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

This commit is contained in:
Robin Müller 2020-11-24 13:46:56 +01:00
commit eb08ef1c1f
145 changed files with 6374 additions and 1056 deletions

0
.gitmodules vendored Normal file
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11
FSFWVersion.h Normal file
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@ -0,0 +1,11 @@
#ifndef FSFW_DEFAULTCFG_VERSION_H_
#define FSFW_DEFAULTCFG_VERSION_H_
const char* const FSFW_VERSION_NAME = "fsfw";
#define FSFW_VERSION 0
#define FSFW_SUBVERSION 0
#endif /* FSFW_DEFAULTCFG_VERSION_H_ */

4
README.md Normal file
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@ -0,0 +1,4 @@
Flight Software Framework (FSFW)
======
I want to be written!

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@ -3,8 +3,9 @@
#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
ActionHelper::ActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue) {
}
ActionHelper::~ActionHelper() {
@ -33,13 +34,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
return HasReturnvaluesIF::RETURN_OK;
}
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, result);
queueToUse->sendMessage(reportTo, &reply);
@ -49,8 +52,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue;
}
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
@ -62,6 +65,11 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, result);
queueToUse->sendMessage(commandedBy, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
@ -86,22 +94,28 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
//We don't need to report the objectId, as we receive REQUESTED data before the completion success message.
//True aperiodic replies need to be reported with another dedicated message.
// We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message.
// True aperiodic replies need to be reported with
// another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress);
//TODO Service Implementation sucks at the moment
if (hideSender){
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} else {
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if ( result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
@ -109,3 +123,39 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
void ActionHelper::resetHelper() {
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, const uint8_t *data, size_t dataSize,
bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
// We don't need to report the objectId, as we receive REQUESTED data
// before the completion success message.
// True aperiodic replies need to be reported with
// another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress);
// If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here.
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result;
}

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@ -1,15 +1,18 @@
#ifndef ACTIONHELPER_H_
#define ACTIONHELPER_H_
#ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_
#include "ActionMessage.h"
#include "../serialize/SerializeIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* \brief Action Helper is a helper class which handles action messages
* @brief Action Helper is a helper class which handles action messages
*
* Components which use the HasActionIF this helper can be used to handle the action messages.
* It does handle step messages as well as other answers to action calls. It uses the executeAction function
* of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
* Components which use the HasActionIF this helper can be used to handle
* the action messages.
* It does handle step messages as well as other answers to action calls.
* It uses the executeAction function of its owner as callback.
* The call of the initialize function is mandatory and needs a
* valid MessageQueueIF pointer!
*/
class HasActionsIF;
@ -18,7 +21,8 @@ public:
/**
* Constructor of the action helper
* @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during initialize function as well.
* @param useThisQueue messageQueue to be used, can be set during
* initialize function as well.
*/
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -26,28 +30,36 @@ public:
/**
* Function to be called from the owner with a new command message
*
* If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
* If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically.
*
* @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/
ReturnValue_t handleActionMessage(CommandMessage* command);
/**
* Helper initialize function. Must be called before use of any other helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
* Helper initialize function. Must be called before use of any other
* helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor
* @return Returns RETURN_OK if successful
*/
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/**
* Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
* Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value.
*
* @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner to send a action completion message
*
@ -55,39 +67,59 @@ public:
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner if an action does report data
*
* @param reportTo MessageQueueId_t to report the action completion message to
* Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false);
/**
* Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
* message queue is unavailable at construction and initialize but must be setup before first call of other functions.
* Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion
* message to
* @param replyId ID of the executed command
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender = false);
/**
* Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper
*/
void setQueueToUse(MessageQueueIF *queue);
protected:
static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
//!< Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;//!< Pointer to the owner
MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
//! Queue to be used as response sender, has to be set in ctor or with
//! setQueueToUse
MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
/**
*Internal function called by handleActionMessage(CommandMessage* command)
*
* Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store
*/
virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress);
/**
*
* @brief Default implementation is empty.
*/
virtual void resetHelper();
};
#endif /* ACTIONHELPER_H_ */
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */

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@ -1,11 +1,12 @@
#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
#define FRAMEWORK_ACTION_HASACTIONSIF_H_
#ifndef FSFW_ACTION_HASACTIONSIF_H_
#define FSFW_ACTION_HASACTIONSIF_H_
#include "ActionHelper.h"
#include "ActionMessage.h"
#include "SimpleActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* @brief
* Interface for component which uses actions
@ -47,14 +48,16 @@ public:
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* Execute or initialize the execution of a certain function.
* Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
* be done. When needing more steps, return RETURN_OK and issue steps and
* completion manually.
* One "step failed" or completion report must be issued!
* The ActionHelpers will execute this function and behave differently
* depending on the returnvalue.
*
* @return
* -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated
*/
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
};
#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
#endif /* FSFW_ACTION_HASACTIONSIF_H_ */

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@ -1,16 +1,17 @@
#include "HasActionsIF.h"
#include "SimpleActionHelper.h"
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
0), lastAction(0), stepCount(0) {
ActionHelper(setOwner, useThisQueue), isExecuting(false) {
}
SimpleActionHelper::~SimpleActionHelper() {
}
void SimpleActionHelper::step(ReturnValue_t result) {
//STEP_OFFESET is subtracted to compensate for adding offset in base method, which is not necessary here.
// STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
result);
if (result != HasReturnvaluesIF::RETURN_OK) {

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@ -1,8 +1,13 @@
#ifndef SIMPLEACTIONHELPER_H_
#define SIMPLEACTIONHELPER_H_
#ifndef FSFW_ACTION_SIMPLEACTIONHELPER_H_
#define FSFW_ACTION_SIMPLEACTIONHELPER_H_
#include "ActionHelper.h"
/**
* @brief This is an action helper which is only able to service one action
* at a time but remembers last commander and last action which
* simplifies usage
*/
class SimpleActionHelper: public ActionHelper {
public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -12,13 +17,14 @@ public:
ReturnValue_t reportData(SerializeIF* data);
protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
virtual void resetHelper();
private:
bool isExecuting;
MessageQueueId_t lastCommander;
ActionId_t lastAction;
uint8_t stepCount;
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
ActionId_t lastAction = 0;
uint8_t stepCount = 0;
};
#endif /* SIMPLEACTIONHELPER_H_ */

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@ -9,6 +9,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
mutex = MutexFactory::instance()->createMutex();
}
SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
const size_t size, bool overwriteOld, size_t maxExcessBytes):
SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
@ -16,6 +17,11 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
mutex = MutexFactory::instance()->createMutex();
}
void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
this->fifoDepth = fifoDepth;
}
ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
return mutex->lockMutex(timeoutType, timeout);
@ -25,6 +31,25 @@ ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
return mutex->unlockMutex();
}
MutexIF* SharedRingBuffer::getMutexHandle() const {
return mutex;
}
ReturnValue_t SharedRingBuffer::initialize() {
if(fifoDepth > 0) {
receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
}
return SystemObject::initialize();
}
DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
if(receiveSizesFIFO == nullptr) {
// Configuration error.
sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
<< " was not configured to have sizes FIFO, returning nullptr!"
<< std::endl;
}
return receiveSizesFIFO;
}

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@ -2,6 +2,7 @@
#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
#include "SimpleRingBuffer.h"
#include "DynamicFIFO.h"
#include "../ipc/MutexIF.h"
#include "../objectmanager/SystemObject.h"
#include "../timemanager/Clock.h"
@ -26,6 +27,16 @@ public:
SharedRingBuffer(object_id_t objectId, const size_t size,
bool overwriteOld, size_t maxExcessBytes);
/**
* @brief This function can be used to add an optional FIFO to the class
* @details
* This FIFO will be allocated in the initialize function (and will
* have a fixed maximum size after that). It can be used to store
* values like packet sizes, for example for a shared ring buffer
* used by producer/consumer tasks.
*/
void setToUseReceiveSizeFIFO(size_t fifoDepth);
/**
* This constructor takes an external buffer with the specified size.
* @param buffer
@ -59,8 +70,21 @@ public:
* @return
*/
MutexIF* getMutexHandle() const;
ReturnValue_t initialize() override;
/**
* If the shared ring buffer was configured to have a sizes FIFO, a handle
* to that FIFO can be retrieved with this function.
* Do not forget to protect access with a lock if required!
* @return
*/
DynamicFIFO<size_t>* getReceiveSizesFIFO();
private:
MutexIF* mutex = nullptr;
size_t fifoDepth = 0;
DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
};

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defaultcfg/README.md Normal file
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@ -0,0 +1,6 @@
# How to setup configuration folder for FSFW
It is recommended to copy the content of the defaultcfg folder
into a config folder which is in the same directory as the Flight
Software Framework submodule. After that, the config.mk folder should be
included by the primary Makefile with CURRENTPATH set correctly.

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@ -0,0 +1,54 @@
#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 0
#if FSFW_OBJ_EVENT_TRANSLATION == 1
#define FSFW_DEBUG_OUTPUT 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#else
#define FSFW_DEBUG_OUTPUT 0
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
//! short timestamp.
static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
#endif /* CONFIG_FSFWCONFIG_H_ */

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@ -0,0 +1,16 @@
#ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_
#include "OBSWVersion.h"
#ifdef __cplusplus
namespace config {
#endif
/* Add mission configuration flags here */
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_OBSWCONFIG_H_ */

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@ -0,0 +1,9 @@
#ifndef CONFIG_VERSION_H_
#define CONFIG_VERSION_H_
/* OBSW versioning can be specified in this file */
#define OBSW_VERSION 0
#define OBSW_SUBVERSION 0
#endif /* CONFIG_VERSION_H_ */

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@ -0,0 +1,15 @@
CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/tmtc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
INCLUDES += $(CURRENTPATH)
INCLUDES += $(CURRENTPATH)/objects
INCLUDES += $(CURRENTPATH)/returnvalues
INCLUDES += $(CURRENTPATH)/tmtc
INCLUDES += $(CURRENTPATH)/events
INCLUDES += $(CURRENTPATH)/devices
INCLUDES += $(CURRENTPATH)/pollingsequence
INCLUDES += $(CURRENTPATH)/ipc

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@ -0,0 +1,5 @@
#include "logicalAddresses.h"

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@ -0,0 +1,18 @@
#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
#define CONFIG_DEVICES_LOGICALADDRESSES_H_
#include <config/objects/systemObjectList.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <cstdint>
/**
* Can be used for addresses for physical devices like I2C adresses.
*/
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t {
};
}
#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */

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@ -0,0 +1,4 @@
#include "powerSwitcherList.h"

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@ -0,0 +1,12 @@
#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
namespace switches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum switcherList {
};
}
#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */

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@ -0,0 +1,18 @@
#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <cstdint>
#include <fsfw/events/fwSubsystemIdRanges.h>
/**
* @brief Custom subsystem IDs can be added here
* @details
* Subsystem IDs are used to create unique events.
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
};
}
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

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@ -0,0 +1,11 @@
#include <config/ipc/MissionMessageTypes.h>
#include <fsfw/ipc/CommandMessageIF.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
switch(message->getMessageType()) {
default:
break;
}
}

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@ -0,0 +1,21 @@
#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/ipc/FwMessageTypes.h>
/**
* Custom command messages are specified here.
* Most messages needed to use FSFW are already located in
* <fsfw/ipc/FwMessageTypes.h>
* @param message Generic Command Message
*/
namespace messagetypes {
enum CustomMessageTypes {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT
};
void clearMissionMessage(CommandMessage* message);
}
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

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@ -0,0 +1,54 @@
#include "Factory.h"
#include "../tmtc/apid.h"
#include "../tmtc/pusIds.h"
#include "../objects/systemObjectList.h"
#include "../devices/logicalAddresses.h"
#include "../devices/powerSwitcherList.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <cstdint>
/**
* This class should be used to create all system objects required for
* the on-board software, using the object ID list from the configuration
* folder.
*
* The objects are registered in the internal object manager automatically.
* This is used later to add objects to tasks.
*
* This file also sets static framework IDs.
*
* Framework objects are created first.
* @ingroup init
*/
void Factory::produce(void) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
TmPacketStored::timeStamperId = objects::PUS_TIME;
//TmFunnel::downlinkDestination = objects::NO_OBJECT;
}

View File

@ -0,0 +1,17 @@
#ifndef FACTORY_H_
#define FACTORY_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <cstddef>
namespace Factory {
/**
* @brief Creates all SystemObject elements which are persistent
* during execution.
*/
void produce();
void setStaticFrameworkObjectIds();
}
#endif /* FACTORY_H_ */

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@ -0,0 +1,16 @@
#ifndef CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <cstdint>
#include <fsfw/objectmanager/frameworkObjects.h>
// The objects will be instantiated in the ID order
namespace objects {
enum sourceObjects: uint32_t {
/* All addresses between start and end are reserved for the FSFW */
FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION,
FSFW_CONFIG_RESERVED_END = TM_STORE
};
}
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

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@ -0,0 +1,23 @@
#include "PollingSequenceFactory.h"
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
ReturnValue_t pst::pollingSequenceInitDefault(
FixedTimeslotTaskIF *thisSequence) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
/* Add polling sequence table here */
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}

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@ -0,0 +1,32 @@
#ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
class FixedTimeslotTaskIF;
/**
* All device handlers are scheduled by adding them into Polling Sequence Tables (PST)
* to satisfy stricter timing requirements of device communication,
* A device handler has four different communication steps:
* 1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
* 2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
* 3. DeviceHandlerIF::SEND_READ -> Send read request
* 4. DeviceHandlerIF::GET_READ -> Read from interface
* The PST specifies precisely when the respective ComIF functions are called
* during the communication cycle time.
* The task is created using the FixedTimeslotTaskIF,
* which utilises the underlying Operating System Abstraction Layer (OSAL)
*
* @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST
* @return
*/
namespace pst {
/* Default PST */
ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
}
#endif /* POLLINGSEQUENCEINIT_H_ */

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@ -0,0 +1,16 @@
#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
#define CONFIG_RETURNVALUES_CLASSIDS_H_
#include <fsfw/returnvalues/FwClassIds.h>
/**
* @brief CLASS_ID defintions which are required for custom returnvalues.
*/
namespace CLASS_ID {
enum {
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
};
}
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

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@ -0,0 +1,18 @@
#ifndef CONFIG_TMTC_APID_H_
#define CONFIG_TMTC_APID_H_
#include <cstdint>
/**
* Application Process Definition: entity, uniquely identified by an
* application process ID (APID), capable of generating telemetry source
* packets and receiving telecommand packets.
*
* Chose APID(s) for mission and define it here.
*/
namespace apid {
static const uint16_t DEFAULT_APID = 0x00;
}
#endif /* CONFIG_TMTC_APID_H_ */

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@ -0,0 +1,23 @@
#ifndef CONFIG_TMTC_PUSIDS_HPP_
#define CONFIG_TMTC_PUSIDS_HPP_
namespace pus {
enum Ids: uint8_t {
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,
PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9,
PUS_SERVICE_11 = 11,
PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201,
};
};
#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

View File

@ -1224,7 +1224,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (result == BUSY) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Busy" << std::endl;
<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
result = NOTHING_TO_SEND; //no need to report this
}
}

View File

@ -18,6 +18,8 @@ public:
static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
static constexpr Command_t NO_COMMAND = 0xffffffff;
/**
* @brief This is the mode the <strong>device handler</strong> is in.
*

View File

@ -4,7 +4,7 @@
#include <stdint.h>
#include "fwSubsystemIdRanges.h"
//could be move to more suitable location
#include <config/tmtc/subsystemIdRanges.h>
#include <subsystemIdRanges.h>
typedef uint16_t EventId_t;
typedef uint8_t EventSeverity_t;

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@ -1,5 +1,7 @@
#include "EventManager.h"
#include "EventMessage.h"
#include <FSFWConfig.h>
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../ipc/QueueFactory.h"
#include "../ipc/MutexFactory.h"
@ -12,8 +14,10 @@ const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
// objects registering for certain events.
// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
// So a good guess is 75 to a max of 100 pools required for each, which fits well.
// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
const uint16_t EventManager::N_ELEMENTS[N_POOLS] = {
fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES ,
fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS };
EventManager::EventManager(object_id_t setObjectId) :
SystemObject(setObjectId),

15
fsfw.mk
View File

@ -28,12 +28,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
# select the OS
ifeq ($(OS_FSFW),rtems)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
else ifeq ($(OS_FSFW),linux)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
else ifeq ($(OS_FSFW),freeRTOS)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
else ifeq ($(OS_FSFW),host)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
ifeq ($(OS),Windows_NT)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
else
# For now, the linux UDP bridge sources needs to be included manually by upper makefile
# for host OS because we can't be sure the OS is linux.
# Following lines can be used to do this:
# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
endif
else
$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
endif
@ -57,3 +70,5 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
INCLUDES += $(CURRENTPATH)

View File

@ -1,5 +1,5 @@
#ifndef HASHEALTHIF_H_
#define HASHEALTHIF_H_
#ifndef FSFW_HEALTH_HASHEALTHIF_H_
#define FSFW_HEALTH_HASHEALTHIF_H_
#include "../events/Event.h"
#include "../returnvalues/HasReturnvaluesIF.h"
@ -8,9 +8,13 @@
class HasHealthIF {
public:
typedef enum {
HEALTHY = 1, FAULTY = 0, EXTERNAL_CONTROL = 2, NEEDS_RECOVERY = 3, PERMANENT_FAULTY = 4
} HealthState;
enum HealthState: uint8_t {
HEALTHY = 1,
FAULTY = 0,
EXTERNAL_CONTROL = 2,
NEEDS_RECOVERY = 3,
PERMANENT_FAULTY = 4
};
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
@ -31,20 +35,17 @@ public:
virtual MessageQueueId_t getCommandQueue() const = 0;
/**
* set the Health State
*
* @brief Set the Health State
* The parent will be informed, if the Health changes
*
* @param health
*/
virtual ReturnValue_t setHealth(HealthState health) = 0;
/**
* get Health State
*
* @brief Get Health State
* @return Health State of the object
*/
virtual HasHealthIF::HealthState getHealth() = 0;
};
#endif /* HASHEALTHIF_H_ */
#endif /* FSFW_HEALTH_HASHEALTHIF_H_ */

View File

@ -12,13 +12,15 @@
#include "../returnvalues/HasReturnvaluesIF.h"
/**
* Helper class for Objects that implement HasHealthIF
* @brief Helper class for Objects that implement HasHealthIF
* @details
* It takes care of registering with the Health Table as well as handling
* health commands (including replying to the sender) and updating
* the Health Table.
*
* It takes care of registering with the Health Table as well as handling health commands
* (including replying to the sender) and updating the Health Table.
*
* If a parent is set in the ctor, the parent will be informed with a @c HEALTH_INFO message
* about changes in the health state. Note that a @c HEALTH_INFO is only generated if the Health
* If a parent is set in the ctor, the parent will be informed with a
* @c HEALTH_INFO message about changes in the health state.
* Note that a @c HEALTH_INFO is only generated if the Health
* changes, not for all @c HEALTH_SET commands received.
*
* It does NOT handle @c HEALTH_INFO messages
@ -27,10 +29,9 @@ class HealthHelper {
public:
/**
* ctor
*
* @param owner
* @param objectId the object Id to use when communication with the HealthTable
* @param objectId The object Id to use when communication with
* the HealthTable
*/
HealthHelper(HasHealthIF* owner, object_id_t objectId);
@ -57,7 +58,8 @@ public:
* @param message
* @return
* -@c RETURN_OK if the message was handled
* -@c RETURN_FAILED if the message could not be handled (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
* -@c RETURN_FAILED if the message could not be handled
* (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
*/
ReturnValue_t handleHealthCommand(CommandMessage *message);
@ -78,15 +80,18 @@ public:
HasHealthIF::HealthState getHealth();
/**
* @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
* @param parentQueue The queue ID of the parent object.
* Set to 0 if no parent present
*/
void setParentQueue(MessageQueueId_t parentQueue);
/**
*
* @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
* @param parentQueue The queue ID of the parent object.
* Set to 0 if no parent present
* @return
* -@c RETURN_OK if the Health Table was found and the object could be registered
* -@c RETURN_OK if the Health Table was found and the object
* could be registered
* -@c RETURN_FAILED else
*/
ReturnValue_t initialize(MessageQueueId_t parentQueue );
@ -110,11 +115,15 @@ private:
HasHealthIF* owner;
/**
* if the #parentQueue is not NULL, a @c HEALTH_INFO message will be sent to this queue
* @param health the health is passed as parameter so that the number of calls to the health table can be minimized
* if the #parentQueue is not NULL, a @c HEALTH_INFO message
* will be sent to this queue
* @param health
* The health is passed as parameter so that the number of
* calls to the health table can be minimized
* @param oldHealth information of the previous health state.
*/
void informParent(HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth);
void informParent(HasHealthIF::HealthState health,
HasHealthIF::HealthState oldHealth);
void handleSetHealthCommand(CommandMessage *message);
};

View File

@ -7,11 +7,13 @@ void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command,
message->setParameter2(oldHealth);
}
void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command) {
void HealthMessage::setHealthMessage(CommandMessage* message,
Command_t command) {
message->setCommand(command);
}
HasHealthIF::HealthState HealthMessage::getHealth(const CommandMessage* message) {
HasHealthIF::HealthState HealthMessage::getHealth(
const CommandMessage* message) {
return (HasHealthIF::HealthState) message->getParameter();
}

View File

@ -1,5 +1,5 @@
#ifndef HEALTHMESSAGE_H_
#define HEALTHMESSAGE_H_
#ifndef FSFW_HEALTH_HEALTHMESSAGE_H_
#define FSFW_HEALTH_HEALTHMESSAGE_H_
#include "HasHealthIF.h"
#include "../ipc/CommandMessage.h"
@ -7,14 +7,20 @@
class HealthMessage {
public:
static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3); //NO REPLY!
static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);
// No reply expected, health will be announced as event!
static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(2);
// Same as before, but all objects in health table will
// announce their health as events.
static const Command_t HEALTH_ANNOUNCE_ALL = MAKE_COMMAND_ID(3);
static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);
static const Command_t REPLY_HEALTH_SET = MAKE_COMMAND_ID(6);
static void setHealthMessage(CommandMessage *message, Command_t command,
HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
HasHealthIF::HealthState health,
HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
static void setHealthMessage(CommandMessage *message, Command_t command);
static HasHealthIF::HealthState getHealth(const CommandMessage *message);
@ -27,4 +33,4 @@ private:
HealthMessage();
};
#endif /* HEALTHMESSAGE_H_ */
#endif /* FSFW_HEALTH_HEALTHMESSAGE_H_ */

View File

@ -1,6 +1,7 @@
#include "HealthTable.h"
#include "../serialize/SerializeAdapter.h"
#include "../ipc/MutexHelper.h"
#include "../ipc/MutexFactory.h"
#include "../serialize/SerializeAdapter.h"
HealthTable::HealthTable(object_id_t objectid) :
SystemObject(objectid) {
@ -9,6 +10,12 @@ HealthTable::HealthTable(object_id_t objectid) :
mapIterator = healthMap.begin();
}
void HealthTable::setMutexTimeout(MutexIF::TimeoutType timeoutType,
uint32_t timeoutMs) {
this->timeoutType = timeoutType;
this->mutexTimeoutMs = timeoutMs;
}
HealthTable::~HealthTable() {
MutexFactory::instance()->deleteMutex(mutex);
}
@ -18,74 +25,63 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
if (healthMap.count(object) != 0) {
return HasReturnvaluesIF::RETURN_FAILED;
}
healthMap.insert(
std::pair<object_id_t, HasHealthIF::HealthState>(object,
initilialState));
healthMap.emplace(object, initilialState);
return HasReturnvaluesIF::RETURN_OK;
}
void HealthTable::setHealth(object_id_t object,
HasHealthIF::HealthState newState) {
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
iter->second = newState;
}
mutex->unlockMutex();
}
HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
state = iter->second;
}
mutex->unlockMutex();
return state;
}
uint32_t HealthTable::getPrintSize() {
mutex->lockMutex(MutexIF::BLOCKING);
uint32_t size = healthMap.size() * 5 + 2;
mutex->unlockMutex();
bool HealthTable::hasHealth(object_id_t object) {
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
return true;
}
return false;
}
size_t HealthTable::getPrintSize() {
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
uint32_t size = healthMap.size() * sizeof(object_id_t) +
sizeof(HasHealthIF::HealthState) + sizeof(uint16_t);
return size;
}
bool HealthTable::hasHealth(object_id_t object) {
bool exits = false;
mutex->lockMutex(MutexIF::BLOCKING);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
exits = true;
}
mutex->unlockMutex();
return exits;
}
void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
size_t size = 0;
uint16_t count = healthMap.size();
ReturnValue_t result = SerializeAdapter::serialize(&count,
SerializeAdapter::serialize(&count,
&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
HealthMap::iterator iter;
for (iter = healthMap.begin();
iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
++iter) {
result = SerializeAdapter::serialize(&iter->first,
for (const auto& health: healthMap) {
SerializeAdapter::serialize(&health.first,
&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
uint8_t health = iter->second;
result = SerializeAdapter::serialize(&health, &pointer, &size,
uint8_t healthValue = health.second;
SerializeAdapter::serialize(&healthValue, &pointer, &size,
maxSize, SerializeIF::Endianness::BIG);
}
mutex->unlockMutex();
}
ReturnValue_t HealthTable::iterate(
std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
mutex->lockMutex(MutexIF::BLOCKING);
MutexHelper(mutex, timeoutType, mutexTimeoutMs);
if (reset) {
mapIterator = healthMap.begin();
}
@ -94,7 +90,5 @@ ReturnValue_t HealthTable::iterate(
}
*value = *mapIterator;
mapIterator++;
mutex->unlockMutex();
return result;
}

View File

@ -1,35 +1,47 @@
#ifndef HEALTHTABLE_H_
#define HEALTHTABLE_H_
#ifndef FSFW_HEALTH_HEALTHTABLE_H_
#define FSFW_HEALTH_HEALTHTABLE_H_
#include "HealthTableIF.h"
#include "../objectmanager/SystemObject.h"
#include "../ipc/MutexIF.h"
#include <map>
typedef std::map<object_id_t, HasHealthIF::HealthState> HealthMap;
class HealthTable: public HealthTableIF, public SystemObject {
public:
HealthTable(object_id_t objectid);
virtual ~HealthTable();
void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
/** HealthTableIF overrides */
virtual ReturnValue_t registerObject(object_id_t object,
HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY);
HasHealthIF::HealthState initilialState =
HasHealthIF::HEALTHY) override;
virtual size_t getPrintSize() override;
virtual void printAll(uint8_t *pointer, size_t maxSize) override;
virtual bool hasHealth(object_id_t object);
virtual void setHealth(object_id_t object, HasHealthIF::HealthState newState);
virtual HasHealthIF::HealthState getHealth(object_id_t);
virtual uint32_t getPrintSize();
virtual void printAll(uint8_t *pointer, size_t maxSize);
/** ManagesHealthIF overrides */
virtual bool hasHealth(object_id_t object) override;
virtual void setHealth(object_id_t object,
HasHealthIF::HealthState newState) override;
virtual HasHealthIF::HealthState getHealth(object_id_t) override;
protected:
using HealthMap = std::map<object_id_t, HasHealthIF::HealthState>;
using HealthEntry = std::pair<object_id_t, HasHealthIF::HealthState>;
MutexIF* mutex;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t mutexTimeoutMs = 20;
HealthMap healthMap;
HealthMap::iterator mapIterator;
virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false);
virtual ReturnValue_t iterate(
HealthEntry* value,
bool reset = false) override;
};
#endif /* HEALTHTABLE_H_ */
#endif /* FSFW_HEALTH_HEALTHTABLE_H_ */

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@ -1,26 +1,24 @@
#ifndef HEALTHTABLEIF_H_
#define HEALTHTABLEIF_H_
#ifndef FSFW_HEALTH_HEALTHTABLEIF_H_
#define FSFW_HEALTH_HEALTHTABLEIF_H_
#include "ManagesHealthIF.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <map>
class HealthTableIF: public ManagesHealthIF {
friend class HealthCommandingService;
public:
virtual ~HealthTableIF() {
}
virtual ~HealthTableIF() {}
virtual ReturnValue_t registerObject(object_id_t object,
HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
virtual uint32_t getPrintSize() = 0;
virtual size_t getPrintSize() = 0;
virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
protected:
virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false) = 0;
virtual ReturnValue_t iterate(
std::pair<object_id_t,HasHealthIF::HealthState> *value,
bool reset = false) = 0;
};
#endif /* HEALTHTABLEIF_H_ */
#endif /* FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ */

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@ -1,8 +1,9 @@
#ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
#define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
#ifndef FSFW_HEALTH_MANAGESHEALTHIF_H_
#define FSFW_HEALTH_MANAGESHEALTHIF_H_
#include "HasHealthIF.h"
#include "../objectmanager/ObjectManagerIF.h"
class ManagesHealthIF {
public:
virtual ~ManagesHealthIF() {
@ -49,4 +50,4 @@ public:
}
};
#endif /* FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ */
#endif /* FSFW_HEALTH_MANAGESHEALTHIF_H_ */

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@ -1,61 +1,77 @@
#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
#define FSFW_IPC_MESSAGEQUEUEIF_H_
// COULDDO: We could support blocking calls
#include "messageQueueDefinitions.h"
#include "MessageQueueMessage.h"
#include "MessageQueueMessageIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
// COULDDO: We could support blocking calls
// semaphores are being implemented, which makes this idea even more iteresting.
/**
* @defgroup message_queue Message Queue
* @brief Message Queue related software components
*/
class MessageQueueIF {
public:
static const MessageQueueId_t NO_QUEUE = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
/**
* No new messages on the queue
*/
//! No new messages on the queue
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
/**
* No space left for more messages
*/
//! No space left for more messages
static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
/**
* Returned if a reply method was called without partner
*/
//! Returned if a reply method was called without partner
static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
//! Returned if the target destination is invalid.
static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
virtual ~MessageQueueIF() {}
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
* \return RETURN_OK if ok
* \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
* @details
* This operation simplifies answering an incoming message by using the
* stored lastParnter information as destination. If there was no message
* received yet (i.e. lastPartner is zero), an error code is returned.
* @param message
* A pointer to a previously created message, which is sent.
* @return
* -@c RETURN_OK if ok
* -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found.
*/
virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
* @brief This function reads available messages from the message queue
* and returns the sender.
* @details
* It works identically to the other receiveMessage call, but in addition
* returns the sender's queue id.
* @param message
* A pointer to a message in which the received data is stored.
* @param receivedFrom
* A pointer to a queue id in which the sender's id is stored.
*/
virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) = 0;
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in the
* lastPartner attribute. Else, the lastPartner information remains untouched, the
* message's content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
* @details
* If data is available it is stored in the passed message pointer.
* The message's original content is overwritten and the sendFrom
* information is stored in theblastPartner attribute. Else, the lastPartner
* information remains untouched, the message's content is cleared and the
* function returns immediately.
* @param message
* A pointer to a message in which the received data is stored.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::EMPTY if queue is empty
*/
virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0;
virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
@ -63,57 +79,89 @@ public:
*/
virtual ReturnValue_t flush(uint32_t* count) = 0;
/**
* @brief This method returns the message queue id of the last communication partner.
* @brief This method returns the message queue
* id of the last communication partner.
*/
virtual MessageQueueId_t getLastPartner() const = 0;
/**
* @brief This method returns the message queue id of this class's message queue.
* @brief This method returns the message queue
* id of this class's message queue.
*/
virtual MessageQueueId_t getId() const = 0;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full (if implemented).
* @brief With the sendMessage call, a queue message
* is sent to a receiving queue.
* @details
* This method takes the message provided, adds the sentFrom information
* and passes it on to the destination provided with an operating system
* call. The OS's returnvalue is returned.
* @param sendTo
* This parameter specifies the message queue id to send the message to.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id
* into the message. This variable is set to zero by default.
* @param ignoreFault
* If set to true, the internal software fault counter is not incremented
* if queue is full (if implemented).
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
* queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false ) = 0;
/**
* \brief The sendToDefaultFrom method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* @brief This operation sends a message to the given destination.
* @details
* It directly uses the sendMessage call of the MessageQueueSender parent,
* but passes its queue id as "sentFrom" parameter.
* @param sendTo
* This parameter specifies the message queue id of the destination
* message queue.
* @param message
* A pointer to a previously created message, which is sent.
* @param ignoreFault
* If set to true, the internal software fault counter is not incremented
* if queue is full.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault = false ) = 0;
/**
* @brief The sendToDefaultFrom method sends a queue message
* to the default destination.
* @details
* In all other aspects, it works identical to the sendMessage method.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id
* into the message. This variable is set to zero by default.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* Implementation class and adds its queue id as "sentFrom" information.
* @details
* As in the sendMessage method, this function uses the sendToDefault
* call of the Implementation class and adds its queue id as
* "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
* @return -@c RETURN_OK on success
* -@c MessageQueueIF::FULL if queue is full
*/
virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) = 0;
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) = 0;
/**
* \brief This method is a simple setter for the default destination.
* @brief This method is a simple setter for the default destination.
*/
virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0;
/**
* \brief This method is a simple getter for the default destination.
* @brief This method is a simple getter for the default destination.
*/
virtual MessageQueueId_t getDefaultDestination() const = 0;
@ -122,4 +170,4 @@ public:
#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */
#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

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@ -1,8 +1,8 @@
#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../ipc/MessageQueueMessageIF.h"
#include "MessageQueueIF.h"
#include "MessageQueueMessageIF.h"
#include "../objectmanager/ObjectManagerIF.h"
class MessageQueueSenderIF {
@ -15,7 +15,7 @@ public:
* Not sure whether this is actually a good idea.
*/
static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message,
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
bool ignoreFault = false);
private:

View File

@ -1,8 +1,10 @@
#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
#define FRAMEWORK_IPC_QUEUEFACTORY_H_
#ifndef FSFW_IPC_QUEUEFACTORY_H_
#define FSFW_IPC_QUEUEFACTORY_H_
#include "MessageQueueIF.h"
#include <stdint.h>
#include "MessageQueueMessage.h"
#include <cstdint>
/**
* Creates message queues.
* This class is a "singleton" interface, i.e. it provides an
@ -30,4 +32,4 @@ private:
static QueueFactory* factoryInstance;
};
#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */
#endif /* FSFW_IPC_QUEUEFACTORY_H_ */

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@ -1,42 +1,76 @@
#include "MessageQueue.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
defaultDestination(0),lastPartner(0) {
handle = xQueueCreate(message_depth, max_message_size);
if (handle == NULL) {
sif::error << "MessageQueue creation failed" << std::endl;
// TODO I guess we should have a way of checking if we are in an ISR and then
// use the "fromISR" versions of all calls
// As a first step towards this, introduces system context variable which needs
// to be switched manually
// Haven't found function to find system context.
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) {
sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
}
}
MessageQueue::~MessageQueue() {
if (handle != NULL) {
if (handle != nullptr) {
vQueueDelete(handle);
}
}
void MessageQueue::switchSystemContext(CallContext callContext) {
this->callContext = callContext;
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
if (this->lastPartner != 0) {
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
callContext);
}
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
if (result != pdPASS) {
if (not ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->
get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != nullptr) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
if(status == HasReturnvaluesIF::RETURN_OK) {
@ -45,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
message->getBuffer()), 0);
if (result == pdPASS){
this->lastPartner = message->getSender();
return HasReturnvaluesIF::RETURN_OK;
@ -67,51 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
}
MessageQueueId_t MessageQueue::getId() const {
return (MessageQueueId_t) handle;
return reinterpret_cast<MessageQueueId_t>(handle);
}
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
defaultDestinationSet = true;
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return defaultDestination;
}
bool MessageQueue::isDefaultDestinationSet() const {
return 0;
return defaultDestinationSet;
}
// static core function to send messages.
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault, CallContext callContext) {
BaseType_t result = pdFALSE;
QueueHandle_t destination = nullptr;
if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
return MessageQueueIF::DESTINVATION_INVALID;
}
else {
destination = reinterpret_cast<QueueHandle_t>(sendTo);
}
message->setSender(sentFrom);
BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
if(callContext == CallContext::TASK) {
result = xQueueSendToBack(destination,
static_cast<const void*>(message->getBuffer()), 0);
}
else {
/* If the call context is from an interrupt,
* request a context switch if a higher priority task
* was blocked by the interrupt. */
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
static_cast<const void*>(message->getBuffer()),
&xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken == pdTRUE) {
TaskManagement::requestContextSwitch(callContext);
}
}
return handleSendResult(result, ignoreFault);
}

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@ -1,159 +1,150 @@
#ifndef MESSAGEQUEUE_H_
#define MESSAGEQUEUE_H_
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
#include "../../ipc/MessageQueueMessage.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <FreeRTOS.h>
#include <queue.h>
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>
#include <fsfw/ipc/MessageQueueMessage.h>
//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
// TODO: this class assumes that MessageQueueId_t is the same size as void*
// (the FreeRTOS handle type), compiler will catch this but it might be nice
// to have something checking or even an always working solution
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
/**
* @brief This class manages sending and receiving of message queue messages.
*
* @details Message queues are used to pass asynchronous messages between processes.
* @brief This class manages sending and receiving of
* message queue messages.
* @details
* Message queues are used to pass asynchronous messages between processes.
* They work like post boxes, where all incoming messages are stored in FIFO
* order. This class creates a new receiving queue and provides methods to fetch
* received messages. Being a child of MessageQueueSender, this class also provides
* methods to send a message to a user-defined or a default destination. In addition
* it also provides a reply method to answer to the queue it received its last message
* from.
* The MessageQueue should be used as "post box" for a single owning object. So all
* message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class makes
* use of the operating system calls provided.
* \ingroup message_queue
* received messages. Being a child of MessageQueueSender, this class also
* provides methods to send a message to a user-defined or a default destination.
* In addition it also provides a reply method to answer to the queue it
* received its last message from.
*
* The MessageQueue should be used as "post box" for a single owning object.
* So all message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class
* makes use of the operating system calls provided.
*
* Please keep in mind that FreeRTOS offers different calls for message queue
* operations if called from an ISR.
* For now, the system context needs to be switched manually.
* @ingroup osal
* @ingroup message_queue
*/
class MessageQueue : public MessageQueueIF {
friend class MessageQueueSenderIF;
public:
/**
* @brief The constructor initializes and configures the message queue.
* @details By making use of the according operating system call, a message queue is created
* and initialized. The message depth - the maximum number of messages to be
* buffered - may be set with the help of a parameter, whereas the message size is
* automatically set to the maximum message queue message size. The operating system
* sets the message queue id, or i case of failure, it is set to zero.
* @param message_depth The number of messages to be buffered before passing an error to the
* @details
* By making use of the according operating system call, a message queue
* is created and initialized. The message depth - the maximum number of
* messages to be buffered - may be set with the help of a parameter,
* whereas the message size is automatically set to the maximum message
* queue message size. The operating system sets the message queue id, or
* in case of failure, it is set to zero.
* @param message_depth
* The number of messages to be buffered before passing an error to the
* sender. Default is three.
* @param max_message_size With this parameter, the maximum message size can be adjusted.
* @param max_message_size
* With this parameter, the maximum message size can be adjusted.
* This should be left default.
*/
MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
MessageQueue( size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/**
* @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system.
* @details This is accomplished by using the delete call provided
* by the operating system.
*/
virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
* queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
* This function is used to switch the call context. This has to be called
* if a message is sent or received from an ISR!
* @param callContext
*/
void switchSystemContext(CallContext callContext);
/** MessageQueueIF implementation */
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault = false );
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t sendToDefault( MessageQueueMessage* message );
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply( MessageQueueMessage* message );
MessageQueueMessageIF* message, bool ignoreFault = false) override;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message,
MessageQueueId_t *receivedFrom);
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in the
* lastPartner attribute. Else, the lastPartner information remains untouched, the
* message's content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
* @return RETURN_OK on success.
*/
ReturnValue_t flush(uint32_t* count);
/**
* @brief This method returns the message queue id of the last communication partner.
*/
MessageQueueId_t getLastPartner() const;
/**
* @brief This method returns the message queue id of this class's message queue.
*/
MessageQueueId_t getId() const;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination);
/**
* \brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const;
ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
MessageQueueId_t getLastPartner() const override;
MessageQueueId_t getId() const override;
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
bool isDefaultDestinationSet() const;
protected:
/**
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
* @brief Implementation to be called from any send Call within
* MessageQueue and MessageQueueSenderIF.
* @details
* This method takes the message provided, adds the sentFrom information and
* passes it on to the destination provided with an operating system call.
* The OS's return value is returned.
* @param sendTo
* This parameter specifies the message queue id to send the message to.
* @param message
* This is a pointer to a previously created message, which is sent.
* @param sentFrom
* The sentFrom information can be set to inject the sender's queue id into
* the message. This variable is set to zero by default.
* @param ignoreFault
* If set to true, the internal software fault counter is not incremented
* if queue is full.
* @param context Specify whether call is made from task or from an ISR.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private:
bool defaultDestinationSet = false;
QueueHandle_t handle;
MessageQueueId_t defaultDestination;
MessageQueueId_t lastPartner;
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
const size_t maxMessageSize;
//! Stores the current system context
CallContext callContext = CallContext::TASK;
};
#endif /* MESSAGEQUEUE_H_ */
#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */

View File

@ -1,14 +1,14 @@
#include "MessageQueue.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/QueueFactory.h"
#include "MessageQueue.h"
QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);

View File

@ -1,6 +1,11 @@
#include "MessageQueue.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../ipc/QueueFactory.h"
#include "../../osal/host/MessageQueue.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
QueueFactory* QueueFactory::factoryInstance = nullptr;

View File

@ -9,9 +9,11 @@
#include <errno.h>
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE) {
defaultDestination(MessageQueueIF::NO_QUEUE),
maxMessageSize(maxMessageSize) {
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
mq_attr attributes;
this->id = 0;
@ -46,7 +48,7 @@ MessageQueue::~MessageQueue() {
status = mq_unlink(name);
if(status != 0){
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
<< strerror(errno) <<std::endl;
<< strerror(errno) << std::endl;
}
}
@ -61,22 +63,27 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
// This happens if the msg_max value is not large enough
// It is ignored if the executable is run in privileged mode.
// Run the unlockRealtime script or grant the mode manually by using:
// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
// Persistent solution for session:
// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
// Permanent solution:
// sudo nano /etc/sysctl.conf
// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
// Apply changes with: sudo sysctl -p
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
sif::error << "MessageQueue::MessageQueue: Default MQ size "
<< defaultMqMaxMsg << " is too small for requested size "
<< messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" << std::endl;
}
break;
}
@ -118,15 +125,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault) {
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
@ -134,21 +141,34 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if(message == nullptr) {
sif::error << "MessageQueue::receiveMessage: Message is "
"nullptr!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(message->getMaximumMessageSize() < maxMessageSize) {
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
unsigned int messagePriority = 0;
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
message->MAX_MESSAGE_SIZE,&messagePriority);
message->getMaximumMessageSize(),&messagePriority);
if (status > 0) {
this->lastPartner = message->getSender();
//Check size of incoming message.
if (message->messageSize < message->getMinimumMessageSize()) {
if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
@ -158,7 +178,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
} else {
//No message was received. Keep lastPartner anyway, I might send
//something later. But still, delete packet content.
memset(message->getData(), 0, message->MAX_DATA_SIZE);
memset(message->getData(), 0, message->getMaximumMessageSize());
switch(errno){
case EAGAIN:
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@ -258,18 +278,19 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return this->defaultDestination;
}
@ -281,11 +302,18 @@ bool MessageQueue::isDefaultDestinationSet() const {
uint16_t MessageQueue::queueCounter = 0;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom,
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
if(message == nullptr) {
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
"nullptr!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
message->setSender(sentFrom);
int result = mq_send(sendTo,
reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
reinterpret_cast<const char*>(message->getBuffer()),
message->getMessageSize(),0);
//TODO: Check if we're in ISR.
if (result != 0) {
@ -303,13 +331,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
//MQ_NONBLOCK flag was set in its attributes, and the
//specified queue is 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.
sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
<< " sent from " << sentFrom << std::endl;
/*NO BREAK*/
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
<< " destination invalid." << std::endl;
sif::error << strerror(errno) << " in "
<<"mq_send to: " << sendTo << " sent from "
<< sentFrom << std::endl;
return DESTINVATION_INVALID;
}
case EINTR:
//The call was interrupted by a signal.
case EINVAL:

View File

@ -1,5 +1,5 @@
#ifndef MESSAGEQUEUE_H_
#define MESSAGEQUEUE_H_
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
@ -56,14 +56,14 @@ public:
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, bool ignoreFault = false );
MessageQueueMessageIF* message, bool ignoreFault = false );
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
*/
virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
@ -71,7 +71,7 @@ public:
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply( MessageQueueMessage* message );
ReturnValue_t reply( MessageQueueMessageIF* message );
/**
* @brief This function reads available messages from the message queue and returns the sender.
@ -80,7 +80,7 @@ public:
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message,
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom);
/**
@ -91,7 +91,7 @@ public:
* message's content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessage* message);
ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
@ -114,7 +114,9 @@ public:
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false );
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false );
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
@ -122,7 +124,8 @@ public:
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief This method is a simple setter for the default destination.
*/
@ -145,7 +148,9 @@ protected:
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false);
private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this attribute.
@ -171,11 +176,12 @@ private:
/**
* The name of the message queue, stored for unlinking
*/
char name[5];
char name[16];
static uint16_t queueCounter;
const size_t maxMessageSize;
ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
};
#endif /* MESSAGEQUEUE_H_ */
#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */

View File

@ -15,7 +15,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessage* message, MessageQueueId_t sentFrom,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);

View File

@ -0,0 +1,148 @@
#include "TcWinUdpPollingTask.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <winsock2.h>
#include <windows.h>
TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
object_id_t tmtcUnixUdpBridge, size_t frameSize,
double timeoutSeconds): SystemObject(objectId),
tmtcBridgeId(tmtcUnixUdpBridge) {
if(frameSize > 0) {
this->frameSize = frameSize;
}
else {
this->frameSize = DEFAULT_MAX_FRAME_SIZE;
}
// Set up reception buffer with specified frame size.
// For now, it is assumed that only one frame is held in the buffer!
receptionBuffer.reserve(this->frameSize);
receptionBuffer.resize(this->frameSize);
if(timeoutSeconds == -1) {
receptionTimeout = DEFAULT_TIMEOUT;
}
else {
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
}
}
TcWinUdpPollingTask::~TcWinUdpPollingTask() {}
ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
// Poll for new UDP datagrams in permanent loop.
while(true) {
//! Sender Address is cached here.
struct sockaddr_in senderAddress;
int senderAddressSize = sizeof(senderAddress);
ssize_t bytesReceived = recvfrom(serverUdpSocket,
reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
receptionFlags, reinterpret_cast<sockaddr*>(&senderAddress),
&senderAddressSize);
if(bytesReceived == SOCKET_ERROR) {
// handle error
sif::error << "TcWinUdpPollingTask::performOperation: Reception"
" error." << std::endl;
handleReadError();
continue;
}
//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
// << " bytes received" << std::endl;
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->registerCommConnect();
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
ReturnValue_t result = tcStore->addData(&storeId,
receptionBuffer.data(), bytesRead);
// arrayprinter::print(receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
"storage failed" << std::endl;
sif::error << "Packet size: " << bytesRead << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
TmTcMessage message(storeId);
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Serial Polling: Sending message to queue failed"
<< std::endl;
tcStore->deleteData(storeId);
}
return result;
}
ReturnValue_t TcWinUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
" TMTC bridge object!" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
serverUdpSocket = tmtcBridge->serverSocket;
//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
// << serverUdpSocket << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() {
// Initialize the destination after task creation. This ensures
// that the destination has already been set in the TMTC bridge.
targetTcDestination = tmtcBridge->getRequestQueue();
return HasReturnvaluesIF::RETURN_OK;
}
void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
DWORD timeoutMs = timeoutSeconds * 1000.0;
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
if(result == -1) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
}
}
void TcWinUdpPollingTask::handleReadError() {
int error = WSAGetLastError();
switch(error) {
case(WSANOTINITIALISED): {
sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
break;
}
case(WSAEFAULT): {
sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: "
<< "Bad address " << std::endl;
break;
}
default: {
sif::info << "TmTcWinUdpBridge::handleReadError: Error code: "
<< error << std::endl;
break;
}
}
// to prevent spam.
Sleep(1000);
}

View File

@ -0,0 +1,67 @@
#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
#include "TmTcWinUdpBridge.h"
#include "../../objectmanager/SystemObject.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../storagemanager/StorageManagerIF.h"
#include <vector>
/**
* @brief This class can be used to implement the polling of a Unix socket,
* using UDP for now.
* @details
* The task will be blocked while the specified number of bytes has not been
* received, so TC reception is handled inside a separate task.
* This class caches the IP address of the sender. It is assumed there
* is only one sender for now.
*/
class TcWinUdpPollingTask: public SystemObject,
public ExecutableObjectIF {
friend class TmTcWinUdpBridge;
public:
static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
//! 0.5 default milliseconds timeout for now.
static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t frameSize = 0, double timeoutSeconds = -1);
virtual~ TcWinUdpPollingTask();
/**
* Turn on optional timeout for UDP polling. In the default mode,
* the receive function will block until a packet is received.
* @param timeoutSeconds
*/
void setTimeout(double timeoutSeconds);
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
StorageManagerIF* tcStore = nullptr;
private:
//! TMTC bridge is cached.
object_id_t tmtcBridgeId = objects::NO_OBJECT;
TmTcWinUdpBridge* tmtcBridge = nullptr;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
//! Reception flags: https://linux.die.net/man/2/recvfrom.
int receptionFlags = 0;
//! Server socket, which is member of TMTC bridge and is assigned in
//! constructor
SOCKET serverUdpSocket = 0;
std::vector<uint8_t> receptionBuffer;
size_t frameSize = 0;
timeval receptionTimeout;
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
void handleReadError();
};
#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

View File

@ -0,0 +1,176 @@
#include <fsfw/ipc/MutexHelper.h>
#include "TmTcWinUdpBridge.h"
TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
uint16_t serverPort, uint16_t clientPort):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
mutex = MutexFactory::instance()->createMutex();
// Initiates Winsock DLL.
WSAData wsaData;
WORD wVersionRequested = MAKEWORD(2, 2);
int err = WSAStartup(wVersionRequested, &wsaData);
if (err != 0) {
/* Tell the user that we could not find a usable */
/* Winsock DLL. */
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:"
"WSAStartup failed with error: " << err << std::endl;
return;
}
uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
if(serverPort != 0xFFFF) {
setServerPort = serverPort;
}
uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
if(clientPort != 0xFFFF) {
setClientPort = clientPort;
}
// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if(serverSocket == INVALID_SOCKET) {
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
" UDP socket!" << std::endl;
handleSocketError();
return;
}
serverAddress.sin_family = AF_INET;
// Accept packets from any interface. (potentially insecure).
serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
serverAddress.sin_port = htons(setServerPort);
serverAddressLen = sizeof(serverAddress);
setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR,
reinterpret_cast<const char*>(&serverSocketOptions),
sizeof(serverSocketOptions));
clientAddress.sin_family = AF_INET;
clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
clientAddress.sin_port = htons(setClientPort);
clientAddressLen = sizeof(clientAddress);
int result = bind(serverSocket,
reinterpret_cast<struct sockaddr*>(&serverAddress),
serverAddressLen);
if(result != 0) {
sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
"local port " << setServerPort << " to server socket!"
<< std::endl;
handleBindError();
}
}
TmTcWinUdpBridge::~TmTcWinUdpBridge() {
WSACleanup();
}
ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
//clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
//clientAddressLen = sizeof(serverAddress);
// char ipAddress [15];
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
ssize_t bytesSent = sendto(serverSocket,
reinterpret_cast<const char*>(data), dataLen, flags,
reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
if(bytesSent == SOCKET_ERROR) {
sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed."
<< std::endl;
handleSendError();
}
// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
// " sent." << std::endl;
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
// char ipAddress [15];
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
// sif::debug << "IP Address Old: " << inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
// Set new IP address if it has changed.
if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
clientAddressLen = sizeof(clientAddress);
}
}
void TmTcWinUdpBridge::handleSocketError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
break;
}
default: {
/*
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: "
<< errCode << std::endl;
break;
}
}
}
void TmTcWinUdpBridge::handleBindError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
break;
}
default: {
/*
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
sif::info << "TmTcWinUdpBridge::handleBindError: Error code: "
<< errCode << std::endl;
break;
}
}
}
void TmTcWinUdpBridge::handleSendError() {
int errCode = WSAGetLastError();
switch(errCode) {
case(WSANOTINITIALISED): {
sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: "
<< "WSAStartup(...) call " << "necessary" << std::endl;
break;
}
case(WSAEADDRNOTAVAIL): {
sif::info << "TmTcWinUdpBridge::handleReadError: WSAEADDRNOTAVAIL: "
<< "Check target address. " << std::endl;
break;
}
default: {
/*
https://docs.microsoft.com/en-us/windows/win32/winsock/
windows-sockets-error-codes-2
*/
sif::info << "TmTcWinUdpBridge::handleSendError: Error code: "
<< errCode << std::endl;
break;
}
}
}

View File

@ -0,0 +1,49 @@
#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
#include "../../tmtcservices/TmTcBridge.h"
#include <winsock2.h>
#include <windows.h>
class TmTcWinUdpBridge: public TmTcBridge {
friend class TcWinUdpPollingTask;
public:
// The ports chosen here should not be used by any other process.
static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId,
uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
virtual~ TmTcWinUdpBridge();
void checkAndSetClientAddress(sockaddr_in clientAddress);
protected:
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
SOCKET serverSocket = 0;
const int serverSocketOptions = 0;
struct sockaddr_in clientAddress;
int clientAddressLen = 0;
struct sockaddr_in serverAddress;
int serverAddressLen = 0;
//! Access to the client address is mutex protected as it is set
//! by another task.
MutexIF* mutex;
void handleSocketError();
void handleBindError();
void handleSendError();
};
#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */

View File

@ -1,8 +1,8 @@
#ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
#define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
#ifndef FSFW_RETURNVALUES_HASRETURNVALUESIF_H_
#define FSFW_RETURNVALUES_HASRETURNVALUESIF_H_
#include "FwClassIds.h"
#include <config/returnvalues/classIds.h>
#include <returnvalues/classIds.h>
#include <cstdint>
#define MAKE_RETURN_CODE( number ) ((INTERFACE_ID << 8) + (number))
@ -15,9 +15,17 @@ public:
static const ReturnValue_t RETURN_FAILED = 1;
virtual ~HasReturnvaluesIF() {}
static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
return (interfaceId << 8) + number;
/**
* It is discouraged to use the input parameters 0,0 and 0,1 as this
* will generate the RETURN_OK and RETURN_FAILED returnvalues.
* @param interfaceId
* @param number
* @return
*/
static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
uint8_t number) {
return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
}
};
#endif /* FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ */
#endif /* FSFW_RETURNVALUES_HASRETURNVALUESIF_H_ */

View File

@ -1,31 +1,39 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "CCSDSDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/SpacePacketBase.h"
CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
object_id_t setObjectId):
TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
}
CCSDSDistributor::~CCSDSDistributor() {
CCSDSDistributor::~CCSDSDistributor() {}
}
iterator_t CCSDSDistributor::selectDestination() {
// debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* p_packet = NULL;
TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
// sif::debug << "CCSDSDistributor::selectDestination received: " <<
// this->currentMessage.getStorageId().pool_index << ", " <<
// this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* packet = nullptr;
size_t size = 0;
//TODO check returncode?
this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
SpacePacketBase current_packet( p_packet );
// info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl;
iterator_t position = this->queueMap.find( current_packet.getAPID() );
ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
&packet, &size );
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CCSDSDistributor::selectDestination: Getting data from"
" store failed!" << std::endl;
}
SpacePacketBase currentPacket(packet);
// sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
// << std::hex << currentPacket.getAPID() << std::dec << std::endl;
TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
if ( position != this->queueMap.end() ) {
return position;
} else {
//The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report.
return this->queueMap.find( this->default_apid );
//The APID was not found. Forward packet to main SW-APID anyway to
// create acceptance failure report.
return this->queueMap.find( this->defaultApid );
}
}
MessageQueueId_t CCSDSDistributor::getRequestQueue() {
@ -35,9 +43,9 @@ MessageQueueId_t CCSDSDistributor::getRequestQueue() {
ReturnValue_t CCSDSDistributor::registerApplication(
AcceptsTelecommandsIF* application) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( application->getIdentifier(), application->getRequestQueue() ) ).second;
if( errorCode == false ) {
auto insertPair = this->queueMap.emplace(application->getIdentifier(),
application->getRequestQueue());
if(not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
@ -46,9 +54,8 @@ ReturnValue_t CCSDSDistributor::registerApplication(
ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid,
MessageQueueId_t id) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( apid, id ) ).second;
if( errorCode == false ) {
auto insertPair = this->queueMap.emplace(apid, id);
if(not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
@ -62,7 +69,11 @@ uint16_t CCSDSDistributor::getIdentifier() {
ReturnValue_t CCSDSDistributor::initialize() {
ReturnValue_t status = this->TcDistributor::initialize();
this->tcStore = objectManager->get<StorageManagerIF>( objects::TC_STORE );
if (this->tcStore == NULL) status = RETURN_FAILED;
if (this->tcStore == nullptr) {
sif::error << "CCSDSDistributor::initialize: Could not initialize"
" TC store!" << std::endl;
status = RETURN_FAILED;
}
return status;
}

View File

@ -1,58 +1,71 @@
#ifndef CCSDSDISTRIBUTOR_H_
#define CCSDSDISTRIBUTOR_H_
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../storagemanager/StorageManagerIF.h"
#include "CCSDSDistributorIF.h"
#include "TcDistributor.h"
#include "../tcdistribution/CCSDSDistributorIF.h"
#include "../tcdistribution/TcDistributor.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
/**
* An instantiation of the CCSDSDistributorIF.
* It receives Space Packets, and selects a destination depending on the APID of the telecommands.
* @brief An instantiation of the CCSDSDistributorIF.
* @details
* It receives Space Packets, and selects a destination depending on the
* APID of the telecommands.
* The Secondary Header (with Service/Subservice) is ignored.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF {
protected:
/**
* This implementation checks if an Application with fitting APID has registered and forwards the
* packet to the according message queue.
* If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure
* message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
iterator_t selectDestination();
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t default_apid;
/**
* A reference to the TC storage must be maintained, as this class handles pure Space Packets and there
* exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore;
/**
* The callback here handles the generation of acceptance success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class CCSDSDistributor : public TcDistributor,
public CCSDSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The constructor sets the default APID and calls the TcDistributor ctor with a certain object id.
* \c tcStore is set in the \c initialize method.
* @param set_default_apid The default APID, where packets with unknown destination are sent to.
* @brief The constructor sets the default APID and calls the
* TcDistributor ctor with a certain object id.
* @details
* @c tcStore is set in the @c initialize method.
* @param setDefaultApid The default APID, where packets with unknown
* destination are sent to.
*/
CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
/**
* The destructor is empty.
*/
~CCSDSDistributor();
MessageQueueId_t getRequestQueue();
ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id );
ReturnValue_t registerApplication( AcceptsTelecommandsIF* application );
uint16_t getIdentifier();
ReturnValue_t initialize();
virtual ~CCSDSDistributor();
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) override;
ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) override;
uint16_t getIdentifier() override;
ReturnValue_t initialize() override;
protected:
/**
* This implementation checks if an application with fitting APID has
* registered and forwards the packet to the according message queue.
* If the packet is not found, it returns the queue to @c defaultApid,
* where a Acceptance Failure message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ) override;
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t defaultApid;
/**
* A reference to the TC storage must be maintained, as this class handles
* pure Space Packets and there exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore = nullptr;
};
#endif /* CCSDSDISTRIBUTOR_H_ */
#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */

View File

@ -1,34 +1,38 @@
#ifndef CCSDSDISTRIBUTORIF_H_
#define CCSDSDISTRIBUTORIF_H_
#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This is the Interface to a CCSDS Distributor.
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves,
* either by passing a pointer to themselves (and implementing the CCSDSApplicationIF,
* or by explicitly passing an APID and a MessageQueueId to route the TC's to.
* \ingroup tc_distribution
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register
* themselves, either by passing a pointer to themselves (and implementing the
* CCSDSApplicationIF), or by explicitly passing an APID and a MessageQueueId
* to route the TC's to.
* @ingroup tc_distribution
*/
class CCSDSDistributorIF {
public:
/**
* With this call, a class implementing the CCSDSApplicationIF can register at the
* distributor.
* With this call, a class implementing the CCSDSApplicationIF can register
* at the distributor.
* @param application A pointer to the Application to register.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication( AcceptsTelecommandsIF* application ) = 0;
virtual ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) = 0;
/**
* With this call, other Applications can register to the CCSDS distributor.
* This is done by passing an APID and a MessageQueueId to the method.
* @param apid The APID to register.
* @param id The MessageQueueId of the message queue to send the TC Packets to.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @param id The MessageQueueId of the message queue to send the
* TC Packets to.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id ) = 0;
virtual ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) = 0;
/**
* The empty virtual destructor.
*/
@ -37,4 +41,4 @@ public:
};
#endif /* CCSDSDISTRIBUTORIF_H_ */
#endif /* FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ */

View File

@ -1,61 +1,71 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "CCSDSDistributorIF.h"
#include "PUSDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
RETURN_FAILED), packetSource(setPacketSource) {
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource) :
TcDistributor(setObjectId), checker(setApid), verifyChannel(),
tcStatus(RETURN_FAILED), packetSource(setPacketSource) {}
}
PUSDistributor::~PUSDistributor() {}
PUSDistributor::~PUSDistributor() {
}
iterator_t PUSDistributor::selectDestination() {
// debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
iterator_t queueMapIt = this->queueMap.end();
this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket.getWholeData() != NULL) {
tcStatus = checker.checkPacket(&currentPacket);
// info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl;
uint32_t queue_id = currentPacket.getService();
PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
// sif:: debug << "PUSDistributor::handlePacket received: "
// << this->current_packet_id.store_index << ", "
// << this->current_packet_id.packet_index << std::endl;
TcMqMapIter queueMapIt = this->queueMap.end();
if(this->currentPacket == nullptr) {
return queueMapIt;
}
this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket->getWholeData() != nullptr) {
tcStatus = checker.checkPacket(currentPacket);
#ifdef DEBUG
if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: Packet format "
<< "invalid, code "<< static_cast<int>(tcStatus)
<< std::endl;
}
#endif
uint32_t queue_id = currentPacket->getService();
queueMapIt = this->queueMap.find(queue_id);
} else {
}
else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#ifdef DEBUG
sif::debug << "PUSDistributor::handlePacket: Destination not found, "
<< "code "<< static_cast<int>(tcStatus) << std::endl;
#endif
}
if (tcStatus != RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
<< std::endl;
return this->queueMap.end();
} else {
}
else {
return queueMapIt;
}
}
//uint16_t PUSDistributor::createDestination( uint8_t service_id, uint8_t subservice_id ) {
// return ( service_id << 8 ) + subservice_id;
//}
ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
ReturnValue_t returnValue = RETURN_OK;
bool errorCode = true;
uint16_t serviceId = service->getIdentifier();
// sif::info << "Service ID: " << (int)serviceId << std::endl;
MessageQueueId_t queue = service->getRequestQueue();
errorCode = this->queueMap.insert(
std::pair<uint32_t, MessageQueueId_t>(serviceId, queue)).second;
if (errorCode == false) {
//TODO Return Code
returnValue = MessageQueueIF::NO_QUEUE;
auto returnPair = queueMap.emplace(serviceId, queue);
if (not returnPair.second) {
sif::error << "PUSDistributor::registerService: Service ID already"
" exists in map." << std::endl;
return SERVICE_ID_ALREADY_EXISTS;
}
return returnValue;
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t PUSDistributor::getRequestQueue() {
@ -68,13 +78,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
}
if (tcStatus != RETURN_OK) {
this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE,
&currentPacket, tcStatus);
//A failed packet is deleted immediately after reporting, otherwise it will block memory.
currentPacket.deletePacket();
currentPacket, tcStatus);
// A failed packet is deleted immediately after reporting,
// otherwise it will block memory.
currentPacket->deletePacket();
return RETURN_FAILED;
} else {
this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS,
&currentPacket);
currentPacket);
return RETURN_OK;
}
}
@ -84,11 +95,19 @@ uint16_t PUSDistributor::getIdentifier() {
}
ReturnValue_t PUSDistributor::initialize() {
currentPacket = new TcPacketStored();
if(currentPacket == nullptr) {
// Should not happen, memory allocation failed!
return ObjectManagerIF::CHILD_INIT_FAILED;
}
CCSDSDistributorIF* ccsdsDistributor =
objectManager->get<CCSDSDistributorIF>(packetSource);
if (ccsdsDistributor == NULL) {
if (ccsdsDistributor == nullptr) {
sif::error << "PUSDistributor::initialize: Packet source invalid."
<< " Make sure it exists and implements CCSDSDistributorIF!"
<< std::endl;
return RETURN_FAILED;
} else {
return ccsdsDistributor->registerApplication(this);
}
return ccsdsDistributor->registerApplication(this);
}

View File

@ -1,67 +1,79 @@
#ifndef PUSDISTRIBUTOR_H_
#define PUSDISTRIBUTOR_H_
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "PUSDistributorIF.h"
#include "TcDistributor.h"
#include "TcPacketCheck.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/VerificationReporter.h"
/**
* This class accepts PUS Telecommands and forwards them to Application services.
* In addition, the class performs a formal packet check and sends acceptance success
* or failure messages.
* \ingroup tc_distribution
* This class accepts PUS Telecommands and forwards them to Application
* services. In addition, the class performs a formal packet check and
* sends acceptance success or failure messages.
* @ingroup tc_distribution
*/
class PUSDistributor: public TcDistributor,
public PUSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id.
* The ctor passes @c set_apid to the checker class and calls the
* TcDistribution ctor with a certain object id.
* @param setApid The APID of this receiving Application.
* @param setObjectId Object ID of the distributor itself
* @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF.
* @param setPacketSource Object ID of the source of TC packets.
* Must implement CCSDSDistributorIF.
*/
PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource);
/**
* The destructor is empty.
*/
virtual ~PUSDistributor();
ReturnValue_t registerService(AcceptsTelecommandsIF* service);
MessageQueueId_t getRequestQueue();
uint16_t getIdentifier();
ReturnValue_t initialize();
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t initialize() override;
uint16_t getIdentifier() override;
protected:
/**
* This attribute contains the class, that performs a formal packet check.
*/
TcPacketCheck checker;
/**
* With this class, verification messages are sent to the TC Verification service.
* With this class, verification messages are sent to the
* TC Verification service.
*/
VerificationReporter verifyChannel;
/**
* The currently handled packet is stored here.
*/
TcPacketStored currentPacket;
TcPacketStored* currentPacket = nullptr;
/**
* With this variable, the current check status is stored to generate acceptance messages later.
* With this variable, the current check status is stored to generate
* acceptance messages later.
*/
ReturnValue_t tcStatus;
const object_id_t packetSource;
/**
* This method reads the packet service, checks if such a service is registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification messages.
* @return Iterator to map entry of found service id or iterator to \c map.end().
* This method reads the packet service, checks if such a service is
* registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification
* messages.
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
iterator_t selectDestination();
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance success/failure messages.
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus);
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
};
#endif /* PUSDISTRIBUTOR_H_ */
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */

View File

@ -1,11 +1,12 @@
#ifndef PUSDISTRIBUTORIF_H_
#define PUSDISTRIBUTORIF_H_
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This interface allows PUS Services to register themselves at a PUS Distributor.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class PUSDistributorIF {
public:
@ -17,10 +18,10 @@ public:
/**
* With this method, Services can register themselves at the PUS Distributor.
* @param service A pointer to the registering Service.
* @return - \c RETURN_OK on success,
* - \c RETURN_FAILED on failure.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerService( AcceptsTelecommandsIF* service ) = 0;
};
#endif /* PUSDISTRIBUTORIF_H_ */
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */

View File

@ -1,12 +1,13 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "TcDistributor.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcservices/TmTcMessage.h"
#include "../ipc/QueueFactory.h"
TcDistributor::TcDistributor(object_id_t set_object_id) :
SystemObject(set_object_id), tcQueue(NULL) {
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
TcDistributor::TcDistributor(object_id_t objectId) :
SystemObject(objectId) {
tcQueue = QueueFactory::instance()->
createMessageQueue(DISTRIBUTER_MAX_PACKETS);
}
TcDistributor::~TcDistributor() {
@ -15,7 +16,6 @@ TcDistributor::~TcDistributor() {
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t status = RETURN_OK;
// debug << "TcDistributor: performing Operation." << std::endl;
for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = tcQueue->receiveMessage(&currentMessage)) {
status = handlePacket();
@ -29,7 +29,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t TcDistributor::handlePacket() {
iterator_t queueMapIt = this->selectDestination();
TcMqMapIter queueMapIt = this->selectDestination();
ReturnValue_t returnValue = RETURN_FAILED;
if (queueMapIt != this->queueMap.end()) {
returnValue = this->tcQueue->sendMessage(queueMapIt->second,
@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() {
}
void TcDistributor::print() {
sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
<< std::endl;
for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
it++) {
sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
sif::debug << "Distributor content is: " << std::endl
<< "ID\t| Message Queue ID" << std::endl;
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
for (const auto& queueMapIter: queueMap) {
sif::debug << queueMapIter.first << "\t| 0x" << queueMapIter.second
<< std::endl;
}
sif::debug << std::dec;
sif::debug << std::setfill(' ') << std::dec;
}

View File

@ -1,5 +1,6 @@
#ifndef TCDISTRIBUTOR_H_
#define TCDISTRIBUTOR_H_
#ifndef FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
#define FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
@ -9,16 +10,12 @@
#include "../ipc/MessageQueueIF.h"
#include <map>
/**
* \defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands belong to this group.
* @defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands
* belong to this group.
*/
/**
* This typedef simplifies writing down the \c map iterator.
*/
typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
/**
* This is the base class to implement distributors for Space Packets.
@ -28,62 +25,19 @@ typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
* message queue ids to some identifier. The process of unpacking the
* destination information from the packet is handled by the child class
* implementations.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
std::map<uint32_t, MessageQueueId_t> queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual iterator_t selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or \c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of operation
* after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns \c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt to send the TC.
* @return - \c RETURN_OK on success
* - \c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class TcDistributor : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
static constexpr ReturnValue_t SERVICE_ID_ALREADY_EXISTS = MAKE_RETURN_CODE(3);
/**
* Within the default constructor, the SystemObject id is set and the
* message queue is initialized.
@ -91,7 +45,7 @@ public:
* @param set_object_id This id is assigned to the distributor
* implementation.
*/
TcDistributor( object_id_t set_object_id );
TcDistributor(object_id_t objectId);
/**
* The destructor is empty, the message queues are not in the vicinity of
* this class.
@ -110,7 +64,59 @@ public:
* queueMap.
*/
void print();
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue = nullptr;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
TcMessageQueueMap queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual TcMqMapIter selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or @c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of
* operation after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns @c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt
* to send the TC.
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static constexpr uint8_t DISTRIBUTER_MAX_PACKETS = 128;
};
#endif /* TCDISTRIBUTOR_H_ */
#endif /* FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ */

View File

@ -1,31 +1,33 @@
#include "TcPacketCheck.h"
#include "../globalfunctions/CRC.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../storagemanager/StorageManagerIF.h"
#include "TcPacketCheck.h"
#include "../tmtcservices/VerificationCodes.h"
TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
TcPacketCheck::TcPacketCheck( uint16_t setApid ) : apid(setApid) {
}
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) {
uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(),
currentPacket->getFullSize() );
if ( calculated_crc != 0 ) {
return INCORRECT_CHECKSUM;
}
bool condition = !(current_packet->hasSecondaryHeader()) ||
current_packet->getPacketVersionNumber() != CCSDS_VERSION_NUMBER ||
!(current_packet->isTelecommand());
bool condition = (not currentPacket->hasSecondaryHeader()) or
(currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
(not currentPacket->isTelecommand());
if ( condition ) {
return INCORRECT_PRIMARY_HEADER;
}
if ( current_packet->getAPID() != this->apid )
if ( currentPacket->getAPID() != this->apid )
return ILLEGAL_APID;
if ( !current_packet->isSizeCorrect() ) {
if ( not currentPacket->isSizeCorrect() ) {
return INCOMPLETE_PACKET;
}
condition = (current_packet->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(current_packet->getPusVersionNumber() != PUS_VERSION_NUMBER);
condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER);
if ( condition ) {
return INCORRECT_SECONDARY_HEADER;
}

View File

@ -1,28 +1,29 @@
#ifndef TCPACKETCHECK_H_
#define TCPACKETCHECK_H_
#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
/**
* This class performs a formal packet check for incoming PUS Telecommand Packets.
* Currently, it only checks if the APID and CRC are correct.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcPacketCheck : public HasReturnvaluesIF {
protected:
/**
* Describes the version number a packet must have to pass.
*/
static const uint8_t CCSDS_VERSION_NUMBER = 0;
static constexpr uint8_t CCSDS_VERSION_NUMBER = 0;
/**
* Describes the secondary header a packet must have to pass.
*/
static const uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
/**
* Describes the TC Packet PUS Version Number a packet must have to pass.
*/
static const uint8_t PUS_VERSION_NUMBER = 1;
static constexpr uint8_t PUS_VERSION_NUMBER = 1;
/**
* The packet id each correct packet should have.
* It is composed of the APID and some static fields.
@ -41,19 +42,19 @@ public:
* The constructor only sets the APID attribute.
* @param set_apid The APID to set.
*/
TcPacketCheck( uint16_t set_apid );
TcPacketCheck( uint16_t setApid );
/**
* This is the actual method to formally check a certain Telecommand Packet.
* The packet's Application Data can not be checked here.
* @param current_packet The packt to check
* @return - \c RETURN_OK on success.
* - \c INCORRECT_CHECKSUM if checksum is invalid.
* - \c ILLEGAL_APID if APID does not match.
* @return - @c RETURN_OK on success.
* - @c INCORRECT_CHECKSUM if checksum is invalid.
* - @c ILLEGAL_APID if APID does not match.
*/
ReturnValue_t checkPacket( TcPacketStored* current_packet );
ReturnValue_t checkPacket( TcPacketStored* currentPacket );
uint16_t getApid() const;
};
#endif /* TCPACKETCHECK_H_ */
#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */

View File

@ -1,8 +1,9 @@
#include "../timemanager/CCSDSTime.h"
#include "CCSDSTime.h"
#include <cstdio>
#include <cinttypes>
#include <cmath>
#include <FSFWConfig.h>
CCSDSTime::CCSDSTime() {
}
@ -158,15 +159,16 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
}
// Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
// Suggestion: use uint16 all the time. This should work on all systems.
#ifdef NEWLIB_NANO_NO_C99_IO
#if FSFW_NO_C99_IO == 1
uint16_t year;
uint16_t month;
uint16_t day;
uint16_t hour;
uint16_t minute;
float second;
int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year,
&month, &day, &hour, &minute, &second);
int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%"
"2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour,
&minute, &second);
if (count == 6) {
to->year = year;
to->month = month;
@ -179,12 +181,13 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
}
// try Code B (yyyy-ddd)
count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &day,
&hour, &minute, &second);
count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%"
"2" SCNu16 ":%fZ", &year, &day, &hour, &minute, &second);
if (count == 5) {
uint8_t tempDay;
ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
reinterpret_cast<uint8_t *>(&month),
reinterpret_cast<uint8_t *>(&tempDay));
if (result != RETURN_OK) {
return RETURN_FAILED;
}

View File

@ -14,8 +14,12 @@ public:
static const uint8_t INTERFACE_ID = CLASS_ID::TIME_STAMPER_IF;
static const ReturnValue_t BAD_TIMESTAMP = MAKE_RETURN_CODE(1);
static const uint8_t MISSION_TIMESTAMP_SIZE = 8; //!< This is a mission-specific constant and determines the total size reserved for timestamps.
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize) = 0;
//! This is a mission-specific constant and determines the total
//! size reserved for timestamps.
//! TODO: Default define in FSFWConfig ?
static const uint8_t MISSION_TIMESTAMP_SIZE = 8;
virtual ReturnValue_t addTimeStamp(uint8_t* buffer,
const uint8_t maxSize) = 0;
virtual ~TimeStamperIF() {}
};

View File

@ -1,6 +1,6 @@
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "SpacePacketBase.h"
#include <string.h>
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
this->data = (SpacePacketPointer*) set_address;
@ -14,7 +14,8 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
return (this->data->header.packet_id_h & 0b11100000) >> 5;
}
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
//reset header to zero:
memset(data,0, sizeof(this->data->header) );
//Set TC/TM bit.
@ -81,7 +82,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
this->data->header.packet_length_l = ( new_length & 0x00FF );
}
uint32_t SpacePacketBase::getFullSize() {
size_t SpacePacketBase::getFullSize() {
//+1 is done because size in packet data length field is: size of data field -1
return this->getPacketDataLength() + sizeof(this->data->header) + 1;
}

View File

@ -1,10 +1,11 @@
#ifndef SPACEPACKETBASE_H_
#define SPACEPACKETBASE_H_
#ifndef FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
#include "ccsds_header.h"
#include <cstddef>
/**
* \defgroup tmtcpackets Space Packets
* @defgroup tmtcpackets Space Packets
* This is the group, where all classes associated with Telecommand and
* Telemetry packets belong to.
* The class hierarchy resembles the dependency between the different standards
@ -81,7 +82,8 @@ public:
*/
bool isTelecommand( void );
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount = 0);
void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
uint16_t apid, uint16_t sequenceCount = 0);
/**
* The CCSDS header provides a secondary header flag (the fifth-highest bit),
* which is checked with this method.
@ -167,10 +169,10 @@ public:
* This method returns the full raw packet size.
* @return The full size of the packet in bytes.
*/
uint32_t getFullSize();
size_t getFullSize();
uint32_t getApidAndSequenceCount() const;
};
#endif /* SPACEPACKETBASE_H_ */
#endif /* FSFW_TMTCPACKET_SPACEPACKETBASE_H_ */

View File

@ -7,7 +7,8 @@ class TmPacketMinimal;
class PacketTimestampInterpreterIF {
public:
virtual ~PacketTimestampInterpreterIF() {}
virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet, timeval* timestamp) const = 0;
virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet,
timeval* timestamp) const = 0;
virtual ReturnValue_t getPacketTimeRaw(TmPacketMinimal* packet, const uint8_t** timePtr, uint32_t* size) const = 0;
};

View File

@ -1,11 +1,14 @@
#include "../../globalfunctions/CRC.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TcPacketBase.h"
#include <string.h>
TcPacketBase::TcPacketBase(const uint8_t* set_data) :
SpacePacketBase(set_data) {
tcData = (TcPacketPointer*) set_data;
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
TcPacketBase::TcPacketBase(const uint8_t* setData) :
SpacePacketBase(setData) {
tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
}
TcPacketBase::~TcPacketBase() {
@ -13,28 +16,28 @@ TcPacketBase::~TcPacketBase() {
}
uint8_t TcPacketBase::getService() {
return tcData->data_field.service_type;
return tcData->dataField.service_type;
}
uint8_t TcPacketBase::getSubService() {
return tcData->data_field.service_subtype;
return tcData->dataField.service_subtype;
}
uint8_t TcPacketBase::getAcknowledgeFlags() {
return tcData->data_field.version_type_ack & 0b00001111;
return tcData->dataField.version_type_ack & 0b00001111;
}
const uint8_t* TcPacketBase::getApplicationData() const {
return &tcData->data;
return &tcData->appData;
}
uint16_t TcPacketBase::getApplicationDataSize() {
return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1;
return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
}
uint16_t TcPacketBase::getErrorControl() {
uint16_t size = getApplicationDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tcData->data;
uint8_t* p_to_buffer = &tcData->appData;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
@ -42,41 +45,42 @@ void TcPacketBase::setErrorControl() {
uint32_t full_size = getFullSize();
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getApplicationDataSize();
(&tcData->data)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL
(&tcData->appData)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->appData)[size + 1] = (crc) & 0X00FF; // CRCL
}
void TcPacketBase::setData(const uint8_t* p_Data) {
SpacePacketBase::setData(p_Data);
tcData = (TcPacketPointer*) p_Data;
void TcPacketBase::setData(const uint8_t* pData) {
SpacePacketBase::setData(pData);
tcData = (TcPacketPointer*) pData;
}
uint8_t TcPacketBase::getSecondaryHeaderFlag() {
return (tcData->data_field.version_type_ack & 0b10000000) >> 7;
return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
}
uint8_t TcPacketBase::getPusVersionNumber() {
return (tcData->data_field.version_type_ack & 0b01110000) >> 4;
return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
}
void TcPacketBase::print() {
uint8_t * wholeData = getWholeData();
sif::debug << "TcPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count) {
sif::debug << std::hex << (uint16_t) wholeData[count] << " ";
}
sif::debug << std::dec << std::endl;
sif::debug << "TcPacketBase::print: " << std::endl;
arrayprinter::print(getWholeData(), getFullSize());
}
void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
uint8_t ack, uint8_t service, uint8_t subservice) {
initSpacePacketHeader(true, true, apid, sequenceCount);
memset(&tcData->data_field, 0, sizeof(tcData->data_field));
setPacketDataLength(sizeof(tcData->data_field) + CRC_SIZE);
std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
//Data Field Header:
//Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000
tcData->data_field.version_type_ack = 0b00010000;
tcData->data_field.version_type_ack |= (ack & 0x0F);
tcData->data_field.service_type = service;
tcData->data_field.service_subtype = subservice;
//Set CCSDS_secondary_header_flag to 0 and version number to 001
tcData->dataField.version_type_ack = 0b00010000;
tcData->dataField.version_type_ack |= (ack & 0x0F);
tcData->dataField.service_type = service;
tcData->dataField.service_subtype = subservice;
}
size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
appDataLen + TcPacketBase::CRC_SIZE;
}

View File

@ -1,7 +1,9 @@
#ifndef TCPACKETBASE_H_
#define TCPACKETBASE_H_
#ifndef TMTCPACKET_PUS_TCPACKETBASE_H_
#define TMTCPACKET_PUS_TCPACKETBASE_H_
#include "../../tmtcpacket/SpacePacketBase.h"
#include <cstddef>
/**
* This struct defines a byte-wise structured PUS TC Data Field Header.
@ -23,14 +25,14 @@ struct PUSTcDataFieldHeader {
*/
struct TcPacketPointer {
CCSDSPrimaryHeader primary;
PUSTcDataFieldHeader data_field;
uint8_t data;
PUSTcDataFieldHeader dataField;
uint8_t appData;
};
/**
* This class is the basic data handler for any ECSS PUS Telecommand packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* In addition to #SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TC Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
@ -39,67 +41,38 @@ struct TcPacketPointer {
* @ingroup tmtcpackets
*/
class TcPacketBase : public SpacePacketBase {
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
public:
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) + 2);
/**
* With this constant for the acknowledge field responses on all levels are expected.
*/
static const uint8_t ACK_ALL = 0b1111;
/**
* With this constant for the acknowledge field a response on acceptance is expected.
*/
static const uint8_t ACK_ACCEPTANCE = 0b0001;
/**
* With this constant for the acknowledge field a response on start of execution is expected.
*/
static const uint8_t ACK_START = 0b0010;
/**
* With this constant for the acknowledge field responses on execution steps are expected.
*/
static const uint8_t ACK_STEP = 0b0100;
/**
* With this constant for the acknowledge field a response on completion is expected.
*/
static const uint8_t ACK_COMPLETION = 0b1000;
/**
* With this constant for the acknowledge field no responses are expected.
*/
static const uint8_t ACK_NONE = 0b000;
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTcDataFieldHeader) + 2);
enum AckField {
//! No acknowledgements are expected.
ACK_NONE = 0b0000,
//! Acknowledgements on acceptance are expected.
ACK_ACCEPTANCE = 0b0001,
//! Acknowledgements on start are expected.
ACK_START = 0b0010,
//! Acknowledgements on step are expected.
ACK_STEP = 0b0100,
//! Acknowledfgement on completion are expected.
ACK_COMPLETION = 0b1000
};
static constexpr uint8_t ACK_ALL = ACK_ACCEPTANCE | ACK_START | ACK_STEP |
ACK_COMPLETION;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
* @param setData The position where the packet data lies.
*/
TcPacketBase( const uint8_t* set_data );
TcPacketBase( const uint8_t* setData );
/**
* This is the empty default destructor.
*/
virtual ~TcPacketBase();
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice);
/**
* This command returns the CCSDS Secondary Header Flag.
* It shall always be zero for PUS Packets. This is the
@ -166,22 +139,49 @@ public:
* current content of the packet.
*/
void setErrorControl();
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* p_data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Calculate full packet length from application data length.
* @param appDataLen
* @return
*/
static size_t calculateFullPacketLength(size_t appDataLen);
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
uint8_t service, uint8_t subservice);
/**
* With this method, the packet data pointer can be redirected to another
* location.
* This call overwrites the parent's setData method to set both its
* @c tc_data pointer and the parent's @c data pointer.
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* pData );
};
#endif /* TCPACKETBASE_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETBASE_H_ */

View File

@ -1,37 +1,50 @@
#include "TcPacketStored.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TcPacketStored.h"
#include <string.h>
#include <cstring>
StorageManagerIF* TcPacketStored::store = nullptr;
TcPacketStored::TcPacketStored(store_address_t setAddress) :
TcPacketBase(NULL), storeAddress(setAddress) {
this->setStoreAddress(this->storeAddress);
TcPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t ack, uint8_t service,
uint8_t subservice, uint8_t sequence_count, const uint8_t* data,
uint32_t size) :
TcPacketBase(NULL) {
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
size_t size, uint8_t ack) :
TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!this->checkAndSetStore()) {
if (not this->checkAndSetStore()) {
return;
}
uint8_t* p_data = NULL;
uint8_t* pData = nullptr;
ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
(TC_PACKET_MIN_SIZE + size), &p_data);
(TC_PACKET_MIN_SIZE + size), &pData);
if (returnValue != this->store->RETURN_OK) {
sif::warning << "TcPacketStored: Could not get free element from store!"
<< std::endl;
return;
}
this->setData(p_data);
initializeTcPacket(apid, sequence_count, ack, service, subservice);
memcpy(&tcData->data, data, size);
this->setData(pData);
initializeTcPacket(apid, sequenceCount, ack, service, subservice);
memcpy(&tcData->appData, data, size);
this->setPacketDataLength(
size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
this->setErrorControl();
}
TcPacketStored::TcPacketStored() :
TcPacketBase(NULL) {
ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
size_t* dataSize) {
auto result = this->store->getData(storeAddress, dataPtr, dataSize);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "TcPacketStored: Could not get data!" << std::endl;
}
return result;
}
TcPacketStored::TcPacketStored(): TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->checkAndSetStore();
@ -40,14 +53,14 @@ TcPacketStored::TcPacketStored() :
ReturnValue_t TcPacketStored::deletePacket() {
ReturnValue_t result = this->store->deleteData(this->storeAddress);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->setData( NULL);
this->setData(nullptr);
return result;
}
bool TcPacketStored::checkAndSetStore() {
if (this->store == NULL) {
if (this->store == nullptr) {
this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (this->store == NULL) {
if (this->store == nullptr) {
sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
<< std::endl;
return false;
@ -58,17 +71,17 @@ bool TcPacketStored::checkAndSetStore() {
void TcPacketStored::setStoreAddress(store_address_t setAddress) {
this->storeAddress = setAddress;
const uint8_t* temp_data = NULL;
const uint8_t* tempData = nullptr;
size_t temp_size;
ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
if (this->checkAndSetStore()) {
status = this->store->getData(this->storeAddress, &temp_data,
status = this->store->getData(this->storeAddress, &tempData,
&temp_size);
}
if (status == StorageManagerIF::RETURN_OK) {
this->setData(temp_data);
this->setData(tempData);
} else {
this->setData(NULL);
this->setData(nullptr);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
@ -78,7 +91,7 @@ store_address_t TcPacketStored::getStoreAddress() {
}
bool TcPacketStored::isSizeCorrect() {
const uint8_t* temp_data = NULL;
const uint8_t* temp_data = nullptr;
size_t temp_size;
ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
&temp_size);
@ -90,8 +103,6 @@ bool TcPacketStored::isSizeCorrect() {
return false;
}
StorageManagerIF* TcPacketStored::store = NULL;
TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
TcPacketBase(data) {
if (getFullSize() != size) {
@ -100,7 +111,7 @@ TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
if (this->checkAndSetStore()) {
ReturnValue_t status = store->addData(&storeAddress, data, size);
if (status != HasReturnvaluesIF::RETURN_OK) {
this->setData(NULL);
this->setData(nullptr);
}
}
}

View File

@ -1,8 +1,8 @@
#ifndef TCPACKETSTORED_H_
#define TCPACKETSTORED_H_
#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
#define TMTCPACKET_PUS_TCPACKETSTORED_H_
#include "../../storagemanager/StorageManagerIF.h"
#include "TcPacketBase.h"
#include "../../storagemanager/StorageManagerIF.h"
/**
* This class generates a ECSS PUS Telecommand packet within a given
@ -15,26 +15,6 @@
* @ingroup tmtcpackets
*/
class TcPacketStored : public TcPacketBase {
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. \c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li \c true if the store is linked or could be created.
* @li \c false otherwise.
*/
bool checkAndSetStore();
public:
/**
* This is a default constructor which does not set the data pointer.
@ -53,9 +33,6 @@ public:
* a new PUS Telecommand Packet is created there.
* Packet Application Data passed in data is copied into the packet.
* @param apid Sets the packet's APID field.
* @param ack Set's the packet's Ack field,
* which specifies number and size of verification packets returned
* for this command.
* @param service Sets the packet's Service ID field.
* This specifies the destination service.
* @param subservice Sets the packet's Service Subtype field.
@ -63,8 +40,13 @@ public:
* @param sequence_count Sets the packet's Source Sequence Count field.
* @param data The data to be copied to the Application Data Field.
* @param size The amount of data to be copied.
* @param ack Set's the packet's Ack field, which specifies
* number of verification packets returned
* for this command.
*/
TcPacketStored( uint16_t apid, uint8_t ack, uint8_t service, uint8_t subservice, uint8_t sequence_count = 0, const uint8_t* data = NULL, uint32_t size = 0 );
TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t sequence_count = 0, const uint8_t* data = nullptr,
size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
/**
* Another constructor to create a TcPacket from a raw packet stream.
* Takes the data and adds it unchecked to the TcStore.
@ -72,10 +54,19 @@ public:
* @param Size size of the packet.
*/
TcPacketStored( const uint8_t* data, uint32_t size);
/**
* Getter function for the raw data.
* @param dataPtr [out] Pointer to the data pointer to set
* @param dataSize [out] Address of size to set.
* @return -@c RETURN_OK if data was retrieved successfully.
*/
ReturnValue_t getData(const uint8_t ** dataPtr,
size_t* dataSize);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
* the packet is not linked.
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if the packet is not linked.
*/
store_address_t getStoreAddress();
/**
@ -99,7 +90,28 @@ public:
* store or size is incorrect.
*/
bool isSizeCorrect();
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
};
#endif /* TCPACKETSTORED_H_ */
#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */

View File

@ -1,13 +1,19 @@
#include "TmPacketBase.h"
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TmPacketBase.h"
#include "../../timemanager/CCSDSTime.h"
#include <string.h>
TmPacketBase::TmPacketBase(uint8_t* set_data) :
SpacePacketBase(set_data) {
tm_data = (TmPacketPointer*) set_data;
#include <cstring>
TimeStamperIF* TmPacketBase::timeStamper = nullptr;
object_id_t TmPacketBase::timeStamperId = 0;
TmPacketBase::TmPacketBase(uint8_t* setData) :
SpacePacketBase(setData) {
tmData = reinterpret_cast<TmPacketPointer*>(setData);
}
TmPacketBase::~TmPacketBase() {
@ -15,25 +21,25 @@ TmPacketBase::~TmPacketBase() {
}
uint8_t TmPacketBase::getService() {
return tm_data->data_field.service_type;
return tmData->data_field.service_type;
}
uint8_t TmPacketBase::getSubService() {
return tm_data->data_field.service_subtype;
return tmData->data_field.service_subtype;
}
uint8_t* TmPacketBase::getSourceData() {
return &tm_data->data;
return &tmData->data;
}
uint16_t TmPacketBase::getSourceDataSize() {
return getPacketDataLength() - sizeof(tm_data->data_field)
return getPacketDataLength() - sizeof(tmData->data_field)
- CRC_SIZE + 1;
}
uint16_t TmPacketBase::getErrorControl() {
uint32_t size = getSourceDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tm_data->data;
uint8_t* p_to_buffer = &tmData->data;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
@ -47,16 +53,12 @@ void TmPacketBase::setErrorControl() {
void TmPacketBase::setData(const uint8_t* p_Data) {
SpacePacketBase::setData(p_Data);
tm_data = (TmPacketPointer*) p_Data;
tmData = (TmPacketPointer*) p_Data;
}
void TmPacketBase::print() {
/*uint8_t * wholeData = getWholeData();
debug << "TmPacket contains: " << std::endl;
for (uint8_t count = 0; count < getFullSize(); ++count ) {
debug << std::hex << (uint16_t)wholeData[count] << " ";
}
debug << std::dec << std::endl;*/
sif::debug << "TmPacketBase::print: " << std::endl;
arrayprinter::print(getWholeData(), getFullSize());
}
bool TmPacketBase::checkAndSetStamper() {
@ -73,32 +75,36 @@ bool TmPacketBase::checkAndSetStamper() {
ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
uint32_t tempSize = 0;
return CCSDSTime::convertFromCcsds(timestamp, tm_data->data_field.time,
&tempSize, sizeof(tm_data->data_field.time));
return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time,
&tempSize, sizeof(tmData->data_field.time));
}
uint8_t* TmPacketBase::getPacketTimeRaw() const{
return tm_data->data_field.time;
return tmData->data_field.time;
}
void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter) {
void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t packetSubcounter) {
//Set primary header:
initSpacePacketHeader(false, true, apid);
//Set data Field Header:
//First, set to zero.
memset(&tm_data->data_field, 0, sizeof(tm_data->data_field));
//Set CCSDS_secondary header flag to 0, version number to 001 and ack to 0000
memset(&tmData->data_field, 0, sizeof(tmData->data_field));
// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
// The other 4 bits of the first byte are the spacecraft time reference status
// To change to PUS-C, set 0b00100000
tm_data->data_field.version_type_ack = 0b00010000;
tm_data->data_field.service_type = service;
tm_data->data_field.service_subtype = subservice;
tm_data->data_field.subcounter = packetSubcounter;
// The other 4 bits of the first byte are the spacecraft time reference
// status. To change to PUS-C, set 0b00100000.
// Set CCSDS_secondary header flag to 0, version number to 001 and ack
// to 0000
tmData->data_field.version_type_ack = 0b00010000;
tmData->data_field.service_type = service;
tmData->data_field.service_subtype = subservice;
tmData->data_field.subcounter = packetSubcounter;
//Timestamp packet
if (checkAndSetStamper()) {
timeStamper->addTimeStamp(tm_data->data_field.time, sizeof(tm_data->data_field.time));
timeStamper->addTimeStamp(tmData->data_field.time,
sizeof(tmData->data_field.time));
}
}
@ -106,9 +112,6 @@ void TmPacketBase::setSourceDataSize(uint16_t size) {
setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
}
uint32_t TmPacketBase::getTimestampSize() const {
return sizeof(tm_data->data_field.time);
size_t TmPacketBase::getTimestampSize() const {
return sizeof(tmData->data_field.time);
}
TimeStamperIF* TmPacketBase::timeStamper = NULL;
object_id_t TmPacketBase::timeStamperId = 0;

View File

@ -1,8 +1,8 @@
#ifndef TMPACKETBASE_H_
#define TMPACKETBASE_H_
#ifndef TMTCPACKET_PUS_TMPACKETBASE_H_
#define TMTCPACKET_PUS_TMPACKETBASE_H_
#include "../SpacePacketBase.h"
#include "../../timemanager/TimeStamperIF.h"
#include "../../tmtcpacket/SpacePacketBase.h"
#include "../../timemanager/Clock.h"
#include "../../objectmanager/SystemObjectIF.h"
@ -14,7 +14,7 @@ void setStaticFrameworkObjectIds();
* This struct defines a byte-wise structured PUS TM Data Field Header.
* Any optional fields in the header must be added or removed here.
* Currently, no Destination field is present, but an eigth-byte representation
* for a time tag [TBD].
* for a time tag.
* @ingroup tmtcpackets
*/
struct PUSTmDataFieldHeader {
@ -40,7 +40,7 @@ struct TmPacketPointer {
/**
* This class is the basic data handler for any ECSS PUS Telemetry packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* In addition to #SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TM Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
@ -54,29 +54,27 @@ public:
/**
* This constant defines the minimum size of a valid PUS Telemetry Packet.
*/
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTmDataFieldHeader) + 2); //!< Minimum size of a valid PUS Telemetry Packet.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; //!< Maximum size of a TM Packet in this mission.
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000; //!< First byte of secondary header for PUS-A packets.
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTmDataFieldHeader) + 2);
//! Maximum size of a TM Packet in this mission.
//! TODO: Make this dependant on a config variable.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
//! First byte of secondary header for PUS-A packets.
//! TODO: Maybe also support PUS-C via config?
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000;
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
*/
TmPacketBase( uint8_t* set_data );
TmPacketBase( uint8_t* setData );
/**
* This is the empty default destructor.
*/
virtual ~TmPacketBase();
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter);
/**
* This is a getter for the packet's PUS Service ID, which is the second
* byte of the Data Field Header.
@ -107,10 +105,13 @@ public:
uint16_t getSourceDataSize();
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
* With this method, the Error Control Field is updated to match the
* current content of the packet. This method is not protected because
* a recalculation by the user might be necessary when manipulating fields
* like the sequence count.
*/
void setSourceDataSize(uint16_t size);
void setErrorControl();
/**
* This getter returns the Error Control Field of the packet.
*
@ -120,28 +121,15 @@ public:
* @return The PUS Error Control
*/
uint16_t getErrorControl();
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet.
*/
void setErrorControl();
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* p_Data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Interprets the "time"-field in the secondary header and returns it in timeval format.
* Interprets the "time"-field in the secondary header and returns it in
* timeval format.
* @return Converted timestamp of packet.
*/
ReturnValue_t getPacketTime(timeval* timestamp) const;
@ -151,7 +139,7 @@ public:
*/
uint8_t* getPacketTimeRaw() const;
uint32_t getTimestampSize() const;
size_t getTimestampSize() const;
protected:
/**
@ -160,14 +148,43 @@ protected:
*
* To be hardware-safe, all elements are of byte size.
*/
TmPacketPointer* tm_data;
TmPacketPointer* tmData;
/**
* The timeStamper is responsible for adding a timestamp to the packet.
* It is initialized lazy.
*/
static TimeStamperIF* timeStamper;
//! The ID to use when looking for a time stamper.
static object_id_t timeStamperId;
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packetSubcounter);
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* @c tc_data pointer and the parent's @c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* pData );
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
*/
void setSourceDataSize(uint16_t size);
static object_id_t timeStamperId; //!< The ID to use when looking for a time stamper.
/**
* Checks if a time stamper is available and tries to set it if not.
* @return Returns false if setting failed.
@ -176,4 +193,4 @@ protected:
};
#endif /* TMPACKETBASE_H_ */
#endif /* TMTCPACKET_PUS_TMPACKETBASE_H_ */

View File

@ -1,11 +1,16 @@
#include "TmPacketStored.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TmPacketStored.h"
#include "../../tmtcservices/TmTcMessage.h"
#include <string.h>
#include <cstring>
StorageManagerIF *TmPacketStored::store = nullptr;
InternalErrorReporterIF *TmPacketStored::internalErrorReporter = nullptr;
TmPacketStored::TmPacketStored(store_address_t setAddress) :
TmPacketBase(NULL), storeAddress(setAddress) {
TmPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
@ -14,10 +19,10 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
TmPacketBase(NULL) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!checkAndSetStore()) {
if (not checkAndSetStore()) {
return;
}
uint8_t *pData = NULL;
uint8_t *pData = nullptr;
ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
@ -38,7 +43,7 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
SerializeIF *header) :
TmPacketBase(NULL) {
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (!checkAndSetStore()) {
if (not checkAndSetStore()) {
return;
}
size_t sourceDataSize = 0;
@ -77,29 +82,29 @@ store_address_t TmPacketStored::getStoreAddress() {
void TmPacketStored::deletePacket() {
store->deleteData(storeAddress);
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
setData(NULL);
setData(nullptr);
}
void TmPacketStored::setStoreAddress(store_address_t setAddress) {
storeAddress = setAddress;
const uint8_t* temp_data = NULL;
size_t temp_size;
if (!checkAndSetStore()) {
const uint8_t* tempData = nullptr;
size_t tempSize;
if (not checkAndSetStore()) {
return;
}
ReturnValue_t status = store->getData(storeAddress, &temp_data, &temp_size);
ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize);
if (status == StorageManagerIF::RETURN_OK) {
setData(temp_data);
setData(tempData);
} else {
setData(NULL);
setData(nullptr);
storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
bool TmPacketStored::checkAndSetStore() {
if (store == NULL) {
if (store == nullptr) {
store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if (store == NULL) {
if (store == nullptr) {
sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
<< std::endl;
return false;
@ -108,12 +113,9 @@ bool TmPacketStored::checkAndSetStore() {
return true;
}
StorageManagerIF *TmPacketStored::store = NULL;
InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
MessageQueueId_t sentFrom, bool doErrorReporting) {
if (getWholeData() == NULL) {
if (getWholeData() == nullptr) {
//SHOULDDO: More decent code.
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -133,11 +135,11 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
}
void TmPacketStored::checkAndReportLostTm() {
if (internalErrorReporter == NULL) {
if (internalErrorReporter == nullptr) {
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER);
}
if (internalErrorReporter != NULL) {
if (internalErrorReporter != nullptr) {
internalErrorReporter->lostTm();
}
}

View File

@ -1,9 +1,10 @@
#ifndef TMPACKETSTORED_H_
#define TMPACKETSTORED_H_
#ifndef TMTCPACKET_PUS_TMPACKETSTORED_H_
#define TMTCPACKET_PUS_TMPACKETSTORED_H_
#include "TmPacketBase.h"
#include "../../serialize/SerializeIF.h"
#include "../../storagemanager/StorageManagerIF.h"
#include "TmPacketBase.h"
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueSenderIF.h"
@ -18,31 +19,6 @@
* @ingroup tmtcpackets
*/
class TmPacketStored : public TmPacketBase {
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. \c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TM_STORE.
*/
static StorageManagerIF* store;
static InternalErrorReporterIF *internalErrorReporter;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li \c true if the store is linked or could be created.
* @li \c false otherwise.
*/
bool checkAndSetStore();
void checkAndReportLostTm();
public:
/**
* This is a default constructor which does not set the data pointer.
@ -52,28 +28,38 @@ public:
/**
* With this constructor, new space is allocated in the packet store and
* a new PUS Telemetry Packet is created there.
* Packet Application Data passed in data is copied into the packet. The Application data is
* passed in two parts, first a header, then a data field. This allows building a Telemetry
* Packet from two separate data sources.
* Packet Application Data passed in data is copied into the packet.
* The Application data is passed in two parts, first a header, then a
* data field. This allows building a Telemetry Packet from two separate
* data sources.
* @param apid Sets the packet's APID field.
* @param service Sets the packet's Service ID field.
* This specifies the source service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the source sub-service.
* @param packet_counter Sets the Packet counter field of this packet
* @param data The payload data to be copied to the Application Data Field
* @param data The payload data to be copied to the
* Application Data Field
* @param size The amount of data to be copied.
* @param headerData The header Data of the Application field; will be copied in front of data
* @param headerData The header Data of the Application field,
* will be copied in front of data
* @param headerSize The size of the headerDataF
*/
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packet_counter = 0, const uint8_t* data = NULL, uint32_t size = 0, const uint8_t* headerData = NULL, uint32_t headerSize = 0);
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packet_counter = 0, const uint8_t* data = nullptr,
uint32_t size = 0, const uint8_t* headerData = nullptr,
uint32_t headerSize = 0);
/**
* Another ctor to directly pass structured content and header data to the packet to avoid additional buffers.
* Another ctor to directly pass structured content and header data to the
* packet to avoid additional buffers.
*/
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packet_counter, SerializeIF* content, SerializeIF* header = NULL);
TmPacketStored( uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t packet_counter, SerializeIF* content,
SerializeIF* header = nullptr);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if
* the packet is not linked.
*/
store_address_t getStoreAddress();
@ -89,8 +75,34 @@ public:
*/
void setStoreAddress( store_address_t setAddress );
ReturnValue_t sendPacket( MessageQueueId_t destination, MessageQueueId_t sentFrom, bool doErrorReporting = true );
ReturnValue_t sendPacket( MessageQueueId_t destination,
MessageQueueId_t sentFrom, bool doErrorReporting = true );
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TM_STORE.
*/
static StorageManagerIF* store;
static InternalErrorReporterIF *internalErrorReporter;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
void checkAndReportLostTm();
};
#endif /* TMPACKETSTORED_H_ */
#endif /* TMTCPACKET_PUS_TMPACKETSTORED_H_ */

59
unittest/README.md Normal file
View File

@ -0,0 +1,59 @@
## FSFW Testing
This repository contains testing and unit testing components.
[Catch2](https://github.com/catchorg/Catch2) has been used as a framework,
and these unit tests can only be run on a linux host machine.
The makefile with default settings creates the unit test binary which can be
run in the terminal or in eclipse.
### Instructions
To run the fsfw unittests in the project, perform following steps:
1. Copy the testcfg folder the project root (folder containing the FSFW).
2. There is a makefile inside the testcfg folder which can be used to have
a starting point to compile the unit tests. Copy that Makefile to the project
root
3. Create a folder named catch2 (can have other name which requires Makefile
adaption) and copy the Catch2 header files there (NOTE: CMake support
not enabled yet!)
### Eclipse CDT settings
The default eclipse terminal has issues displaying the colors used
when running the unit test binary by catch2. To fix this issue,
install the ANSI Escape In Console package from the eclipse marketplace.
### GCOV integration
GCOV has been integrated as a code coverage tool.
It can be enabled by adding `GCOV=1` to the build process as an additional argument.
Coverage data will be provided in form of .gcno and .gcda files.
These can be displayed in eclipse by looking
for a .gcno or .gcda file in the \_obj folder, double-clicking it
and picking the right source-binary. This will generate
information about which lines of a file have run, provided it is open in
eclipse.
### LCOV integration
The files generated by GCOV can also be processed by the tool LCOV.
On ubuntu, the tool can be installed with the following command:
```sh
sudo apt-get install lcov
````
After that, the tool can be run by building the unit tests with `GCOV=1`,
running them at least one time and then executing the `lcov.sh` script.
### Adding unit tests
The catch unit tests are located in unittest/testfw. To add new unit tests,
add them to the UnitTestCatch.cpp file or add a new source file which
includes catch.hpp.
For writing basics tests, the [assertion documentation](https://github.com/catchorg/Catch2/blob/master/docs/assertions.md#top)
or the existing examples are a good guideliens.
For more advanced tests, refer to the [catch2 documentation](https://github.com/catchorg/Catch2/blob/master/docs/Readme.md#top).

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@ -0,0 +1,11 @@
#include "CatchDefinitions.h"
#include <fsfw/objectmanager/ObjectManagerIF.h>
StorageManagerIF* tglob::getIpcStoreHandle() {
if(objectManager != nullptr) {
return objectManager->get<StorageManagerIF>(objects::IPC_STORE);
} else {
sif::error << "Global object manager uninitialized" << std::endl;
return nullptr;
}
}

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@ -0,0 +1,21 @@
#ifndef FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_
#define FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/storagemanager/StorageManagerIF.h>
namespace retval {
static constexpr int CATCH_OK = static_cast<int>(HasReturnvaluesIF::RETURN_OK);
static constexpr int CATCH_FAILED = static_cast<int>(HasReturnvaluesIF::RETURN_FAILED);
}
namespace tconst {
static constexpr MessageQueueId_t testQueueId = 42;
}
namespace tglob {
StorageManagerIF* getIpcStoreHandle();
}
#endif /* FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_ */

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@ -0,0 +1,31 @@
/**
* @file CatchSource.cpp
* @brief Source file to compile catch framework.
* @details All tests should be written in other files.
* For eclipse console output, install ANSI Escape in Console
* from the eclipse market place to get colored characters.
*/
#ifndef NO_UNIT_TEST_FRAMEWORK
#define CATCH_CONFIG_RUNNER
#include <catch2/catch.hpp>
#if CUSTOM_UNITTEST_RUNNER == 0
extern int customSetup();
int main( int argc, char* argv[] ) {
customSetup();
// Catch internal function call
int result = Catch::Session().run( argc, argv );
// global clean-up
return result;
}
#endif
#endif

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@ -0,0 +1,42 @@
#include "CatchDefinitions.h"
#include <testcfg/cdatapool/dataPoolInit.h>
#include <testcfg/objects/Factory.h>
#ifdef GCOV
#include <gcov.h>
#endif
#include "../../objectmanager/ObjectManager.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../storagemanager/StorageManagerIF.h"
#include "../../datapool/DataPool.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
/* Global instantiations normally done in main.cpp */
/* Initialize Data Pool */
//namespace glob {
DataPool dataPool(datapool::dataPoolInit);
//}
namespace sif {
/* Set up output streams */
ServiceInterfaceStream debug("DEBUG");
ServiceInterfaceStream info("INFO");
ServiceInterfaceStream error("ERROR");
ServiceInterfaceStream warning("WARNING");
}
/* Global object manager */
ObjectManagerIF *objectManager;
int customSetup() {
// global setup
objectManager = new ObjectManager(Factory::produce);
objectManager -> initialize();
return 0;
}

3
unittest/core/core.mk Normal file
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@ -0,0 +1,3 @@
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
INCLUDES += $(CURRENTPATH)

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@ -0,0 +1,10 @@
#include <fsfw/unittest/core/printChar.h>
#include <cstdio>
void printChar(const char* character, bool errStream) {
if(errStream) {
std::putc(*character, stderr);
return;
}
std::putc(*character, stdout);
}

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@ -0,0 +1,8 @@
#ifndef FSFW_UNITTEST_CORE_PRINTCHAR_H_
#define FSFW_UNITTEST_CORE_PRINTCHAR_H_
extern "C" void printChar(const char*, bool errStream);
#endif /* FSFW_UNITTEST_CORE_PRINTCHAR_H_ */

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@ -0,0 +1,27 @@
#include "InternalUnitTester.h"
#include "UnittDefinitions.h"
#include "osal/IntTestMq.h"
#include "osal/IntTestSemaphore.h"
#include "osal/IntTestMutex.h"
#include "serialize/IntTestSerialization.h"
#include <cstdlib>
InternalUnitTester::InternalUnitTester() {}
InternalUnitTester::~InternalUnitTester() {}
ReturnValue_t InternalUnitTester::performTests() {
sif::info << "Running internal unit tests.." << std::endl;
testserialize::test_serialization();
testmq::testMq();
testsemaph::testBinSemaph();
testsemaph::testCountingSemaph();
testmutex::testMutex();
sif::info << "Internal unit tests finished." << std::endl;
return RETURN_OK;
}

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@ -0,0 +1,29 @@
#ifndef FRAMEWORK_TEST_UNITTESTCLASS_H_
#define FRAMEWORK_TEST_UNITTESTCLASS_H_
#include "UnittDefinitions.h"
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
/**
* @brief Can be used for internal testing, for example for hardware specific
* tests which can not be run on a host-machine.
*
* TODO: A lot of ways to improve this class. A way for tests to subscribe
* in this central class would be nice. Right now, this is the class
* which simply calls all other tests from other files manually.
* Maybe there is a better way..
*/
class InternalUnitTester: public HasReturnvaluesIF {
public:
InternalUnitTester();
virtual~ InternalUnitTester();
/**
* Some function which calls all other tests
* @return
*/
virtual ReturnValue_t performTests();
};
#endif /* FRAMEWORK_TEST_UNITTESTCLASS_H_ */

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@ -0,0 +1,7 @@
#include <fsfw/unittest/internal/UnittDefinitions.h>
ReturnValue_t unitt::put_error(std::string errorId) {
sif::error << "Unit Tester error: Failed at test ID "
<< errorId << "\n" << std::flush;
return HasReturnvaluesIF::RETURN_FAILED;
}

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@ -0,0 +1,33 @@
#ifndef UNITTEST_INTERNAL_UNITTDEFINITIONS_H_
#define UNITTEST_INTERNAL_UNITTDEFINITIONS_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include <cstdint>
#include <cstddef>
namespace tv {
// POD test values
static const bool tv_bool = true;
static const uint8_t tv_uint8 {5};
static const uint16_t tv_uint16 {283};
static const uint32_t tv_uint32 {929221};
static const uint64_t tv_uint64 {2929329429};
static const int8_t tv_int8 {-16};
static const int16_t tv_int16 {-829};
static const int32_t tv_int32 {-2312};
static const float tv_float {8.2149214};
static const float tv_sfloat = {-922.2321321};
static const double tv_double {9.2132142141e8};
static const double tv_sdouble {-2.2421e19};
}
namespace unitt {
ReturnValue_t put_error(std::string errorId);
}
#endif /* UNITTEST_INTERNAL_UNITTDEFINITIONS_H_ */

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@ -0,0 +1,3 @@
CXXSRC += $(wildcard $(CURRENTPATH)/osal/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/serialize/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)

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@ -0,0 +1,52 @@
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/unittest/internal/osal/IntTestMq.h>
#include <fsfw/unittest/internal/UnittDefinitions.h>
#include <array>
using retval = HasReturnvaluesIF;
void testmq::testMq() {
std::string id = "[testMq]";
MessageQueueIF* testSenderMq =
QueueFactory::instance()->createMessageQueue(1);
MessageQueueId_t testSenderMqId = testSenderMq->getId();
MessageQueueIF* testReceiverMq =
QueueFactory::instance()->createMessageQueue(1);
MessageQueueId_t testReceiverMqId = testReceiverMq->getId();
std::array<uint8_t, 20> testData { 0 };
testData[0] = 42;
MessageQueueMessage testMessage(testData.data(), 1);
testSenderMq->setDefaultDestination(testReceiverMqId);
auto result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
if(result != retval::RETURN_OK) {
unitt::put_error(id);
}
MessageQueueMessage recvMessage;
result = testReceiverMq->receiveMessage(&recvMessage);
if(result != retval::RETURN_OK or recvMessage.getData()[0] != 42) {
unitt::put_error(id);
}
result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
if(result != retval::RETURN_OK) {
unitt::put_error(id);
}
MessageQueueId_t senderId = 0;
result = testReceiverMq->receiveMessage(&recvMessage,&senderId);
if(result != retval::RETURN_OK or recvMessage.getData()[0] != 42) {
unitt::put_error(id);
}
if(senderId != testSenderMqId) {
unitt::put_error(id);
}
senderId = testReceiverMq->getLastPartner();
if(senderId != testSenderMqId) {
unitt::put_error(id);
}
}

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@ -0,0 +1,9 @@
#ifndef UNITTEST_INTERNAL_INTESTMQ_H_
#define UNITTEST_INTERNAL_INTESTMQ_H_
namespace testmq {
void testMq();
}
#endif /* UNITTEST_INTERNAL_INTESTMQ_H_ */

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@ -0,0 +1,42 @@
#include "IntTestMutex.h"
#include <fsfw/ipc/MutexFactory.h>
#include <unittest/internal/UnittDefinitions.h>
#if defined(hosted)
#include <fsfw/osal/hosted/Mutex.h>
#include <thread>
#include <future>
#endif
void testmutex::testMutex() {
std::string id = "[testMutex]";
MutexIF* mutex = MutexFactory::instance()->createMutex();
auto result = mutex->lockMutex(MutexIF::POLLING);
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
// timed_mutex from the C++ library specifies undefined behaviour if
// the timed mutex is locked twice from the same thread.
#if defined(hosted)
// hold on, this actually worked ? :-D This calls the function from
// another thread and stores the returnvalue in a future.
auto future = std::async(&MutexIF::lockMutex, mutex, 1);
result = future.get();
#else
result = mutex->lockMutex(MutexIF::TimeoutType::WAITING, 1);
#endif
if(result != MutexIF::MUTEX_TIMEOUT) {
unitt::put_error(id);
}
result = mutex->unlockMutex();
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
result = mutex->unlockMutex();
if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) {
unitt::put_error(id);
}
}

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@ -0,0 +1,10 @@
#ifndef UNITTEST_INTERNAL_INTTESTMUTEX_H_
#define UNITTEST_INTERNAL_INTTESTMUTEX_H_
namespace testmutex {
void testMutex();
}
#endif /* UNITTEST_INTERNAL_INTTESTMUTEX_H_ */

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@ -0,0 +1,160 @@
#include "IntTestSemaphore.h"
#include <fsfw/tasks/SemaphoreFactory.h>
#include <unittest/internal/UnittDefinitions.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/timemanager/Stopwatch.h>
void testsemaph::testBinSemaph() {
std::string id = "[BinSemaphore]";
SemaphoreIF* binSemaph =
SemaphoreFactory::instance()->createBinarySemaphore();
if(binSemaph == nullptr) {
return;
}
testBinSemaphoreImplementation(binSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
#if defined(freeRTOS)
SemaphoreIF* binSemaphUsingTask =
SemaphoreFactory::instance()->createBinarySemaphore(1);
testBinSemaphoreImplementation(binSemaphUsingTask, id);
SemaphoreFactory::instance()->deleteSemaphore(binSemaphUsingTask);
#endif
}
void testsemaph::testCountingSemaph() {
std::string id = "[CountingSemaph]";
{
// First test: create a binary semaphore by using a counting semaphore.
SemaphoreIF* countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(1,1);
if(countingSemaph == nullptr) {
return;
}
testBinSemaphoreImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#if defined(freeRTOS)
countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(1, 1, 1);
testBinSemaphoreImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#endif
}
{
// Second test: counting semaphore with count 3 and init count of 3.
SemaphoreIF* countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(3,3);
testCountingSemaphImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#if defined(freeRTOS)
countingSemaph = SemaphoreFactory::instance()->
createCountingSemaphore(3, 0, 1);
uint8_t semaphCount = countingSemaph->getSemaphoreCounter();
if(semaphCount != 0) {
unitt::put_error(id);
}
// release 3 times in a row
for(int i = 0; i < 3; i++) {
auto result = countingSemaph->release();
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
}
testCountingSemaphImplementation(countingSemaph, id);
SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
#endif
}
}
void testsemaph::testBinSemaphoreImplementation(SemaphoreIF* binSemaph,
std::string id) {
uint8_t semaphCount = binSemaph->getSemaphoreCounter();
if(semaphCount != 1) {
unitt::put_error(id);
}
ReturnValue_t result = binSemaph->release();
if(result != SemaphoreIF::SEMAPHORE_NOT_OWNED) {
unitt::put_error(id);
}
result = binSemaph->acquire(SemaphoreIF::BLOCKING);
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
// There is not really a point in testing time related, the task
// might get interrupted..
{
//Stopwatch stopwatch(false);
result = binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 10);
//dur_millis_t time = stopwatch.stop();
// if(abs(time - 10) > 2) {
// sif::error << "UnitTester: Semaphore timeout measured incorrect."
// << std::endl;
// unitt::put_error(id);
// }
}
if(result != SemaphoreIF::SEMAPHORE_TIMEOUT) {
unitt::put_error(id);
}
semaphCount = binSemaph->getSemaphoreCounter();
if(semaphCount != 0) {
unitt::put_error(id);
}
result = binSemaph->release();
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
}
void testsemaph::testCountingSemaphImplementation(SemaphoreIF* countingSemaph,
std::string id) {
// check count getter function
uint8_t semaphCount = countingSemaph->getSemaphoreCounter();
if(semaphCount != 3) {
unitt::put_error(id);
}
ReturnValue_t result = countingSemaph->release();
if(result != SemaphoreIF::SEMAPHORE_NOT_OWNED) {
unitt::put_error(id);
}
// acquire 3 times in a row
for(int i = 0; i < 3; i++) {
result = countingSemaph->acquire(SemaphoreIF::BLOCKING);
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
}
{
Stopwatch stopwatch(false);
// attempt to take when count is 0, measure time
result = countingSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 10);
dur_millis_t time = stopwatch.stop();
if(abs(time - 10) > 1) {
unitt::put_error(id);
}
}
if(result != SemaphoreIF::SEMAPHORE_TIMEOUT) {
unitt::put_error(id);
}
// release 3 times in a row
for(int i = 0; i < 3; i++) {
result = countingSemaph->release();
if(result != HasReturnvaluesIF::RETURN_OK) {
unitt::put_error(id);
}
}
// assert correct full count
if(countingSemaph->getSemaphoreCounter() != 3) {
unitt::put_error(id);
}
}

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@ -0,0 +1,15 @@
#ifndef UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_
#define UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_
class SemaphoreIF;
#include <string>
namespace testsemaph {
void testBinSemaph();
void testBinSemaphoreImplementation(SemaphoreIF* binSemaph, std::string id);
void testCountingSemaph();
void testCountingSemaphImplementation(SemaphoreIF* countingSemaph,
std::string id);
}
#endif /* UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_ */

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