == nullptr) {
return readWithoutLock();
}
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
mutex->unlockMutex();
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::read(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
if (hkManager == nullptr) {
return readWithoutLock();
}
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = readWithoutLock();
mutex->unlockMutex();
return result;
}
template<typename T>
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
if (readWriteMode == pool_rwm_t::VAR_WRITE) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
targetObjectId, localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
&poolEntry);
if(result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVariable", result,
false, ownerObjectId, localPoolId);
return result;
}
this->value = *(poolEntry->getDataPtr());
this->valid = poolEntry->getValid();
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
this->setValid(setValid);
return commit(timeoutType, timeoutMs);
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
if(hkManager == nullptr) {
return commitWithoutLock();
}
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
mutex->unlockMutex();
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result =
LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
if (result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
return result;
}
this->value = *(poolEntry->getDataPtr());
this->valid = poolEntry->getValid();
return RETURN_OK;
}
template<typename T>
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid, MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->setValid(setValid);
return commit(timeoutType, timeoutMs);
}
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::commit(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
if (hkManager == nullptr) {
return commitWithoutLock();
}
MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commitWithoutLock();
mutex->unlockMutex();
return result;
}
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
if (readWriteMode == pool_rwm_t::VAR_READ) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
targetObjectId, localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
&poolEntry);
if(result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVariable", result,
false, ownerObjectId, localPoolId);
return result;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result =
LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
if (result != RETURN_OK) {
object_id_t ownerObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVariable", result, false, ownerObjectId, localPoolId);
return result;
}
*(poolEntry->getDataPtr()) = this->value;
poolEntry->setValid(this->valid);
return RETURN_OK;
*(poolEntry->getDataPtr()) = this->value;
poolEntry->setValid(this->valid);
return RETURN_OK;
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::serialize(uint8_t** buffer,
size_t* size, const size_t max_size,
SerializeIF::Endianness streamEndianness) const {
return SerializeAdapter::serialize(&value,
buffer, size ,max_size, streamEndianness);
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::serialize(
uint8_t** buffer, size_t* size, const size_t max_size,
SerializeIF::Endianness streamEndianness) const {
return SerializeAdapter::serialize(&value, buffer, size, max_size, streamEndianness);
}
template<typename T>
template <typename T>
inline size_t LocalPoolVariable<T>::getSerializedSize() const {
return SerializeAdapter::getSerializedSize(&value);
return SerializeAdapter::getSerializedSize(&value);
}
template<typename T>
inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer,
size_t* size, SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
template <typename T>
inline ReturnValue_t LocalPoolVariable<T>::deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
template<typename T>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVariable<T> &var) {
out << var.value;
return out;
template <typename T>
inline std::ostream& operator<<(std::ostream& out, const LocalPoolVariable<T>& var) {
out << var.value;
return out;
}
#endif
template<typename T>
template <typename T>
inline LocalPoolVariable<T>::operator T() const {
return value;
return value;
}
template<typename T>
inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(
const T& newValue) {
value = newValue;
return *this;
template <typename T>
inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(const T& newValue) {
value = newValue;
return *this;
}
template<typename T>
inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
const LocalPoolVariable<T>& newPoolVariable) {
value = newPoolVariable.value;
return *this;
template <typename T>
inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator=(
const LocalPoolVariable<T>& newPoolVariable) {
value = newPoolVariable.value;
return *this;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator ==(
const LocalPoolVariable<T> &other) const {
return this->value == other.value;
template <typename T>
inline bool LocalPoolVariable<T>::operator==(const LocalPoolVariable<T>& other) const {
return this->value == other.value;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
return this->value == other;
template <typename T>
inline bool LocalPoolVariable<T>::operator==(const T& other) const {
return this->value == other;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator !=(
const LocalPoolVariable<T> &other) const {
return not (*this == other);
template <typename T>
inline bool LocalPoolVariable<T>::operator!=(const LocalPoolVariable<T>& other) const {
return not(*this == other);
}
template<typename T>
inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
return not (*this == other);
template <typename T>
inline bool LocalPoolVariable<T>::operator!=(const T& other) const {
return not(*this == other);
}
template<typename T>
inline bool LocalPoolVariable<T>::operator <(
const LocalPoolVariable<T> &other) const {
return this->value < other.value;
template <typename T>
inline bool LocalPoolVariable<T>::operator<(const LocalPoolVariable<T>& other) const {
return this->value < other.value;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator <(const T &other) const {
return this->value < other;
template <typename T>
inline bool LocalPoolVariable<T>::operator<(const T& other) const {
return this->value < other;
}
template<typename T>
inline bool LocalPoolVariable<T>::operator >(
const LocalPoolVariable<T> &other) const {
return not (*this < other);
template <typename T>
inline bool LocalPoolVariable<T>::operator>(const LocalPoolVariable<T>& other) const {
return not(*this < other);
}
template<typename T>
inline bool LocalPoolVariable<T>::operator >(const T &other) const {
return not (*this < other);
template <typename T>
inline bool LocalPoolVariable<T>::operator>(const T& other) const {
return not(*this < other);
}
#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */

280
src/fsfw/datapoollocal/LocalPoolVector.tpp
View File

@ -5,174 +5,172 @@
#error Include LocalPoolVector.h before LocalPoolVector.tpp!
#endif
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template <typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
DataSetIF* dataSet,
pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template <typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet,
pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
dataSet, setReadWriteMode) {}
template <typename T, uint16_t vectorSize>
inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode)
: LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId, dataSet,
setReadWriteMode) {}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
return readWithoutLock();
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
return readWithoutLock();
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_WRITE) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, true, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
if (readWriteMode == pool_rwm_t::VAR_WRITE) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, true,
targetObjectId, localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
&poolEntry);
memset(this->value, 0, vectorSize * sizeof(T));
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result =
LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
memset(this->value, 0, vectorSize * sizeof(T));
if(result != RETURN_OK) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", result, true, targetObjectId,
localPoolId);
return result;
}
std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
this->valid = poolEntry->getValid();
return RETURN_OK;
if (result != RETURN_OK) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", result, true, targetObjectId, localPoolId);
return result;
}
std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
this->valid = poolEntry->getValid();
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
this->setValid(valid);
return commit(timeoutType, timeoutMs);
MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->setValid(valid);
return commit(timeoutType, timeoutMs);
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
return commitWithoutLock();
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
return commitWithoutLock();
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
if(readWriteMode == pool_rwm_t::VAR_READ) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector",
PoolVariableIF::INVALID_READ_WRITE_MODE, false, targetObjectId,
localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
&poolEntry);
if(result != RETURN_OK) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", result, false, targetObjectId,
localPoolId);
return result;
}
std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
poolEntry->setValid(this->valid);
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
inline T& LocalPoolVector<T, vectorSize>::operator [](size_t i) {
if(i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
" last value!" << std::endl;
#else
sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
" last value!\n");
#endif
return value[vectorSize - 1];
}
template<typename T, uint16_t vectorSize>
inline const T& LocalPoolVector<T, vectorSize>::operator [](size_t i) const {
if(i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
" last value!" << std::endl;
#else
sif::printWarning("LocalPoolVector: Invalid index. Setting or returning"
" last value!\n");
#endif
return value[vectorSize - 1];
}
template<typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
if (readWriteMode == pool_rwm_t::VAR_READ) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", PoolVariableIF::INVALID_READ_WRITE_MODE, false,
targetObjectId, localPoolId);
return PoolVariableIF::INVALID_READ_WRITE_MODE;
}
PoolEntry<T>* poolEntry = nullptr;
ReturnValue_t result =
LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId, &poolEntry);
if (result != RETURN_OK) {
object_id_t targetObjectId = hkManager->getCreatorObjectId();
reportReadCommitError("LocalPoolVector", result, false, targetObjectId, localPoolId);
return result;
}
std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
poolEntry->setValid(this->valid);
return RETURN_OK;
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline T& LocalPoolVector<T, vectorSize>::operator[](size_t i) {
if (i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
" last value!"
<< std::endl;
#else
sif::printWarning(
"LocalPoolVector: Invalid index. Setting or returning"
" last value!\n");
#endif
return value[vectorSize - 1];
}
template <typename T, uint16_t vectorSize>
inline const T& LocalPoolVector<T, vectorSize>::operator[](size_t i) const {
if (i < vectorSize) {
return value[i];
}
// If this happens, I have to set some value. I consider this
// a configuration error, but I wont exit here.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalPoolVector: Invalid index. Setting or returning"
" last value!"
<< std::endl;
#else
sif::printWarning(
"LocalPoolVector: Invalid index. Setting or returning"
" last value!\n");
#endif
return value[vectorSize - 1];
}
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(
uint8_t** buffer, size_t* size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::serialize(&(value[i]), buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
}
return result;
}
template <typename T, uint16_t vectorSize>
inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
return vectorSize * SerializeAdapter::getSerializedSize(value);
return vectorSize * SerializeAdapter::getSerializedSize(value);
}
template<typename T, uint16_t vectorSize>
template <typename T, uint16_t vectorSize>
inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
const uint8_t** buffer, size_t* size, SerializeIF::Endianness streamEndianness) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
for (uint16_t i = 0; i < vectorSize; i++) {
result = SerializeAdapter::deSerialize(&(value[i]), buffer, size, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
break;
}
return result;
}
return result;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
template<typename T, uint16_t vectorSize>
inline std::ostream& operator<< (std::ostream &out,
const LocalPoolVector<T, vectorSize> &var) {
out << "Vector: [";
for(int i = 0;i < vectorSize; i++) {
out << var.value[i];
if(i < vectorSize - 1) {
out << ", ";
}
template <typename T, uint16_t vectorSize>
inline std::ostream& operator<<(std::ostream& out, const LocalPoolVector<T, vectorSize>& var) {
out << "Vector: [";
for (int i = 0; i < vectorSize; i++) {
out << var.value[i];
if (i < vectorSize - 1) {
out << ", ";
}
out << "]";
return out;
}
out << "]";
return out;
}
#endif

9
src/fsfw/osal/common/TcpTmTcServer.cpp
View File

@ -109,8 +109,8 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
using namespace tcpip;
// If a connection is accepted, the corresponding socket will be assigned to the new socket
socket_t connSocket = 0;
// sockaddr clientSockAddr = {};
// socklen_t connectorSockAddrLen = 0;
sockaddr clientSockAddr = {};
socklen_t connectorSockAddrLen = 0;
int retval = 0;
// Listen for connection requests permanently for lifetime of program
@ -121,8 +121,8 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
continue;
}
// connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
connSocket = accept(listenerTcpSocket, nullptr, nullptr);
connSocket = accept(listenerTcpSocket, &clientSockAddr, &connectorSockAddrLen);
// connSocket = accept(listenerTcpSocket, nullptr, nullptr);
if (connSocket == INVALID_SOCKET) {
handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
@ -137,6 +137,7 @@ TcpTmTcServer::~TcpTmTcServer() { closeSocket(listenerTcpSocket); }
if (retval != 0) {
handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
}
closeSocket(connSocket);
connSocket = 0;
}

8
src/fsfw/power/DummyPowerSwitcher.cpp
View File

@ -17,28 +17,28 @@ void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList
}
ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
if (switchNr < switcherList.capacity()) {
if (switchNr < switcherList.size()) {
switcherList[switchNr] = onOff;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
if (fuseNr < fuseList.capacity()) {
if (fuseNr < fuseList.size()) {
fuseList[fuseNr] = FUSE_ON;
}
return RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
if (switchNr < switcherList.capacity()) {
if (switchNr < switcherList.size()) {
return switcherList[switchNr];
}
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
if (fuseNr < fuseList.capacity()) {
if (fuseNr < fuseList.size()) {
return fuseList[fuseNr];
}
return HasReturnvaluesIF::RETURN_FAILED;

4
src/fsfw/power/PowerSensor.cpp
View File

@ -15,9 +15,7 @@ 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) {
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
commandQueue = QueueFactory::instance()->createMessageQueue();
}
PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

202
src/fsfw/pus/Service11TelecommandScheduling.h Normal file
View File

@ -0,0 +1,202 @@
#ifndef MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
#define MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_
#include <etl/multimap.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/tmtcservices/TmTcMessage.h>
#include "fsfw/FSFW.h"
#include "fsfw/returnvalues/FwClassIds.h"
/**
* @brief: PUS-Service 11 - Telecommand scheduling.
* @details:
* PUS-Service 11 - Telecommand scheduling.
* Full documentation: ECSS-E-ST-70-41C, p. 168:
* ST[11] time-based scheduling
*
* This service provides the capability to command pre-loaded
* application processes (telecommands) by releasing them at their
* due-time.
* References to telecommands are stored together with their due-timepoints
* and are released at their corresponding due-time.
*
* Necessary subservice functionalities are implemented.
* Those are:
* TC[11,4] activity insertion
* TC[11,5] activity deletion
* TC[11,6] filter-based activity deletion
* TC[11,7] activity time-shift
* TC[11,8] filter-based activity time-shift
*
* Groups are not supported.
* This service remains always enabled. Sending a disable-request has no effect.
*/
template <size_t MAX_NUM_TCS>
class Service11TelecommandScheduling final : public PusServiceBase {
public:
static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_11;
static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
static constexpr ReturnValue_t INVALID_RELATIVE_TIME =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
// The types of PUS-11 subservices
enum Subservice : uint8_t {
ENABLE_SCHEDULING = 1,
DISABLE_SCHEDULING = 2,
RESET_SCHEDULING = 3,
INSERT_ACTIVITY = 4,
DELETE_ACTIVITY = 5,
FILTER_DELETE_ACTIVITY = 6,
TIMESHIFT_ACTIVITY = 7,
FILTER_TIMESHIFT_ACTIVITY = 8,
DETAIL_REPORT = 9,
TIMEBASE_SCHEDULE_DETAIL_REPORT = 10,
TIMESHIFT_ALL_SCHEDULE_ACTIVITIES = 15
};
// The types of time windows for TC[11,6] and TC[11,8], as defined in ECSS-E-ST-70-41C,
// requirement 8.11.3c (p. 507)
enum TypeOfTimeWindow : uint32_t {
SELECT_ALL = 0,
FROM_TIMETAG_TO_TIMETAG = 1,
FROM_TIMETAG = 2,
TO_TIMETAG = 3
};
Service11TelecommandScheduling(object_id_t objectId, uint16_t apid, uint8_t serviceId,
AcceptsTelecommandsIF* tcRecipient,
uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
bool debugMode = false);
~Service11TelecommandScheduling();
/** PusServiceBase overrides */
ReturnValue_t handleRequest(uint8_t subservice) override;
ReturnValue_t performService() override;
ReturnValue_t initialize() override;
private:
struct TelecommandStruct {
uint64_t requestId;
uint32_t seconds;
store_address_t storeAddr; // uint16
};
static constexpr uint16_t DEFAULT_RELEASE_TIME_MARGIN = 5;
// minimum release time offset to insert into schedule
const uint16_t RELEASE_TIME_MARGIN_SECONDS = 5;
// the maximum amount of stored TCs is defined here
static constexpr uint16_t MAX_STORED_TELECOMMANDS = 500;
bool debugMode = false;
StorageManagerIF* tcStore = nullptr;
AcceptsTelecommandsIF* tcRecipient = nullptr;
MessageQueueId_t recipientMsgQueueId = 0;
/**
* The telecommand map uses the exectution time as a Unix time stamp as
* the key. This is mapped to a generic telecommand struct.
*/
using TelecommandMap = etl::multimap<uint32_t, TelecommandStruct, MAX_NUM_TCS>;
using TcMapIter = typename TelecommandMap::iterator;
TelecommandMap telecommandMap;
/**
* @brief Logic to be performed on an incoming TC[11,4].
* @return RETURN_OK if successful
*/
ReturnValue_t doInsertActivity(const uint8_t* data, size_t size);
/**
* @brief Logic to be performed on an incoming TC[11,5].
* @return RETURN_OK if successful
*/
ReturnValue_t doDeleteActivity(const uint8_t* data, size_t size);
/**
* @brief Logic to be performed on an incoming TC[11,6].
* @return RETURN_OK if successful
*/
ReturnValue_t doFilterDeleteActivity(const uint8_t* data, size_t size);
/**
* @brief Logic to be performed on an incoming TC[11,7].
* @return RETURN_OK if successful
*/
ReturnValue_t doTimeshiftActivity(const uint8_t* data, size_t size);
/**
* @brief Logic to be performed on an incoming TC[11,8].
* @return RETURN_OK if successful
*/
ReturnValue_t doFilterTimeshiftActivity(const uint8_t* data, size_t size);
/**
* @brief Deserializes a generic type from a payload buffer by using the FSFW
* SerializeAdapter Interface.
* @param output Output to be deserialized
* @param buf Payload buffer (application data)
* @param bufsize Remaining size of payload buffer (application data size)
* @return RETURN_OK if successful
*/
template <typename T>
ReturnValue_t deserializeViaFsfwInterface(T& output, const uint8_t* buf, size_t bufsize);
/**
* @brief Extracts the Request ID from the Application Data of a TC by utilizing a ctor of the
* class TcPacketPus.
* NOTE: This only works if the payload data is a TC (e.g. not for TC[11,5] which does not
* send a TC as payload)!
* @param data The Application data of the TC (get via getApplicationData()).
* @return requestId
*/
uint64_t getRequestIdFromDataTC(const uint8_t* data) const;
/**
* @brief Extracts the Request ID from the Application Data directly, assuming it is packed
* as follows (acc. to ECSS): | source ID (uint32) | apid (uint32) | ssc (uint32) |.
* @param data Pointer to first byte described data
* @param dataSize Remaining size of data NOTE: non-const, this is modified by the function
* @param [out] requestId Request ID
* @return RETURN_OK if successful
*/
ReturnValue_t getRequestIdFromData(const uint8_t*& data, size_t& dataSize, uint64_t& requestId);
/**
* @brief Builds the Request ID from its three elements.
* @param sourceId Source ID
* @param apid Application Process ID (APID)
* @param ssc Source Sequence Count
* @return Request ID
*/
uint64_t buildRequestId(uint32_t sourceId, uint16_t apid, uint16_t ssc) const;
/**
* @brief Gets the filter range for filter TCs from a data packet
* @param data TC data
* @param dataSize TC data size
* @param [out] itBegin Begin of filter range
* @param [out] itEnd End of filter range
* @return RETURN_OK if successful
*/
ReturnValue_t getMapFilterFromData(const uint8_t*& data, size_t& size, TcMapIter& itBegin,
TcMapIter& itEnd);
ReturnValue_t handleInvalidData(const char* ctx);
/**
* @brief Prints content of multimap. Use for simple debugging only.
*/
void debugPrintMultimapContent(void) const;
};
#include "Service11TelecommandScheduling.tpp"
#endif /* MISSION_PUS_SERVICE11TELECOMMANDSCHEDULING_H_ */

598
src/fsfw/pus/Service11TelecommandScheduling.tpp Normal file
View File

@ -0,0 +1,598 @@
#pragma once
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serialize/SerializeAdapter.h>
#include <fsfw/tmtcservices/AcceptsTelecommandsIF.h>
#include <cstddef>
static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
template <size_t MAX_NUM_TCS>
inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduling(
object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient,
uint16_t releaseTimeMarginSeconds, bool debugMode)
: PusServiceBase(objectId, apid, serviceId),
RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
debugMode(debugMode),
tcRecipient(tcRecipient) {}
template <size_t MAX_NUM_TCS>
inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() {}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
uint8_t subservice) {
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::handleRequest: Handling request " << static_cast<int>(subservice);
#else
sif::printInfo("PUS11::handleRequest: Handling request %d\n", subservice);
#endif
}
// Get de-serialized Timestamp
const uint8_t *data = currentPacket.getApplicationData();
size_t size = currentPacket.getApplicationDataSize();
if (data == nullptr) {
return handleInvalidData("handleRequest");
}
switch (subservice) {
case Subservice::INSERT_ACTIVITY:
return doInsertActivity(data, size);
case Subservice::DELETE_ACTIVITY:
return doDeleteActivity(data, size);
case Subservice::FILTER_DELETE_ACTIVITY:
return doFilterDeleteActivity(data, size);
case Subservice::TIMESHIFT_ACTIVITY:
return doTimeshiftActivity(data, size);
case Subservice::FILTER_TIMESHIFT_ACTIVITY:
return doFilterTimeshiftActivity(data, size);
default:
break;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService() {
// DEBUG
// DebugPrintMultimapContent();
// get current time as UNIX timestamp
timeval tNow = {};
Clock::getClock_timeval(&tNow);
// NOTE: The iterator is increased in the loop here. Increasing the iterator as for-loop arg
// does not work in this case as we are deleting the current element here.
for (auto it = telecommandMap.begin(); it != telecommandMap.end();) {
if (it->first <= tNow.tv_sec) {
// release tc
TmTcMessage releaseMsg(it->second.storeAddr);
auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
if (sendRet != HasReturnvaluesIF::RETURN_OK) {
return sendRet;
}
telecommandMap.erase(it++);
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Released TC & erased it from TC map" << std::endl;
#else
sif::printInfo("Released TC & erased it from TC map\n");
#endif
}
continue;
}
it++;
}
return HasReturnvaluesIF::RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::initialize() {
ReturnValue_t res = PusServiceBase::initialize();
if (res != HasReturnvaluesIF::RETURN_OK) {
return res;
}
tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (!tcStore) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if (tcRecipient == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
recipientMsgQueueId = tcRecipient->getRequestQueue();
return res;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
const uint8_t *data, size_t size) {
uint32_t timestamp = 0;
const uint8_t *initData = data;
size_t initSz = size;
ReturnValue_t result = SerializeAdapter::deSerialize(&timestamp, &data, &size, DEF_END);
if (result != RETURN_OK) {
return result;
}
// Insert possible if sched. time is above margin
// (See requirement for Time margin)
timeval tNow = {};
Clock::getClock_timeval(&tNow);
if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
"current time"
<< std::endl;
#else
sif::printWarning(
"Service11TelecommandScheduling::doInsertActivity: Release time too close to current "
"time\n");
#endif
return RETURN_FAILED;
}
// store currentPacket and receive the store address
store_address_t addr{};
if (tcStore->addData(&addr, initData, initSz) != RETURN_OK ||
addr.raw == storeId::INVALID_STORE_ADDRESS) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
<< std::endl;
#else
sif::printError(
"Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed\n");
#endif
return RETURN_FAILED;
}
// insert into multimap with new store address
TelecommandStruct tc;
tc.seconds = timestamp;
tc.storeAddr = addr;
tc.requestId =
getRequestIdFromDataTC(data); // TODO: Missing sanity check of the returned request id
auto it = telecommandMap.insert(std::pair<uint32_t, TelecommandStruct>(timestamp, tc));
if (it == telecommandMap.end()) {
return RETURN_FAILED;
}
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doInsertActivity: Inserted into Multimap:" << std::endl;
#else
sif::printInfo("PUS11::doInsertActivity: Inserted into Multimap:\n");
#endif
debugPrintMultimapContent();
}
return HasReturnvaluesIF::RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doDeleteActivity(
const uint8_t *data, size_t size) {
// Get request ID
uint64_t requestId;
ReturnValue_t result = getRequestIdFromData(data, size, requestId);
if (result != RETURN_OK) {
return result;
}
// DEBUG
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doDeleteActivity: requestId: " << requestId << std::endl;
#else
sif::printInfo("PUS11::doDeleteActivity: requestId: %d\n", requestId);
#endif
}
TcMapIter tcToDelete; // handle to the TC to be deleted, can be used if counter is valid
int tcToDeleteCount = 0; // counter of all found TCs. Should be 1.
for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
if (it->second.requestId == requestId) {
tcToDelete = it;
tcToDeleteCount++;
}
}
// check if 1 explicit TC is found via request ID
if (tcToDeleteCount == 0 || tcToDeleteCount > 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
"Cannot explicitly delete TC"
<< std::endl;
#else
sif::printWarning(
"Service11TelecommandScheduling::doDeleteActivity: No or more than 1 TC found. "
"Cannot explicitly delete TC");
#endif
return RETURN_FAILED;
}
// delete packet from store
if (tcStore->deleteData(tcToDelete->second.storeAddr) != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store"
<< std::endl;
#else
sif::printError(
"Service11TelecommandScheduling::doDeleteActivity: Could not delete TC from Store\n");
#endif
return RETURN_FAILED;
}
telecommandMap.erase(tcToDelete);
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doDeleteActivity: Deleted TC from map" << std::endl;
#else
sif::printInfo("PUS11::doDeleteActivity: Deleted TC from map\n");
#endif
}
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterDeleteActivity(
const uint8_t *data, size_t size) {
TcMapIter itBegin;
TcMapIter itEnd;
ReturnValue_t result = getMapFilterFromData(data, size, itBegin, itEnd);
// get the filter window as map range via dedicated method
if (result != RETURN_OK) {
return result;
}
int deletedTCs = 0;
for (TcMapIter it = itBegin; it != itEnd; it++) {
// delete packet from store
if (tcStore->deleteData(it->second.storeAddr) != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC "
"from Store"
<< std::endl;
#else
sif::printError(
"Service11TelecommandScheduling::doFilterDeleteActivity: Could not delete TC from "
"Store\n");
#endif
continue;
}
deletedTCs++;
}
// NOTE: Spec says this function erases all elements including itBegin but not itEnd,
// see here: https://www.cplusplus.com/reference/map/multimap/erase/
// Therefore we need to increase itEnd by 1. (Note that end() returns the "past-the-end" iterator)
if (itEnd != telecommandMap.end()) {
itEnd++;
}
telecommandMap.erase(itBegin, itEnd);
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doFilterDeleteActivity: Deleted " << deletedTCs << " TCs" << std::endl;
#else
sif::printInfo("PUS11::doFilterDeleteActivity: Deleted %d TCs\n", deletedTCs);
#endif
}
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doTimeshiftActivity(
const uint8_t *data, size_t size) {
// Get relative time
uint32_t relativeTime = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
if (result != RETURN_OK) {
return result;
}
if (relativeTime == 0) {
return INVALID_RELATIVE_TIME;
}
// TODO further check sanity of the relative time?
// Get request ID
uint64_t requestId;
result = getRequestIdFromData(data, size, requestId);
if (result != RETURN_OK) {
return result;
}
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doTimeshiftActivity: requestId: " << requestId << std::endl;
#else
sif::printInfo("PUS11::doTimeshiftActivity: requestId: %d\n", requestId);
#endif
}
// NOTE: Despite having C++17 ETL multimap has no member function extract :(
TcMapIter tcToTimeshiftIt;
int tcToTimeshiftCount = 0;
for (auto it = telecommandMap.begin(); it != telecommandMap.end(); it++) {
if (it->second.requestId == requestId) {
tcToTimeshiftIt = it;
tcToTimeshiftCount++;
}
}
if (tcToTimeshiftCount == 0 || tcToTimeshiftCount > 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 "
"TCs found. No explicit timeshifting "
"possible"
<< std::endl;
#else
sif::printWarning(
"Service11TelecommandScheduling::doTimeshiftActivity: Either 0 or more than 1 TCs found. "
"No explicit timeshifting possible\n");
#endif
return TIMESHIFTING_NOT_POSSIBLE;
}
// temporarily hold the item
TelecommandStruct tempTc(tcToTimeshiftIt->second);
uint32_t tempKey = tcToTimeshiftIt->first + relativeTime;
// delete old entry from the mm
telecommandMap.erase(tcToTimeshiftIt);
// and then insert it again as new entry
telecommandMap.insert(std::make_pair(tempKey, tempTc));
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doTimeshiftActivity: Shifted TC" << std::endl;
#else
sif::printDebug("PUS11::doTimeshiftActivity: Shifted TC\n");
#endif
debugPrintMultimapContent();
}
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimeshiftActivity(
const uint8_t *data, size_t size) {
// Get relative time
uint32_t relativeTime = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&relativeTime, &data, &size, DEF_END);
if (result != RETURN_OK) {
return result;
}
if (relativeTime == 0) {
return INVALID_RELATIVE_TIME;
}
// Do time window
TcMapIter itBegin;
TcMapIter itEnd;
result = getMapFilterFromData(data, size, itBegin, itEnd);
if (result != RETURN_OK) {
return result;
}
int shiftedItemsCount = 0;
for (auto it = itBegin; it != itEnd;) {
// temporarily hold the item
TelecommandStruct tempTc(it->second);
uint32_t tempKey = it->first + relativeTime;
// delete the old entry from the mm
telecommandMap.erase(it++);
// and then insert it again as new entry
telecommandMap.insert(std::make_pair(tempKey, tempTc));
shiftedItemsCount++;
continue;
}
if (debugMode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "PUS11::doFilterTimeshiftActivity: shiftedItemsCount: " << shiftedItemsCount
<< std::endl;
#else
sif::printInfo("PUS11::doFilterTimeshiftActivity: shiftedItemsCount: %d\n", shiftedItemsCount);
#endif
debugPrintMultimapContent();
}
if (shiftedItemsCount > 0) {
return RETURN_OK;
}
return RETURN_FAILED;
}
template <size_t MAX_NUM_TCS>
inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromDataTC(
const uint8_t *data) const {
TcPacketPus mask(data);
uint32_t sourceId = mask.getSourceId();
uint16_t apid = mask.getAPID();
uint16_t sequenceCount = mask.getPacketSequenceCount();
return buildRequestId(sourceId, apid, sequenceCount);
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromData(
const uint8_t *&data, size_t &dataSize, uint64_t &requestId) {
uint32_t srcId = 0;
uint16_t apid = 0;
uint16_t ssc = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&srcId, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
result = SerializeAdapter::deSerialize(&apid, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
result = SerializeAdapter::deSerialize(&ssc, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
requestId = buildRequestId(srcId, apid, ssc);
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::buildRequestId(uint32_t sourceId,
uint16_t apid,
uint16_t ssc) const {
uint64_t sourceId64 = static_cast<uint64_t>(sourceId);
uint64_t apid64 = static_cast<uint64_t>(apid);
uint64_t ssc64 = static_cast<uint64_t>(ssc);
return (sourceId64 << 32) | (apid64 << 16) | ssc64;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFromData(
const uint8_t *&data, size_t &dataSize, TcMapIter &itBegin, TcMapIter &itEnd) {
// get filter type first
uint32_t typeRaw = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&typeRaw, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
if (typeRaw > 3) {
return INVALID_TYPE_TIME_WINDOW;
}
TypeOfTimeWindow type = static_cast<TypeOfTimeWindow>(typeRaw);
// we now have the type of delete activity - so now we set the range to delete,
// according to the type of time window.
// NOTE: Blocks are used in this switch-case statement so that timestamps can be
// cleanly redefined for each case.
switch (type) {
case TypeOfTimeWindow::SELECT_ALL: {
itBegin = telecommandMap.begin();
itEnd = telecommandMap.end();
break;
}
case TypeOfTimeWindow::FROM_TIMETAG: {
uint32_t fromTimestamp = 0;
result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
itBegin = telecommandMap.begin();
while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
itBegin++;
}
itEnd = telecommandMap.end();
break;
}
case TypeOfTimeWindow::TO_TIMETAG: {
uint32_t toTimestamp;
result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize, DEF_END);
if (result != RETURN_OK) {
return result;
}
itBegin = telecommandMap.begin();
itEnd = telecommandMap.begin();
while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
itEnd++;
}
break;
}
case TypeOfTimeWindow::FROM_TIMETAG_TO_TIMETAG: {
uint32_t fromTimestamp;
uint32_t toTimestamp;
result = SerializeAdapter::deSerialize(&fromTimestamp, &data, &dataSize,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
return result;
}
result = SerializeAdapter::deSerialize(&toTimestamp, &data, &dataSize,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
return result;
}
itBegin = telecommandMap.begin();
itEnd = telecommandMap.begin();
while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
itBegin++;
}
while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
itEnd++;
}
break;
}
default:
return RETURN_FAILED;
}
// additional security check, this should never be true
if (itBegin->first > itEnd->first) {
sif::printError("11::GetMapFilterFromData: itBegin > itEnd\n");
return RETURN_FAILED;
}
// the map range should now be set according to the sent filter.
return RETURN_OK;
}
template <size_t MAX_NUM_TCS>
inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidData(
const char *ctx) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Service11TelecommandScheduling:: " << ctx << ": Invalid buffer" << std::endl;
#else
sif::printWarning("Service11TelecommandScheduling::%s: Invalid buffer\n", ctx);
#endif
#endif
return RETURN_FAILED;
}
template <size_t MAX_NUM_TCS>
inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent(void) const {
#if FSFW_DISABLE_PRINTOUT == 0
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
<< std::endl;
sif::debug << "[" << dit->first << "]: Request ID: " << dit->second.requestId << " | "
<< "Store Address: " << dit->second.storeAddr << std::endl;
#else
sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
sif::printDebug("[%d]: Request ID: %d | Store Address: %d\n", dit->first,
dit->second.requestId, dit->second.storeAddr);
}
#endif
#endif
}

1
src/fsfw/returnvalues/FwClassIds.h
View File

@ -72,6 +72,7 @@ enum : uint8_t {
DLE_ENCODER, // DLEE
PUS_SERVICE_3, // PUS3
PUS_SERVICE_9, // PUS9
PUS_SERVICE_11, // PUS11
FILE_SYSTEM, // FILS
LINUX_OSAL, // UXOS
HAL_SPI, // HSPI

12
src/fsfw/version.cpp
View File

@ -12,19 +12,21 @@
#undef minor
#endif
const Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR, FSFW_VERSION_REVISION,
FSFW_VERSION_CST_GIT_SHA1};
const fsfw::Version fsfw::FSFW_VERSION = {FSFW_VERSION_MAJOR, FSFW_VERSION_MINOR,
FSFW_VERSION_REVISION, FSFW_VCS_INFO};
Version::Version(int major, int minor, int revision, const char* addInfo)
fsfw::Version::Version(int major, int minor, int revision, const char* addInfo)
: major(major), minor(minor), revision(revision), addInfo(addInfo) {}
void Version::getVersion(char* str, size_t maxLen) const {
void fsfw::Version::getVersion(char* str, size_t maxLen) const {
size_t len = snprintf(str, maxLen, "%d.%d.%d", major, minor, revision);
if (addInfo != nullptr) {
snprintf(str + len, maxLen - len, "-%s", addInfo);
}
}
namespace fsfw {
#if FSFW_CPP_OSTREAM_ENABLED == 1
std::ostream& operator<<(std::ostream& os, const Version& v) {
os << v.major << "." << v.minor << "." << v.revision;
@ -34,3 +36,5 @@ std::ostream& operator<<(std::ostream& os, const Version& v) {
return os;
}
#endif
} // namespace fsfw

4
src/fsfw/version.h
View File

@ -8,6 +8,8 @@
#endif
#include <cstdint>
namespace fsfw {
class Version {
public:
Version(int major, int minor, int revision, const char* addInfo = nullptr);
@ -55,8 +57,6 @@ class Version {
void getVersion(char* str, size_t maxLen) const;
};
namespace fsfw {
extern const Version FSFW_VERSION;
} // namespace fsfw

12
tests/src/fsfw_tests/unit/version.cpp
View File

@ -10,12 +10,12 @@ 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(Version(255, 0, 0) > fsfw::FSFW_VERSION);
REQUIRE(Version(255, 0, 0) >= fsfw::FSFW_VERSION);
REQUIRE(Version(0, 0, 0) < fsfw::FSFW_VERSION);
REQUIRE(Version(0, 0, 0) <= fsfw::FSFW_VERSION);
Version v1 = Version(1, 1, 1);
Version v2 = Version(1, 1, 1);
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);
auto v1 = fsfw::Version(1, 1, 1);
auto v2 = fsfw::Version(1, 1, 1);
REQUIRE(v1 == v2);
REQUIRE(not(v1 < v2));
REQUIRE(not(v1 > v2));