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Merge remote-tracking branch 'upstram/master' into mueller_localPoolNeat

This commit is contained in:
Robin Müller 2020-05-20 14:38:41 +02:00
parent c7856da81c 6dc05e4951
commit e576ddaa86
45 changed files with 229 additions and 148 deletions
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2
datalinklayer/Clcw.cpp
View File

@ -55,7 +55,7 @@ void Clcw::setBitLock(bool bitLock) {
} }
void Clcw::print() { void Clcw::print() {
debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl; sif::debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl;
} }
void Clcw::setWhole(uint32_t rawClcw) { void Clcw::setWhole(uint32_t rawClcw) {

6
datalinklayer/DataLinkLayer.cpp
View File

@ -98,8 +98,8 @@ ReturnValue_t DataLinkLayer::processFrame(uint16_t length) {
receivedDataLength = length; receivedDataLength = length;
ReturnValue_t status = allFramesReception(); ReturnValue_t status = allFramesReception();
if (status != RETURN_OK) { if (status != RETURN_OK) {
error << "DataLinkLayer::processFrame: frame reception failed. Error code: " << std::hex sif::error << "DataLinkLayer::processFrame: frame reception failed. "
<< status << std::dec << std::endl; "Error code: " << std::hex << status << std::dec << std::endl;
// currentFrame.print(); // currentFrame.print();
return status; return status;
} else { } else {
@ -124,7 +124,7 @@ ReturnValue_t DataLinkLayer::initialize() {
if ( virtualChannels.begin() != virtualChannels.end() ) { if ( virtualChannels.begin() != virtualChannels.end() ) {
clcw->setVirtualChannel( virtualChannels.begin()->second->getChannelId() ); clcw->setVirtualChannel( virtualChannels.begin()->second->getChannelId() );
} else { } else {
error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl; sif::error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }

12
datalinklayer/MapPacketExtraction.cpp
View File

@ -36,7 +36,7 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
bufferPosition = &packetBuffer[packetLength]; bufferPosition = &packetBuffer[packetLength];
status = RETURN_OK; status = RETURN_OK;
} else { } else {
error sif::error
<< "MapPacketExtraction::extractPackets. Packet too large! Size: " << "MapPacketExtraction::extractPackets. Packet too large! Size: "
<< packetLength << std::endl; << packetLength << std::endl;
clearBuffers(); clearBuffers();
@ -58,14 +58,14 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
} }
status = RETURN_OK; status = RETURN_OK;
} else { } else {
error sif::error
<< "MapPacketExtraction::extractPackets. Packet too large! Size: " << "MapPacketExtraction::extractPackets. Packet too large! Size: "
<< packetLength << std::endl; << packetLength << std::endl;
clearBuffers(); clearBuffers();
status = CONTENT_TOO_LARGE; status = CONTENT_TOO_LARGE;
} }
} else { } else {
error sif::error
<< "MapPacketExtraction::extractPackets. Illegal segment! Last flag: " << "MapPacketExtraction::extractPackets. Illegal segment! Last flag: "
<< (int) lastSegmentationFlag << std::endl; << (int) lastSegmentationFlag << std::endl;
clearBuffers(); clearBuffers();
@ -73,7 +73,7 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
} }
break; break;
default: default:
error sif::error
<< "MapPacketExtraction::extractPackets. Illegal segmentationFlag: " << "MapPacketExtraction::extractPackets. Illegal segmentationFlag: "
<< (int) segmentationFlag << std::endl; << (int) segmentationFlag << std::endl;
clearBuffers(); clearBuffers();
@ -142,9 +142,9 @@ ReturnValue_t MapPacketExtraction::initialize() {
} }
void MapPacketExtraction::printPacketBuffer(void) { void MapPacketExtraction::printPacketBuffer(void) {
debug << "DLL: packet_buffer contains: " << std::endl; sif::debug << "DLL: packet_buffer contains: " << std::endl;
for (uint32_t i = 0; i < this->packetLength; ++i) { for (uint32_t i = 0; i < this->packetLength; ++i) {
debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex sif::debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex
<< (uint16_t) this->packetBuffer[i] << std::endl; << (uint16_t) this->packetBuffer[i] << std::endl;
} }
} }

6
datalinklayer/TcTransferFrame.cpp
View File

@ -87,11 +87,11 @@ uint8_t* TcTransferFrame::getFullDataField() {
} }
void TcTransferFrame::print() { void TcTransferFrame::print() {
debug << "Raw Frame: " << std::hex << std::endl; sif::debug << "Raw Frame: " << std::hex << std::endl;
for (uint16_t count = 0; count < this->getFullSize(); count++ ) { for (uint16_t count = 0; count < this->getFullSize(); count++ ) {
debug << (uint16_t)this->getFullFrame()[count] << " "; sif::debug << (uint16_t)this->getFullFrame()[count] << " ";
} }
debug << std::dec << std::endl; sif::debug << std::dec << std::endl;
// debug << "Frame Header:" << std::endl; // debug << "Frame Header:" << std::endl;
// debug << "Version Number: " << std::hex << (uint16_t)this->current_frame.getVersionNumber() << std::endl; // debug << "Version Number: " << std::hex << (uint16_t)this->current_frame.getVersionNumber() << std::endl;
// debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " << (uint16_t)this->current_frame.bypassFlagSet() << " | " << (uint16_t)this->current_frame.controlCommandFlagSet() << std::endl; // debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " << (uint16_t)this->current_frame.bypassFlagSet() << " | " << (uint16_t)this->current_frame.controlCommandFlagSet() << std::endl;

2
datalinklayer/TcTransferFrameLocal.cpp
View File

@ -37,7 +37,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8; this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF); this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
} else { } else {
debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl; sif::debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl;
} }
} else { } else {
//No data in frame //No data in frame

2
datalinklayer/VirtualChannelReception.cpp
View File

@ -102,7 +102,7 @@ uint8_t VirtualChannelReception::getChannelId() const {
ReturnValue_t VirtualChannelReception::initialize() { ReturnValue_t VirtualChannelReception::initialize() {
ReturnValue_t returnValue = RETURN_FAILED; ReturnValue_t returnValue = RETURN_FAILED;
if ((slidingWindowWidth > 254) || (slidingWindowWidth % 2 != 0)) { if ((slidingWindowWidth > 254) || (slidingWindowWidth % 2 != 0)) {
error << "VirtualChannelReception::initialize: Illegal sliding window width: " sif::error << "VirtualChannelReception::initialize: Illegal sliding window width: "
<< (int) slidingWindowWidth << std::endl; << (int) slidingWindowWidth << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }

8
datapool/DataPool.cpp
View File

@ -55,7 +55,7 @@ PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
ReturnValue_t DataPool::freeDataPoolLock() { ReturnValue_t DataPool::freeDataPoolLock() {
ReturnValue_t status = mutex->unlockMutex(); ReturnValue_t status = mutex->unlockMutex();
if ( status != RETURN_OK ) { if ( status != RETURN_OK ) {
error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl; sif::error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl;
} }
return status; return status;
} }
@ -63,17 +63,17 @@ ReturnValue_t DataPool::freeDataPoolLock() {
ReturnValue_t DataPool::lockDataPool() { ReturnValue_t DataPool::lockDataPool() {
ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT); ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT);
if ( status != RETURN_OK ) { if ( status != RETURN_OK ) {
error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl; sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
} }
return status; return status;
} }
void DataPool::print() { void DataPool::print() {
debug << "DataPool contains: " << std::endl; sif::debug << "DataPool contains: " << std::endl;
std::map<uint32_t, PoolEntryIF*>::iterator dataPoolIt; std::map<uint32_t, PoolEntryIF*>::iterator dataPoolIt;
dataPoolIt = this->data_pool.begin(); dataPoolIt = this->data_pool.begin();
while( dataPoolIt != this->data_pool.end() ) { while( dataPoolIt != this->data_pool.end() ) {
debug << std::hex << dataPoolIt->first << std::dec << " |"; sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
dataPoolIt->second->print(); dataPoolIt->second->print();
dataPoolIt++; dataPoolIt++;
} }

10
datapool/DataSet.cpp
View File

@ -31,7 +31,7 @@ ReturnValue_t DataSet::read() {
state = DATA_SET_WAS_READ; state = DATA_SET_WAS_READ;
freeDataPoolLock(); freeDataPoolLock();
} else { } else {
error << "DataSet::read(): Call made in wrong position." << std::endl; sif::error << "DataSet::read(): Call made in wrong position." << std::endl;
result = SET_WAS_ALREADY_READ; result = SET_WAS_ALREADY_READ;
} }
return result; return result;
@ -68,9 +68,9 @@ ReturnValue_t DataSet::commit() {
} else if (registeredVariables[count]->getDataPoolId() } else if (registeredVariables[count]->getDataPoolId()
!= PoolVariableIF::NO_PARAMETER) { != PoolVariableIF::NO_PARAMETER) {
if (result != COMMITING_WITHOUT_READING) { if (result != COMMITING_WITHOUT_READING) {
error sif::error <<
<< "DataSet::commit(): commit-without-read call made with non write-only variable." "DataSet::commit(): commit-without-read "
<< std::endl; "call made with non write-only variable." << std::endl;
result = COMMITING_WITHOUT_READING; result = COMMITING_WITHOUT_READING;
} }
} }
@ -92,7 +92,7 @@ void DataSet::registerVariable(PoolVariableIF* variable) {
} }
} }
} }
error sif::error
<< "DataSet::registerVariable: failed. Either NULL, or set is full, or call made in wrong position." << "DataSet::registerVariable: failed. Either NULL, or set is full, or call made in wrong position."
<< std::endl; << std::endl;
return; return;

2
datapool/PIDReader.h
View File

@ -26,7 +26,7 @@ protected:
} else { } else {
value = 0; value = 0;
valid = false; valid = false;
error << "PIDReader: read of PID 0x" << std::hex << parameterId sif::error << "PIDReader: read of PID 0x" << std::hex << parameterId
<< std::dec << " failed." << std::endl; << std::dec << " failed." << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }

5
datapool/PoolEntry.cpp
View File

@ -46,9 +46,10 @@ uint8_t PoolEntry<T>::getValid() {
template <typename T> template <typename T>
void PoolEntry<T>::print() { void PoolEntry<T>::print() {
for (uint8_t size = 0; size < this->length; size++ ) { for (uint8_t size = 0; size < this->length; size++ ) {
debug << "| " << std::hex << (double)this->address[size] << (this->valid? " (valid) " : " (invalid) "); sif::debug << "| " << std::hex << (double)this->address[size]
<< (this->valid? " (valid) " : " (invalid) ");
} }
debug << std::dec << std::endl; sif::debug << std::dec << std::endl;
} }
template<typename T> template<typename T>

4
datapool/PoolRawAccess.cpp
View File

@ -42,7 +42,7 @@ ReturnValue_t PoolRawAccess::read() {
} else { } else {
//Error entry does not exist. //Error entry does not exist.
} }
error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
<< std::dec << " failed." << std::endl; << std::dec << " failed." << std::endl;
valid = INVALID; valid = INVALID;
typeSize = 0; typeSize = 0;
@ -123,7 +123,7 @@ ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t* buffer,
#endif #endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {
error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal" sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
<< (uint32_t) typeSize << ", Requested: " << setSize << (uint32_t) typeSize << ", Requested: " << setSize
<< std::endl; << std::endl;
return INCORRECT_SIZE; return INCORRECT_SIZE;

2
datapool/PoolVariable.h
View File

@ -66,7 +66,7 @@ protected:
} else { } else {
value = 0; value = 0;
valid = false; valid = false;
error << "PoolVariable: read of DP Variable 0x" << std::hex sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl; << dataPoolId << std::dec << " failed." << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }

2
datapool/PoolVector.h
View File

@ -70,7 +70,7 @@ protected:
} else { } else {
memset(this->value, 0, vector_size * sizeof(T)); memset(this->value, 0, vector_size * sizeof(T));
error << "PoolVector: read of DP Variable 0x" << std::hex sif::error << "PoolVector: read of DP Variable 0x" << std::hex
<< dataPoolId << std::dec << " failed." << std::endl; << dataPoolId << std::dec << " failed." << std::endl;
this->valid = INVALID; this->valid = INVALID;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;

4
devicehandlers/DeviceHandlerBase.cpp
View File

@ -1165,7 +1165,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (mode == MODE_NORMAL) { if (mode == MODE_NORMAL) {
result = buildNormalDeviceCommand(&deviceCommandId); result = buildNormalDeviceCommand(&deviceCommandId);
if (result == BUSY) { if (result == BUSY) {
debug << std::hex << getObjectId() sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations << ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations
result = NOTHING_TO_SEND; //no need to report this result = NOTHING_TO_SEND; //no need to report this
} }
@ -1186,7 +1186,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (iter == deviceCommandMap.end()) { if (iter == deviceCommandMap.end()) {
result = COMMAND_NOT_SUPPORTED; result = COMMAND_NOT_SUPPORTED;
} else if (iter->second.isExecuting) { } else if (iter->second.isExecuting) {
debug << std::hex << getObjectId() sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Command " << ": DHB::buildInternalCommand: Command "
<< deviceCommandId << " isExecuting" << std::endl; //so we can track misconfigurations << deviceCommandId << " isExecuting" << std::endl; //so we can track misconfigurations
return; //this is an internal command, no need to report a failure here, missed reply will track if a reply is too late, otherwise, it's ok return; //this is an internal command, no need to report a failure here, missed reply will track if a reply is too late, otherwise, it's ok

9
devicehandlers/FixedSlotSequence.cpp
View File

@ -89,17 +89,20 @@ uint32_t FixedSlotSequence::getLengthMs() const {
} }
ReturnValue_t FixedSlotSequence::checkSequence() const { ReturnValue_t FixedSlotSequence::checkSequence() const {
//Iterate through slotList and check successful creation. Checks if timing is ok (must be ascending) and if all handlers were found. if(slotList.empty()) {
sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
auto slotIt = slotList.begin(); auto slotIt = slotList.begin();
uint32_t count = 0; uint32_t count = 0;
uint32_t time = 0; uint32_t time = 0;
while (slotIt != slotList.end()) { while (slotIt != slotList.end()) {
if ((*slotIt)->handler == NULL) { if ((*slotIt)->handler == NULL) {
error << "FixedSlotSequene::initialize: ObjectId does not exist!" sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
<< std::endl; << std::endl;
count++; count++;
} else if ((*slotIt)->pollingTimeMs < time) { } else if ((*slotIt)->pollingTimeMs < time) {
error << "FixedSlotSequence::initialize: Time: " sif::error << "FixedSlotSequence::initialize: Time: "
<< (*slotIt)->pollingTimeMs << (*slotIt)->pollingTimeMs
<< " is smaller than previous with " << time << std::endl; << " is smaller than previous with " << time << std::endl;
count++; count++;

27
devicehandlers/FixedSlotSequence.h
View File

@ -6,15 +6,21 @@
#include <list> #include <list>
/** /**
* \brief This class is the representation of a Polling Sequence Table in software. * @brief This class is the representation of a Polling Sequence Table in software.
* *
* \details The FixedSlotSequence object maintains the dynamic execution of device handler objects. * @details
* The main idea is to create a list of device handlers, to announce all handlers to the * The FixedSlotSequence object maintains the dynamic execution of
* polling sequence and to maintain a list of polling slot objects. This slot list represents the * device handler objects.
* Polling Sequence Table in software. Each polling slot contains information to indicate when and *
* which device handler shall be executed within a given polling period. * The main idea is to create a list of device handlers, to announce all
* The sequence is then executed by iterating through this slot list. * handlers to thepolling sequence and to maintain a list of
* Handlers are invoking by calling a certain function stored in the handler list. * polling slot objects. This slot list represents the Polling Sequence Table
* in software.
*
* Each polling slot contains information to indicate when and
* which device handler shall be executed within a given polling period.
* The sequence is then executed by iterating through this slot list.
* Handlers are invoking by calling a certain function stored in the handler list.
*/ */
class FixedSlotSequence { class FixedSlotSequence {
public: public:
@ -97,6 +103,11 @@ public:
*/ */
std::list<FixedSequenceSlot*>::iterator current; std::list<FixedSequenceSlot*>::iterator current;
/**
* Iterate through slotList and check successful creation.
* Checks if timing is ok (must be ascending) and if all handlers were found.
* @return
*/
ReturnValue_t checkSequence() const; ReturnValue_t checkSequence() const;
protected: protected:

16
events/EventManager.cpp
View File

@ -117,26 +117,26 @@ void EventManager::printEvent(EventMessage* message) {
switch (message->getSeverity()) { switch (message->getSeverity()) {
case SEVERITY::INFO: case SEVERITY::INFO:
// string = translateObject(message->getReporter()); // string = translateObject(message->getReporter());
// info << "EVENT: "; // sif::info << "EVENT: ";
// if (string != 0) { // if (string != 0) {
// info << string; // sif::info << string;
// } else { // } else {
// info << "0x" << std::hex << message->getReporter() << std::dec; // sif::info << "0x" << std::hex << message->getReporter() << std::dec;
// } // }
// info << " reported " << translateEvents(message->getEvent()) << " (" // sif::info << " reported " << translateEvents(message->getEvent()) << " ("
// << std::dec << message->getEventId() << std::hex << ") P1: 0x" // << std::dec << message->getEventId() << std::hex << ") P1: 0x"
// << message->getParameter1() << " P2: 0x" // << message->getParameter1() << " P2: 0x"
// << message->getParameter2() << std::dec << std::endl; // << message->getParameter2() << std::dec << std::endl;
break; break;
default: default:
string = translateObject(message->getReporter()); string = translateObject(message->getReporter());
error << "EVENT: "; sif::error << "EVENT: ";
if (string != 0) { if (string != 0) {
error << string; sif::error << string;
} else { } else {
error << "0x" << std::hex << message->getReporter() << std::dec; sif::error << "0x" << std::hex << message->getReporter() << std::dec;
} }
error << " reported " << translateEvents(message->getEvent()) << " (" sif::error << " reported " << translateEvents(message->getEvent()) << " ("
<< std::dec << message->getEventId() << std::hex << ") P1: 0x" << std::dec << message->getEventId() << std::hex << ") P1: 0x"
<< message->getParameter1() << " P2: 0x" << message->getParameter1() << " P2: 0x"
<< message->getParameter2() << std::dec << std::endl; << message->getParameter2() << std::dec << std::endl;

4
health/HealthHelper.cpp
View File

@ -70,7 +70,7 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
health, oldHealth); health, oldHealth);
if (MessageQueueSenderIF::sendMessage(parentQueue, &message, if (MessageQueueSenderIF::sendMessage(parentQueue, &message,
owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) { owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
debug << "HealthHelper::informParent: sending health reply failed." sif::debug << "HealthHelper::informParent: sending health reply failed."
<< std::endl; << std::endl;
} }
} }
@ -89,7 +89,7 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
} }
if (MessageQueueSenderIF::sendMessage(message->getSender(), &reply, if (MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) { owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
debug sif::debug
<< "HealthHelper::handleHealthCommand: sending health reply failed." << "HealthHelper::handleHealthCommand: sending health reply failed."
<< std::endl; << std::endl;
} }

6
ipc/MessageQueueMessage.cpp
View File

@ -52,12 +52,12 @@ size_t MessageQueueMessage::getMinimumMessageSize() {
} }
void MessageQueueMessage::print() { void MessageQueueMessage::print() {
debug << "MessageQueueMessage has size: " << this->messageSize << std::hex sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
<< std::endl; << std::endl;
for (uint8_t count = 0; count < this->messageSize; count++) { for (uint8_t count = 0; count < this->messageSize; count++) {
debug << (uint32_t) this->internalBuffer[count] << ":"; sif::debug << (uint32_t) this->internalBuffer[count] << ":";
} }
debug << std::dec << std::endl; sif::debug << std::dec << std::endl;
} }
void MessageQueueMessage::clear() { void MessageQueueMessage::clear() {

2
ipc/MutexHelper.h
View File

@ -10,7 +10,7 @@ public:
internalMutex(mutex) { internalMutex(mutex) {
ReturnValue_t status = mutex->lockMutex(timeoutMs); ReturnValue_t status = mutex->lockMutex(timeoutMs);
if(status != HasReturnvaluesIF::RETURN_OK){ if(status != HasReturnvaluesIF::RETURN_OK){
error << "MutexHelper: Lock of Mutex failed " << status << std::endl; sif::error << "MutexHelper: Lock of Mutex failed " << status << std::endl;
} }
} }

2
memory/MemoryHelper.cpp
View File

@ -15,7 +15,7 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
lastSender = message->getSender(); lastSender = message->getSender();
lastCommand = message->getCommand(); lastCommand = message->getCommand();
if (busy) { if (busy) {
debug << "MemHelper: Busy!" << std::endl; sif::debug << "MemHelper: Busy!" << std::endl;
} }
switch (lastCommand) { switch (lastCommand) {
case MemoryMessage::CMD_MEMORY_DUMP: case MemoryMessage::CMD_MEMORY_DUMP:

3
monitoring/MonitoringMessageContent.h
View File

@ -63,7 +63,8 @@ private:
if (timeStamper == NULL) { if (timeStamper == NULL) {
timeStamper = objectManager->get<TimeStamperIF>( timeStamperId ); timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
if ( timeStamper == NULL ) { if ( timeStamper == NULL ) {
error << "MonitoringReportContent::checkAndSetStamper: Stamper not found!" << std::endl; sif::error << "MonitoringReportContent::checkAndSetStamper: "
"Stamper not found!" << std::endl;
return false; return false;
} }
} }

30
objectmanager/ObjectManager.cpp
View File

@ -17,10 +17,12 @@ ObjectManager::~ObjectManager() {
ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) { ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
bool insert_return = this->objectList.insert( std::pair< object_id_t, SystemObjectIF* >( id, object ) ).second; bool insert_return = this->objectList.insert( std::pair< object_id_t, SystemObjectIF* >( id, object ) ).second;
if (insert_return == true) { if (insert_return == true) {
// debug << "ObjectManager::insert: Object " << std::hex << (int)id << std::dec << " inserted." << std::endl; // sif::debug << "ObjectManager::insert: Object " << std::hex
// << (int)id << std::dec << " inserted." << std::endl;
return this->RETURN_OK; return this->RETURN_OK;
} else { } else {
error << "ObjectManager::insert: Object id " << std::hex << (int)id << std::dec << " is already in use!" << std::endl; sif::error << "ObjectManager::insert: Object id " << std::hex
<< (int)id << std::dec << " is already in use!" << std::endl;
exit(0); //This is very severe and difficult to handle in other places. exit(0); //This is very severe and difficult to handle in other places.
return this->INSERTION_FAILED; return this->INSERTION_FAILED;
} }
@ -29,10 +31,12 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
ReturnValue_t ObjectManager::remove( object_id_t id ) { ReturnValue_t ObjectManager::remove( object_id_t id ) {
if ( this->getSystemObject(id) != NULL ) { if ( this->getSystemObject(id) != NULL ) {
this->objectList.erase( id ); this->objectList.erase( id );
debug << "ObjectManager::removeObject: Object " << std::hex << (int)id << std::dec << " removed." << std::endl; sif::debug << "ObjectManager::removeObject: Object " << std::hex
<< (int)id << std::dec << " removed." << std::endl;
return RETURN_OK; return RETURN_OK;
} else { } else {
error << "ObjectManager::removeObject: Requested object "<< std::hex << (int)id << std::dec << " not found." << std::endl; sif::error << "ObjectManager::removeObject: Requested object "
<< std::hex << (int)id << std::dec << " not found." << std::endl;
return NOT_FOUND; return NOT_FOUND;
} }
} }
@ -63,32 +67,38 @@ void ObjectManager::initialize() {
return_value = it->second->initialize(); return_value = it->second->initialize();
if ( return_value != RETURN_OK ) { if ( return_value != RETURN_OK ) {
object_id_t var = it->first; object_id_t var = it->first;
error << "Object " << std::hex << (int) var << " failed to initialize with code 0x" << return_value << std::dec << std::endl; sif::error << "Object " << std::hex << (int) var
<< " failed to initialize with code 0x" << return_value
<< std::dec << std::endl;
error_count++; error_count++;
} }
} }
if (error_count > 0) { if (error_count > 0) {
error << "ObjectManager::ObjectManager: Counted " << error_count << " failed initializations." << std::endl; sif::error << "ObjectManager::ObjectManager: Counted " << error_count
<< " failed initializations." << std::endl;
} }
//Init was successful. Now check successful interconnections. //Init was successful. Now check successful interconnections.
error_count = 0; error_count = 0;
for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) { for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) {
return_value = it->second->checkObjectConnections(); return_value = it->second->checkObjectConnections();
if ( return_value != RETURN_OK ) { if ( return_value != RETURN_OK ) {
error << "Object " << std::hex << (int) it->first << " connection check failed with code 0x" << return_value << std::dec << std::endl; sif::error << "Object " << std::hex << (int) it->first
<< " connection check failed with code 0x" << return_value
<< std::dec << std::endl;
error_count++; error_count++;
} }
} }
if (error_count > 0) { if (error_count > 0) {
error << "ObjectManager::ObjectManager: Counted " << error_count << " failed connection checks." << std::endl; sif::error << "ObjectManager::ObjectManager: Counted " << error_count
<< " failed connection checks." << std::endl;
} }
} }
void ObjectManager::printList() { void ObjectManager::printList() {
std::map<object_id_t, SystemObjectIF*>::iterator it; std::map<object_id_t, SystemObjectIF*>::iterator it;
debug << "ObjectManager: Object List contains:" << std::endl; sif::debug << "ObjectManager: Object List contains:" << std::endl;
for (it = this->objectList.begin(); it != this->objectList.end(); it++) { for (it = this->objectList.begin(); it != this->objectList.end(); it++) {
debug << std::hex << it->first << " | " << it->second << std::endl; sif::debug << std::hex << it->first << " | " << it->second << std::endl;
} }
} }

22
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -19,8 +19,7 @@ FixedTimeslotTask::~FixedTimeslotTask() {
void FixedTimeslotTask::taskEntryPoint(void* argument) { void FixedTimeslotTask::taskEntryPoint(void* argument) {
//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place. //The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
FixedTimeslotTask *originalTask( FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
reinterpret_cast<FixedTimeslotTask*>(argument));
// Task should not start until explicitly requested // Task should not start until explicitly requested
// in FreeRTOS, tasks start as soon as they are created if the scheduler is running // in FreeRTOS, tasks start as soon as they are created if the scheduler is running
// but not if the scheduler is not running. // but not if the scheduler is not running.
@ -33,14 +32,14 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
} }
originalTask->taskFunctionality(); originalTask->taskFunctionality();
debug << "Polling task " << originalTask->handle sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl; << " returned from taskFunctionality." << std::endl;
} }
void FixedTimeslotTask::missedDeadlineCounter() { void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++; FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
error << "PST missed " << FixedTimeslotTask::deadlineMissedCount sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl; << " deadlines." << std::endl;
} }
} }
@ -58,8 +57,19 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this); if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
return HasReturnvaluesIF::RETURN_OK; if(slotTimeMs == 0) {
// FreeRTOS throws a sanity error for zero values, so we set
// the time to one millisecond.
slotTimeMs = 1;
}
pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
uint32_t FixedTimeslotTask::getPeriodMs() const { uint32_t FixedTimeslotTask::getPeriodMs() const {

2
osal/FreeRTOS/MessageQueue.cpp
View File

@ -8,7 +8,7 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
defaultDestination(0),lastPartner(0) { defaultDestination(0),lastPartner(0) {
handle = xQueueCreate(message_depth, max_message_size); handle = xQueueCreate(message_depth, max_message_size);
if (handle == NULL) { if (handle == NULL) {
error << "MessageQueue creation failed" << std::endl; sif::error << "MessageQueue creation failed" << std::endl;
} }
} }

5
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -10,7 +10,8 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle); BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
if(status != pdPASS){ if(status != pdPASS){
debug << "PeriodicTask Insufficient heap memory remaining. Status: " << status << std::endl; sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
<< status << std::endl;
} }
} }
@ -34,7 +35,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
} }
originalTask->taskFunctionality(); originalTask->taskFunctionality();
debug << "Polling task " << originalTask->handle sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl; << " returned from taskFunctionality." << std::endl;
} }

18
osal/linux/FixedTimeslotTask.cpp
View File

@ -9,7 +9,9 @@
uint32_t FixedTimeslotTask::deadlineMissedCount = 0; uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN; const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_):PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) { FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_,
size_t stackSize_, uint32_t periodMs_):
PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
} }
FixedTimeslotTask::~FixedTimeslotTask() { FixedTimeslotTask::~FixedTimeslotTask() {
@ -40,8 +42,14 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this); if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
return HasReturnvaluesIF::RETURN_OK; pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t FixedTimeslotTask::checkSequence() const { ReturnValue_t FixedTimeslotTask::checkSequence() const {
@ -80,7 +88,7 @@ void FixedTimeslotTask::taskFunctionality() {
void FixedTimeslotTask::missedDeadlineCounter() { void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++; FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
error << "PST missed " << FixedTimeslotTask::deadlineMissedCount sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl; << " deadlines." << std::endl;
} }
} }

44
osal/linux/MessageQueue.cpp
View File

@ -17,11 +17,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
attributes.mq_maxmsg = message_depth; attributes.mq_maxmsg = message_depth;
attributes.mq_msgsize = max_message_size; attributes.mq_msgsize = max_message_size;
attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
//Set the name of the queue //Set the name of the queue
sprintf(name, "/Q%u\n", queueCounter++); sprintf(name, "/Q%u\n", queueCounter++);
//Create a nonblocking queue if the name is available (the queue is Read and writable for the owner as well as the group) //Create a nonblocking queue if the name is available (the queue is Read and
// writable for the owner as well as the group)
mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL, mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes); S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes);
if (tempId == -1) { if (tempId == -1) {
@ -32,8 +32,8 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
//We unlink the other queue //We unlink the other queue
int status = mq_unlink(name); int status = mq_unlink(name);
if (status != 0) { if (status != 0) {
error << "mq_unlink Failed with status: " << strerror(errno) sif::error << "mq_unlink Failed with status: " << strerror(errno)
<< std::endl; << std::endl;
} else { } else {
//Successful unlinking, try to open again //Successful unlinking, try to open again
mqd_t tempId = mq_open(name, mqd_t tempId = mq_open(name,
@ -47,7 +47,7 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
} }
} }
//Failed either the first time or the second time //Failed either the first time or the second time
error << "MessageQueue::MessageQueue: Creating Queue " << std::hex sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
<< name << std::dec << " failed with status: " << name << std::dec << " failed with status: "
<< strerror(errno) << std::endl; << strerror(errno) << std::endl;
} else { } else {
@ -59,11 +59,13 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
MessageQueue::~MessageQueue() { MessageQueue::~MessageQueue() {
int status = mq_close(this->id); int status = mq_close(this->id);
if(status != 0){ if(status != 0){
error << "MessageQueue::Destructor: mq_close Failed with status: " << strerror(errno) <<std::endl; sif::error << "MessageQueue::Destructor: mq_close Failed with status: "
<< strerror(errno) <<std::endl;
} }
status = mq_unlink(name); status = mq_unlink(name);
if(status != 0){ if(status != 0){
error << "MessageQueue::Destructor: mq_unlink Failed with status: " << strerror(errno) <<std::endl; sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
<< strerror(errno) <<std::endl;
} }
} }
@ -93,7 +95,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
unsigned int messagePriority = 0; unsigned int messagePriority = 0;
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),message->MAX_MESSAGE_SIZE,&messagePriority); int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
message->MAX_MESSAGE_SIZE,&messagePriority);
if (status > 0) { if (status > 0) {
this->lastPartner = message->getSender(); this->lastPartner = message->getSender();
//Check size of incoming message. //Check size of incoming message.
@ -114,7 +117,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
case EBADF: case EBADF:
//mqdes doesn't represent a valid queue open for reading. //mqdes doesn't represent a valid queue open for reading.
error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
/*NO BREAK*/ /*NO BREAK*/
case EINVAL: case EINVAL:
/* /*
@ -123,7 +127,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
* * The number of bytes requested, msg_len is less than zero. * * The number of bytes requested, msg_len is less than zero.
* * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags. * * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags.
*/ */
error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
/*NO BREAK*/ /*NO BREAK*/
case EMSGSIZE: case EMSGSIZE:
/* /*
@ -131,7 +136,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
* * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue. * * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue.
* * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received. * * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received.
*/ */
error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl;
/*NO BREAK*/ /*NO BREAK*/
case EINTR: case EINTR:
//The operation was interrupted by a signal. //The operation was interrupted by a signal.
@ -154,7 +160,8 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
switch(errno){ switch(errno){
case EBADF: case EBADF:
//mqdes doesn't represent a valid message queue. //mqdes doesn't represent a valid message queue.
error << "MessageQueue::flush configuration error, called flush with an invalid queue ID" << std::endl; sif::error << "MessageQueue::flush configuration error, "
"called flush with an invalid queue ID" << std::endl;
/*NO BREAK*/ /*NO BREAK*/
case EINVAL: case EINVAL:
//mq_attr is NULL //mq_attr is NULL
@ -169,7 +176,8 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
switch(errno){ switch(errno){
case EBADF: case EBADF:
//mqdes doesn't represent a valid message queue. //mqdes doesn't represent a valid message queue.
error << "MessageQueue::flush configuration error, called flush with an invalid queue ID" << std::endl; sif::error << "MessageQueue::flush configuration error, "
"called flush with an invalid queue ID" << std::endl;
/*NO BREAK*/ /*NO BREAK*/
case EINVAL: case EINVAL:
/* /*
@ -237,7 +245,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
return MessageQueueIF::FULL; return MessageQueueIF::FULL;
case EBADF: case EBADF:
//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing. //mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send mqSendTo: " << sendTo << " sent from " << sentFrom << std::endl; sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
<< " sent from " << sentFrom << std::endl;
/*NO BREAK*/ /*NO BREAK*/
case EINTR: case EINTR:
//The call was interrupted by a signal. //The call was interrupted by a signal.
@ -248,9 +258,11 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
* * msg_len is negative. * * msg_len is negative.
* * msg_prio is greater than MQ_PRIO_MAX. * * msg_prio is greater than MQ_PRIO_MAX.
* * msg_prio is less than 0. * * msg_prio is less than 0.
* * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and msg_prio is greater than the priority of the calling process. * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des,
* and msg_prio is greater than the priority of the calling process.
* */ * */
error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send" << std::endl; sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send" << std::endl;
/*NO BREAK*/ /*NO BREAK*/
case EMSGSIZE: case EMSGSIZE:
//The msg_len is greater than the msgsize associated with the specified queue. //The msg_len is greater than the msgsize associated with the specified queue.

8
osal/linux/Mutex.cpp
View File

@ -13,22 +13,22 @@ Mutex::Mutex() {
pthread_mutexattr_t mutexAttr; pthread_mutexattr_t mutexAttr;
int status = pthread_mutexattr_init(&mutexAttr); int status = pthread_mutexattr_init(&mutexAttr);
if (status != 0) { if (status != 0) {
error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl; sif::error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl;
} }
status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT); status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
if (status != 0) { if (status != 0) {
error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status) sif::error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status)
<< std::endl; << std::endl;
} }
status = pthread_mutex_init(&mutex, &mutexAttr); status = pthread_mutex_init(&mutex, &mutexAttr);
if (status != 0) { if (status != 0) {
error << "Mutex: creation with name, id " << mutex.__data.__count sif::error << "Mutex: creation with name, id " << mutex.__data.__count
<< ", " << " failed with " << strerror(status) << std::endl; << ", " << " failed with " << strerror(status) << std::endl;
} }
//After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes. //After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes.
status = pthread_mutexattr_destroy(&mutexAttr); status = pthread_mutexattr_destroy(&mutexAttr);
if (status != 0) { if (status != 0) {
error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl; sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
} }
} }

4
osal/linux/PeriodicPosixTask.cpp
View File

@ -56,9 +56,9 @@ void PeriodicPosixTask::taskFunctionality(void){
char name[20] = {0}; char name[20] = {0};
int status = pthread_getname_np(pthread_self(),name,sizeof(name)); int status = pthread_getname_np(pthread_self(),name,sizeof(name));
if(status==0){ if(status==0){
error << "ObjectTask: " << name << " Deadline missed." << std::endl; sif::error << "ObjectTask: " << name << " Deadline missed." << std::endl;
}else{ }else{
error << "ObjectTask: X Deadline missed. " << status << std::endl; sif::error << "ObjectTask: X Deadline missed. " << status << std::endl;
} }
if (this->deadlineMissedFunc != NULL) { if (this->deadlineMissedFunc != NULL) {
this->deadlineMissedFunc(); this->deadlineMissedFunc();

3
osal/linux/PeriodicPosixTask.h
View File

@ -9,7 +9,8 @@
class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF { class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
public: public:
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(*deadlineMissedFunc_)()); PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
uint32_t period_, void(*deadlineMissedFunc_)());
virtual ~PeriodicPosixTask(); virtual ~PeriodicPosixTask();
/** /**
* @brief The method to start the task. * @brief The method to start the task.

42
osal/linux/PosixThread.cpp
View File

@ -22,7 +22,8 @@ ReturnValue_t PosixThread::sleep(uint64_t ns) {
//The nanosleep() function was interrupted by a signal. //The nanosleep() function was interrupted by a signal.
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
case EINVAL: case EINVAL:
//The rqtp argument specified a nanosecond value less than zero or greater than or equal to 1000 million. //The rqtp argument specified a nanosecond value less than zero or
// greater than or equal to 1000 million.
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
default: default:
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -40,8 +41,8 @@ void PosixThread::suspend() {
sigaddset(&waitSignal, SIGUSR1); sigaddset(&waitSignal, SIGUSR1);
sigwait(&waitSignal, &caughtSig); sigwait(&waitSignal, &caughtSig);
if (caughtSig != SIGUSR1) { if (caughtSig != SIGUSR1) {
error << "FixedTimeslotTask: Unknown Signal received: " << caughtSig sif::error << "FixedTimeslotTask: Unknown Signal received: " <<
<< std::endl; caughtSig << std::endl;
} }
} }
@ -112,14 +113,15 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){
return currentTime_ms; return currentTime_ms;
} }
PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):thread(0),priority(priority_),stackSize(stackSize_) { PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
thread(0),priority(priority_),stackSize(stackSize_) {
strcpy(name,name_); strcpy(name,name_);
} }
void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
debug << "PosixThread::createTask" << std::endl; //sif::debug << "PosixThread::createTask" << std::endl;
/* /*
* The attr argument points to a pthread_attr_t structure whose contents * The attr argument points to a pthread_attr_t structure whose contents
are used at thread creation time to determine attributes for the new are used at thread creation time to determine attributes for the new
@ -130,35 +132,41 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
pthread_attr_t attributes; pthread_attr_t attributes;
int status = pthread_attr_init(&attributes); int status = pthread_attr_init(&attributes);
if(status != 0){ if(status != 0){
error << "Posix Thread attribute init failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread attribute init failed with: " <<
strerror(status) << std::endl;
} }
void* sp; void* sp;
status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize); status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize);
if(status != 0){ if(status != 0){
error << "Posix Thread stack init failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread stack init failed with: " <<
strerror(status) << std::endl;
} }
status = pthread_attr_setstack(&attributes, sp, stackSize); status = pthread_attr_setstack(&attributes, sp, stackSize);
if(status != 0){ if(status != 0){
error << "Posix Thread attribute setStack failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread attribute setStack failed with: " <<
strerror(status) << std::endl;
} }
status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED); status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
if(status != 0){ if(status != 0){
error << "Posix Thread attribute setinheritsched failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread attribute setinheritsched failed with: " <<
strerror(status) << std::endl;
} }
//TODO FIFO -> This needs root privileges for the process //TODO FIFO -> This needs root privileges for the process
status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO); status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
if(status != 0){ if(status != 0){
error << "Posix Thread attribute schedule policy failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread attribute schedule policy failed with: " <<
strerror(status) << std::endl;
} }
sched_param scheduleParams; sched_param scheduleParams;
scheduleParams.__sched_priority = priority; scheduleParams.__sched_priority = priority;
status = pthread_attr_setschedparam(&attributes, &scheduleParams); status = pthread_attr_setschedparam(&attributes, &scheduleParams);
if(status != 0){ if(status != 0){
error << "Posix Thread attribute schedule params failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread attribute schedule params failed with: " <<
strerror(status) << std::endl;
} }
//Set Signal Mask for suspend until startTask is called //Set Signal Mask for suspend until startTask is called
@ -167,22 +175,26 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
sigaddset(&waitSignal, SIGUSR1); sigaddset(&waitSignal, SIGUSR1);
status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL); status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
if(status != 0){ if(status != 0){
error << "Posix Thread sigmask failed failed with: " << strerror(status) << " errno: " << strerror(errno) << std::endl; sif::error << "Posix Thread sigmask failed failed with: " <<
strerror(status) << " errno: " << strerror(errno) << std::endl;
} }
status = pthread_create(&thread,&attributes,fnc_,arg_); status = pthread_create(&thread,&attributes,fnc_,arg_);
if(status != 0){ if(status != 0){
error << "Posix Thread create failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread create failed with: " <<
strerror(status) << std::endl;
} }
status = pthread_setname_np(thread,name); status = pthread_setname_np(thread,name);
if(status != 0){ if(status != 0){
error << "Posix Thread setname failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread setname failed with: " <<
strerror(status) << std::endl;
} }
status = pthread_attr_destroy(&attributes); status = pthread_attr_destroy(&attributes);
if(status!=0){ if(status!=0){
error << "Posix Thread attribute destroy failed with: " << strerror(status) << std::endl; sif::error << "Posix Thread attribute destroy failed with: " <<
strerror(status) << std::endl;
} }
} }

3
osal/linux/Timer.cpp
View File

@ -9,7 +9,8 @@ Timer::Timer() {
sigEvent.sigev_value.sival_ptr = &timerId; sigEvent.sigev_value.sival_ptr = &timerId;
int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId); int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId);
if(status!=0){ if(status!=0){
error << "Timer creation failed with: " << status << " errno: " << errno << std::endl; sif::error << "Timer creation failed with: " << status <<
" errno: " << errno << std::endl;
} }
} }

14
osal/rtems/PollingTask.cpp
View File

@ -66,10 +66,16 @@ ReturnValue_t PollingTask::startTask() {
} }
} }
ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, ReturnValue_t PollingTask::addSlot(object_id_t componentId,
int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this); if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
return HasReturnvaluesIF::RETURN_OK; pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
uint32_t PollingTask::getPeriodMs() const { uint32_t PollingTask::getPeriodMs() const {

2
parameters/ParameterWrapper.cpp
View File

@ -91,7 +91,7 @@ template<typename T>
ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size, ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
const uint32_t max_size, bool bigEndian) const { const uint32_t max_size, bool bigEndian) const {
const T *element = (const T*) readonlyData; const T *element = (const T*) readonlyData;
ReturnValue_t result; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
uint16_t dataSize = columns * rows; uint16_t dataSize = columns * rows;
while (dataSize != 0) { while (dataSize != 0) {
result = SerializeAdapter<T>::serialize(element, buffer, size, max_size, result = SerializeAdapter<T>::serialize(element, buffer, size, max_size,

6
serviceinterface/ServiceInterfaceStream.h
View File

@ -7,11 +7,15 @@
#include <sstream> #include <sstream>
#include <cstdio> #include <cstdio>
//Unfortunately, there must be a forward declaration of log_fe (MUST be defined in main), to let the system know where to write to. // Unfortunately, there must be a forward declaration of log_fe
// (MUST be defined in main), to let the system know where to write to.
namespace sif {
extern std::ostream debug; extern std::ostream debug;
extern std::ostream info; extern std::ostream info;
extern std::ostream warning; extern std::ostream warning;
extern std::ostream error; extern std::ostream error;
}
class ServiceInterfaceStream : public std::basic_ostream< char, std::char_traits< char > > { class ServiceInterfaceStream : public std::basic_ostream< char, std::char_traits< char > > {
protected: protected:

2
subsystem/SubsystemBase.cpp
View File

@ -88,7 +88,7 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
object_id_t object = tableIter.value->getObject(); object_id_t object = tableIter.value->getObject();
if ((iter = childrenMap.find(object)) == childrenMap.end()) { if ((iter = childrenMap.find(object)) == childrenMap.end()) {
//illegal table entry, should only happen due to misconfigured mode table //illegal table entry, should only happen due to misconfigured mode table
debug << std::hex << getObjectId() << ": invalid mode table entry" sif::debug << std::hex << getObjectId() << ": invalid mode table entry"
<< std::endl; << std::endl;
continue; continue;
} }

2
tcdistribution/PUSDistributor.cpp
View File

@ -31,7 +31,7 @@ iterator_t PUSDistributor::selectDestination() {
} }
if (tcStatus != RETURN_OK) { if (tcStatus != RETURN_OK) {
debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
<< std::endl; << std::endl;
return this->queueMap.end(); return this->queueMap.end();
} else { } else {

6
tcdistribution/TcDistributor.cpp
View File

@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() {
} }
void TcDistributor::print() { void TcDistributor::print() {
debug << "Distributor content is: " << std::endl << "ID\t| message queue id" sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
<< std::endl; << std::endl;
for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end(); for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
it++) { it++) {
debug << it->first << "\t| 0x" << std::hex << it->second << std::dec sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
<< std::endl; << std::endl;
} }
debug << std::dec; sif::debug << std::dec;
} }

6
tmtcpacket/pus/TcPacketBase.cpp
View File

@ -61,11 +61,11 @@ uint8_t TcPacketBase::getPusVersionNumber() {
void TcPacketBase::print() { void TcPacketBase::print() {
uint8_t * wholeData = getWholeData(); uint8_t * wholeData = getWholeData();
debug << "TcPacket contains: " << std::endl; sif::debug << "TcPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count) { for (uint8_t count = 0; count < getFullSize(); ++count) {
debug << std::hex << (uint16_t) wholeData[count] << " "; sif::debug << std::hex << (uint16_t) wholeData[count] << " ";
} }
debug << std::dec << std::endl; sif::debug << std::dec << std::endl;
} }
void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount, void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,

2
tmtcpacket/pus/TcPacketStored.cpp
View File

@ -48,7 +48,7 @@ bool TcPacketStored::checkAndSetStore() {
if (this->store == NULL) { if (this->store == NULL) {
this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE); this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (this->store == NULL) { if (this->store == NULL) {
error << "TcPacketStored::TcPacketStored: TC Store not found!" sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
<< std::endl; << std::endl;
return false; return false;
} }

2
tmtcpacket/pus/TmPacketBase.cpp
View File

@ -63,7 +63,7 @@ bool TmPacketBase::checkAndSetStamper() {
if (timeStamper == NULL) { if (timeStamper == NULL) {
timeStamper = objectManager->get<TimeStamperIF>(timeStamperId); timeStamper = objectManager->get<TimeStamperIF>(timeStamperId);
if (timeStamper == NULL) { if (timeStamper == NULL) {
error << "TmPacketBase::checkAndSetStamper: Stamper not found!" sif::error << "TmPacketBase::checkAndSetStamper: Stamper not found!"
<< std::endl; << std::endl;
return false; return false;
} }

2
tmtcpacket/pus/TmPacketStored.cpp
View File

@ -98,7 +98,7 @@ bool TmPacketStored::checkAndSetStore() {
if (store == NULL) { if (store == NULL) {
store = objectManager->get<StorageManagerIF>(objects::TM_STORE); store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if (store == NULL) { if (store == NULL) {
error << "TmPacketStored::TmPacketStored: TM Store not found!" sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
<< std::endl; << std::endl;
return false; return false;
} }

6
tmtcservices/PusServiceBase.cpp
View File

@ -48,7 +48,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
break; break;
} else { } else {
error << "PusServiceBase::performOperation: Service " sif::error << "PusServiceBase::performOperation: Service "
<< (uint16_t) this->serviceId << (uint16_t) this->serviceId
<< ": Error receiving packet. Code: " << std::hex << status << ": Error receiving packet. Code: " << std::hex << status
<< std::dec << std::endl; << std::dec << std::endl;
@ -59,7 +59,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
return RETURN_OK; return RETURN_OK;
} else { } else {
error << "PusService " << (uint16_t) this->serviceId sif::error << "PusService " << (uint16_t) this->serviceId
<< ": performService returned with " << (int16_t) return_code << ": performService returned with " << (int16_t) return_code
<< std::endl; << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
@ -89,7 +89,7 @@ ReturnValue_t PusServiceBase::initialize() {
distributor->registerService(this); distributor->registerService(this);
return RETURN_OK; return RETURN_OK;
} else { } else {
error << "PusServiceBase::PusServiceBase: Service " sif::error << "PusServiceBase::PusServiceBase: Service "
<< (uint32_t) this->serviceId << ": Configuration error." << (uint32_t) this->serviceId << ": Configuration error."
<< " Make sure packetSource and packetDestination are defined correctly" << std::endl; << " Make sure packetSource and packetDestination are defined correctly" << std::endl;
return RETURN_FAILED; return RETURN_FAILED;

10
tmtcservices/VerificationReporter.cpp
View File

@ -24,7 +24,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
current_packet->getPacketSequenceControl(), 0, set_step); current_packet->getPacketSequenceControl(), 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
error sif::error
<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: " << "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
<< (uint16_t) status << std::endl; << (uint16_t) status << std::endl;
} }
@ -40,7 +40,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
tcSequenceControl, 0, set_step); tcSequenceControl, 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
error sif::error
<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: " << "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
<< (uint16_t) status << std::endl; << (uint16_t) status << std::endl;
} }
@ -59,7 +59,7 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
parameter1, parameter2); parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
error sif::error
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: " << "VerificationReporter::sendFailureReport Error writing to queue. Code: "
<< (uint16_t) status << std::endl; << (uint16_t) status << std::endl;
} }
@ -76,7 +76,7 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
tcSequenceControl, error_code, step, parameter1, parameter2); tcSequenceControl, error_code, step, parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message); ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
error sif::error
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: " << "VerificationReporter::sendFailureReport Error writing to queue. Code: "
<< (uint16_t) status << std::endl; << (uint16_t) status << std::endl;
} }
@ -88,7 +88,7 @@ void VerificationReporter::initialize() {
if (temp != NULL) { if (temp != NULL) {
this->acknowledgeQueue = temp->getVerificationQueue(); this->acknowledgeQueue = temp->getVerificationQueue();
} else { } else {
error sif::error
<< "VerificationReporter::VerificationReporter: Configuration error." << "VerificationReporter::VerificationReporter: Configuration error."
<< std::endl; << std::endl;
} }